M333178 八、新型說明： 【新型所屬之技術領域】 本新型是涉及一種能自動帶動對上肢之手腕、手肘及肩部 進行被動式復健訓練的上肢被動式關節復健機。 【先前技術】 本創作為亞東技術學院機械系與亞東紀念醫院之產學技 術合作的研發案，藉此來整合機械和醫療方面的相關技術及資 源，而於先前已申請過如國内公告第455488號之一種「上肢 被動式關節復健機」專利案（以下稱前案專利），其公告曰為 2001年9月21日，前案專利具有分別支撐上臂及下臂之上臂 支撐座及下臂支撐座，該上肢被動式關節復健機包括·· 一手臂前後擺動機構，藉由第一驅動裝置，以肩關節為中 心’帶動手臂使手臂作前後擺動之動作； 一手臂上下擺動機構，藉由第二驅動裝置，以肩關節為中 心，帶動手臂使手臂作上下擺動之動作； 一下臂上下擺動機構，藉由第三驅動裝置，以上臂為轉 軸，帶動下臂作上下擺動之動作； … -手臂水平伸張與_機構，藉由手臂前後擺動機構之驅 動裝置以相節及肘_為中心，帶 與内縮動作； ’ 高度調整機構’可上下鶴上敎撐座及下臂支撐座 6 M333178 縮、關節僵化等情形發生，也能為醫院解決長期缺乏復健治療 師的人力問題。 【新型内容】 一、 所欲解決之問題點： 上述前案專利的上肢被動式關節復健機具有下列問題點： 其一、前案專利僅針對上肢的肩、肘等關節部位進行復 健，然而卻缺乏提供上肢中，對手腕關節進行復健的功能。 其二、前案專利針對手臂前後擺動、手臂上下擺動、下臂 上下擺動、及手臂水平伸張與内縮等單一動作功能，至少設置 三驅動裝置，此種設計會增加製造成本，也會造成檢修困難。 有鑑於此，前案專利在上肢的復健功能、及製造成本方 面，仍具有改進的空間，而本新型也針對上述問題點來進行改 良，使一般消費者也能於家中使用以自行復健。 二、 本新型的技術手段·· 基於上述的問題點，本新型的目的即在於提供一種具經濟 效盈、且能方便使用者自行練習上肢屈曲及伸展運動、並能調 整位置的上肢被動式關節復健機。 為解決上述問題點及達到本新型的目的，本新型的技術 手段是這樣實現的，一種上肢被動式關節復健機，其包括··一 支撐架（1〇)，其是由底座（12)及豎立在底座⑽上的主幹(⑶ 所構成，主幹（13)結合一能垂直升降且上下端部設有定位桿 (14a、14b)而中端部設有轉軸（15)的滑座（131)，另以轉軸（15) 為軸心銜接一前端設有能自由旋轉的握把組（17)且能伸縮的 第一托架（16)，而在底座（12)設置一能平移定位及水平旋轉的 M333178 第二托架（li);及一驅動裝置（2〇)，包括一設於滑座（131)的 馬達（21); —與馬達οι)銜接且設有絞盤（221)的減速器 (22);由多個分別設於定位桿（14a、14b)、滑座（131)、第一 托架（16)的滑輪所組成的滑輪組(23);及一繞設於滑輪組(23) 及紋盤(221)且二末端固定於第一托架（16)以使馬達(21)動作 時能牽引第一托架（16)旋轉的繩索(24)。 根據上述的上肢被動式關節復健機，其中，第一托架（16) 具有一與轉軸（15)銜接的滑軌（161)、及一從滑軌(161)内伸出 於滑軌外的滑桿（162)，該滑軌（161)的前端設有供繩索（24) 穿設固定的定位片（163)，後端則設有滑輪(23c、23d)，使繩 索（24)的繞設路徑依序為定位片〇63)、設於滑座〇31)的滑輪 (23a)、設於定位桿（14a)的滑輪(23b)、絞盤（221)、設於定 位桿（14a)的滑輪(23b，）、滑輪(23c、23d)、定位片（163)。 根據上述的上肢被動式關節復健機，其中，握把組（17) 具有一能束缚手指的第一握把（171 )、一能綁缚手掌/手腕的第 二握把（173)、及一連接前述二握把（171、173)端部的連接片 (175)固結而成，前述第一握把（171)設有指套（172)，而前述 弟一握把（173)設有鄉帶（174)。 根據上述的上肢被動式關節復健機，其中，第二托架（11) 包括一基座（111)、一連接基座（111)上端而能自由水平旋轉且 具有托盤（113)的彎曲段（112)、及一設置於拖盤（Π3)上方並 能產生緊缚功能的綁帶（124);所述基座（111)能與設置在底座 (12)侧邊的定位條（18)嵌合而在定位條（18)上滑移定位。 根據上述的上肢被動式關節復健機，其中，底座（12)上設 8 M333178 有能調整滑座（131)高度位置的伸縮裝置（19)，該伸縮裝置⑽ 的底端設有辅助伸縮定位的致動器（191)。 根據上述的上肢被動式關節復健機，其中，底座（12)下設 置數個具有止滑功能的滾輪(3〇)。 根據上述的上肢被動式關節復健機，其中，第一托架（Μ) .補動時具有供上祕作的活動角度（Θ1)，而所述握把組⑽ 具有輔助前述活動角度（Θ1)以調適上肢動作的修正角度 : 2)。 二、對照先前技術之功效： 本新型上肢被動式關節復健機（丨）針對前案專利的問題點 改進後，有別於前案專利的形態而具有以下優點·· 其一、本新型上肢被動式關節復健機（1)藉由一驅動裝置 (20)便能對上肢之手腕、手肘及肩部進行被動式的復健訓練， 無須如前案專利採用至少三個驅動裝置的情形發生，此外，在 使用方面，本新型上肢被動式關節復健機〇)不限以單一環境 (如酉卩元病房、治療室等）或單一姿勢（如站立、靠坐、躺队等） ， 使用，即使於家中，使用者也能藉由控制器（50)操控機具運作 - 而自行復健，也能方便移動，以提升使用率並免於被環境所侷 限。 其二、本新型上肢被動式關節復健機（1)藉由將組成支撐 架α〇)的直柱（id模組化，以方便拆裝，也簡化本新型上肢被 動式關節復健機（1)的組成結構，以達經濟效益、且利於資源 回收，即使支撐架（10)的構件損壞，也便於檢修及替換。 其二、本新型藉助數個滑輪(2〇a〜2〇e)搭配繩索（24)形成 9 M333178 滑輪組(23)，使本新型在轉換成不同角度的上肢動作時，能利 於第一托架（16)轉向旋轉以改變作用力方向，且得以使復健動 作形成連續性。 其四、本新型利用具有伸縮功效的第一托架（16)，以配合 不同上肢長度來使用，且在第一托架（16)轉動升降時，能配合 使用者的動作隨時伸縮，以利於上肢的屈曲及伸展動作，再搭 '配能自由轉動的握把組（17)，則增加本新型所能提供的復健項 : 目，除前案專利針對上肢之手臂肩部及手財關節來作屈曲及伸 展的往復運動外，也能對手腕關節進行復健運動。 【實施方式】 本新型上肢被動式關節復健機（1)具有兩種實施形態，以 下即依據圖面所示的實施例詳細說明如後： 第一實施形態 如圖1所示為本新型上肢被動式關節復健機之第一實施 形態的立體圖，圖2所示為圖1的侧視圖，圖3〜圖5所示為 本新型上肢被動式關節復健機的動作圖。前述圖中揭露出本新 ‘ 型上肢被動式關節復健機（1)是由一支樓架（1〇)及一設於支擇 - 架（1〇)上的驅動裝置（20)所組成。 上述支撐架（10)是由底座（12)及豎立在底座（12)上的主 幹（13)所構成的’主幹（13)結合一能垂直升降且上下端部設 有定位桿（14a、14b)而中端部設有轉軸（15)的滑座（131)，另 以轉軸（15)為軸心銜接一前端設有能自由旋轉的握把組（17) 且能伸縮的第一托架（16)，而在底座（12)設置一能平移應定位 及水平旋轉的第二托架（11)。 M333178 上述驅動裝置（20)包括一設於滑座（131)的馬達(21); — 與馬達(21)銜接且設有絞盤（221)的減速器（22);由多個分別 設於定位桿（14a、14b)、滑座（131)、第一托架（16)的滑輪所 組成的滑輪組(23);及一繞設於滑輪組(23)及絞盤（221)且二 末端固定於第一托架（16)以使馬達(21)動作時能牽引第一托 架（16)旋轉的繩索（24)。 上述第一托架（16)具有與上述轉轴（15)銜接的滑軌 (161)，及從滑執（161)内伸出於滑軌外的滑桿（162)，以此產 生伸縮活動功能，能避免上肢在隨第一托架（16)轉動的過程 中’因第一托架（16)長度長於上肢而造成拉扯上肢的意外傷害 產生，另在滑執（161)的前端設有供上述繩索（24)穿設固定的 定位片（163)，後端則設有滑輪(23c、23d)。 上述握把組（17)具有一能束缚手指的第一握把（丨71)、一 能綁缚手掌/手腕的第二握把（173)、及一連接前述二握把 (171、173)端部的連接片（175)固結而成，前述第一握把（171) 設有指套（172)，而前述第二握把（173)設有綁帶（174)，藉此 雙握把的設計，以扶持手掌及手腕，再透過一連接片（175)樞 &在苐一托架（16)如端，使前述第一托架（16)轉動時，能隨時 微幅轉動且能穩固手掌及手腕，以避免產生不當彎曲或遭受意 外傷害。 