A cervical joint rehabilitation training device

Abstract

This invention discloses a cervical joint rehabilitation training device, comprising a first platform, a second platform, and a drive mechanism. The first platform includes a first support arm and a second support arm, both with rotating joints at their ends. The second platform includes a first actuator rod, a second actuator rod, a first parallel rod, a second parallel rod, a first connecting seat, and a second connecting seat. The drive mechanism includes a first drive arm, a second drive arm, a third drive arm, and a fourth drive arm. The cervical joint rehabilitation training device provided by this invention sets the rotation center (origin) of the second platform outside the device itself, aligning it with the human cervical spine. This effectively avoids impacting other parts of the body, mimics the natural movement trajectory of the cervical spine to a certain extent, and enhances the rehabilitation effect. Simultaneously, it can also provide moderate stimulation to some nerves in the cervical spine area, facilitating better rehabilitation outcomes.

Description

Technical Field

[0001] This invention belongs to the field of rehabilitation training equipment technology, and particularly relates to a cervical joint rehabilitation training device. Background Technology

[0002] Rehabilitation after cervical joint injury not only includes restoring neck joint mobility but also effectively reducing pain, promoting local blood circulation, improving cervical spine mobility, and enhancing rehabilitation outcomes through appropriate massage and exercise. Especially during rehabilitation training, combining appropriate massage techniques helps improve rehabilitation efficiency, reduce patient discomfort, and make the rehabilitation process more comprehensive and humane. However, the main problems currently existing are: (1) Traditional rehabilitation mainly relies on the therapist's manual operation, which is not only inefficient and labor-intensive, but also makes it difficult to guarantee the training intensity and consistency of movements. The patient's recovery process is highly dependent on the operator's experience.

[0003] (2) Most of the existing cervical spine rehabilitation robots are neck braces, and the center of motion is not on the cervical spine joints. This will cause additional traction or pressure on the head fixation point and the shoulder, causing discomfort or even injury.

[0004] Therefore, there is an urgent need to design a cervical joint rehabilitation training device to solve the problem of the locking device mentioned above. Summary of the Invention

[0005] The purpose of this invention is to provide a cervical joint rehabilitation training device that can achieve the exercise forms and rehabilitation effects required for cervical joint rehabilitation, effectively avoid traction on the head and pressure on the shoulders, and solve the problems involved in the background art.

[0006] To achieve the above objectives, the specific technical solution of the cervical joint rehabilitation training device of the present invention is as follows: A cervical joint rehabilitation training device comprises a first platform, a second platform, and a drive mechanism. The first platform includes a first support arm and a second support arm, and both the ends of the first support arm and the second support arm are provided with a rotating joint. The second platform includes a first actuator and a second actuator, which are hinged together. The ends of the second actuator and the first actuator are respectively hinged to a first parallel rod and a second parallel rod. The end of the first parallel rod away from the second actuator is hinged to the first actuator via a first connecting rod. The end of the second parallel rod away from the first actuator is hinged to the second actuator via a second connecting rod. A first connecting seat and a second connecting seat are respectively connected to the first connecting rod and the second connecting rod. The drive mechanism includes a first drive arm, a second drive arm, a third drive arm, and a fourth drive arm. One end of the first drive arm and the second drive arm are respectively connected to the rotating joints of the first support arm and the second support arm. The ends of the first drive arm and the second drive arm away from the first support arm and the second support arm are both connected to the second connecting seat. One end of the third drive arm and the fourth drive arm are respectively connected to the rotating joints of the second support arm and the first support arm. The ends of the first drive arm and the second drive arm away from the second support arm and the first support arm are both connected to the first connecting seat.

[0007] Furthermore, the first support arm and the second support arm are fixedly connected at their centers, and the axes of the rotating joints at the ends of the first support arm and the second support arm intersect at a common origin.

