CN108714103A - A kind of physiotherapy and rehabilitation robot - Google Patents
A kind of physiotherapy and rehabilitation robot Download PDFInfo
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- CN108714103A CN108714103A CN201810573783.0A CN201810573783A CN108714103A CN 108714103 A CN108714103 A CN 108714103A CN 201810573783 A CN201810573783 A CN 201810573783A CN 108714103 A CN108714103 A CN 108714103A
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- rehabilitation
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- physiotherapy
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- 238000000554 physical therapy Methods 0.000 title claims abstract description 16
- 230000033001 locomotion Effects 0.000 claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 24
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 24
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 19
- 229940070527 tourmaline Drugs 0.000 claims abstract description 15
- 229910052613 tourmaline Inorganic materials 0.000 claims abstract description 15
- 239000011032 tourmaline Substances 0.000 claims abstract description 15
- 238000010438 heat treatment Methods 0.000 claims abstract description 14
- 230000003993 interaction Effects 0.000 claims abstract description 5
- 238000005192 partition Methods 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 7
- VVQNEPGJFQJSBK-UHFFFAOYSA-N Methyl methacrylate Chemical compound COC(=O)C(C)=C VVQNEPGJFQJSBK-UHFFFAOYSA-N 0.000 claims description 5
- 229920005372 Plexiglas® Polymers 0.000 claims description 5
- 238000005096 rolling process Methods 0.000 claims description 4
- 239000003292 glue Substances 0.000 claims description 3
- 239000011521 glass Substances 0.000 claims 1
- 238000001467 acupuncture Methods 0.000 abstract description 5
- 210000000653 nervous system Anatomy 0.000 abstract description 4
- 230000008447 perception Effects 0.000 abstract description 3
- 230000000638 stimulation Effects 0.000 abstract description 3
- 150000001450 anions Chemical class 0.000 abstract description 2
- 230000017531 blood circulation Effects 0.000 abstract description 2
- 230000002490 cerebral effect Effects 0.000 abstract description 2
- 230000004060 metabolic process Effects 0.000 abstract description 2
- 210000005036 nerve Anatomy 0.000 abstract description 2
- 230000010482 emotional regulation Effects 0.000 abstract 1
- 210000003414 extremity Anatomy 0.000 description 6
- 206010008190 Cerebrovascular accident Diseases 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 208000017667 Chronic Disease Diseases 0.000 description 2
- 206010029260 Neuroblastoma Diseases 0.000 description 2
- 206010034464 Periarthritis Diseases 0.000 description 2
- 210000004556 brain Anatomy 0.000 description 2
- 230000002526 effect on cardiovascular system Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000036651 mood Effects 0.000 description 2
- 208000020431 spinal cord injury Diseases 0.000 description 2
- 208000010392 Bone Fractures Diseases 0.000 description 1
- 206010020772 Hypertension Diseases 0.000 description 1
- 241001122767 Theaceae Species 0.000 description 1
- 208000007536 Thrombosis Diseases 0.000 description 1
- 241000294142 Vascellum Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000002776 aggregation Effects 0.000 description 1
- 238000004220 aggregation Methods 0.000 description 1
- 206010003246 arthritis Diseases 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 210000003792 cranial nerve Anatomy 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 206010012601 diabetes mellitus Diseases 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 208000019622 heart disease Diseases 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004089 microcirculation Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 229940002612 prodrug Drugs 0.000 description 1
- 239000000651 prodrug Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000007670 refining Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000007634 remodeling Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
Classifications
-
- 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
- A61H39/00—Devices for locating or stimulating specific reflex points of the body for physical therapy, e.g. acupuncture
- A61H39/04—Devices for pressing such points, e.g. Shiatsu or Acupressure
-
- 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
- A61H1/0218—Drawing-out devices
-
- 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
-
- 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M21/00—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis
- A61M21/02—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis for inducing sleep or relaxation, e.g. by direct nerve stimulation, hypnosis, analgesia
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/44—Applying ionised fluids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N5/0613—Apparatus adapted for a specific treatment
- A61N5/0625—Warming the body, e.g. hyperthermia treatment