上述中，如圖2所示，減速器（22)的端部設有供繩索（24) 紋盤的絞盤(221)，而前述繩索（24)—端固定於第一托架（16) 的定位片（163)，另端則朝上依序經過設於滑座（131)侧面的滑 輪（23a)+設於定位桿（i4a)後端下的滑輪（23b)+絞盤 11 M333178 (221)+設於定位桿（14a)後端下的滑輪(23b，），然後變向朝下 繞過設在第一托架（16)後端側上的滑輪(23c)+掠過連結滑輪 (23c)下方的滑輪()">往下繞過設歧轉（14b)後端的滑 輪(23e)+再變向朝上固定於前述固定片（163)上，據此，在絞 盤（221)轉動時，便能透過繩索（24)拉昇或放降第一托架 ， （16)，又能藉由調整繩索(24)纏繞的鬆緊程度來控制第一托架 (16)升降的靈敏度，在圖2的實施例中，滑輪(2如、23d)則是 分別為第一托架（16)下轉/平放、上轉的狀態時，才得與繩索 (24)接觸以利繩索（24)通過並減少摩擦，或是用來緊抵繩索 (24)以避免鬆弛。 其次，如圖3所示，第一托架（π)轉動時，會以轉軸（15) 作為支點，定位片（163)作為繩索（24)拉動第一托架（16)轉動 的施力點，第一托架（16)的握把組（17)則為負擔上肢負重的受 力點，藉此運用槓桿作用來帶動上肢，以便活動上肢關節及肌 肉，而當絞盤(221)呈順時針方向旋轉，則會帶動當第一托架 (16)轉動上升；反之，則使第一托架（16)轉動下降，此時便會 ^ 使前述施力與受力位置對調，以改變作用力方向，藉此能使本 • 新型對上肢進行不同角度的復健動作。 又如圖4及圖5所示，於支撐架（10)的底座（12)上設有能 调整上述第一托架（16)高度位置的伸縮裝置（19)，該伸縮裝置 09)的底端設有辅助伸縮定位的致動器（191)。又，上述第二 托架（11)包括一基座（m)、一連接基座（111)上端而能自由水 平旋轉且具有托盤（113)的彎曲段（112)、及一設置於拖盤（113) 上方並能產生緊缚功能的綁帶（114);所述基座（111)能與設置 12 M333178 在底座（12)側邊的定位條（μ)喪合而在定位條（μ)上滑移定 ^據此^使用者為坐安及躺臥時，能藉由伸縮裝置（ig) 降低第-托架（16)的位置，以便於將上肢之上臂置於前述托盤 (113)上以固定肩關節活動，以針對手肘/手腕作屈曲及伸展運 動。 上述中，本新型基座（111)及滑座〇31)分別具有水平滑移 及垂直升降的功能，如此讓本新型上肢被動式關節復健機不易 文到位置咼度（如輪椅、病床等）及方位（如左手邊、右手邊） 的影響而限制其使用性。 第二實施形態 如圖6所示本新型上肢被動式關節復健機之第二實施形 態的立體圖。前述圖中揭示出本新型之第二實施形態，其差異 之處在於，支撐架（10)的底座（12)下設置數個具有止滑功能的 滾輪(30)，能方便本新型上肢被動式關節復健機移動而不易受 環境限制，另在底座（12)及主幹（13)上各覆蓋有殼罩（4〇a、 40b)，如述二殼罩（4〇a、40b)各具有供構件穿設以供調整位置 的長孔(41a、41b)，又，本新型的驅動裝置（2〇)電性連接一控 制上述馬達(21)啟閉的控制器（5〇)，該控制器（5〇)又能電性連 接至伸縮裝置（19)的致動器（191)，據此，以便於使用者自行 於家中進行復健運動。 上述中’覆盍底座（12)的殼罩（4〇a)會將上述基座（111) 外露以便於使用，而所述覆蓋主幹（13)之殼罩（40b)長孔(41b) 能方便外露的絞盤(221)、轉軸（15)升降。 上述二種實施形態中，本新型上肢被動式關節復健機 13 M333178 藉由-驅動裝置(20)便能針對上肢之手腕、手肘及肩部來進行 被動式復健訓練，而以下就以上肢各部位做復健訓練時，本新 型構件對應敘述及使用情形： 手腕復健如圖7所示，在復健訓練之前，先將手掌放置於 第二握把（173)上，再以綁帶（174)將手掌束缚穩固，此時握把 組（17)會微幅轉動一修正角度（02)，以利手掌與手腕呈同一 水平軸向’又，將上肢之下臂置於托盤〇13)上，並以綁帶（114) 綁固，如此是將手肘穩固以避免在第一托架〇6)轉動時，會連 ’動手財彎曲，而降低手腕訓練的功效。#第〜托架⑽ 如圖8所示，向上轉動至一活動角度（θ丨）位置時，握把組（17) 會隨之轉動-修正歧⑽），並藉由第—托架⑽的伸縮功 能以調適手腕彎曲幅度，避免第—托架⑽轉動献而傷及手 腕；反之，當第一托架⑽如圖9所示，向下轉動至一活動角 度⑷）位置時，握把組(17)同樣會產生一修正角度（θ2)來配 合第一托架（16)的伸縮功能，以利手腕復健訓練。前述手腕屈 曲的活動角度（Θ1)為水平朝上75度至水平朝下5〇度之間， ^ 能達復健效果。 • 手肘復健如圖10所示，在復健訓練之前，以手掌朝上握 住第-握把(m)，該第一握把⑽）具有供手指穿套的指套 (172)，以利手掌固定，則手腕會被束缚固定在第二握把（173) ^ ’此時握她(17)會產生—合適的修正肢（Θ2)，以利手 莩手腕及手肘呈同一水平軸向，又，而托盤⑴3)會支撐上 肢之上綁固，如此固定手腕及冑部，以便使手財活 動。而如圖11所示’在第一托架（16)向上轉動至一活動角度 M333178 (θ 1) ’而使上肢之下臂垂直或近似垂直上肢之上臂，指套（in) 及綁π(174)分能穩固手掌與手腕，以避免下臂晃動。前述手 財屈曲的活動角度⑻）為水平朝上135度之間能達復健效 果0 肩部復健如圖12所示，上肢固定在第-托架（16)及握把 組⑽的方式，除是以手掌朝下握住第一握把（ΐ7ΐ)、及未用 托盤⑴3)及其綁帶（1⑷續與_外，其齡手財固定 =包而如圖13、圖14所示，在第—托架（⑹各升降轉動至 ρ、角度（Θ1)時，指套(172)及綁帶⑽分能穩固手掌與 第一托架〇6)的伸縮功能，以利整條手臂伸展來 朝上2 BP及肌肉。前述肩部屈曲的活動角度⑷）為水平 度至水平朝下50度H達復健效果。 更二c在不超越本新型要旨的範圍内進行各種變 涵屬於本各鮮效變更實施例，皆應 M333178 【圖式簡單說明】 圖1:本新型上肢被動式關節復健機之第一實施形態的 立體圖。 圖2·為圖1的正視圖。 圖3〜圖5:本新型上肢被動式關節復健機的動作圖。 圖6·本新型上肢被動式關節復健機之第二實施形態的 • 立體圖。 〜 圖7〜圖9:本新型上肢被動式關節復健機訓練手腕的動 作圖。 圖10、圖11:本新型上肢被動式關節復健機訓練手肘的 動作圖。 圖12〜圖14 ··本新型上肢被動式關節復健機訓練肩部的 動作圖。 【主要元件符號說明】 1 上肢被動式關節復健機 10 支撐架 11 第二托架 111 基座 112 彎曲段 113 托盤 114 綁帶 12 底座 13 主幹 131 滑座 14a、14b定位桿 16 M333178M333178 VIII. New description: [New technical field] The present invention relates to an upper limb passive joint rehabilitation machine capable of automatically driving passive rehabilitation training on the wrist, elbow and shoulder of the upper limb. [Prior Art] This creation is a research and development project of the technical cooperation between the Department of Mechanical Engineering of Yadong Institute of Technology and Yadong Memorial Hospital, which integrates mechanical and medical related technologies and resources, and has previously applied for domestic Announcement No. 455488, a patent for the "Upper Limb Passive Joint Rehabilitation