CN114522064A - Wrist joint passive auxiliary training device and using method thereof - Google Patents

Abstract

Translated fromChinese

本发明公开了腕关节被动辅助训练装置及其使用方法。本发明腕关节被动辅助训练装置包括电动机、传动机构、内筒、弹簧组和握棒；传动机构包括曲柄轴、曲柄、第一连杆、第二连杆、第三连杆、连杆轴和外筒；内筒与外筒通过两个弹簧组连接。本发明的弹簧在内筒和使用者的腕关节被动接受外筒的往复摆动时提供柔性支撑，使用者主动训练时通过内筒作用于弹簧组的弹簧，从而使用不同大小的力来抵抗弹簧力，达到腕关节不同角度的摆动运动。本发明只针对腕关节的康复训练，活动灵活，对腕关节的愈合更有效；使用者可以被动接受腕关节康复训练，也可以根据自身情况自动扭转手腕实现主动训练，从而实现多角度训练。

The invention discloses a wrist joint passive auxiliary training device and a using method thereof. The wrist joint passive auxiliary training device of the present invention includes a motor, a transmission mechanism, an inner cylinder, a spring group and a grip; the transmission mechanism includes a crankshaft, a crank, a first connecting rod, a second connecting rod, a third connecting rod, a connecting rod shaft and The outer cylinder; the inner cylinder and the outer cylinder are connected by two spring groups. The spring of the present invention provides flexible support when the inner cylinder and the user's wrist joint passively receive the reciprocating swing of the outer cylinder. When the user actively trains, the inner cylinder acts on the spring of the spring group, so that different forces are used to resist the spring force. , to achieve the swinging motion of the wrist joint at different angles. The present invention is only aimed at the rehabilitation training of the wrist joint, which is flexible and more effective for the healing of the wrist joint; the user can passively receive the wrist joint rehabilitation training, and can also automatically twist the wrist according to their own conditions to realize active training, thereby realizing multi-angle training.

Description

Translated fromChinese

腕关节被动辅助训练装置及其使用方法Passive auxiliary training device for wrist joint and method of using the same

技术领域technical field

本发明属于机械技术领域，具体涉及一种腕关节被动辅助训练装置及其使用方法。The invention belongs to the technical field of machinery, and in particular relates to a passive auxiliary training device for wrist joints and a method for using the same.

背景技术Background technique

近年来，人们体质普遍下降，骨折发生率也逐年增长。其中较为常见的就有桡骨远端骨折，常伴有踝关节和下踝关节损伤并累及腕关节，其中有效的腕关节功能训练对后桡骨远端骨折以及患者的手腕功能恢复有直接影响，也会影响患者的术后生活质量。In recent years, people's physical fitness has generally declined, and the incidence of fractures has also increased year by year. The most common one is the distal radius fracture, which is often accompanied by ankle and lower ankle injuries and involves the wrist joint. Effective wrist joint function training has a direct impact on the posterior distal radius fracture and the recovery of the patient's wrist function. affect the patient's quality of life after surgery.

目前，对于腕部手术和中风患者的腕关节康复工作基本上由医生或护理人员完成，并有自己的经验。通过调查可知，在通常情况下，在术后1～7天之后腕关节手术患者可以拆除敷料，然后便开始进行必要的腕关节康复训练，每天至少要进行3次训练，一直持续到第12周左右。然而期间进行的康复训练都是在重复同样的康复动作，而且每位医生和医护人员都要负责很多名患者的康复工作，这样的工作量对于医护人员来说显然是非常庞大的。另外，从康复效果出发，掌握每次康复训练的角度和力度是非常重要的。这种康复训练方法效率较低，同时作用角度和强度不精确。因此，有必要开发腕关节康复训练装置来减轻医务人员的工作量，此外，针对不同患者调整康复训练的强度和角度，以达到不同腕关节的基本康复效果，为患者提供必要的帮助，进而改善人们的生活质量。Currently, wrist rehabilitation for patients with wrist surgery and stroke is basically done by doctors or paramedics with their own experience. According to the survey, under normal circumstances, patients with wrist surgery can remove the dressing 1 to 7 days after the operation, and then start the necessary wrist rehabilitation training, at least 3 times a day, until the 12th week. about. However, the rehabilitation training performed during the period is all repeating the same rehabilitation actions, and each doctor and medical staff is responsible for the rehabilitation of many patients. This workload is obviously very huge for medical staff. In addition, from the perspective of rehabilitation effect, it is very important to master the angle and intensity of each rehabilitation training. This method of rehabilitation training is inefficient, and the angle and intensity of action are imprecise. Therefore, it is necessary to develop a wrist joint rehabilitation training device to reduce the workload of medical staff. In addition, the intensity and angle of rehabilitation training should be adjusted for different patients to achieve the basic rehabilitation effect of different wrist joints, provide necessary help for patients, and then improve people's quality of life.

