Upper limb exoskeleton rehabilitation training equipment

Abstract

The utility model is applicable to the technical field of rehabilitation equipment, and provides upper limb exoskeleton rehabilitation training equipment which comprises a movable support, a bearing is arranged on a bearing support frame, a gear ring is fixedly mounted on the front side of an inner ring of the bearing, a mounting seat is arranged on the gear ring, a manipulator extending forwards is arranged on the mounting seat, and the upper limb exoskeleton rehabilitation training equipment is arranged on the manipulator. And the manipulator is used for driving finger joints to move. According to the upper limb exoskeleton rehabilitation training equipment, the palm of a patient is fixed to the mechanical arm, the mechanical arm drives the hand to conduct grabbing, bending and stretching exercise, the gear ring rotates to drive the wrist to conduct internal and external rotation exercise, the moving plate drives the whole to slide front and back, bending and stretching actions of the whole arm are simulated, and different action exercises are conducted on the palm, the wrist and multiple parts of the arm; rehabilitation exercise actions of the whole upper limbs can be achieved on one device, one or two exercise functions can be selected to be used, different devices do not need to be replaced for exercise and training, the functions are more complete, and use is more convenient.

Description

Technical Field

[0001] The utility model belongs to the technical field of rehabilitation equipment, and in particular relates to an upper limb exoskeleton rehabilitation training device. Background Art

[0002] Rehabilitation training refers to a treatment method that restores limb injuries and functional impairments to normal through exercise and training. For problems of limited hand function caused by hand trauma and disease, rehabilitation training of the hands is required after the corresponding treatment so that hand function can be restored as soon as possible. For example, medical staff will massage and flex and extend the patient's finger joints and arm muscles to promote recovery.

[0003] Upper limb rehabilitation training involves muscles and joints in multiple parts of the fingers, wrists and arms. During the training and rehabilitation process, various parts need to be exercised. In addition to manual massage and exercise, there are also some rehabilitation training equipment. Some existing rehabilitation equipment generally has relatively single functions. For example, there are mechanical gloves specifically for rehabilitating the flexion and extension functions of finger joints, and there are also devices specifically for training the flexion and extension functions of some arms. However, most of the current training devices only have the training function of one part, and there is no training equipment that can meet the needs of the entire upper limb, including fingers, wrists, and arms. When multi-part rehabilitation is required, different training devices can only be used to train each part separately, and one device cannot be used to complete all training movements. Therefore, it is necessary to develop a device that can meet the needs of multi-part training of the upper limbs. Utility Model Content

[0004] The utility model provides an upper limb exoskeleton rehabilitation training device, which aims to solve the problem that some existing rehabilitation devices have only a partial training function, no training device can meet the training needs of the fingers, wrists, arms and the entire upper limb, and all training movements cannot be completed using one device.

[0005] The utility model is implemented as follows: an upper limb exoskeleton rehabilitation training device comprises a mobile base, a lifting assembly is vertically arranged on the top of the mobile base, a lifting platform is arranged on the top of the lifting assembly, a mobile plate is movably arranged on the top of the lifting platform along its length direction, a bearing support frame is arranged at the front end of the mobile plate, a bearing is arranged on the bearing support frame, a gear ring is fixedly installed on the front side of the inner ring of the bearing, a driving assembly for driving the gear ring to rotate is arranged on the bearing support frame, a mounting seat is arranged on the gear ring, and a manipulator extending forward is arranged on the mounting seat, and the manipulator is used to drive the finger joints to move;

[0006] The bearing support frame is provided with a front shell and a rear shell. The rear shell extends backward and forms a groove in the middle. A mounting plate is slidably provided in the groove of the rear shell. An arm support bracket is provided on the mounting plate through a universal joint.

[0007] Preferably, a driving bin is provided at the rear end of the top of the movable plate, a gap is formed between the bottom of the movable plate and the lifting platform, and the rear end of the movable plate is slidably connected to the top of the driving bin.

[0008] Preferably, a first driving motor is provided in the driving compartment, and a threaded screw extending forward is fixedly connected to the output shaft of the first driving motor, and a screw sleeve fixedly connected to the bottom of the movable plate is threadedly connected to the surface of the threaded screw.

[0009] Preferably, a roller is provided at the bottom of the front shell.

[0010] Preferably, the drive assembly includes a second drive motor, the second drive motor is fixedly mounted on the bearing support frame, and a gear meshing with the gear ring is fixedly mounted on the output end of the second drive motor.

[0011] Preferably, a front panel is provided at the front end of the lifting platform, and a control switch and a display screen are provided on the front panel.

[0012] Preferably, a cover extending downward is provided on the edge of the lifting platform, and the cover and the lifting platform form a chassis, in which a mainboard is provided.

