CN107174477B - Intelligent wearable cerebral palsy rehabilitation robot - Google Patents
Intelligent wearable cerebral palsy rehabilitation robot Download PDFInfo
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- CN107174477B CN107174477B CN201710351691.3A CN201710351691A CN107174477B CN 107174477 B CN107174477 B CN 107174477B CN 201710351691 A CN201710351691 A CN 201710351691A CN 107174477 B CN107174477 B CN 107174477B
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- 206010008129 cerebral palsy Diseases 0.000 title claims abstract description 19
- 230000033001 locomotion Effects 0.000 claims abstract description 112
- 230000000694 effects Effects 0.000 claims abstract description 13
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 57
- 210000003205 muscle Anatomy 0.000 claims description 20
- 230000003183 myoelectrical effect Effects 0.000 claims description 11
- 230000000452 restraining effect Effects 0.000 claims description 11
- 238000004804 winding Methods 0.000 claims description 10
- 208000027418 Wounds and injury Diseases 0.000 claims description 6
- 230000006378 damage Effects 0.000 claims description 6
- 208000014674 injury Diseases 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 6
- 238000005452 bending Methods 0.000 claims description 4
- 239000004744 fabric Substances 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 210000004177 elastic tissue Anatomy 0.000 claims description 2
- 210000003141 lower extremity Anatomy 0.000 abstract description 2
- 230000007721 medicinal effect Effects 0.000 abstract 1
- 210000001624 hip Anatomy 0.000 description 54
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011230 binding agent Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000009207 exercise therapy Methods 0.000 description 1
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- 229910052742 iron Inorganic materials 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- 238000011084 recovery Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/24—Detecting, measuring or recording bioelectric or biomagnetic signals of the body or parts thereof
- A61B5/316—Modalities, i.e. specific diagnostic methods
- A61B5/389—Electromyography [EMG]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H2015/0007—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis
- A61H2015/0014—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis cylinder-like, i.e. rollers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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- Animal Behavior & Ethology (AREA)
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- General Health & Medical Sciences (AREA)
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Abstract
The invention relates to the field of medical equipment, in particular to an intelligent wearable cerebral palsy rehabilitation robot, which comprises a body, a binding belt, a leg movement device, a waist twisting movement device, a waist propping movement device, a power-off protection device, a distance adjusting device, an upper mounting seat, a lower mounting seat, a cylinder and a controller, wherein the binding belt is arranged on the body; the leg movement device penetrates through the machine body; the waist twisting exercise device is symmetrically arranged inside the machine body; the waist-supporting sports device is connected with the right side of the machine body; the anti-reset device is arranged on the front side and the rear side of the machine body; the spacing adjusting device is connected with the left side of the machine body; the cylinder is arranged at the bottom of the machine body and connected with the upper mounting seat; the lower mounting seat is arranged on the distance adjusting device. When the device is used by a patient, the upper limbs and the lower limbs of the patient can move intelligently and reasonably, so that the treatment effect of the patient is ensured; meanwhile, compared with the prior art, the invention can obviously improve the rehabilitation medical effect of cerebral palsy and is convenient for patients to wear.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to an intelligent wearable cerebral palsy rehabilitation robot.
Background
With the continuous development of domestic economy, the living standard of residents is continuously improved, however, various diseases therewith threaten the health of the residents. The symptoms of cerebral palsy in children cause much children and families to suffer from the inscription. At present, the child cerebral palsy exercise therapy is one of the main methods for treating the child cerebral palsy, the treatment process of the treatment method mainly utilizes the apparatus or the self force of the child to realize the movement of the legs, the waist and other parts of the patient, thereby achieving the corresponding rehabilitation effect, but the efficiency is lower, and the treatment effect is not good.
In view of the above medical problems, some technical solutions have been proposed in the prior art, such as the following application numbers: 2012103532913 discloses a rehabilitation training vehicle for children with cerebral palsy, which comprises a main body frame and a plurality of auxiliary instruments arranged on the main body frame, wherein the main body frame comprises a base and wheels, and the wheels are arranged on the base; the accessory apparatus comprises a seat, a climbing frame, an object placing table, a pedal plate and a baffle plate, wherein the seat is arranged on a sliding table, the sliding table is connected with a base in a front-back sliding mode, and a seat horizontal rotation control device and a seat vertical movement control device are arranged between the seat and the sliding table. The seat is provided with a backrest and a three-point safety belt, and the back of the backrest is provided with a climbing frame; the foot pedal is arranged on the base, the bottom end of the baffle is fixed at the front end of the base, the horizontal object placing table is arranged at the top end, and the rear side surface of the object placing table is an arc-shaped concave surface. This technical scheme can solve the rehabilitation training problem of parts such as cerebral palsy patient hand, leg, foot, but its rehabilitation training is all that the manual work is gone on, and efficiency is lower, and the rehabilitation training effect is also not good.
