Upper limb multifunctional rehabilitation device

Abstract

The present application relates to a kind of upper limb multifunctional rehabilitation equipment, including base and table, and the base is equipped with flexible drive assembly and action component.Flexible drive assembly is made of drive motor, flexible connecting piece, drive shaft and power transmission part, flexible connecting piece includes coaxial sequentially arranged static inner frame, dynamic inner frame, static outer frame, dynamic outer frame and multiple circumferentially distributed connecting columns, spring piece is arranged between adjacent connecting columns;Wherein, part connecting column links static inner frame with static outer frame, adjacent connecting column links dynamic inner frame with dynamic outer frame, so that motor power is flexibly transmitted to drive shaft through spring piece, it can be elastically buffered when meeting spasm or jam, prevent rigid pull and cause secondary injury;Drive shaft is connected with action component through power transmission part, and action component can be combined to replace long, short main rod, multi-posture handle, adjustable supporting plate or U-shaped connecting rod, etc., meet shoulder, elbow, wrist joint and different rehabilitation training needs such as arm coordination;The present application has flexible safety and multiple training mode.

Description

Technical Field

[0001] This invention relates to a multifunctional rehabilitation device for the upper limbs. Background Technology

[0002] Upper limb rehabilitation training is an important means to help patients with hemiplegia, post-fracture surgery, and other conditions regain motor function. Most existing upper limb rehabilitation equipment uses a motor that directly drives the linkage, handle, or bracket via a reducer, resulting in a rigid transmission chain. While this rigid drive system is usable during normal training, it becomes problematic when patients experience sudden muscle spasms, joint stiffness, or involuntary twitching. Because the mechanism cannot provide adaptive cushioning, the affected limb is subjected to forced traction, which can easily cause secondary injuries such as soft tissue strains and joint damage, severely reducing the safety of rehabilitation training.

[0003] Currently, common rehabilitation equipment has a relatively simple training mode, often only able to achieve fixed circular or linear reciprocating movements. It is difficult to conveniently switch between diverse training modes on the same equipment for different joints such as the shoulder, elbow, and wrist, as well as different muscle strength recovery stages. This limits its applicability and affects rehabilitation efficiency and effectiveness.

[0004] Therefore, there is an urgent need for an upper limb rehabilitation device that can flexibly transmit power, effectively buffer impact, and accommodate multiple training modes. Summary of the Invention

[0005] The purpose of this invention is to provide a multifunctional rehabilitation device for the upper limbs that can flexibly transmit power, effectively buffer impact, and accommodate rehabilitation exercises for various upper limb parts.

[0006] The technical solution to achieve the purpose of this invention is as follows: This invention has a base; it also has a table, the base is fixedly mounted on the table, a flexible drive assembly is fixedly mounted on the base, and an auxiliary component that can provide rehabilitation assistance to the human upper limbs under the action of the flexible drive assembly is also provided. The flexible drive assembly includes a drive motor, a power transmission part, a flexible connector, and a drive shaft. The drive motor is fixedly mounted on the base. The flexible connector includes a static inner frame, a movable inner frame, a static outer frame, a movable outer frame, a connecting column, and a spring. One end of the drive shaft is fixedly mounted on the movable outer frame and is coaxially mounted with the movable outer frame. The other end of the drive shaft is rotatably mounted on the base. The static inner frame is fixedly mounted on the drive end of the drive motor and is coaxially mounted with the drive end of the drive motor. The static inner frame, the movable inner frame, the static outer frame, and the movable outer frame are all coaxially mounted with the drive shaft and arranged in sequence. The system includes multiple connecting columns, evenly distributed around the axis of the drive shaft. One end of each connecting column is rotatably connected to the stationary inner frame, and the other end is rotatably connected to the stationary outer frame. Two adjacent connecting columns are rotatably connected to the moving inner frame and the other end to the moving outer frame. An installation space is formed between adjacent connecting columns, allowing for the installation of a spring component. The two ends of the spring component act on the two adjacent connecting columns. The power transmission unit is mounted on the base and has an input end and an output end. The drive shaft acts on the input end of the power transmission unit, and the action component acts on the output end. The action component provides rehabilitation assistance to the upper limbs through the drive of the drive motor, the connection of the flexible connecting parts, and the power transmission from the power transmission unit to the drive shaft.

[0007] As a preferred embodiment of the present invention, the static inner frame, the moving inner frame, the static outer frame, and the moving outer frame all have a main board and multiple flashes that are fixedly mounted on the main board and evenly distributed around the axis of the main board. The moving inner frame is fixedly provided with a coaxial mounting slot that can be plugged into the main board of the stationary inner frame. The side wall of the mounting slot is provided with multiple movable slots that enter and move within the various flashes on the stationary inner frame. The stationary inner frame is coaxially arranged with the moving inner frame through the plugging and connection between the main board of the stationary inner frame and the mounting slot. The various flashes fixedly provided on the main board of the stationary inner frame are located in the movable slots. The various flashes on the main board of the stationary inner frame can be driven by a drive motor to form a limiting engagement with the slot wall of the movable slot. The main plate of the movable outer frame is coaxially provided with an extension platform, and the main plate of the stationary outer frame is provided with an extension hole that can be inserted and matched with the extension platform. The movable outer frame and the stationary outer frame are coaxially arranged through the insertion and matching of the extension platform and the extension hole. The static inner frame and static outer frame rotate actively through the drive of the drive motor and the connection of the connecting columns. The moving inner frame and moving outer frame rotate passively through the connection of the connecting columns, the connection between the spring and the connecting columns between the static inner frame and the static outer frame, and the connection between the moving inner frame and the moving outer frame, as well as the active rotation of the static inner frame and the static outer frame.

