Limb joint movement device

Abstract

The present application relates to a limb joint motion device, comprising: an upper arm frame, the upper arm frame comprising an upper arm supporting surface and a mounting surface arranged opposite to each other, the mounting surface being fixedly connected to a first bracket; a guide device, comprising a moving body, the moving body can be driven to move a preset length along the guiding direction of the guide device, and the moving body is hinged to one end of the first bracket away from the upper arm frame; a fixed point is provided on one end of the guide device located in its guiding direction; a forearm frame, which is on the same side of the guide device as the upper arm frame and is connected to the upper arm frame by a joint hinge; the forearm frame comprises a forearm support plate and two forearm limit rods arranged on both sides of the forearm support plate in the width direction, the two forearm limit rods are connected by a forearm driving belt; the forearm limit rod is hinged to the fixed point through a second bracket, and the second bracket is perpendicular to the forearm limit rod; a telescopic adjustment frame, which is arranged at one end of the forearm frame away from the upper arm frame, and a hand fixing component is provided at the end of the telescopic adjustment frame.

Description

Technical Field

[0001] The present application relates to the field of sports rehabilitation, and in particular to a limb joint exercise device. Background Art

[0002] Immobilization or rest after limb joint surgery will cause a series of pathological changes in the joints and surrounding tissues, causing thickening and contracture of ligaments and joint capsule fibers, joint degeneration, heterotopic ossification, and limb joint stiffness and limited movement. Complex joint fractures and dislocations are most likely to cause stiffness. Swelling and hematoma are often the culprits of elbow stiffness, and the extreme position of joint movement is usually the most prone to stiffness.

[0003] In addition, due to damage to the brain nerves, more than 80% of hemiplegic stroke patients will experience limb hemiplegia accompanied by sequelae such as spasticity and hypertonia. If not actively treated, it may lead to permanent high muscle tension, joint contracture and abnormal movement patterns of the affected limb.

[0004] At present, the main method to reduce joint stiffness, hypertonia, and spasticity is to start functional training of joint range of motion and muscle strength at an early stage to improve the extensibility of joint soft tissue and muscle characteristics. The main means currently used are physical therapist manual stretching (PT), continuous passive training (CPM) and intelligent rehabilitation robot motion training system, but the current status of these rehabilitation means and technologies still has a lot of room for improvement.

[0005] Manual stretching is a method used by physical therapists to apply mechanical principles to continuously stretch and expand the range of motion of joints, and to perform passive rehabilitation training on limb joints to restore the patient's joint mobility and limb motor function. However, this type of rehabilitation training relies on the human input of rehabilitation therapists, and traditional physical manual stretching is very laborious. The duration, training intensity, and rehabilitation strategy also depend on the therapist's experience and subjective feelings.

[0006] CPM passive motion rehabilitation machine is mainly used in orthopedics to maintain joint mobility to prevent joint stiffness caused by trauma or postoperative swelling and hematoma. In order to ensure safety, foreign CPM passive motion rehabilitation machines all adopt an automatic operation mode of returning when encountering force. However, due to factors such as trauma or postoperative joint swelling and hematoma, they are often subject to varying degrees of resistance during operation, resulting in a relatively small passive operation range, and the limbs usually cannot reach the full range of motion. Domestic CPM moves limbs or joints at a constant speed within the pre-set angle operation range. Although the system can provide a large torque, during the entire operation process, due to the limitations of the mechanical structure and the way the force is applied, the resistance encountered during the operation cannot be detected, and the set range of motion is smaller than the effective range of motion. Otherwise, excessive force may occur during the operation, increasing the risk of secondary injury to the affected limb. In this case, the previous CPM range of motion cannot reach the effective position, which is also the key physiological position where stiffness is prone to occur. It is impossible to perform safe and effective reciprocating extrusion movements, and the effusion and bleeding cannot be effectively "pumped away" from the joint, resulting in joint stiffness. Utility Model Content

[0007] Based on this, it is necessary to provide a limb joint motion device to address at least some of the above problems.

