Rope-driven elbow-forearm rehabilitation device based on tension spring reset system

Abstract

The invention provides a rope-driven elbow-forearm rehabilitation device based on a tension spring reset system, the rope-driven elbow-forearm rehabilitation device comprises a flexible driving part, a forearm rotating part and an elbow joint flexion and extension part, and the flexible driving part is composed of a reset tension spring, a driving rope and the like; the forearm rotating part is composed of wrist inner and outer rings, a rotating track assembly and the like. The elbow joint flexion and extension part is composed of an angle adjusting chuck, a passive moving pair assembly and the like. The forearm rotating part is worn on the forearm and the wrist of a subject, and the flexible driving part drives the wrist outer ring to rotate so as to drive the forearm of the subject to rotate forwards and backwards; the elbow joint flexion and extension part is worn on the upper arm of a subject, and the flexible driving part drives the angle adjusting chuck to rotate so as to drive the elbow joint of the subject to complete flexion and extension movement; the forearm rotating part and the elbow joint flexion and extension part are connected through a forearm-elbow connecting piece; the two-degree-of-freedom elbow and forearm rehabilitation training device can realize two-degree-of-freedom rotation movement of the elbow and the forearm, is suitable for postoperative rehabilitation training of a congenital ulna and radius fusion patient, and has the advantages of portability, good flexibility and the like.

Description

Technical Field

[0001] The invention relates to the field of rehabilitation medical equipment, and in particular to a rope-driven elbow-forearm rehabilitation device based on a tension spring reset system. Background Art

[0002] Congenital fusion of the radius and ulna is a rare congenital malformation of the upper limb. Its pathogenesis stems from abnormal mesenchymal differentiation between the ulna and radius in the early embryonic development, resulting in varying degrees of bony connection between the two bones. Although the incidence of this disease is low, it has a huge impact on the patient's life. During the embryonic development stage, the ulna and radius fail to separate normally, resulting in severe limitation of the forearm rotation function. Patients have difficulty completing daily actions such as unscrewing bottle caps, holding bowls, and writing, which greatly reduces their ability to take care of themselves and their quality of life. At present, surgical intervention is the main treatment method, which improves the bone structure through surgery and creates conditions for restoring function. Existing rehabilitation equipment has many shortcomings when treating this disease, and there is an urgent need for a more adaptable and efficient rehabilitation exoskeleton to help patients restore upper limb function.

[0003] At present, there are three main types of equipment for rehabilitation training needs of elbow flexion and extension and wrist pronation / supination: static rehabilitation braces, upper limb rehabilitation robots, and wrist rehabilitation robots. Static rehabilitation braces can effectively fix the forearm, and their structure is simple and easy to use. However, they are highly dependent on the auxiliary training of rehabilitation therapists during use. This not only leads to high workload and long time consumption for doctors, but also low efficiency. The rehabilitation training methods are also relatively single, and cannot help patients perform passive or active training of their forearms.

[0004] Upper limb rehabilitation robots and wrist rehabilitation robots can replace clinical physicians to carry out passive, active and passive rehabilitation training for patients' upper limbs, greatly reducing the workload of physicians. At the same time, they have good motion repeatability and consistency, and can provide scientific and effective rehabilitation training. Among them, upper limb rehabilitation robots can perform rehabilitation training on the entire upper limb of patients, but for elbow and wrist rehabilitation training of patients with ulna and radius fusion, there is a problem of redundant degrees of freedom, and the structure is complex and bulky. Although the wrist rehabilitation robot has three degrees of freedom, it cannot meet the rehabilitation training needs of elbow flexion and extension. In addition, since the elbow and wrist joints are not ideal fixed-axis rotations, their rotating axes are in a time-varying state, so when using traditional rigid rehabilitation robots, joint dislocations between humans and machines are inevitable, resulting in undesirable forces / torques. This will not only make the patient's wearing comfort poor, but may even cause secondary injuries.

[0005] The rope-driven upper limb rehabilitation robot based on tension spring reset has many significant advantages. In terms of structural design, the rope-driven system is lighter and more flexible than the traditional rigid connection, which reduces the complexity of the mechanical structure and the overall weight of the equipment, making it easier for patients to use and easier to move and place the equipment. From the perspective of motion control, the tension spring reset mechanism provides a stable and gentle rebound force, which can provide better wearing comfort for patients' elbow flexion and extension and wrist pronation / supination training, effectively avoiding the unexpected forces caused by joint dislocation of traditional rigid rehabilitation robots and reducing the risk of secondary injuries. Moreover, when realizing the rehabilitation training function, this driving method can provide a rich variety of motion modes to meet the personalized rehabilitation needs of different patients and provide a full range of auxiliary rehabilitation training functions for patients at different rehabilitation stages. In addition, its maintenance cost is relatively low, which improves the practicality and economy of the equipment.