发明内容SUMMARY OF THE INVENTION

本发明的目的是针对现有技术的不足，提供一种腕关节被动辅助训练装置及其使用方法，为腕关节受伤者提供便捷、有效的训练，节省训练成本，同时促使使用者达到康复水平。The purpose of the present invention is to aim at the deficiencies of the prior art, to provide a passive auxiliary training device for wrist joints and a method of using the same, so as to provide convenient and effective training for injured wrist joints, save training costs, and at the same time urge users to reach the level of rehabilitation.

本发明解决上述技术问题所采用的技术方案为：The technical scheme adopted by the present invention to solve the above-mentioned technical problems is:

本发明腕关节被动辅助训练装置，包括电动机、传动机构、内筒、弹簧组、握棒、曲柄轴支撑架、握棒支撑架和底板；所述电动机的底座固定在支撑座上，支撑座固定在底板上；所述的传动机构包括曲柄轴、曲柄、第一连杆、第二连杆、第三连杆、连杆轴和外筒；所述的曲柄轴与曲柄轴支撑架构成转动副，曲柄轴支撑架固定在底板上；曲柄轴与电动机的输出轴通过带传动机构连接；两根曲柄间距设置，一端均固定在曲柄轴上，另一端均与铰接轴构成转动副；第一连杆和第二连杆的一端均固定在铰接轴上；连杆轴与第一连杆的另一端以及第二连杆的中部均铰接；第三连杆的一端与连杆轴固定；第二连杆和第三连杆的另一端与外筒前部铰接；握棒两端通过轴承支承在两个握棒支撑架上，外筒后部以及内筒均套置在握棒上；所述的内筒与外筒通过两个弹簧组连接；所述的弹簧组包括沿周向均布的至少三个弹簧；手臂平台设置在底板后端，并与底板通过支撑柱固定连接。The wrist joint passive auxiliary training device of the present invention includes a motor, a transmission mechanism, an inner cylinder, a spring group, a grip rod, a crank shaft support frame, a grip rod support frame and a bottom plate; the base of the motor is fixed on the support seat, and the support seat is fixed on the bottom plate; the transmission mechanism includes a crankshaft, a crank, a first connecting rod, a second connecting rod, a third connecting rod, a connecting rod shaft and an outer cylinder; the crankshaft and the crankshaft support frame form a rotating pair , the crankshaft support frame is fixed on the bottom plate; the crankshaft and the output shaft of the motor are connected by a belt transmission mechanism; the two cranks are spaced apart, one end is fixed on the crankshaft, and the other end forms a rotating pair with the hinge shaft; the first connection One end of the rod and the second connecting rod are fixed on the hinge shaft; the connecting rod shaft is hinged with the other end of the first connecting rod and the middle part of the second connecting rod; one end of the third connecting rod is fixed with the connecting rod shaft; The other ends of the connecting rod and the third connecting rod are hinged with the front part of the outer cylinder; both ends of the gripping rod are supported on the two gripping rod supporting frames through bearings, and the rear part of the outer cylinder and the inner cylinder are sleeved on the gripping rod; the said The inner cylinder and the outer cylinder are connected by two spring groups; the spring groups include at least three springs evenly distributed along the circumferential direction; the arm platform is arranged at the rear end of the bottom plate, and is fixedly connected to the bottom plate through a support column.

所述的电动机选用异步电动机。The motor is selected as an asynchronous motor.

所述的带传动机构包括主动带轮、传送带和从动带轮；主动带轮固定在电动机的输出轴上，并与固定在曲柄轴上的从动带轮通过传送带连接。The belt transmission mechanism includes a driving pulley, a conveyor belt and a driven pulley; the driving pulley is fixed on the output shaft of the motor, and is connected with the driven pulley fixed on the crankshaft through the conveyor belt.

所述两个弹簧组中的所有弹簧在周向位置上各不相同。All the springs in the two spring sets differ in circumferential position.

所述手臂平台的顶面为弧面。The top surface of the arm platform is an arc surface.

