CN106344350B

CN106344350B - Rehabilitation training robot

Info

Publication number: CN106344350B
Application number: CN201610988075.4A
Authority: CN
Inventors: 郑振粮; 王洪林; 郭振标; 王胜平
Original assignee: Guangdong Midea Yaskawa Service Robot Co Ltd
Current assignee: Guangdong Midea Yaskawa Service Robot Co Ltd
Priority date: 2016-11-09
Filing date: 2016-11-09
Publication date: 2020-07-31
Anticipated expiration: 2036-11-09
Also published as: CN106344350A

Abstract

The invention discloses a rehabilitation training robot, comprising: a support; an upper limb rehabilitation device mounted on the support, the upper limb rehabilitation device comprising: a main body portion rotatable about a vertical axis and liftable; the upper limb movement module is rotatably connected with the main body part and is used for assisting training; a positioning assembly for positioning the upper limb rehabilitation device. According to the rehabilitation training robot, the relative height of the upper limb rehabilitation device can be adjusted, so that the rehabilitation training robot is suitable for patients with larger height range.

Description

Rehabilitation training robot

Technical Field

The invention relates to the technical field of medical rehabilitation equipment, in particular to a rehabilitation training robot.

Background

For paralytic patients, because the paralytic patients cannot train themselves, in order to avoid muscular atrophy, the patients need to be assisted to move, the muscular atrophy of the patients can be prevented, and the rehabilitation of the patients can be assisted, therefore, the rehabilitation robot is provided in the related technology, the assisted training can be provided for the patients, generally, in the training process, the patients need to place arms and the like on the upper part of the rehabilitation robot, the legs and the like are arranged on the lower part of the rehabilitation robot, and the rehabilitation robot needs to be adjusted for the patients with different heights or body shapes.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a rehabilitation training robot which can realize upper limb rehabilitation training.

The rehabilitation training robot according to the present invention comprises: a support; an upper limb rehabilitation device mounted on the support, the upper limb rehabilitation device comprising: a main body portion rotatable about a vertical axis and liftable; the upper limb movement module is rotatably connected with the main body part and is used for assisting training; a positioning assembly for positioning the upper limb rehabilitation device.

According to the rehabilitation training robot, the relative height of the upper limb rehabilitation device can be adjusted, so that the rehabilitation training robot is suitable for patients with larger height range.

In some embodiments, the main body portion includes a connecting portion connected to the stand, and a rotating portion rotatably connected to the connecting portion about a fixed axis, and the upper limb movement module is rotatably mounted on the rotating portion, wherein the fixed axis is perpendicular to a rotation central axis of the upper limb movement module or forms a predetermined included angle greater than 0 ° and less than 90 °.

In some embodiments, the rotating portion includes a rotating portion main body on which the upper limb movement module is mounted and a rotation support shaft extending along the fixed axis, the rotation support shaft being connected to the rotating portion main body and the connecting portion, respectively, and being rotatably connected with respect to at least one of the rotating portion main body and the connecting portion for rotatably connecting the rotating portion and the connecting portion.

In some embodiments, the rotating support shaft is connected to the rotating portion and fixed in relative position, the rotating support shaft is rotatably connected to the connecting portion, and the connecting portion is provided with a positioning member that is switchable between a locking state for locking the rotating portion and a releasing state for releasing the rotating portion.

In some embodiments, the positioning member is movably disposed along a direction perpendicular to the fixing axis, and the positioning member is inserted into at least one positioning hole at the locking position.

Further, a rotary support bearing is connected between the rotary support shaft and the connecting part, and the rotary support bearing comprises one or at least two arranged at intervals along the axial direction of the rotary support shaft.

In some embodiments, the fixed axis extends in a horizontal direction, the rotating portion is rotatably connected to the connecting portion around the fixed axis between a first position and a second position, the rotating central axis of the upper limb movement module extends horizontally and is perpendicular to the fixed axis when the rotating portion is located at the first position, and the rotating central axis of the upper limb movement module extends vertically and is perpendicular to the fixed axis when the rotating portion is located at the second position.

In some embodiments, the connection portion includes: a first sleeve having an axis extending horizontally; the axis of the second sleeve extends along the vertical direction, and the second sleeve is perpendicular to the first sleeve or forms a preset angle which is more than 0 degree and less than 90 degrees; the rubber coating piece coats at least one part of the outer surface of the first sleeve and at least one part of the outer surface of the second sleeve, the first sleeve and the second sleeve are connected together through the rubber coating piece, the rotating portion is rotatably connected with the first sleeve, and the second sleeve is connected with the support.

In some embodiments, a flange is provided at a lower end of the second sleeve, the rubber coating member covers an outer surface of any one of the first sleeve, the second sleeve and the flange, and the bracket is connected to the flange.

In some embodiments, any of the first sleeve, the second sleeve, and the flange are further coupled to the overmold member with screws.

In some embodiments, the first sleeve and the second sleeve communicate for routing.

In some embodiments, the upper end of the bracket has a pillar penetrating into the lower end inside the second sleeve, and a lower bushing is provided between the pillar and the second sleeve.

In some embodiments, the rehabilitation training robot further comprises: and one part of the display assembly is inserted into the upper end in the second sleeve, and an upper shaft sleeve is arranged between the part of the display assembly inserted into the second sleeve and the second sleeve.