[0013] Beneficial effects

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention is an upper limb exoskeleton rehabilitation training device, in which the patient's palm is fixed to the manipulator, the upper arm is supported by the arm support bracket, the manipulator drives the hand to perform grasping flexion and extension exercises, the gear ring rotates to drive the wrist to perform internal and external rotation exercises, the movable plate drives the above-mentioned whole to slide back and forth, thereby driving the forearm and palm part to move back and forth as a whole, thereby realizing the flexion and extension of the elbow joint, performing flexion and extension exercises on the elbow joint, upper arm and shoulder, simulating the flexion and extension movements of the entire arm, performing different movement exercises on the palm, wrist and multiple parts of the arm, and realizing the rehabilitation exercise movements of the entire upper limb on one device, and choosing to use one or two exercise functions, without having to change different devices for exercise and training, with more complete functions and more convenient use. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural diagram of the utility model;

[0016] Figure 2 This is a schematic diagram of the internal structure of the utility model;

[0017] Figure 3 This is a schematic diagram of the structure of the rear shell and the arm support bracket in the utility model;

[0018] Figure 4 This is a structural diagram of the bearing support frame and the movable plate in the utility model;

[0019] Figure 5 This is a schematic diagram of the structure of the gear and gear ring in the utility model;

[0020] Figure 6 It is a structural schematic diagram of the threaded screw and the movable plate in the utility model.

[0021] In the figure: 1-mobile base, 2-lifting assembly, 3-lifting platform, 4-mobile plate, 5-bearing support frame, 6-bearing, 7-gear ring, 8-mounting seat, 9-manipulator, 10-front shell, 11-rear shell, 12-mounting plate, 13-arm support bracket, 14-drive compartment, 15-support plate, 16-threaded screw, 17-screw sleeve, 18-roller, 19-second drive motor, 20-gear, 21-front panel, 22-control switch, 23-display, 24-cover, 25-mainboard. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0023] See also Figure 1-6 The utility model provides a technical solution: an upper limb exoskeleton rehabilitation training device, comprising a mobile base 1, a lifting component 2 is vertically arranged on the top of the mobile base 1, and a lifting platform 3 is arranged on the top of the lifting component 2.

[0024] The mobile base 1 includes a support frame and multiple casters to facilitate the movement of the device. A counterweight block can be set on the support frame to prevent the center of gravity from being too high and tilting or tipping during movement or use.

[0025] The lifting component 2 can be an electric telescopic rod, which is used to drive the lifting platform 3 to move up and down, thereby driving the functional components on the lifting platform 3 to move up and down to meet the usage requirements of different heights.

[0026] A movable plate 4 is movably provided on the top of the lifting platform 3 along its length direction. A bearing support frame 5 is provided at the front end of the movable plate 4. A bearing 6 is provided on the bearing support frame 5. A gear ring 7 is fixedly installed on the front side of the inner ring of the bearing 6.

[0027] The bearing support frame 5 includes a base portion and an upper bracket portion. The bracket portion is provided with a circular hole that fits the cavity of the bearing 6 for the arm to pass through.

[0028] An outer ring support ring is fixedly installed on the outer ring of the outer ring of the bearing 6 on the bracket part of the bearing support frame 5. The outer ring support ring is connected to the outer ring of the bearing 6 to support and position the outer ring of the bearing 6, and an inner ring support ring is fixedly installed on the inner ring surface of the inner ring of the bearing 6 to support and limit the inner ring of the bearing 6.

[0029] The gear ring 7 is fixedly mounted on the front side of the inner ring support ring, and the gear ring 7 and the inner ring support ring rotate with the help of the bearing 6 .

[0030] The bearing support frame 5 is provided with a driving assembly for driving the gear ring 7 to rotate. The gear ring 7 is provided with a mounting seat 8. The mounting seat 8 is provided with a forward-extending manipulator 9, and the manipulator 9 is used to drive the finger joints to move.

[0031] The manipulator 9 includes a palm and five fingers, and the positions corresponding to the human joints are hinged to form a structure similar to the human joints. The flexion and extension of each joint can be controlled by an electric push rod or an airbag to imitate the grasping action of the human hand. This technical solution is a common technology in existing hand function rehabilitation devices and will not be elaborated here.

[0032] The human hand can pass through the central cavity of the bearing 6 and reach the position of the manipulator 9, and fix the palm and fingers to the manipulator 9 accordingly. The joints of the manipulator 9 drive the fingers to move to simulate the movements of grasping and relaxing, thereby exercising the joints and muscles of the fingers.

[0033] The driving assembly drives the gear ring 7 to rotate within a certain angle, thereby driving the mounting seat 8 to reciprocate within a certain angle, thereby driving the manipulator 9 to reciprocate.

