CN108938330B - Multifunctional shoulder joint rehabilitation training medical robot - Google Patents

Abstract

A multifunctional shoulder joint rehabilitation training medical robot is disclosed, comprising: a base assembly; a pitching mechanism, including a height-adjusting electric push rod, a hinge frame and an electric pitching push rod; a rotating box, two arms on the open side of the hinge frame They are respectively rotatably connected to the two opposite sides of the rotating box; the drive shaft includes a first shaft section and a second shaft section, the first shaft section can be rotatably passed through the rotating box, and the second shaft The end can be slidably inserted into the first end of the first shaft segment; the training mechanism includes a pair of scissors, a pusher and a bidirectional electric push rod arranged on the second shaft segment, and the pair of scissors includes two scissor arms, two Each first end of each scissor arm is respectively provided with a chute, the two-way electric push rod is fixed on the second shaft section, and the ends of the two telescopic rods of the two-way electric push rod are respectively screwed to be able to rotate up and down to be inserted or disengaged. The threaded pin of the chute, and the pusher is arranged between the two shaft segments. The robot has a wide range of applications, good training effect, and improved patient experience.

Description

Multifunctional shoulder joint rehabilitation training medical robot

technical field

The invention relates to the technical field of intelligent rehabilitation medical equipment, and more particularly, to a multifunctional shoulder joint rehabilitation training medical robot.

Background technique

Rehabilitation training is an important means of rehabilitation medicine, mainly through training this method to restore the normal self-care function of the patient's limb, and use the training method to restore the disabled person's physical and psychological rehabilitation as much as possible to achieve the therapeutic effect. With the progress of society and the development of medicine, rehabilitation medicine engineering has received widespread attention. Among the current rehabilitation methods, sports rehabilitation training is one of the effective methods. The upper extremity is an important functional unit of the human body in people's production and life, and the dysfunction of the upper extremity, especially the dysfunction of the shoulder joint, occurs frequently. The rapid rehabilitation of shoulder joint diseases that are frequently encountered in society requires the help of relevant rehabilitation trainers to be effectively carried out.

The structure and function of the existing shoulder joint rehabilitation trainer is relatively simple, which makes the selection of training mode and training method relatively simple, and it is impossible to carry out appropriate training according to the conditions of different patients and different rehabilitation stages, thus making the existing training device suitable for training. Small, the training is not comprehensive enough, the training effect is not good, and the degree of intelligence is not high, which affects the patient's experience.

SUMMARY OF THE INVENTION

In view of this, the purpose of the present invention is to provide a wide range of applications, with a variety of training modes and training forms, and can perform comprehensive rehabilitation training on the muscles and nerves of the shoulder joint, thereby greatly improving the level and effect of the shoulder joint rehabilitation training, And a multifunctional shoulder joint rehabilitation training medical robot that greatly improves the patient's experience to solve the problems existing in the prior art.

According to the present invention, a multifunctional shoulder joint rehabilitation training medical robot is provided, including:

base assembly;

The pitching mechanism includes a height-adjusting electric push rod, a hinge frame and a pitching electric push rod. The tail end of the outer cylinder of the height-adjusting electric push rod is fixed on the base assembly. The hinge frame is a U-shaped structure. The end of the telescopic rod for adjusting the electric push rod is fixedly connected to the hinge frame, and the tail end of the outer cylinder of the pitch electric push rod is rotatably connected to the base assembly;

The rotating box has a cuboid structure, and the two support arms on the open side of the hinge frame are respectively rotatably connected to the first side and the second side of the rotating box, and the first and second sides are arranged opposite to each other, so The end of the telescopic rod of the pitch electric push rod is rotatably connected to the bottom wall of the rotating box;

The drive shaft includes a first shaft section and a second shaft section, the first shaft section can be rotatably passed through the rotating box, and the first end of the first shaft section is exposed to the third side surface of the rotating box , the second end of the first shaft section exposes the fourth side of the rotating box, the third side and the fourth side are opposite and parallel to each other, the first side, the third side, the second side and the The fourth side surfaces are adjacent to each other in sequence and form a sub-shaped structure, and the second end of the second shaft segment can be slidably inserted on the first end of the first shaft segment;

A training mechanism includes a pair of scissors, a pusher and a two-way electric push rod, the pair of scissors includes a first scissor arm and a second scissor arm that are used together, the first scissor arm and the second scissor arm It is rotatably arranged on the end of the first end of the second shaft segment through a common rotating shaft, and the first ends of the first scissor arm and the second scissor arm are respectively provided with sliding grooves. The outer cylinder of the electric push rod is fixed on the second end of the second shaft section, the ends of the two telescopic rods of the two-way electric push rod are respectively provided with threaded holes, and each of the threaded holes is screwed with threads Each of the threaded pins rotates up and down, so as to be inserted into the corresponding chute or disengaged from the chute, one end of the pusher is connected to the end face of the first end of the first shaft segment, and the other end is connected to the On the end face of the first end of the second shaft segment, the pusher drives the second shaft segment to slide back and forth relative to the first shaft segment,

A wrist fixing sleeve is provided on each second end of the first scissor arm and the second scissor arm, and the wrist fixing sleeve is rotatably arranged on the corresponding scissor arm.

