Upper limb rehabilitation training device

Abstract

This utility model discloses an upper limb rehabilitation training device, relating to the field of medical device technology, including a worktable, a traction component, and a support frame. The traction component includes a first link, a second link, a third link, a fourth link, and a slider. The slider is movably mounted on the worktable. One end of the first link is fixedly connected to the slider, and the other end is rotatably connected to the second link. The fourth link is rotatably mounted on the worktable and rotatably connected to the third link, as are the second and third links. The support frame is located at the connection between the second and third links and is used by the patient to place the affected limb. This upper limb rehabilitation training device, through the traction of the first, second, third, and fourth links and the slider to move the support frame, can achieve diversified movement trajectories of the support frame, more accurately simulating human upper limb movements, and the operation is more stable, improving the safety and comfort of rehabilitation training.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to an upper limb rehabilitation training device. Background Technology

[0002] With the aging population, the frequency of many diseases is gradually increasing. For example, the steady growth in the elderly population is increasingly correlated with the rising incidence of stroke, showing a year-on-year increasing trend. Stroke, also known as cerebrovascular accident, is a major chronic non-communicable disease that seriously endangers the health of the Chinese population. It is the leading cause of death and disability among adults in my country, characterized by five major features: high incidence, high disability rate, high mortality rate, high recurrence rate, and high economic burden. Stroke mainly manifests as hemiplegia, causing patients to lose the ability to move their upper or lower limbs independently. This not only severely affects their daily lives but also causes significant psychological harm. Therefore, timely diagnosis and treatment are crucial for stroke patients. Combined with systematic rehabilitation training, this can more effectively promote functional recovery and improve their quality of life.

[0003] Hemiplegia caused by stroke is more often manifested as loss of upper limb motor function. As the core motor organs in daily life and work, the recovery of upper limb function not only significantly improves the patient's quality of life but also effectively reduces the burden on families and society. Existing upper limb rehabilitation training devices (such as the MIT-MANUS rehabilitation training robot and the NeReBot rehabilitation training robot) have the following shortcomings:

[0004] Complex structure: It often uses multi-degree-of-freedom motor drive or rope traction, which results in high manufacturing costs and difficult maintenance;

[0005] Limited movement trajectory: Traditional three-bar or four-bar mechanisms are difficult to accurately simulate the movement of the human upper limbs;

[0006] Inconvenient to operate: The support device needs to be fixed in place, and the traction mechanism is easily affected by the weight of the upper limbs, resulting in a decrease in movement accuracy.

[0007] Therefore, there are still shortcomings and deficiencies in the existing technology. How to provide an upper limb rehabilitation training device with simple structure, diverse movement trajectories and convenient operation is a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0008] The purpose of this invention is to provide an upper limb rehabilitation training device that solves the technical problems of existing upper limb rehabilitation training devices having complex structures, simple movement trajectories, and inconvenient operation.

[0009] To achieve the above objectives, this utility model provides an upper limb rehabilitation training device, comprising:

[0010] Workbench;

[0011] A traction assembly includes a first link, a second link, a third link, a fourth link, and a slider. The slider is movably mounted on the worktable. One end of the first link is fixedly connected to the slider, and the other end is rotatably connected to the second link. The fourth link is rotatably mounted on the worktable and is rotatably connected to the third link. The second link is also rotatably connected to the third link.

[0012] A support frame, located at the connection between the second link and the third link, is used to place the affected limb on the patient.

[0013] Preferably, a mounting block is fixedly provided on the top of the workbench, the mounting block is provided with a sliding groove, and the slider is slidably connected to the sliding groove.

[0014] Preferably, it further includes a first drive motor for outputting linear motion, the first drive motor being mounted on the worktable, and the output end of the first drive motor being connected to the slider.

[0015] Preferably, the worktable is equipped with a second drive motor for outputting rotary motion, and the output end of the second drive motor is connected to the fourth connecting rod.

[0016] Preferably, a support member is fixedly provided at the connection between the second link and the third link, the support member has a notch on its side, and the support frame is fixedly provided at the notch of the support member.

[0017] Preferably, the support member has a gripping part fixedly provided in the middle for the patient to hold.

[0018] Preferably, a support wheel is provided at the connection between the second link and the third link, and the support wheel is slidably disposed on the worktable.

[0019] Preferably, it also includes an airbag for tightly wrapping the patient's hand after inflation.

[0020] Preferably, a connecting seat is fixedly provided on the top of the slider, and the end of the first connecting rod away from the second connecting rod is fixed to the connecting seat by fasteners.