Machine" (hereinafter referred to as the former patent), whose announcement is September 21, 2001. The prior patent has support for the upper arm and lower arm upper arm support respectively. a lower arm support base, the upper limb passive joint rehabilitation machine includes: an arm front and rear swing mechanism, with the first driving device, with the shoulder joint as the center 'to move the arm to swing the arm back and forth; one arm up and down swing mechanism, With the second driving device, with the shoulder joint as the center, the arm is driven to swing the arm up and down; the upper arm swinging mechanism is controlled by the third driving device, and the upper arm is the rotating shaft, and the lower arm is swung up and down; ... - the horizontal extension of the arm and the _ mechanism, with the drive of the arm's front and rear swinging mechanism centered on the phase and elbow, with the retracting action; Adjusting mechanism 'Teaching with support base and the lower arm supporting base 6 M333178 shrink up and down on a crane, rigid joints and other situations occur, can also solve the problem of human chronic lack of rehabilitation therapists in hospitals. [New content] I. The problem to be solved: The above-mentioned patent for the upper limb passive joint rehabilitation machine has the following problems: First, the previous patent only rehabilitates the joints of the shoulders and elbows of the upper limbs. However, it lacks the function of providing rehabilitation in the upper limb and the wrist. Second, the previous patents have a single action function such as swinging the arm back and forth, swinging the arm up and down, swinging the lower arm up and down, and horizontal stretching and retracting of the arm. At least three driving devices are provided. This design will increase the manufacturing cost and cause maintenance. difficult. In view of this, the patent of the previous case still has room for improvement in terms of the rehabilitation function of the upper limbs and the manufacturing cost, and the present invention also improves the above problems, so that the general consumers can also use the home to rehabilitate themselves. . Second, the technical means of the new type · Based on the above problems, the purpose of the present invention is to provide an economical and effective, and easy for the user to practice the upper limb flexion and extension exercises, and can adjust the position of the upper limb passive joint complex Health machine. In order to solve the above problems and achieve the object of the present invention, the technical means of the present invention is achieved by the above-mentioned upper limb passive joint rehabilitation machine, which comprises a support frame (1), which is composed of a base (12) and a trunk ((3) erected on the base (10), the trunk (13) is combined with a slide (131) capable of vertically lifting and having positioning rods (14a, 14b) at the upper and lower ends and a rotating shaft (15) at the middle end) Further, a shaft (15) is used as a shaft to connect a first bracket (16) having a freely rotatable grip group (17) and telescopically movable, and a translational positioning and level is provided on the base (12). Rotating M333178 second bracket (li); and a driving device (2〇), including a motor (21) provided on the sliding seat (131); - engaging with the motor οι) and having a winch (221) for deceleration (22); a pulley block (23) composed of a plurality of pulleys respectively disposed on the positioning rods (14a, 14b), the sliding seat (131), and