[0008] Furthermore, the first connecting seat and the second connecting seat are respectively provided with openings for connecting the first driving arm, the second driving arm, the third driving arm and the fourth driving arm, and the axes of the multiple openings intersect the axis of the rotating pair at the same origin.

[0009] Furthermore, a first clamping plate is provided at the end of the first actuator rod away from the second parallel rod, and a second clamping plate is provided at the end of the second actuator rod away from the first parallel rod. The first clamping plate and the second clamping plate abut against the neck, so that the first clamping plate and the second clamping plate move the neck with one or more of the first drive arm, the second drive arm, the third drive arm and the fourth drive arm.

[0010] Furthermore, the first and second drive arms extend or retract synchronously, and the third and fourth drive arms retract or extend synchronously, so that the first and second clamping plates drive the neck to rotate.

[0011] Furthermore, the first and third drive arms extend or retract synchronously, and the second and fourth drive arms retract or extend synchronously, so that the first and second clamping plates drive the neck to flex and extend.

[0012] Furthermore, the first and fourth drive arms extend or retract synchronously, and the second and third drive arms retract or extend synchronously, so that the first and second clamping plates cause the neck to flex laterally.

[0013] Furthermore, the first drive arm, the second drive arm, the third drive arm, and the fourth drive arm extend or retract synchronously to move the first clamping plate and the second clamping plate away from or towards the origin.

[0014] Furthermore, when the first drive arm, second drive arm, third drive arm, and fourth drive arm extend or retract synchronously, the first parallel rod is always parallel to the second actuator rod, and the second parallel rod is always parallel to the first actuator rod.

[0015] Furthermore, both the first connecting seat and the second connecting seat are configured as T-shaped, and the openings for connecting the first drive arm, the second drive arm, the third drive arm and the fourth drive arm are respectively opened at both ends of the first connecting seat and the second connecting seat.

[0016] The cervical joint rehabilitation training device of the present invention has the following advantages: (1) The present invention sets the rotation center, i.e. the origin, of the second platform outside the rehabilitation training device and makes the rotation center coincide with the human cervical spine, which effectively avoids the influence on other parts of the human body, and to a certain extent fits the human cervical spine movement trajectory, thus enhancing the rehabilitation effect.

[0017] (2) The present invention incorporates massage function into the rehabilitation process of patients, which can greatly alleviate muscle fatigue and other problems caused by patients under a fixed rehabilitation trajectory. At the same time, it can also moderately stimulate some nerves in the cervical spine to achieve better rehabilitation effect. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the origin of the cervical joint rehabilitation training device of the present invention; Figure 2 This is a schematic diagram of the overall structure of the cervical joint rehabilitation training device of the present invention; Figure 3 This is a schematic diagram showing the movement direction of the first clamping plate and the second clamping plate of the cervical joint rehabilitation training device of the present invention. Figure 4 This is a schematic diagram of the structure of the second platform of the cervical joint rehabilitation training device of the present invention; Figure 5 This is a schematic diagram of the structure of the first platform of the cervical joint rehabilitation training device of the present invention; Figure 6 This is a schematic diagram of the structure of the first drive arm, the second drive arm, the third drive arm, and the fourth drive arm.

[0019] Explanation of markings in the diagram: 1. First platform; 11. First support arm; 12. Second support arm; 13. Rotary joint; 2. Second platform; 21. First actuator; 22. Second actuator; 23. First parallel rod; 24. Second parallel rod; 25. First connecting rod; 26. Second connecting rod; 27. First connecting seat; 28. Second connecting seat; 3. Drive mechanism; 31. First drive arm; 32. Second drive arm; 33. Third drive arm; 34. Fourth drive arm; 4. First clamping plate; 5. Second clamping plate; 6. First connector; 7. Second connector; 8. Electric push rod guide sleeve; 9. Push rod. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] Those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

[0022] The following is a reference to the appendix. Figure 1 To be continued Figure 6 The present invention describes a cervical joint rehabilitation training device.