In some embodiments, the upper limb movement module comprises: a first arm rotatably connected to the body portion; a second arm rotatably connected to the body portion, the second arm being disposed on opposite sides of the body portion; the upper limb driving piece is arranged on the main body part and is respectively connected with the first arm and the second arm.

In some embodiments, the second arm is rotatable relative to the first arm to adjust an angle between the first arm and the second arm.

In some embodiments, the second arm is rotatable relative to the first arm between a third position and a fourth position, an angle between the first arm and the second arm being 0 ° when the second arm is in the third position relative to the first arm, and an angle between the first arm and the second arm being 180 ° when the second arm is in the fourth position relative to the first arm.

In some embodiments, the central axis of rotation of the first arm and the central axis of rotation of the second arm coincide.

In some embodiments, the stent comprises: an outer column extending in an up-down direction; the upper limb rehabilitation device comprises an inner stand column, wherein the inner stand column extends along the up-down direction, and the inner stand column slidably extends into the outer stand column along the up-down direction, the upper limb rehabilitation device is rotatably connected with the inner stand column around a vertical axis, and the upper limb rehabilitation device is fixed with the inner stand column along the up-down direction.

In some embodiments, one of the inner column and the outer column is provided with a sliding groove, and the other is provided with a limiting block, the sliding groove extends along the vertical direction, the limiting block extends into the sliding groove and is slidable between two ends of the limiting groove along the sliding groove, and the bracket further comprises: the outer cover, at least a part cover of dustcoat is in the outside of outer column, just the dustcoat covers the spout with the stopper.

In some embodiments, the positioning assembly comprises: and the locking screw is fixedly arranged on the outer upright relative to the position of the locking screw, and is suitable for being matched with the inner upright to lock the inner upright and the outer upright.

In some embodiments, the positioning assembly further comprises: the rotary positioning piece is arranged on the main body part and can move between the positions of the main body part in locking and releasing, the main body part is fixed relative to the support when the main body part is locked by the rotary positioning piece, and the main body part is rotatable relative to the support when the main body part is released by the rotary positioning piece.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

Fig. 1 is a schematic view of a state of a rehabilitation training robot according to an embodiment of the present invention, in which a rotating part is located at a first position;

FIG. 2 is a schematic view of another state of the rehabilitation training robot of FIG. 1, wherein the rotating portion is in a second position;

fig. 3 is an exploded view of the rotating portion shown in fig. 1;

fig. 4 is a schematic view of the rehabilitation training robot shown in fig. 1 with the second arm in a third position relative to the first arm.

Fig. 5 is a sectional view of a rehabilitation training robot according to another embodiment of the present invention.

Fig. 6 is an exploded view of the connection part of the rehabilitation training robot in fig. 4.

Fig. 7 is a schematic view of the glue wrapping member of the connecting part of the rehabilitation training robot in fig. 6.

Fig. 8 is a schematic view of a rehabilitation robot according to an embodiment of the present invention.

Fig. 9 is a cross-sectional view of section a-a in fig. 8.

Fig. 10 is a partially enlarged schematic view of the region indicated by circle B in fig. 9.

Reference numerals:

a rehabilitation training robot 1000 is provided,

an upper limb rehabilitation device 100 for rehabilitation of upper limbs,

the main body part 1 is provided with a main body part,

a connecting part 11, a first sleeve 111, a second sleeve 112, a rubber coating part 113, a flange plate 114, a lower shaft sleeve 115, an upper shaft sleeve 116,

the rotary unit 12, the rotary unit body 121, the rotary support shaft 122, the positioning hole 1221, the rotary support bearing 123, the first arm 2, the second arm 3,

the support 200, the outer column 25, the inner column 26, the outer cover 27, the limiting block 28, the outer cover plate 271, the inner cover plate 272, the seal 273, the abdicating space 201, the head 281 of the screw, the stud 282 of the screw, the locking hole 2701, the support 230,

a positioning assembly 300, a rotary positioning member 310, a lift positioning member 320,

the assembly 400 is displayed.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

A rehabilitation training robot 1000 according to an embodiment of the present invention is described below with reference to fig. 1 to 10.

As shown in fig. 1 and 2, a rehabilitation training robot 1000 according to an embodiment of the present invention includes: a support 200, an upper limb rehabilitation device 100 and a positioning assembly 300, wherein the positioning assembly 300 is used for positioning the upper limb rehabilitation device 100.

Specifically, the upper limb rehabilitation device 100 is mounted on the stand 200, and the upper limb rehabilitation device 100 includes: the upper limb movement module comprises a main body part 1 and an upper limb movement module, wherein the main body part 1 is rotatably connected with a support 200 around a vertical axis, and the main body part 1 can be lifted up and down; and the upper limb movement module is rotatably connected with the main body part 1 and is used for assisting training.

After the position of the main body portion 1 (for example, the height position of the main body portion 1 relative to the support 200 or the angle position of the main body portion 1 relative to the support 200) is adjusted in place, the positioning assembly 300 is used for fixing the main body portion 1 and the support 200, so as to ensure that the upper limb rehabilitation device 100 does not shake during the rehabilitation training process of the patient using the upper limb rehabilitation device 100.

The upper limb rehabilitation device 100 is suitable for rotating around the support 200, and the relative position of the upper limb rehabilitation device 100 along the circumferential direction of the support 200 can be adjusted through rotation, so that the upper limb rehabilitation training can be carried out when a patient stands at different positions of the support 200, and the position of the upper limb rehabilitation device can be correspondingly adjusted without using the upper limb rehabilitation device.