the first bracket (16); and a winding group (23) And the disc (221) and the two ends are fixed to the first bracket (16) to enable the rope (24) to rotate the first bracket (16) when the motor (21) is actuated. According to the above-described upper limb passive joint rehabilitation machine, the first bracket (16) has a slide rail (161) that engages with the rotating shaft (15), and a slide that protrudes from the slide rail (161) outside the slide rail. a rod (162), a front end of the slide rail (161) is provided with a positioning piece (163) for fixing the rope (24), and a pulley (23c, 23d) is provided at the rear end to make the rope (24) The path is a positioning piece 63), a pulley (23a) provided on the sliding block 31), a pulley (23b) provided on the positioning rod (14a), a winch (221), and a pulley provided on the positioning rod (14a). (23b,), pulley (23c, 23d), positioning piece (163). According to the above-described upper limb passive joint rehabilitation machine, wherein the grip group (17) has a first grip (171) capable of binding a finger, a second grip (173) capable of binding a palm/wrist, and a The connecting piece (175) connecting the ends of the two grips (171, 173) is fixed, the first grip (171) is provided with a finger sleeve (172), and the aforementioned one grip (173) is provided. Township (174). According to the above-described upper limb passive joint rehabilitation machine, wherein the second bracket (11) includes a base (111), a curved portion that is freely horizontally rotatable and has a tray (113) connected to the upper end of the base (111) ( 112), and a strap (124) disposed above the tray (Π3) and capable of generating a binding function; the base (111) can be embedded with a positioning strip (18) disposed on a side of the base (12) It is slidably positioned on the positioning bar (18). According to the above-described upper limb passive joint rehabilitation machine, the base (12) is provided with 8 M333178 having a telescopic device (19) capable of adjusting the height position of the sliding seat (131), and the bottom end of the telescopic device (10) is provided with an auxiliary telescopic positioning. Actuator (191). According to the above-described upper limb passive joint rehabilitation machine, a plurality of rollers (3 turns) having a slip preventing function are disposed under the base (12). According to the above-described upper limb passive joint rehabilitation machine, wherein the first bracket (Μ) has an active angle (Θ1) for the secret, and the grip group (10) has the aforementioned movable angle (Θ1) To adjust the correction angle of the upper limb movement: 2). Second, according to the efficacy of the prior art: The new upper limb passive joint rehabilitation machine (丨) for the problem of the previous patent improvement, different from the previous patent form and has the following advantages · · First, the new upper limb passive The joint rehabilitation machine (1) can perform passive rehabilitation training on the wrists, elbows and shoulders of the upper limbs by means of a driving device (20), without the need to use at least three driving devices as in the prior patent, in addition to In terms of use, the new upper limb passive joint rehabilitation machine 不限) is not limited to a single environment (such as a squat ward, a treatment room, etc.) or a single posture (such as standing, sitting, lying, etc.), even if At home, the user can also operate the implement by the controller (50) - self-rejuvenation, and easy to move, to increase usage and avoid being limited