CN112370272A - A flexible skeleton and robot for joint rehabilitation training - Google Patents
A flexible skeleton and robot for joint rehabilitation training Download PDFInfo
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- CN112370272A CN112370272A CN202011075240.XA CN202011075240A CN112370272A CN 112370272 A CN112370272 A CN 112370272A CN 202011075240 A CN202011075240 A CN 202011075240A CN 112370272 A CN112370272 A CN 112370272A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/05—Parts, details or accessories of beds
- A61G7/053—Aids for getting into, or out of, bed, e.g. steps, chairs, cane-like supports
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
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- Health & Medical Sciences (AREA)
- Nursing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a deformable skeleton and a robot for joint rehabilitation training, wherein the deformable skeleton consists of a plurality of supporting units; in the initial state, all the supporting units are arranged in a straight line, the adjacent supporting units are hinged with each other, and each supporting unit can only rotate upwards relative to the adjacent supporting unit; each supporting unit is provided with a convex end and a concave end, the convex end of one supporting unit in two adjacent supporting units is hinged with the concave end of the other supporting unit, and the lower side of the concave end is provided with a blocking part which can prevent one supporting unit in two adjacent supporting units from rotating downwards relative to the other supporting unit. In the deformable framework and the robot for joint rehabilitation training, the deformable framework can flexibly turn and turn at a required position and control the turning angle, the operation is convenient and flexible, and the deformable framework and the robot can be used for joint rehabilitation training of paraplegic users.
Description
The patent is a divisional application of an invention patent with the application number of 201910443334.9, application date of 2019, 5 and 27, and the name of 'a medical flexible robot'.
Technical Field
The invention relates to the field of medical instruments, in particular to a deformable skeleton for joint rehabilitation training and a robot.
Background
In the medical field, the paraplegic patient needs to be helped to carry out rehabilitation training or the paraplegic patient needs to be helped to get up and the like by means of auxiliary equipment, and because parameters such as the height, the length of hands and the length of feet of the patient have great difference, the existing medical robot needs to be adjusted adaptively for different patients, and most medical robots are inconvenient to adjust or have limitation on the adjusting range due to the limitation of the structure of the medical robot, so that the use is influenced.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the deformable skeleton for joint rehabilitation training and the robot, wherein the bending position of the deformable skeleton can be flexibly adjusted according to the requirement.
The technical scheme is as follows: to achieve the above object, the deformable skeleton for joint rehabilitation training of the present invention is composed of a plurality of supporting units; in the initial state, all the supporting units are arranged in a straight line, the adjacent supporting units are hinged with each other, and each supporting unit can only rotate upwards relative to the adjacent supporting unit; each supporting unit is provided with a convex end and a concave end, the convex end of one supporting unit in two adjacent supporting units is hinged with the concave end of the other supporting unit, and the lower side of the concave end is provided with a blocking part which can prevent one supporting unit in two adjacent supporting units from rotating downwards relative to the other supporting unit.
Further, each of the support units has meshing teeth thereon such that the deformable skeleton has a continuous array of meshing teeth thereon.
A robot comprises the deformable skeleton for joint rehabilitation training, and further comprises a driving assembly, wherein the driving assembly can move back and forth along the deformable skeleton and can drive relative rotation between two adjacent supporting units in the deformable skeleton, so that one supporting unit in the two adjacent supporting units rotates relative to the other supporting unit.
Has the advantages that: in the deformable framework and the robot for joint rehabilitation training, the deformable framework can flexibly turn and turn at a required position and control the turning angle, the operation is convenient and flexible, and the deformable framework and the robot can be used for joint rehabilitation training of paraplegic users.
Drawings
FIG. 1 is an overall structure diagram of a medical flexible robot;
FIG. 2 is a partially enlarged view of the medical flexible robot;
FIG. 3 is a second perspective partially enlarged view of the medical flexible robot;
FIG. 4 is an enlarged partial front view of the medical flexible robot;
fig. 5 is a side view of a medical flexible robot;
FIG. 6 is a block diagram of the support unit;
the names of the parts indicated by the reference numerals in the drawings are as follows:
1-deformable framework, 11-supporting unit, 111-meshing tooth, 112-convex end, 113-concave end, 114-blocking part, 12-roller, 13-ball, 2-driving component, 21-linear transmission component, 211-meshing wheel, 212-first motor, 22-turnover executing component, 221-component seat, 221-1-guide chute, 221-2-side plate, 221-3-guide arc plate, 222-turnover rod, 223-second motor, 3-guide rail and 4-guide unit.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The medical flexible robot shown in fig. 1-5 comprises a deformable skeleton 1 and a driving assembly 2.
The deformable skeleton 1 is composed of a plurality of supporting units 11, in an initial state, all the supporting units 11 are arranged in a straight line, the adjacent supporting units 11 are hinged with each other, and each supporting unit 11 can only rotate upwards relative to the adjacent supporting unit 11 (namely, when the deformable skeleton 1 is horizontally placed, one supporting unit 11 in two adjacent supporting units 11 can only tilt upwards relative to the other supporting unit 11); specifically, each support unit 11 has a convex end 112 and a concave end 113, the convex end 112 of one support unit 11 of two adjacent support units 11 is hinged to the concave end 113 of the other support unit 11, and a stopper 114 is disposed at the lower side of the concave end 113, and the stopper 114 can prevent the one support unit 11 of two adjacent support units 11 from rotating downwards relative to the other support unit 11.
The driving assembly 2 can move back and forth along the deformable skeleton 1 and can drive the relative rotation between two adjacent supporting units 11 in the deformable skeleton 1, so that one supporting unit 11 in the two adjacent supporting units 11 rotates relative to the other supporting unit 11.