In view of this, the invention provides an intelligent wearable cerebral palsy rehabilitation robot, which can combine a leg movement device, a waist twisting movement device and a waist propping movement device, and a patient can simultaneously carry out rehabilitation movement treatment on legs and waist, so that the rehabilitation treatment effect of the patient is improved; meanwhile, the power-off protection device is arranged to prevent the waist-supporting roller from moving downwards to cause injury to a patient when the power is off; meanwhile, the self-adaptive rehabilitation device is provided with the electromyographic sensor and the pressure sensor, so that the self-adaptive rehabilitation treatment of the patient can be realized.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the invention provides an intelligent wearable cerebral palsy rehabilitation robot, which is mainly suitable for rehabilitation of legs and waists of cerebral palsy patients, can combine a leg movement device, a waist twisting movement device and a waist propping movement device, and can simultaneously carry out rehabilitation movement treatment on the legs and the waists of the patients, so that the rehabilitation treatment effect of the patients is improved.
The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to an intelligent wearable cerebral palsy rehabilitation robot which comprises a robot body, a restraining belt, a leg movement device, a waist twisting movement device, a waist ejecting movement device, a power-off protection device, an interval adjusting device, an upper mounting seat, a lower mounting seat, a cylinder and a controller, wherein the restraining belt is detachably connected with the robot body and is used for restraining the upper limbs of a patient; the leg exercise device penetrates through the machine body, a sliding piece is arranged on a foot binding device of the leg exercise device, and the sliding piece is reasonably adjusted according to different working environments; the waist twisting exercise device is symmetrically arranged in the machine body, and the waist twisting exercise device and the waist propping exercise device realize the omnibearing exercise of the waist of the patient; the waist-supporting movement device is connected with the right side of the machine body and is used for realizing the up-and-down movement of the waist of the patient and working more stably under the action of the power-off protection device; the power-off protection devices are respectively arranged on the front side and the rear side of the machine body; the distance adjusting device is connected with the left side of the machine body, is used for changing the position of the lower mounting seat and works in cooperation with the foot binding device; the cylinder is arranged at the bottom of the machine body and connected with the upper mounting base, the cylinder is used for realizing the left-right movement of the upper mounting base, and the upper mounting base is used for mounting an upper limb mechanical arm; the lower mounting seat is in threaded connection with the distance adjusting device and is used for mounting the lower limb mechanical arm.
As a preferable technical scheme of the invention, the leg movement device comprises a leg movement motor, a winding drum, a transmission shaft, a pulling rope, a foot binding device, a pressure sensor and a myoelectric sensor; the leg movement motor is arranged at the left end of the machine body; the winding drum is connected with a leg movement motor through a transmission shaft; one end of the pulling rope is elastically connected with the winding drum, the other end of the pulling rope is detachably connected with the foot binding device, the pulling rope is used for moving the foot binding device, and the foot binding device is provided with a sliding piece; the sliding part comprises a fixed seat, a first spring, a wheel and a wheel connecting rod; the fixed seat is hinged with the foot binding device, and a pressure sensor is arranged on the fixed seat; the connecting wheel rod is hinged with the fixed seat; the wheels are connected with the wheel connecting rod; the two ends of the first spring are respectively fixed on the connecting wheel rod and the fixed seat, and the first spring is used for damping.
As a preferred technical scheme of the invention, the waist twisting exercise device comprises an exercise plate, a waist twisting exercise motor, a first gear, a second gear, a first transmission shaft, a second transmission shaft and a second electromyographic sensor; the first transmission shaft is arranged in the middle of the machine body; the motion plate is fixed on the first transmission shaft, a muscle sensor is arranged on the motion plate, and the muscle sensor transmits a motion signal of waist muscles of a patient to the controller; the second gear is in interference connection with the first transmission shaft; the second gear is meshed with the first gear; the second transmission shaft is in interference connection with the first gear, and the connection mode ensures that the device can reliably work under the impact vibration load; the second transmission shaft is rigidly connected with a waist twisting movement motor.
