CN106214421A - A kind of elbow joint, shoulder joint and knee joint rehabilitation device - Google Patents
A kind of elbow joint, shoulder joint and knee joint rehabilitation device Download PDFInfo
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- CN106214421A CN106214421A CN201610562878.3A CN201610562878A CN106214421A CN 106214421 A CN106214421 A CN 106214421A CN 201610562878 A CN201610562878 A CN 201610562878A CN 106214421 A CN106214421 A CN 106214421A
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- elbow
- shoulder joint
- elbow joint
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- 210000000323 shoulder joint Anatomy 0.000 title claims abstract description 167
- 210000002310 elbow joint Anatomy 0.000 title claims abstract description 140
- 210000000629 knee joint Anatomy 0.000 title claims abstract description 100
- 239000012530 fluid Substances 0.000 claims abstract description 47
- 210000003414 extremity Anatomy 0.000 claims abstract description 34
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 28
- 239000010959 steel Substances 0.000 claims abstract description 28
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 9
- 210000000245 forearm Anatomy 0.000 claims description 27
- 210000000689 upper leg Anatomy 0.000 claims description 15
- 210000002414 leg Anatomy 0.000 claims description 6
- 210000001364 upper extremity Anatomy 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 229920000742 Cotton Polymers 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 238000000465 moulding Methods 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 20
- 208000034657 Convalescence Diseases 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 5
- 230000032683 aging Effects 0.000 description 4
- 206010008190 Cerebrovascular accident Diseases 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 3
- 244000309466 calf Species 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 208000024172 Cardiovascular disease Diseases 0.000 description 2
- 206010023204 Joint dislocation Diseases 0.000 description 2
- 208000012902 Nervous system disease Diseases 0.000 description 2
- 208000026106 cerebrovascular disease Diseases 0.000 description 2
- 230000002526 effect on cardiovascular system Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 208000028389 Nerve injury Diseases 0.000 description 1
- 208000013200 Stress disease Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000003169 central nervous system Anatomy 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 206010025482 malaise Diseases 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000008764 nerve damage Effects 0.000 description 1
- 230000035882 stress Effects 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H2001/0207—Nutating movement of a body part around its articulation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1409—Hydraulic or pneumatic means
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention provides a kind of elbow joint, shoulder joint and knee joint rehabilitation device, and the ectoskeleton single armed parts identical including back bracket, seat, two structures and limb member, described seat is fixedly welded on the downside of back bracket；Two single armed parts are separately mounted to the both sides of back bracket；Two elbow joint traction fluid cylinder pressures and two shoulder joint traction fluid cylinder pressures it are fixed with inside described back bracket；The pulling motion meeting haulage cable of hydraulic cylinder, by the traction of steel wire rope with traction exoskeleton elbow joint and the rotation of shoulder joint；Exoskeleton lower limbs parts are fixedly mounted on seat both sides, are provided with driving motor at limb member knee joint, drive the rotation of motor, can realize the kneed motion of exoskeleton lower limbs parts.Elbow joint, shoulder joint at convalescence device are separately installed with angular transducer at knee joint, in order to measure the angle of joint, are controlled traction fluid cylinder pressure and the motion of knee joint driving motor according to the different angles value recorded by central control unit.
Description
Technical field
The invention belongs to medical science auxiliary Therapy study field, be specifically related to a kind of elbow joint, shoulder joint and knee joint recovery
Device.
Background technology
Along with raising and the progress of modern medical service technology of social life level, China improves constantly, the average life span
Quickly step into aging society.Ending 2010, China's aging population of more than 60 years old, more than 1.78 hundred million, reach total population
13.26%.Meanwhile, the aging population of over-65s are about 1.19 hundred million, account for the 8.87% of total population.On the other hand, along with life
Quickening that movable joint is played and the Hemiplegic Patients that the increase of life stress, cardiovascular and cerebrovascular disease and nervous system disease cause by
Year increases.China's apoplexy (apoplexy) sickness rate the first in the world, the patient of the most about 3/4 has nerve injury in various degree and fortune
Dynamic obstacle.Ever-increasing aging population and apoplexy are lost disease patient and rehabilitation work are proposed severe challenge.
Central nervous system has the plasticity of height.By patient being launched rehabilitation training timely and effectively, Ke Yixian
Write and reduce nervous function damage, reduce the generation of complication, motor function can be rebuild simultaneously, improve the energy of taking care of oneself of patient
Power.Traditional rehabilitation relies primarily on physiatrician and patient implements free-hand rehabilitation training, there is many limitations: (1) can not
Being accurately controlled training parameter, therapeutic effect depends primarily on experience and the level of doctor；(2) doctor treats one to one, rehabilitation
Training effectiveness is low, and doctor's labor intensity is big.
Convalescence device in the middle of present society mostly is and can only realize the motion of some joint recovering, can't realize human body many
Individual joint coordination associated movement and have that operation is complicated, be not easy to the shortcomings such as rehabilitation patient's wearing.Therefore, for above-mentioned technology
Problem, it is necessary to provide a kind of simple to operate, dress convenient, be prone to the elbow joint, shoulder joint and the kneed multi-joint that drive
Exoskeleton rehabilitation device, to solve appeal defect.