所述外筒的前部开设有弧形槽口，曲柄轴设置在外筒的弧形槽口下方，连杆轴设置在外筒的弧形槽口处。The front part of the outer cylinder is provided with an arc-shaped slot, the crank shaft is arranged under the arc-shaped slot of the outer cylinder, and the connecting rod shaft is arranged at the arc-shaped slot of the outer cylinder.

该腕关节被动辅助训练装置的使用方法，具体如下：The use method of the wrist joint passive auxiliary training device is as follows:

启动电动机，电动机经带传动机构带动曲柄轴和曲柄，曲柄再经铰接轴、第一连杆、第二连杆、连杆轴和第三连杆带动外筒绕握棒摆动；最后，外筒经两个弹簧组带动内筒运动；其中，内筒与外筒采用两个弹簧组连接，弹簧组的弹簧在内筒被动接受外筒的往复摆动时提供柔性支撑，通过内筒作用于弹簧组的弹簧，从而使用不同大小的力来抵抗弹簧力，达到内筒不同角度的摆动运动。Start the motor, the motor drives the crank shaft and the crank through the belt transmission mechanism, and the crank drives the outer cylinder to swing around the grip rod through the hinge shaft, the first connecting rod, the second connecting rod, the connecting rod shaft and the third connecting rod; The inner cylinder is driven to move by two spring groups; the inner cylinder and the outer cylinder are connected by two spring groups, and the spring of the spring group provides flexible support when the inner cylinder passively receives the reciprocating swing of the outer cylinder, and acts on the spring group through the inner cylinder The springs of different sizes are used to resist the spring force to achieve the swinging motion of the inner cylinder at different angles.

与现有技术相比，本发明具有的有益效果是：Compared with the prior art, the present invention has the following beneficial effects:

1、实用性强：本发明与大部分训练器材相比，结构简易，但可以实现不同程度患者的腕关节被动训练，训练效果准确、有效。1. Strong practicability: Compared with most training equipment, the present invention has a simple structure, but can realize passive wrist training of patients with different degrees, and the training effect is accurate and effective.

2、结构简单、体积较小：相对于大部分训练器材，本发明只针对于腕关节一个方面的训练，因此节省了大量繁琐结构，大大缩小了体积，这使活动更加灵活，腕关节的愈合更有效。2. Simple structure and small volume: Compared with most training equipment, the present invention is only aimed at training one aspect of the wrist joint, so a lot of cumbersome structures are saved, and the volume is greatly reduced, which makes the movement more flexible and the healing of the wrist joint More effective.

3、自适应性好：由于手部和内筒与传动机构用多个弹簧分离开来，让内筒和使用者的腕关节在被动接受外筒的往复摆动时运动的立体性更加丰富，使用者被动接受腕关节训练，使严重残疾患者能够进行有效的腕关节训练；使用者得到一定程度恢复后，还可以根据自身情况自动扭转手腕实现主动训练，从而实现多角度训练。3. Good adaptability: Since the hand, the inner cylinder and the transmission mechanism are separated by multiple springs, the movement of the inner cylinder and the user's wrist joint when passively receiving the reciprocating swing of the outer cylinder is more abundant. Users can passively receive wrist training, so that severely disabled patients can perform effective wrist training; after a certain degree of recovery, users can automatically twist their wrists to achieve active training according to their own conditions, so as to achieve multi-angle training.

附图说明Description of drawings

图1为本发明的后部结构示意图；Fig. 1 is the rear structure schematic diagram of the present invention;

图2为本发明的前部结构示意图；Fig. 2 is the front structure schematic diagram of the present invention;

图3为本发明中传动机构的装配示意图；Fig. 3 is the assembly schematic diagram of the transmission mechanism in the present invention;

图4为本发明中两个弹簧组的分布示意图；Fig. 4 is the distribution schematic diagram of two spring groups in the present invention;

图5为本发明在外筒前部摆动到最高位置时的示意图；5 is a schematic diagram of the present invention when the front part of the outer cylinder swings to the highest position;

图6为本发明在外筒前部摆动到最低位置时的示意图；6 is a schematic diagram of the present invention when the front part of the outer cylinder swings to the lowest position;

图7为本发明中底板、曲柄轴支撑架、握棒支撑架和手臂平台的装配示意图。Fig. 7 is a schematic diagram of the assembly of the bottom plate, the crankshaft support frame, the grip rod support frame and the arm platform of the present invention.

具体实施方式Detailed ways

以下结合附图对本发明作进一步详细描述。The present invention will be described in further detail below with reference to the accompanying drawings.