[0021] Preferably, the first link and the second link are rotatably connected by a pin, the second link and the third link are rotatably connected by a pin, and the third link and the fourth link are rotatably connected by a pin.

[0022] Compared to the aforementioned background technology, the upper limb rehabilitation training device provided by this utility model has a simple structure. The support frame is located at the connection between the second and third links. By moving the support frame through the first, second, third, and fourth links and the slider, the position of the support frame can be changed, which can realize the diversification of the movement trajectory of the support frame and more accurately simulate the upper limb movement of the human body. Compared with the traditional three-bar traction mechanism and four-bar traction mechanism, the moment of inertia is smaller, the operation process is more stable, the impact on the patient is reduced, and the safety and comfort of rehabilitation training are improved. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0024] Figure 1 A three-dimensional schematic diagram of the upper limb rehabilitation training device provided in this embodiment of the utility model;

[0025] Figure 2 This is a front view of the upper limb rehabilitation training device provided in an embodiment of the present utility model;

[0026] Figure 3 A side view of the upper limb rehabilitation training device provided in an embodiment of this utility model;

[0027] Figure 4 This is a top view of the upper limb rehabilitation training device provided in an embodiment of the present invention.

[0028] Figures 1 to 4 Chinese reference numerals: 10, worktable; 11, mounting block; 111, slide rail; 12, second drive motor; 20, traction assembly; 21, first connecting rod; 22, second connecting rod; 23, third connecting rod; 24, fourth connecting rod; 25, slider; 251, connecting seat; 30, support frame; 31, support member; 311, gripping part; 32, support wheel. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0030] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] This utility model provides an upper limb rehabilitation training device, which is suitable for rehabilitation training of upper limb motor function in stroke patients. By changing the position of the support frame 30 through the first link 21, the second link 22, the third link 23, the fourth link 24 and the slider 25, the movement trajectory of the support frame 30 can be diversified, which can more accurately simulate the upper limb movement of the human body. The structure is simple and easy to operate.

[0032] Please refer to this as well. Figures 1 to 4 The upper limb rehabilitation training device provided by this utility model includes a workbench 10, a traction component 20, and a support frame 30.

[0033] The traction assembly 20 is used to move the support frame 30. The traction assembly 20 includes a first link 21, a second link 22, a third link 23, a fourth link 24, and a slider 25. The slider 25 is movably mounted on the worktable 10. One end of the first link 21 is fixedly connected to the slider 25, and the other end is rotatably connected to the second link 22. The fourth link 24 is rotatably mounted on the worktable 10. The fourth link 24 is rotatably connected to the third link 23, and the second link 22 is rotatably connected to the third link 23.

[0034] The support frame 30 is located at the connection between the second link 22 and the third link 23, and the support frame 30 is used to place the affected limb for the patient.

[0035] When in use, the patient's affected limb is placed on the support frame 30. As the slider 25 slides on the worktable 10, it drives the first link 21 to move, causing the second link 22 to rotate. As the fourth link 24 rotates, it drives the third link 23 to rotate, thereby driving the support frame 30 located at the connection between the second link 22 and the third link 23 to move, so that the patient's wrist joint can be passively trained.

[0036] With this configuration, the support frame 30 is moved by the first link 21, the second link 22, the third link 23, the fourth link 24 and the slider 25, changing the position of the support frame 30 and diversifying its movement trajectory. This allows for more accurate simulation of the human upper limb movement. Compared with traditional three-bar and four-bar traction mechanisms, it has a smaller moment of inertia, a smoother operation, reduces the impact on the patient, and improves the safety and comfort of rehabilitation training.

[0037] Please refer to this as well. Figures 1 to 4A mounting block 11 is fixedly provided on the top of the workbench 10. The mounting block 11 is elongated and has a groove 111. The slider 25 is slidably connected to the groove 111. The groove 111 is arranged along the length of the mounting block 11, and the slider 25 is correspondingly accommodated in the groove 111 and can slide along the groove 111.

[0038] Please refer to this as well. Figures 1 to 4 The upper limb rehabilitation training device provided by this utility model also includes a first drive motor for outputting linear motion. The first drive motor is mounted on the worktable 10, and its output end is connected to the slider 25. When the first drive motor is working, it outputs linear motion to drive the slider 25 to slide along the slide groove 111, thereby causing the second connecting rod 22 to rotate under the action of the first connecting rod 21 through the movement of the slider 25. In this embodiment, the first drive motor is a linear motor.