Preferably, the height-adjusting electric push rod is used to adjust the overall height of the rotating box, and the pitching electric push rod is used to adjust the pitch angle of the rotating box.

Preferably, a connecting rod is provided on the hinged frame, one end of the connecting rod is connected with the hinged frame, and the other end is provided with a connecting nut, and the hinged frame is electrically pushed with the height adjustment through the connecting nut. The ends of the telescopic rod of the rod are connected.

Preferably, a camera is provided on the top wall of the rotating box for collecting image information of patient training.

Preferably, the pusher is selected as an electric push rod, a first connecting plate is provided on the end surface of the first end of the first shaft segment, and a second connection plate is provided on the end surface of the first end of the second shaft segment plate,

The tail end of the outer cylinder of the electric push rod is connected to the first shaft section through a first connecting plate, and the end of the telescopic rod of the electric push rod is connected to the second shaft section through a second connecting plate.

Preferably, it also includes a drive motor mounted on the fourth side wall of the rotating box, and a drive clutch,

The drive motor is in driving connection with the second end of the first shaft segment via the drive clutch, wherein the power output shaft of the drive motor is connected with the power input shaft of the drive clutch, and the power of the drive clutch An output shaft is connected to the second end of the drive shaft.

Preferably, a mounting bracket is fixed on the fourth side wall of the rotating box, and the driving motor is fixed on the rotating box through the mounting bracket.

Preferably, an elastic member is connected to the second end of the first scissor arm and the second scissor arm, and both ends of the elastic member are respectively connected to the first scissor arm and the second scissor arm .

Preferably, the elastic member is selected as an elastic cord, and two ends of the elastic cord are respectively connected to the first scissor arm and the second scissor arm in a detachable manner.

Preferably, the threaded pin comprises a rod body and a screwing hand wheel, the rod body comprises a threaded part and a polished rod part arranged in sequence from the first end to the second end along the axial direction, and the screwing hand wheel is provided on the On the end of the threaded part,

Wherein, the threaded portion is used to screw the threaded pin into the threaded hole of the corresponding telescopic rod of the bidirectional electric push rod, and the polished rod portion is used to be inserted into the corresponding scissor arm chute.

Beneficial effects:

The multifunctional shoulder joint rehabilitation training medical robot in the present invention can perform various modes and forms of training for the patient according to the needs. And choose to carry out passive training or active training, can make a variety of training actions during training, so as to carry out all-round training of various training methods for patients. The rehabilitation training robot has a wide range of applications and a high degree of intelligence, and can perform comprehensive rehabilitation training on the muscles and nerves of the shoulder joint, thereby greatly improving the level and effect of shoulder joint rehabilitation training, and greatly improving the patient experience.

Description of drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following description of embodiments of the present invention with reference to the accompanying drawings.

1-2 are schematic diagrams showing the three-dimensional structure of a medical robot for multifunctional shoulder joint rehabilitation training according to an embodiment of the present invention from different perspectives.

FIG. 3 shows a top view of a multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention.

FIG. 4 shows a schematic diagram of the structure of part A in FIG. 1 .

FIG. 5 shows a schematic diagram of the structure of part B in FIG. 2 .

6-7 are schematic diagrams showing the three-dimensional structure of the base assembly of the multifunctional shoulder joint rehabilitation training medical robot according to the embodiment of the present invention from different perspectives.

FIG. 8 shows a schematic three-dimensional structural diagram of an articulated frame of a multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention.

9-10 are schematic diagrams showing the three-dimensional structure of the mounting bracket of the multifunctional shoulder joint rehabilitation training medical robot according to the embodiment of the present invention from different perspectives.

11-12 are schematic diagrams showing the three-dimensional structure of the rotating box of the multifunctional shoulder joint rehabilitation training medical robot according to the embodiment of the present invention from different perspectives.

13-14 are schematic diagrams showing the three-dimensional structure of the first shaft segment of the drive shaft of the multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention from different perspectives.

15-16 are schematic diagrams showing the three-dimensional structure of the second shaft segment of the drive shaft of the multifunctional shoulder joint rehabilitation training medical robot according to the embodiment of the present invention from different perspectives.