[0008] A limb joint motion device, comprising:

[0009] An upper arm frame, the upper arm frame comprising an upper arm supporting surface and a mounting surface disposed opposite to each other, and the mounting surface is fixedly connected to a first bracket;

[0010] The guide device comprises a moving body B, the moving body B can be driven to move a preset length along the guiding direction of the guide device, and the moving body B is hinged to an end of the first bracket away from the upper arm; a fixed point C is provided on an end of the guide device located in the guiding direction thereof;

[0011] The forearm frame is located on the same side of the guide device as the upper arm frame and is hingedly connected to the upper arm frame through a joint A; the forearm frame includes a forearm support plate and two forearm limit rods arranged on both sides of the forearm support plate in a width direction, and the two forearm limit rods are connected through a forearm driving belt; the forearm limit rod is hingedly connected to the fixed point C through a second bracket, and the second bracket is perpendicular to the forearm limit rod;

[0012] The telescopic adjustment frame is arranged at one end of the forearm frame away from the upper arm frame, and a hand fixing component is arranged at the end of the telescopic adjustment frame.

[0013] Further, when the moving body B is driven to move in a direction close to the fixed point C, the second bracket pulls the forearm to stretch through the forearm driving belt, until the moving body B is driven to move to the shortest distance from the fixed point C, the angle between the forearm supporting surface of the forearm bracket and the upper arm supporting surface is 185°, the forearm is below the plane where the upper arm is located, and the angle between the forearm and the extension line of the upper arm is -5°;

[0014] When the moving body B is driven to move in a direction away from the fixed point C, the second bracket pushes the forearm to flex through the forearm support plate. When the moving body B is driven to move to the farthest distance from the fixed point C, the angle between the forearm supporting surface and the upper arm supporting surface is 45°, the forearm is above the plane where the upper arm is located, and the angle between the forearm and the extension line of the upper arm is 135°.

[0015] Preferably, the guide device comprises a guide groove, the movable body B is embedded in the guide groove and can slide along the guide groove, and the fixed point C is arranged on the extension line of the guide groove in the length direction.

[0016] Preferably, it also includes a driving device, the driving device comprising:

[0017] A driving component, located at a fixed point C at one end of the guiding direction of the guide device;

[0018] The rotating screw is connected to the driving shaft of the driving component, and the length direction of the rotating screw is consistent with the guiding direction of the guiding device. The rotating screw is spirally penetrated into the moving body B to drive the moving body B to move along the guiding direction.

[0019] Preferably, the hand fixing component comprises:

[0020] A back-of-hand support portion connected to an end of the telescopic adjustment frame away from the forearm frame;

[0021] The finger plate includes four first finger sleeves which are arranged in parallel and dispersedly and connected to the back of hand supporting part, and two second finger sleeves which are arranged on both sides of the back of hand supporting part in the width direction;

[0022] A fixing frame, the fixing frame is mounted above the back of hand supporting portion and the two ends of the fixing frame are respectively fixed to the two second finger sleeves;

[0023] A pressure plate is provided on the fixing frame and is located above the back-of-hand supporting portion, and the pressure plate can be moved toward / away from the back-of-hand supporting portion under the action of the adjusting mechanism. When the back of the hand is placed on the back-of-hand supporting portion, the pressure plate moves toward the direction close to the back-of-hand supporting portion so that the back of the hand adheres to the surface of the back-of-hand supporting portion.

[0024] Preferably, the back of hand support portion is mounted on an angle adjustment plate, and the angle adjustment plate is hinged to the telescopic adjustment frame;

[0025] The back of the angle adjustment plate is provided with an extension portion facing away from the back of the hand supporting portion; it also includes an adjustment rod, one end of which is hinged to the end of the extension portion, and the other end passes through an adjustment bracket provided on the back of the telescopic adjustment frame, and a positioning screw penetrates into the adjustment bracket from the outside and abuts against the adjustment rod.

[0026] Preferably, the upper arm support comprises an upper arm supporting plate and upper arm limiting rods arranged on both sides of the upper arm supporting plate, and an upper arm strap is arranged between the two upper arm limiting rods.