Summary of the invention
It is an object of the invention to provide a kind of elbow joint, shoulder joint and knee joint rehabilitation device, this dress for the problems referred to above
Put tunable motion, there is safety, easy donning and submissive feature.
The technical scheme is that a kind of elbow joint, shoulder joint and knee joint rehabilitation device, including back bracket, seat
Single armed parts that chair, central control unit, two structures are identical and the identical limb member of two structures；
Described seat is fixedly welded on the downside of back bracket；Two single armed parts are separately mounted to the two of back bracket
Side；Two limb member are separately mounted on the front side seat leg of seat；It is fixed with two elbows inside described back bracket to close
Joint traction fluid cylinder pressure and two shoulder joint traction fluid cylinder pressures；
Described single armed parts include ectoskeleton forearm, elbow joint, Medial upper arm plate, upper arm outer panel and shoulder joint；Described
One end of Medial upper arm plate is rotationally connected with ectoskeleton forearm by elbow joint, and the other end is detachable with one end of upper arm outer panel
Connecting, the other end of upper arm outer panel is connected with described back bracket by shoulder joint, and elbow lateral is provided with Angle of Elbow Joint
Sensor；Left and right sides shoulder joint connects with the expansion link of corresponding shoulder joint traction fluid cylinder pressure respectively through shoulder joint haulage cable
Connecing, left and right sides elbow joint connects with the expansion link of corresponding elbow joint traction fluid cylinder pressure respectively through elbow joint haulage cable,
The outside of shoulder joint is provided with shoulder joint angular transducer；
Described limb member includes ectoskeleton thigh, exoskeleton lower limbs knee joint fixator, ectoskeleton shank, pedal and knee joint
Joint drive motor；One end of described ectoskeleton thigh is fixing with the seat leg of seat to be connected, and the other end is solid with lower limb knee joint
The one end determining device is rotationally connected, and the other end of lower limb knee joint fixator is fixing with one end of ectoskeleton shank to be connected, ectoskeleton
The other end of shank is fixing with pedal to be connected；Knee joint driving motor and exoskeleton lower limbs knee joint fixator are fixed and are connected, knee joint
Knee joint angle sensor is installed outside joint drive motor；
Described central control unit includes that information acquisition module, shoulder joint control module, elbow joint control module and knee joint close
Joint control module；Described information acquisition module respectively with shoulder joint angular transducer, Angle of Elbow Joint sensor and knee angle
Degree sensor electrical connection, is used for receiving shoulder joint rotational angle signal, elbow joint rotational angle signal and knee joint rotational angle
Signal, and it is delivered to shoulder joint control module, elbow joint control module and knee joint control module respectively, described shoulder joint controls
Module electrically connects with shoulder joint traction fluid cylinder pressure, for controlling shoulder joint traction fluid cylinder pressure according to shoulder joint rotational angle signal
Work；Described elbow joint control module electrically connects with elbow joint traction fluid cylinder pressure, for according to elbow joint rotational angle signal control
The work of elbow joint traction fluid cylinder pressure processed；Described knee joint control module drives motor to electrically connect with knee joint, for according to knee joint
Articulation angle signal controls knee joint and drives the work of motor.
In such scheme, described elbow joint includes Angle of Elbow Joint sensor, elbow joint axle and elbow joint actuating device；Institute
State elbow joint actuating device to be enclosed within elbow joint axle and fixing with ectoskeleton forearm weld, elbow joint actuating device is wound with elbow
Joint haulage cable；Described Angle of Elbow Joint sensor be arranged between ectoskeleton forearm and elbow joint actuating device and with
Ectoskeleton forearm is fixing to be connected.
In such scheme, described shoulder joint includes shoulder joint fixing device, shoulder joint angular transducer, shoulder joint transmission dress
Put, connecting plate and L-square；
Described shoulder joint fixing device and shoulder joint actuating device are sequentially sleeved on shoulder joint nodal axisn, and described shoulder joint angle passes
Sensor is arranged between shoulder joint fixing device and shoulder joint actuating device and passes with shoulder joint fixing device and shoulder joint respectively
Dynamic device is fixing to be connected, and shoulder joint fixing device is fixing with one end of upper arm outer panel to be connected；It is wound around on shoulder joint actuating device
There is shoulder joint haulage cable；Described connecting plate is fixedly welded on back bracket both sides, and described connecting plate has shoulder connecting shaft
Hole；L-square both sides have L-square axis hole, L-square detachably to be connected with L-square axis hole by shoulder connecting shaft hole with connecting plate
Connect.