by the environment. Secondly, the novel upper limb passive joint rehabilitation machine (1) simplifies the new upper limb passive joint rehabilitation machine by modularizing the straight column (id) which constitutes the support frame α〇) (1) The structure is economical and conducive to resource recovery, even if the components of the support frame (10) are damaged, it is easy to repair and replace. Second, the new model is equipped with ropes by means of several pulleys (2〇a~2〇e) (24) Forming a 9 M333178 pulley block (23), which enables the first bracket (16) to be rotated to change the direction of the force when the upper limbs are converted into different angles, and the rehabilitation action is made continuous. Fourth, the present invention utilizes a first bracket (16) having a telescopic function to be used in accordance with the length of different upper limbs, and when the first bracket (16) is rotated up and down, it can be extended and contracted at any time in accordance with the action of the user. Conducive to the flexion and extension of the upper limbs, and then the 'freely rotating grip group (17), which increases the rehabilitation items that can be provided by this new type: In addition to the previous patent, the shoulders and hands of the upper limbs Joints for flexion and extension In addition to exercise, it is also possible to perform rehabilitation exercises on the wrist joint. [Embodiment] The present invention relates to a novel upper limb passive joint rehabilitation machine (1) having two embodiments, and the following is a detailed description of the following embodiments: 1 is a perspective view showing a first embodiment of a novel upper limb passive joint rehabilitation machine, FIG. 2 is a side view of FIG. 1, and FIG. 3 to FIG. 5 are a new type of upper limb passive joint complex. The action diagram of the health machine. The above figure reveals that the new 'type upper limb passive joint rehabilitation machine (1) is a frame (1〇) and a driving device arranged on the support frame (1〇) (20) The above-mentioned support frame (10) is composed of a base (12) and a trunk (13) erected on the base (12). The trunk (13) is combined with a vertical lifting and upper and lower ends. The positioning rod (14a, 14b) is provided with a sliding seat (131) of the rotating shaft (15) at the middle end, and the front end of the rotating shaft (15) is connected with a grip group (17) capable of freely rotating. a telescopic first bracket (16), and a base can be positioned to shift and horizontally rotate The second bracket (11). M333178 The above driving device (20) comprises a motor (21) provided on the sliding seat (131); - a speed reducer (22) coupled to the motor (21) and provided with a winch (221) a pulley block (23) consisting of a plurality of pulleys respectively disposed on the positioning rods (14a, 14b), the sliding seat (131), and the first bracket (16); and a winding pulley (23) and a winch ( 221) and the second end is fixed to the first bracket (16) to enable the first bracket (16) to rotate the rope (24) when the motor (21) is actuated. The first bracket (16) has the same The sliding rail (161) of the shaft (15) and the sliding rod (162) extending from the sliding handle (161) outside the sliding rail, thereby generating a telescopic movement function, can prevent the upper limb from following the first bracket (16) During the rotation process, the accidental injury of the upper limb is caused by the length of the first bracket (16) being longer than the upper limb, and the positioning piece