[0023] like Figure 1 and Figure 2 As shown, the cervical joint rehabilitation training device of the present invention consists of a first platform 1, a second platform 2 and a drive mechanism 3. The first platform 1 is a fixed platform, the second platform 2 is a variable platform, and the drive mechanism 3 is connected between the first platform 1 and the second platform 2, thereby driving the second platform 2 to move or deform as a whole.

[0024] The first platform 1 includes a first support arm 11 and a second support arm 12. Preferably, the first support arm 11 and the second support arm 12 have the same shape and size, and both the first support arm 11 and the second support arm 12 are provided with a rotating pair 13 at their ends. The rotating pair 13 is used to connect the drive mechanism 3.

[0025] The second platform 2 includes a first actuator 21 and a second actuator 22, and the first actuator 21 and the second actuator 22 are hinged together. It should be noted that the hinge point of the first actuator 21 and the second actuator 22 is not located at the center of the first actuator 21 and the second actuator 22, so that the lengths of the first actuator 21 and the second actuator 22 on both sides of the hinge point are different.

[0026] Meanwhile, the end of the second actuator 22 is hinged to the end of the first parallel rod 23, and the end of the first actuator 21 is hinged to the end of the second parallel rod 24; wherein the first actuator 21 and the second actuator 22 have the same shape and size, and the first parallel rod 23 and the second parallel rod 24 have the same shape and size.

[0027] More specifically, the end of the first parallel rod 23 away from the second actuating rod 22 is hinged to the first actuating rod 21 via the first connecting rod 25, wherein the first connecting rod 25 is hinged to the end of the first parallel rod 23 away from the second actuating rod 22; the end of the second parallel rod 24 away from the first actuating rod 21 is hinged to the second actuating rod 22 via the second connecting rod 26, wherein the second connecting rod 26 is hinged to the end of the second parallel rod 24 away from the first actuating rod 21.

[0028] Furthermore, a first connecting seat 27 and a second connecting seat 28 are respectively hinged to the first connecting rod 25 and the second connecting rod 26, so that the first connecting seat 27 and the second connecting seat 28 are rotatably mounted on the first connecting rod 25 and the second connecting rod 26, respectively.

[0029] The drive mechanism 3 includes a first drive arm 31, a second drive arm 32, a third drive arm 33, and a fourth drive arm 34. Preferably, the first drive arm 31, the second drive arm 32, the third drive arm 33, and the fourth drive arm 34 have the same structure, and are all composed of a first connecting member 6, an electric push rod guide sleeve 8, a push rod 9, and a second connecting member 7 connected in sequence.

[0030] In this configuration, one end of the first connecting member 6 is hinged to the electric push rod guide sleeve 8, and the end of the first connecting member 6 away from the electric push rod guide sleeve 8 is connected to the rotating pair 13. The electric push rod guide sleeve 8 has a push rod 9 that extends and retracts inside. The end of the push rod 9 away from the electric push rod guide sleeve 8 is hinged to the second connecting member 7, and the end of the second connecting member 7 away from the push rod 9 is hinged to the opening. The electric push rod guide sleeve 8 drives the push rod 9 to extend or retract, changing the distance between the first connecting member 6 and the second connecting member 7, thereby realizing the overall movement or deformation of the second platform 2.

[0031] It should be noted that the electric push rod guide sleeves 8 of the first drive arm 31, the second drive arm 32, the third drive arm 33 and the fourth drive arm 34 are all electrically connected to the control unit, and are used to control the electric push rod guide sleeves 8 of the first drive arm 31, the second drive arm 32, the third drive arm 33 and the fourth drive arm 34 to drive the push rod 9 to extend or retract. The electric connection between the electric push rod guide sleeves 8 and the control unit is prior art and will not be described in detail here.