Further, two flat board wiring boards are also included；Two described flat board wiring boards are fixedly welded on back respectively and prop up
On the shoulder connecting plate of frame both sides, described flat board wiring board has two steel wire rope wire guides, in described back bracket
Side has four back bracket steel wire rope wire guides；
Shoulder joint haulage cable sequentially passes through back bracket steel wire rope wire guide and shoulder steel wire rope wire guide and shoulder joint
Joint actuating device connects；Elbow joint haulage cable sequentially passes through back bracket steel wire rope wire guide and shoulder steel wire rope wire guide
It is connected with elbow joint actuating device.
In such scheme, also include the back fixation bar of two end bend；The vertical end of described back fixation bar is respectively
It is fixedly welded on both sides, back bracket top.
In such scheme, described ectoskeleton forearm leading inside is installed with retainer ring.
Further, the inner side of described ectoskeleton forearm is provided with cotton padded coaming.
In such scheme, described Medial upper arm plate is respectively equipped with, with upper arm outer panel, the screwed hole that specification is identical, in upper arm
Side plate is bolted with upper arm outer panel.
In such scheme, described limb member also includes limb member holder；Described limb member holder is fixed on
One end of ectoskeleton thigh；Having limb member retainer hole on described limb member holder, the foreleg of seat is each passed through
Limb member retainer hole and with limb member retainer hole interference fit.
In such scheme, also include described power supply；Described power supply is arranged on the both sides of seat and draws with elbow joint respectively
Hydraulic cylinder, shoulder joint traction fluid cylinder pressure, Angle of Elbow Joint sensor, shoulder joint angular transducer, knee joint angle sensor and
Knee joint drives motor electrical connection.
The invention has the beneficial effects as follows: compared with prior art, elbow joint of the present invention, shoulder joint and knee joint recovery
Device can well realize and human upper limb elbow joint, shoulder joint and the kneed motion of lower limb, and this device can realize help
Patient activity joint and the basic function alleviating medical personnel's labor intensity, have and dress convenient, to be prone to driving feature, motion
Respond well, thus overcome existing power-assisting robot some intrinsic wearing trouble, shortcomings of complex operation, it is more applicable for full
Foot social need, the present invention has weight in the rehabilitation of the hemiplegic patient helping cardiovascular and cerebrovascular disease and nervous system disease to be caused
The effect wanted.
Accompanying drawing explanation
Fig. 1 is the structural representation of an embodiment of the present invention；
Fig. 2 is the structural representation of the back bracket of an embodiment of the present invention；
Fig. 3 is the structural representation of the ectoskeleton arm of an embodiment of the present invention；
Fig. 4 is the shoulder structure schematic diagram of an embodiment of the present invention；
Fig. 5 is the limb member structural representation of an embodiment of the present invention；
Fig. 6 is the central control unit module frame figure of an embodiment of the present invention.
In figure: 1, back bracket；2, back bracket steel wire rope wire guide；3, back fixation bar；4, upper arm outer panel；5, on
Arm interior plate；6, ectoskeleton forearm；7, seat；8, shoulder joint haulage cable；9, shoulder connecting shaft hole；10, L-square；11、
Elbow joint haulage cable；12, elbow joint traction fluid cylinder pressure；13, shoulder joint traction fluid cylinder pressure；14, central control unit；14-
1, information acquisition module；14-2, shoulder joint control module；14-3, elbow joint control module；14-4, knee joint control module；
15, flat board wiring board；16, shoulder steel wire rope wire guide；17, shoulder joint fixing device；18, shoulder joint nodal axisn；19, screwed hole；20、
Retainer ring；21, Angle of Elbow Joint sensor；22, elbow joint axle；23, elbow joint actuating device；24, bolt；25, shoulder joint passes
Dynamic device；26, shoulder joint angular transducer；27, L-square axis hole；28, connecting plate；29, L-square；30, power supply；31, lower limb
Parts holder；32, limb member retainer hole；33, ectoskeleton thigh；34, lower limb knee joint fixator；35, ectoskeleton is little
Lower limb；36, pedal；37, knee joint drives motor；38, knee joint angle sensor.
Detailed description of the invention
With detailed description of the invention, the present invention is described in further detail below in conjunction with the accompanying drawings, but protection scope of the present invention
It is not limited to this.
Fig. 1 show a kind of embodiment of elbow joint of the present invention, shoulder joint and knee joint rehabilitation device, described elbow
Joint, shoulder joint and knee joint rehabilitation device, including back bracket 1, central control unit 14, seat 7, power supply 30, two knot
Single armed parts that structure is identical and the identical limb member of two structures.Described seat 7 is fixedly welded on the downside of back bracket 1；
Shoulder joint in two single armed parts is separately mounted to the both sides of back bracket 1；Two limb member are separately mounted to seat 7
On the seat leg of front side；Central control unit 14 is fixedly mounted on inside seat 7, and described power supply 30 is arranged on the both sides of seat 7.