The upper limb rehabilitation device 100 can be lifted up and down, and the relative height of the upper limb rehabilitation device 100 can be adjusted, so that the patient can not only stand to perform upper limb rehabilitation training, but also sit to perform rehabilitation training, and the application range of the upper limb rehabilitation device 100 to people with different heights can be enlarged. Also, the upper limb rehabilitation device 100 can select an appropriate height for different patients.

According to the rehabilitation training robot 1000 of the embodiment of the invention, the vertical and horizontal rehabilitation training of the upper limb with one hand can be realized, and the relative height of the upper limb rehabilitation device 100 can be adjusted, so that the rehabilitation training robot is suitable for patients with larger height range.

In some embodiments of the present invention, as shown in fig. 1 and 4, the positioning assembly 300 may include: the rotary positioning piece 310 can be arranged on the main body part 1, the rotary positioning piece 310 can move between the positions for locking and releasing the main body part 1, when the rotary positioning piece 310 locks the main body part 1, the relative position of the main body part 1 and the support 200 is fixed, and at the moment, the upper limb training robot can be used for carrying out normal rehabilitation training; when the rotating positioning member 310 releases the main body 1, the main body 1 can rotate relative to the support 200, and at this time, the angles between the main body 1 and the support 200 can be adjusted, and the included angles between the rotating central axis of the first arm 2 and the rotating central axis of the second arm 3 and the support 200 can be adjusted, so that the training mode of the upper limb training device can be changed, and rehabilitation training in different modes can be performed.

In some embodiments of the present invention, as shown in fig. 1 and 2, the main body part 1 may include a connecting part 11 and a rotating part 12, and the connecting part 11 is connected to the stand 200.

Further, the rotating portion 12 is rotatably connected to the connecting portion 11 around a fixed axis, and the upper limb movement module is mounted on the rotating portion 12, wherein the fixed axis is substantially perpendicular to the rotation central axis of the upper limb movement module, in other words, the fixed axis is perpendicular to the rotation central axis of the upper limb movement module, or the fixed axis and the rotation central axis of the upper limb movement module form an included angle greater than 0 ° and less than 90 °, wherein the included angle of 0 ° and less than 90 ° may be 15 °, 20 °, 30 °, 45 °, 75 °, 80 °, and the like, and preferably, the included angle of the fixed axis and the rotation central axis of the upper limb movement module is greater than 60 °. Like this, through rotating portion 12, can be so that the rotation center axle of upper limbs motion module is in different positions, perhaps change the contained angle of the rotation center axle of upper limbs motion module for the horizontal plane to realize different training modes, for example set the rotation center axle of upper limbs motion module to be flat with the horizontal plane or perpendicular these two kinds of mode, can satisfy patient's different training requirements.

In one embodiment of the present invention, as shown in fig. 2 and 3, the rotating portion 12 may include a rotating portion body 121 and a rotating support shaft 122, the upper limb movement module may be mounted on the rotating portion body 121, the rotating support shaft 122 extends along a fixed axis (e.g., a front-rear direction shown in fig. 3), the rotating support shaft 122 is respectively connected to the rotating portion body 121 and the connecting portion 11, and the rotating support shaft 122 is rotatable with respect to at least one of the rotating portion body 121 and the connecting portion 11 for rotatably connecting the rotating portion 12 and the connecting portion 11. For example, the rotation support shaft 122 may be rotatably connected only to the rotating portion body 121 and fixedly connected to the connecting portion 11; the rotation support shaft 122 may be rotatably connected only to the connecting portion 11 and fixedly connected to the rotation portion main body 121; the rotation support shaft 122 may also be rotatably connected to both the rotation portion main body 121 and the connecting portion 11. Therefore, the rotatable connection structure between the rotating part 12 and the connecting part 11 can be flexibly arranged, and the flexibility and the applicability of the structure arrangement are improved.

Preferably, the rotation support shaft 122 may be connected to one end of the rotation part body 121 along a fixed axis (e.g., the front end of the rotation part body 121 shown in fig. 3)

Further, as shown in fig. 2 and 3, the rotation support shaft 122 may be connected to the rotating portion body 121, the rotation support shaft 122 is fixed relative to the rotating portion body 121, the rotation support shaft 122 is rotatably connected to the connecting portion 11, and the connecting portion 11 is provided with a positioning member that is switchable between a locked state for locking the rotating portion 12 and a released state for releasing the rotating portion 12. When the positioning element releases the rotating portion 12, the rotating portion 12 can rotate relative to the connecting portion 11, and after the positioning element rotates to the position, the positioning element can lock the rotating portion 12, so that the relative position of the rotating portion 12 and the connecting portion 11 is fixed, and at the moment, the patient can use the rehabilitation training robot 1000 to perform rehabilitation training.

Advantageously, as shown in fig. 3, a plurality of positioning holes 1221 are provided at intervals in a direction around the fixing axis (e.g., in a circumferential direction of the rotating support shaft 122) on the rotating support shaft 122, the positioning member is movable in a direction perpendicular to the fixing axis (e.g., in a radial direction of the rotating support shaft 122), and the positioning member is inserted into at least one positioning hole 1221 at the locking position to restrict the rotating support shaft 122 from rotating, which has the effect of fixing the locking rotating portion 12, whereby the locking structure between the rotating support shaft 122 and the connecting portion 11 can be simplified.