for fixing the above-mentioned rope (24) is provided at the front end of the sliding handle (161) ( 163), the rear end is provided with pulleys (23c, 23d). The grip set (17) has a first grip (丨71) capable of binding a finger, a second grip (173) capable of binding a palm/wrist, and a connection of the two grips (171, 173) The connecting piece (175) of the end is consolidated, the first grip (171) is provided with a finger sleeve (172), and the second grip (173) is provided with a strap (174), thereby holding the double grip The design is to support the palm and the wrist, and then pivot through a connecting piece (175) and at the end of the bracket (16), so that the first bracket (16) can be rotated at any time when Stabilize your palms and wrists to avoid improper bending or accidental injury. In the above, as shown in FIG. 2, the end of the speed reducer (22) is provided with a winch (221) for the rope (24), and the aforementioned end of the rope (24) is fixed to the first bracket (16). The positioning piece (163), the other end is sequentially passed upwardly through the pulley (23a) provided on the side of the sliding seat (131) + the pulley (23b) disposed under the rear end of the positioning rod (i4a) + the winch 11 M333178 (221) + a pulley (23b,) disposed under the rear end of the positioning rod (14a), and then turned downwardly around the pulley (23c) provided on the rear end side of the first bracket (16) + the brushed connecting pulley (23c) The lower pulley () "> bypasses the pulley (23e) at the rear end of the distorted turn (14b) + and is redirected upward to be fixed to the aforementioned fixing piece (163), whereby the winch (221) When rotating, the first bracket (16) can be pulled up or lowered through the rope (24), and the sensitivity of the first bracket (16) can be controlled by adjusting the tightness of the winding of the rope (24). In the embodiment of Fig. 2, the pulleys (2, 23d) are respectively brought into contact with the rope (24) to facilitate the rope when the first bracket (16) is turned down/flat and up. 24) Pass and reduce friction, or used to tighten the rope Cable (24) to avoid slack. Next, as shown in FIG. 3, when the first bracket (π) rotates, the rotating shaft (15) is used as a fulcrum, and the positioning piece (163) acts as a rope (24) to pull the point of application of the rotation of the first bracket (16). The grip group (17) of the first bracket (16) is a force point for bearing the weight of the upper limb, thereby leveraging the upper limb to move the upper limb joint and muscle, and when the winch (221) is clockwise When the direction is rotated, the first bracket (16) is rotated upward; otherwise, the first bracket (16) is rotated downward, and then the aforementioned force is applied to the force position to change the force. The direction, which enables the new type of rehabilitation of the upper limbs at different angles. As shown in FIG. 4 and FIG. 5, the base (12) of the support frame (10) is provided with a telescopic device (19) capable of adjusting the height position of the first bracket (16), and the bottom of the telescopic device 09) The end is provided with an actuator (191) for assisting telescopic positioning. Further, the second bracket (11) includes a base (m), a curved section (112) which is freely horizontally rotatable and has a tray (113), and a tray (113), and a tray (113) a strap (114) above and capable of creating a tight-binding function; the base (111) can be combined with a positioning strip (μ) disposed on the side of the base (12) of the 12 M333178 