[0008] In a preferred embodiment of the present invention, the power transmission unit includes a driving wheel, a driven wheel, a driven shaft, and a transmission belt. The driving wheel is fixedly sleeved on the drive shaft, and a driven support seat is fixedly provided on the base. The driven shaft is rotatably mounted through the driven support seat. The output end of the power transmission unit is the driven shaft. The driven wheel is fixedly mounted on one end of the driven shaft, and the action component is fixedly mounted on the other end of the driven shaft. The transmission belt is sleeved on both the driving wheel and the driven wheel, and the driving wheel and the driven wheel rotate in the same direction through the transmission belt. The action component provides rehabilitation assistance to the human upper limb through the drive of the flexible drive component, the fixed connection between the drive shaft and the driving wheel, the transmission connection between the driving wheel and the driven wheel through the transmission belt, and the fixed connection with the driven shaft.

[0009] In a preferred embodiment of the present invention, both the driving wheel and the driven wheel have multiple slots on their outer walls. The slots on the driving wheel are evenly distributed around the axis of the driving wheel, and the slots on the driven wheel are evenly distributed around the axis of the driven wheel. The transmission belt has multiple locking blocks that are arranged along the extension direction of the transmission belt and can be inserted into the slots. The transmission belt forms a transmission engagement with the driving wheel and the driven wheel through the insertion and engagement of the locking blocks with the slots.

[0010] As a preferred embodiment of the present invention, the functional component includes a long main rod and a first grip. One end of the long main rod is sleeved on the output end of the power transmission unit. A fixing hole is provided on the end of the long column sleeved on the output end of the power transmission unit. A corresponding hole is provided on the output end of the power transmission unit that can form a corresponding hole with the fixing hole. A fixing rod is also provided that can form an insertion fit with the positioning hole and the corresponding hole. After the long column is aligned with the fixing hole and the corresponding hole, the fixing rod is detachably fixed on the output end of the power transmission unit after the insertion fit between the fixing hole and the corresponding hole. The first grip is set on the other end of the long main rod and is set horizontally along it; the long main rod is provided with a plurality of first insertion holes evenly arranged along the extension direction of the long main rod; a first insertion rod that can be inserted into the first insertion hole is fixed on one end of the first grip; the first grip is adjustablely set on the long main rod through the insertion of the first insertion rod into the first insertion hole.

[0011] As a preferred embodiment of the present invention, a first auxiliary rod and a first support plate are also provided. One end of the first auxiliary rod is provided with a sliding hole that can form a sliding fit with the long main rod. The first auxiliary rod is slidably mounted on the long main rod through the sliding hole and the sliding fit on the long main rod. The first support plate is fixedly mounted on the other end of the first auxiliary rod and is used to support the forearm of the human upper limb.

[0012] As a preferred embodiment of the present invention, the functional components include a short main rod, a second grip, a second auxiliary rod, a second support plate, and a connecting rod. One end of the short main rod is detachably fixed to the output end of the power transmission unit. A fixing hole is provided on one end of the short column rod sleeved on the output end of the power transmission unit. A corresponding hole is provided on the output end of the power transmission unit that can form a corresponding hole with the fixing hole. A fixing rod is also provided that can form an insertion fit with the positioning hole and the corresponding hole. After the short column rod is aligned with the fixing hole and the corresponding hole, the fixing rod is detachably fixed to the output end of the power transmission unit through the insertion fit with the fixing hole and the corresponding hole. The second grip is set on the other end of the short main rod and is set horizontally along it; the short main rod is provided with a plurality of second insertion holes evenly arranged along the extension direction of the short main rod; a second insertion rod that can be inserted into the second insertion hole is fixed on one end of the second grip; the second grip is adjustable on the short main rod through the insertion of the second insertion rod into the second insertion hole. One end of the second auxiliary rod is fixedly mounted on the side wall of the table, and one end of the connecting rod is fixedly mounted on the other end of the second auxiliary rod and extends perpendicularly to the extension direction of the second auxiliary rod. A spherical connector is fixedly mounted on the other end of the connecting rod. The second support plate is provided with a mounting hole that can be inserted and rotated with the spherical connector. The second support plate is freely rotatably mounted on the connecting rod through the insertion and rotational engagement of the spherical connector with the mounting hole.

[0013] As a preferred embodiment of the present invention, a third grip is also provided, one end of which is fixedly disposed on the other end of the second grip and extends in a direction perpendicular to the extension direction of the second grip.

[0014] As a preferred embodiment of the present invention, the functional components include a connecting block, a U-shaped connecting rod, and a fourth grip. One end of the connecting block is detachably fixed to the output end of the power transmission unit. The connecting block is sleeved on the output end of the power transmission unit and has a fixing hole. The output end of the power transmission unit has a corresponding hole that can form a corresponding hole with the fixing hole, and also has a fixing rod that can form an insertion fit with the positioning hole and the corresponding hole. After the connecting block is aligned with the fixing hole and the corresponding hole, the fixing rod is detachably fixed to the output end of the power transmission unit through the insertion fit with the fixing hole and the corresponding hole. The middle part of the U-shaped connecting rod is fixedly set on the other end of the connecting rod, and the two ends of the fourth grip are respectively fixedly set on the two ends of the U-shaped connecting rod.

[0015] As a preferred embodiment of the present invention, a motor mount for mounting a drive motor is fixedly provided on the base, and an active support seat for supporting the other end of the drive shaft and allowing the other end of the drive shaft to rotate on it is also fixedly provided on the base.

