Upper limb auxiliary training device for hemiplegic patients with intelligent left-right up-down adjustment

Abstract

The application relates to the field of medical rehabilitation equipment, in particular to an upper limb auxiliary training device for hemiplegic patients, which is characterized by a table plate, a lifting assembly arranged at the bottom of the table plate, a rotating assembly arranged at the lifting end of the lifting assembly, and a training assembly fixed at the rotating end of the rotating assembly; the lifting assembly comprises a mounting box fixedly arranged at the lower plate surface of the table plate and having an opening facing upwards, a driving screw rotatably arranged in the mounting box and having two sections of threads with opposite rotation directions, two driving blocks threadedly connected to the two sections of threads with opposite rotation directions of the driving screw and slidably arranged at the bottom of the mounting box, and a driving rod hingedly connected to the lower end of the driving block, and the upper end of the driving rod is hingedly connected to the bottom of the rotating assembly. The application has the advantages that the rehabilitation process of the patient can be flexibly and individually adjusted according to the specific condition of the patient, the patient can self-adjust the rehabilitation process, the upper limb function can be fully exercised, and the daily life ability can be improved.

Description

Technical Field

[0001] This application relates to the field of medical rehabilitation equipment, and in particular to an intelligent upper limb assistive training device for hemiplegic patients with left-right and up-down adjustment. Background Technology

[0002] Stroke, commonly known as apoplexy, is divided into two types: ischemic stroke and hemorrhagic stroke. It is a disease caused by various factors that damage blood vessels in the brain, resulting in focal or systemic brain tissue damage. It severely affects the patient's quality of life, especially the impairment of upper limb function, which greatly inconveniences the patient's daily activities. Therefore, upper limb rehabilitation training is crucial for the patient's functional recovery.

[0003] Currently, the main upper limb rehabilitation training devices on the market include a training table and a handle installed on the training table. When doing rehabilitation training, the caregiver pushes the patient (in a wheelchair) to the training table or helps the patient (in a chair) to the training table, and the patient uses the handle to carry out basic rehabilitation training.

[0004] The existing technical solutions described above have the following drawbacks: they can only achieve simple rehabilitation training; patients cannot adjust their training posture at any time; they cannot reduce their excessive reliance on family assistance; patients cannot independently participate in adjusting their rehabilitation training; and patients cannot adjust the position and intensity of the training device with their unaffected hand based on their feelings during training and their physical condition that day. Different patients have different sitting postures (such as wheelchair posture and seat height), requiring flexible left-right and up-down movements to adapt to individual body types (such as height and arm length), ensuring that each patient can train in a "comfortable exertion" position and avoiding "movement deformation" caused by a fixed device. This reduces compensatory movements and protects joint and core stability. Utility Model Content

[0005] To address the issue of inflexible adjustment, this application provides an intelligent upper limb assistive training device for hemiplegic patients, which allows for flexible and personalized adjustments based on the patient's specific condition.

[0006] The above-mentioned technical objective of this application is achieved through the following technical solution: An intelligent upper limb assistive training device for hemiplegic patients with left-right and up-down adjustment includes a table, a lifting component set at the bottom of the table, a rotating component set on the lifting end of the lifting component, and a training component fixed on the rotating end of the rotating component. The lifting assembly includes a mounting box fixedly mounted on the lower surface of the table with its opening facing upwards, a drive screw rotatably mounted inside the mounting box and having two opposing threads, two drive blocks threadedly connected to the two opposing threads of the drive screw and slidably mounted on the bottom of the mounting box, and a drive rod with its lower end hinged to the drive blocks, the upper end of the drive rod being hinged to the bottom of the rotating assembly.

[0007] By adopting the above technical solution, compared with traditional rehabilitation training devices, the upper limb training device in this application has the function of adjustment in all directions, and can be flexibly and individually adjusted according to the patient's specific situation, helping the patient to adjust the rehabilitation process on their own, comprehensively exercise upper limb function, and improve daily living ability.