Specifically, when the relative position between the rotating portion 12 and the connecting portion 11 needs to be adjusted, the positioning element is withdrawn from the positioning hole 1221 along the radial direction of the rotating support shaft 122, at this time, the rotating support shaft 122 can drive the rotating portion 12 to rotate freely, and when the rotating portion is rotated to the position, the positioning element is inserted into the positioning hole 1221, so that the rotating portion 12 and the connecting portion 11 are relatively fixed, thereby achieving the effect of locking the rotating portion 12.

In some embodiments of the present invention, as shown in fig. 3, a rotation support bearing 123 may be connected between the rotation support shaft 122 and the connecting portion 11, whereby a rotatable connection between the rotation support shaft 122 and the connecting portion 11 may be achieved such that the rotation portion 12 may rotate about a fixed axis with respect to the connecting portion 11.

Here, the rotation support bearing 123 may include only one, and of course, the rotation support bearing 123 may further include at least two spaced apart in an axial direction (e.g., a front-rear direction shown in fig. 3) of the rotation support shaft 122.

Preferably, as shown in fig. 3, the rotation support shaft 122 is rotatably inserted into the connection portion 11, the rotation support bearing 123 may be disposed between the rotation support bearing 123 and the connection portion 11, an inner ring of the rotation support bearing 123 is connected to the rotation support shaft 122, and an outer ring of the rotation support bearing 123 is connected to the connection portion 11, so that the rotation support shaft 122 is rotatably connected to the connection portion 11. Therefore, the stability and reliability of the rotation support shaft 122 supported by the rotation support bearing 123 can be improved, and the stability of the rotation support shaft 122 in the rotation process can be ensured.

In some embodiments of the present invention, the fixed axis extends along a horizontal direction, the rotating portion 12 is rotatably connected to the connecting portion 11 around the fixed axis between a first position (for example, the position of the rotating portion 12 shown in fig. 1) and a second position (for example, the position of the rotating portion 12 shown in fig. 2), when the rotating portion 12 is located at the first position, the rotating central axis of the upper limb movement module extends along the horizontal direction (for example, the left-right direction shown in fig. 1), and at this time, the patient can perform rehabilitation training with both hands alternating or both hands synchronized by using the rehabilitation training robot 1000; when the rotating part 12 is located the second position, the rotation center axle of upper limbs motion module extends along vertical (for example the upper and lower direction that is shown in fig. 2), and at this moment, patient can carry out the rehabilitation training of the horizontal direction of one hand or both hands to increase the training mode of rehabilitation training robot 1000, the rehabilitation training is more comprehensive, and the training effect is better.

Alternatively, the rotation center axis of the upper limb movement module may be perpendicular to the fixed axis line regardless of the first position and the second position of the rotation portion 12.

In some embodiments of the invention, the upper limb movement module comprises a first arm 2, a second arm 3 and an upper limb driving member for driving the first arm 2 and the second arm 3 to rotate, the first arm 2 and the second arm 3 are both connected with the main body, and the first arm 2 and the second arm 3 are both rotatable relative to the main body 1. That is, the first arm 2 is rotatably connected to the body 1, and the second arm 3 is rotatably connected to the body 1. In addition, the first arm 2 and the second arm 3 are disposed at opposite sides of the main body 1, thereby facilitating the patient (or user) to operate the first arm 2 and the second arm 3 for training.

In addition, the upper limbs driving piece is established on main part 1, and first arm 2 and second arm 3 all link to each other with the upper limbs driving piece, and the upper limbs driving piece can drive first arm 2 and second arm 3 and rotate to assist the training.

Preferably, the second arm 3 is rotatable relative to the first arm 2 to adjust the angle between the first arm 2 and the second arm 3. Therefore, the first arm 2 and the second arm 3 can be used for carrying out double-hand alternate rehabilitation training at the same time, the first arm 2 can be used for carrying out single-hand training only, at the moment, the second arm 3 can be prevented from occupying the activity space of a patient by rotating the second arm 3 to the preset position, and the second arm 3 is prevented from influencing the performance of rehabilitation training.

Specifically, as shown in fig. 2 and 4, the second arm 3 is rotatable relative to the first arm 2 between a third position (e.g., the position of the second arm 3 relative to the first arm 2 shown in fig. 4) and a fourth position (e.g., the position of the second arm 3 relative to the first arm 2 shown in fig. 2), and when the second arm 3 is located at the third position relative to the first arm 2, the included angle between the first arm 2 and the second arm 3 is 0 °, at which time the patient can perform rehabilitation training with both hands synchronized; when the second arm 3 is located at the fourth position relative to the first arm 2, the included angle between the first arm 2 and the second arm 3 is 180 degrees, at this time, the patient can perform rehabilitation training with both hands alternating, and in addition, one of the second arm 3 and the first arm 2 can be far away from the patient to avoid influencing the range of motion of the patient.

In some embodiments of the present invention, referring to fig. 1 and 2, the rotation center axis of the first arm 2 may coincide with the rotation center axis of the second arm 3, that is, the rotation center axes of the first arm 2 and the second arm 3 may be coaxial. Therefore, the structure of the rehabilitation training robot 1000 can be simplified, and the structure is more compact and reasonable.

