Upper limb function rehabilitation training device

Abstract

The invention relates to an upper limb function rehabilitation training device which comprises a support, a main body plate is installed on the support, a sliding plate sliding in the width direction of the main body plate is connected to the main body plate in a sliding mode, and two handles are arranged on the sliding plate and used for training hand grasping force of a patient; the sliding plate is further provided with a connecting piece, the connecting piece enables the handle to be in sliding connection with the sliding plate, and the sliding direction of the handle is arranged in the length direction of the sliding plate. The main body plate is further provided with a first training part, and the first training part can apply different resistances to the handle when the handle slides so as to train the elbow of the patient; a second training part is arranged on the support, the second training part enables the main body plate to slide on the support, the sliding direction of the main body plate is in an arc shape, and the shoulders of the patient are trained; a third training part is arranged on the sliding plate, and the third training part enables the handle to rotate relative to the sliding plate on the sliding plate so as to train the wrist of the patient. The upper limb function rehabilitation training device has the effect of optimizing the upper limb function rehabilitation training effect.

Description

Technical Field

[0001] This application relates to the field of rehabilitation training devices, and in particular to an upper limb functional rehabilitation training device. Background Technology

[0002] Since hand function is a core component of human limb function and directly determines daily living activities and quality of life, hand function rehabilitation has always been a core focus in the field of clinical rehabilitation. With the development of rehabilitation technology, upper limb rehabilitation robots, with their precision, continuity, and repeatability in training, have shown extremely broad clinical application prospects. Currently, the mainstream products are mainly divided into two categories: exoskeleton-type and end effector-type.

[0003] From the current market perspective, while imported upper limb robots (such as PABLO and ELINK-E4000) have established mature product lines and cover a wide range of indications, meeting rehabilitation needs in various scenarios including three-dimensional three-joint, planar three-joint, and distal upper limb rehabilitation, they generally suffer from high equipment costs, numerous and easily lost training accessories, requiring frequent maintenance and increasing the workload of medical staff. Domestic brands, limited by their technological R&D capabilities, generally exhibit significant shortcomings: limited rehabilitation dimensions, with most only able to train a single joint (such as the wrist or fingers); monotonous software functions, lacking the ability to adapt to personalized training programs; and weak comprehensive rehabilitation functions, failing to form a multi-dimensional collaborative training system.

[0004] In clinical practice, the shortcomings of existing equipment are even more pronounced. Most institutions' hand function rehabilitation training only covers some joints, failing to achieve full-link functional rehabilitation of the shoulder, elbow, wrist, and palm. This makes it difficult to meet the multi-dimensional, integrated rehabilitation needs of patients with neurological injuries, including functional motor control training, neuromuscular control training, and hand-eye coordination training. Even when using imported equipment such as PABLO and ELINK-E4000 in combination, frequent switching between different devices is necessary. This not only disrupts the continuity of training but also leads to scattered training data from different joints, making unified collection and comprehensive analysis impossible. This severely affects the accuracy of rehabilitation assessments, resulting in poor upper limb functional rehabilitation training outcomes. Therefore, developing an integrated device capable of rehabilitating multiple joints individually or in tandem has become an urgent need to address current clinical challenges. Summary of the Invention

[0005] In order to optimize the effect of upper limb functional rehabilitation training, this application provides an upper limb functional rehabilitation training device.

[0006] This application provides an upper limb functional rehabilitation training device with the following technical solution: An upper limb functional rehabilitation training device includes a support. During training, the patient sits in front of the support. A main plate is installed on the support. A sliding plate that slides along the width direction is slidably connected to the main plate. The length direction of the sliding plate is consistent with the length direction of the main plate. Two handles are provided on the sliding plate to train the patient's hand grip strength. The sliding plate is also provided with a connector for connecting the handle. The connector allows the handle to slide in a sliding connection with the sliding plate, and the sliding direction of the handle is set along the length direction of the sliding plate. The main body plate is also provided with a first training section, which can apply different resistances to the handle when the handle slides, thereby training the patient's elbow. The support is provided with a second training section, which allows the main plate to slide on the support in an arc-shaped direction, thereby training the patient's shoulder. The sliding plate is equipped with a third training section, which allows the handle to rotate relative to the sliding plate to train the patient's wrist.

[0007] Optionally, the connector includes an upper rod fixedly connected to the upper end of the handle, a downwardly protruding support rod fixedly connected to the lower end of the handle, a rectangular cross-section connecting block fixedly connected to the lower end of the support rod, the connecting block being slidably connected to a sliding plate, the sliding direction of the connecting block being set along the length direction of the sliding plate, a bottom rod fixedly connected to the lower surface of the connecting block, the diameter of the bottom rod being smaller than the inscribed circle diameter of the connecting block, a T-shaped rotating block fixedly connected to the lower end of the bottom rod, a push plate being provided below the bottom rod, the two push plates being parallel to each other, and the length direction of the push plates being set along the width direction of the main body plate, an annular rotating groove being opened on the upper surface of the push plate, the rotating groove being adapted to the rotating block, and the rotating block being slidably inserted into the rotating groove.