[0008] Optionally, the bottom corners of the drive block are machined into rounded corners.

[0009] By adopting the above technical solution, the contact area between the drive block and the ground inside the mounting box can be reduced, and the friction between the drive block and the bottom of the mounting box can also be effectively reduced, thus facilitating the sliding of the drive block.

[0010] Optionally, a mounting groove is machined at the corner of the top wall of the driving block and the outer wall opposite to the two driving blocks, and the bottom of the mounting groove is arc-shaped. The lower end of the drive rod is machined into an arc surface that fits into the bottom of the mounting groove, and the drive rod is hinged to the mounting groove.

[0011] By adopting the above technical solution, the arc-shaped mounting groove and the end face of the drive rod will not hinder the connection between the two, and can also support the drive rod. Compared with the drive rod that is suspended on the drive block, it can improve the support stability of the lifting component.

[0012] Optionally, two fixing plates are fixed and spaced apart inside the mounting box, and the drive screw is rotated on the two fixing plates.

[0013] By adopting the above technical solution, it is easy to install the drive screw.

[0014] Optionally, the mounting box is equipped with a drive motor for rotating the drive screw.

[0015] By adopting the above technical solution, the drive screw can be easily rotated by the drive motor.

[0016] Optionally, the upper end of the drive rod is hinged to two hinge plates, and the drive rod is located between the two hinge plates, with the hinge plates fixed to the bottom of the rotating assembly.

[0017] By adopting the above technical solution, the hinge plate can facilitate the connection between the bottom of the drive rod and the rotating component, and also provide operating space for the drive rod.

[0018] Optionally, the rotating assembly includes a connecting box fixed to the lifting end of the lifting assembly and located above the table, a spring disposed on the inner wall of the connecting box, a positioning post inserted into the inner wall of the connecting box and having one end abutting against the spring, a positioning plate rotatably disposed in the connecting box and for the positioning post to be inserted, a connecting shaft vertically disposed and having its lower end coaxially fixed to the upper surface of the positioning plate, and a cover plate sleeved on the connecting shaft and fixed to the connecting box, wherein the upper end of the connecting post is fixed to the bottom of the training assembly.

[0019] By adopting the above technical solution, the rotating component can not only stably position the training component, but also rapidly rotate the angle of the training component according to the different postures of hemiplegic patients.

[0020] Optionally, the end of the positioning post away from the spring is machined into a hemispherical end, and a positioning recess is provided on the circumferential surface of the positioning disk, the positioning recess being adapted to the hemispherical end of the positioning post.

[0021] By adopting the above technical solution, the positioning post at the hemispherical end can not only stably position the positioning disk, but also facilitate the smooth rotation of the positioning disk under the action of external force.

[0022] In summary, this application has the following technical effects: Compared with traditional rehabilitation training devices, the upper limb training device in this application has the function of adjustment in all directions, which can be flexibly and individually adjusted according to the specific situation of the patient, helping the patient to adjust the rehabilitation process on their own, comprehensively exercise the upper limb function, and improve daily living ability. Attached Figure Description

[0023] Figure 1 This is a structural diagram of the object of this application; Figure 2 It is an assembly structure diagram of the tabletop, training components, lifting components, and rotating components; Figure 3 This is a structural diagram of the lifting assembly; Figure 4 This is a cross-sectional view of the drive block; Figure 5 This is an exploded view of the rotating assembly.

[0024] Explanation of reference numerals in the attached drawings: 1. Workbench; 11. Base plate; 12. Rotary wheel; 13. Connecting column; 14. Tabletop; 141. Strip hole; 2. Monitor; 3. Training component; 31. Mounting base; 32. Mounting plate; 33. Trainer; 34. Steering wheel; 4. Lifting component; 41. Mounting box; 411. Ear plate; 42. Lifting mechanism; 421. Fixing plate; 422. Drive screw; 423. Drive block; 4231. Mounting slot; 4232. Mounting shaft; 424. Drive rod; 425. Hinge plate; 43. Drive motor; 5. Rotating component; 51. Connecting box; 52. Spring; 53. Positioning column; 54. Positioning plate; 541. Positioning recess; 55. Connecting shaft; 56. Cover plate. Detailed Implementation

[0025] The present application will be further described in detail below with reference to the accompanying drawings.