[0006] Therefore, this application is aimed at the rehabilitation training needs of the two rotational degrees of freedom of the human elbow and forearm, and invents a rope-driven elbow-forearm two-degree-of-freedom rehabilitation device based on a tension spring reset system. A remote drive form is adopted, and the driver is placed on the human torso to enable the patient to wear the rehabilitation device in a portable manner. The two rotational degrees of freedom of the human elbow and forearm are achieved through the coordinated motion control of the rope drive and the tension spring reset system, thereby improving the patient's rehabilitation training effect. Summary of the invention

[0007] The purpose of the present invention is to provide a rope-driven elbow-forearm rehabilitation device based on a tension spring reset system, aiming to overcome the defects of the prior art and solve the problem that the driver in the existing rehabilitation device is placed on the upper limb joint, the upper limb joint is subjected to a large moment of inertia during rehabilitation training, and the safety of rehabilitation training is reduced.

[0008] To this end, the present invention proposes a rope-driven elbow-forearm rehabilitation device based on a tension spring reset system, comprising: a forearm rotation part, an elbow joint flexion and extension part, and a flexible driving part;

[0009] The forearm rotating part comprises a forearm shield, an outer wrist ring, an inner wrist ring and a rotating track assembly, wherein the outer wrist ring and the inner wrist ring form an integral rotating structure, which is adapted to the human wrist through a strap, and the forearm shield is adapted to the subject's arm;

[0010] The elbow joint flexion and extension part comprises an angle adjustment chuck, an upper arm bracket, and a forearm connecting plate, and is connected to the forearm rotating part through a forearm-elbow connecting piece; and is adapted to the upper arm and forearm of the human body through an upper arm distal shield on the upper arm bracket and a forearm proximal shield on the forearm connecting plate;

[0011] The flexible driving part comprises a first driving part and a second driving part, which are respectively arranged at the elbow joint flexion and extension part and the forearm rotation part, and both comprise a winch, a reset tension spring and a driving rope;

[0012] The wrist outer ring is rotatably connected to the rotating track assembly, one end of which is connected to the winch via a driving rope, and the other end is connected to the reset tension spring via a driving rope;

[0013] The forearm connecting plate is rotatably connected with the upper arm bracket through an angle adjustment chuck, one end of the front part of the forearm connecting plate is connected to the winch through a driving rope, and the other end is connected to a reset tension spring through a driving rope.

[0014] As a preferred technical solution of the present application, the angle adjustment chuck has a chuck top cover and a chuck base, which form a rotating pair through a rotating shaft and a bearing. A rotation range limit screw and a rotation angle positioning screw are provided between the chuck top cover and the chuck base; at the same time, a limit groove and a base positioning hole are provided on the chuck base.

[0015] As a preferred technical solution of the present application, the rotating shaft of the angle adjustment chuck is fixed to the outside of the chuck top cover and has an interference fit with the inner ring of the bearing in the chuck base, and is axially positioned by a positioning screw of the inner ring of the bearing; the range of motion of the rotation range limit screw in the limiting groove of the chuck base is 150°, and the rotation angle positioning screw cooperates with the base positioning hole to achieve 10° interval angle positioning.

[0016] As a preferred technical solution of the present application, the first driving part comprises: a first driving rope, a first pulley block and a first hoisting drum, and also comprises a second driving rope and a first reset tension spring;

[0017] One end of the first driving rope is fixed to the first positioning hole of the forearm connecting plate, and the first driving rope passes through the first pulley block on the upper arm bracket along the wire groove at the edge of the chuck top cover and is connected to the first winch drum.

[0018] One end of the second drive rope is fixed to the second positioning hole of the forearm connecting plate by a second fixing screw. The second drive rope passes through the first pulley block along the wire groove at the edge of the top cover of the angle adjustment chuck, and its tail is connected to one end of the first reset spring.

[0019] As a preferred technical solution of the present application, a first drive rope sleeve is fixed on the upper arm bracket, the first drive rope passes through the first drive rope sleeve and is connected to the first hoisting drum, and the first hoisting drum is cooperatively connected to the first drive motor; the other end of the first reset spring is fixed on the upper arm bracket.

[0020] As a preferred technical solution of the present application, the first driving rope and the second driving rope are symmetrically arranged along the wire groove of the angle adjustment chuck top cover, and a wire pressing piece is provided in the wire groove to prevent the rope from jumping off.