如图1、2、3、4、5、6和7所示，腕关节被动辅助训练装置，包括电动机6、传动机构、内筒3、弹簧组、握棒17、曲柄轴支撑架7、握棒支撑架15和底板1；考虑到整体装置的体积并不大，所需功率也不太高，所以电动机6选用小功率电动机即可，比如异步电动机；电动机6的底座固定在支撑座8上，支撑座8固定在底板1上。As shown in Figures 1, 2, 3, 4, 5, 6 and 7, the passive auxiliary training device for wrist joint includes amotor 6, a transmission mechanism, aninner cylinder 3, a spring group, agrip bar 17, a crankshaft support frame 7, a gripRod support frame 15 and bottom plate 1; Considering that the volume of the overall device is not large, and the required power is not too high, so themotor 6 can be selected from a low-power motor, such as an asynchronous motor; the base of themotor 6 is fixed on thesupport base 8 , thesupport base 8 is fixed on the base plate 1 .

传动机构包括曲柄轴9、曲柄12、第一连杆18、第二连杆13、第三连杆10、连杆轴11和外筒5；曲柄轴9与曲柄轴支撑架7构成转动副，曲柄轴支撑架7固定在底板1上；曲柄轴9与电动机6的输出轴通过带传动机构16连接；带传动机构16包括主动带轮、传送带和从动带轮；主动带轮固定在电动机的输出轴上，并与固定在曲柄轴9上的从动带轮通过传送带连接；两根曲柄12间距设置，一端均固定在曲柄轴9上，另一端均与铰接轴构成转动副；选用两根独立的曲柄是为了更好的传动扭矩，防止曲柄与第一连杆18和第二连杆13发生相对运动；第一连杆18和第二连杆13的一端均固定在铰接轴上；连杆轴11与第一连杆18的另一端以及第二连杆13的中部均铰接；第三连杆10的一端与连杆轴11固定；第二连杆13和第三连杆10的另一端与外筒5前部铰接；握棒17两端通过轴承14支承在两个握棒支撑架15上，外筒5后部以及内筒3均套置在握棒17上；握棒支撑架15主要起支撑作用，握棒支撑架15与支撑底板1通过固定螺栓19连接；连杆使用三个独立的部件，防止与摆杆件发生相对运动，摆杆件不是传统意义上的杆件，是由内筒3以及外筒5替代；内筒3与外筒5通过两个弹簧组连接；弹簧组包括沿周向均布的至少三个弹簧4，且两个弹簧组中的所有弹簧在周向位置上各不相同；手臂平台2设置在底板1后端，并与底板1通过支撑柱20固定连接；手臂平台2的顶面为弧面，可以更好地支撑手臂；底板1主要是承载整个训练装置，并将各个机构定位，保证安装时的精确性。The transmission mechanism includes acrankshaft 9, acrankshaft 12, a first connectingrod 18, a second connectingrod 13, a third connectingrod 10, aconnecting rod shaft 11 and anouter cylinder 5; thecrankshaft 9 and thecrankshaft support frame 7 constitute a rotating pair, Thecrankshaft support frame 7 is fixed on the base plate 1; thecrankshaft 9 is connected with the output shaft of themotor 6 through abelt transmission mechanism 16; thebelt transmission mechanism 16 includes a driving pulley, a conveyor belt and a driven pulley; The output shaft is connected with the driven pulley fixed on thecrank shaft 9 through a conveyor belt; the twocranks 12 are arranged at intervals, one end is fixed on thecrank shaft 9, and the other end forms a rotating pair with the hinge shaft; choose two The independent crank is for better transmission torque, preventing the relative movement of the crank and the first connectingrod 18 and the second connectingrod 13; one end of the first connectingrod 18 and the second connectingrod 13 are fixed on the hinge shaft; Thelever shaft 11 is hinged with the other end of the first connectingrod 18 and the middle of the second connectingrod 13; one end of the third connectingrod 10 is fixed with the connectingrod shaft 11; the other end of the second connectingrod 13 and the third connectingrod 10 One end is hinged with the front part of theouter cylinder 5; both ends of thegrip rod 17 are supported on the two griprod support frames 15 through thebearings 14, and the rear part of theouter cylinder 5 and theinner cylinder 3 are sleeved on thegrip rod 17; the griprod support frame 15 It mainly plays a supporting role. The grippingrod support frame 15 is connected with the supporting base plate 1 byfixing bolts 19; the connecting rod uses three independent parts to prevent relative movement with the pendulum rod. Replaced by theinner cylinder 3 and theouter cylinder 5; theinner cylinder 3 and theouter cylinder 5 are connected by two spring groups; the spring group includes at least threesprings 4 evenly distributed along the circumferential direction, and all the springs in the two spring groups are in the circumferential position Thearm platform 2 is arranged at the rear end of the base plate 1, and is fixedly connected with the base plate 1 through thesupport column 20; the top surface of thearm platform 2 is an arc surface, which can better support the arm; the base plate 1 mainly carries the entire training device, and position each mechanism to ensure the accuracy of installation.