[0008] Optionally, two side plates are fixedly connected to the main body plate along its length direction. The first training part includes multiple pairs of plug rods located below the sliding plate. The multiple pairs of plug rods are arranged along the width direction of the main body plate. Each pair of plug rods is slidably plugged into the corresponding side plate. The length direction and sliding direction of the plug rods are both set along the length direction of the main body plate. Each pair of plug rods has a mating rod fixedly connected to one end of each other, and the projections of the mating rod and the push plate in the horizontal direction partially overlap. One pair of plug rods is fitted with a primary spring. One end of the primary spring is fixed to the corresponding push plate, and the other end of the primary spring abuts against the corresponding side plate. One pair of plug rods is fitted with a secondary spring. One end of the secondary spring is fixed to the corresponding push plate, and the other end of the secondary spring abuts against the corresponding side plate. Another pair of plug rods is fitted with a tertiary spring. One end of the tertiary spring is fixed to the corresponding push plate, and the other end of the tertiary spring abuts against the corresponding side plate. The elastic force of the primary, secondary, and tertiary springs gradually increases. The primary, secondary, and tertiary springs all position the two push plates between their respective two mating rods. The first training unit also includes a driving component that drives the sliding plate to move along the width direction of the main plate.

[0009] Optionally, the driving component includes a lead screw rotatably connected to the main body plate, the lead screw being located between two push plates, the length direction of the lead screw being set along the width direction of the main body plate, the lead screw passing through the sliding plate and being threadedly connected to the sliding plate, and the driving component also includes a motor mounted on the main body plate to drive the lead screw to rotate.

[0010] Optionally, the second training unit includes two arc-shaped plates disposed on the support, the two arc-shaped plates being located on the same side of the main body plate, and the main body plate being interactively connected to the two arc-shaped plates; The main body plate has horizontally arranged hanging rods fixedly connected to both sides. Each hanging rod passes through the corresponding arc plate and is slidably inserted into the corresponding arc plate. Several counterweight plates can be detachably inserted into each hanging rod. Two pin holes are provided in the middle of one of the long side walls of the sliding plate, and each connecting block is also provided with a pin hole. A fixing pin is detachably inserted into the corresponding pin holes of the connecting block and the sliding plate.

[0011] Optionally, the third training unit includes two threaded holes on the sliding plate. In the initial state, both handles are located between the two threaded holes, and each threaded hole is threaded with a screw. A connecting rod located between two push plates is fixedly connected to the lower surface of the sliding plate. A horizontal support rod is fixedly connected to the lower end of the connecting rod. The support rod is located below all the push plates and the mating rod, and its length is set along the length of the sliding plate. Two push plates are fixedly connected to the side walls that are close to each other. A vertically set sleeve is fixed to one end of each fixed rod that is close to each other. A limit spring is fixedly connected to the inner bottom wall of the sleeve. A vertical rod inserted into the sleeve is fixedly connected to the lower end of the limit spring. A sliding ring is fixedly connected to the lower end of the vertical rod. The sliding ring is sleeved on the mating rod and slidably inserted into the mating rod. The vertical rod is also equipped with a transmission component. When the screw is rotated and moved downward, the transmission component works to push the connecting block out of the connecting groove, so that the bottom rod and the handle can rotate relative to the sliding plate.

[0012] Optionally, the transmission component includes a transmission plate slidably connected to the side wall of the push plate. The sliding direction of the transmission plate is set along the height direction of the support. A transmission spring is fixedly connected to the transmission plate. The transmission spring is fixed to the push plate, and the transmission spring causes the transmission plate to be located at the upper part of the push plate. A horizontal bar located below the transmission plate is fixedly connected to the vertical bar. A transmission block that slides along the length of the horizontal bar is slidably connected to the horizontal bar. A return spring is fixedly connected to the transmission block, and the end of the return spring away from the transmission block is fixed to the horizontal bar. The transmission block is hinged with a first hinge rod and a second hinge rod. The ends of the first hinge rod and the second hinge rod that are close to each other are close to each other, and the ends of the first hinge rod and the second hinge rod that are away from the transmission block are inclined in a direction away from each other. The end of the first hinge rod that is away from the transmission block is hinged to the corresponding sleeve, and the end of the second hinge rod that is away from the transmission block is hinged to the transmission plate.

[0013] Optionally, a pressure sensor is installed on the handle, and a foam sleeve is fitted on the handle to enclose the pressure sensor. A controller is also provided on the support, and the controller is electrically connected to the pressure sensor. A display is installed on the side of the main plate away from the support where the seat is located, and the display is electrically connected to the controller. The upper limb functional rehabilitation training device also includes a wearable wireless sensing unit to monitor the upper limb position, muscle strength and joint angle in real time. The wearable wireless sensing unit is electrically connected to the controller. The controller can manage patient information, supports gamified training modules and report generation functions, and supports personalized rehabilitation plans and effect evaluation.