[0021] As a preferred technical solution of the present application, the upper arm distal shield is connected to the upper arm bracket via a passive moving subassembly.

[0022] The passive moving pair assembly includes a linear bearing, a return spring and a linear shaft, all of which are arranged in a passive moving pair groove on the upper arm bracket, and the upper arm distal end shield cooperates with the linear bearing through the linear bearing seat at its upper end to form a moving pair, and the return spring is sleeved on the linear shaft, with its two ends respectively abutting the linear bearing seat and the passive moving pair groove.

[0023] As a preferred technical solution of the present application, the rotating track assembly includes a track front baffle, an L-shaped track rear baffle and a track shaft. The three are formed into a track bracket with a U-shaped cross-section through track screws, which is used to assemble the wrist outer ring. A plurality of track shafts cooperating with the wrist outer ring are distributed on the inner and outer sides of the wrist outer ring, and the track shaft is rotatably connected to the track bracket.

[0024] As a preferred technical solution of the present application, the second driving part comprises: a third driving rope, a third driving rope sleeve, a second hoisting drum, a second driving motor, and also comprises a fourth driving rope and a second reset tension spring;

[0025] One end of the third drive rope is fixed to the first positioning hole at one end of the wrist outer ring, and the third drive rope passes through the first guide eye screw at the bottom of the arc-shaped support plate along the wire groove on the outer wall of the wrist outer ring and enters the third drive rope sleeve, and the other end of the third drive rope passes through the third drive rope sleeve and is connected to the second hoisting drum, and the second hoisting drum is connected with the second drive motor;

[0026] One end of the fourth driving rope is fixed to the second positioning hole at the other end of the wrist outer ring, and the fourth driving rope passes through the second guide eye screw along the wire groove of the wrist outer ring and is connected to one end of the second reset tension spring.

[0027] As a preferred technical solution of the present application, the third drive rope is fixed to the first positioning hole at one end of the wrist outer ring by a third fixing screw, and the fourth drive rope is fixed to the second positioning hole at the other end of the wrist outer ring by a fourth fixing screw;

[0028] The third drive rope sleeve is fixed in the sleeve groove on the forearm-elbow connector by a locking screw, and the second reset tension spring is fixed to the forearm-elbow connector by a positioning screw, and the second reset tension spring is placed as a whole in the tension spring groove on the forearm-elbow connector.

[0029] The rope-driven elbow-forearm rehabilitation device based on the tension spring reset system of the present invention has the following advantages:

[0030] 1. The present invention adopts a driving method based on rope drive and tension spring assisted resetting, and arranges the motor on the human trunk, so as to realize the portable wearing of the rehabilitation device by the patient, thereby reducing the load inertia of the upper limbs of the subject, and has the characteristics of light weight, convenience, good flexibility, etc.

[0031] 2. The present invention achieves effective elbow extension and forearm pronation movements by means of a unique rotational coordination between a rotating track assembly and an outer wrist ring, an angle adjustment chuck with a rotation angle limit and positioning function, and a passive tension spring at the forearm rotation portion and the elbow joint flexion and extension portion. This solves the problem that the forearm cannot be reset after being driven to a flexed position by the first driving rope, and cannot be reset after being driven to a supinated position by the third driving rope.

[0032] 3. The present invention designs a set of passive movement units for the upper arm, which allows the elbow to produce local forward and backward movement, thereby exerting a certain passive compliance effect, and can effectively improve the comfort of the subject during the elbow rehabilitation training.

[0033] In addition to the above-described purposes, features and advantages, the present application also has other purposes, features and advantages. The present application will be further described in detail with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0035] Figure 1 It is an overall schematic diagram of a rope-driven elbow-forearm rehabilitation device based on a tension spring reset system of the present invention being assembled on a human body;

[0036] Figure 2 It is an overall schematic diagram of a rope-driven elbow-forearm rehabilitation device based on a tension spring reset system of the present invention;

[0037] Figure 3 It is the overall structural diagram of the forearm rotation part;

[0038] Figure 4 It is an exploded view of the swivel of the forearm;

[0039] Figure 5 It is the overall structural diagram of the flexion and extension part of the elbow joint;

[0040] Figure 6 is an exploded view of the angle adjustment chuck;

[0041] Figure 7 is a partial view of the upper arm passive motion unit;

[0042] Figure 8 is an exploded view of the upper arm passive motion unit;

[0043] Fig. 9 It is the overall structural diagram of the flexible drive unit;