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/10—Characteristics of apparatus not provided for in the preceding codes with further special therapeutic means, e.g. electrotherapy, magneto therapy or radiation therapy, chromo therapy, infrared or ultraviolet therapy
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5082—Temperature sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M21/00—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis
- A61M2021/0005—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus
- A61M2021/0044—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus by the sight sense
- A61M2021/005—Other devices or methods to cause a change in the state of consciousness; Devices for producing or ending sleep by mechanical, optical, or acoustical means, e.g. for hypnosis by the use of a particular sense, or stimulus by the sight sense images, e.g. video
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N2005/0658—Radiation therapy using light characterised by the wavelength of light used
- A61N2005/0659—Radiation therapy using light characterised by the wavelength of light used infrared
- A61N2005/066—Radiation therapy using light characterised by the wavelength of light used infrared far infrared
Landscapes
- Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Biomedical Technology (AREA)
- Engineering & Computer Science (AREA)
- Epidemiology (AREA)
- Physical Education & Sports Medicine (AREA)
- Radiology & Medical Imaging (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Anesthesiology (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Psychology (AREA)
- Heart & Thoracic Surgery (AREA)
- Hematology (AREA)
- Pathology (AREA)
- Rehabilitation Tools (AREA)
- Radiation-Therapy Devices (AREA)
Abstract
The present invention provides a kind of physiotherapy and rehabilitation robot, high degree of automation of the present invention reduces the work of medical staff, improves rehabilitation efficiency；By the way that far-infrared thermoelectric-film and tourmaline microballoon are arranged on pedestal, upper extremity exercise structure, lower extremity movement mechanism, back rub plate, tourmaline microballoon is set to release far infrared, anion and micro-current after the heating, so that human body cell is converted into motion state by dormant state, accelerates the blood circulation and metabolism of human body；Coordinated by the linkage of upper limb motion mechanism, lower extremity movement mechanism, entire patient is made to move；By the human-computer interaction interface of rotary displaying panel, entertainment can be selected to play, emotion regulation；Heating temperature, upper limb motion mechanism and lower extremity movement mechanism speed can also be adjusted；The reconstruction of hand nervous system and cerebral nervous system is promoted to contact by the crawl of intelligent rehabilitation manipulator, folding and unfolding, stimulation of the foot bucket tourmaline microballoon to step acupuncture point promotes lower limb nerve perception.
Description
Technical field
The present invention relates to medical instrument healing robot technical fields, and in particular to a kind of physiotherapy and rehabilitation robot.
Background technology
With society and it is economical be constantly progressive and develop, demand of the people to high-level medical treatment & health is also constantly increasing
Add, incidence persistently rises China resident nearly ten years, especially hypertension, heart disease, diabetes chronic diseases, and the elderly is high
The rehabilitation demands of hair rate disease itself are disabled plus chronic disease, and the demand to rehabilitation constantly increases.The basic reason to disable
Instead of limbs are not problematic, usually cold-dampness aggregation in vivo, cause passages through which vital energy circulates block, cardiovascular and cerebrovascular silting and eventually lead to limbs
It can not be controlled, and the contact between limbs and nervous centralis can be rebuild by rehabilitation training, stimulate brain neuroblastoma, restore
Perception of the brain neuroblastoma to damage location realizes the rehabilitation of limbs, barrier is moved caused by apoplexy, neurotrosis, scapulohumeral periarthritis, bone fracture
Hindering and is required for being trained using rehabilitation appliances, China's apoplexy, neurotrosis, spinal cord injury disability rate are up to 75%, and in west
Country, because of good rehabilitation, apoplexy, neurotrosis, spinal cord injury disability rate only have 30%.And existing main physical therapy
Rehabilitation appliances can only simple mechanical training, training process is uninteresting, lacks mood regulation, without upper and lower limbs synchronize forge
Refining；By the traditional remedies of rehabilitation therapist, apply acupuncture equal rehabilitations for the state of an illness of patient, treatment rate is low, and effect is difficult
With control, and the attitude of every rehabilitation therapist has differences, and is easy to cause drop to the psychology of patient.