[0014] In summary, this application includes at least one of the following beneficial technical effects: 1. By setting up a support, a first training section, a second training section, a third training section, a main board, a sliding plate, a handle, and connecting parts, it can realize full-link functional rehabilitation of the shoulder, elbow, wrist, and palm. It can match the multi-dimensional integrated rehabilitation needs of patients with neurological damage, such as functional motor control training, neuromuscular control training, and hand-eye coordination training. Moreover, the training of the shoulder, elbow, wrist, and palm can be carried out continuously, optimizing the effect of upper limb functional rehabilitation training. 2. By setting threaded holes, screws, fixing rods, sleeves, vertical rods, sliding rings, transmission plates, transmission springs, transmission blocks, horizontal rods, return springs, first hinge rods, and second hinge rods, the handle and sliding plate can simultaneously achieve elbow training and wrist training functions, reducing the number of components required for the upper limb functional rehabilitation training device, making the structure of the upper limb functional rehabilitation training device simpler, and facilitating the later maintenance of the upper limb functional rehabilitation training device; 3. By setting up pressure sensors, displays, controllers, and wearable wireless sensing units, patient information can be managed, gamified training modules and report generation functions can be supported, personalized rehabilitation plans and effect evaluation can be supported, the fun of upper limb functional rehabilitation training can be improved, and the effect of upper limb functional rehabilitation training can be visualized. Attached Figure Description

[0015] Figure 1 This is a schematic diagram illustrating the overall structure of the upper limb functional rehabilitation training device in Embodiment 1 of this application.

[0016] Figure 2 This is a cross-sectional view of the structure on the sliding plate after it has been cut open, as shown in Embodiment 1 of this application.

[0017] Figure 3 This is a cross-sectional view illustrating the connector structure in Embodiment 1 of this application.

[0018] Figure 4 This is a cross-sectional view of the connecting member structure in Embodiment 1 of this application.

[0019] Figure 5 This is a schematic diagram illustrating the structure of the second training unit in Embodiment 1 of this application.

[0020] Figure 6 This is a cross-sectional view of the third training section structure as shown in Embodiment 1 of this application.

[0021] Figure 7 This is a cross-sectional view of Embodiment 1 of this application, illustrating the connection relationship between the transmission plate and the push plate.

[0022] Figure 8 This is a schematic diagram illustrating the overall structure of the upper limb functional rehabilitation training device in Embodiment 2 of this application.

[0023] Explanation of reference numerals in the attached drawings: 1. Support; 11. Platform; 12. Support leg; 13. Roller; 2. Main body plate; 21. Side plate; 22. Slider; 23. Display screen; 3. Sliding plate; 31. Groove; 32. Connecting groove; 33. Pin hole; 4. Handle; 5. Connector; 51. Upper rod; 52. Support rod; 53. Connecting block; 531. Fixing pin; 54. Bottom rod; 541. Rotating block; 55. Push plate; 551. Rotating groove; 552. Groove; 6. First training section; 61. Insert rod; 62. Anti-detachment rod; 63. Matching rod; 64. Primary spring; 65. Secondary spring; 66. Tertiary spring; 67. Driving component; 671. Silk 672. Lever; 7. Motor; 8. Second training section; 71. Arc plate; 711. Slide groove; 72. Hanging rod; 73. Counterweight plate; 8. Third training section; 81. Threaded hole; 82. Screw; 83. Upward moving assembly; 831. Connecting rod; 832. Support rod; 833. Fixing rod; 834. Sleeve; 835. Limiting spring; 836. Vertical rod; 837. Sliding ring; 838. Transmission component; 8381. Transmission plate; 8382. Protrusion; 8383. Transmission spring; 8384. Horizontal bar; 8385. End rod; 8386. Transmission block; 8387. Return spring; 8388. First hinge rod; 8389. Second hinge rod. Detailed Implementation

[0024] The following is in conjunction with the appendix Figure 1-8 This application will be described in further detail.

[0025] This application discloses an upper limb functional rehabilitation training device. Example 1

[0026] Reference Figures 1 to 7 The system includes a support 1, a main body plate 2 mounted on the support 1, a first training section 6, a second training section 7, and a third training section 8. The support 1 includes a platform 11, with legs 12 fixedly connected to the four corners of the lower surface of the platform 11. The legs 12 are telescopic, and rollers 13 are installed at the lower ends of the legs 12. The length direction of the main body plate 2 is consistent with the length direction of the platform, and side plates 21 are vertically fixedly connected to one side of each of the two short sides of the upper surface of the main body plate 2.

[0027] A sliding plate 3 is slidably connected to the main body plate 2. The length direction of the sliding plate 3 is set along the length direction of the main body plate 2, and the sliding direction of the sliding plate 3 is set along the width direction of the main body plate 2. The lower surface of the sliding plate 3 is fixedly connected to a groove 31 corresponding to the side plate 21. Each side plate 21 is slidably inserted into the corresponding groove 31. A protruding rod protrudes outward from the upper part of the side wall of the two side plates 21 that are far apart from each other. The length direction of the protruding rod is set along the length direction of the side plate 21. A groove adapted to the protruding rod is opened on the groove 31. The sliding plate 3 is provided with two handles 4, which are set vertically. The sliding plate 3 is also provided with a connector 5 for connecting the handles 4 and the sliding plate 3. The connector 5 allows the handles 4 and the sliding plate 3 to slide relative to each other along the length direction of the sliding plate 3.