[0026] This application discloses an intelligent upper limb assistive training device for hemiplegic patients, which allows for left-right and up-down adjustment. (Refer to...) Figure 1 The training device includes a workbench 1, a display 2 mounted on top of the workbench 1, a training component 3 mounted on top of the workbench 1 and spaced apart from the display 2, a lifting component 4 mounted at the bottom of the workbench 1 for adjusting the height of the training component 3, and a rotating component 5 mounted on the lifting end of the lifting component 4. The rotating end of the rotating component 5 is fixedly connected to the bottom of the training component 3. The lifting end of the lifting component 4 can extend above the upper surface of the table 14. After the lifting component 4 has adjusted the height of the training component 3, the training component 3 can be rotated according to the actual situation of the hemiplegic patient so that the hemiplegic patient can face the training component 3 directly. This makes it easier to adjust the training component 3 to a comfortable position for the hemiplegic patient and facilitates upper limb rehabilitation training for the hemiplegic patient.

[0027] The workbench 1 includes a horizontally arranged rectangular base plate 11, four rotatable wheels 12 located at the four corners of the lower surface of the base plate 11, a vertically arranged connecting post 13 whose lower end is fixed to the center of the upper surface of the base plate 11, and a horizontally arranged tabletop 14 whose lower surface is fixed to the upper end of the connecting post 13. The monitor 2 is mounted on the upper surface of the tabletop 14. A strip-shaped hole 141 is provided on the tabletop 14, and the length direction of the strip-shaped hole 141 is perpendicular to the line connecting the monitor 2 and the training component 3.

[0028] Combination Figure 1 and Figure 2The training component 3 includes a mounting base 31 with its bottom set on the table 14 and located above the strip hole 141 and opposite to the display 2, two mounting plates 32 fixed at a distance from the top of the mounting base 31, a trainer 33 disposed between the two mounting plates 32, and a steering wheel 34 rotatably connected to the end of the trainer 33 away from the mounting plate 32. The trainer 33 is rotatably disposed between the two mounting plates 32 via a solid rotating shaft.

[0029] As needed, a positionable damping hinge (such as the Scotch B2222 flat-mounted damping hinge, the Scotch B2238 series locking hinge, or the Sokos HG-T70S30 damping hinge) can be installed. The two ends of the positionable damping hinge are fixed to the side of the trainer 33 and the inside of the mounting plate 32, respectively. The principle is that the positionable damping hinge uses a "spring + multi-layer friction plate" design to provide constant damping by default (it needs to overcome friction during rotation) and can self-lock at any angle (no additional fixing is required). If the damping needs to be adjusted, it can be done using the adjustment screw (adjusting the spring pressure) on the positionable damping hinge, allowing the patient to adjust the angle of the steering wheel 34 according to their needs, such as 30°, 45°, 60°, etc.

[0030] Reference Figure 3 The lifting assembly 4 includes a mounting box 41 fixedly mounted on the lower surface of the tabletop 14, a lifting mechanism 42 disposed within the mounting box 41, and a drive motor 43 disposed within the mounting box 41 with its drive shaft connected to the lifting mechanism 42. The drive motor 43 may be a stepper motor, and a power cord (not shown in the figure) is connected to the drive motor 43 for connecting to an external power source. Heat dissipation holes (not shown in the figure) are provided on the wall of the mounting box 41 near the drive motor 43.