As in figure 2 it is shown, described back bracket 1 includes two elbow joint traction fluid cylinder pressures 12 of power set and two shoulder joint
Traction fluid cylinder pressure 13；Elbow joint traction fluid cylinder pressure 12 and shoulder joint traction fluid cylinder pressure 13 are fixedly connected on the inner side of back bracket 1,
The telescopic end of elbow joint traction fluid cylinder pressure 12 is connected with elbow joint haulage cable 11, the telescopic end of shoulder joint traction fluid cylinder pressure 13
It is connected with shoulder joint haulage cable 8.
Preferably, both sides, described back bracket 1 top also include the back fixation bar 3 of two end bend；Described back
The vertical end of fixing bar 3 is fixedly welded on both sides, back bracket 1 top respectively, when people is sitting on seat 7, plays the fixing human back of the body
The effect in portion.
As it is shown on figure 3, described single armed parts include ectoskeleton forearm 6, elbow joint, Medial upper arm plate 5, upper arm outer panel 4
And shoulder joint；One end of described Medial upper arm plate 5 is rotationally connected with ectoskeleton forearm 6 by elbow joint, outside the other end is with upper arm
One end of side plate 4 removably connects, and the other end of upper arm outer panel 4 is connected with described back bracket 1 by shoulder joint, elbow joint
Outside is provided with Angle of Elbow Joint sensor 21；Left and right sides shoulder joint through shoulder joint haulage cable 8 respectively with corresponding shoulder joint
The expansion link of joint traction fluid cylinder pressure 13 connects, and left and right sides elbow joint closes with corresponding elbow respectively through elbow joint haulage cable 11
The expansion link of joint traction fluid cylinder pressure 12 connects, and the outside of shoulder joint is provided with shoulder joint angular transducer 26.
Described elbow joint includes Angle of Elbow Joint sensor 21, elbow joint axle 22 and elbow joint actuating device 23；Described elbow
Joint transmission means 23 is enclosed within elbow joint axle 22 and fixes with ectoskeleton forearm 6 and welds, and elbow joint actuating device 23 is wound around
Having elbow joint haulage cable 11, elbow joint haulage cable 11 subluxation of head of the radius joint transmission means 23 rotates and drives ectoskeleton forearm
The motion of 6；Described Angle of Elbow Joint sensor 21 is arranged between ectoskeleton forearm 6 and elbow joint actuating device 23 and with outward
Skeleton forearm 6 is fixing to be connected, and moves and detects the angle of elbow joint, believed by elbow joint rotational angle together with ectoskeleton forearm 6
Number pass to central control unit 14.
Preferably, described ectoskeleton forearm 6 leading inside is installed with retainer ring 20, plays the work of fixing human forearm
With.The inner side of described ectoskeleton forearm 6 is provided with cotton padded coaming.
Preferably, described Medial upper arm plate 5 is respectively equipped with specification screwed hole identical, equidistant with upper arm outer panel 4
19, Medial upper arm plate 5 is bolted with upper arm outer panel 4, adjust bolt by Medial upper arm plate 5 and upper arm outer panel 4 it
Between different screwed hole connect the length that can change ectoskeleton upper arm.
As shown in Figure 4, described shoulder joint includes flat board wiring board 15, shoulder joint fixing device 17, shoulder joint angle sensor
Device 26, shoulder joint actuating device 25, connecting plate 28 and L-square 29；
Described shoulder joint fixing device 17 and shoulder joint actuating device 25 are sequentially sleeved on shoulder joint nodal axisn 18, described shoulder joint
Angular transducer 26 is arranged between shoulder joint fixing device 17 and shoulder joint actuating device 25 and fixes dress with shoulder joint respectively
Putting 17 and shoulder joint actuating device 25 is fixing connects, shoulder joint fixing device 17 is fixed with one end of upper arm outer panel 4 and is connected；Shoulder
Joint angles sensor 26 swings together with shoulder joint fixing device 17 meeting is along with the motion of upper arm, and the shoulder joint that will detect
Joint rotational angle signal passes to central control unit 14；Shoulder joint haulage cable 8 it is wound with on shoulder joint actuating device 25,
Shoulder joint haulage cable 8 draws shoulder joint actuating device 25 and rotates the motion driving upper arm outer panel 4 with Medial upper arm plate 5；
Described connecting plate 28 is fixedly welded on back bracket 1 both sides, and described connecting plate 28 has shoulder connecting shaft hole 9；L-square 29 liang
Side has L-square axis hole 27, L-square 29 to be removably connected with L-square axis hole 27 by shoulder connecting shaft hole 9 with connecting plate 28,
L-square 29 can rotate around shoulder connecting plate 28.
Preferably, the both sides of described back bracket 1 are additionally provided with two described flat board wiring boards 15；Two described flat board cablings
Plate 15 is fixedly welded on the shoulder connecting plate 28 of back bracket 1 both sides respectively, and described flat board wiring board 15 has two
Individual steel wire rope wire guide 16, also has four back bracket steel wire rope wire guides 2, plays steel wire on the upside of described back bracket 1
The effect that rope guides.Shoulder joint haulage cable 8 sequentially passes through back bracket steel wire rope wire guide 2 and shoulder steel wire rope wire guide
16 are connected with shoulder joint actuating device 25；Elbow joint haulage cable 11 sequentially passes through back bracket steel wire rope wire guide 2 and shoulder
Portion's steel wire rope wire guide 16 is connected with elbow joint actuating device 23, it is achieved the effect guiding steel wire rope.