[0028] The connector 5 includes an upper rod 51 fixedly connected to the upper end of the handle 4. The upper rod 51 is horizontally arranged. A downwardly protruding support rod 52 is fixedly connected to the lower end of the handle 4. A rectangular cross-section connecting block 53 is fixedly connected to the lower end of the support rod 52. A connecting groove 32 is provided on the upper surface of the sliding plate 3 along its length direction. The connecting groove 32 is adapted to the connecting block 53. Both connecting blocks 53 are slidably inserted into the connecting groove 32. A vertically arranged bottom rod 54 is fixedly connected to the lower surface of the connecting block 53. The bottom rod 54 passes through the sliding plate 3 and is slidably inserted into the sliding plate 3.

[0029] A T-shaped rotating block 541 is fixedly connected to the lower end of the base rod 54. A push plate 55 is provided at the lower end of the base rod 54. The two push plates 55 are parallel to each other and parallel to the side plate 21. There is a distance between the upper surface of the push plate 55 and the lower surface of the sliding plate 3. A circular rotating groove 551 is opened on the upper surface of the push plate 55. The rotating groove 551 is adapted to the rotating block 541, and the rotating block 541 is slidably inserted into the rotating groove 551. Two pin holes 33 are also opened in the middle of one of the long side walls of the sliding plate 3. Each connecting block 53 is also opened with a pin hole 33. A fixing pin 531 is detachably inserted into the corresponding pin holes 33 of the connecting block 53 and the sliding plate 3. The fixing pin 531 cooperates with the sliding plate 3 and the connecting block 53 to fix the connecting block 53 and the sliding plate 3.

[0030] The first training section 6 includes three pairs of plug-in rods 61 arranged above the main body plate 2. The three pairs of plug-in rods 61 are arranged along the width direction of the main body plate 2 and along the length direction of the main body plate 2. The two plug-in rods 61 of each pair are slidably plugged into the two side plates 21, and the plug-in rods 61 are located below the groove 31. The ends of the two plug-in rods 61 of each pair that are far apart from each other are fixedly connected to anti-detachment rods 62, and the ends of the two plug-in rods 61 of each pair that are close to each other are fixedly connected to mating rods 63 for cooperating with push plates 55. The projections of the mating rods 63 and the push rods in the horizontal direction partially overlap.

[0031] Three pairs of plug-in rods 61 are sequentially fitted with a first-stage spring 64, a second-stage spring 65, and a third-stage spring 66 along the side furthest from the operating position. The elastic force of the first-stage spring 64, the second-stage spring 65, and the third-stage spring 66 increases sequentially. One end of the first-stage spring 64 is fixed to the corresponding mating rod 63, and the other end of the first-stage spring 64 abuts against the corresponding side plate 21. One end of the second-stage spring 65 is fixed to the corresponding mating rod 63, and the other end of the second-stage spring 65 abuts against the corresponding side plate 21. One end of the third-stage spring 66 is fixed to the corresponding mating rod 63, and the other end of the third-stage spring 66 abuts against the corresponding side plate 21. When the first-stage spring 64, the second-stage spring 65, and the third-stage spring 66 are working, they all cause the two push plates 55 to be positioned between the two corresponding mating rods 63.

[0032] The first training unit 6 also includes a driving component 67 for moving the sliding plate 3. The driving component 67 includes a lead screw 671 rotatably connected to the main body plate 2. The length direction of the lead screw 671 is set along the width direction of the main body plate 2. The lead screw 671 passes through the sliding plate 3 and is threadedly connected to the sliding plate 3. A motor 672 is also installed on the main body plate 2. The motor 672 is located at one end of the lead screw 671. The output shaft of the motor 672 is coaxial with the lead screw 671, and the output shaft of the motor 672 is connected and fixed to the corresponding end of the lead screw 671.

[0033] The second training section 7 includes two arc-shaped plates 71 fixed on the platform 11. The length direction of the arc-shaped plates 71 is set along the height direction of the support 1. The arc-shaped plates 71 are located on the side of the main plate 2 near the three-stage spring 66. The side wall of the main plate 2 near the arc-shaped plates 71 is fixedly connected with sliders 22 corresponding to the arc-shaped plates 71. The side wall of the arc-shaped plates 71 near the main plate 2 is provided with a groove 711 that is adapted to the slider 22. The length direction of the groove 711 is set along the length direction of the arc-shaped plates 71. Each slider 22 is slidably inserted into the corresponding groove 711. The curvature of the arc-shaped plates 71 is adapted to the curvature of the operator's upper and lower swing arms.

[0034] Two horizontally arranged hanging rods 72 are fixedly connected to the side walls of the two sliders 22 that are far apart from each other. The length direction of the hanging rods 72 is set along the length direction of the main body plate 2. Each hanging rod 72 passes through the corresponding arc plate 71 and is slidably connected to the corresponding arc plate 71. Several counterweights 73 can be detachably inserted into each of the two hanging rods 72. By controlling the number of counterweights 73, the resistance encountered by the operator when swinging the arm up and down can be controlled.