Invention content
In order to solve the problems in the existing technology, the present invention provides a kind of physiotherapy and rehabilitation robots, in conjunction with tradition
Theory of traditional Chinese medical science, modern technologies temper prodrug cooperation, have the characteristics that intelligence degree is high, therapeutic effect is apparent.
Technical proposal that the invention solves the above-mentioned problems is：A kind of physiotherapy and rehabilitation robot, including pedestal, upper extremity exercise machine
Structure, lower extremity movement mechanism, back rub plate, system control cpu；
The pedestal left and right sides, front side are respectively equipped with a guardrail, and both sides are respectively upper extremity exercise area, lower extremity movement to pedestal up and down
Area, upper extremity exercise area are equipped with upper limb motion mechanism, rotary displaying panel, and lower extremity movement area is equipped with lower extremity movement mechanism, seat cushion；
Pedestal includes bottom plate, partition board, and partition board is connected with bottom plate, and partition board is located above bottom plate；Bottom plate upper surface center position is set
There is square groove, far-infrared thermoelectric-film is equipped in square groove, tourmaline microballoon, the first temperature are equipped on far-infrared thermoelectric-film
Degree sensor is located in square groove, and round variable-frequency motor is located in square groove；Round variable-frequency motor is connected with the first transmission shaft, circle
Shape variable-frequency motor is equipped with the first driving gear, the second driving gear, the top of round variable-frequency motor and is respectively arranged below with a pair
First driven gear, the second driven gear pass through chain between the first driving gear, the first driven gear, the second driven gear
Transmission, passes through chain drive between the second driving gear, the first driven gear, the second driven gear；
Upper limb motion mechanism includes column, reel cage, intelligent rehabilitation manipulator；Two columns are vertically connected with pedestal respectively, two
It is respectively equipped with a reel cage on the opposite face of column, is all provided in each column there are one driving device；Driving device includes first
Belt wheel, the second belt wheel, synchronous belt, the second belt wheel are located at the top of first pulley, and first pulley passes through synchronous belt with the second belt wheel
It is connected, the first pulley of each driving device is connected by second driving shaft with the second driven gear, and the second belt wheel is fixed on company
In spindle, one end of the connecting shaft stretches out column and is connected with reel cage；It is respectively equipped with an intelligent rehabilitation manipulator on each reel cage, intelligence
Manipulators in rehabilitation is detachably arranged on reel cage, and far-infrared thermoelectric-film, second temperature are equipped in intelligent rehabilitation manipulator
Sensor is located in intelligent rehabilitation manipulator；
Lower extremity movement mechanism includes foot bucket, and two foot bucket positions are between two columns；It is micro- it to be respectively provided with tourmaline in each foot bucket
Ball, third temperature sensor, foot bucket outer layer covers heating layer, each foot bucket both sides suitable for reading are equipped with retaining ring, glue are housed on retaining ring
Glutinous band；Each foot bucket bottom surface is respectively equipped with a sliding block, and sliding block is fixedly linked with foot bucket bottom surface, and sliding block side is equipped with elliptical aperture, Z
One end of zigzag motion axis is connected by rolling bearing with sliding block, and the other end is connected with the first driven gear；
Lifting gear is mutually fixed with seat cushion lower face, and back rub plate is located on rear side of seat cushion, and back rub board bottom end is fixed on bottom
On seat；Back rub plate is that tourmaline is sintered, and surface has raised semicircle massage ball, the back side to be equipped with heating layer, the 4th temperature
Sensor is spent, back rub plate top and the left and right sides are equipped with safety belt；Lifting gear include outer tube, inner tube, ball-screw,
Second motor, inner tube, ball-screw, the second motor are respectively positioned in outer tube, and the second motor shaft is connected with ball-screw, nut seat with
Ball-screw is threadedly coupled, and nut seat is connected with inner tube bottom end, and inner tube top is fixed with seat cushion；Seat cushion bottom end is equipped with position sensing
Device is electrically connected between lifting gear and system control cpu.
The guardrail is transparent plexiglass plate, and 1 meter of height, the partition board is transparent plexiglass plate.
Angle is 45 ° between described two columns and base edge.