[0039] Please refer to this as well. Figures 1 to 4 The worktable 10 is equipped with a second drive motor 12 for outputting rotary motion. The output end of the second drive motor 12 is connected to the fourth connecting rod 24. Specifically, the second drive motor 12 is fixedly mounted on the worktable 10 via a motor mounting bracket, and the output end of the second drive motor 12 can be connected to the fourth connecting rod 24 via a coupling or the like. When the second drive motor 12 is working, it outputs rotary motion, driving the fourth connecting rod 24 to rotate, which in turn drives the third connecting rod 23 to rotate. In this embodiment, the second drive motor 12 is a rotary motor.

[0040] Please refer to this as well. Figures 1 to 4 A support member 31 is fixedly provided at the connection between the second link 22 and the third link 23. The side of the support member 31 has a notch, and the support frame 30 is fixedly provided at the notch of the support member 31.

[0041] Please refer to this as well. Figures 1 to 4 The support member 31 has a gripping part 311 fixedly provided in the middle for the patient to hold.

[0042] During rehabilitation training, the patient can place their forearm on the support frame 30 and grasp the grip part 311 with their fingers. This design ensures that the patient's forearm and hand will not suddenly detach during rehabilitation training. This not only guarantees the safety and reliability of rehabilitation training but also makes the operation more convenient.

[0043] Please refer to this as well. Figures 1 to 4 A support wheel 32 is also provided at the connection between the second link 22 and the third link 23, and the support wheel 32 is slidably mounted on the worktable 10.

[0044] By setting the support wheel 32, when the patient's upper limb is placed on the support frame 30 for rehabilitation training, the pressure exerted by the patient's upper limb on the second link 22 and the third link 23 can be transmitted to the worktable 10 through the support wheel 32. The support provided by the support wheel 32 reduces the deformation of the traction component 20, which not only ensures the movement accuracy of the support frame 30, but also extends the service life of the upper limb rehabilitation training device.

[0045] Optionally, the support wheel 32 has a built-in magnetorheological damper. By setting the magnetorheological damper, the sliding resistance of the support wheel 32 can be adjusted in real time to ensure smooth movement and optimize movement comfort.

[0046] Please refer to this as well. Figures 1 to 4 The upper limb rehabilitation training device provided by this utility model also includes an airbag for tightly wrapping the patient's hand after inflation. After the patient's forearm is placed on the support frame 30 and the patient's fingers grasp the grip part 311, the airbag is activated to tightly wrap the patient's hand, which can further prevent the patient's forearm and hand from suddenly detaching during rehabilitation training, ensuring stability and safety during use.

[0047] Please refer to this as well. Figures 1 to 4 A connecting seat 251 is fixedly provided on the top of the slider 25, and the end of the first connecting rod 21 away from the second connecting rod 22 is fixed to the connecting seat 251 by fasteners.

[0048] Optionally, the connecting seat 251 is provided with a receiving cavity. The end of the first connecting rod 21 away from the second connecting rod 22 is held in the receiving cavity of the connecting seat 251 and fixed by fasteners, thereby connecting the first connecting rod 21 to the connecting seat 251. The fasteners can be fastening bolts, fastening screws, or fixing pins, etc., and are not specifically limited.

[0049] Please refer to this as well. Figures 1 to 4 The first link 21 and the second link 22 are rotatably connected by a pin, the second link 22 and the third link 23 are rotatably connected by a pin, and the third link 23 and the fourth link 24 are rotatably connected by a pin.

[0050] Optionally, in some embodiments, an electromagnetic lock is provided at the connection between the support frame 30 and the traction component 20, which can be automatically locked in an emergency (such as a power outage or overload) to prevent the patient's upper limb from slipping out accidentally.

[0051] Optionally, in some embodiments, the upper limb rehabilitation training device is equipped with a sensor module, which includes a pressure sensor and an acceleration sensor embedded in the support frame 30, and an electromyography sensor embedded in the air bladder. The sensor module can monitor the patient's upper limb movement status, muscle activity, and force application in real time.

[0052] Based on data from the sensor module, machine learning algorithms dynamically adjust traction force, movement trajectory, and training intensity to create personalized rehabilitation training plans. For example, based on the patient's muscle strength recovery level, the system automatically switches between passive training, assisted training, and active resistance training modes.

[0053] The upper limb rehabilitation training device is also equipped with a wireless communication module, which allows doctors to remotely monitor and adjust training plans by uploading training data to a cloud platform, while also generating rehabilitation progress reports.