[0035] The third training section 8 includes two threaded holes 81 on the sliding plate 3, which penetrate the sliding plate 3. When the first training section 6 is used, both push plates 55 are located between the two threaded holes 81, and each threaded hole 81 is threaded with a screw 82. The third training section 8 also includes an upward moving component 83 that pushes the connecting block 53 upward to disengage from the connecting groove 32. The upward moving component 83 includes a connecting rod 831 fixedly connected to the lower surface of the sliding plate 3. The connecting rod 831 is located between the two push plates 55, and a support rod 832 is fixedly connected to the lower end of the connecting rod 831. The length direction of the support rod 832 is along the length direction of the sliding plate 3, and the support rod 832 is located below the push plate 55 and the cooperating rod 63.

[0036] Two push plates 55 are vertically fixed to the side walls of each other, and horizontally set fixing rods 833 are fixedly connected. The fixing rods 833 are located on the side of the push plate 55 away from the threaded hole 81. A sleeve 834 is fixedly connected to the fixing rod 833, with the opening of the sleeve 834 facing downward. A limit spring 835 is fixedly connected to the inner bottom wall of the sleeve 834. A vertical rod 836 is fixedly connected to the lower end of the limit spring 835. The vertical rod 836 is slidably inserted into the sleeve 834. A sliding ring 837 is fixedly connected to the lower end of the vertical rod 836. The sliding ring 837 is slidably sleeved on the support rod 832. The support rod 832 cooperates with the sliding ring 837, the vertical rod 836, the limit spring 835, the sleeve 834 and the fixing rod 833 to limit the push plate 55, the bottom rod 54, the connecting block 53, the support rod 52 and the handle 4, so that the connecting block 53 and the connecting groove 32 are in contact.

[0037] The upward moving assembly 83 also includes a transmission component 838 that drives the sleeve 834 to move upward. During the process of rotating the screw 82 to move the screw 82 downward, the transmission component 838 works, enabling the sleeve 834, the fixed rod 833, the push plate 55, the bottom rod 54, the connecting block 53, the support rod 52, the upper rod 51, and the handle 4 to move upward. When the screw 82 rotates and moves downward to the position, the connecting block 53 disengages from the connecting groove 32. At this time, the handle 4, the upper rod 51, the support rod 52, the connecting block 53, and the bottom rod 54 can all rotate relative to the sliding plate 3.

[0038] The transmission component 838 includes a transmission plate 8381 slidably connected to the push plate 55. The transmission plate 8381 is horizontally arranged and located on one side of the sleeve 834. When the transmission plate 8381 moves below the threaded hole 81, the transmission plate 8381 is aligned with the threaded hole 81. A T-shaped protrusion 8382 is fixedly connected to the side wall of the transmission plate 8381 near the push plate 55. A groove 552 adapted to the protrusion 8382 is provided on the push plate 55. The length direction of the groove 552 is arranged along the height direction of the support 1. The protrusion 8382 is slidably inserted into the groove 552. A transmission spring 8383 is fixedly connected to the lower surface of the protrusion 8382. The transmission spring 8383 limits the protrusion 8382 and the transmission plate 8381, so that the transmission plate 8381 is located on the upper part of the push plate 55.

[0039] A horizontally arranged crossbar 8384 is fixedly connected to the lower end of the vertical rod 836. The length of the crossbar 8384 is along the width of the main body plate 2. The crossbar 8384 has a rectangular cross section. An end rod 8385 is fixedly connected to the end of the crossbar 8384 away from the vertical rod 836. A transmission block 8386 is slidably sleeved on the crossbar 8384. A return spring 8387 is fixedly connected to the side wall of the transmission block 8386 near the end rod 8385. The return spring 8387 is sleeved on the crossbar 8384. The end of the return spring 8387 away from the transmission block 8386 is fixed to the end rod 8385. The return spring 8387 limits the transmission block 8386, so that the transmission block 8386 is located between the vertical rod 836 and the transmission plate 8381.

[0040] The upper surface of the transmission block 8386 is hinged with a first hinge rod 8388 and a second hinge rod 8389. The ends of the first hinge rod 8388 and the second hinge rod 8389 that are close to each other are close to each other, and the ends of the first hinge rod 8388 and the second hinge rod 8389 that are away from the transmission block 8386 are inclined in a direction away from each other. The end of the first hinge rod 8388 that is away from the transmission block 8386 is hinged to the sleeve 834, and the end of the second hinge rod 8389 that is away from the transmission block 8386 is hinged to the transmission plate 8381.

[0041] When the operator performs rehabilitation training on the shoulder, the operator sits on the side of the platform 11 away from the curved plate 71, inserts the fixing pin 531 into the corresponding pin hole 33, and holds the handle 4 to swing the arm up and down. When it is necessary to change the resistance of the arm swinging up and down, the operator can change the resistance during rehabilitation training by adding or removing the counterweight 73. When the operator performs rehabilitation training on the palm, the operator holds the handle 4 and can perform rehabilitation training on the palm by changing the grip strength.