The intelligent rehabilitation manipulator is equipped with sticking tape, and multiple driving motors, finger are equipped in intelligent rehabilitation manipulator
It is interior to be equipped with multiple force sensors, it is electrically connected between driving motor, force snesor and system control cpu.
The foot bucket is ellipse.
First temperature sensor, second temperature sensor, third temperature sensor, the 4th temperature sensor respectively with
It is electrically connected between system control cpu, the circle variable-frequency motor, the second motor are electrically connected between system control cpu respectively, institute
It states and is electrically connected between position sensor and system control cpu.
It is electrically connected between the display screen and system control cpu, rotary displaying panel is human-computer interaction interface, described remote red
It is electrically connected between outside line Electric radiant Heating Film and system control cpu.
The present invention has advantageous effect：High degree of automation of the present invention reduces the work of medical staff, improves rehabilitation
Efficiency；By pedestal, upper extremity exercise structure, lower extremity movement mechanism, back rub plate be arranged far-infrared thermoelectric-film with it is electrical
Stone microballoon makes tourmaline release far infrared, anion and micro-current after the heating, and human body cell is promoted to be turned by dormant state
Motion state is turned to, the blood circulation and metabolism of human body are accelerated；Pass through the linkage of upper limb motion mechanism, lower extremity movement mechanism
Coordinate, stimulation is generated to train of thought acupuncture point, dredging vascellum silting reduces the thrombus in cardiovascular and cerebrovascular, restores cranial nerve to limbs
Sensing capability, and have physical therapy rehabilitative action to arthritis, scapulohumeral periarthritis, cervical vertebra etc.；Pass through human-computer interaction circle of rotary displaying panel
Face, patient can both select general entertainment programme's broadcasting or interactive, and adjust the mood of oneself, can also be transported to heating temperature, upper limb
Motivation structure, lower extremity movement mechanism speed be adjusted；Rotary displaying panel patient oneself can operate, can also be by entourage
Operation.The reconstruction of hand nervous system and cerebral nervous system is promoted by continuous crawl, the folding and unfolding of intelligent rehabilitation manipulator
Contact, stimulation of the foot bucket tourmaline to step acupuncture point promote the perception of step nerve, effectively increase the independence of rehabilitation training with
Rehabilitation efficacy also improves the compactness of person taking exercise's muscle and the flexibility in joint；Back rub plate both can be to back acupuncture point
Massage can discharge far infrared again, promote the microcirculation of human body.
Description of the drawings
Fig. 1 is stereogram of the present invention.
Fig. 2 is rearview of the present invention.
Fig. 3 is sectional view of the present invention.
Fig. 4 is the enlarged drawing of part A in Fig. 3.
Fig. 5 is column sectional view of the present invention.
Fig. 6 is present invention slider structural schematic diagram.
Fig. 7 is foot barrel structure schematic diagram of the present invention.
Fig. 8 is armchair structure schematic diagram of the present invention.
Fig. 9 is control principle drawing of the present invention.
In figure：1- pedestals, 2- upper limb motion mechanisms, 3- lower extremity movements mechanism, 5-CPU control systems, 6- guardrails, 7- can revolve
Turn display screen, 8- bottom plates, 9- partition boards, 10- far-infrared thermoelectric-films, 11- tourmaline microballoons, the first temperature sensors of 12-, 13-
Round variable-frequency motor, 14- reel cages, 15- intelligent rehabilitation manipulators, 16- driving devices, 17- columns, 18- rolling bearings, 19-
One belt wheel, the second belt wheels of 20-, 21- synchronous belts, 22- second temperature sensors, 23- foot buckets, 24- third temperature sensors, 25-
Driving motor, the first transmission shafts of 26-, 27- chains, 36- second driving shafts, 37-Z zigzag motion axis, 38- retaining rings, 39- gluings
Band, 40- sliding blocks, the first driving gears of 41-, the first driven gears of 42-, the second driven gears of 43-, the second driving gears of 44-,
45- square grooves, 46- massage balls, 47- elliptical apertures, 48- back rub plates, 49- seat cushions, 50- lifting gears, 51- force snesors,
The 4th temperature sensors of 52-, 53- outer tubes, 54- inner tubes, 55- ball-screws, 56- nut seats, 57- position sensors, 58- second
Motor, 59- safety belts.