17-18 are schematic diagrams showing the three-dimensional structure of the first scissor arm of the drive shaft of the multifunctional shoulder joint rehabilitation training medical robot according to the embodiment of the present invention from different perspectives.

19-20 are schematic diagrams showing the three-dimensional structure of the second scissor arm of the drive shaft of the multifunctional shoulder joint rehabilitation training medical robot according to the embodiment of the present invention from different perspectives.

Fig. 21 shows a schematic three-dimensional structure diagram of a first connecting plate of a multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention.

Fig. 22 shows a schematic three-dimensional structure diagram of the second connecting plate of the multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention.

23-24 are schematic diagrams showing the three-dimensional structure of the bidirectional electric push rod of the multifunctional shoulder joint rehabilitation training medical robot according to the embodiment of the present invention from different perspectives.

Fig. 25 shows a schematic three-dimensional structural diagram of a threaded pin of a multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention.

FIG. 26 shows a schematic three-dimensional structure diagram of an arm fixing sleeve of a multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention.

FIG. 27 shows a schematic diagram of a control system of a multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention.

In the figure: base assembly 1, base 11, support assembly 12, retractor 121, adjustable support legs 122, height adjustment electric push rod 21, hinge frame 22, pitch electric push rod 23, Rotation box 3, camera 31, Through shaft hole 32, mounting bracket 33, hinge plate 34, first shaft segment 41, sliding hole 411, boss portion 412, second shaft segment 42, sliding column portion 421, plane portion 422, training mechanism 5, first shear Fork arm 51, second scissor arm 52, driving rod part 501, chute 5011, connecting rod part 502, execution rod part 503, flapping rod part 504, buffer pad 505, two-way electric push rod 53, push-pull motor 531, common Rotating shaft 54, wrist fixing sleeve 55, support bracket 551, binding strap 552, elastic member 56, threaded pin 57, threaded part 571, polished rod part 572, screw handle 573, pusher 58, first connecting plate 581, second The connecting plate 582 , the driving motor 63 , the driving clutch 64 , the first encoder 71 , the second encoder 72 , the processor 74 , the wireless data transmitting module 75 , the wireless data receiving module 76 , and the external terminal 100 .

Detailed ways

Various embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. In the various figures, the same elements are designated by the same or similar reference numerals. For the sake of clarity, various parts in the figures have not been drawn to scale.

As shown in FIGS. 1 to 27 , the present invention provides a multifunctional shoulder joint rehabilitation training medical robot, which includes a base 11 , a pitching mechanism, a rotating box 3 , a drive shaft and a training mechanism 5 . The drive shaft is rotatably mounted on the rotating box 3 , and the pitching mechanism is arranged on the base 11 to support the rotating box 3 and adjust the overall height and pitch angle of the rotating box 3 . The training mechanism 5 is arranged on the drive shaft, and is used to perform various modes and forms of training on the patient.

Referring to FIGS. 6 and 7 , in order to increase the stability of the robot during operation, the main body of the base 11 can be made of a material with a relatively high density such as cast iron. Of course, the weight of the base 11 can also be increased by setting a counterweight. . The base 11 is provided with a plurality of universal wheels, and the universal wheels are universal wheels with a locking function, so that the rehabilitation training robot can be moved easily. Further, in order to increase the stability of the base 11 , support assemblies 12 are provided on the four end surfaces of the base 11 , and each support assembly 12 includes a retractor 121 and an adjustable support leg 122 . The base 11 and the support assembly 12 form the base 11 assembly 1 . Each retractor 121 is arranged horizontally, its outer cylinder is fixed on the end surface of the base 11, and the adjustable support legs 122 are vertically arranged and screwed on the end of the telescopic rod of the retractor 121, and can be rotated up and down. Before the robot is used, the retractors 121 of the four support assemblies 12 are extended, and the adjustable support legs 122 are screwed down to the base 11 to form a support structure, thereby ensuring the stability of the robot during operation.

The pitch mechanism includes a height adjustment electric push rod 21, a hinge frame 22 and a pitch electric push rod 23. The outer cylinder tail end of the height adjustment electric push rod 21 is fixed on the base 11 assembly 1, and the hinge frame 22 is U-shaped structure, the end of the telescopic rod of the height-adjusting electric push rod 21 is fixedly connected to the hinge frame 22 , and the tail end of the outer cylinder of the pitch electric push rod 23 is rotatably connected to the base 11 assembly 1 . The height adjustment electric push rod 21 is used to adjust the overall height of the rotating box 3 , and the pitch electric push rod 23 is used to adjust the pitch angle of the rotating box 3 . The hinged frame 22 is provided with a connecting rod, one end of the connecting rod is connected with the hinged frame 22, and the other end is provided with a connecting nut, and the hinged frame 22 is electrically pushed with the height adjustment through the connecting nut. The ends of the telescopic rods of the rod 21 are connected.