外筒5前部开设有弧形槽口，曲柄轴9设置在外筒5的弧形槽口下方，连杆轴11设置在外筒5的弧形槽口处；弧形槽口给连杆轴11和第一连杆18提供了作业空间。The front part of theouter cylinder 5 is provided with an arc-shaped notch, thecrank shaft 9 is arranged under the arc-shaped notch of theouter cylinder 5, and the connectingrod shaft 11 is arranged at the arc-shaped notch of theouter cylinder 5; And thefirst link 18 provides a working space.

该腕关节被动辅助训练装置的使用方法，具体如下：The use method of the wrist joint passive auxiliary training device is as follows:

使用者将手腕放入内筒3中，手掌握住握棒17，手臂平放在手臂平台2上；启动电动机6，电动机6经带传动机构16带动曲柄轴9和曲柄12，曲柄12再经铰接轴、第一连杆18、第二连杆13、连杆轴11和第三连杆10带动外筒5绕握棒17摆动；最后，外筒5经两个弹簧组带动内筒3和手腕运动，实现手腕的训练；其中，内筒3与外筒5采用两个弹簧组连接是本发明的重要创新点，弹簧不仅用于克服手部重力，而且让内筒3和使用者的腕关节在被动接受外筒5的往复摆动时运动的立体性更加丰富，同时，使用者可以主动使用不同大小的力来抵抗弹簧力，以达到腕关节不同角度的摆动运动效果，腕关节扭转的角度完全由使用者自主调节控制，多方面实现了腕关节的训练。The user puts the wrist into theinner cylinder 3, holds thegrip bar 17 in the hand, and places the arm flat on thearm platform 2; starts themotor 6, themotor 6 drives thecrank shaft 9 and thecrank 12 through thebelt transmission mechanism 16, and thecrank 12 is then driven by thebelt transmission mechanism 16. The hinge shaft, the first connectingrod 18, the second connectingrod 13, the connectingrod shaft 11 and the third connectingrod 10 drive theouter cylinder 5 to swing around thegripping rod 17; finally, theouter cylinder 5 drives theinner cylinder 3 and theinner cylinder 3 through the two spring groups. The wrist movement realizes the training of the wrist; wherein, theinner tube 3 and theouter tube 5 are connected by two spring groups, which is an important innovation of the present invention. The spring is not only used to overcome the gravity of the hand, but also allows theinner tube 3 and the user's wrist The three-dimensional movement of the joint is more abundant when the joint passively receives the reciprocating swing of theouter cylinder 5. At the same time, the user can actively use different sizes of force to resist the spring force, so as to achieve the swing movement effect of the wrist joint at different angles, and the angle of the wrist joint torsion. It is completely adjusted and controlled by the user, and the training of the wrist joint is realized in many aspects.

Claims (7)