As it is shown in figure 5, described limb member includes limb member holder 31, ectoskeleton thigh 33, exoskeleton lower limbs knee joint
Joint fixation apparatus 34, ectoskeleton shank 35, pedal 36 and knee joint drive motor 37；One end of described ectoskeleton thigh 33 is passed through
Limb member holder 31 is fixing with the seat leg of seat 7 to be connected, it is preferred that described limb member holder 31 is fixedly welded on
One end of ectoskeleton thigh 33, during work, ectoskeleton thigh 33 binds together with human thigh；Described limb member holder
Having limb member retainer hole 32 on 31, the foreleg of seat 7 is each passed through limb member retainer hole 32 and and limb member
Retainer hole 32 interference fit, the other end of ectoskeleton thigh 33 is rotationally connected with one end of lower limb knee joint fixator 34,
The degree of freedom that junction only one of which rotates, it is ensured that the rotation of human body knee joint；Another of lower limb knee joint fixator 34
Holding the one end with ectoskeleton shank 35 to fix to be connected, operationally, human calf binds together with ectoskeleton shank 35, dermoskeleton
The rotation of bone lower limb knee joint fixator 34 can drive the rotation of ectoskeleton shank 35, and then drives the rotation of human calf；Outward
The other end of skeleton shank 35 is fixing with pedal 36 to be connected, and during work, is placed on by foot above pedal 36；Knee joint drives motor 37
Fixing with exoskeleton lower limbs knee joint fixator 34 and be connected, knee joint drives the rotation of motor 37 that exoskeleton lower limbs knee joint can be driven to close
The rotation of joint holder 34, drives in knee joint and is provided with knee joint angle sensor 38 outside motor 37, and knee joint angle passes
Sensor 38 electrically connects with central control unit 14, the rotation of knee joint fixator 34 that knee joint angle sensor 38 will detect
Angle passes to central control unit, and central control unit 14 drives the work of motor 37 according to the Angle ambiguity knee joint detected
Make.
Described power supply 30 senses with elbow joint traction fluid cylinder pressure 12, shoulder joint traction fluid cylinder pressure 13, Angle of Elbow Joint respectively
Device 21, shoulder joint angular transducer 26, knee joint angle sensor 38 and, knee joint drive motor 37 electrically connect.
As shown in Figure 6, described central control unit 14 include information acquisition module 14-1, shoulder joint control module 14-2,
Elbow joint control module 14-3 and knee joint control module 14-4；Described information acquisition module 14-1 passes with shoulder joint angle respectively
Sensor 26, Angle of Elbow Joint sensor 21, knee joint angle sensor 38, shoulder joint control module 14-2, elbow joint control mould
Block 14-3 and the electrical connection of knee joint control module 14-4, be used for receiving shoulder joint rotational angle signal, elbow joint rotational angle letter
Number and the rotational angle signal of knee joint fixator 34, and be delivered to shoulder joint control module 14-2 respectively, elbow joint controls mould
Block 14-3 and knee joint control module 14-4, described shoulder joint control module 14-2 electrically connects with shoulder joint traction fluid cylinder pressure 13,
After to shoulder joint rotational angle signal processing, control the work of shoulder joint traction fluid cylinder pressure 13；Described elbow joint controls mould
Block 14-3 electrically connects with elbow joint traction fluid cylinder pressure 12, after to elbow joint rotational angle signal processing, controls elbow joint and leads
Draw the work of hydraulic cylinder 12；Described knee joint control module 14-4 drives motor 37 to electrically connect with knee joint, for knee joint
After the rotational angle signal processing of holder 34, control knee joint and drive the work of motor 37.
The work process of the present invention is as follows:
When wearer needs that with knee joint, elbow joint, shoulder joint are done rehabilitation exercise, wearer is sitting on seat 7, shoulder
Back bracket 1 and human body back, inside back fixation bar 3, are flexibly connected by wing, and ectoskeleton forearm 6 and human body forearm flexibility are even
Connecing, elbow joint flexibly connects with human elbow, and upper arm outer panel 4 flexibly connects with Medial upper arm plate 5 and human body upper arm, shoulder joint
Joint flexibly connects with human body shoulder joint.The foot of wearer is placed on above pedal 36, and the thigh of wearer is tied up with ectoskeleton thigh 33
Being scheduled on together, the shank of wearer binds together with ectoskeleton shank 35.