[0054] This setup allows for dynamic responses to the patient's real-time rehabilitation training status, significantly improving the intelligence level of the upper limb rehabilitation training device and enabling safer and more personalized training.

[0055] When undergoing rehabilitation training, patients can choose between passive and active training modes based on their actual situation.

[0056] During passive training, the patient places their forearm on the support frame 30 and grasps the grip part 311 with their fingers. The first drive motor and the second drive motor 12 are in operation. The operation of the first drive motor drives the slider 25 to slide on the worktable 10, thereby causing the second link 22 to rotate through the first link 21. The operation of the second drive motor 12 drives the fourth link 24 to rotate, which in turn drives the third link 23 to rotate. This causes the support frame 30 located at the connection between the second link 22 and the third link 23 to move, thus realizing passive training.

[0057] During active training, the patient's forearm is placed on the support frame 30, and the patient's fingers grasp the grip part 311. The first drive motor and the second drive motor 12 stop working, and the patient moves the affected limb to complete the rehabilitation training movements. The traction component 20 moves under the influence of the patient.

[0058] The upper limb rehabilitation training device provided by this utility model has a simple structure. By using the first link 21, the second link 22, the third link 23, the fourth link 24 and the slider 25 to move the support frame 30 and change the position of the support frame 30, the movement trajectory of the support frame 30 can be diversified, which can more accurately simulate the upper limb movement of the human body. Compared with the traditional three-bar traction mechanism and four-bar traction mechanism, the moment of inertia is smaller, the operation process is more stable, the impact on the patient is reduced, and the safety and comfort of rehabilitation training are improved.

[0059] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0060] This article uses specific examples to illustrate the principles and implementation methods of this utility model. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made to this utility model without departing from the principles of this utility model, and these improvements and modifications also fall within the protection scope of this utility model.

Claims

1. An upper limb rehabilitation training device, characterized in that, include: Workbench (10); The traction assembly (20) includes a first connecting rod (21), a second connecting rod (22), a third connecting rod (23), a fourth connecting rod (24), and a slider (25). The slider (25) is movably disposed on the worktable (10). One end of the first connecting rod (21) is fixedly connected to the slider (25), and the other end is rotatably connected to the second connecting rod (22). The fourth connecting rod (24) is rotatably disposed on the worktable (10). The fourth connecting rod (24) is rotatably connected to the third connecting rod (23), and the second connecting rod (22) is rotatably connected to the third connecting rod (23). A support frame (30) is located at the connection between the second link (22) and the third link (23) and is used for placing the affected limb on the patient.

2. The upper limb rehabilitation training device according to claim 1, characterized in that, The top of the workbench (10) is fixedly provided with a mounting block (11), the mounting block (11) is provided with a sliding groove (111), and the slider (25) is slidably connected to the sliding groove (111).

3. The upper limb rehabilitation training device according to claim 2, characterized in that, It also includes a first drive motor for outputting linear motion, the first drive motor being mounted on the worktable (10), and the output end of the first drive motor being connected to the slider (25).

4. The upper limb rehabilitation training device according to claim 3, characterized in that, The worktable (10) is equipped with a second drive motor (12) for outputting rotational motion, and the output end of the second drive motor (12) is connected to the fourth link (24).

5. The upper limb rehabilitation training device according to any one of claims 1 to 4, characterized in that, A support member (31) is fixedly provided at the connection between the second link (22) and the third link (23). The support member (31) has a notch on its side, and the support frame (30) is fixedly provided at the notch of the support member (31).

6. The upper limb rehabilitation training device according to claim 5, characterized in that, The support member (31) is fixedly provided with a gripping part (311) for the patient to hold.

7. The upper limb rehabilitation training device according to claim 6, characterized in that, A support wheel (32) is provided at the connection between the second link (22) and the third link (23), and the support wheel (32) is slidably disposed on the worktable (10).

8. The upper limb rehabilitation training device according to claim 7, characterized in that, It also includes an airbag that, when inflated, tightly wraps around the patient's hand.

9. The upper limb rehabilitation training device according to claim 1, characterized in that, The top of the slider (25) is fixedly provided with a connecting seat (251), and the end of the first connecting rod (21) away from the second connecting rod (22) is fixed to the connecting seat (251) by fasteners.

10. The upper limb rehabilitation training device according to claim 1, characterized in that, The first link (21) and the second link (22) are rotatably connected by a pin, the second link (22) and the third link (23) are rotatably connected by a pin, and the third link (23) and the fourth link (24) are rotatably connected by a pin.

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