[0016] The present invention has positive effects: (1) By setting up a table and a base, the present invention provides a stable platform for the device, which is convenient for patients to perform rehabilitation training in a sitting position; the flexible connecting parts composed of a static inner frame, a dynamic inner frame, a static outer frame, a dynamic outer frame, multiple connecting columns and spring parts make the power of the drive motor need to be transmitted to the drive shaft through the elastic link; when the patient's upper limb suddenly stiffens or spasms, the spring parts between adjacent connecting columns will produce adaptive deformation to absorb the impact and achieve flexible buffering, which fundamentally avoids secondary damage caused by rigid pulling and greatly improves the safety and comfort of rehabilitation; at the same time, the energy storage release of the spring parts can also provide a gentle auxiliary torque for rehabilitation movements; with the power transmission part and the action component, the device can realize multi-mode rehabilitation assistance for the human upper limb by replacing or adjusting the action component, which meets the needs of different joints and different recovery stages, and the functions are more abundant.

[0017] (2) The main board of the static inner frame of the present invention is inserted into the mounting slot of the moving inner frame, and the flash on the static inner frame is placed in the movable slot of the moving inner frame. This structure can ensure the coaxial rotation of the two and make the flash and the wall of the movable slot form a rotation limit when transmitting torque, effectively preventing excessive deformation of the spring and protecting the flexible connector, and further improving the safety of use; the extension platform of the moving outer frame is inserted into the extension hole of the static outer frame, which ensures good coaxiality between the moving outer frame and the static outer frame, making the transmission of the entire flexible connector more stable and the structure more rigid.

[0018] (3) The power transmission unit of the present invention adopts a driving wheel, a driven wheel, a driven shaft and a transmission belt to realize the same-direction rotation transmission from the driving shaft to the driven shaft; the belt transmission itself has a vibration absorption and buffering effect, and works with the flexible connector to further soften the power output. At the same time, the driven support provides reliable support for the driven shaft, making the action of the working components more stable and facilitating the arrangement of various training tools.

[0019] (4) The present invention sets slots on the driving wheel and driven wheel, and sets corresponding blocks on the transmission belt to form meshing transmission, which completely eliminates belt slippage, ensures accurate transmission ratio, makes the angle and trajectory of rehabilitation movements accurate and repeatable, and improves training accuracy.

[0020] (5) The functional components of the present invention include a long column and a first grip. The long column and the first grip are adjusted in position on the long column through the cooperation of the first insertion rod and the first insertion hole. This allows for easy matching of the arm length of different patients, and is suitable for shoulder joint rehabilitation training with a large circumference. It is easy to adjust and has strong versatility.

[0021] (6) The active component of the present invention, based on the long column and the first grip, adds a first secondary column and a first support plate. The first secondary column is slidably set on the long main column and supports the patient's forearm through the first support plate. This provides forearm support while performing grip training, effectively reducing the weight-bearing on the affected limb. It is suitable for patients to perform rehabilitation exercises of the elbow joint in an arc trajectory. It is easy to adjust and has strong versatility.

[0022] (7) The functional components of the present invention include a short main rod, a second grip, a second auxiliary rod, a second support plate and a connecting rod; the second support plate is fixed to the side wall of the table through the second auxiliary rod and the connecting rod, and can rotate freely in all directions with the help of a ball connector, and can adaptively support the arm movement to provide flexible elbow or forearm support for the patient; and realizes the flexion and extension rehabilitation movement of the wrist joint held by the patient in an arc trajectory.

[0023] (8) The active component of the present invention adds a third grip to the existing short main rod, second grip, second auxiliary rod, second support plate and connecting rod, providing the patient with another gripping posture and enabling the patient's wrist joint to perform ulnar or radial deviation rehabilitation exercises with an arc trajectory.

[0024] (9) The functional components of the present invention consist of a connecting block, a U-shaped connecting rod and a fourth grip, which can be held by the patient with one hand, thereby enabling the patient's wrist joint to perform internal and external rotation rehabilitation exercises in an arc trajectory. Attached Figure Description

[0025] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein... Figure 1 This is a schematic diagram of the usage state of Embodiment 1 of the present invention; Figure 2 This is a schematic diagram of the assembly structure of the base and flexible drive component of the present invention; Figure 3 This is a schematic diagram of the structure of the flexible connector of the present invention; Figure 4 This is an exploded structural diagram of the flexible connector of the present invention; Figure 5 This is a schematic diagram of the structure of Embodiment 2 of the present invention; Figure 6 This is a schematic diagram of the structure of Embodiment 3 of the present invention; Figure 7 This is a schematic diagram of the structure of Embodiment 4 of the present invention; Figure 8 This is a schematic diagram of the structure of Embodiment 5 of the present invention.

[0026] In the diagram, the components are: base: 1, motor mount: 11, driven support: 12, active support: 13, table: 2, long main rod: 3-1, first grip: 3-2, first auxiliary rod: 3-3, first support plate: 3-4, short main rod: 3-5, second grip: 3-6, second auxiliary rod: 3-7, second support plate: 3-8, connecting rod: 3-9, third grip: 3-10, connecting block: 3-11, U-shaped connecting rod: 3-12, fourth grip: 3-13. Drive motor: 4, power transmission unit: 5, drive wheel: 51, driven wheel: 52, driven shaft: 53, transmission belt: 54, flexible connector: 6, stationary inner frame: 61, moving inner frame: 62, mounting slot: 621, movable slot: 622, stationary outer frame: 63, extension hole: 631, moving outer frame: 64, extension platform: 641, connecting column: 65, spring component: 66, drive shaft: 7, first insertion hole: 8, second insertion hole: 9, flash: a, slot: b. Detailed Implementation