[0027] Compared with the prior art, this application has the following advantages:

[0028] ① The forearm can be fixed to perform extension-flexion movement of -5°~0°~135°. The movement trajectory of the training components connected to the elbow joint conforms to the natural movement trajectory of elbow flexion-extension. The passive movement range reaches 140°, allowing the limbs to reach a full-angle effective range of motion;

[0029] ② During the exercise, the force point, force direction and movement trajectory are strictly set. The force point is the part of the forearm close to the wrist. The force direction remains perpendicular to the forearm during flexion-extension. There is no partial force to the elbow joint. The movement trajectory completely simulates the natural movement trajectory of the human elbow joint and will not cause secondary damage to the affected limb. In this way, the forearm on the forearm frame can safely and effectively perform continuous passive movement around the bracket node. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A limb joint motion device structure provided in one embodiment of the present application;

[0031] Figure 2 for Figure 1 The state diagram when the middle limb joint motion device is flexed to the angle between the forearm support surface and the upper arm support surface is 45°;

[0032] Figure 3 A schematic diagram of a hand back support portion of a hand fixing component connected to a telescopic adjustment frame via an angle adjustment plate;

[0033] Figure 4 for Figure 3 A top view of the middle hand fixed parts;

[0034] Figure 5 for Figure 4 The main view;

[0035] Figure 6 A schematic diagram of the implementation and use process of the limb joint motion device of the present application;

[0036] In the figure,

[0037] 31, forearm frame; 311, forearm driving belt; 312, forearm limiting rod; 313, forearm support plate; 31a, second support; 32, upper arm frame; 321, upper arm strap; 322, upper arm limiting rod; 323, upper arm support plate; 32a, first support; A, joint; B, moving body; C, fixed point;

[0038] 20. Guide device; 10. Drive device;

[0039] 100. Telescopic adjustment frame; 102. Connecting nut;

[0040] 200, hand fixing part; 210, back of hand supporting part; 221, first finger sleeve; 222, second finger sleeve; 230, fixing frame; 240, pressing plate; 250, adjusting mechanism; 251, screw rod; 252, nut; 210', handle; 211', flexible belt;

[0041] 300, angle adjustment plate; 310, extension portion; 320, adjustment rod; 330, positioning screw; 340, adjustment bracket; 301, hinge point. DETAILED DESCRIPTION

[0042] The present application will be further described below in conjunction with the accompanying drawings.

[0043] In order to facilitate the understanding of the present application, various embodiments defined by the claims of the present application will be described more fully below with reference to the relevant drawings. Preferred embodiments of the present application are given in the drawings, which contain various specific details to assist in the understanding, but these details should be regarded as exemplary only. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Accordingly, those of ordinary skill in the art will recognize that changes and improvements can be made to the various embodiments described herein without departing from the scope of the present application defined by the attached claims. In addition, for the sake of clarity and brevity, the description of well-known functions and structures may be omitted.

[0044] It will be apparent to those skilled in the art that the following description of various embodiments of the present application is provided for illustrative purposes only and not for limiting the present application as defined by the appended claims.

[0045] Throughout the specification and claims of this application document, the words "include" and "comprise" and variations of the words, such as "include" and "include" mean "including but not limited to", and are not intended to (and will not) exclude other components, wholes or steps. Features, wholes or characteristics described in conjunction with a specific aspect, embodiment or example of the present application will be understood to be applicable to any other aspect, embodiment or example described herein, unless incompatible therewith.

[0046] It should be understood that the singular forms "a", "an", and "the" include plural references unless the context clearly dictates otherwise. The expressions "including" and / or "may include" used in this application are intended to indicate the presence of corresponding functions, operations, or elements, and are not intended to limit the presence of one or more functions, operations, and / or elements. In addition, in this application, the terms "including" and / or "having" are intended to indicate the presence of characteristics, quantities, operations, elements, and components, or combinations thereof, disclosed in the application documents. Therefore, the terms "including" and / or "having" should be understood as additional possibilities of one or more other characteristics, quantities, operations, elements, and components, or combinations thereof.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs. It should also be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning consistent with the context of the relevant field and this specification, and should not be interpreted in an idealized or overly formal sense unless explicitly defined as such herein. The term "and / or" as used herein includes any and all combinations of one or more of the relevant listed items.