As a preferred technical scheme of the invention, the power-off protection device comprises a rack, a pawl, a connecting rod and a sliding groove, wherein the pawl is hinged with the machine body, and is provided with a spring, so that the contact surface between the pawl and the rack is enlarged, and the work is more stable; one end of the rack is elastically connected with the pawl, and the other end of the rack is detachably connected with the sliding groove; the sliding groove is fixed on the machine body; the connecting rod is hinged with the rack, and the power-off protection device is connected with the waist supporting movement device through the connecting rod, so that the purpose of limiting the waist supporting movement device is achieved; the waist-pushing movement device comprises a third gear, a connecting rod gear, a waist-pushing movement motor, a first bevel gear, a second bevel gear, a third transmission shaft and a waist-pushing roller; the third transmission shaft is arranged in the machine body; the third gear is arranged at two ends of the transmission shaft; the connecting rod gear is meshed with the third gear, and the gear tooth area of the connecting rod gear is in a sector shape; the connecting rod gear is respectively connected with two ends of the waist-supporting roller through threads, and the waist-supporting roller is convenient to replace; the second bevel gear is fixed on the third transmission shaft; the first bevel gear is meshed with the second bevel gear; the waist-pushing movement motor is connected with a first bevel gear.
The invention has the beneficial effects that:
(1) according to the intelligent wearable cerebral palsy rehabilitation robot, the rehabilitation training of the legs and the waist of a patient is realized through the leg movement device, the waist twisting movement device and the waist propping movement device, the devices work cooperatively to complete the rehabilitation treatment of the patient, and the patient can perform the rehabilitation movement treatment of the legs and the waist simultaneously, so that the rehabilitation treatment effect of the patient is improved.
(2) The intelligent wearable cerebral palsy rehabilitation robot is provided with a power-off protection device, and the waist-supporting roller is prevented from moving downwards to cause injury to a patient when power is off.
(3) The intelligent wearable cerebral palsy rehabilitation robot is provided with the myoelectric sensor and the pressure sensor, and can realize self-adaptive rehabilitation treatment on patients.
Drawings
The invention will be further explained with reference to the drawings.
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic diagram of a rear perspective view of the present invention;
fig. 3 is a perspective sectional view of the sports board of the present invention;
FIG. 4 is a schematic view of the slider of the present invention;
in the figure: the waist-twisting exercise device comprises a machine body 1, a binding belt 2, a leg exercise device 3, a waist-twisting exercise device 4, a waist-pushing exercise device 5, a power-off protection device 6, a distance adjusting device 7, an upper mounting seat 8, a lower mounting seat 9, a cylinder 10, a leg exercise motor 31, a winding drum 32, a transmission shaft 33, a pulling rope 34, a foot binding device 35, an exercise plate 41, a waist-twisting exercise motor 42, a first gear 43, a second gear 44, a first transmission shaft 45, a second transmission shaft 46, a third gear 51, a connecting rod gear 52, a waist-pushing exercise motor 53, a first bevel gear 54, a second bevel gear 55, a third transmission shaft 56, a waist-pushing roller 57, a fixed seat 361, a first spring 362, a wheel 363, a wheel connecting rod 364, a rack 61, a pawl 62, a connecting rod 63, a sliding chute 64 and an electromagnet 621.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1 to 4, the intelligent wearable cerebral palsy rehabilitation robot according to the present invention includes a body 1, a binding band 2, a leg movement device 3, a waist twisting movement device 4, a waist pushing movement device 5, a power-off protection device 6, a distance adjustment device 7, an upper mounting seat 8, a lower mounting seat 9, a cylinder 10, and a controller; the restraining belt 2 is detachably connected with the machine body 1, and the restraining belt 2 is used for restraining the upper limb of the patient; the leg movement device 3 penetrates through the interior of the machine body 1, and the leg movement device 3 is used for realizing the movement of the legs of the patient; the waist twisting exercise device 4 is symmetrically arranged inside the machine body 1, and the waist twisting exercise device 4 is used for realizing the exercise of the waist of the patient; the waist-supporting movement device 5 is connected with the right side of the machine body 1, and the waist-supporting movement device 5 is used for realizing the up-and-down movement of the waist of the patient; the power-off protection devices 6 are respectively arranged at the front side and the rear side of the machine body 1, and the power-off protection devices 6 are used for avoiding the injury of a patient caused by the waist supporting exercise device 5 when the power is off; the distance adjusting device 7 is arranged on the left side of the machine body 1, and the distance adjusting device 7 is used for changing the position of the lower mounting seat; the cylinder 10 is installed at the bottom of the machine body 1, the cylinder 10 is connected with the upper mounting seat 8, the cylinder 10 is used for achieving left-right movement of the upper mounting seat 8, the upper mounting seat 8 is used for fixing the upper limb mechanical arm, the longitudinal section of the upper mounting seat 8 is groove-shaped, and two ends of the upper mounting seat 8 are respectively provided with a threaded hole and are distributed in a rectangular shape, so that the upper limb mechanical arm is convenient to install; lower mount pad 9 is installed on interval adjusting device 7, and lower mount pad 9 is used for fixed low limbs arm, and the cross section of lower mount pad 9 is the rectangle, and lower mount pad 9 top is equipped with the screw hole and is the rectangle and distributes to make low limbs arm easy to assemble.