[0031] Reference Figure 3 The mounting box 41 is a rectangular box with an opening at the top. Ear plates 411 are integrally formed on the outer walls at both ends of the mounting box 41. The plane of the ear plates 411 is flush with the opening of the mounting box 41. Through holes are opened on the ear plates 411. After screws and other connecting parts are inserted into the through holes, the mounting box 41 is fixed to the lower plate of the table 14.

[0032] Reference Figure 3The lifting mechanism 42 includes two fixed plates 421 spaced apart and fixedly disposed inside the mounting box 41; a drive screw 422 rotatably disposed on the two fixed plates 421 with its two ends located outside the back surfaces of the two fixed plates 421; two drive blocks 423 threadedly connected to the drive screws 422 and symmetrically arranged around the midpoint of the line connecting the two fixed plates 421; two drive rods 424 with their lower ends hinged to the two drive blocks 423; and two hinge plates 425 hinged to the upper ends of the two drive rods 424. The hinge plates 425 are fixedly connected to the bottom of the rotating assembly 5. The axis of the drive screws 422 is perpendicular to the surface of the fixed plates 421 and parallel to the length direction of the mounting box 41. The hinge plates 425 are located within the slotted hole 141 and can be raised above the tabletop 14.

[0033] A bearing can be fitted and fixed to the drive screw 422. The bearing is fixedly mounted on the fixed plate 421, thereby enabling the drive screw 422 to rotate stably on the fixed plate 421. The three adjacent side walls of the fixed plate 421 are respectively in contact with the inner wall and inner bottom surface of the mounting box 41. The drive screw 422 has two sections with opposite directions of thread at its midpoint. Two drive blocks 423 are threadedly connected to the two sections of the screw, respectively.

[0034] Reference Figure 4 The bottom of the drive block 423 is in contact with the inner bottom surface of the mounting box 41, and the sidewalls of the drive block 423 are spaced apart from the inner wall of the mounting box 41 along its length. The bottom edge of the drive block 423 is machined into an arc shape. The top wall of the drive block 423 and the corner of the outer wall opposite the two drive blocks 423 are machined into mounting grooves 4231, and the bottom of the mounting grooves 4231 is arc-shaped.

[0035] Both ends of the drive rod 424 are machined into protruding arc shapes. The ends of the drive rod 424 are set in the mounting groove 4231, and the arc-shaped end face of the drive rod 424 fits against the arc-shaped surface of the mounting groove 4231. A mounting shaft 4232 is passed through the drive block 423. After the mounting shaft 4232 passes through the lower end of the drive rod 424, the drive rod 424 is rotatably set in the mounting groove 4231.

[0036] Furthermore, to facilitate patient self-operation, a remote control, PLC controller, and motor driver can be configured. The remote control, as an input device, is mainly used to send "up / down" command signals. The remote control can be an industrial remote control with wireless transmission capabilities (such as a 433MHz RF remote control), containing two buttons (up and down). The PLC, as the control core, receives the remote control signals and outputs forward and reverse control signals to drive motor 43; motor 43 receives signals from the PLC through the motor driver and performs forward and reverse actions. The PLC needs to be equipped with a wireless receiver module (on the same frequency band as the remote control), and the output of the receiver module is connected to the PLC's digital input port (DI). For example, the remote control's "up" button corresponds to the receiver module's output connected to PLC I0.0, and the "down" button corresponds to PLC I0.1. Functionality: When a button on the remote control is pressed, the receiver module inputs a high-level signal (or a low-level signal, depending on the module type) to the PLC.

[0037] The motor driver is selected to match the stepper motor and must support "forward / reverse" control signal input (usually relay contacts or level signals). The power output terminal of the driver is directly connected to the power input terminal of the drive motor 43 to transmit power. The digital output port (DO) of the PLC is connected to the control terminal of the motor driver, and interlocking logic must be designed (to prevent simultaneous output of forward and reverse signals). For example, Q0.0 of the PLC is connected to the "forward control terminal" of the driver, and Q0.1 is connected to the "reverse control terminal" of the driver. Functionality: When the PLC outputs a high level through Q0.0, the motor rotates forward, and the two drive blocks 423 move closer to each other, thereby driving the rotating component 5 and the training component 3 to rise; when Q0.1 outputs a high level, the motor rotates in reverse, and the two drive blocks 423 move away from each other, thereby driving the rotating component 5 and the training component 3 to fall, realizing the adjustment of the height of the training component 3.