[0048] like Figure 1-Figure 6 As shown, in one embodiment of the present application, a limb joint motion device is provided, comprising:

[0049] An upper arm frame 32, wherein the upper arm frame 32 comprises an upper arm supporting surface and a mounting surface which are arranged opposite to each other, and the mounting surface is fixedly connected to a first bracket 32a;

[0050] The guide device 20 includes a moving body B, which can be driven to move a preset length along the guiding direction of the guide device 20, and the moving body B is hinged to an end of the first bracket 32a away from the upper arm 32; a fixed point C is provided on one end of the guide device 20 located in the guiding direction thereof;

[0051] The forearm frame 31 is located on the same side of the guide device as the upper arm frame 32 and is hingedly connected to the upper arm frame 32 through a joint A; the forearm frame 31 includes a forearm support plate 313 and two forearm limit rods 312 arranged on both sides of the forearm support plate 313 in the width direction, and the two forearm limit rods 312 are connected through a forearm driving belt 35; the forearm limit rod 312 is hingedly connected to the fixed point C through a second bracket 31a, and the second bracket 31a is perpendicular to the forearm limit rod 312;

[0052] The telescopic adjustment frame is arranged at one end of the forearm frame 31 away from the upper arm frame 32 , and a hand fixing component 200 is arranged at the end of the telescopic adjustment frame.

[0053] refer to Figure 1 and Figure 2 The forearm is fixed between the forearm support plate 313 and the forearm driving belt 311. When the moving body B is driven to move in the direction close to the fixed point C, the second bracket 31a pulls the forearm to stretch through the forearm driving belt 311. When the moving body B is driven to move to the shortest distance between the fixed point C, the angle between the forearm supporting surface of the forearm bracket and the upper arm supporting surface is 185°.

[0054] When the moving body B is driven to move in a direction away from the fixed point C, the second bracket 31a pushes the forearm to flex through the forearm support plate 313. When the moving body B is driven to move to the farthest distance from the fixed point C, the angle between the forearm supporting surface and the upper arm supporting surface is 45°.

[0055] When using, the patient can sit or lie down, and adjust the upper arm frame 32 and the forearm frame 31 to the appropriate position. The upper arm is placed in the center of the upper arm support plate 323 of the upper arm frame 32; the forearm is placed in the center of the forearm frame 31, and the forearm near the wrist is placed on the forearm support plate 313. After the forearm elbow axis is concentric with the joint A, the upper arm is fixed with the upper arm strap 321, and the forearm support plate 313 cooperates with the forearm driving belt 311 to surround and fix the forearm; finally, the telescopic adjustment frame 100 is adjusted to a suitable hand length.

[0056] During the rehabilitation process, the upper arm support 32 can be laid flat or tilted, and the upper arm is placed in the upper arm support 32 to keep the position fixed. The line connecting the fixed point C and the moving body B is consistent with the guiding direction of the guide device 20. When the moving body B is driven to move in the direction close to the fixed point C, the angle between the forearm supporting surface and the upper arm supporting surface gradually increases; when the moving body B is driven to move to the closest distance to the fixed point C, the angle between the forearm supporting surface and the upper arm supporting surface is 185° (at this time the forearm is extended -5°: the forearm is below the plane where the upper arm is located, and the angle between the forearm and the extension line of the upper arm is -5°), which meets the maximum extension angle of the human elbow joint toward the back of the hand. When the moving body B is driven to move in the direction away from the fixed point C, the angle between the forearm supporting surface and the upper arm supporting surface gradually decreases; Figure 2 The moving body B is driven to move to the state farthest from the fixed point C. At this time, the angle between the forearm support surface and the upper arm support surface is 45° (the forearm is flexed 135° at this time: the forearm is above the plane where the upper arm is located, and the angle between the forearm and the extension line of the upper arm is 135°), which meets the minimum flexion and folding angle of the human elbow joint toward the palm side. Since the range of motion can reach the effective position (the key physiological position prone to stiffness), a safe and effective reciprocating squeeze movement is implemented to force the effusion and bleeding to be effectively "pumped away" from the joint, preventing joint stiffness caused by excessive matrix deposition. In this way, effective passive stretching training can be carried out on joints with high muscle tension or contracture.

