【技术领域】【Technical field】
本实用新型涉及医疗器械的技术领域，特别是智能上肢关节康复器的技术领域。The utility model relates to the technical field of medical equipment, in particular to the technical field of an intelligent upper limb joint rehabilitation device.
【背景技术】【Background technique】
对于关节损伤的患者，术后需要进行大量的康复训练，另外，对于偏瘫、肌肉障碍、神经系统疾病、脑血管疾病的患者，康复训练具有十分重要的疗效，可明显减轻患者疼痛，加快关节功能康复。传统的运动康复训练由治疗师人力协助患者进行。采用康复器辅助治疗，不仅弥补传统运动康复训练一对一训练效率低下、内容枯燥训练过程不具有吸引力患者被动接受、存在太多主观因素评价指标不够精确、不能实时直观反馈治疗信息等缺点，而且辅助分析患肢的各项运动参数，以促进康复训练模式的改进，为康复医学提供了全新的治疗手段。For patients with joint injuries, a lot of rehabilitation training is required after surgery. In addition, for patients with hemiplegia, muscle disorders, nervous system diseases, and cerebrovascular diseases, rehabilitation training has a very important effect, which can significantly reduce the pain of patients and accelerate joint function. recovery. Traditional sports rehabilitation training is carried out by therapists manually assisting patients. The use of rehabilitator-assisted treatment not only makes up for the shortcomings of traditional sports rehabilitation training, such as the low efficiency of one-on-one training, the boring content of the training process and the passive acceptance of patients, the existence of too many subjective factors, the inaccurate evaluation indicators, and the inability to provide real-time intuitive feedback on treatment information. Moreover, it assists in the analysis of various motion parameters of the affected limb to promote the improvement of the rehabilitation training model and provides a new treatment method for rehabilitation medicine.
目前市面上已经有一些康复训练装置，现有康复训练系统的自由度较少，训练的范围受限，而且对不同体型不同需要的患者适应性差。At present, there are some rehabilitation training devices on the market. The existing rehabilitation training systems have less degrees of freedom, limited training range, and poor adaptability to patients with different body types and different needs.
【实用新型内容】【Content of utility model】
本实用新型的目的就是解决现有技术中的问题，提出一种智能上肢关节康复器，具有多个自由度，可以调整高度，由程序控制，反馈运行情况，并能实时获得康复训练数据，有益于辅助康复训练。The purpose of this utility model is to solve the problems in the prior art, to propose an intelligent upper limb joint rehabilitation device, which has multiple degrees of freedom, can adjust the height, is controlled by the program, feedbacks the operation situation, and can obtain rehabilitation training data in real time, which is beneficial in auxiliary rehabilitation training.
为实现上述目的，本实用新型提出了一种智能上肢关节康复器，包括底座、升降装置、控制器、显示屏、训练手臂、肘固定器、握力器，所述底座上安装有升降装置，升降装置上部安装有控制器，控制器前方安装显示屏；升降装置侧面安装训练手臂，训练手臂与控制器电连接，升降装置与控制器电连接；所述底座内设有电源模块，电源模块与控制器相连接；所述训练手臂包括肩旋转轴、肩关节运动轴、连接杆、肘关节运动轴、腕旋转轴、腕关节运动轴、手掌固定板，肩旋转轴与肩关节运动轴铰接，肩关节运动轴通过连接杆依次连接肘关节运动轴、腕旋转轴、腕关节运动轴、手掌固定板。In order to achieve the above object, the utility model proposes an intelligent upper limb joint rehabilitation device, which includes a base, a lifting device, a controller, a display screen, a training arm, an elbow fixer, and a strength grip. A controller is installed on the upper part of the device, and a display screen is installed in front of the controller; a training arm is installed on the side of the lifting device, the training arm is electrically connected to the controller, and the lifting device is electrically connected to the controller; a power module is installed in the base, and the power module is connected to the control The training arm includes a shoulder rotation axis, a shoulder joint movement axis, a connecting rod, an elbow movement axis, a wrist rotation axis, a wrist movement axis, a palm fixing plate, and the shoulder rotation axis is hinged with the shoulder joint movement axis. The joint movement shaft is sequentially connected to the elbow joint movement shaft, the wrist rotation shaft, the wrist joint movement shaft and the palm fixing plate through the connecting rod.