[0034] The manipulator 9 can drive the human hand to rotate, thereby driving the wrist part to flip back and forth within a certain angle, and performing internal and external rotation exercises on the wrist joint.

[0035] The bearing support frame 5 is provided with a front shell 10 and a rear shell 11. The rear shell 11 extends backward and has a groove formed in the middle. A mounting plate 12 is slidably provided in the groove of the rear shell 11. An arm support bracket 13 is provided on the mounting plate 12 through a universal joint.

[0036] Circular holes are also provided on the front shell 10 and the rear shell 11 for the arms to pass through.

[0037] The rear shell 11 extends rearward to cover the moving plate 4, and the lower portion of the front shell 10 extends forward to cover the driving assembly.

[0038] The rear side of the inner ring support ring is rotatably connected to the inner wall surface of the rear shell 11, and the rear shell 11 supports and guides the inner ring support ring, thereby supporting and guiding the inner ring of the bearing 6.

[0039] Support plates 15 are provided on both sides of the arm support bracket 13 in the groove of the rear shell 11. The support plates 15 can be made of rubber or silicone material and are used to support the forearm to improve the patient's comfort.

[0040] The arm support bracket 13 is mounted on the mounting plate 12 via a universal joint, and its direction can be adjusted arbitrarily to meet the use requirements at different angles.

[0041] In this embodiment, the arm support bracket 13 supports the upper part of the patient's elbow, and the mounting plate 12 slides in the groove through damping. The front and rear positions of the arm support bracket 13 can be adjusted and fixed to adapt to the arm lengths of different patients.

[0042] The patient's palm is fixed to the manipulator 9, and the upper arm is supported by the arm support bracket 13. The manipulator 9 drives the hand to perform grasping flexion and extension exercises, the gear ring 7 rotates to drive the wrist to perform internal and external rotation exercises, and the movable plate 4 drives the above-mentioned whole to slide back and forth, thereby driving the forearm and palm part to move back and forth as a whole, thereby realizing the flexion and extension of the elbow joint, performing flexion and extension exercises on the elbow joint, upper arm and shoulder, simulating the flexion and extension movements of the entire arm, and realizing the rehabilitation exercises of the entire upper limb on one device, and can choose to use one or two exercise functions, without the need to change different devices for exercise and training, with more complete functions and more convenient use.

[0043] Furthermore, a driving compartment 14 is provided at the rear end of the top of the lifting platform 3 , a gap is formed between the bottom of the movable plate 4 and the lifting platform 3 , and the rear end of the movable plate 4 is slidably connected to the top of the driving compartment 14 .

[0044] In this embodiment, a guide rail is provided on the top of the drive chamber 14. The rear end of the movable plate 4 is fixed to a slider configured on the guide rail on the drive chamber 14 with screws, so that the movable plate 4 can slide along the guide rail, guiding and supporting the movement of the movable plate 4. When the movable plate 4 moves to the front end, the rear end remains on the top of the drive chamber 14.

[0045] The bottom of the front shell 10 is provided with a roller 18. The front portion is supported as a whole and when moving forward and backward, the guide rail slider at the rear end is cooperated to achieve smooth movement.

[0046] Furthermore, a first drive motor is provided in the drive compartment 14 , and a threaded screw 16 extending forward is fixedly connected to the output shaft of the first drive motor. The surface of the threaded screw 16 is threadedly connected to a screw sleeve 17 fixedly connected to the bottom of the movable plate 4 .

[0047] Furthermore, the first drive motor drives the threaded screw 16 to rotate, thereby driving the screw sleeve 17 to move back and forth, and further driving the movable plate 4 to move.

[0048] A positioning block is provided on the screw sleeve 17, and a position switch cooperating with the positioning block is provided at the front end of the drive chamber 14. When the positioning block contacts the position switch, it indicates that the movable plate 4 has moved to the rear end and stops moving backward, thereby limiting the stroke of the movable plate 4.

[0049] Furthermore, the driving assembly includes a second driving motor 19 , which is fixedly mounted on the bearing support frame 5 , and a gear 20 meshing with the gear ring 7 is fixedly mounted on the output end of the second driving motor 19 .

[0050] In this embodiment, the second drive motor 19 drives the gear 20 to rotate, thereby driving the gear ring 7 to rotate.

[0051] The second drive motor 19 is a stepping motor that can control the number of rotations and speed, thereby controlling the rotation amplitude and speed of the gear ring 7 and the manipulator 9 within a suitable range to avoid spraining the arm.

[0052] A Hall sensor can also be provided on the gear ring 7 to detect the rotation position of the gear ring 7, and the detection data is transmitted to the main board 25, which controls the stopping and rotation of the second drive motor 29, further limiting the rotation range of the gear ring 7 and improving safety.