[0042] When the operator needs to perform elbow rehabilitation training, the operator pulls the fixing pin 531 out of the pin hole 33 until the fixing pin 531 is disengaged from the slide plate 3. The operator then holds the handle 4 with both hands and pulls the handle 4 in a direction away from each other. When pulling the handle 4, the operator uses the elbow to exert force. The movement of the handle 4 drives the upper rod 51, support rod 52, connecting block 53, bottom rod 54, push plate 55, sleeve 834, vertical rod 836, and sliding ring 837 to move. The push plate 55 cooperates with the cooperating rod 63, so that the push plate 55 drives the cooperating rod 63 and the plug-in rod 61 to move. During the movement of the push plate 55, the support rod 832 cooperates with the fixing rod 833, sleeve 834, vertical rod 836, and sliding ring 837 to guide the push plate 55 and prevent the push plate 55 from rotating, so that the two push plates 55 remain parallel to each other.

[0043] When handle 4 is pulled, the primary spring 64 is compressed, providing resistance for elbow rehabilitation training. When handle 4 moves to its limit in a direction away from each other, the operator grips handle 4, slowly bringing the two handles 4 closer together. During this process, the operator needs to resist the force generated by the primary spring 64 as it recovers its deformation. By controlling the operation of motor 672, which works in conjunction with lead screw 671, the sliding plate 3 drives handle 4 to move along the width of the main plate 2, allowing the operator to select the resistance during training according to the actual situation.

[0044] When the operator needs to perform wrist rehabilitation training, keep the fixing pin 531 detached from the sliding plate 3. The operator first moves the two handles 4, moving them away from each other. The handles 4 drive the corresponding push plate 55 to move. When the push plate 55 moves, the first-stage spring 64 is compressed. When the handles 4 are in place, they are adjacent to the corresponding threaded holes 81, and both threaded holes 81 are located between the two handles 4. At this time, the transmission plate 8381 is aligned with the threaded holes 81.

[0045] The operator rotates screw 82, causing it to move downwards. Simultaneously, screw 82 pushes transmission plate 8381 downwards. During this process, return spring 8387 is compressed, second hinge rod 8389 rotates, and pushes transmission block 8386 towards the direction of vertical rod 836. Return spring 8387 is stretched, and transmission block 8386 moves, causing first hinge rod 8388 to rotate. The upper end of first hinge rod 8388 pushes sleeve 834, push plate 55, bottom rod 54, and connecting block 53 upwards. During this process, screw 82 limits transmission plate 8381, preventing it from moving with push plate 55. When screw 82 is turned to the correct position, connecting block 53 disengages from connecting groove 32. At this time, handle 4 can be rotated. The operator rotates handle 4, which drives upper rod 51, support rod 52, connecting block 53, bottom rod 54, and rotating block 541 to move along rotating groove 551.

[0046] After wrist rehabilitation training, the operator rotates handle 4 to align connecting block 53 with connecting groove 32. Then, the screw 82 is rotated to move upward. Simultaneously, transmission spring 8383 returns to its original deformation and drives transmission plate 8381 to move upward and reset. As transmission plate 8381 moves, second hinge rod 8389 rotates and resets. Reset spring 8387 also returns to its original deformation and drives transmission block 8386 and first hinge rod 8388 to move and reset. At the same time as first hinge rod 8388 rotates and resets, limit spring 835 returns to its original deformation and drives sleeve... 834 and push plate 55 move downwards to reset. The movement of push plate 55 drives the bottom rod 54, connecting block 53, support rod 52, upper rod 51 and handle 4 to move downwards to reset. When screw 82 disengages from transmission plate 8381, limit spring 835, transmission spring 8383 and reset spring 8387 all return to their initial state. At this time, connecting block 53 moves into connecting groove 32. When screw 82 disengages from threaded hole 81, first-stage spring 64 restores its deformation and pushes push plate 55, bottom rod 54, connecting block 53, upper rod 51 and handle 4 to move and reset.

[0047] Through the above settings, full-link functional rehabilitation of the shoulder, elbow, wrist, and palm can be achieved. It can match the multi-dimensional integrated rehabilitation needs of patients with neurological damage, such as functional motor control training, neuromuscular control training, and hand-eye coordination training. Moreover, the training of the shoulder, elbow, wrist, and palm can be carried out in a continuous manner, optimizing the effect of upper limb functional rehabilitation training.

[0048] The implementation principle of Embodiment 1 of this application is as follows: When performing shoulder rehabilitation training, the operator adds or removes the counterweight plate 73 according to the actual situation, then sits in front of the platform 11 and holds the handle 4 to perform up and down arm swing training; when performing elbow rehabilitation training, the operator controls the motor 672 to move the push plate 55 to the corresponding cooperating rod 63, then pushes the handle 4 in a direction away from each other, and then slowly returns the handle 4 to its original position; when performing wrist rehabilitation training, the operator controls the motor 672 to move the push plate 55 to the corresponding cooperating rod 63, then pushes the handle 4 in a direction away from each other. Push the handle 4 to move it to the predetermined position, then rotate the screw 82 to move the handle 4, the upper rod 51, and the connecting block 53 upwards. When the screw 82 is rotated to the correct position, the connecting block 53 disengages from the connecting groove 32, allowing the operator to rotate the handle 4. After wrist training, the operator rotates the screw 82 to disengage from the threaded hole 81, and the handle 4, connecting block 53, and push plate 55 move back to their initial positions. During palm rehabilitation training, by holding the handle 4 and changing the grip strength, the palm can be rehabilitated. Example 2