[0032] More specifically, one end of the first drive arm 31 and the second drive arm 32 are respectively connected to the rotating joint 13 of the first support arm 11 and the second support arm 12, that is, the first connecting member 6 is connected to the rotating joint 13; the ends of the first drive arm 31 and the second drive arm 32 away from the first support arm 11 and the second support arm 12 are both connected to the second connecting seat 28, that is, the second connecting member 7 is hinged to the second connecting seat 28.

[0033] Meanwhile, one end of the third drive arm 33 and the fourth drive arm 34 are respectively connected to the rotating joint 13 of the second support arm 12 and the first support arm 11, that is, the first connecting piece 6 is connected to the rotating joint 13. The ends of the third drive arm 33 and the fourth drive arm 34 away from the second support arm 12 and the first support arm 11 are both connected to the first connecting seat 27, that is, the second connecting piece 7 is hinged to the first connecting seat 27, so that the first drive arm 31, the second drive arm 32, the third drive arm 33 and the fourth drive arm 34 drive the second platform 2 to move or deform as a whole.

[0034] Furthermore, such as Figures 2 to 6 As shown, the first support arm 11 and the second support arm 12 are fixedly connected at their centers, so that the first support arm 11 and the second support arm 12 are arranged in an X shape, and the axes of the rotating joints 13 at the ends of the first support arm 11 and the second support arm 12 intersect at an origin (O).

[0035] Meanwhile, the first connecting seat 27 and the second connecting seat 28 are respectively provided with openings for connecting the first driving arm 31, the second driving arm 32, the third driving arm 33 and the fourth driving arm 34, and the axes of the multiple openings intersect the axis of the rotating pair 13 at the same origin (O).

[0036] The second connecting pieces 7 of the first drive arm 31, the second drive arm 32, the third drive arm 33, and the fourth drive arm 34 are all hinged to the corresponding openings of the first connecting seat 27 and the second connecting seat 28. Furthermore, the origin (O) coincides with the human cervical spine, effectively avoiding any impact on other parts of the body.

[0037] More specifically, a first clamping plate 4 is provided at the end of the first actuator 21 away from the second parallel rod 24, and a second clamping plate 5 is provided at the end of the second actuator 22 away from the first parallel rod 23. Preferably, both the first clamping plate 4 and the second clamping plate 5 are arc-shaped, so that the first clamping plate 4 and the second clamping plate 5 are in close contact with the neck.

[0038] The first clamping plate 4 and the second clamping plate 5 are driven to abut against the neck, so that the first clamping plate 4 and the second clamping plate 5 move the neck with one or more of the first drive arm 31, the second drive arm 32, the third drive arm 33 and the fourth drive arm 34, thereby achieving the purpose of multi-dimensional neck rehabilitation training.

[0039] First, this application establishes a coordinate system with point O as the origin, establishes the Z-axis with the center of the first support arm 11 and the second support arm 12 as the Z-axis, establishes the X-axis perpendicular to the Z-axis (i.e., the plane perpendicular to the first actuator 21 and the second actuator 22), and establishes the Y-axis perpendicular to the X-axis (i.e., the plane perpendicular to the first actuator 21 and the second actuator 22).

[0040] In a preferred embodiment 1, when the first drive arm 31 and the second drive arm 32 extend or retract synchronously, the third drive arm 33 and the fourth drive arm 34 retract or extend synchronously, causing the first clamping plate 4 and the second clamping plate 5 to rotate around the X-axis, so that the first clamping plate 4 and the second clamping plate 5 drive the neck to rotate.

[0041] In a preferred embodiment 2, when the first drive arm 31 and the third drive arm 33 extend or retract synchronously, and the second drive arm 32 and the fourth drive arm 34 retract or extend synchronously, the first clamping plate 4 and the second clamping plate 5 rotate around the Y-axis, so that the first clamping plate 4 and the second clamping plate 5 drive the neck to flex forward and extend backward.