at the positioning strip (μ) The upper slide can be lowered by the telescopic device (ig) to facilitate placing the upper arm of the upper limb on the tray (113). ) to fix the shoulder joint movement to flex and stretch the elbow/wrist. In the above, the new base (111) and the sliding seat 31) respectively have the functions of horizontal sliding and vertical lifting, so that the new upper limb passive joint rehabilitation machine is not easy to reach the position (such as a wheelchair, a hospital bed, etc.) And the influence of orientation (such as the left hand side and the right hand side) limits its usability. SECOND EMBODIMENT A perspective view of a second embodiment of the present novel upper limb passive articulator is shown in Fig. 6. The second embodiment of the present invention is disclosed in the foregoing drawings, and the difference is that a plurality of rollers (30) having a slip preventing function are disposed under the base (12) of the support frame (10), which can facilitate the passive joint of the upper limb of the present invention. The rehabilitation machine moves without being restricted by the environment, and the base (12) and the trunk (13) are each covered with a cover (4〇a, 40b), and the two cover covers (4〇a, 40b) respectively. The member is inserted through the long hole (41a, 41b) for adjusting the position, and the driving device (2〇) of the present invention is electrically connected to a controller (5〇) for controlling the opening and closing of the motor (21), the controller (5〇) can be electrically connected to the actuator (191) of the telescopic device (19), thereby facilitating the user to perform the rehabilitation exercise at home. The cover (4〇a) of the above-mentioned 'sliding base (12) exposes the base (111) for ease of use, and the cover (40b) long hole (41b) covering the trunk (13) can It is convenient for the exposed winch (221) and the rotating shaft (15) to be lifted and lowered. In the above two embodiments, the novel upper limb passive joint rehabilitation machine 13 M333178 can perform passive rehabilitation training on the wrists, elbows and shoulders of the upper limb by the driving device (20), and the following are the upper limbs. When the part is used for rehabilitation training, the new component corresponds to the narrative and use situation: The wrist rehabilitation is shown in Figure 7. Before the rehabilitation training, the palm is placed on the second grip (173), and then the strap ( 174) Firmly restrain the palm of the hand, then the grip group (17) will be slightly rotated by a correction angle (02) to make the palm and the wrist in the same horizontal axis 'again, placing the lower limb lower arm on the tray 〇 13) Up, and tied with a strap (114), so that the elbow is stabilized to avoid the rotation of the first bracket 〇6), and the effect of wrist training is reduced. #第〜支架(10) As shown in Fig. 8, when turning up to a movable angle (θ丨) position, the grip group (17) will rotate along with the correction (10), and by the first bracket (10) The telescopic function adjusts the bending amplitude of the wrist to prevent the first bracket (10) from rotating and hurting the wrist; otherwise, when the first bracket (10) is rotated downward to a movable angle (4) position as shown in FIG. 9, the grip group (17) A correction angle (θ2) is also generated to match the telescopic function of the first bracket (16) for the wrist rehabilitation training. The above-mentioned wrist flexion angle (Θ1) is between 75 degrees horizontally and 5 degrees horizontally