[0057] It can be seen from the above process that during the movement, the forearm of the limb is limited from both sides by the forearm limiting rod 312, and the forearm frame 31 can drive the forearm to perform -5°-0°-135° extension-flexion movement around the joint A; and, since the second bracket is hinged to the fixed point C of the guide device, and the second bracket is perpendicular to the forearm limiting rod, the force is vertically transmitted from the fixed point C through the second bracket to the forearm limiting rod 312 and the forearm supporting plate 313. When the forearm is flexed and folded, the forearm supporting plate 313 pushes the forearm and wrist to perform standard flexion movement around the elbow joint in a direction perpendicular to the length of the forearm; when the forearm is extended, the second bracket 31a is pulled in a direction perpendicular to the forearm through the forearm driving belt 311 to perform extension movement with the forearm frame 31 and the forearm, ensuring that the direction of the force during flexion and extension is perpendicular to the forearm, there is no partial force to the elbow joint, and the elbow joint will not be squeezed.

[0058] In summary, this application has the following advantages:

[0059] ① The forearm can be fixed to perform extension-flexion movement of -5°~0°~135°. The movement trajectory of the training components connected to the elbow joint conforms to the natural movement trajectory of elbow flexion-extension. The passive movement range reaches 140°, allowing the limbs to reach a full-angle effective range of motion;

[0060] ② During the movement, the force point, force direction and movement trajectory are strictly set. The force point is the part of the forearm close to the wrist. The force direction is perpendicular to the forearm during flexion-extension. There is no partial force to the elbow joint. The movement trajectory completely simulates the natural movement trajectory of the human elbow joint and will not cause secondary damage to the affected limb. In this way, the forearm on the forearm frame 31 can safely and effectively perform continuous passive movement around the bracket node.

[0061] It is worth pointing out that the present application can not only drive the arm to move, but also cooperate with the fixed limit arm when the arm moves autonomously to make the arm move within a safe angle range; at the same time, it provides appropriate damping support to avoid accidents caused by excessive rotation of the arm.

[0062] For a detailed explanation of the implementation process of this application, please refer to Figure 6 , three rotatable node joints A, mobile body B, and fixed point C form triangle ABC. When the driving motor after power-on drives the rotating screw to rotate, the mobile body B rigidly connected to the upper arm is forced to move along the screw, so that the distance between nodes BC, that is, the length of the a side of the triangle, changes, so that the ∠A corresponding to the a side changes, that is, the forearm rotates around joint A. Because the angle β between the solid line represented by the forearm and the dotted line AC is rigid and unchanged, the change value of ∠A is also the change value of the angle between the forearm and the X-axis. This change value is the designed operating angle range. Assumptions:

[0063] When the forearm is fully extended (extended -5 degrees), ∠A is the initial value of 12.73 degrees, and the angle between the forearm frame and the X-axis is -5 degrees. When the forearm frame reaches the horizontal position, ∠A is 17.73 degrees, and the angle between the forearm frame and the X-axis is 0 degrees; when the forearm is fully flexed (flexed 135 degrees), ∠A is 152.73 degrees, and the angle between the forearm frame and the X-axis is 135 degrees. The range of ∠A is 140 degrees, which means that the forearm frame of the equipment can rotate around the bracket node A from -5° to 0° to 135°, so that the motion trajectory is consistent with the natural flexion-extension motion trajectory of the elbow joint, that is, this allows the forearm tied to the forearm frame to safely and effectively perform continuous passive motion around the elbow joint.

[0064] refer to Figure 1 In some embodiments, the guide device 20 includes a guide groove, the moving body B is embedded in the guide groove and can slide along the guide groove, and the fixed point C is set on the extension line of the length direction of the guide groove. Specifically, when the guide device 20 is a guide groove, the line connecting the fixed point C and the moving body B is consistent with the extension direction of the guide groove, and when the moving body B is driven to move, the angle between the front arm frame 31 and the upper arm frame 32 changes.

[0065] refer to Figure 1 In some embodiments, the invention further comprises a driving device 10, wherein the driving device 10 comprises:

[0066] A driving component, located at a fixed point C at one end of the guiding direction of the guide device 20;

[0067] The rotating screw is connected to the driving shaft of the driving component, and the length direction of the rotating screw is consistent with the guiding direction of the guide device 20. The rotating screw is spirally penetrated into the moving body B to drive the moving body B to move along the guiding direction.

[0068] Specifically, a driving component is used to drive the rotating screw to rotate, so that the moving body B can move along the length direction of the rotating screw, and the moving body B can be automatically driven to slide. The rotating screw can provide a moving guide for the moving body B to ensure that the movement direction of the moving body B is stable and not deviated.