As shown in fig. 5 in combination with fig. 6 and 7, in one embodiment of the present invention, the connection portion 11 includes: a first sleeve 111, a second sleeve 112 and a overmold 113,

specifically, the axis of the first sleeve 111 extends horizontally, the axis of the second sleeve 112 extends in the up-down direction, and the second sleeve 112 is perpendicular to the first sleeve 111 or forms a predetermined angle greater than 0 ° and smaller than 90 °. The overmold 113 covers at least a portion of the outer surface of the first sleeve 111, and the overmold 113 covers at least a portion of the outer surface of the second sleeve 112, with the overmold 113 connecting the first sleeve 111 and the second sleeve 112 together.

The rotary part 12 is rotatably connected to the first sleeve 111, and the second sleeve 112 is connected to the bracket 200.

The first sleeve 111 and the second sleeve 112 are connected through the rubber-coated piece, so that the connection structure of the upper limb rehabilitation device 100 and the support 200 is simple, the cost is reduced, and the stability of the upper limb rehabilitation device 100 and the connection strength of the upper limb rehabilitation device 100 and the support 200 can be improved.

Preferably, as shown in fig. 5 and 6, the flange 114 is provided at the lower end of the second sleeve 111, the rubber covering member 113 covers the outer surface of any one of the first sleeve 111, the second sleeve 112 and the flange 113, and the holder 200 is coupled to the flange 113. Hundred million convenience supports 200 support the upper limb rehabilitation device 100.

In addition, the bracket 200 is preferably welded or rotatably connected to the flange.

Further, as shown in fig. 5, the first sleeve 111 and the second sleeve 112 are communicated, and the wiring can be realized through the inside of the first sleeve 111 and the second sleeve 112, so as to facilitate the wiring of the upper limb rehabilitation device 100 and the signal transmission with the central controller.

Preferably, as shown in fig. 5, the upper end of the bracket 200 is provided with a pillar 230, the upper end of the pillar 230 penetrates into the second sleeve 112, and a lower bushing 115 is provided between the pillar 230 and the second sleeve 112.

Advantageously, as shown in fig. 5, the rehabilitation training robot 1000 further comprises: a display assembly 400, a part of the display assembly 400 is inserted into the upper end of the second sleeve 112, and an upper bushing 116 is arranged between the part of the display assembly 400 inserted into the second sleeve 112 and the second sleeve 112.

As shown in fig. 8 to 10, the support 200 of the rehabilitation robot 1000 according to the embodiment of the present invention includes: outer column 25, inner column 26.

Specifically, the outer column 25 extends in the up-down direction, wherein the up-down direction extending member includes extending in a direction perpendicular to the horizontal plane and includes extending obliquely in the up-down direction. The inner upright post 26 extends along the up-down direction, the inner upright post 26 can slidably extend into the outer upright post 25 along the up-down direction, and the height of the inner upright post 26 and the height of the components arranged on the inner upright post 26 can be adjusted by the up-down sliding of the inner upright post 26 along the outer upright post 25, so that the lifting purpose is realized.

In addition, the upper limb rehabilitation device 100 is rotatably connected to the inner column 26 about a vertical axis, and the upper limb rehabilitation device 100 and the inner column 26 are fixed in relative positions in the up-down direction.

One of the inner column 26 and the outer column 25 is provided with a sliding groove (not shown) and the other is provided with a limiting block 28, the sliding groove extends along the up-down direction, specifically, but not limited to:

the inner upright post 26 is provided with a sliding groove, and the outer upright post 25 is provided with a limiting block 28 corresponding to the sliding groove;

the outer column 25 is provided with a sliding slot, and the inner column 26 is provided with a limit block 28 corresponding to the sliding slot.

Of course, a redundant design may also be adopted, for example, a sliding slot and a stop block 28 are provided on the inner column 26, and a stop block 28 corresponding to the sliding slot on the inner column 26 and a sliding slot corresponding to the stop block 28 on the inner column 26 are provided on the outer column 25.

For the sliding groove and the limiting block 28 corresponding to each other, the limiting block 28 extends into the sliding groove and can slide between two ends of the limiting groove along the sliding groove, in the sliding process of the inner upright post 26 relative to the outer upright post 25, the limiting block 28 and the sliding groove slide relatively, the limiting block 28 can be limited by two ends of the sliding groove, so that the limiting of two limit positions of the inner upright post 26 is realized, in addition, other limiting elements can be arranged to limit the limiting block 28, so that the limit positions of the limiting block 28 (or the inner upright post 26) are limited.

Of course, the inner column 26 and the outer column 25 may be fixed by other limiting structures, so as to limit the position of the inner column 26 at any or predetermined position between the limit positions.

Further, the bracket 200 of the present invention may further include a cover 27, at least a portion of the cover 27 covers the outer surface of the outer pillar 25, and the cover 27 covers the sliding slot and the limiting block 28, and the sliding slot and the limiting block 28 may be covered by the cover 27, so as to hide the sliding slot and the limiting block 28.

In the actual use process, the outer cover 27 limits the limiting block 28 and the sliding groove, so that the appearance of the bracket 200 can be prevented from being influenced by the leakage of the limiting block 28 and the sliding groove, and the appearance of the rehabilitation robot 1000 with the bracket 200 is attractive. Moreover, the outer cover 27 is arranged to effectively protect the sliding groove and the limiting block 28, so that the limiting block 28 slides stably along the sliding groove, the failure rate of the limiting block 28 in the sliding process is reduced, and the stability of the limiting block 28 in the sliding process is improved.

In addition, the sliding of the limiting block 28 along the sliding groove may cause foreign objects to enter the fit clearance between the limiting block 28 and the sliding groove, so that the foreign objects are clamped, and the safety and the use stability are affected. Through setting up dustcoat 27, can also reduce the risk that the foreign object gets into between the clearance between stopper 28 and the spout, especially can avoid hand, clothing etc. to enter into the clearance between stopper 28 and the spout to improve the security and the stability of support 200.