Referring to FIGS. 11 and 12 , the rotating box 3 has a cuboid structure, and the two arms on the opening side of the hinge frame 22 are rotatably connected to the first side and the second side of the rotating box 3 respectively. The side surface and the second side surface are oppositely arranged, and the bottom wall of the rotating box 3 is provided with a hinge plate 34 , and the end of the telescopic rod of the pitch electric push rod 23 is rotatably connected to the hinge plate 34 . Wherein, the hinge frame 22 is arranged close to the fourth side wall of the rotating box 3 , and the hinge plate 34 is arranged against the third side wall of the rotating box 3 . The rotating case 33 is provided with a through shaft hole 32 , the through shaft hole 32 is a through hole, and the through shaft hole 32 penetrates from the third side surface to the fourth side surface of the rotating case 3 . Bearings are respectively installed at both ends of the through shaft hole 32 to form a bearing pair. The first shaft section 41 of the drive shaft is supported on the bearing pair and is rotatable relative to the rotating box 3 through the bearing pair. A camera 31 is provided on the top wall of the rotating box 3 for collecting image information of patient training and transmitting the collected image signal to the external terminal 100 .

The drive shaft includes a first shaft section 41 and a second shaft section 42, the first shaft section 41 is rotatably passed through the rotating box 3, and the first end of the first shaft section 41 is exposed to the rotation The third side of the box 3, the second end of the first shaft section 41 exposes the fourth side of the rotating box 3, the third side and the fourth side are opposite and parallel to each other, the first side, The third side surface, the second side surface and the fourth side surface are adjacent to each other to form a sub-shaped structure, and the second end of the second shaft segment 42 can be slidably inserted on the first end of the first shaft segment 41 .

The training mechanism 5 includes a pair of scissors, a pusher 58 and a two-way electric push rod 53. The pair of scissors includes a first scissor arm 51 and a second scissor arm 52 that are used together. The first scissor arm 51 The first scissor arm 52 and the second scissor arm 52 are rotatably arranged on the end of the first end of the second shaft segment 42 through the shared shaft 54 . The first scissor arm 51 and the second scissor arm 52 The ends are respectively provided with chute 5011, the outer cylinder of the two-way electric push rod 53 is fixed on the second end of the second shaft section 42, and the ends of the two telescopic rods of the two-way electric push rod 53 are respectively A threaded hole is provided, and a threaded pin 57 is screwed on each of the threaded holes. One end of the pusher 58 is connected to the end surface of the first end of the first shaft segment 41 , and the other end is connected to the end surface of the first end of the second shaft segment 42 . The second shaft segment 42 reciprocates sliding relative to the first shaft segment 41 .

In this embodiment, the pusher 58 is selected as an electric push rod, and the tail end of the outer cylinder of the electric push rod is connected to the end surface of the first end of the first shaft section 41 through the first connecting plate 581 . The end of the telescopic rod of the push rod is connected to the end surface of the first end of the second shaft segment 42 via the second connecting plate 582 . The first scissor arm 51 and the second scissor arm 52 are respectively provided with wrist fixing sleeves 55 on the second ends, and the wrist fixing sleeves 55 are rotatably arranged on the corresponding scissor arms. The threaded pins 57 are arranged in parallel with the common rotating shaft 54 .

Referring to FIGS. 17 to 20 , in particular, the first scissor arm 51 and the second scissor arm 52 are substantially symmetrical in structure. The two scissor arms respectively include a driving rod part 501 , a connecting rod part 502 and an executing rod part 503 which are in the same plane with each other. connection, the driving rod part 501 and the execution rod part 503 are arranged parallel to each other. The chute 5011 is provided on the driving rod portion 501 and extends along the length direction of the driving rod portion 501 . Wherein, the end of the execution rod part 503 is further provided with a tapping rod part 504, the tapping rod part 504 is used for tapping and massaging the shoulder joint of the patient, and one end of the tapping rod part 504 is connected to the execution rod On the part 503, the other end is bent relative to the execution rod part 503, and the beat rod part 504 is inclined by a preset angle relative to the common plane where the driving rod part 501, the connecting rod part 502 and the execution rod part 503 are located. The chute 5011 is provided on the driving rod portion 501 and extends along the length direction of the driving rod portion 501 .

In this embodiment, the pusher 58 and the bidirectional electric push rod 53 are respectively located on opposite sides of the second shaft section 42 , and the flapping rod 504 is bent in a direction away from the pusher 58 . Wherein, the included angle α between the beating rod portion 504 and the execution rod portion 503 is 120°-155°, which is selected as 150° here. Further, a buffer pad 505 is provided at the bottom of the flapping rod part 504, and the buffer pad 505 can be made of a material such as medical rubber, so as to achieve flexible contact with the patient's shoulder joint. The wrist fixing sleeve 55 is arranged on the beater rod 504 .