As an embodiment of the present invention, the leg exercising device 3 includes a leg exercising motor 31, a reel 32, a transmission shaft 33, a pulling rope 34, a foot binder 35, and a myoelectric sensor; the leg movement motor 31 is arranged at the left end of the machine body 1; the winding drum 32 is connected with the leg movement motor 31 through a transmission shaft 33; one end of the pulling rope 34 is elastically connected with the winding drum 32, the other end of the pulling rope 34 is detachably connected with the foot binding device 35, the pulling rope 34 is used for moving the foot binding device 35, and the pulling rope 34 is an elastic fiber rope; the foot binding device 35 is provided with a sliding part 36, and the surface of the foot binding device 35 is attached with a layer of soft fabric; the during operation, medical personnel paste the flesh electricity sensor at patient's shank, then open the power, when patient's shank has the tendency of motion, patient's shank muscle can produce the signal of telecommunication, the flesh electricity sensor detects the signal of telecommunication, the controller can send the instruction to shank motion motor this moment, shank motion motor 31 drive reel 32 rotates, draw and drag 34 pulling of rope and tie up foot ware 35 motions, thereby the bending motion of supplementary patient realization shank, in the above-mentioned process, only when the active trend that has the motion of patient, shank telecontrol equipment 3 just can assist the patient to accomplish the shank motion, for passive motion, the treatment of patient's shank can be improved in active motion.
Further, as an embodiment of the present invention, a sliding member 36 is disposed below the foot binding 35, and the foot binding 35 is hinged to the sliding member 36, and the sliding member 36 is used for reducing the friction force with the contact surface; the sliding part 36 comprises a fixed seat 361, a first spring 362, a wheel 363 and a wheel connecting rod 364; the fixing seat 361 is hinged with the foot binding device 35, a groove is formed in the fixing seat 361 and used for placing a pressure sensor, the pressure sensor is used for detecting the pressure of the leg of the patient on the fixing seat 361, when the leg of the patient is straightened, the leg of the patient exerts pressure on the fixing seat 361 to train the leg muscle of the patient, the pressure sensor can detect the pressure of the leg on the fixing seat 361, the pressure sensor transmits a detected electric signal to the controller, the controller analyzes the transmitted electric signal, and medical personnel judge the recovery condition of the leg muscle of the patient according to the analysis result of the controller; the connecting wheel rod 364 is hinged with the fixed seat 361; the wheel 363 is connected with the wheel connecting rod 364; the two ends of the first spring 362 are respectively fixed on the connecting wheel rod 364 and the fixing seat 361, and the first spring 362 is used for damping.