作为优选，所述肘关节运动轴上安装有肘固定器，肘关节运动轴与腕关节运动轴之间的连接杆上设有腕固定带，手掌固定板上设有手指固定带，手掌固定板前设有握力器，握力器安装在腕关节运动轴上。As a preference, an elbow fixator is installed on the axis of movement of the elbow joint, a wrist fixing belt is provided on the connecting rod between the movement axis of the elbow joint and the movement axis of the wrist joint, a finger fixing belt is arranged on the palm fixing plate, and a finger fixing belt is arranged on the palm fixing plate. A gripper is provided, and the gripper is installed on the movement axis of the wrist joint.
作为优选，所述肩关节运动轴上安装有第一传感器，肘关节运动轴上安装有第二传感器，腕关节运动轴上安装有第三传感器。Preferably, a first sensor is installed on the movement axis of the shoulder joint, a second sensor is installed on the movement axis of the elbow joint, and a third sensor is installed on the movement axis of the wrist joint.
作为优选，所述升降装置包括第一升降柱、第二升降柱、第三升降柱、手动调节旋钮，第三升降柱套在第二升降柱内，第二升降柱套在第一升降柱内，手动调节旋钮位于第一升降柱侧面。Preferably, the lifting device includes a first lifting column, a second lifting column, a third lifting column, and a manual adjustment knob, the third lifting column is set in the second lifting column, and the second lifting column is set in the first lifting column , the manual adjustment knob is located on the side of the first lifting column.
作为优选，所述控制器内还设有处理器、存储器、通信模块，通信模块无线连接客户端。Preferably, the controller is further provided with a processor, a memory, and a communication module, and the communication module is wirelessly connected to the client.
作为优选，所述底座底部还设有滚轮，滚轮折叠在底座内部。Preferably, the bottom of the base is further provided with rollers, and the rollers are folded inside the base.
本实用新型的有益效果：本实用新型具有多个自由度，辅助患者进行上肢肩关节旋转、外摆内收；肘关节屈伸；腕关节旋转、外展内收，同时协调进行的运动训练，对肩关节、肘关节以及腕关节进行多方位锻炼。可以调整高度适应不同患者使用，且每个关节运动自由度与人体关节运动自由度基本保持了同轴，增强了康复器的舒适性和可靠性，由程序控制，反馈运行情况，可随时调整，并能实时获得康复训练数据，更有益于辅助康复训练。Beneficial effects of the utility model: the utility model has multiple degrees of freedom, and assists the patient in performing upper limb shoulder joint rotation, outward swing and adduction; elbow joint flexion and extension; wrist joint rotation, abduction and adduction, and coordinated exercise training at the same time. Multi-directional exercises for shoulder joints, elbow joints and wrist joints. The height can be adjusted to adapt to different patients, and the freedom of movement of each joint is basically coaxial with the degree of freedom of joint movement of the human body, which enhances the comfort and reliability of the rehabilitation device. It is controlled by the program, feedbacks the operation status, and can be adjusted at any time. And it can obtain rehabilitation training data in real time, which is more beneficial to assist rehabilitation training.
本实用新型的特征及优点将通过实施例结合附图进行详细说明。The features and advantages of the utility model will be described in detail through embodiments in conjunction with the accompanying drawings.
【附图说明】【Description of drawings】
图1是本实用新型一种智能上肢关节康复器的结构示意图；Fig. 1 is the structural representation of a kind of intelligent upper limb joint rehabilitation device of the present utility model;
图2是本实用新型一种智能上肢关节康复器的内部模块图。Fig. 2 is an internal block diagram of an intelligent upper limb joint rehabilitation device of the utility model.
图中：1-底座、2-升降装置、21-第一升降柱、22-第二升降柱、23-第三升降柱、24-手动调节旋钮、3-控制器、31-处理器、32-存储器、33-通信模块、34-电源模块、4-显示屏、5-训练手臂、51-肩旋转轴、52-肩关节运动轴、53-肘关节运动轴、54-连接杆、55-腕旋转轴、56-腕关节运动轴、57-手掌固定板、6-第一传感器、7-第二传感器、8-第三传感器、9-肘固定器、10-腕固定带、11-手指固定带、12-握力器、13-滚轮、14-客户端。In the figure: 1-base, 2-lifting device, 21-first lifting column, 22-second lifting column, 23-third lifting column, 24-manual adjustment knob, 3-controller, 31-processor, 32 -memory, 33-communication module, 34-power supply module, 4-display screen, 5-training arm, 51-shoulder rotation axis, 52-shoulder joint movement axis, 53-elbow joint movement axis, 54-connecting rod, 55- Wrist rotation axis, 56-wrist joint movement axis, 57-palm fixing plate, 6-first sensor, 7-second sensor, 8-third sensor, 9-elbow fixer, 10-wrist fixing belt, 11-finger Fixed belt, 12-grip, 13-roller, 14-client.