[0044] Explanation of reference numerals: 1. forearm rotation part; 2. elbow flexion and extension part; 3. flexible drive part; 4. wrist outer ring; 5. wrist inner ring; 6. track front baffle; 7. track bearing; 8. track shaft; 9. L-shaped track rear baffle; 10. track screw; 11. forearm shield; 12. forearm-elbow connector; 13. strap; 14. track bearing gasket; 15. arc support plate; 16. first guide eye screw; 17. angle adjustment chuck; 18. upper arm bracket; 19. strap; 20. passive movement subassembly; 21. forearm connecting plate; 22. forearm proximal shield; 23. rotation range limit screw; 24. shaft; 25. chuck top cover; 26. chuck base; 27. bearing;

[0045] 28. End cover; 29. ​​Bearing inner ring positioning screw; 30. Positioning hole; 31. Limiting groove; 32. Wire groove; 33. Rotation angle positioning screw; 34. Linear bearing seat; 35. Reset spring; 36. Linear shaft; 37. Linear bearing; 38. Cover plate; 39. Third fixing screw; 40. Third drive rope; 41. Fourth drive rope; 42. Second reset tension spring; 43. Third drive rope sleeve; 44. Second hoisting drum; 45. Second drive motor; 47. First drive rope; 48. Second drive rope; 49. First reset tension spring; 50. First drive rope sleeve; 51. First drive motor; 53. First hoisting drum; 54. First pulley block; 55. First fixing screw. DETAILED DESCRIPTION

[0046] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0047] like Figures 1 to 9 As shown, the rope-driven elbow-forearm rehabilitation device based on the tension spring reset system of the present invention comprises: a forearm rotation part 1, an elbow joint flexion and extension part 2 and a flexible driving part 3; the flexible driving part 3 comprises a first driving part (upper arm) and a second driving part (forearm), both of which include components such as a winch, a reset tension spring and a driving rope.

[0048] Ginseng Figure 3 , Figure 4 As shown, the forearm rotating part 1 includes a forearm shield 11, an outer wrist ring 4, an inner wrist ring 5, a rotating track assembly, a forearm shield 11 and a strap 13; the outer wrist ring 4 and the inner wrist ring 5 are connected to form a whole and then rotate together, and the inner wrist ring 5 is adapted to the subject's wrist through the strap 13.

[0049] The outer wrist ring 4 is rotationally connected to the rotating track assembly. One end of the outer wrist ring 4 is connected to the winch through a driving rope, and the other end is connected to the reset spring through a driving rope, thereby driving the inner wrist ring 5 and the subject's forearm to perform pronation and supination movements.

[0050] The rotating track assembly includes an arc-shaped support plate 15, a track front baffle plate 6, a track bearing 7, a track shaft 8, a track bearing washer 14, an L-shaped track rear baffle plate 9 and a track screw 10; the track front baffle plate 6, the arc-shaped support plate 15 and the L-shaped track rear baffle plate 9 are sequentially connected by the track screw 10 to form a track bracket with a U-shaped cross section.

[0051] The wrist outer ring 4 is slidably installed in the track bracket, and multiple track shafts 8 are distributed on the inner and outer sides of the wrist outer ring 4. The two ends of the track shafts 8 are rotatably connected to the track front baffle 6 and the L-shaped track rear baffle 9 respectively, so that the wrist outer ring 4 rotates relative to the arc support plate 15.

[0052] Among them, track grooves are provided on the inner and outer cylindrical surfaces of the wrist outer ring 4, and a track bearing 7 is provided on the track rotating shaft 8. The two cooperate with each other. The track grooves on the inner and outer cylindrical surfaces of the wrist outer ring 4 and the track bearing 7 on the track rotating shaft 8 cooperate to form a rotating motion pair with a rotating function, thereby reducing the friction generated during the rotational motion.

[0053] In the forearm rotating part 1, the front part of the forearm shield 11 is connected to the rear end of the L-shaped track rear baffle 9 by screws, and a strap 13 is also installed on the forearm shield 11 to fit the subject's arm.

[0054] Ginseng Figure 5 As shown, the elbow flexion and extension part 2 is composed of an angle adjustment chuck 17, an upper arm bracket 18, a forearm connecting plate 21, a passive movement subassembly 20, an upper arm distal shield, a forearm proximal shield 22 and a strap 19; the elbow flexion and extension part 2 is adapted to the upper arm and forearm of the human body through the upper arm distal shield on the upper arm bracket 18 and the forearm proximal shield 22 on the forearm connecting plate 21.