[0049] Reference Figure 8The difference between this embodiment and Embodiment 1 is that, in order to visualize the results of upper limb functional rehabilitation training, a pressure sensor is installed on the handle 4, and a foam sleeve is fitted on the handle 4 to enclose the pressure sensor. A controller is also provided on the support 1, and the controller is electrically connected to the pressure sensor. Neither the pressure sensor nor the controller is shown in the figure. A display is installed on the side of the main plate 2 away from the support 1 where the seat is located, and the display is electrically connected to the controller. The upper limb functional rehabilitation training device also includes a wearable wireless sensing unit, which is also not shown in the figure. It monitors the upper limb position, muscle strength, and joint angle in real time. The wearable wireless sensing unit is electrically connected to the controller. The controller can manage patient information, support gamified training modules and report generation functions, support personalized rehabilitation plans and effect evaluation, and can also monitor the patient's concentration. When the patient's attention is distracted, it can issue an audio reminder, thereby making the patient more focused during training.

[0050] With the above settings, the controller can manage patient information, support gamified training modules and report generation functions, support personalized rehabilitation plans and effect evaluation, and optimize the effect of upper limb functional rehabilitation training.

[0051] The implementation principle of Embodiment 2 of this application is as follows: When performing rehabilitation training, the operator puts on the wearable wireless sensing unit and then performs rehabilitation training on the shoulder, elbow, wrist and palm. During the training, the controller can manage patient information, support gamified training modules and report generation functions, and support personalized rehabilitation plans and effect evaluation.

[0052] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An upper limb functional rehabilitation training device, characterized in that: Includes a support (1). During training, the patient sits in front of the support (1). A main plate (2) is installed on the support (1). A sliding plate (3) that slides along its width direction is slidably connected to the main plate (2). The length direction of the sliding plate (3) is consistent with the length direction of the main plate (2). Two handles (4) are provided on the sliding plate (3) to train the patient's hand grip strength. The sliding plate (3) is also provided with a connector (5) for connecting the handle (4). The connector (5) makes the handle (4) slide connected to the sliding plate (3), and the sliding direction of the handle (4) is set along the length direction of the sliding plate (3). The main body plate (2) is also provided with a first training part (6). The first training part (6) can apply different resistances to the handle (4) when the handle (4) slides, so as to train the patient's elbow. The support (1) is provided with a second training section (7), which allows the main plate (2) to slide on the support (1) and the sliding direction of the main plate (2) is arc-shaped, thereby training the patient's shoulder. The sliding plate (3) is provided with a third training section (8), which causes the handle (4) to rotate relative to the sliding plate (3) to train the patient's wrist.

2. The upper limb functional rehabilitation training device according to claim 1, characterized in that: The connector (5) includes an upper rod (51) fixedly connected to the upper end of the handle (4), a downwardly protruding support rod (52) fixedly connected to the lower end of the handle (4), a rectangular cross-section connecting block (53) fixedly connected to the lower end of the support rod (52), the connecting block (53) being slidably connected to the sliding plate (3), the sliding direction of the connecting block (53) being set along the length direction of the sliding plate (3), and a bottom rod (54) fixedly connected to the lower surface of the connecting block (53), the diameter of the bottom rod (54) being smaller than that of the connecting block (51). The inner circle diameter of 53) is fixedly connected to the lower end of the bottom rod (54) with a rotating block (541) in the shape of a T. A push plate (55) is provided below the bottom rod (54). The two push plates (55) are parallel to each other, and the length direction of the push plate (55) is set along the width direction of the main plate (2). A circular rotating groove (551) is opened on the upper surface of the push plate (55). The rotating groove (551) is adapted to the rotating block (541), and the rotating block (541) is slidably inserted into the rotating groove (551).

3. The upper limb functional rehabilitation training device according to claim 2, characterized in that: The main body plate (2) is fixedly connected to two side plates (21) arranged along its length direction. The first training part (6) includes multiple pairs of plug rods (61) located below the sliding plate (3). The multiple pairs of plug rods (61) are arranged along the width direction of the main body plate (2). Each pair of plug rods (61) is slidably plugged into the corresponding side plate (21). The length direction and sliding direction of the plug rods (61) are both set along the length direction of the main body plate (2). Each pair of plug rods (61) is fixedly connected to a mating rod (63) at one end that is close to each other. The projections of the mating rod (63) and the push plate (55) in the horizontal direction partially overlap. One pair of plug rods (61) are fitted with a first-level spring (64). One end of the first-level spring (64) is fixed to the corresponding push plate (55), and the other end of the first-level spring (64) abuts against the corresponding side plate (21). One pair of plug rods (61) are fitted with a second-level spring (65). One end of the second-level spring (65) is fixed to the corresponding push plate (55), and the other end of the second-level spring (65) abuts against the corresponding side plate (21). Another pair of plug rods (61) are fitted with a third-level spring (66). One end of the third-level spring (66) is fixed to the corresponding push plate (55), and the other end of the third-level spring (66) abuts against the corresponding side plate (21). The elastic force of the first-level spring (64), the second-level spring (65), and the third-level spring (66) gradually increases. The first-level spring (64), the second-level spring (65), and the third-level spring (66) all make the two push plates (55) located between their respective two mating rods (63). The first training unit (6) also includes a driving member (67) that drives the sliding plate (3) to move along the width direction of the main plate (2).