Further, elastic members 56 are respectively connected to the execution rods 503 of the first scissor arm 51 and the second scissor arm 52 , and both ends of the elastic member 56 are respectively connected to the first scissor arm 51 and the second scissor arm 52. The elastic member 56 is an elastic cord, which is used to provide the load force during active training of the patient. The two ends of the elastic rope are respectively connected to the first scissor arm 51 and the second scissor arm 52 in a quick detachable manner. The specific quick detachable connection method may be a snap connection or a hook connection.

Referring to FIG. 25 , the threaded pin includes a rod body and a screwing handwheel. The rod body includes a threaded portion 571 and a polished rod portion 572 that are sequentially arranged from the first end to the second end along the axial direction. The screwing handle 573 is provided on the thread The threaded portion 571 is used to screw the threaded pin into the threaded hole of the corresponding telescopic rod of the two-way electric push rod 53, and the polished rod portion 572 is used to insert the corresponding shear Inside the chute 5011 of the fork arm.

Further, the rehabilitation training robot also includes a drive motor 63 installed on the rotating box 3 and a drive clutch 64 . The drive motor 63 is drive-connected with the second end of the first shaft segment 41 via the drive clutch 64 , wherein the power output shaft of the drive motor 63 is connected with the power input shaft of the drive clutch 64 , so The power output shaft of the drive clutch 64 is connected with the second end of the first shaft segment 41 . A mounting bracket 33 is fixed on the fourth side wall of the rotating box 3 , and the driving motor 63 is fixed on the fourth side wall of the rotating box 33 through the mounting bracket 33 . In this embodiment, the power output shaft of the drive motor 63 and the power input shaft of the drive clutch 64 are connected via a coupling, and the power output shaft of the drive clutch 64 is connected to the first shaft section 41 . The second ends are connected by a coupling. The driving clutch 64 is specifically selected as an electromagnetic clutch, and the driving motor 63 can be selected as a servo motor or a stepping motor with its own deceleration mechanism.

Referring to FIGS. 13 to 16 , in this embodiment, a circular sliding hole 411 is formed on the end surface of the first end of the first shaft segment 41 , and a boss portion 412 is formed on the second end. The boss portion 412 It is used for limiting and exposed on the third side of the rotating box 3 . The second end of the second shaft section 42 is provided with a sliding column portion 421 , and the first end is provided with a flat surface portion 422 . The sliding column portion 421 matches the shape and size of the sliding hole 411 and can be slidably inserted in the sliding hole 411 Inside, the plane portion 422 is used to fix the two-way electric push rod 53 . Among them, the common rotating shaft 54 of the first scissor arm 51 and the second scissor arm 52 is set on the end of the plane, and the outer cylinder of the two-way electric push rod 53 is fixed on the plane part 422 through its fixing seat, and is located on the common rotating shaft 54 and the second side wall of the rotating box 3 . The two-way electric push rod 53 can be specifically selected as a two-way electric push rod 53, so that the two telescopic rods thereof can be simultaneously extended toward both sides.

In this embodiment, along the extending direction of the connecting rod portion 502, the ratio of the distance between the common rotating shaft 54 and the driving rod portion 501 to the distance between the common rotating shaft 54 and the executing rod portion 503 is 1:1.5-1:3.5, For example, 1:2 is selected, so that when the two-way electric push rod 53 of the training mechanism 5 is within a small range of motion, the two scissor arms can achieve a larger range of motion, realize the rapid response of the scissor arms, and make The rehabilitation training robot has a more compact structure.

26, the wrist fixing sleeve 55 includes a support bracket 551 and a binding band 552, the support bracket 551 is a semi-ring structure, one end of the binding band 552 is connected to one end of the supporting end, and the other end of the binding band 552 is provided with There is a sub-sticker with Velcro, and the other end of the support bracket 551 is provided with a mother-sticker with Velcro, and the binding of the patient's wrist is realized by the cooperation of the sub-paste and the mother-in-law. The support bracket 551 can be made of medical plastic material, and a medical rubber material is provided in the inner ring to realize flexible contact with the wrist. The outer peripheral wall of the support bracket 551 opposite to its opening is provided with a rotating shaft, and the rotating shaft can be rotatably inserted into the outer surface of the flapping rod 504 corresponding to the scissor arm, and the rotating shafts of the two support brackets 551 are coaxially arranged. The rotating shaft of the bracket 551 and the common rotating shaft 54 of the two scissor arms are perpendicular to each other.