According to the support 200 of the rehabilitation robot 1000 provided by the embodiment of the invention, the blocking condition of the limiting block 28 in the sliding process can be reduced, so that the stability of the support 200 is improved, the situation that hands and the like enter the gap between the limiting block 28 and the sliding groove can be avoided, the safety of the support 200 is improved, and in addition, the support 200 can be conveniently cleaned.

In addition, the support 200 of the rehabilitation robot 1000 of the present invention may also have other book features, which will be further described in the present invention.

As seen in fig. 10 in conjunction with fig. 9, in some embodiments of the invention, the outer shroud 27 includes an outer shroud panel 271 and an inner shroud panel 272. The mating of the inner and outer cover plates 271 may facilitate positioning and installation of the outer cover 27. Specifically, the outer cover plate 271 is disposed outside the outer column 25 and covers the sliding slot and the limiting block 28, the inner cover plate 272 is connected to the outer cover plate 271, and the inner cover plate 272 is embedded inside the outer column 25. The cooperation of the inner and outer cover plates 271 makes the outer cover 27 cover the sliding slot and the stopper 28 stably.

Further, referring to fig. 10 and 9, the outer cover plate 271 is annular, the inner cover plate 272 is annular and is located inside the outer cover plate 271 and spaced apart from the outer cover plate 271, an upper peripheral edge of the inner cover plate 272 is connected with an upper peripheral edge of the outer cover plate 271 to form a slot with a downward opening, and an upper peripheral edge of the outer column 25 is inserted into the slot. The mounting of the housing 27 can be further facilitated.

Preferably, the upper periphery of the outer post 25 is in interference fit with the slot. Through the interference fit of buckle structure, can be so that dustcoat 27 and outer stand 25 stable connection and joint strength are high, but also can improve dustcoat 27 and outer stand 25's assembly efficiency.

Further, in order to further optimize the structure of the outer cover 27, the outer cover 27 further includes a seal 273, the seal 273 has a ring shape, and the inner circumferential edge of the seal 273 is connected to the upper circumferential edge of the inner cover plate 272, and the outer circumferential edge of the seal is connected to the upper circumferential edge of the outer cover plate 271. The stability of the fit between the outer cover plate 271, the inner cover plate 272 and the outer column 25 can be improved, the fit clearance between the outer cover 27 and the outer column 25 can be reduced, and the vibration of the outer cover 27 in the use process can be reduced.

In addition, the above description of the assembling and connecting manner of the outer cover 27 and the outer column 25 is only some specific examples of the present invention, and does not limit the protection scope of the present invention. For example, the cover 27 of the present invention may be assembled with the outer column 25 in other manners, such as by using a prior art buckle structure for the cover 27 to connect the outer column 25, by using a welding, screwing, etc. for the cover 27 to the outer column 25, other manners, methods, or structures may be used to attach the cover 27 to the outer column 25.

In some embodiments of the present invention, as shown in fig. 10 in combination with fig. 9, the stopper 28 may protrude from the outer periphery of the outer column 25 or the inner column 26, which may easily cause interference between the stopper 28 and the outer cover 27, and to avoid this, the present invention optimizes the structure of the outer cover 27, specifically, a portion of the outer cover 27 protrudes outward and forms an offset space 201 with the outer column 25. That is, the interference of the stopper 28 is avoided by the abdicating space 201, so as to improve the sliding stability of the stopper 28. And the bracket 200 of the present invention can be applied to various types of stoppers, thereby reducing the production difficulty and the process cost of the bracket 200, increasing the costs of production, assembly and redesign of the bracket 200, and improving the efficiency.

In a specific example of the present invention, the stopper 28 is mounted on the inner column 26 and protrudes from the outer circumferential surface of the inner column 26, and the sliding groove is formed on the outer column 25 and penetrates through the wall of the outer column 25.

Further, referring to fig. 10, the stop block 28 is a screw mounted on the inner column 26, a through hole (not shown) is formed on the inner column 26, a stud 282 of the screw is in threaded connection with the through hole, and a head 281 of the screw is located outside the inner column 26. The screw is used as a limiting piece, so that the cost of the support 200 can be effectively reduced, and the structure is simpler and is easier to operate.

Preferably, the screws may be made of standard parts, thereby further reducing costs.

Preferably, the inner column 26 can be locked at any position between the extreme positions by providing the lifting positioning member 320, for example, a locking screw is used in the present invention, and when the inner column 26 moves to a proper position, the inner column 26 is locked by the locking screw, so as to realize the stepless adjustment of the height of the inner column 26.

Specifically, the housing 27 is provided with a locking hole 2701 opposite to the sliding groove, the locking hole 2701 is suitable for installing a locking screw, the locking hole 2701 is suitable for being opposite to the through hole, and the screw is suitable for passing through the locking hole 2701.

It should be noted that one purpose of the present invention to arrange the locking hole 2701 to be opposite to the through hole and to arrange the locking hole 2701 to be suitable for the screw to pass through is to pass the screw into the locking hole 2701 to match the through hole during the screw installation process, so as to achieve the quick installation of the screw and improve the installation efficiency and stability of the screw, thereby improving the assembly efficiency of the bracket 200.