【具体实施方式】【detailed description】
参阅图1、图2，本实用新型，包括底座1、升降装置2、控制器3、显示屏4、训练手臂5、肘固定器9、握力器12，所述底座1上安装有升降装置2，升降装置2上部安装有控制器3，控制器3前方安装显示屏4；升降装置2侧面安装训练手臂5，训练手臂5与控制器3电连接，升降装置2与控制器3电连接；所述底座1内设有电源模块34，电源模块34与控制器3相连接；所述训练手臂5包括肩旋转轴51、肩关节运动轴52、连接杆54、肘关节运动轴53、腕旋转轴55、腕关节运动轴56、手掌固定板57，肩旋转轴51与肩关节运动轴52铰接，肩关节运动轴52通过连接杆54依次连接肘关节运动轴53、腕旋转轴55、腕关节运动轴56、手掌固定板57。所述肘关节运动轴53上安装有肘固定器9，肘关节运动轴53与腕关节运动轴56之间的连接杆54上设有腕固定带10，手掌固定板57上设有手指固定带11，手掌固定板57前设有握力器12，握力器12安装在腕关节运动轴56上。所述肩关节运动轴52上安装有第一传感器6，肘关节运动轴53上安装有第二传感器7，腕关节运动轴56上安装有第三传感器8。所述升降装置2包括第一升降柱21、第二升降柱22、第三升降柱23、手动调节旋钮24，第三升降柱23套在第二升降柱22内，第二升降柱22套在第一升降柱21内，手动调节旋钮24位于第一升降柱21侧面。所述控制器3内还设有处理器31、存储器32、通信模块33，通信模块33无线连接客户端14。所述底座1底部还设有滚轮13，滚轮13折叠在底座1内部。Referring to Fig. 1, Fig. 2, the utility model comprises a base 1, a lifting device 2, a controller 3, a display screen 4, a training arm 5, an elbow fixer 9, a power grip 12, and a lifting device 2 is installed on the base 1 A controller 3 is installed on the top of the lifting device 2, and a display screen 4 is installed in front of the controller 3; a training arm 5 is installed on the side of the lifting device 2, and the training arm 5 is electrically connected to the controller 3, and the lifting device 2 is electrically connected to the controller 3; The base 1 is provided with a power module 34, and the power module 34 is connected with the controller 3; the training arm 5 includes a shoulder rotation shaft 51, a shoulder joint movement shaft 52, a connecting rod 54, an elbow joint movement shaft 53, and a wrist rotation shaft. 55. Wrist joint movement axis 56, palm fixing plate 57, shoulder rotation axis 51 is hinged with shoulder joint movement axis 52, shoulder joint movement axis 52 is connected to elbow joint movement axis 53, wrist rotation axis 55, and wrist joint movement through connecting rod 54 in turn Axle 56, palm fixed plate 57. Elbow fixer 9 is installed on described elbow joint movement shaft 53, is provided with wrist fixation band 10 on the connecting rod 54 between elbow joint movement shaft 53 and wrist joint movement shaft 56, is provided with finger fixation band on the palm fixation plate 57 11. A power grip 12 is arranged in front of the palm fixing plate 57, and the power grip 12 is installed on the wrist joint movement shaft 56. The first sensor 6 is installed on the shoulder joint movement axis 52 , the second sensor 7 is installed on the elbow joint movement axis 53 , and the third sensor 8 is installed on the wrist joint movement axis 56 . The lifting device 2 includes a first lifting column 21, a second lifting column 22, a third lifting column 23, and a manual adjustment knob 24. The third lifting column 23 is set in the second lifting column 22, and the second lifting column 22 is set in the Inside the first lifting column 21 , the manual adjustment knob 24 is located on the side of the first lifting column 21 . The controller 3 is further provided with a processor 31 , a memory 32 , and a communication module 33 , and the communication module 33 is wirelessly connected to the client 14 . The bottom of the base 1 is also provided with rollers 13 , and the rollers 13 are folded inside the base 1 .