As an embodiment of the present invention, the waist twisting exercise device 4 includes an exercise plate 41, a waist twisting exercise motor 42, a first gear 43, a second gear 44, a first transmission shaft 45, a second transmission shaft 46, and a myoelectric sensor; the first transmission shaft 45 is arranged in the middle of the machine body 1; the motion plate 41 is fixed on the first transmission shaft 45, and a layer of soft fabric is attached to the surface of the motion plate 41, so that the waist of a patient is more comfortable; the myoelectric sensor is used for detecting a movement signal of waist muscles of a patient and transmitting the movement signal to the controller; the second gear 44 is in interference connection with the first transmission shaft 45; the second gear 44 is meshed with the first gear 43; the second transmission shaft 46 is in interference connection with the first gear 44; the second transmission shaft 46 is rigidly connected with the waist-twisting motor 42, and the waist-twisting motor 42 is a servo motor. When the waist muscle training device works, the waist of a patient is attached with the myoelectric sensor, when the waist muscle of the patient tends to move, the myoelectric sensor transmits a waist muscle movement signal to the controller, the controller drives the waist twisting motor 42 to rotate, the waist twisting motor 42 drives the second transmission shaft 46 to rotate, the second transmission shaft 46 drives the first gear 43 to rotate, the first gear 43 drives the second gear 44 to rotate, the second gear 44 drives the first transmission shaft 45 to rotate, and the first transmission shaft 45 drives the movement plate 41 to move, so that the waist of the patient moves back and forth.
As an embodiment of the present invention, the top-waist movement device 5 includes a third gear 51, a link gear 52, a top-waist movement motor 53, a first bevel gear 54, a second bevel gear 55, a third transmission shaft 56 and a top-waist roller 57; the third transmission shaft 56 is arranged inside the machine body 1; the third gear 51 is arranged at two ends of the transmission shaft 56; one end of the connecting rod gear 52 is meshed with the third gear 51, the other end of the connecting rod gear 52 is hinged with two ends of the waist-pushing roller 57, the cross section of the waist-pushing roller 57 is oval, the inside of the waist-pushing roller is hollow, the gear tooth area of the connecting rod gear 52 is fan-shaped, and the included angle of the fan-shaped area is 120 degrees; the second bevel gear 55 is in interference linkage with a third transmission shaft 56; the first bevel gear 54 is meshed with the second bevel gear 55; the waist-pushing movement motor 53 is rigidly connected with a first bevel gear 54, and the waist-pushing movement motor 53 is a servo motor. During operation, when the waist-pushing motor 53 rotates, the first bevel gear 54 is driven to rotate, the first bevel gear 54 drives the second bevel gear 55 to rotate, the second bevel gear 55 drives the third transmission shaft 56 to rotate, the third transmission shaft 56 drives the third gear 51 to rotate, the third gear 51 drives the connecting rod gear 52 to rotate, and the connecting rod gear 52 drives the waist-pushing roller 57 to move, so that the waist of the patient performs reciprocating concave-convex movement.
As an embodiment of the present invention, the power-off protection device 6 includes a rack 61, a pawl 62, a connecting rod 63 and a sliding slot 64, the pawl 62 is hinged to the machine body 1, the pawl 62 is made of iron, an electromagnet 621 is disposed above the pawl 62, and the electromagnet 621 is used for attracting the pawl 62; one end of the rack 61 is elastically connected with the pawl 62, and the other end of the rack 61 is detachably connected with the sliding groove 64; the sliding groove 64 is welded on the machine body 1; the connecting rod 63 is hinged with the rack 61; when the waist supporting device works, the power supply is turned on, the electromagnet 621 is electrified, the electromagnet 621 attracts the pawl 62, the pawl 62 is not in contact with the rack 61, and the waist supporting motion device 5 performs reciprocating motion; when the power supply is disconnected, the electromagnet 621 is powered off, the pawl 62 is in contact with the rack 61, and the waist-supporting movement device 5 cannot move downwards, so that the injury to the patient is avoided, and a good power-off protection effect is achieved.