[0055] The tail end of the forearm shield 11 is fixedly connected to the forearm proximal shield 22 in the elbow flexion and extension part 2 through the forearm-elbow connector 12, so that the elbow flexion and extension part 2 and the forearm rotation part 1 maintain a connection relationship; and the upper arm bracket 18 clamped on the upper arm distal shield is rotatably connected to the forearm connecting plate 21 on the forearm proximal shield 22 through the angle adjustment chuck 17, and the relative rotation of the two is controlled by the flexible driving part 3, pulling the forearm to realize the elbow joint extension movement.

[0056] Ginseng Figure 6 to Figure 8As shown, the angle adjustment chuck 17 is composed of a chuck base 26, a chuck top cover 25, a rotating shaft 24, an end cover 28, a bearing 27, a bearing inner ring positioning screw 29, a rotation range limit screw 23, a rotation angle positioning screw 33 and other screws. The forearm proximal shield 22 is fixed to one end of the forearm connecting plate 21 by screws, the other end of the forearm connecting plate 21 is fixed to the lower side of the chuck top cover 25 by screws, and one end of the upper arm bracket 18 is fixed to the upper side of the chuck base 26 by screws.

[0057] Specifically, the bearing 27 is installed in the bearing mounting hole of the chuck base 26. There is a step in the hole to press the outer ring of the bearing for positioning. The end cover 28 is fixed to the outside of the chuck base 26 by screws. The inner ring of the end cover 28 presses the outer ring of the other side of the bearing for positioning. The rotating shaft 24 is fixed to the outside of the chuck top cover 25 by screws and is interference fit with the inner ring of the bearing to form a rotating pair. There is a raised step on the chuck top cover 25. On the one hand, it presses the inner ring of the bearing for positioning. On the other hand, it also allows a gap to be left between the top cover and the base to prevent rotation from being obstructed. The inner ring on the other side of the bearing is positioned by the bearing inner ring positioning screw 29.

[0058] The rotation range limit screw 23 is screwed into the threaded hole of the chuck top cover 25, and the rotation range is limited by the limit groove 31 of the chuck base 26. The rotation range is 150°. On the one hand, it can provide sufficient rotation range for the elbow flexion and extension part, and on the other hand, it plays a role of safety protection; the rotation angle positioning screw 33 is screwed into the threaded hole of the chuck top cover, and the elbow angle can be positioned through the positioning hole 30 of the chuck base. The threaded holes of the chuck top cover and the positioning holes of the chuck base are evenly distributed every 10° within the range of 150°.

[0059] Ginseng Figure 7-Figure 8 As shown, the passive moving subassembly 20 is composed of a linear bearing 37, a return spring 35, a linear shaft 36 and a cover plate 38, all of which are arranged on the passive moving sub-groove on the upper arm bracket 18; the upper arm distal shield cooperates with the linear bearing 37 through the linear bearing seat 34 at its upper end to form a moving pair, so that the upper arm distal shield and the passive moving sub-groove on the upper arm bracket 18 are adapted to form a passive moving pair, and the cover plate 38 acts as a package. The two groups of upper arm distal shields are respectively passed between the passive moving subassembly 20 and the upper arm bracket 18 to achieve axial displacement compensation between the upper arm bracket 18 and the forearm proximal shield 22, allowing the elbow to produce local forward and backward movement, with a certain passive compliance effect, thereby improving the comfort of elbow rehabilitation training.

[0060] Ginseng Figure 2 and Fig. 9 As shown, the flexible driving part 3 includes a first driving part (upper arm) and a second driving part (forearm), both of which are composed of a reset tension spring, a driving rope, a rope sleeve, a pulley block and a guide ring.

[0061] Specifically, the first driving part is arranged at the elbow joint flexion and extension part, and includes a first driving rope 47, a first driving rope sleeve 50, a first pulley group 54, a first hoisting drum 53 and a first driving motor 51, and also includes a second driving rope 48 and a first reset spring 49.

[0062] One end of the first drive rope 47 is fixed to the first positioning hole of the forearm connecting plate 21 by a first fixing screw 55, and the first drive rope 47 passes through the first pulley group 54 along the wire groove 32 at the edge of the angle adjustment chuck top cover 25 and enters the first drive rope sleeve 50, and a wire pressing piece is arranged on the wire groove to prevent the drive rope from jumping off. The first drive rope sleeve 50 is fixed to the sleeve groove on the upper arm bracket 18 by a locking screw, and the first pulley group 54 is fixed to the upper arm bracket 18 by a connecting screw, and the other end of the first drive rope 47 passes through the first drive rope sleeve 50 and is connected to the first hoisting drum 53, and the first hoisting drum 53 is cooperatively connected to the first drive motor 51.