The driving component 2 comprises a linear transmission component 21 and a turnover executing component 22, wherein the linear transmission component 21 is used for enabling the driving component 2 to integrally move along the length direction of the deformable framework 1; the folding actuator 22 is used for driving the relative rotation between two adjacent supporting units 11 in the deformable skeleton 1.
Specifically, the folding actuator 22 includes a seat 221, a folding rod 222, and a second motor 223. The linear transmission assembly 21 is mounted on the assembly seat 221; the number of the folding rods 222 is two, and the two folding rods 222 are respectively hinged at two ends of the component seat 221; the second motors 223 are corresponding to the folding rods 222, and there are two folding rods 222 for driving the folding rods 222 to rotate relative to the assembly base 221.
Each of the supporting units 11 has engaging teeth 111 thereon, so that the deformable skeleton 1 has a continuous array of engaging teeth thereon; correspondingly, the linear transmission assembly 21 includes an engaging wheel 211 and a first motor 212, the engaging wheel 211 can be in meshing transmission with the engaging tooth array; the first motor 212 is used for driving the meshing wheel 211 to rotate. The transmission mode ensures that the transmission is reliable and stable, so that the driving assembly 2 has higher walking precision.
In order to limit the relative position of the component seat 221 and the supporting unit 11, so that the component seat and the supporting unit 11 do not have large play gaps up, down, left and right, a roller 12 is arranged on each supporting unit 11, and the rotating shaft of each roller 12 is parallel to the relative rotating shaft between adjacent supporting units 11; the assembly seat 221 is provided with a guide groove 221-1, and the roller 12 can enter and exit the guide groove 221-1 and can move in the guide groove 221-1. In this way, the vertical relative position of the component holder 221 and the support unit 11 can be restricted.
The left side and the right side of each supporting unit 11 are provided with balls 13, the assembly seat 221 is provided with two side plates 221-2, and when the assembly seat 221 moves to a certain supporting unit 11, the balls 13 on the two sides of the supporting unit 11 abut against the inner sides of the two side plates 221-2. In this way, the left-right relative position of the component holder 221 and the support unit 11 can be restricted.
Guide arc plates 221-3 are arranged on two sides of the guide chute 221-1. The guide arc plates 221-3 can straighten the support unit 11 along the way along with the walking of the driving assembly 2, prevent the support unit 11 from being uneven, ensure that the meshing wheel 211 is smoothly meshed with the meshing tooth array and ensure the walking smoothness of the driving assembly 2.
In order to ensure that the driving assembly 2 does not tilt, the driving assembly further comprises a guide rail 3, and a guide unit 4 matched with the guide rail 3 is arranged on the driving assembly 2. A guide groove is formed in the guide rail 3, and the guide unit 4 is a guide wheel capable of rolling in the guide groove. Therefore, the driving component 2 does not rotate or move up and down, and the whole medical flexible robot can operate reliably. In this embodiment, the guide unit 4 is mounted on the assembly base 221.
When the foldable frame is used, the first motor 212 is controlled to rotate to enable the driving assembly 2 to integrally move to a proper position relative to the deformable frame 1, and then the second motor 223 is controlled to rotate to enable the corresponding folding rod 222 to rotate, so that a part of the supporting units 11 can rotate upwards by a required angle to perform required operation.
The medical flexible robot provided by the invention can flexibly turn and turn the deformable framework at a required position and can control the turning angle by controlling the driving assembly to walk along the deformable framework and driving the supporting unit to rotate, is convenient and flexible to operate, and can be used for performing joint rehabilitation training on paraplegics or used for a medical bed to assist patients in sitting up and turning over.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (3)
1. A deformable skeleton for joint rehabilitation training, characterized in that it is composed of a plurality of supporting units; in the initial state, all the supporting units are arranged in a straight line, the adjacent supporting units are hinged with each other, and each supporting unit can only rotate upwards relative to the adjacent supporting unit; each supporting unit is provided with a convex end and a concave end, the convex end of one supporting unit in two adjacent supporting units is hinged with the concave end of the other supporting unit, and the lower side of the concave end is provided with a blocking part which can prevent one supporting unit in two adjacent supporting units from rotating downwards relative to the other supporting unit.
2. The deformable skeleton for joint rehabilitation training according to claim 1, characterized in that each of the supporting units has meshing teeth thereon, such that the deformable skeleton has a continuous array of meshing teeth thereon.
3. A robot comprising a deformable skeleton for joint rehabilitation training as claimed in claim 1, further comprising a drive assembly capable of moving back and forth along the deformable skeleton and driving relative rotation between two adjacent support units in the deformable skeleton such that one support unit rotates relative to the other support unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011075240.XA CN112370272A (en) | 2019-05-27 | 2019-05-27 | A flexible skeleton and robot for joint rehabilitation training |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011075240.XA CN112370272A (en) | 2019-05-27 | 2019-05-27 | A flexible skeleton and robot for joint rehabilitation training |
| CN201910443334.9A CN110200768B (en) | 2019-05-27 | 2019-05-27 | Medical flexible robot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910443334.9A Division CN110200768B (en) | 2019-05-27 | 2019-05-27 | Medical flexible robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112370272A true CN112370272A (en) | 2021-02-19 |
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|---|---|---|---|
| CN202011075240.XA Withdrawn CN112370272A (en) | 2019-05-27 | 2019-05-27 | A flexible skeleton and robot for joint rehabilitation training |
| CN201910443334.9A Active CN110200768B (en) | 2019-05-27 | 2019-05-27 | Medical flexible robot |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910443334.9A Active CN110200768B (en) | 2019-05-27 | 2019-05-27 | Medical flexible robot |
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| CN (2) | CN112370272A (en) |
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| Publication number | Publication date |
|---|---|
| CN110200768A (en) | 2019-09-06 |
| CN110200768B (en) | 2021-03-02 |
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