When in work, the feet of the patient are fixed on the foot binding device 35, and the upper limbs are fixed by the restraining belt 2; when the leg is moved, the medical staff attaches the myoelectric sensor to the leg of the patient, then the power supply is switched on, when the leg of the patient tends to move, the muscle of the leg of the patient can generate an electric signal, the myoelectric sensor detects the electric signal, the controller sends an instruction to the leg movement motor at the moment, the leg movement motor drives the reel to rotate, the pulling rope 34 pulls the foot binding device 35 to move, and therefore the bending movement of the leg of the patient is achieved; when waist twisting movement is carried out, an electromyographic sensor is attached to the waist of a patient, when the waist muscle of the patient tends to move, the electromyographic sensor transmits a waist muscle movement signal to a controller, the controller drives a waist twisting movement motor 42 to rotate, the waist twisting movement motor 42 drives a second transmission shaft 46 to rotate, and the second transmission shaft 46 drives a corresponding mechanism to move, so that the waist of the patient can reciprocate; when the waist-pushing movement is performed, the power supply is turned on, the electromagnet 621 is electrified, the electromagnet 621 attracts the pawl 62, the pawl 62 is not in contact with the rack 61, and meanwhile, the waist-pushing motor 53 is started, so that the waist-pushing movement device 5 performs reciprocating movement; when the power supply is disconnected, the electromagnet 621 is electrified, the electromagnet 621 attracts the pawl 62, the pawl 62 is in contact with the rack 61, and the waist supporting movement device 5 cannot move downwards, so that the injury to a patient is avoided, and a good power-off protection effect is achieved.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (1)
1. An intelligent wearable cerebral palsy rehabilitation robot comprises a machine body (1), a restraining belt (2), a leg movement device (3), a waist twisting movement device (4), a waist ejecting movement device (5), a power-off protection device (6), an interval adjusting device (7), an upper mounting seat (8), a lower mounting seat (9), a cylinder (10) and a controller; the restraining belt (2) is detachably connected with the machine body (1), and the restraining belt (2) is used for restraining the upper limbs of a patient; the leg movement device (3) penetrates through the interior of the body (1), and the leg movement device (3) is used for movement of the legs of the patient; the air cylinder (10) is installed at the bottom of the machine body (1), the air cylinder (10) is connected with the upper mounting seat (8), and the air cylinder (10) is used for changing the position of the upper mounting seat (8); the lower mounting seat (9) is mounted on the distance adjusting device (7); the method is characterized in that: the waist twisting exercise device (4) is symmetrically arranged in the machine body (1), and the waist twisting exercise device (4) is used for realizing the exercise of the waist of the patient; the waist-supporting movement device (5) is connected with the right side of the machine body (1), and the waist-supporting movement device (5) is used for realizing the up-and-down movement of the waist of a patient; the power-off protection devices (6) are respectively arranged on the front side and the rear side of the machine body (1), and the power-off protection devices (6) are used for preventing a patient from being injured when the power is off; the distance adjusting device (7) is connected with the left side of the machine body (1), and the distance adjusting device (7) is used for adjusting the position of the lower mounting seat (9);
the leg movement device (3) comprises a leg movement motor (31), a winding drum (32), a transmission shaft (33), a pulling rope (34), a foot binding device (35), a pressure sensor and a myoelectric sensor; the leg movement motor (31) is arranged at the left end of the machine body (1); the winding drum (32) is connected with a leg movement motor (31) through a transmission shaft (33); one end of the pulling rope (34) is elastically connected with the winding drum (32), the other end of the pulling rope (34) is detachably connected with the foot binding device (35), and the pulling rope (34) is used for moving the foot binding device (35); the pulling rope (34) is an elastic fiber rope; the foot binding device (35) is provided with a sliding part (36), and the surface of the foot binding device (35) is attached with a layer of soft fabric; when the leg bending exercise device works, a medical worker attaches the electromyographic sensor to the leg of a patient, then a power supply is switched on, when the leg of the patient tends to exercise, the muscle of the leg of the patient can generate an electric signal, the electromyographic sensor detects the electric signal, the controller sends an instruction to the leg exercise motor at the moment, the leg exercise motor (31) drives the winding drum (32) to rotate, the pulling rope (34) pulls the foot binding device (35) to move, and therefore the bending exercise of the leg of the patient is achieved, in the process, only when the patient actively tends to exercise, the leg exercise device (3) can assist the patient to complete the leg exercise, and compared with passive exercise, the active exercise can improve the treatment effect of the leg of the patient;