[0042] In a preferred embodiment 3, when the first drive arm 31 and the fourth drive arm 34 extend or retract synchronously, and the second drive arm 32 and the third drive arm 34 retract or extend synchronously, the first clamping plate 4 and the second clamping plate 5 rotate around the Z-axis, so that the first clamping plate 4 and the second clamping plate 5 drive the neck to flex laterally.

[0043] In this three-degree-of-freedom rotation, the relative positional relationship of the overall components of the second platform 2 does not change. Only the first clamping plate 4 and the second clamping plate 5 move on the sphere with the origin (O) as the center, and are always symmetrical about the origin (O).

[0044] In a preferred embodiment 4, when the first drive arm 31, the second drive arm 32, the third drive arm 33 and the fourth drive arm 34 extend or retract synchronously, the first clamping plate 4 and the second clamping plate 5 move away from or closer to the origin, thereby achieving an auxiliary massage of the neck.

[0045] Furthermore, such as Figure 2 and Figure 4 As shown, when the first drive arm 31, the second drive arm 32, the third drive arm 33 and the fourth drive arm 34 extend or retract synchronously, the first parallel rod 23 is always parallel to the second actuator 22, and the second parallel rod 24 is always parallel to the first actuator 21, and the first actuator 21, the second actuator 22, the first parallel rod 23 and the second parallel rod 24 are on the same plane.

[0046] Meanwhile, both the first connecting seat 27 and the second connecting seat 28 are T-shaped, and the openings for connecting the first driving arm 31, the second driving arm 32, the third driving arm 33 and the fourth driving arm 34 are respectively opened at both ends of the first connecting seat 27 and the second connecting seat 28.

[0047] More specifically, when the first drive arm 31, the second drive arm 32, the third drive arm 33 and the fourth drive arm 34 extend synchronously, the first connecting seat 27 and the second connecting seat 28 drive the first actuating rod 21 and the second actuating rod 22 to open around the hinge point, so that the first clamping plate 4 and the second clamping plate 5 move away from the origin, that is, open along the first direction (A). At this time, the first parallel rod 23 and the second parallel rod 24 move away from the first actuating rod 21 and the second actuating rod 22 and move in parallel.

[0048] When the first drive arm 31, the second drive arm 32, the third drive arm 33 and the fourth drive arm 34 retract synchronously, the first connecting seat 27 and the second connecting seat 28 drive the first actuating rod 21 and the second actuating rod 22 to converge around the hinge point, so that the first clamping plate 4 and the second clamping plate 5 move closer to the origin, that is, converge along the first direction (A). At this time, the first parallel rod 23 and the second parallel rod 24 move closer to the first actuating rod 21 and the second actuating rod 22 and move in parallel.

[0049] This forms the opening and closing motion of the second platform 2 as the fourth degree of freedom. In this degree of freedom, the first clamping plate 4 and the second clamping plate 5 make symmetrical translational motions on the line connecting the massage point and the origin (O) (in the first direction).

[0050] The working principle of the cervical joint rehabilitation training device in this invention is as follows: First, based on the position of the central axis of the human cervical spine, calculate the distance between the rotation center (i.e., the origin) of the second platform 2 and the first platform 1 and the average diameter of the human neck, and determine the radius of the spherical motion of the second platform 2 around the origin (O) and the angles of the four revolute joints 13, so as to ensure that the rotation center of the second platform 2 is approximately at the central axis of the human cervical spine.

[0051] When in use, the person lies face down on the massage bed, and the first platform 1 is fixed above the cervical spine according to the position determined by the origin (O). The first drive arm 31, the second drive arm 32, the third drive arm 33 and the fourth drive arm 34 are driven to extend or retract according to embodiments 1-4, thereby driving the first clamping plate 4 and the second clamping plate 5 of the second platform 2 to move in four degrees of freedom, and further driving the human neck to perform rehabilitation exercises.