Specific implementation mode
Below in conjunction with the accompanying drawings and specific implementation mode the present invention is further illustrated.
A kind of physiotherapy and rehabilitation robot, including pedestal, upper limb motion mechanism, lower extremity movement mechanism, back rub plate, CPU
Control system；
The pedestal left and right sides, front side are respectively equipped with a guardrail, and both sides are respectively upper extremity exercise area, lower extremity movement to pedestal up and down
Area, upper extremity exercise area are equipped with upper limb motion mechanism, rotary displaying panel, and lower extremity movement area is equipped with lower extremity movement mechanism, seat cushion；
Pedestal includes bottom plate, partition board, and partition board is connected with bottom plate, and partition board is located above bottom plate；Bottom plate upper surface center position is set
There is square groove, far-infrared thermoelectric-film is equipped in square groove, tourmaline microballoon, the first temperature are equipped on far-infrared thermoelectric-film
Degree sensor is located in square groove, and round variable-frequency motor is located in square groove；Round variable-frequency motor is connected with the first transmission shaft, circle
Shape variable-frequency motor is equipped with the first driving gear, the second driving gear, the top of round variable-frequency motor and is respectively arranged below with a pair
First driven gear, the second driven gear pass through chain between the first driving gear, the first driven gear, the second driven gear
Transmission, passes through chain drive between the second driving gear, the first driven gear, the second driven gear；
Upper limb motion mechanism includes column, reel cage, intelligent rehabilitation manipulator；Two columns are vertically connected with pedestal respectively, two
It is respectively equipped with a reel cage on the opposite face of column, is all provided in each column there are one driving device；Driving device includes first
Belt wheel, the second belt wheel, synchronous belt, the second belt wheel are located at the top of first pulley, and first pulley passes through synchronous belt with the second belt wheel
It is connected, the first pulley of each driving device is connected by second driving shaft with the second driven gear, and the second belt wheel is fixed on company
In spindle, one end of the connecting shaft stretches out column and is connected with reel cage；It is respectively equipped with an intelligent rehabilitation manipulator on each reel cage, intelligence
Manipulators in rehabilitation is detachably arranged on reel cage, and far-infrared thermoelectric-film, second temperature are equipped in intelligent rehabilitation manipulator
Sensor is located in intelligent rehabilitation manipulator；
Lower extremity movement mechanism includes foot bucket, and two foot bucket positions are between two columns；It is micro- it to be respectively provided with tourmaline in each foot bucket
Ball, third temperature sensor, foot bucket outer layer covers heating layer, each foot bucket both sides suitable for reading are equipped with retaining ring, glue are housed on retaining ring
Glutinous band；Each foot bucket bottom surface is respectively equipped with a sliding block, and sliding block is fixedly linked with foot bucket bottom surface, and sliding block side is equipped with elliptical aperture, Z
One end of zigzag motion axis is connected by rolling bearing with sliding block, and the other end is connected with the first driven gear；
Lifting gear is mutually fixed with seat cushion lower face, and back rub plate is located on rear side of seat cushion, and back rub board bottom end is fixed on bottom
On seat；Back rub plate is that tourmaline is sintered, and surface has raised semicircle massage ball, the back side to be equipped with heating layer, the 4th temperature
Sensor is spent, back rub plate top and the left and right sides are equipped with safety belt；Lifting gear include outer tube, inner tube, ball-screw,
Second motor, inner tube, ball-screw, the second motor are respectively positioned in outer tube, and the second motor shaft is connected with ball-screw, nut seat with
Ball-screw is threadedly coupled, and nut seat is connected with inner tube bottom end, and inner tube top is fixed with seat cushion；Seat cushion bottom end is equipped with position sensing
Device is electrically connected between lifting gear and system control cpu.
The guardrail is transparent plexiglass plate, and 1 meter of height, the partition board is transparent plexiglass plate.
Angle is 45 ° between described two columns and base edge.
The intelligent rehabilitation manipulator is equipped with sticking tape, and multiple driving motors, finger are equipped in intelligent rehabilitation manipulator
It is interior to be equipped with multiple force sensors, it is electrically connected between driving motor, force snesor and system control cpu.