FIG. 27 shows a schematic diagram of a control system of a multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention. As shown in FIG. 27 , the control system includes a processor 74 , a wireless data transmission module 75 , a wireless data reception module 76 , a drive motor 63 , a height adjustment electric push rod 21 , a pitch electric push rod 23 , a drive clutch 64 , and a push-pull motor 531 , the first encoder 71 , the camera 31 and the second encoder 72 . The processor 74 , the wireless data transmitting module 75 and the wireless data receiving module 76 are arranged in the rotating box 3 , and an inspection port can be opened on the rotating box 3 for overhauling the electronic control components. In this embodiment, the push-pull motor 531 is a driving device of the two-way electric push rod 53, and the number is one. The push-pull motor 531 is driven by its own transmission mechanism to drive the two telescopic rods to expand and contract. The first encoder 71 is installed on the bidirectional electric push rod 53 and is used to measure the rotational speed and rotation angle of the push-pull motor 531 . The second encoder 72 is installed on the driving motor 63 for measuring the rotational speed and rotation angle of the driving motor 63 . The wireless data transmitting module 75, the wireless data receiving module 76, the drive motor 63, the height adjustment electric push rod 21, the pitch electric push rod 23, the drive clutch 64, the push-pull motor 531, the first encoder 71 and the second encoder 72 are respectively connected with the The processor 74 is electrically connected, and the wireless data transmitting module 75 and the wireless data receiving module 76 are respectively electrically connected with the external terminal 100 . The external terminal 100 can be any communication device that can realize wireless communication, such as a mobile phone and a tablet computer. The first encoder 71 receives the rotation speed and rotation angle signals from the motor, and transmits them to the processor 74, and the processor 74 obtains the displacement and speed signals of the telescopic rod of the electric push rod after calculation. The second encoder 72 receives the rotation speed and rotation angle signals from the driving motor 63 and transmits them to the processor 74 , and the processor 74 obtains the rotation speed and rotation angle signals of the driving motor 6363 after calculation. The processor 74 receives the control command from the external terminal 100, and controls the drive motor 63, the drive clutch 64, the push-pull motor 531, the height adjustment electric push rod 21 and the pitch electric push rod 23 to make a preset action. During the action, the processor 74 Relevant parameters from the first encoder 71 and the second encoder 72 are simultaneously received. After the processor 74 performs comprehensive processing and analysis on the received information, it continuously adjusts and performs preset actions according to the requirements of external control instructions.

In this embodiment, the APP of the rehabilitation training robot can be installed in the external terminal 100, and the movements of the rehabilitation training robot can be controlled by operating the APP. In the APP interface, there are two modes: patient sitting and lying training mode and patient vertical training mode according to the training posture of the patient. According to the active and passive training situation, there are active training mode options and passive training mode options. There are options such as single scissor arm swing, double scissor arm swing, double scissor arm swing and shoulder massage. The single scissor arm swing option is that one scissor arm swings around the shared shaft 54 under the push of the bidirectional electric push rod 53, and the double scissor arm swing option is that the two scissor arms are locked, and only the drive shaft drives the overall rotation of the training structure , the swinging option of the double scissor arm is that the two scissor arms swing respectively around the common rotating shaft 54 under the push of the bidirectional electric push rod 53 . The shoulder joint slapping massage option is that the pusher 58 continuously extends outward and inward to slap the corresponding two shoulder joints, thereby promoting the blood circulation of the shoulder joints, promoting nerve development, and reducing the muscle tension of the shoulder joints. In addition, the APP interface also has rehabilitation training levels, which are set to multiple levels according to the severity of the patient. For example, six levels are set in order according to the severity of self-strength and weakness, that is, the first-level rehabilitation training to the sixth-level rehabilitation training options. Each level of rehabilitation training corresponds to the frequency and range of motion of different training institutions 5 to suit the patient's condition. The first-level rehabilitation training option is the lowest training option, which is suitable for severe patients with little active training ability. Patients can choose the corresponding training mode and training level according to their needs. For example, for severe patients with almost no active training ability, because their muscles cannot make movements voluntarily, passive training mode should be adopted at this time, and the first-level rehabilitation training option should be selected accordingly to carry out training suitable for the patient's situation. The external mobile terminal can be controlled by auxiliary personnel, such as medical staff, and can also be controlled by the patient himself. The specific settings of the APP can be made as needed, and will not be repeated here.