[0027] (Example 1) See Figures 1 to 4 The present invention has a base 1 and a table 2. The base 1 is fixedly mounted on the table 2. A flexible drive assembly is fixedly mounted on the base 1. A function assembly that can assist in the rehabilitation of the human upper limb under the action of the flexible drive assembly is also provided. The flexible drive assembly includes a drive motor 4, a power transmission part 5, a flexible connector 6, and a drive shaft 7. The drive motor 4 is fixedly mounted on the base 1. The flexible connector 6 includes a static inner frame 61, a movable inner frame 62, a static outer frame 63, a movable outer frame 64, a connecting column 65, and a spring 66. One end of the drive shaft 7 is fixedly mounted on the movable outer frame 64 and is coaxially mounted with the movable outer frame 64. The other end of the drive shaft 7 is rotatably mounted on the base 1. The static inner frame 61 is fixedly mounted on the drive end of the drive motor 4 and is coaxially mounted with the drive end of the drive motor 4. The static inner frame 61, the movable inner frame 62, the static outer frame 63, and the movable outer frame 64 are all coaxially mounted with the drive shaft 7 and arranged in sequence. Multiple connecting columns 65 are provided, and each connecting column 65 is evenly distributed around the axis of the drive shaft 7. One end of each connecting column 65 is rotatably connected to the static inner frame 61 and the other end is rotatably connected to the static outer frame 63. One end of each of the two connecting columns 65 adjacent to the first connecting column 65 is rotatably connected to the moving inner frame 62 and the other end is rotatably connected to the moving outer frame 64. An installation space is formed between two adjacent connecting columns 65, which can accommodate the spring member 66. The two ends of the spring member 66 act on the two adjacent connecting columns 65 respectively. The power transmission unit 5 is provided on the base 1 and has an input end and an output end. The drive shaft 7 acts on the input end of the power transmission unit 5, and the action component acts on the output end of the power transmission unit 5. The action component provides rehabilitation assistance to the human upper limb through the drive of the drive motor 4, the connection of the flexible connecting member 6, and the power transmission of the drive shaft 7 by the power transmission unit 5.

[0028] As a preferred embodiment of the present invention, the static inner frame 61, the moving inner frame 62, the static outer frame 63 and the moving outer frame 64 each have a main board and a plurality of flash edges a fixedly mounted on the main board and evenly distributed around the axis of the main board. The movable inner frame 62 is fixedly provided with a coaxial mounting groove 621 that can be plugged into the main board of the stationary inner frame 61. Multiple movable grooves 622 are provided through the side wall of the mounting groove 621, which are inserted into and move within the various flashes a on the stationary inner frame 61. The stationary inner frame 61 is coaxially arranged with the movable inner frame 62 through the plugging and connection of its main board with the mounting groove 621. Each flash a fixedly mounted on the main board of the stationary inner frame 61 is positioned within a movable groove 622. Each flash a on the main board of the stationary inner frame 61 can be driven by the drive motor 4 to form a limiting fit with the groove wall of the movable groove 622. The main plate of the movable outer frame 64 is coaxially provided with an extension platform 641, and the main plate of the stationary outer frame 63 is provided with an extension hole 631 that can be inserted and matched with the extension platform 641. The movable outer frame 64 and the stationary outer frame 63 are coaxially arranged through the insertion and matching of the extension platform 641 and the extension hole 631. The stationary inner frame 61 and stationary outer frame 63 are driven by the drive motor 4 and connected by the connecting column 65 to form an active rotation. The moving inner frame 62 and moving outer frame 64 are connected by the connecting column 65, the spring member 66 is connected to the connecting column 65 between the stationary inner frame 61 and stationary outer frame 63, and the moving inner frame 62 and moving outer frame 64 are connected by the connecting column 65 between the moving inner frame 62 and moving outer frame 64, and the active rotation of the stationary inner frame 61 and stationary outer frame 63 to form a driven rotation.

[0029] Bearings are fixedly provided on both ends of the connecting column 65, and the connecting column 65 is rotatably connected to the static inner frame 61, the moving inner frame 62, the static outer frame 63 and the moving outer frame 64 through the bearings.

[0030] In a preferred embodiment of the present invention, the power transmission unit 5 includes a drive wheel 51, a driven wheel 52, a driven shaft 53, and a transmission belt 54. The drive wheel 51 is fixedly sleeved on the drive shaft 7, and a driven support seat 12 is fixedly provided on the base 1. The driven shaft 53 is rotatably mounted through the driven support seat 12. The output end of the power transmission unit 5 is the driven shaft 53. The driven wheel 52 is fixedly mounted on one end of the driven shaft 53, and the action component is fixedly mounted on the other end of the driven shaft 53. The transmission belt 54 is sleeved on both the drive wheel 51 and the driven wheel 52, and the drive wheel 51 and the driven wheel 52 rotate in the same direction through the transmission belt 54. The action component provides rehabilitation assistance to the human upper limb through the drive of the flexible drive component, the fixed connection between the drive shaft 7 and the drive wheel 51, the transmission connection between the drive belt 54 and the drive wheel 51 and the driven wheel 52, and the fixed connection with the driven shaft 53.

[0031] As a preferred embodiment of the present invention, both the driving wheel 51 and the driven wheel 52 are provided with a plurality of slots b on their outer walls. The slots b on the driving wheel 51 are evenly distributed around the axis of the driving wheel 51, and the slots b on the driven wheel 52 are evenly distributed around the axis of the driven wheel 52. The transmission belt 54 is provided with a plurality of locking blocks arranged along the extension direction of the transmission belt 54 and capable of interlocking with the slots b. The transmission belt 54 forms a transmission engagement with the driving wheel 51 and the driven wheel 52 through the interlocking of the locking blocks with the slots b.

[0032] As a preferred embodiment of the present invention, the functional component includes a long main rod 3-1 and a first grip 3-2. One end of the long main rod 3-1 is sleeved on the output end of the power transmission unit 5. A fixing hole is provided on the end of the long main rod 3-1 sleeved on the output end of the power transmission unit 5. A corresponding hole is provided on the output end of the power transmission unit 5, which can form a corresponding hole with the fixing hole. A fixing rod is also provided, which can form an insertion fit with the positioning hole and the corresponding hole. After the long rod is aligned with the fixing hole and the corresponding hole, the fixing rod is detachably fixed on the output end of the power transmission unit 5 after the insertion fit between the fixing hole and the corresponding hole. The first grip 3-2 is set on the other end of the long main rod 3-1 and is set horizontally along it; the long main rod 3-1 is provided with a plurality of first insertion holes 8 evenly arranged along the extension direction of the long main rod 3-1; a first insertion rod is fixed on one end of the first grip 3-2, which can be inserted into the first insertion hole 8; the first grip 3-2 is adjustablely set on the long main rod 3-1 through the insertion of the first insertion rod into the first insertion hole 8.