[0063] One end of the second drive rope 48 is fixed to the second positioning hole of the forearm connecting plate 21 by a second fixing screw, and the second drive rope 48 passes through the first pulley group 54 along the wire groove 32 at the edge of the angle adjustment chuck top cover 25, and its tail end is connected to one end of the first return spring 49, and the other end of the first return spring 49 is fixed to the upper arm bracket by a positioning screw, and the first return spring 49 is placed as a whole in the spring groove of the upper arm bracket.

[0064] The first drive motor 51 rotates forward, the first hoisting drum 53 winds around the first drive rope 47, the first drive rope 47 tightens and pulls the forearm to achieve elbow flexion, at this time the first reset spring 49 stretches to store potential energy, the first drive motor 51 rotates reversely, the first hoisting drum 53 relaxes the first drive rope 47, the first reset spring 49 contracts to release elastic potential energy, and the second drive rope 48 pulls the forearm to achieve elbow extension.

[0065] The second driving part is arranged at the forearm rotating part, and includes a third driving rope 40 , a third driving rope sleeve 43 , a second hoisting drum 44 , a second driving motor 45 , a fourth driving rope 41 , and a second return tension spring 42 .

[0066] One end of the third drive rope 40 is fixed to the first positioning hole at one end of the wrist outer ring 4 by the third fixing screw 39, and the third drive rope 40 passes through the first guide eye screw 16 at the bottom of the arc-shaped support plate 15 along the wire groove on the outer wall of the wrist outer ring 4, and enters the third drive rope sleeve 43, and the third drive rope sleeve 43 is fixed in the sleeve groove on the forearm-elbow connector 12 by a locking screw, and the other end of the third drive rope 40 passes through the third drive rope sleeve 43 and is connected to the second hoisting drum 44, and the second hoisting drum 44 is cooperatively connected to the second drive motor 45.

[0067] One end of the fourth drive rope 41 is fixed to the second positioning hole at the other end of the outer wrist ring by a fourth fixing screw, and the fourth drive rope 41 passes through the second guide eye screw along the wire groove of the outer wrist ring 4, and its tail is connected to one end of the second reset spring 42, and the other end of the second reset spring 42 is fixed to the forearm-elbow connector 12 by a positioning screw, and the second reset spring 42 is placed as a whole in the spring groove on the forearm-elbow connector.

[0068] The second drive motor 45 rotates forward, the second hoisting drum 44 winds around the third drive rope 40, the third drive rope 40 tightens and pulls the wrist outer ring to rotate to achieve forearm supination, at this time the second reset spring 42 stretches to store potential energy, the second drive motor 45 rotates reversely, the second hoisting drum 44 relaxes the third drive rope 40, the second reset spring 42 contracts to release elastic potential energy, and the fourth drive rope 41 pulls the wrist outer ring to achieve forearm pronation.

[0069] The working principle and working process of the rope-driven elbow-forearm rehabilitation device based on the tension spring reset system of the present invention are briefly described below.

[0070] First, the inner wrist ring 5 is adapted to the subject's wrist through the strap 13, the forearm shield 11 is adapted to the arm through the strap 13, the upper arm distal shield and the forearm proximal shield 22 are adapted to the upper arm and forearm of the human body, and the wearing of the entire rehabilitation device is completed.

[0071] When the subject needs to perform elbow extension, the first drive motor 51 rotates forward, the first hoisting drum 53 winds the first drive rope 47, the first drive rope 47 passes through the first pulley set 54 and pulls the chuck top cover 25 connected to the forearm proximal shield 22 along the wire groove 32 at the edge of the angle-adjusting chuck top cover 25 to rotate relative to the chuck base 26, tightening and pulling the forearm to achieve elbow flexion; at this time, the first reset tension spring 49 stretches to store potential energy, the first drive motor 51 rotates in the opposite direction, the first hoisting drum 53 relaxes the first drive rope 47, the first reset tension spring 49 contracts to release elastic potential energy, and the second drive rope 48 pulls the forearm to achieve elbow extension.

[0072] Among them, the rotation range limiting screw 23 is screwed into the threaded hole of the chuck top cover 25, and the rotation range is limited by the limiting groove 31 of the chuck base 26. On the one hand, it can allow the elbow flexion and extension part to have a sufficient rotation range, and on the other hand, it plays a role of safety protection; when it is necessary to complete the positioning of the elbow angle, the rotation angle positioning screw 33 is screwed into the threaded hole of the chuck top cover, and the positioning is completed through the positioning hole 30 of the chuck base and the rotation angle positioning screw 33.