[0069] refer to Figure 3-Figure 5 In some embodiments, the hand fixing component 200 includes:

[0070] The back of hand support portion 210 is connected to the end of the telescopic adjustment frame 100 away from the forearm frame 31;

[0071] The finger plate includes four first finger sleeves 221 which are arranged in parallel and dispersedly and connected to the back of hand supporting part 210 and two second finger sleeves 222 which are arranged on both sides of the back of hand supporting part 210 in the width direction;

[0072] A fixing frame 230, wherein the fixing frame 230 is mounted above the back of hand supporting portion 210 and two ends of the fixing frame 230 are respectively fixed to two second finger sleeves 222;

[0073] The pressing plate 240 is disposed on the fixing frame 230 and is located above the back-of-hand supporting portion 210. The pressing plate 240 can be moved toward / away from the back-of-hand supporting portion 210 under the action of the adjusting mechanism 250. When the back of the hand is placed on the back-of-hand supporting portion 210, the pressing plate 240 moves toward the direction close to the back-of-hand supporting portion 210 so that the back of the hand adheres to the surface of the back-of-hand supporting portion 210.

[0074] Specifically, the second finger sleeve 222 can be directly connected and fixed with the fixing frame 230 by plugging and matching, and the adjustment mechanism 250 can include a screw rod 251 spirally inserted in the fixing frame and a nut 252 at the upper end of the screw rod 251, and the lower end of the screw rod 251 is rotatably connected with the pressing plate 240. During operation, four fingers are fixed to the four first finger sleeves 221 respectively, and the left thumb is fixed to the second finger sleeve 222 on one side, or the right thumb is fixed to the second finger sleeve 222 on the other side, so that the fingers can be fixed; when the back of the hand is placed on the back of the hand support part 210, the rotating nut 252 and the screw rod 251 drive the pressing plate 240 to move toward the direction close to the back of the hand support part 210, so that the back of the hand is closely attached to the surface of the back of the hand support part.

[0075] In this embodiment, the position of the back of the hand and fingers is fixed by using a finger plate, a fixing frame 230, an adjustment mechanism 250, and a pressure plate 240, so that the fingers cannot swing and the back of the hand cannot be lifted or turned over, thereby preventing the hand from swinging, lifting, or rotating to a large extent during exercise, which may cause the force point on the forearm to shift and the direction of the force to be skewed, thereby generating a partial force toward the elbow joint to cause secondary injury to the affected limb, ensuring that the force point is always located at the forearm close to the wrist and the force is always perpendicular to the forearm, thereby further improving the rehabilitation effect and safety.

[0076] Since the first finger sleeve 221 and the second finger sleeve 222 are arranged separately, the relative position between the first finger sleeve 221 and the second finger sleeve 222 can be adjusted according to the size of the hand before the pressure plate is fixed; after the pressure plate presses the back of the hand, the relative position of the first finger sleeve 221 and the second finger sleeve 222 can be fixed unchanged, thereby ensuring the stable position of the hand.

[0077] refer to Figure 3 In some embodiments, the back of hand support portion 210 is mounted on an angle adjustment plate 300 , and the angle adjustment plate 300 is hinged to the telescopic adjustment frame 100 ;

[0078] The back side of the angle adjustment plate 300 is provided with an extension portion 310 in a direction away from the back-of-hand support portion; it also includes an adjustment rod 320, one end of which is hinged to the end of the extension portion 310, and the other end passes through an adjustment bracket 340 provided on the back of the telescopic adjustment frame 100, and a positioning screw 330 penetrates into the adjustment bracket 340 from the outside and abuts against the adjustment rod 320.

[0079] Specifically, in some rehabilitation usage scenarios, it is necessary to change the angle between the hand and the forearm. In this case, the positioning screw 330 can be loosened, and the length of the adjustment rod 320 inserted into the adjustment bracket 340 can be manually changed. Since the other end of the adjustment rod 320 is connected to the extension part 310, the angle adjustment plate 300 can be driven to rotate around the hinge point 301 with the telescopic adjustment frame 100, and the angle between the angle adjustment plate 300 and the telescopic adjustment frame 100 can be changed, thereby changing the angle between the hand and the forearm.