[0033] As a preferred embodiment of the present invention, a motor seat 11 for mounting the drive motor 4 is fixedly provided on the base 1, and an active support seat 13 for supporting the other end of the drive shaft 7 and allowing the other end of the drive shaft 7 to rotate on it is also fixedly provided on the base 1.

[0034] In this embodiment, three burrs a are provided on each of the stationary inner frame 61, the moving inner frame 62, the stationary outer frame 63, and the moving outer frame 64; six connecting columns 65 are provided; and six spring members 66 are provided. The six spring frames form a hexagon after installation. When the stationary inner frame 61 drives the stationary outer frame 63 to rotate relative to the moving inner frame 62 and the moving outer frame 64, three of the six spring members 66 are stretched, while the other spring members 66 are relatively shortened, but still remain stretched. The torque is generated due to the difference in tangential force. An encoder for detecting the rotation angle of the drive shaft 7 is fixedly provided on the active support seat 13.

[0035] The flexible connector 6 is essentially an SEA actuator. The following is the derivation formula for the effective rotational stiffness of the flexible connector 6:

[0036] In the above formula, L1 and L2 represent the lengths of the spring, and F s1 and F s2 It is the tension applied to a pair of springs; L0 represents the original length of the spring, and Ks represents the spring stiffness coefficient; the torque characteristics of the elastic element are calculated, and the relationship between torque and angular deformation is almost linear. The length of the spring can be calculated using the following formula:

[0037] In the above formula, R represents the circumscribed radius of the hexagon formed by the various spring components 66, and θ S The center angle of spring member 66 is indicated; since the maximum angle of movement of the flash a on the static inner frame 61 within the movable space is 10°, θ is thus limited. S It can only fluctuate between 50° and 70°.

[0038] According to geometric relationships, the tangential component of the spring tension can be expressed as:

[0039] In this embodiment, six spring elements 66 are used, with two spring elements 66 forming a pair, for a total of three pairs of spring elements 66. The total equivalent torque on each elastic element can be obtained by the following formula:

[0040] At this point, the equivalent rotational stiffness coefficient of the elastic element and the central angle θ of the spring are... S The relationship between them can be described by the following nonlinear function:

[0041] Although according to T(θ) S The torque is not a linear function, but K remains almost constant. When the elastic element operates within the allowable angular deformation range, the relationship between torque and angular deflection remains almost linear; therefore, it is reasonable to consider the rotational stiffness of the SEA as a constant.

[0042] The detailed structure of the flexible connector 6 is as follows: a stationary inner frame 61, a movable inner frame 62, a stationary outer frame 63, and a movable outer frame 64 are arranged sequentially along the same axis from the drive end of the drive motor 4. Multiple connecting columns 65 are evenly distributed around the axis, connecting the stationary inner frame 61 and the stationary outer frame 63 through the spaced connecting columns 65, and connecting the movable inner frame 62 and the movable outer frame 64 through other connecting columns 65. A spring member 66 is placed in the installation space between adjacent connecting columns 65, and the two ends of the spring member 66 are respectively sleeved on two adjacent connecting columns 65. When the drive motor 4 drives the stationary inner frame 61 to rotate, the stationary inner frame 61 flexibly drives the movable inner frame 62 and the movable outer frame 64 connected to it to rotate through the clearance fit of the flash a of the stationary inner frame 61 in the movable groove 622 of the movable inner frame 62, as well as the elastic connection of the connecting columns 65 and the spring member 66. The rotating movable outer frame 64 drives the drive shaft 7 to rotate.

[0043] When the drive shaft 7 rotates, it drives the drive wheel 51 fixed on it to rotate. The drive wheel 51 is connected to the drive wheel 51 and the driven wheel 52 via the transmission belt 54, which drives the driven shaft 53 to rotate. The long main rod 3-1 fixed on the driven shaft 53 starts to move. The long main rod 3-1 drives the shoulder joint held by the patient to perform a circular arc rehabilitation movement. During this process, if the patient's shoulder joint suddenly stiffens or other accidents occur, the reaction force will be transmitted back to the flexible connector 6 through the drive shaft 7. The impact is buffered by compressing or stretching the spring 66 to protect the patient's safety.

[0044] (Example 2) See Figure 5 This embodiment is basically the same as Embodiment 1, except that: a first auxiliary rod 3-3 and a first support plate 3-4 are also provided. One end of the first auxiliary rod 3-3 is provided with a sliding hole that can form a sliding fit with the long main rod 3-1. The first auxiliary rod 3-3 is slidably mounted on the long main rod 3-1 through the sliding hole and the sliding fit on the long main rod 3-1. The first support plate 3-4 is fixedly mounted on the other end of the first auxiliary rod 3-3 and is used to support the forearm of the human upper limb.

[0045] When the long main rod 3-1 supports the forearm of the human upper limb on the first support plate 3-4, the long main rod 3-1 drives the elbow joint held by the patient to perform a circular arc rehabilitation movement. During this process, if the patient's elbow joint suddenly stiffens or other accidents occur, the reaction force will be transmitted back to the flexible connector 6 through the drive shaft 7, and the impact will be buffered by compressing or stretching the spring 66 to protect the patient's safety.