Wherein the screw is adapted to pass through the locking aperture 2701 means: the locking aperture 2701 is sized for a screw to pass through, including at least: the locking hole 2701 and the head 281 of the screw are both circular, and the diameter of the locking hole 2701 is smaller than the maximum diameter of the screw; a screw may be installed through the locking hole 2701 in a predetermined manner at a predetermined position.

A rehabilitation training robot 1000 according to one embodiment of the present invention will be described with reference to fig. 1 to 10.

Referring to fig. 1, the rehabilitation training robot 1000 includes: a support 200, an upper limb rehabilitation device 100 and a positioning assembly 300.

Specifically, the first arm 2 and the second arm 3 are both rotatably attached to both sides of the rotating portion 12 in the thickness direction, the rotation center axis of the first arm 2 and the rotation center axis of the second arm 3 overlap each other, and the rotation center axis of the first arm 2 and the rotation center axis of the second arm 3 are perpendicular to the fixed axis of the rotating portion 12. When the swivel 12 is in the first position, the first arm 2 and the second arm 3 are positioned on the left side and the right side of the swivel 12, and when the swivel 12 is in the second position, the first arm 2 and the second arm 3 are positioned on the upper side and the lower side of the swivel 12.

The second arm 3 is rotatable relative to the first arm 2 between a third position and a fourth position, the angle between the first arm 2 and the second arm 3 being 0 ° when the second arm 3 is in the third position relative to the first arm 2, and the angle between the first arm 2 and the second arm 3 being 180 ° when the second arm 3 is in the fourth position relative to the first arm 2.

The rotating portion 12 includes a rotating portion body 121, a rotating support shaft 122 and a rotating support bearing 123, the rotating support shaft 122 is connected to the front end of the rotating portion body 121 and has a fixed relative position, the rotating support shaft 122 is rotatably connected to the connecting portion 11 through the rotating support bearing 123, specifically, the rotating support shaft 122 is rotatably inserted into the connecting portion 11, the rotating support bearing 123 is disposed between the rotating support bearing 123 and the connecting portion 11, an inner ring of the rotating support bearing 123 is connected to the rotating support shaft 122 and an outer ring of the rotating support bearing 123 is connected to the connecting portion 11, and the rotating support bearing 123 includes at least two bearings spaced apart from each other in the axial direction of the.

The connecting portion 11 is provided with a positioning member that is switchable between a locked state for locking the rotary portion 12 and a released state for releasing the rotary portion 12. The rotating support shaft 122 is provided with a plurality of positioning holes 1221 arranged at intervals along the direction surrounding the fixed axis, the positioning member is movable along the direction perpendicular to the fixed axis, the positioning member is inserted into at least one positioning hole 1221 at a locking position, and when the positioning member is in a releasing state, the positioning member is pushed out of the positioning hole 1221.

The positioning assembly 300 is used to position the upper limb rehabilitation device 100. The positioning assembly 300 includes: the rotary positioning element 310 is arranged on the main body portion 1, the rotary positioning element 310 can move between the positions of locking and releasing the main body portion 1, the main body portion 1 is fixed relative to the support 200 when the rotary positioning element 310 locks the main body portion 1, and the main body portion 1 can rotate relative to the support 200 when the rotary positioning element 310 releases the main body portion 1. The lifting positioning element 320 is arranged on the support 200, the lifting positioning element 320 can move between the positions of the main body part 1 in locking and releasing, the main body part 1 is fixed relative to the support 200 when the lifting positioning element 320 locks the main body part 1, and the main body part 1 can slide up and down relative to the support 200 when the lifting positioning element 320 releases the main body part 1.

When the rehabilitation training robot 1000 is in use, the rotating part 12 is rotated, so that the first arm 2 and the second arm 3 are respectively positioned at the left side and the right side of the rotating part 12, and at the moment, a patient can perform rehabilitation training with both hands alternating with the upper limbs; and then the second arm 3 is rotated to ensure that the included angle between the second arm 3 and the first arm 2 is 0 degree, at the moment, the patient can carry out rehabilitation training with both hands synchronous with the upper limbs, and in addition, when only the first arm 2 or the second arm 3 is used, the rotation training along the vertical direction with one hand can be carried out. The rotation section 12 is rotated again so that the first arm 2 and the second arm 3 are positioned on the upper side and the lower side of the rotation section 12, respectively, and at this time, the patient can perform the horizontal rotation training with one hand.

According to the rehabilitation training robot 1000 of the embodiment of the present invention, not only can the rehabilitation training of the upper limb with both hands alternated or synchronized be realized, but also the vertical or horizontal rehabilitation training of the upper limb with one hand can be realized, and in addition, the relative height of the upper limb rehabilitation device 100 can be adjusted.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically connected, electrically connected and communicated; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. The utility model provides a rehabilitation training robot, its characterized in that includes support, upper limbs rehabilitation device and is used for fixing a position the locating component of upper limbs rehabilitation device, upper limbs rehabilitation device installs on the support, upper limbs rehabilitation device includes:

the main body part is rotatably connected with the bracket around a vertical axis and can lift up and down;

an upper limb movement module rotatably connected with the body portion for assisting training,

wherein the upper limb movement module comprises a first arm and a second arm, the first arm is rotatably connected with the main body part, the second arm can rotate relative to the first arm to adjust the included angle between the first arm and the second arm,

the second arm for first arm is rotatable between third position and fourth position the second arm for first arm is located when the third position first arm with contained angle between the second arm is 0 in order to be suitable for carrying out the synchronous rehabilitation training of both hands the second arm for first arm is located when the fourth position first arm with contained angle between the second arm is 180 in order to be suitable for carrying out the alternate rehabilitation training of both hands.