[0080] In this embodiment, after adjusting the angle between the back of the hand support part 210 and the telescopic adjustment frame 100, more rehabilitation scenarios can be adapted. In particular, when the back of the hand support part 210 is rotated and adjusted toward the back of the hand, the fingers can be stretched behind the hand to relieve the symptoms of hand flexion spasm. In addition, the extension part 310 arranged on the back side of the angle adjustment plate 300 in a direction away from the back of the hand support part 210 can increase the adjustment space, avoiding the adjustment rod 320 being directly connected to the body of the angle adjustment plate 300, resulting in the end of the adjustment rod connected to the angle adjustment plate being stuck during the angle adjustment process.

[0081] refer to Figure 2 In some other embodiments, the hand fixing component 200 may include: a handle 210 ′ connected to the telescopic adjustment frame 100 through a flexible belt.

[0082] Specifically, after the telescopic adjustment frame 100 is adjusted to a suitable length for the hand, the connecting nut 102 is locked, the handle 210' is held by the hand, and the entire hand is stretched toward the back of the hand, thereby relieving the hand flexion spasm symptoms. This embodiment uses the handle 210', which has less hand restraint; and the handle 210' is connected to the telescopic adjustment frame 100 through a flexible belt 211', which is conducive to the stretching of the entire hand toward the back of the hand, greatly relieving the hand flexion spasm symptoms.

[0083] refer to Figure 1 In some embodiments, the forearm frame 31 is connected to the telescopic adjustment frame 100 through two connecting nuts 102. Specifically, the telescopic adjustment frame 100 can be telescopically adjusted, with a telescopic range of 0mm to 60mm, and is locked by the connecting nut 102 after the adjustment is completed.

[0084] refer to Figure 2The upper arm frame 32 includes an upper arm support plate 323 and upper arm limiting rods 322 arranged on both sides of the upper arm support plate 323, and an upper arm strap 321 is arranged between the two upper arm limiting rods 322. The upper arm can be limited from both sides by the two upper arm limiting rods 322, so as to avoid the upper arm swinging, lifting or rotating during exercise, which will cause the force point on the forearm to shift and the force direction to deviate, thereby generating a partial force to the elbow joint to cause secondary damage to the affected limb, and ensure that the force point is always located at the part of the forearm close to the wrist, and the force is always perpendicular to the forearm, so as to further improve the rehabilitation effect and safety.

[0085] In some embodiments, a touch screen is also included, which is electrically connected to the driving device 10; and the touch screen is connected to the upper arm 32 through a screen bracket. Specifically, the driving device 10 can be controlled to start on the touch screen to drive the moving body B to move. Furthermore, the screen bracket can be rotated and retracted to adjust the angle and height of the touch screen.

[0086] In the above description, although expressions such as "first" and "second" may be used to describe various elements of the present application, they are not intended to limit the corresponding elements. For example, the above expressions are not intended to limit the order or importance of the corresponding elements. The above expressions are used to distinguish one component from another component.

[0087] The terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. A singular expression includes a plural expression unless there is a significant difference in context or scheme between them.

[0088] The above description is merely an exemplary embodiment of the present application and is not intended to limit the protection scope of the present application. The protection scope of the present application is determined by the appended claims.

[0089] Those skilled in the art will understand that the various technical features of the above-described embodiments may be omitted, added or combined in any manner accordingly. To make the description concise, not all possible combinations of the various technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, and the simple transformation methods that can be thought of by those skilled in the art and the solutions for making adaptive and functional structural transformations to the prior art should be considered to be within the scope of this specification.

[0090] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent application. It should be pointed out that although the present application has been shown and described with reference to various embodiments, it is possible for a person of ordinary skill in the art to make various deformations and improvements in several forms and details without departing from the concept of the present application, without departing from the scope of the present application defined by the attached claims, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application of the present application shall be subject to the attached claims.