[0046] (Example 3) See Figure 6 This embodiment is basically the same as Embodiment 1, except that: the functional components include a short main rod 3-5, a second grip 3-6, a second auxiliary rod 3-7, a second support plate 3-8, and a connecting rod 3-9. One end of the short main rod 3-5 is detachably fixed on the output end of the power transmission unit 5. The short column rod is sleeved on one end of the output end of the power transmission unit 5 and has a fixing hole. The output end of the power transmission unit 5 has a corresponding hole that can form a corresponding hole with the fixing hole, and also has a fixing rod that can form an insertion fit with the positioning hole and the corresponding hole. After the short column rod is aligned with the fixing hole and the corresponding hole, the fixing rod is detachably fixed on the output end of the power transmission unit 5 through the insertion fit between the fixing hole and the corresponding hole. The second grip 3-6 is set on the other end of the short main rod 3-5 and is set horizontally along it; the short main rod 3-5 is provided with a plurality of second insertion holes 9 evenly arranged along the extension direction of the short main rod 3-5; a second insertion rod is fixed on one end of the second grip 3-6, which can be inserted into the second insertion hole 9; the second grip 3-6 is adjustablely set on the short main rod 3-5 through the insertion of the second insertion rod into the second insertion hole 9. One end of the second auxiliary rod 3-7 is fixedly mounted on the side wall of the table 2. One end of the connecting rod 3-9 is fixedly mounted on the other end of the second auxiliary rod 3-7 and extends perpendicularly to the extension direction of the second auxiliary rod 3-7. A spherical connector is fixedly mounted on the other end of the connecting rod 3-9. The second support plate 3-8 is provided with a mounting hole that can be inserted and rotated with the spherical connector. The second support plate 3-8 is freely rotatably mounted on the connecting rod 3-9 through the insertion and rotational engagement of the spherical connector with the mounting hole.

[0047] When the short main rod 3-5 supports the forearm of the human upper limb near the wrist on the second support plate 3-8, the short main rod 3-5 drives the wrist joint held by the patient to perform flexion and extension rehabilitation movements in an arc trajectory. During this process, if the patient's wrist joint flexion and extension rehabilitation movements suddenly stiffen or other accidents occur, the reaction force will be transmitted back to the flexible connector 6 through the drive shaft 7, and the impact will be buffered by compressing or stretching the spring 66 to protect the patient's safety.

[0048] (Example 4) See Figure 7This embodiment is basically the same as embodiment three, except that: a third grip 3-10 is also provided. One end of the third grip 3-10 is fixedly disposed on the other end of the second grip 3-6 and extends in a direction perpendicular to the extension direction of the second grip 3-6.

[0049] When the patient holds the third grip 3-10, the short main rod 3-5 supports the forearm of the upper limb near the wrist on the second support plate 3-8. The short main rod 3-5 drives the patient's wrist joint to perform ulnar or radial deviation rehabilitation movements in an arc trajectory. During this process, if the patient's wrist joint suddenly stiffens or other accidents occur during the ulnar or radial deviation rehabilitation movements, the reaction force will be transmitted back to the flexible connector 6 through the drive shaft 7. The impact will be buffered by compressing or stretching the spring 66 to protect the patient's safety.

[0050] (Example 5) See Figure 8 This embodiment is basically the same as Embodiment 1, except that: the functional components include a connecting block 3-11, a U-shaped connecting rod 3-123-9, and a fourth grip 3-13. One end of the connecting block 3-11 is detachably fixed on the output end of the power transmission unit 5. The connecting block 3-11 is fitted onto the output end of the power transmission unit 5 and has a fixing hole. The output end of the power transmission unit 5 has a corresponding hole that can form a corresponding hole with the fixing hole, and also has a fixing rod that can form an insertion fit with the positioning hole and the corresponding hole. After the connecting block 3-11 is aligned with the fixing hole and the corresponding hole, the fixing rod is detachably fixed on the output end of the power transmission unit 5 through the insertion fit of the fixing hole and the corresponding hole. The middle part of the U-shaped connecting rod 3-123-9 is fixed on the other end of the connecting rod 3-9, and the two ends of the fourth grip 3-13 are respectively fixed on the two ends of the U-shaped connecting rod 3-123-9.

[0051] When the patient holds the fourth grip 3-13, the U-shaped connecting rod 3-123-9 drives the patient's wrist joint to perform an arc-shaped internal and external rotation rehabilitation movement. During this process, if the patient's wrist joint suddenly stiffens or other accidents occur during the internal and external rotation rehabilitation movement, the reaction force will be transmitted back to the flexible connecting piece 6 through the drive shaft 7, and the impact will be buffered by compressing or stretching the spring piece 66 to protect the patient's safety.

[0052] The working principle of this invention is as follows: The drive motor 4 is started, and its output drives the stationary inner frame 61 in the flexible connector 6 to rotate. The stationary inner frame 61, as the active component, directly drives the stationary outer frame 63 to rotate synchronously through the circumferentially distributed connecting columns 65. At this time, a relative motion tendency is generated between the connecting columns 65 connecting the stationary inner frame 61 and the stationary outer frame 63 and the connecting columns 65 connecting the moving inner frame 62 and the moving outer frame 64, compressing the spring member 66 located close to the installation. The spring member 66 provides an elastic buffer while transmitting torque. The moving inner frame 62 is driven to rotate under the elastic force of the spring member 66, thereby driving the moving outer frame 64 and the drive shaft 7, which are fixed to it, to rotate. The rotation of the drive shaft 7 drives the drive wheel 51 to rotate, and the drive wheel 51 drives the driven wheel 52 to rotate through the transmission belt 54. The rotation of the driven wheel 52 drives the driven shaft 53 to rotate, and finally the action component fixed on the driven shaft 53 performs circular reciprocating or continuous rotational movements. The patient can achieve passive or assisted rehabilitation training by holding the handle on the action component or placing the limb on the support plate and following its movement. When the patient experiences a reverse torque due to spasm or stiffness, this torque is transmitted in the opposite direction to the moving inner frame 62 and the moving outer frame 64, causing a sudden change in the relative angle between adjacent connecting columns 65. This sudden change is absorbed by the elastic deformation of the spring 66, with only a small portion of the force being fed back to the drive system, thus achieving flexible drive and effectively protecting the patient's safety. By changing different functional components, the device can provide targeted training for joints in the upper limbs such as the wrist, elbow, and shoulder.