[0073] During elbow joint extension, the upper arm will undergo local passive forward and backward movement relative to the forearm. The distal shield of the upper arm slides through the linear bearing seat 34 at its upper end and the linear bearing 37 and linear shaft 36 at the inner end of the upper arm support 18, thereby achieving axial displacement compensation between the upper arm support 18 and the proximal forearm shield 22, thereby improving the comfort of elbow rehabilitation training.

[0074] When it is necessary to perform pronation and supination movements on the subject's forearm, the second drive motor 45 rotates forward, the second hoisting drum 44 winds around the third drive rope 40, the third drive rope 40 is tightened and pulls the outer wrist ring to rotate to achieve forearm supination movement, at this time, the second reset tension spring 42 is stretched to store potential energy, the second drive motor 45 rotates reversely, the second hoisting drum 44 relaxes the third drive rope 40, the second reset tension spring 42 contracts to release elastic potential energy, and the fourth drive rope 41 pulls the outer wrist ring to achieve forearm pronation movement.

[0075] The device is designed to meet the needs of two-degree-of-freedom rehabilitation training for the elbow and forearm, and innovatively adopts a motor-rope drive combined with a tension spring to assist in resetting. The drive rope transmits auxiliary motion and force, and the driver is placed in the human trunk, which effectively reduces the inertia of the upper limb joints during rehabilitation training and improves the safety of rehabilitation training.

[0076] In addition, the present invention designs a set of passive moving units for the upper arm, which are firmly fixed to the flexion and extension part of the elbow joint. When the elbow joint is flexed and extended, the passive moving unit allows the elbow to move forward and backward locally, which has a certain passive compliance effect, thereby improving the comfort of elbow rehabilitation training, and can better simulate the natural movement state of the human body, providing patients with a rehabilitation experience that is more in line with actual needs.

[0077] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A rope-driven elbow-forearm rehabilitation device based on a tension spring reset system, characterized in that: include: A forearm rotating part (1), an elbow flexion and extension part (2) and a flexible driving part (3); The forearm rotating part (1) comprises a forearm shield (11), a wrist outer ring (4), a wrist inner ring (5) and a rotating track assembly, wherein the wrist outer ring (4) and the wrist inner ring (5) form an integral rotating structure, which is adapted to the human wrist via a strap (13), and the forearm shield (11) is adapted to the subject's arm; The elbow joint flexion and extension part (2) comprises an angle adjustment chuck (17), an upper arm bracket (18), and a forearm connecting plate (21), and is connected to the forearm rotating part (1) via a forearm-elbow connecting piece (12); and is adapted to the upper arm and forearm of a human body via an upper arm distal shield on the upper arm bracket (18) and a forearm proximal shield (22) on the forearm connecting plate (21); The flexible driving part (3) comprises a first driving part and a second driving part, which are respectively arranged at the elbow joint flexion and extension part (2) and the forearm rotation part (1), and both comprise a winch, a return tension spring and a driving rope; The wrist outer ring (4) is rotatably connected to the rotating track assembly, one end of which is connected to the winch via a driving rope, and the other end of which is connected to a reset tension spring via a driving rope; The forearm connecting plate (21) is rotatably connected to the upper arm bracket (18) via an angle adjustment chuck (17), one end of the front portion of the forearm connecting plate (21) is connected to a winch via a driving rope, and the other end is connected to a reset tension spring via a driving rope.

2. The rope-driven elbow-forearm rehabilitation device based on the tension spring reset system according to claim 1, characterized in that: The angle adjustment chuck (17) comprises a chuck top cover (25) and a chuck base (26), which form a rotating pair through a rotating shaft (24) and a bearing (27), and a rotation range limiting screw (23) and a rotation angle positioning screw (33) are provided between the chuck top cover (25) and the chuck base (26); and a limiting groove (31) and a base positioning hole (30) are provided on the chuck base (26).

3. The rope-driven elbow-forearm rehabilitation device based on the tension spring reset system according to claim 2, characterized in that: The rotating shaft (24) of the angle adjustment chuck (17) is fixed to the outside of the chuck top cover (25) and is interference fit with the inner ring of the bearing (27) in the chuck base (26), and is axially positioned by the bearing inner ring positioning screw (29); the movable range of the rotation range limiting screw (23) in the limiting groove (31) of the chuck base (26) is 150°, and the rotation angle positioning screw (33) cooperates with the base positioning hole (30) to achieve 10° interval angle positioning.