The rehabilitation training robot can realize various modes and forms of training, and the specific training methods can be adjusted as needed. When the patient cannot stand due to hemiplegia, or when the training is completed and relaxed, the patient sitting and lying training mode can be used. Supine and prone, shoulder massage can be performed to relax when prone, and the height adjustment electric push rod 21 and the pitch electric push rod 23 can be used to adjust the overall height of the rotating box 3 and the pitch angle in the sitting position to adapt to different heights and pose of the patient. For shoulder joint tapping massage, the distance between the tapping rods 504 on the two scissor arms can be adjusted to match the distance between the two shoulder joints of the patient through the bidirectional electric push rod 53, and then the driving shaft rotates to adjust the distance between the two shoulder joints of the patient. The two shoulder joints are alternately slapped and massaged, or the entire scissor pair is pushed and pulled by the pusher 58 to simultaneously slapped and massaged two pairs of two shoulder joints; in the sitting and lying training mode, the patient lies under the rotating box 3 and makes the shoulders in the position. At an appropriate position, the pitching mechanism drives the entire training mechanism 5 to tilt toward the patient to a preset angle, so as to realize the patient's rehabilitation training, such as active training and passive training. When the patient's two shoulder joints need to be passively trained at the same time, the double scissor arm rotation option in the passive training mode is selected through the external terminal 100, and the two threaded pins 57 are screwed down into the corresponding chute 5011, thereby Lock the two scissor arms, and then bind the two wrists of the patient's left and right hands in the two wrist fixing sleeves 55 respectively, the external terminal 100 sends corresponding control commands, and the processor 74 controls the driving clutch 64 after receiving the control commands. The pull-in makes the drive motor 63 drive the connection with the drive shaft, the processor 74 controls the drive motor 63 to drive the drive shaft to rotate back and forth at a preset angle, and drives the entire training mechanism 5 to rotate, and the two scissor arms drive the two arms to control the steering wheel respectively. The cross swing of the patient can realize the cross rotation training of the two shoulder joints of the patient; when the patient's shoulder joints need to be trained separately, only one wrist can be bound in the corresponding wrist fixing sleeve 55, and the drive shaft Drive the shoulder joint to perform 360° rotation training. When the double scissor arm swing option is selected, the two scissor arms are rotated to the horizontal plane, the two scissor arms are locked by two threaded pins 57, and then the two wrists are bound in the wrist fixing sleeve 55, and the two The scissor arm performs a scissor motion in the horizontal plane, thereby performing external swing and adduction training of the shoulder joint. When the single scissor arm swing option is selected, the patient is located in front of the training mechanism 5 and faces the training mechanism 5, the drive shaft is controlled to drive the two scissor arms to rotate into the vertical plane, and the upper scissor arm is connected to the upper one through the threaded pin 57. Lock, then bind the wrist of the shoulder joint to be trained in the arm fixing sleeve of a scissor arm on the upper part, and the two-way electric push rod 53 drives the shoulder joint to perform forward rotation training; For the training mechanism 5, the wrist is bound in the arm fixing sleeve of a scissor arm at the lower part, and the back rotation training of the shoulder joint can be performed at this time.

When the active training mode is selected by the external terminal 100, the driving clutch 64 is disengaged, the two threaded pins 57 are separated from the two scissor arms, and the two scissor arms are connected to the elastic member 56, and the patient's active training can be performed at this time. Exercises such as swinging and adducting of both shoulders under load, and steering wheel-style cross-rotation of both shoulders.

The multi-functional shoulder joint rehabilitation training medical robot can perform various modes and methods of training on the patient's shoulder joint as required, which will not be repeated here.

The multifunctional shoulder joint rehabilitation training medical robot in the present invention can perform various modes and forms of training for the patient according to the needs. And choose to carry out passive training or active training, can make a variety of training actions during training, so as to carry out all-round training of various training methods for patients. The rehabilitation training robot has a wide range of applications and a high degree of intelligence, and can perform comprehensive rehabilitation training on the muscles and nerves of the shoulder joint, thereby greatly improving the level and effect of shoulder joint rehabilitation training, and greatly improving the patient experience.

It should be noted that, in this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

Finally, it should be noted that: obviously, the above-mentioned embodiments are only examples for clearly illustrating the present invention, and are not intended to limit the implementation manner. For those of ordinary skill in the art, changes or modifications in other different forms can also be made on the basis of the above description. There is no need and cannot be exhaustive of all implementations here. However, the obvious changes or changes derived from this are still within the protection scope of the present invention.