本实用新型工作过程：The working process of the utility model:
本实用新型一种智能上肢关节康复器在工作过程中，先调节升降装置2，调整康复器高度，适应不同患者的需要，康复器可以放置在座椅后方，也可以放置在床边。使用时，将患者的手臂通过肘固定器9、腕固定带10、手指固定带11固定，连接杆54可以适当伸缩，适应患者手臂长度。然后通过控制器3控制执行装置，带动患者上肢做康复训练，手指可以通过握力器锻炼12，第一传感器6、第二传感器7、第三传感器8及时反馈数据到处理器31，调整运动角度和旋转角度，康复训练数据通过通信模块33发送到客户端14，方便用户查询和分析康复进程。滚轮13便于移动康复器，滚轮13可收，固定底座1位置。The utility model is an intelligent upper limb joint rehabilitation device. During the working process, the lifting device 2 is first adjusted to adjust the height of the rehabilitation device to meet the needs of different patients. The rehabilitation device can be placed behind the seat or beside the bed. During use, patient's arm is fixed by elbow holder 9, wrist fixing band 10, finger fixing band 11, and connecting rod 54 can expand and contract appropriately, adapts to patient's arm length. Then the actuator is controlled by the controller 3 to drive the patient's upper limbs to do rehabilitation training. The fingers can be exercised by the gripper 12. The first sensor 6, the second sensor 7, and the third sensor 8 feed back data to the processor 31 in time to adjust the movement angle and The rotation angle and the rehabilitation training data are sent to the client terminal 14 through the communication module 33, which is convenient for the user to inquire and analyze the rehabilitation process. The roller 13 is convenient for moving the rehabilitation device, the roller 13 can be received, and the position of the base 1 is fixed.
本实用新型，具有多个自由度，辅助患者进行上肢肩关节旋转、外摆内收；肘关节的屈伸；腕关节的旋转、外展内收多个运动自由度同时协调进行的主动运动训练，对肩关节、肘关节以及腕关节进行多方位锻炼。可以调整高度适应不同患者使用，且每个关节运动自由度与人体关节运动自由度基本保持了同轴，增强了康复器的舒适性和可靠性，由程序控制，反馈运行情况，可随时调整，并能实时获得康复训练数据，更有益于辅助康复训练。The utility model has multiple degrees of freedom, and assists the patient to carry out active exercise training in which the shoulder joints of the upper limbs are rotated, swung out and adducted; the elbow joints are flexed and extended; the wrist joints are rotated, abducted and adducted. Multi-directional exercises for shoulder joints, elbow joints and wrist joints. The height can be adjusted to adapt to different patients, and the freedom of movement of each joint is basically coaxial with the degree of freedom of joint movement of the human body, which enhances the comfort and reliability of the rehabilitation device. It is controlled by the program, feedbacks the operation status, and can be adjusted at any time. And it can obtain rehabilitation training data in real time, which is more beneficial to assist rehabilitation training.
上述实施例是对本实用新型的说明，不是对本实用新型的限定，任何对本实用新型简单变换后的方案均属于本实用新型的保护范围。The above-mentioned embodiment is an illustration of the utility model, not a limitation of the utility model, and any scheme after a simple transformation of the utility model belongs to the protection scope of the utility model.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620269111.7UCN205598172U (en) | 2016-04-01 | 2016-04-01 | Intelligence upper limbs joint rehabilitation ware |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620269111.7UCN205598172U (en) | 2016-04-01 | 2016-04-01 | Intelligence upper limbs joint rehabilitation ware |
| Publication Number | Publication Date |
|---|---|
| CN205598172Utrue CN205598172U (en) | 2016-09-28 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620269111.7UExpired - Fee RelatedCN205598172U (en) | 2016-04-01 | 2016-04-01 | Intelligence upper limbs joint rehabilitation ware |
| Country | Link |
|---|---|
| CN (1) | CN205598172U (en) |
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| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | Granted publication date:20160928 Termination date:20170401 | |
| CF01 | Termination of patent right due to non-payment of annual fee |