[0053] It should be noted that the above-mentioned technical features do not necessarily have to exist simultaneously; those skilled in the art can combine any of the above-mentioned technical features in any way according to actual needs, and as long as such combination is logically feasible, it falls within the scope of this application.

[0054] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above descriptions are merely specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multifunctional rehabilitation device for the upper limb, comprising a base (1); characterized in that: The system also includes a table (2), on which the base (1) is fixedly mounted. A flexible drive assembly is fixedly mounted on the base (1), and a function assembly that can assist in the rehabilitation of the upper limbs of the human body under the action of the flexible drive assembly is also provided. The flexible drive assembly includes a drive motor (4), a power transmission part (5), a flexible connector (6), and a drive shaft (7). The drive motor (4) is fixedly mounted on the base (1), and the flexible connector (6) includes a static inner frame (61), a dynamic inner frame (62), and a static outer frame (63). The moving outer frame (64), connecting column (65) and spring (66) are provided. One end of the drive shaft (7) is fixedly mounted on the moving outer frame (64) and coaxially mounted with the moving outer frame (64). The other end of the drive shaft (7) is rotatably mounted on the base (1). The stationary inner frame (61) is fixedly mounted on the drive end of the drive motor (4) and coaxially mounted with the drive end of the drive motor (4). The stationary inner frame (61), moving inner frame (62), stationary outer frame (63) and moving outer frame (64) are all coaxially mounted with the drive shaft (7) and arranged in sequence. The aforementioned connecting columns (65) are provided in multiples, and each connecting column (65) is evenly distributed around the axis of the drive shaft (7). One end of each connecting column (65) is rotatably connected to the stationary inner frame (61) and the other end is rotatably connected to the stationary outer frame (63). One end of each of the two connecting columns (65) adjacent to the first connecting column (65) is rotatably connected to the moving inner frame (62) and the other end is rotatably connected to the moving outer frame (64). A spring member (66) is formed between two adjacent connecting columns (65). The installation space is set within the base (1), and the two ends of the spring (66) act on the two adjacent connecting columns (65) respectively; the power transmission part (5) is set on the base (1) and the power transmission part (5) has an input end and an output end. The drive shaft (7) acts on the input end of the power transmission part (5), and the action component acts on the output end of the power transmission part (5). The action component provides rehabilitation assistance to the human upper limb through the drive of the drive motor (4), the connection of the flexible connector (6), and the power transmission of the power transmission part (5) to the drive shaft (7).

2. The multifunctional rehabilitation device for the upper limb according to claim 1, characterized in that: The static inner frame (61), the moving inner frame (62), the static outer frame (63) and the moving outer frame (64) all have a main board and multiple burrs (a) that are fixed on the main board and evenly distributed around the axis of the main board. The moving inner frame (62) is fixedly provided with a coaxial mounting groove (621) that can be plugged into the main board of the stationary inner frame (61). The side wall of the mounting groove (621) is provided with multiple movable grooves (622) that enter and move within the various flashes (a) on the stationary inner frame (61). The stationary inner frame (61) is coaxially provided with the moving inner frame (62) through the plugging and connection between the main board of the stationary inner frame (61) and the mounting groove (621). The various flashes (a) fixedly provided on the main board of the stationary inner frame (61) are located in the movable grooves (622). The various flashes (a) on the main board of the stationary inner frame (61) can be limited to the groove wall of the movable groove (622) by the drive of the drive motor (4). The main plate of the movable outer frame (64) is coaxially provided with an extension platform (641), and the main plate of the stationary outer frame (63) is provided with an extension hole (631) that can be inserted and matched with the extension platform (641). The movable outer frame (64) and the stationary outer frame (63) are coaxially arranged through the insertion and matching of the extension platform (641) and the extension hole (631). The stationary inner frame (61) and stationary outer frame (63) rotate actively through the drive of the drive motor (4) and the connection of the connecting column (65). The moving inner frame (62) and moving outer frame (64) rotate passively through the connection of the connecting column (65), the connection of the spring member (66) with the connecting column (65) between the stationary inner frame (61) and stationary outer frame (63) and the connecting column (65) between the moving inner frame (62) and moving outer frame (64), and the active rotation of the stationary inner frame (61) and stationary outer frame (63).

3. The multifunctional rehabilitation device for the upper limb according to claim 1, characterized in that: The power transmission unit (5) includes a drive wheel (51), a driven wheel (52), a driven shaft (53), and a transmission belt (54). The drive wheel (51) is fixedly mounted on the drive shaft (7), and a driven support seat (12) is fixedly mounted on the base (1). The driven shaft (53) is rotatably mounted through the driven support seat (12). The output end of the power transmission unit (5) is the driven shaft (53). The driven wheel (52) is fixedly mounted on one end of the driven shaft (53). The action component is fixedly mounted on... The drive belt (54) is placed on the other end of the driven shaft (53); the drive belt (54) is simultaneously sleeved on the drive wheel (51) and the driven wheel (52), and the drive wheel (51) and the driven wheel (52) rotate in the same direction through the drive belt (54); the action component provides rehabilitation assistance to the human upper limb through the drive of the flexible drive component, the fixed connection between the drive shaft (7) and the drive wheel (51), the transmission connection between the drive belt (54) and the drive wheel (51) and the driven wheel (52) and the fixed connection with the driven shaft (53).