downward, and can achieve a healing effect. • Elbow rehabilitation As shown in Fig. 10, before the rehabilitation training, the first grip (m) is held with the palm facing up, and the first grip (10) has a finger sleeve (172) for the finger to be worn. In order to fix the palm of the hand, the wrist will be restrained and fixed in the second grip (173) ^ 'At this time, holding her (17) will produce a suitable corrective limb (Θ2), so that the wrist and elbow are at the same level. In the axial direction, and the tray (1) 3) will support the upper limbs to be tied, so that the wrists and ankles are fixed so that the hands can be used for financial activities. And as shown in FIG. 11, 'the first bracket (16) is rotated upward to a movable angle M333178 (θ 1)' and the upper limb lower arm is perpendicular or approximately vertical upper limb upper arm, finger sleeve (in) and tie π ( 174) Separate the palms and wrists to avoid shaking the lower arms. The aforementioned movement angle of the hand buckling (8)) can achieve a healing effect between the horizontally upward 135 degrees. The shoulder rehabilitation is as shown in Fig. 12, and the upper limb is fixed to the first bracket (16) and the grip group (10). In addition to holding the first grip (ΐ7ΐ) with the palm facing down, and the unused tray (1) 3) and its straps (1 (4) continued with _, the age of the hand is fixed = package and as shown in Figure 13, Figure 14 When the first bracket ((6) is rotated to ρ, angle (Θ1), the finger sleeve (172) and the strap (10) can stabilize the telescopic function of the palm and the first bracket 〇6) to facilitate the entire arm. Stretching upwards 2 BP and muscle. The aforementioned angle of movement of the shoulder flexion (4)) is leveling to 50 degrees H down to the healing effect. Further, in the range that does not go beyond the gist of the present invention, various modifications are included in the present invention. All of them are M333178. [Simplified illustration] Fig. 1: The first embodiment of the novel upper limb passive joint rehabilitation machine Stereogram. Figure 2 is a front view of Figure 1. Fig. 3 to Fig. 5 are motion diagrams of the novel upper limb passive joint rehabilitation machine. Fig. 6 is a perspective view showing a second embodiment of the novel upper limb passive joint rehabilitation machine. ~ Figure 7 to Figure 9: Motion diagram of the training wrist of the new upper limb passive joint rehabilitation machine. Fig. 10 and Fig. 11 are the motion diagrams of the training elbow of the above-mentioned upper limb passive joint rehabilitation machine. Fig. 12 to Fig. 14 · The action diagram of the training shoulder of the new upper limb passive joint rehabilitation machine. [Main component symbol description] 1 Upper limb passive joint rehabilitation machine 10 Support frame 11 Second bracket 111 Base 112 Curved section 113 Pallet 114 Strap 12 Base 13 Main stem 131 Slider 14a, 14b Positioning rod 16 M333178
15 轉軸 16 第一托架 161 滑軌 162 滑桿 163 定位片 17 握把組 171 第一握把 172 指套 173 第二握把 174 綁帶 175 連接片 18 定位條 19 伸縮裝置 191 致動器 20 驅動裝置 21 馬達 22 減速器 221 絞盤 23 滑輪組 23a〜23e滑輪 24 繩索 30 滾輪 40a、40b 殼罩 41a、41b 長孔 50 控制器 Θ1 活動角度 M333178 Θ2 修正角度 1815 Shaft 16 First bracket 161 Slide rail 162 Slider 163 Positioning tab 17 Grip set 171 First grip 172 Finger sleeve 173 Second grip 174 Tie 175 Attachment piece 18 Positioning bar 19 Telescopic device 191 Actuator 20 Drive unit 21 Motor 22 Reducer 221 Winch 23 Pulley block 23a~23e Pulley 24 Rope 30 Roller 40a, 40b Cover 41a, 41b Long hole 50 Controller Θ1 Movable angle M333178 Θ2 Correction angle 18