When human upper limb is when doing rehabilitation exercise, elbow joint traction fluid cylinder pressure 12 moves, and elbow joint traction fluid cylinder pressure 12 is received
During contracting, subluxation of head of the radius joint haulage cable 11, elbow joint haulage cable 11 is through back bracket steel wire rope wire guide 2 and shoulder steel
The guiding of cord wire guide 16, is wound on elbow joint actuating device 23, elbow joint axle 22 is produced auxiliary torque, thus drives people
The motion of body elbow joint, after elbow joint is retracted to certain angle, central control unit 14 is according to the elbow joint angle of rotation received
Degree signal, controls elbow joint traction fluid cylinder pressure 12 and stretches, and elbow joint relies on rehabilitation clients self strength to do stretching；Work as elbow joint
After being stretched over certain angle, central control unit 14, according to the elbow joint rotational angle signal received, controls elbow joint traction
Hydraulic cylinder 12 shrinks, and human elbow relies on elbow joint traction fluid cylinder pressure 12 that the pull strength of elbow joint haulage cable 11 is made people
Body elbow joint shrinks.When shoulder joint traction fluid cylinder pressure 13 moves, and shoulder joint traction fluid cylinder pressure 13 shrinks, traction shoulder joint traction
Steel wire rope 8, through back bracket steel wire rope wire guide 2 and the guiding of shoulder steel wire rope wire guide 16, is wound on shoulder joint actuating device
On 25, shoulder joint nodal axisn 18 is produced auxiliary torque, thus drives the motion of human body shoulder joint, when shoulder joint is stretched over certain angle
After, central control unit 14, according to the shoulder joint rotational angle signal received, controls shoulder joint traction fluid cylinder pressure 13 and stretches, shoulder
Joint relies on the strength of human body self to do contractile motion；After shoulder joint is retracted to certain angle, central control unit 14 basis
The shoulder joint rotational angle signal received, controls shoulder joint traction fluid cylinder pressure 13 and shrinks, and human body shoulder joint relies on shoulder joint to lead
Drawing hydraulic cylinder 13 makes human body shoulder joint stretch the pull strength of shoulder joint haulage cable 8.
When human body lower limbs is when doing rehabilitation exercise, the knee joint angle signal detected is passed by knee joint angle sensor 38
Passing central control unit 14, central control unit 14 controls knee joint and drives motor 37 to rotate forward, and drives human body knee joint to do and stretches
Exhibition motion, when human body knee joint is stretched over certain angle, and central control unit 14 is according to the knee joint rotational angle detected
Signal controls knee joint and drives motor 37 to invert, and drives human body knee joint to do contractile motion；When human body knee joint is retracted to necessarily
Angle, central control unit 14 controls knee joint according to the angle signal that detects and drives motor 37 to rotate forward, drives human body knee joint
Stretching is done in joint.
The power that the present invention produces with the motion of shoulder joint traction fluid cylinder pressure 13 by elbow joint traction fluid cylinder pressure 12, on corresponding
Limb joint produces auxiliary torque, drives the moment of torsion of motor 37 generation to drive the motion of ectoskeleton shank, to accordingly by knee joint
Joint of the lower extremity produces auxiliary torque and then drives the motion of human calf, reaches to assist wearer upper limb and lower extremity movement, it is achieved
Promote the purpose of the function of wearing personnel.
It is to be understood that, although this specification describes according to each embodiment, but the most each embodiment only comprises one
Individual independent technical scheme, this narrating mode of description is only that for clarity sake those skilled in the art should will say
Bright book can also form those skilled in the art permissible through appropriately combined as an entirety, the technical scheme in each embodiment
Other embodiments understood.
The a series of detailed description of those listed above is only for illustrating of the possible embodiments of the present invention,
They also are not used to limit the scope of the invention, all Equivalent embodiments made without departing from skill of the present invention spirit or change
Should be included within the scope of the present invention.