[0052] Based on the cervical joint rehabilitation training device, this invention effectively avoids the impact on other parts of the body by aligning the rotation center with the human cervical spine. It also fits the human cervical spine movement trajectory to a certain extent, enhancing the rehabilitation effect. Incorporating massage function during the rehabilitation process can greatly alleviate muscle fatigue and other problems caused by patients following a fixed rehabilitation trajectory.

[0053] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A cervical joint rehabilitation training device, comprising a first platform, a second platform, and a drive mechanism, characterized in that, The first platform includes a first support arm and a second support arm, and both the ends of the first support arm and the second support arm are provided with a rotating joint. The second platform includes a first actuator and a second actuator, which are hinged together. The ends of the second actuator and the first actuator are respectively hinged to a first parallel rod and a second parallel rod. The end of the first parallel rod away from the second actuator is hinged to the first actuator via a first connecting rod. The end of the second parallel rod away from the first actuator is hinged to the second actuator via a second connecting rod. A first connecting seat and a second connecting seat are respectively connected to the first connecting rod and the second connecting rod. The drive mechanism includes a first drive arm, a second drive arm, a third drive arm, and a fourth drive arm. One end of the first drive arm and the second drive arm are respectively connected to the rotating joints of the first support arm and the second support arm. The ends of the first drive arm and the second drive arm away from the first support arm and the second support arm are both connected to the second connecting seat. One end of the third drive arm and the fourth drive arm are respectively connected to the rotating joints of the second support arm and the first support arm. The ends of the first drive arm and the second drive arm away from the second support arm and the first support arm are both connected to the first connecting seat.

2. The cervical rehabilitation training device according to claim 1, wherein, The first support arm and the second support arm are fixedly connected at their centers, and the axes of the rotating joints at the ends of the first support arm and the second support arm intersect at a common origin.

3. The cervical rehabilitation training device according to claim 1 or 2, characterized in that The first connecting seat and the second connecting seat are respectively provided with openings for connecting the first driving arm, the second driving arm, the third driving arm and the fourth driving arm, and the axes of the multiple openings intersect the axis of the rotating pair at the same origin.

4. The cervical rehabilitation training device of claim 1, wherein, A first clamping plate is provided at the end of the first actuator rod away from the second parallel rod, and a second clamping plate is provided at the end of the second actuator rod away from the first parallel rod. The first clamping plate and the second clamping plate abut against the neck so that the first clamping plate and the second clamping plate move the neck with one or more of the first drive arm, the second drive arm, the third drive arm and the fourth drive arm.

5. The cervical rehabilitation training device according to claim 1 or 4, characterized in that The first and second drive arms extend or retract synchronously, and the third and fourth drive arms retract or extend synchronously, so that the first and second clamping plates drive the neck to rotate.

6. The cervical rehabilitation training device according to claim 1 or 4, wherein The first and third drive arms extend or retract synchronously, while the second and fourth drive arms retract or extend synchronously, so that the first and second clamping plates cause the neck to flex forward and extend backward.

7. The cervical rehabilitation training device according to claim 1 or 4, wherein The first and fourth drive arms extend or retract synchronously, while the second and third drive arms retract or extend synchronously, so that the first and second clamping plates cause the neck to flex laterally.

8. The cervical rehabilitation training device according to claim 1, 2 or 4, wherein, The first drive arm, the second drive arm, the third drive arm, and the fourth drive arm extend or retract synchronously to move the first clamping plate and the second clamping plate away from or towards the origin.

9. The cervical joint rehabilitation training device according to claim 1 or 8, characterized in that, When the first drive arm, second drive arm, third drive arm and fourth drive arm extend or retract synchronously, the first parallel rod is always parallel to the second actuator rod, and the second parallel rod is always parallel to the first actuator rod.

10. The cervical joint rehabilitation training device according to claim 1 or 3, characterized in that, Both the first connecting seat and the second connecting seat are T-shaped, and the openings for connecting the first drive arm, the second drive arm, the third drive arm and the fourth drive arm are respectively opened at both ends of the first connecting seat and the second connecting seat.

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