the waist-pushing movement device (5) comprises a third gear (51), a connecting rod gear (52), a waist-pushing movement motor (53), a first bevel gear (54), a second bevel gear (55), a third transmission shaft (56) and a waist-pushing roller (57); the third transmission shaft (56) is arranged inside the machine body (1); the third gear (51) is fixed at two ends of the transmission shaft (56); the connecting rod gear (52) is meshed with the third gear (51); the connecting rod gear (52) is hinged with two ends of the waist-supporting roller (57); the second bevel gear (55) is fixed on the third transmission shaft (56); the first bevel gear (54) is meshed with the second bevel gear (55); the waist-pushing movement motor (53) is connected with a first bevel gear (54) in an interference manner; when the waist-pushing movement device works, the waist-pushing movement motor (53) drives the first bevel gear (54) to rotate, the first bevel gear (54) drives the second bevel gear (55) to rotate, the second bevel gear (55) drives the third transmission shaft (56) to rotate, the third transmission shaft (56) drives the third gear (51) to rotate, the third gear (51) drives the connecting rod gear (52) to rotate, and the connecting rod gear (52) drives the waist-pushing roller (57) to move, so that the waist of a patient can carry out reciprocating concave-convex movement;
a sliding piece (36) is arranged below the foot binding device (35), and the sliding piece (36) is used for realizing that the foot binding device (35) is easier to slide; the sliding piece (36) comprises a fixed seat (361), a spring (362), a wheel (363) and a wheel connecting rod (364); the fixed seat (361) is hinged with the foot binding device (35), and a pressure sensor is arranged on the fixed seat and used for detecting the pressure of the leg of the patient on the fixed seat (361); the connecting wheel rod (364) is hinged with the fixed seat (361); the wheel (363) is connected with a wheel connecting rod (364); two ends of the spring (362) are respectively fixed on the connecting wheel rod (364) and the fixed seat (361);
the two waist twisting exercise devices (4) comprise an exercise plate (41), a waist twisting exercise motor (42), a first gear (43), a second gear (44), a first transmission shaft (45), a second transmission shaft (46) and a myoelectric sensor; the first transmission shaft (45) is arranged in the middle of the machine body (1); the moving plate (41) is welded on the first transmission shaft (45); the muscle sensor is used for detecting signals generated by the movement of the waist muscles of the patient and transmitting the movement signals of the waist muscles of the patient to the controller; the second gear (44) is connected with the first transmission shaft (45); the second gear (44) is meshed with the first gear (43); the second transmission shaft (46) is in interference connection with the first gear (44); the second transmission shaft (46) is rigidly connected with the waist twisting movement motor (42); when the waist muscle training device works, an electromyographic sensor is attached to the waist of a patient, when the waist muscle of the patient tends to move, the electromyographic sensor transmits a waist muscle movement signal to a controller, the controller drives a waist twisting movement motor (42) to rotate, the waist twisting movement motor (42) drives a second transmission shaft (46) to rotate, the second transmission shaft (46) drives a first gear (43) to rotate, the first gear (43) drives a second gear (44) to rotate, the second gear (44) drives a first transmission shaft (45) to rotate, and the first transmission shaft (45) drives a movement plate (41) to move, so that the waist of the patient moves back and forth;
the power-off protection device (6) comprises a rack (61), a pawl (62), a connecting rod (63) and a sliding groove (64), wherein the rack (61) is hinged with the machine body (1); one end of the rack (61) is elastically connected with the pawl (62), and the other end of the rack (61) is detachably connected with the sliding groove (64); the sliding groove (64) is welded on the machine body (1); the connecting rod (63) is hinged with the rack (61);
an electromagnet (621) is arranged above the pawl (62), and the electromagnet (621) is used for sucking the pawl (62), so that the power-off protection effect is achieved; when the waist supporting device works, a power supply is turned on, the electromagnet (621) is electrified, the electromagnet (621) attracts the pawl (62), the pawl (62) is not in contact with the rack (61), and the waist supporting motion device (5) performs reciprocating motion; when the power supply is disconnected, the electromagnet (621) is powered off, the pawl (62) is in contact with the rack (61), and the waist-supporting movement device (5) cannot move downwards, so that the injury to a patient is avoided, and a good power-off protection effect is achieved;
the cross section of the lower mounting seat (9) is rectangular, and threaded holes are formed in the upper portion of the lower mounting seat (9) and are distributed in a rectangular shape;
the longitudinal section of the upper mounting seat (8) is groove-shaped, and the two ends of the upper mounting seat (8) are respectively provided with a threaded hole and are distributed in a rectangular shape.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111544255B (en) * | 2020-04-24 | 2022-03-18 | 卢松 | Recovered robot of intelligence |
| CN111803332B (en) * | 2020-08-24 | 2022-02-22 | 深圳市艾利特医疗科技有限公司 | Rehabilitation using device for child cerebral palsy |
| CN112057082B (en) * | 2020-09-09 | 2022-11-22 | 常熟理工学院 | Robot-assisted cerebral palsy rehabilitation expression training system based on brain-computer interface |
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