Claims (10)
1. an elbow joint, shoulder joint and knee joint rehabilitation device, it is characterised in that include back bracket (1), seat (7), in
Centre controls the identical single armed parts of device (14), two structures and the identical limb member of two structures；
Described seat (7) is fixedly welded on the downside of back bracket (1)；Two single armed parts are separately mounted to back bracket (1)
Both sides；Two limb member are separately mounted on the front side seat leg of seat (7)；Described back bracket (1) inner side is fixing to be set
There are two elbow joinies traction fluid cylinder pressure (12) and two shoulder joint traction fluid cylinder pressure (13)；
Described single armed parts include ectoskeleton forearm (6), elbow joint, Medial upper arm plate (5), upper arm outer panel (4) and shoulder joint；
One end of described Medial upper arm plate (5) is rotationally connected with ectoskeleton forearm (6) by elbow joint, the other end and upper arm outer panel
(4) one end removably connects, and the other end of upper arm outer panel (4) is connected with described back bracket (1) by shoulder joint, and elbow closes
Angle of Elbow Joint sensor (21) it is provided with outside joint；Left and right sides shoulder joint through shoulder joint haulage cable (8) respectively with corresponding
Shoulder joint traction fluid cylinder pressure (13) expansion link connect, left and right sides elbow joint through elbow joint haulage cable (11) respectively with
The expansion link of corresponding elbow joint traction fluid cylinder pressure (12) connects, and the outside of shoulder joint is provided with shoulder joint angular transducer (26)；
Described limb member include ectoskeleton thigh (33), exoskeleton lower limbs knee joint fixator (34), ectoskeleton shank (35),
Pedal (36) and knee joint drive motor (37)；One end of described ectoskeleton thigh (33) is fixing with the seat leg of seat (7) even
Connecing, the other end is rotationally connected with the one end of lower limb knee joint fixator (34), the other end of lower limb knee joint fixator (34) with
One end of ectoskeleton shank (35) is fixing to be connected, and the other end of ectoskeleton shank (35) is fixing with pedal (36) to be connected；Knee joint
Driving motor (37) and exoskeleton lower limbs knee joint fixator (34) to fix to be connected, knee joint drives motor (37) outside to be provided with
Knee joint angle sensor (38)；
Described central control unit (14) includes information acquisition module (14-1), shoulder joint control module (14-2), elbow joint control
Molding block (14-3) and knee joint control module (14-4)；Described information acquisition module (14-1) respectively with shoulder joint angle sensor
Device (26), Angle of Elbow Joint sensor (21) and knee joint angle sensor (38) electrical connection, be used for receiving shoulder joint angle of rotation
Degree signal, elbow joint rotational angle signal and knee joint rotational angle signal, and it is delivered to shoulder joint control module (14-respectively
2), elbow joint control module (14-3) and knee joint control module (14-4), described shoulder joint control module (14-2) and shoulder joint
Joint traction fluid cylinder pressure (13) electrical connection, for controlling the work of shoulder joint traction fluid cylinder pressure (13) according to shoulder joint rotational angle signal
Make；Described elbow joint control module (14-3) electrically connects with elbow joint traction fluid cylinder pressure (12), for according to elbow joint angle of rotation
Degree signal controls the work of elbow joint traction fluid cylinder pressure (12)；Described knee joint control module (14-4) drives motor with knee joint
(37) electrical connection, drives the work of motor (37) for controlling knee joint according to knee joint rotational angle signal.
Elbow joint the most according to claim 1, shoulder joint and knee joint rehabilitation device, it is characterised in that described elbow joint
Including Angle of Elbow Joint sensor (21), elbow joint axle (22) and elbow joint actuating device (23)；Described elbow joint actuating device
(23) being enclosed within elbow joint axle (22) and fix with ectoskeleton forearm (6) and weld, elbow joint actuating device is wound with elbow on (23)
Joint haulage cable (11)；Described Angle of Elbow Joint sensor (21) is arranged on ectoskeleton forearm (6) and fills with elbow joint transmission
Put between (23) and fix with ectoskeleton forearm (6) and be connected.
Elbow joint the most according to claim 1, shoulder joint and knee joint rehabilitation device, it is characterised in that described shoulder joint
Including shoulder joint fixing device (17), shoulder joint angular transducer (26), shoulder joint actuating device (25), connecting plate (28) and straight
Gusset (29)；
Described shoulder joint fixing device (17) and shoulder joint actuating device (25) are sequentially sleeved on shoulder joint nodal axisn (18), described shoulder joint
Joint angular transducer (26) be arranged between shoulder joint fixing device (17) and shoulder joint actuating device (25) and respectively with shoulder joint
Joint fixing device (17) and the fixing connection of shoulder joint actuating device (25), shoulder joint fixing device (17) and upper arm outer panel (4)
One end fixing connect；Shoulder joint haulage cable (8) it is wound with on shoulder joint actuating device (25)；Described connecting plate (28) is solid
Surely it is welded on back bracket (1) both sides, described connecting plate (28) has shoulder connecting shaft hole (9)；L-square (29) both sides have directly
Gusset axis hole (27), L-square (29) and connecting plate (28) are detachable with L-square axis hole (27) by shoulder connecting shaft hole (9)
Connect.
Elbow joint the most according to claim 3, shoulder joint and knee joint rehabilitation device, it is characterised in that also include two
Flat board wiring board (15)；Two described flat board wiring boards (15) are fixedly welded on the shoulder connection of back bracket (1) both sides respectively
On plate (28), described flat board wiring board (15) has two steel wire rope wire guides (16), described back bracket (1) upside
Have four back bracket steel wire rope wire guide (2)；
Shoulder joint haulage cable (8) sequentially passes through back bracket steel wire rope wire guide (2) and shoulder steel wire rope wire guide (16)
It is connected with shoulder joint actuating device (25)；Elbow joint haulage cable (11) sequentially passes through back bracket steel wire rope wire guide (2)
It is connected with elbow joint actuating device (23) with shoulder steel wire rope wire guide (16).
Elbow joint the most according to claim 1, shoulder joint and knee joint rehabilitation device, it is characterised in that also include two
The back fixation bar (3) of end bend；The vertical end of described back fixation bar (3) is fixedly welded in back bracket (1) respectively
Both sides, portion.