4. The rope-driven elbow-forearm rehabilitation device based on a tension spring reset system according to claim 2, characterized in that: The first driving unit comprises: a first driving rope (47), a first pulley block (54) and a first hoisting drum (53), and also comprises a second driving rope (48) and a first reset tension spring (49); One end of the first driving rope (47) is fixed to the first positioning hole of the forearm connecting plate (21), and the first driving rope (47) passes through the first pulley group (54) on the upper arm bracket (18) along the wire groove (32) on the edge of the chuck top cover (25) and is connected to the first hoisting drum (53). One end of the second driving rope (48) is fixed to the second positioning hole of the forearm connecting plate (21) by a second fixing screw. The second driving rope (48) passes through the first pulley block (54) along the wire groove (32) at the edge of the angle adjustment chuck top cover (25), and its tail is connected to one end of the first reset tension spring (49).

5. The rope-driven elbow-forearm rehabilitation device based on the tension spring reset system according to claim 4, characterized in that: A first driving rope sleeve (50) is fixed on the upper arm bracket (18); the first driving rope (47) passes through the first driving rope sleeve (50) and is connected to the first hoisting drum (53); the first hoisting drum (53) is cooperatively connected to the first driving motor (51); the other end of the first reset tension spring (49) is fixed on the upper arm bracket.

6. The rope-driven elbow-forearm rehabilitation device based on the tension spring reset system according to claim 5, characterized in that: The first driving rope (47) and the second driving rope (48) are symmetrically arranged along the wire groove (32) of the angle adjustment chuck top cover (25), and a wire pressing piece is provided in the wire groove (32) to prevent the rope from jumping off.

7. The rope-driven elbow-forearm rehabilitation device based on a tension spring reset system according to claim 1, characterized in that: The upper arm distal end shield is connected to the upper arm support (18) via a passive moving subassembly (20). The passive moving sub-assembly (20) comprises a linear bearing (37), a return spring (35) and a linear shaft (36), all of which are arranged in a passive moving sub-slot on the upper arm bracket (18), and the upper arm distal end shield cooperates with the linear bearing (37) through the linear bearing seat (34) at its upper end to form a moving sub-assembly, and the return spring (35) is sleeved on the linear shaft (36), with its two ends respectively abutting against the linear bearing seat (34) and the passive moving sub-slot.

8. The rope-driven elbow-forearm rehabilitation device based on a tension spring reset system according to claim 1, characterized in that: The rotating track assembly comprises a track front baffle (6), an L-shaped track rear baffle (9) and a track shaft (8), the three of which are connected by track screws (10) to form a track bracket with a U-shaped cross-section for assembling the wrist outer ring (4), and a plurality of track shafts (8) cooperating with the wrist outer ring (4) are distributed on the inner and outer sides of the wrist outer ring (4), and the track shaft (8) is rotatably connected to the track bracket.

9. The rope-driven elbow-forearm rehabilitation device based on a tension spring reset system according to claim 8, characterized in that: The second driving unit comprises: a third driving rope (40), a third driving rope sleeve (43), a second hoisting drum (44), a second driving motor (45), and also comprises a fourth driving rope (41) and a second reset tension spring (42); One end of the third driving rope (40) is fixed to a first positioning hole at one end of the wrist outer ring (4); the third driving rope (40) passes through a first guide eye screw (16) at the bottom of the arc-shaped support plate (15) along a wire groove on the outer wall of the wrist outer ring (4) and enters a third driving rope sleeve (43); the other end of the third driving rope (40) passes through the third driving rope sleeve (43) and is connected to a second hoisting drum (44); and the second hoisting drum (44) is connected to a second driving motor (45); One end of the fourth driving rope (41) is fixed to the second positioning hole at the other end of the wrist outer ring, and the fourth driving rope (41) passes through the second guide eye screw along the wire groove of the wrist outer ring (4) and is connected to one end of the second reset tension spring (42).

10. The rope-driven elbow-forearm rehabilitation device based on a tension spring reset system according to claim 9, characterized in that: The third drive rope (40) is fixed to a first positioning hole at one end of the wrist outer ring (4) by a third fixing screw (39), and the fourth drive rope (41) is fixed to a second positioning hole at the other end of the wrist outer ring by a fourth fixing screw; The third drive rope sleeve (43) is fixed in the sleeve groove on the forearm-elbow connecting piece (12) by a locking screw, and the second return tension spring (42) is fixed on the forearm-elbow connecting piece (12) by a positioning screw, and the second return tension spring (42) is placed as a whole in the tension spring groove on the forearm-elbow connecting piece.

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