[0038] Reference Figure 5 The rotating assembly 5 includes a connecting box 51 disposed above the strip hole 141 and fixedly connected to the hinge plate 425 at its bottom, a spring 52 disposed inside the connecting box 51, a positioning post 53 movably passing through the connecting box 51 and having one end abutting against the spring 52, a positioning disk 54 rotatably disposed inside the connecting box 51, a connecting shaft 55 vertically disposed and whose lower end is coaxially fixed to the upper surface of the positioning disk 54, and a cover plate 56 sleeved on the connecting shaft 55 and fixed to the upper part of the connecting box 51 by screws. The upper end of the connecting shaft 55 is located above the cover plate 56 and fixedly connected to the bottom of the mounting base 31.

[0039] The connecting box 51 is a square box with a circular cavity inside. An installation hole with its axis coinciding with the diameter of the circular cavity is formed on the inner wall of the cavity. The spring 52 and the positioning post 53 are both located within the installation hole. The end of the spring 52 furthest from the positioning post 53 is pressed against the bottom of the installation hole. The end of the positioning post 53 furthest from the spring 52 is machined into a hemispherical surface. Multiple positioning recesses 541, spaced at equal angles on the outer circumference of the positioning plate 54, are provided for insertion of the hemispherical ends of the positioning posts 53. The hemispherical ends of the positioning posts 53 are fitted into the positioning recesses 541. After insertion into the positioning recesses 541, the angle of the trainer 33 can be simply positioned. It should be noted that the positioning recesses 541 are relatively shallow; the patient can easily release the positioning by slightly rotating the mounting base 31.

[0040] When it is necessary to rotate the steering wheel 34 to a comfortable angle for the hemiplegic patient, the patient rotates the mounting base 31, causing the hemispherical end of the positioning post 53 to disengage from the positioning recess 541 and compress the spring 52. When the hemispherical end of the positioning post 53 aligns with the positioning recess 541 again, the trainer 33 can be repositioned.

[0041] Compared to traditional rehabilitation training devices, the steering wheel 34 in this upper limb training device has adjustable up, down, left, and right functions, allowing for flexible adjustments based on the patient's specific condition. During rehabilitation training, the patient can make adjustments independently. This adjustable steering wheel frees patients from excessive reliance on family assistance. Patients can adjust the steering wheel position and training intensity at any time based on their feelings during training and their physical condition that day. This autonomy not only enhances the patient's enthusiasm and initiative in rehabilitation training but also allows them to better control their rehabilitation process, strengthening their confidence in recovery.

[0042] Meanwhile, the device's up-down and left-right adjustment functions can comprehensively exercise all parts of the patient's upper limbs. Through this all-round movement, it can promote the recovery of upper limb muscle coordination, increase joint mobility, and prevent muscle atrophy and joint stiffness. For example, when the patient operates the steering wheel to turn left and right, the muscles of the shoulder, elbow, and wrist work together, which helps to rebuild the neuromuscular connection and improve the motor control ability of the upper limbs.

[0043] This device aids stroke patients in their rehabilitation and reintegration into normal life. The adjustable steering wheel device's training resembles many everyday actions, such as turning knobs and reaching for objects. By simulating these actions during rehabilitation training, patients can better translate their training results into practical life skills. After a period of rehabilitation training using this device, patients will find it easier to use their upper limbs for various activities in daily life, improving their ability to live independently and reducing the burden on their families and society. The adjustable steering wheel offers new hope for upper limb rehabilitation training for stroke patients. With its advantages of personalized rehabilitation and self-adjustment, it has significant clinical value in improving patient rehabilitation outcomes and quality of life, and is expected to become an important auxiliary tool in the field of upper limb rehabilitation for stroke, helping more patients regain upper limb function and return to normal life.