4. The multifunctional rehabilitation device for the upper limb according to claim 3, characterized in that: The outer walls of both the driving wheel (51) and the driven wheel (52) are provided with multiple slots (b). The slots (b) on the driving wheel (51) are evenly distributed around the axis of the driving wheel (51), and the slots (b) on the driven wheel (52) are evenly distributed around the axis of the driven wheel (52). The transmission belt (54) is provided with multiple blocks that are arranged along the extension direction of the transmission belt (54) and can be inserted into the slots (b). The transmission belt (54) forms a transmission engagement with the driving wheel (51) and the driven wheel (52) through the insertion and engagement of the blocks with the slots (b).

5. The multifunctional rehabilitation device for the upper limb according to claim 1, characterized in that: The functional components include a long main rod (3-1) and a first grip (3-2). One end of the long main rod (3-1) is sleeved on the output end of the power transmission unit (5). The long column is sleeved on the output end of the power transmission unit (5) and has a fixing hole. The output end of the power transmission unit (5) has a corresponding hole that can form a corresponding hole with the fixing hole. It also has a fixing rod that can form a plug-in fit with the positioning hole and the corresponding hole. After the long column is aligned with the fixing hole and the corresponding hole, the fixing rod is detachably fixed on the output end of the power transmission unit (5) through the plug-in fit between the fixing hole and the corresponding hole. The first grip (3-2) is set on the other end of the long main rod (3-1) and is set horizontally along it; the long main rod (3-1) is provided with a plurality of first insertion holes (8) evenly arranged along the extension direction of the long main rod (3-1); a first insertion rod is fixed on one end of the first grip (3-2) and can be inserted into the first insertion hole (8); the first grip (3-2) is adjustable on the long main rod (3-1) through the insertion of the first insertion rod into the first insertion hole (8).

6. The multifunctional rehabilitation device for the upper limb according to claim 5, characterized in that: It is also provided with a first auxiliary rod (3-3) and a first support plate (3-4). One end of the first auxiliary rod (3-3) is provided with a sliding hole that can form a sliding fit with the long main rod (3-1). The first auxiliary rod (3-3) is slidably mounted on the long main rod (3-1) through the sliding hole and the sliding fit on the long main rod (3-1). The first support plate (3-4) is fixedly mounted on the other end of the first auxiliary rod (3-3) and is used to support the forearm of the human upper limb.

7. The multifunctional rehabilitation device for the upper limb according to claim 1, characterized in that: The functional components include a short main rod (3-5), a second grip (3-6), a second auxiliary rod (3-7), a second support plate (3-8), and a connecting rod (3-9). One end of the short main rod (3-5) is detachably fixed on the output end of the power transmission unit (5). The short column rod is sleeved on one end of the output end of the power transmission unit (5) and has a fixing hole. The output end of the power transmission unit (5) has a corresponding hole that can form a corresponding hole with the fixing hole, and also has a fixing rod that can form an insertion fit with the positioning hole and the corresponding hole. After the short column rod is aligned with the fixing hole and the corresponding hole, the fixing rod is detachably fixed on the output end of the power transmission unit (5) through the insertion fit between the fixing hole and the corresponding hole. The second grip (3-6) is set on the other end of the short main rod (3-5) and is set horizontally along it; the short main rod (3-5) is provided with a plurality of second insertion holes (9) evenly arranged along the extension direction of the short main rod (3-5); a second insertion rod is fixed on one end of the second grip (3-6) and can be inserted into the second insertion hole (9); the second grip (3-6) is adjustable on the short main rod (3-5) through the insertion of the second insertion rod into the second insertion hole (9); One end of the second auxiliary rod (3-7) is fixedly installed on the side wall of the table (2). One end of the connecting rod (3-9) is fixedly installed on the other end of the second auxiliary rod (3-7) and extends perpendicularly to the extension direction of the second auxiliary rod (3-7). A spherical connector is fixedly installed on the other end of the connecting rod (3-9). The second support plate (3-8) is provided with a mounting hole that can be inserted and rotated with the spherical connector. The second support plate (3-8) is freely rotated on the connecting rod (3-9) through the insertion and rotational engagement of the spherical connector and the mounting hole.

8. The multifunctional rehabilitation device for the upper limb according to claim 7, characterized in that: It also includes a third grip (3-10), one end of which is fixedly mounted on the other end of the second grip (3-6) and extends in a direction perpendicular to the extension direction of the second grip (3-6).

9. The multifunctional rehabilitation device for the upper limb according to claim 1, characterized in that: The functional components include a connecting block (3-11), a U-shaped connecting rod (3-12) (3-9) and a fourth grip (3-13). One end of the connecting block (3-11) is detachably fixed on the output end of the power transmission unit (5). The connecting block (3-11) is fitted onto the output end of the power transmission unit (5) and has a fixing hole. The output end of the power transmission unit (5) has a corresponding hole that can form a corresponding hole with the fixing hole, and also has a fixing rod that can form an insertion fit with the positioning hole and the corresponding hole. After the connecting block (3-11) is aligned with the fixing hole and the corresponding hole, the fixing rod is detachably fixed on the output end of the power transmission unit (5) through the insertion fit between the fixing hole and the corresponding hole. The middle part of the U-shaped connecting rod (3-12) is fixedly set on the other end of the connecting rod (3-9), and the two ends of the fourth grip (3-13) are respectively fixedly set on the two ends of the U-shaped connecting rod (3-12).

10. A multifunctional rehabilitation device for the upper limb according to claim 1, characterized in that: The base (1) is fixedly provided with a motor seat (11) for mounting the drive motor (4), and the base (1) is also fixedly provided with an active support seat (13) for supporting the other end of the drive shaft (7) and allowing the other end of the drive shaft (7) to rotate on it.

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