Elbow joint the most according to claim 1, shoulder joint and knee joint rehabilitation device, it is characterised in that described ectoskeleton
Forearm (6) leading inside is installed with retainer ring (20).
Elbow joint the most according to claim 6, shoulder joint and knee joint rehabilitation device, it is characterised in that described ectoskeleton
The inner side of forearm (6) is provided with cotton padded coaming.
A kind of elbow joint the most according to claim 1, shoulder joint and knee joint rehabilitation device, it is characterised in that on described
Arm interior plate (5) is respectively equipped with the identical screwed hole of specification (19) with upper arm outer panel (4), outside Medial upper arm plate (5) is with upper arm
Side plate (4) is bolted.
A kind of elbow joint the most according to claim 1, shoulder joint and knee joint rehabilitation device, it is characterised in that under described
Limb parts also include limb member holder (31)；Described limb member holder (31) is fixed on the one of ectoskeleton thigh (33)
End；Having limb member retainer hole (32) on described limb member holder (31), the foreleg of seat (7) is each passed through lower limb
Parts retainer hole (32) and with limb member retainer hole (32) interference fit.
A kind of elbow joint the most according to claim 1, shoulder joint and knee joint rehabilitation device, it is characterised in that also include
Described power supply (30)；Described power supply (30) be arranged on seat (7) both sides and respectively with elbow joint traction fluid cylinder pressure (12), shoulder
Joint traction fluid cylinder pressure (13), Angle of Elbow Joint sensor (21), shoulder joint angular transducer (26), knee joint angle sensor
(38) electrically connect with knee joint driving motor (37).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610562878.3A CN106214421B (en) | 2016-07-15 | 2016-07-15 | A kind of elbow joint, shoulder joint and knee joint rehabilitation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610562878.3A CN106214421B (en) | 2016-07-15 | 2016-07-15 | A kind of elbow joint, shoulder joint and knee joint rehabilitation device |
Publications (2)
| Publication Number | Publication Date |
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| CN106214421A true CN106214421A (en) | 2016-12-14 |
| CN106214421B CN106214421B (en) | 2019-02-05 |
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| CN201610562878.3A Expired - Fee Related CN106214421B (en) | 2016-07-15 | 2016-07-15 | A kind of elbow joint, shoulder joint and knee joint rehabilitation device |
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| CN107670238A (en) * | 2017-11-08 | 2018-02-09 | 周济超 | A kind of Orthopeadic Surgery shoulder rehabilitation therapeutic system |
| CN107684703A (en) * | 2017-10-10 | 2018-02-13 | 安阳工学院 | The main passive four limbs recovery training appliance for recovery of one kind |
| CN107928984A (en) * | 2017-12-06 | 2018-04-20 | 广州绿竹环保科技有限公司 | A kind of rehabilitation machines |
| CN108433941A (en) * | 2018-04-08 | 2018-08-24 | 徐立彪 | Digital three-dimensional human body lower limbs function of joint corrects therapeutic instrument for rehabilitation |
| CN108542565A (en) * | 2018-04-08 | 2018-09-18 | 徐立彪 | Digital three-dimensional human synovial function corrects therapeutic instrument for rehabilitation |
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| CN108433941A (en) * | 2018-04-08 | 2018-08-24 | 徐立彪 | Digital three-dimensional human body lower limbs function of joint corrects therapeutic instrument for rehabilitation |
| CN108542565A (en) * | 2018-04-08 | 2018-09-18 | 徐立彪 | Digital three-dimensional human synovial function corrects therapeutic instrument for rehabilitation |
| CN108542565B (en) * | 2018-04-08 | 2024-01-12 | 徐立彪 | Digital three-dimensional human joint function correcting rehabilitation therapeutic instrument |
| CN108433941B (en) * | 2018-04-08 | 2024-03-01 | 徐立彪 | Digital three-dimensional human lower limb joint function correcting rehabilitation therapeutic apparatus |
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| CN109646895A (en) * | 2019-01-21 | 2019-04-19 | 北京工业大学 | A kind of shoulder elbow joint Ergometric training device for half disability old man |
| CN109846670A (en) * | 2019-02-13 | 2019-06-07 | 南京林业大学 | A kind of the elderly's joint recovering auxiliary therapeutic instrument |
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| CN110916982B (en) * | 2019-12-24 | 2021-07-27 | 天水师范学院 | Disabled person shoulder joint rehabilitation training device |
| CN110916982A (en) * | 2019-12-24 | 2020-03-27 | 天水师范学院 | Disabled person shoulder joint rehabilitation training device |
| CN112891839A (en) * | 2021-01-19 | 2021-06-04 | 厦门大学 | Multi-purpose rehabilitation auxiliary exercise device |
| CN112972192A (en) * | 2021-03-02 | 2021-06-18 | 新疆维吾尔自治区人民医院 | Auxiliary appliance for lower limb rehabilitation |
| CN112972192B (en) * | 2021-03-02 | 2022-12-06 | 新疆维吾尔自治区人民医院 | Auxiliary appliance for lower limb rehabilitation |
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