Claims (10)

1. A multi-functional shoulder joint rehabilitation training medical robot, its characterized in that includes:

a base assembly;

the pitching mechanism comprises a height adjusting electric push rod, a hinge frame and a pitching electric push rod, the tail end of the outer cylinder of the height adjusting electric push rod is fixed on the base assembly, the hinge frame is of a U-shaped structure, the end of a telescopic rod of the height adjusting electric push rod is fixedly connected with the hinge frame, and the tail end of the outer cylinder of the pitching electric push rod is rotatably connected to the base assembly;

the rotating box is of a cuboid structure, the two support arms on the opening side of the hinged frame are respectively and rotatably connected to a first side surface and a second side surface of the rotating box, the first side surface and the second side surface are oppositely arranged, and the end of the telescopic rod of the pitching electric push rod is rotatably connected to the bottom wall of the rotating box;

the driving shaft comprises a first shaft section and a second shaft section, the first shaft section is rotatably arranged on the rotating box in a penetrating mode, the first end of the first shaft section is exposed out of the third side face of the rotating box, the second end of the first shaft section is exposed out of the fourth side face of the rotating box, the third side face and the fourth side face are arranged oppositely and are parallel to each other, the first side face, the third side face, the second side face and the fourth side face are sequentially adjacent and enclose a mouth-shaped structure, and the second end of the second shaft section can be inserted into the first end of the first shaft section in a sliding mode;

the training mechanism comprises a scissor pair, a pusher and a bidirectional electric push rod, wherein the scissor pair comprises a first scissor arm and a second scissor arm which are matched for use, the first scissor arm and the second scissor arm are rotatably arranged on the end head of the first end of the second shaft section through a shared rotating shaft, the first ends of the first scissor arm and the second scissor arm are respectively provided with a sliding groove, the outer cylinder of the bidirectional electric push rod is fixed on the second end of the second shaft section, the end heads of two telescopic rods of the bidirectional electric push rod are respectively provided with a threaded hole, each threaded hole is screwed with a threaded pin, each threaded pin rotates up and down to be inserted into the corresponding sliding groove or separated from the sliding groove, one end of the pusher is connected to the end surface of the first end of the first shaft section, the other end of the pusher is connected to the end surface of the first end of the second shaft section, and the pusher drives the second shaft section to slide back and forth relative to the first shaft section,

the first scissors fork arm and the second scissors fork arm are respectively provided with a wrist fixing sleeve at the second end, and the wrist fixing sleeves are rotatably arranged on the corresponding scissors fork arms.

2. The multifunctional shoulder joint rehabilitation training medical robot as claimed in claim 1, wherein said height adjustment electric putter is used for overall height adjustment of said rotation box, and said pitch electric putter is used for adjusting a pitch angle of said rotation box.

3. The multifunctional shoulder joint rehabilitation training medical robot as claimed in claim 1, wherein a connecting rod is arranged on the hinge frame, one end of the connecting rod is connected with the hinge frame, a connecting nut is arranged on the other end of the connecting rod, and the hinge frame is connected with the end of the telescopic rod of the height adjusting electric push rod through the connecting nut.

4. The multifunctional shoulder joint rehabilitation training medical robot as claimed in claim 1, wherein a camera is provided on a top wall of the rotating box for collecting image information for patient training.

5. The multifunctional shoulder joint rehabilitation training medical robot of claim 1, wherein the pusher is selected as an electric push rod, a first connecting plate is arranged on the end surface of the first end of the first shaft section, a second connecting plate is arranged on the end surface of the first end of the second shaft section,

the tail end of the outer barrel of the electric push rod is connected to the first shaft section through a first connecting plate, and the end of the telescopic rod of the electric push rod is connected to the second shaft section through a second connecting plate.

6. The multifunctional shoulder joint rehabilitation training medical robot of claim 1, further comprising a driving motor mounted on a fourth side wall of the rotation box, and a driving clutch,

the driving motor is in transmission connection with the second end of the first shaft section through the driving clutch, wherein a power output shaft of the driving motor is connected with a power input shaft of the driving clutch, and the power output shaft of the driving clutch is connected with the second end of the driving shaft.

7. The multifunctional shoulder joint rehabilitation training medical robot as claimed in claim 6, wherein a mounting bracket is fixed to a fourth side wall of the rotation box, and the driving motor is fixed to the rotation box through the mounting bracket.

8. The multifunctional shoulder joint rehabilitation training medical robot of claim 1, wherein the first and second scissor arms are each connected to a resilient member at a second end, and wherein the resilient members are connected to the first and second scissor arms at respective ends.

9. The multifunctional shoulder joint rehabilitation training medical robot of claim 8, wherein the elastic member is selected from elastic ropes, and both ends of the elastic ropes are respectively and rapidly detachably connected to the first scissor arm and the second scissor arm.

10. The multifunctional shoulder joint rehabilitation training medical robot according to any one of claims 1-9, wherein the threaded pin comprises a rod body and a screwing hand wheel, the rod body comprises a threaded portion and a polished rod portion which are sequentially arranged from a first end to a second end along an axial direction, the screwing hand wheel is arranged on the end of the threaded portion,

the threaded portion is used for screwing the threaded pin into a threaded hole of a corresponding telescopic rod of the bidirectional electric push rod, and the polished rod portion is used for being inserted into a corresponding scissors arm sliding groove.

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