The foot bucket is ellipse.
First temperature sensor, second temperature sensor, third temperature sensor, the 4th temperature sensor respectively with
It is electrically connected between system control cpu, the circle variable-frequency motor, the second motor are electrically connected between system control cpu respectively, institute
It states and is electrically connected between position sensor and system control cpu.
It is electrically connected between the display screen and system control cpu, rotary displaying panel is human-computer interaction interface, described remote red
It is electrically connected between outside line Electric radiant Heating Film and system control cpu.
When patient carries out rehabilitation training, then the ancient prescription tea specially matched of first having a drink selects menu by rotary displaying panel,
Be arranged each positions such as intelligent rehabilitation manipulator, foot bucket, back rub plate, pedestal heating temperature and upper limb motion mechanism, under
The speed of service of limb motion；According to oneself needing after setting up training speed, display screen section, which is switched to system, to be carried
The various entertainments supplied, patient can choose at random stance or sitting posture is trained.
When patient, which is seated, to be trained, can be risen by the menu selection seat cushion on display screen with regulating seat cushion height
Or after declining, the signal of input can be passed to system control cpu by display screen, and system control cpu by analysis, sends out instruction
The work of the second motor is controlled, the second motor drives ball-screw rotation, ball-screw to become moving along a straight line up and down by rotation, utilize
Nut seat drives inner tube to move up and down, and to realize the lifting of seat cushion, after adjusting to proper height, position sensor is by seat cushion
The altitude signal away from pedestal passes to system control cpu at this time, and system control cpu after analysis, sends out instruction control second
Motor is stopped.
When intelligent rehabilitation manipulator, foot bucket or rear far infrared back and massaging plate temperature are more than setting value, temperature sensor
Temperature signal at this time can be passed to system control cpu, system control cpu after analysis, sends out instruction far-infrared electric
Hotting mask stops heating work.
Many other changes and remodeling can be made by not departing from the spirit and scope of the present invention.It should be appreciated that the present invention is not
It is limited to specific embodiment, the scope of the present invention is defined by the following claims.
Claims (7)
1. a kind of physiotherapy and rehabilitation robot, which is characterized in that pressed including pedestal, upper limb motion mechanism, lower extremity movement mechanism, back
Rub plate, system control cpu；
The pedestal left and right sides, front side are respectively equipped with a guardrail, and both sides are respectively upper extremity exercise area, lower extremity movement to pedestal up and down
Area, upper extremity exercise area are equipped with upper limb motion mechanism, rotary displaying panel, and lower extremity movement area is equipped with lower extremity movement mechanism, seat cushion；
Pedestal includes bottom plate, partition board, and partition board is connected with bottom plate, and partition board is located above bottom plate；Bottom plate upper surface center position is set
There is square groove, far-infrared thermoelectric-film is equipped in square groove, tourmaline microballoon, the first temperature are equipped on far-infrared thermoelectric-film
Degree sensor is located in square groove, and round variable-frequency motor is located in square groove；Round variable-frequency motor is connected with the first transmission shaft, circle
Shape variable-frequency motor is equipped with the first driving gear, the second driving gear, the top of round variable-frequency motor and is respectively arranged below with a pair
First driven gear, the second driven gear pass through chain between the first driving gear, the first driven gear, the second driven gear
Transmission, passes through chain drive between the second driving gear, the first driven gear, the second driven gear；
Upper limb motion mechanism includes column, reel cage, intelligent rehabilitation manipulator；Two columns are vertically connected with pedestal respectively, two
It is respectively equipped with a reel cage on the opposite face of column, is all provided in each column there are one driving device；Driving device includes first
Belt wheel, the second belt wheel, synchronous belt, the second belt wheel are located at the top of first pulley, and first pulley passes through synchronous belt with the second belt wheel
It is connected, the first pulley of each driving device is connected by second driving shaft with the second driven gear, and the second belt wheel is fixed on company