Claims

1. A limb joint motion device, characterized in that: include: An upper arm frame, the upper arm frame comprising an upper arm supporting surface and a mounting surface disposed opposite to each other, the mounting surface being fixedly connected to a first bracket; The guide device comprises a moving body B, the moving body B can be driven to move a preset length along the guiding direction of the guide device, and the moving body B is hinged to an end of the first bracket away from the upper arm; a fixed point C is provided on one end of the guide device located in the guiding direction thereof; The forearm frame is located on the same side of the guide device as the upper arm frame and is hingedly connected to the upper arm frame through a joint A; the forearm frame includes a forearm support plate and two forearm limit rods arranged on both sides of the forearm support plate in a width direction, and the two forearm limit rods are connected through a forearm driving belt; the forearm limit rod is hingedly connected to the fixed point C through a second bracket, and the second bracket is perpendicular to the forearm limit rod; The telescopic adjustment frame is arranged at one end of the forearm frame away from the upper arm frame, and a hand fixing component is arranged at the end of the telescopic adjustment frame.

2. The limb joint motion device according to claim 1, characterized in that: When the moving body B is driven to move in a direction close to the fixed point C, the second bracket pulls the forearm to stretch through the forearm driving belt, until the moving body B is driven to move to the shortest distance from the fixed point C, the angle between the forearm supporting surface of the forearm bracket and the upper arm supporting surface is 185°, the forearm is below the plane where the upper arm is located, and the angle between the forearm and the extension line of the upper arm is -5°; When the moving body B is driven to move in a direction away from the fixed point C, the second bracket pushes the forearm to flex through the forearm support plate. When the moving body B is driven to move to the farthest distance from the fixed point C, the angle between the forearm supporting surface and the upper arm supporting surface is 45°, the forearm is above the plane where the upper arm is located, and the angle between the forearm and the extension line of the upper arm is 135°.

3. The limb joint motion device according to claim 1, characterized in that: The guide device comprises a guide groove, the movable body B is embedded in the guide groove and can slide along the guide groove, and the fixed point C is arranged on the extension line of the guide groove in the length direction.

4. The limb joint motion device according to claim 1, characterized in that: Also included is a driving device, the driving device comprising: A driving component, located at a fixed point C at one end of the guiding direction of the guide device; The rotating screw is connected to the driving shaft of the driving component, and the length direction of the rotating screw is consistent with the guiding direction of the guiding device. The rotating screw is spirally penetrated into the moving body B to drive the moving body B to move along the guiding direction.

5. The limb joint motion device according to claim 1, characterized in that: The hand fixing component comprises: A back-of-hand support portion connected to an end of the telescopic adjustment frame away from the forearm frame; The finger plate includes four first finger sleeves which are arranged in parallel and dispersedly and connected to the back of hand supporting part, and two second finger sleeves which are arranged on both sides of the back of hand supporting part in the width direction; A fixing frame, the fixing frame is mounted above the back of hand supporting portion and the two ends of the fixing frame are respectively fixed to the two second finger sleeves; A pressure plate is provided on the fixing frame and is located above the back-of-hand supporting portion, and the pressure plate can be moved toward / away from the back-of-hand supporting portion under the action of the adjusting mechanism. When the back of the hand is placed on the back-of-hand supporting portion, the pressure plate moves toward the direction close to the back-of-hand supporting portion so that the back of the hand adheres to the surface of the back-of-hand supporting portion.

6. The limb joint motion device according to claim 5, characterized in that: The back of hand support portion is mounted on an angle adjustment plate, and the angle adjustment plate is hinged to the telescopic adjustment frame; The back side of the angle adjustment plate is provided with an extension portion in a direction away from the back of the hand supporting portion; it also includes an adjustment rod, one end of which is hinged to the end of the extension portion, and the other end passes through an adjustment bracket provided on the back of the telescopic adjustment frame, and a positioning screw penetrates into the adjustment bracket from the outside and abuts against the adjustment rod.

7. The limb joint motion device according to claim 1, characterized in that: The hand fixing component comprises a handle connected to the telescopic adjustment frame through a flexible belt.

8. The limb joint motion device according to claim 1, characterized in that: The upper arm frame comprises an upper arm supporting plate and upper arm limiting rods arranged on both sides of the upper arm supporting plate, and an upper arm strap is arranged between the two upper arm limiting rods.

9. The limb joint motion device according to claim 1, characterized in that: It also includes a touch screen, which is electrically connected to the driving device; and the touch screen is connected to the upper arm through a screen bracket.

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