Translated fromChinese

1.腕关节被动辅助训练装置，包括电动机、传动机构、曲柄轴支撑架、握棒支撑架和底板；所述电动机的底座固定在支撑座上，支撑座固定在底板上；其特征在于：还包括内筒、握棒和弹簧组；所述的传动机构包括曲柄轴、曲柄、第一连杆、第二连杆、第三连杆、连杆轴和外筒；所述的曲柄轴与曲柄轴支撑架构成转动副，曲柄轴支撑架固定在底板上；曲柄轴与电动机的输出轴通过带传动机构连接；两根曲柄间距设置，一端均固定在曲柄轴上，另一端均与铰接轴构成转动副；第一连杆和第二连杆的一端均固定在铰接轴上；连杆轴与第一连杆的另一端以及第二连杆的中部均铰接；第三连杆的一端与连杆轴固定；第二连杆和第三连杆的另一端与外筒前部铰接；握棒两端通过轴承支承在两个握棒支撑架上，外筒后部以及内筒均套置在握棒上；所述的内筒与外筒通过两个弹簧组连接；所述的弹簧组包括沿周向均布的至少三个弹簧；手臂平台设置在底板后端，并与底板通过支撑柱固定连接。1. wrist joint passive auxiliary training device, comprises electric motor, transmission mechanism, crank shaft support frame, grip rod support frame and base plate; The base of described motor is fixed on the support seat, and the support seat is fixed on the base plate; It is characterized in that: also Including an inner cylinder, a grip rod and a spring group; the transmission mechanism includes a crank shaft, a crank, a first connecting rod, a second connecting rod, a third connecting rod, a connecting rod shaft and an outer cylinder; the crank shaft and the crank The shaft support frame forms a rotating pair, and the crank shaft support frame is fixed on the bottom plate; the crank shaft and the output shaft of the motor are connected by a belt transmission mechanism; One end of the first connecting rod and the second connecting rod are fixed on the hinge shaft; the connecting rod shaft is hinged with the other end of the first connecting rod and the middle part of the second connecting rod; one end of the third connecting rod is connected with the connecting rod. The rod shaft is fixed; the other ends of the second connecting rod and the third connecting rod are hinged with the front part of the outer cylinder; both ends of the grip rod are supported on the two grip rod support frames through bearings, and the rear part of the outer cylinder and the inner cylinder are sleeved on the grip rod. The inner cylinder and the outer cylinder are connected by two spring groups; the spring group includes at least three springs evenly distributed along the circumferential direction; the arm platform is arranged at the rear end of the base plate and is fixedly connected to the base plate through a support column.2.根据权利要求1所述的腕关节被动辅助训练装置，其特征在于：所述的电动机选用异步电动机。2 . The wrist joint passive auxiliary training device according to claim 1 , wherein the electric motor is an asynchronous motor. 3 .3.根据权利要求1所述的腕关节被动辅助训练装置，其特征在于：所述的带传动机构包括主动带轮、传送带和从动带轮；主动带轮固定在电动机的输出轴上，并与固定在曲柄轴上的从动带轮通过传送带连接。3. The wrist joint passive auxiliary training device according to claim 1, characterized in that: the belt transmission mechanism comprises a driving pulley, a conveyor belt and a driven pulley; the driving pulley is fixed on the output shaft of the motor, and It is connected with the driven pulley fixed on the crankshaft through a conveyor belt.4.根据权利要求1所述的腕关节被动辅助训练装置，其特征在于：所述两个弹簧组中的所有弹簧在周向位置上各不相同。4 . The passive auxiliary training device for wrist joint according to claim 1 , wherein all the springs in the two spring groups are different in circumferential positions. 5 .5.根据权利要求1所述的腕关节被动辅助训练装置，其特征在于：所述手臂平台的顶面为弧面。5 . The passive auxiliary training device for wrist joint according to claim 1 , wherein the top surface of the arm platform is an arc surface. 6 .6.根据权利要求1所述的腕关节被动辅助训练装置，其特征在于：所述外筒的前部开设有弧形槽口，曲柄轴设置在外筒的弧形槽口下方，连杆轴设置在外筒的弧形槽口处。6 . The passive auxiliary training device for wrist joint according to claim 1 , wherein the front part of the outer cylinder is provided with an arc-shaped notch, the crank shaft is arranged under the arc-shaped notch of the outer cylinder, and the connecting rod shaft is arranged At the curved notch of the outer barrel.7.根据权利要求1所述的腕关节被动辅助训练装置的使用方法，其特征在于：该方法具体如下：7. the using method of wrist joint passive auxiliary training device according to claim 1 is characterized in that: the method is specifically as follows:启动电动机，电动机经带传动机构带动曲柄轴和曲柄，曲柄再经铰接轴、第一连杆、第二连杆、连杆轴和第三连杆带动外筒绕握棒摆动；最后，外筒经两个弹簧组带动内筒运动；其中，内筒与外筒采用两个弹簧组连接，弹簧组的弹簧在内筒被动接受外筒的往复摆动时提供柔性支撑，通过内筒作用于弹簧组的弹簧，从而使用不同大小的力来抵抗弹簧力，达到内筒不同角度的摆动运动。Start the motor, the motor drives the crank shaft and the crank through the belt transmission mechanism, and the crank drives the outer cylinder to swing around the grip rod through the hinge shaft, the first connecting rod, the second connecting rod, the connecting rod shaft and the third connecting rod; The inner cylinder is driven to move by two spring groups; the inner cylinder and the outer cylinder are connected by two spring groups, and the spring of the spring group provides flexible support when the inner cylinder passively receives the reciprocating swing of the outer cylinder, and acts on the spring group through the inner cylinder The springs of different sizes are used to resist the spring force to achieve the swinging motion of the inner cylinder at different angles.

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