[0053] Furthermore, a front panel 21 is provided at the front end of the lifting platform 3, on which a control switch 22 and a display screen 23 are provided. A downwardly extending cover 24 is provided at the edge of the lifting platform 3, and the cover 24 and the lifting platform 3 form a chassis, in which a mainboard 25 is provided.

[0054] In this embodiment, the control switch 22 includes a power switch and an emergency stop switch, which can turn the device on and off and force a shutdown in the event of a fault. The display screen 23 is electrically or signal-connected to the mainboard 25 and can be a touch screen. It can display the operating status and control the device. A removable remote control is also provided on the front panel 21 for remote control.

[0055] The front panel 21 is also provided with a handle, and the device can be moved by grasping the handle.

[0056] The device promotes functional recovery by performing various exercises on the palm, wrist, and arm. It uses external force (manual or mechanical) to stretch shortened or contracted muscles, ligaments, and other soft tissues, stretching the muscles to increase flexibility, reduce muscle tension, improve blood circulation and proprioception, increase joint mobility, relieve pain, and prevent injury.

[0057] The muscles themselves do not actively contract, but rely on external forces to complete the physiological activities of the joints. Passive joint mobility training is performed based on the structure and physiological movement characteristics of the affected joints to maintain and improve the range of joint motion and prevent joint contractures.

[0058] Muscles possess elasticity, plasticity, and extensibility. Passive stretching increases intracytoplasmic calcium concentration by activating calcium channels, thereby increasing muscle fiber length. Furthermore, passive stretching promotes connective tissue remodeling via fibroblasts, thereby reducing muscle stiffness.

[0059] By stretching the muscles and maintaining the length and flexibility of their soft tissues, it is beneficial to improve blood circulation, stretch contracted fibrous tissues, loosen adhesions of muscles, tendons and ligaments, prevent or alleviate muscle atrophy, regulate muscle tension, improve muscle control ability, and develop strength and endurance.

[0060] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An upper limb exoskeleton rehabilitation training device, characterized by: The invention comprises a movable base (1), a lifting assembly (2) is vertically arranged on the top of the movable base (1), a lifting platform (3) is arranged on the top of the lifting assembly (2), a movable plate (4) is movably arranged on the top of the lifting platform (3) along its length direction, a bearing support frame (5) is arranged at the front end of the movable plate (4), a bearing (6) is arranged on the bearing support frame (5), a gear ring (7) is fixedly installed on the front side of the inner ring of the bearing (6), a driving assembly for driving the gear ring (7) to rotate is arranged on the bearing support frame (5), a mounting seat (8) is arranged on the gear ring (7), a manipulator (9) extending forward is arranged on the mounting seat (8), and the manipulator (9) is used to drive the finger joint to move; The bearing support frame (5) is provided with a front shell (10) and a rear shell (11), the rear shell (11) extends backward and forms a groove in the middle, a mounting plate (12) is slidably provided in the groove of the rear shell (11), and an arm support bracket (13) is provided on the mounting plate (12) via a universal joint.

2. The upper limb exoskeleton rehabilitation training device according to claim 1, characterized in that: A driving bin (14) is provided at the rear end of the top of the lifting platform (3), a gap is formed between the bottom of the movable plate (4) and the lifting platform (3), and the rear end of the movable plate (4) is slidably connected to the top of the driving bin (14).

3. The upper limb exoskeleton rehabilitation training device according to claim 2, characterized in that: A first drive motor is provided in the drive compartment (14), and a threaded screw rod (16) extending forward is fixedly connected to the output shaft of the first drive motor. The surface of the threaded screw rod (16) is threadedly connected to a screw rod sleeve (17) fixedly connected to the bottom of the movable plate (4).

4. The upper limb exoskeleton rehabilitation training device according to claim 1, characterized in that: A roller (18) is provided at the bottom of the front shell (10).

5. The upper limb exoskeleton rehabilitation training device according to claim 1, characterized in that: The drive assembly comprises a second drive motor (19), the second drive motor (19) is fixedly mounted on the bearing support frame (5), and a gear (20) meshing with the gear ring (7) is fixedly mounted on the output end of the second drive motor (19).

6. The upper limb exoskeleton rehabilitation training device according to claim 1, characterized in that: The front end of the lifting platform (3) is provided with a front panel (21), and the front panel (21) is provided with a control switch (22) and a display screen (23).

7. The upper limb exoskeleton rehabilitation training device according to claim 1, characterized in that: A downwardly extending cover member (24) is provided at the edge of the lifting platform (3); the cover member (24) and the lifting platform (3) form a chassis, and a mainboard (25) is provided in the chassis.

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