In spindle, one end of the connecting shaft stretches out column and is connected with reel cage；It is respectively equipped with an intelligent rehabilitation manipulator on each reel cage, intelligence
Manipulators in rehabilitation is detachably arranged on reel cage, and far-infrared thermoelectric-film, second temperature are equipped in intelligent rehabilitation manipulator
Sensor is located in intelligent rehabilitation manipulator；
Lower extremity movement mechanism includes foot bucket, and two foot bucket positions are between two columns；It is micro- it to be respectively provided with tourmaline in each foot bucket
Ball, third temperature sensor, foot bucket outer layer covers heating layer, each foot bucket both sides suitable for reading are equipped with retaining ring, glue are housed on retaining ring
Glutinous band；Each foot bucket bottom surface is respectively equipped with a sliding block, and sliding block is fixedly linked with foot bucket bottom surface, and sliding block side is equipped with elliptical aperture, Z
One end of zigzag motion axis is connected by rolling bearing with sliding block, and the other end is connected with the first driven gear；
Lifting gear is mutually fixed with seat cushion lower face, and back rub plate is located on rear side of seat cushion, and back rub board bottom end is fixed on bottom
On seat；Back rub plate is that tourmaline is sintered, and surface has raised semicircle massage ball, the back side to be equipped with heating layer, the 4th temperature
Sensor is spent, back rub plate top and the left and right sides are equipped with safety belt；Lifting gear include outer tube, inner tube, ball-screw,
Second motor, inner tube, ball-screw, the second motor are respectively positioned in outer tube, and the second motor shaft is connected with ball-screw, nut seat with
Ball-screw is threadedly coupled, and nut seat is connected with inner tube bottom end, and inner tube top is fixed with seat cushion；Seat cushion bottom end is equipped with position sensing
Device is electrically connected between lifting gear and system control cpu.
2. a kind of physiotherapy and rehabilitation robot as described in claim 1, which is characterized in that the guardrail is transparent organic glass
Plate, 1 meter of height, the partition board are transparent plexiglass plate.
3. a kind of physiotherapy and rehabilitation robot as described in claim 1, which is characterized in that described two columns and base edge it
Between angle be 45 °.
4. a kind of physiotherapy and rehabilitation robot as described in claim 1, which is characterized in that the intelligent rehabilitation manipulator is equipped with
Sticking tape, intelligent rehabilitation manipulator is interior to be equipped with multiple driving motors, multiple force sensors is equipped in finger, driving motor, power pass
It is electrically connected between sensor and system control cpu.
5. a kind of physiotherapy and rehabilitation robot as described in claim 1, which is characterized in that the foot bucket is ellipse.
6. a kind of physiotherapy and rehabilitation robot as described in claim 1, which is characterized in that the display screen and system control cpu
Between be electrically connected, rotary displaying panel is human-computer interaction interface, is electrically connected between the far-infrared thermoelectric-film and system control cpu
It connects.
7. a kind of physiotherapy and rehabilitation robot as described in claim 1, which is characterized in that first temperature sensor, second
Temperature sensor, third temperature sensor, the 4th temperature sensor are electrically connected between system control cpu respectively, the circle
Variable-frequency motor, the second motor are electrically connected between system control cpu respectively, between the position sensor and system control cpu
Electrical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810573783.0A CN108714103A (en) | 2018-06-06 | 2018-06-06 | A kind of physiotherapy and rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810573783.0A CN108714103A (en) | 2018-06-06 | 2018-06-06 | A kind of physiotherapy and rehabilitation robot |
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| CN108714103A true CN108714103A (en) | 2018-10-30 |
Family
ID=63911829
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| CN201810573783.0A Pending CN108714103A (en) | 2018-06-06 | 2018-06-06 | A kind of physiotherapy and rehabilitation robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112294594A (en) * | 2020-01-15 | 2021-02-02 | 南通市第一人民医院 | Upper limb rehabilitation training device convenient for adjusting swing arm track |
| CN112674987A (en) * | 2020-12-28 | 2021-04-20 | 吉林大学 | Device is tempered in activity of cardiovascular disease patient's low limbs |
| CN115212452A (en) * | 2022-08-01 | 2022-10-21 | 广州青花瓷健康科技有限公司 | Intelligent physiotherapy instrument based on pulse micro-current and physiotherapy method thereof |
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Application publication date: 20181030 |