[0044] This specific embodiment is merely an explanation of this application and is not intended to limit it. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but such modifications are protected by patent law as long as they fall within the scope of the claims of this application.

Claims

1. An intelligent upper limb assistive training device for hemiplegic patients with left-right and up-down adjustment, characterized in that: It includes a tabletop (14), a lifting assembly (4) disposed at the bottom of the tabletop (14), a rotating assembly (5) disposed on the lifting end of the lifting assembly (4), and a training assembly (3) fixed on the rotating end of the rotating assembly (5); The lifting assembly (4) includes a mounting box (41) fixedly mounted on the lower surface of the tabletop (14) with the box opening facing upwards, a drive screw (422) rotatably mounted inside the mounting box (41) and having two threads with opposite directions of rotation, two drive blocks (423) threadedly connected to the two threads with opposite directions of rotation on the drive screw (422) and slidably mounted on the bottom of the mounting box (41), and a drive rod (424) with its lower end hinged to the drive block (423), the upper end of the drive rod (424) being hinged to the bottom of the rotating assembly (5).

2. The intelligent left-right and up-down adjustable upper limb assistive training device for hemiplegic patients according to claim 1, characterized in that: The bottom corners of the drive block (423) are machined into rounded corners.

3. The intelligent left-right and up-down adjustable upper limb assistive training device for hemiplegic patients according to claim 2, characterized in that: The top wall of the drive block (423) and the outer wall opposite to the two drive blocks (423) are machined to form a mounting groove (4231), and the bottom of the mounting groove (4231) is arc-shaped; The lower end of the drive rod (424) is machined into an arc surface that fits against the bottom of the mounting groove (4231), and the drive rod (424) is hinged to the mounting groove (4231).

4. The intelligent left-right and up-down adjustable upper limb assistive training device for hemiplegic patients according to claim 1 or 3, characterized in that: The mounting box (41) is fixed with two fixing plates (421) spaced apart, and the drive screw (422) is rotatably mounted on the two fixing plates (421).

5. The intelligent left-right and up-down adjustable upper limb assistive training device for hemiplegic patients according to claim 4, characterized in that: The mounting box (41) is equipped with a drive motor (43) for rotating the drive screw (422).

6. The intelligent left-right and up-down adjustable upper limb assistive training device for hemiplegic patients according to claim 3, characterized in that: The upper end of the drive rod (424) is hinged to two hinge plates (425) and the drive rod (424) is located between the two hinge plates (425). The hinge plates (425) are fixed to the bottom of the rotating assembly (5).

7. The intelligent left-right and up-down adjustable upper limb assistive training device for hemiplegic patients according to claim 1, characterized in that: The rotating assembly (5) includes a connecting box (51) fixed to the lifting end of the lifting assembly (4) and located above the table (14), a spring (52) disposed on the inner wall of the connecting box (51), a positioning post (53) inserted into the inner wall of the connecting box (51) and one end abutting against the spring (52), a positioning disk (54) rotatably disposed in the connecting box (51) and for the positioning post (53) to be inserted, a connecting shaft (55) vertically disposed and coaxially fixed to the upper surface of the positioning disk (54) at its lower end, and a cover plate (56) sleeved on the connecting shaft (55) and fixed to the connecting box (51). The upper end of the connecting post (13) is fixed to the bottom of the training assembly (3).

8. The intelligent left-right and up-down adjustable upper limb assistive training device for hemiplegic patients according to claim 7, characterized in that: The end of the positioning post (53) away from the spring (52) is machined into a hemispherical end, and a positioning recess (541) is provided on the circumferential surface of the positioning disk (54), which is adapted to the hemispherical end of the positioning post (53).

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