2. The rehabilitation training robot of claim 1, wherein the main body portion includes a connecting portion connected to the bracket and a rotating portion rotatably connected to the connecting portion about a fixed axis, the upper limb movement module being mounted on the rotating portion, wherein the fixed axis is perpendicular to a rotation center axis of the upper limb movement module or forms a predetermined angle greater than 0 ° and less than 90 °.

3. The rehabilitation training robot of claim 2, wherein the rotating portion includes a rotating portion main body on which the upper limb movement module is mounted and a rotating support shaft extending along the fixed axis, the rotating support shaft being connected to the rotating portion main body and the connecting portion, respectively, and being rotatable with respect to at least one of the rotating portion main body and the connecting portion for rotatably connecting the rotating portion and the connecting portion.

4. The robot of claim 3, wherein the rotating shaft is connected to the rotating portion and fixed in relative position, the rotating shaft is rotatably connected to the connecting portion, and the connecting portion has a positioning member that is switchable between a locking state for locking the rotating portion and a releasing state for releasing the rotating portion.

5. The rehabilitation training robot of claim 4, wherein the rotating support shaft has a plurality of positioning holes spaced in a direction around the fixed axis, the positioning member is movable in a direction perpendicular to the fixed axis, and the positioning member is inserted into at least one of the positioning holes at the locking position.

6. The rehabilitation training robot of claim 4, wherein a rotation support bearing is connected between the rotation support shaft and the connecting portion, and the rotation support bearing comprises one or at least two spaced apart in an axial direction of the rotation support shaft.

7. The rehabilitation and training robot of any of claims 2-6, wherein the fixed axis extends horizontally, the rotating portion rotatably connects the connecting portion about the fixed axis between a first position and a second position, the rotating center axis of the upper limb movement module extends horizontally and is perpendicular to the fixed axis when the rotating portion is in the first position, and the rotating center axis of the upper limb movement module extends vertically and is perpendicular to the fixed axis when the rotating portion is in the second position.

8. The rehabilitation training robot of any one of claims 2-6, wherein the connecting portion comprises:

a first sleeve having an axis extending horizontally;

the axis of the second sleeve extends along the vertical direction, and the second sleeve is perpendicular to the first sleeve or forms a preset angle which is more than 0 degree and less than 90 degrees;

an overmold covering at least a portion of the outer surface of the first sleeve and at least a portion of the outer surface of the second sleeve, the overmold connecting the first sleeve and the second sleeve together,

wherein the rotating portion is rotatably connected to the first sleeve, and the second sleeve is connected to the bracket.

9. The rehabilitation training robot of claim 8, wherein a flange is provided at a lower end of the second sleeve, the rubber-covered member covers an outer surface of any one of the first sleeve, the second sleeve and the flange, and the bracket is connected to the flange.

10. The rehabilitation and training robot of claim 9, wherein any of the first sleeve, the second sleeve, and the flange plate are further coupled to the overmold by screws.

11. The rehabilitation training robot of claim 8, wherein the first sleeve and the second sleeve communicate for routing.

12. The rehabilitation training robot of claim 8, wherein the upper end of the bracket has a pillar that penetrates the lower end inside the second sleeve, and a lower bushing is provided between the pillar and the second sleeve.

13. The rehabilitation training robot of claim 8, further comprising:

and one part of the display assembly is inserted into the upper end in the second sleeve, and an upper shaft sleeve is arranged between the part of the display assembly inserted into the second sleeve and the second sleeve.

14. The rehabilitation training robot of any one of claims 1-6, wherein the upper limb movement module further comprises upper limb drives provided on the main body portion and connected to the first and second arms, respectively, the first and second arms being disposed on opposite sides of the main body portion.

15. The rehabilitation training robot of claim 1, wherein the central axis of rotation of the first arm and the central axis of rotation of the second arm coincide.

16. The rehabilitation training robot of claim 1, wherein the cradle comprises:

an outer column extending in an up-down direction;

an inner upright post extending in the up-down direction and slidably extending into the outer upright post in the up-down direction,

the upper limb rehabilitation device is rotatably connected with the inner upright post around a vertical axis, and the upper limb rehabilitation device and the inner upright post are fixed in relative position along the vertical direction.

17. The rehabilitation training robot of claim 16, wherein one of the inner column and the outer column is provided with a sliding groove and the other is provided with a stopper, the sliding groove extends in an up-down direction, the stopper extends into the sliding groove and is slidable between two ends of a stopper groove along the sliding groove, the bracket further comprises:

the outer cover, at least a part cover of dustcoat is in the outside of outer column, just the dustcoat covers the spout with the stopper.

18. The rehabilitation training robot of claim 16, wherein the positioning assembly comprises:

and the locking screws are fixedly arranged on the outer stand columns in relative positions and are suitable for being matched with the inner stand columns to lock the inner stand columns and the outer stand columns.

19. The rehabilitation training robot of any one of claims 1-6 and 15-18, wherein the positioning assembly further comprises:

the rotary positioning piece is arranged on the main body part and can move between the positions of the main body part in locking and releasing, the main body part is fixed relative to the support when the main body part is locked by the rotary positioning piece, and the main body part is rotatable relative to the support when the main body part is released by the rotary positioning piece.