4. The upper limb functional rehabilitation training device according to claim 3, characterized in that: The drive unit (67) includes a lead screw (671) rotatably connected to the main body plate (2). The lead screw (671) is located between two push plates (55). The length direction of the lead screw (671) is set along the width direction of the main body plate (2). The lead screw (671) passes through the sliding plate (3) and is threadedly connected to the sliding plate (3). The drive unit (67) also includes a motor (672) that drives the lead screw (671) to rotate on the main body plate (2).

5. The upper limb functional rehabilitation training device according to claim 3 or 4, characterized in that: The second training unit (7) includes two arc-shaped plates (71) disposed on the support (1), the two arc-shaped plates (71) being located on the same side of the main body plate (2), and the main body plate (2) being interactively connected to the two arc-shaped plates (71); The main body plate (2) is fixedly connected to horizontally arranged hanging rods (72) on both sides. Each hanging rod (72) passes through the corresponding arc plate (71) and is slidably inserted into the corresponding arc plate (71). Several counterweight plates (73) can be detachably inserted into each hanging rod (72). Two pin holes (33) are opened in the middle of one of the long side walls of the sliding plate (3), and each connecting block (53) is also provided with a pin hole (33). A fixing pin (531) is detachably inserted into the corresponding pin holes (33) of the connecting block (53) and the sliding plate (3).

6. The upper limb functional rehabilitation training device according to claim 3 or 4, characterized in that: The third training section (8) includes two threaded holes (81) on the sliding plate (3). In the initial state, the two handles (4) are located between the two threaded holes (81), and each threaded hole (81) is threaded with a screw (82). The lower surface of the sliding plate (3) is fixedly connected to a connecting rod (831) located between two push plates (55). The lower end of the connecting rod (831) is fixedly connected to a horizontal support rod (832). The support rod (832) is located below all the push plates (55) and the mating rod (63). The length direction of the support rod (832) is set along the length direction of the sliding plate (3). Two push plates (55) are fixedly connected to the side walls of each other. A vertically set sleeve (834) is fixed to one end of each fixed rod (833) that is close to each other. A limit spring (835) is fixedly connected to the inner bottom wall of the sleeve (834). A vertical rod (836) inserted into the sleeve (834) is fixedly connected to the lower end of the limit spring (835). A sliding ring (837) is fixedly connected to the lower end of the vertical rod (836). The sliding ring (837) is sleeved on the mating rod (63) and slidably inserted into the mating rod (63). The vertical rod (836) is also provided with a transmission component (838). When the screw (82) is rotated and moved downward, the transmission component (838) works to push the connecting block (53) out of the connecting groove (32), so that the bottom rod (54) and the handle (4) can rotate relative to the sliding plate (3).

7. The upper limb functional rehabilitation training device according to claim 6, characterized in that: The transmission component (838) includes a transmission plate (8381) slidably connected to the side wall of the push plate (55). The sliding direction of the transmission plate (8381) is set along the height direction of the support (1). A transmission spring (8383) is fixedly connected to the transmission plate (8381). The transmission spring (8383) is fixed to the push plate (55). The transmission spring (8383) makes the transmission plate (8381) located at the upper part of the push plate (55). A horizontal bar (8384) located below the transmission plate (8381) is fixedly connected to the vertical bar (836). A transmission block (8386) that slides along the length of the horizontal bar (8384) is slidably connected to the horizontal bar (8384). A return spring (8387) is fixedly connected to the transmission block (8386). One end of the return spring (8387) away from the transmission block (8386) is fixed to the horizontal bar (8384). A first hinge rod (8388) and a second hinge rod (8389) are hinged on the transmission block (8386). The ends of the first hinge rod (8388) and the second hinge rod (8389) close to each other on the transmission block (8386). The ends of the first hinge rod (8388) and the second hinge rod (8389) away from the transmission block (8386) are inclined in a direction away from each other. The end of the first hinge rod (8388) away from the transmission block (8386) is hinged to the corresponding sleeve (834). The end of the second hinge rod (8389) away from the transmission block (8386) is hinged to the transmission plate (8381).

8. The upper limb functional rehabilitation training device according to claim 1, characterized in that: A pressure sensor is installed on the handle (4), and a foam sleeve that encloses the pressure sensor is fitted on the handle (4). A controller is also provided on the support (1), and the controller is electrically connected to the pressure sensor. A display is installed on the side of the main plate (2) away from the support (1) where the seat is located, and the display is electrically connected to the controller. The upper limb functional rehabilitation training device also includes a wearable wireless sensing unit to monitor the upper limb position, muscle strength and joint angle in real time. The wearable wireless sensing unit is electrically connected to the controller. The controller can manage patient information, supports gamified training modules and report generation functions, and supports personalized rehabilitation plans and effect evaluation.

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