CN108938330B - Multifunctional shoulder joint rehabilitation training medical robot - Google Patents
Multifunctional shoulder joint rehabilitation training medical robot Download PDFInfo
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- CN108938330B CN108938330B CN201810837879.3A CN201810837879A CN108938330B CN 108938330 B CN108938330 B CN 108938330B CN 201810837879 A CN201810837879 A CN 201810837879A CN 108938330 B CN108938330 B CN 108938330B
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- 238000012549 training Methods 0.000 title claims abstract description 144
- 210000000323 shoulder joint Anatomy 0.000 title claims abstract description 71
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- 230000007246 mechanism Effects 0.000 claims abstract description 25
- 230000000149 penetrating effect Effects 0.000 claims abstract description 4
- 210000000707 wrist Anatomy 0.000 claims description 18
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- 229910001018 Cast iron Inorganic materials 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
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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
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/02—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters
- A63B21/055—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters extension element type
- A63B21/0552—Elastic ropes or bands
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1245—Primarily by articulating the shoulder joint
-
- 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
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- 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
- A61H2205/06—Arms
- A61H2205/062—Shoulders
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Biophysics (AREA)
- Rehabilitation Tools (AREA)
Abstract
Disclosed is a multifunctional shoulder joint rehabilitation training medical robot, comprising: a base assembly; the pitching mechanism comprises a height adjusting electric push rod, a hinge frame and a pitching electric push rod; the two support arms at the opening side of the hinged frame are respectively and rotatably connected to two opposite side surfaces 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, and the second end of the second shaft section is slidably inserted into the first end of the first shaft section; the training mechanism comprises a scissor pair arranged on the second shaft section, a pusher and a bidirectional electric push rod, wherein the scissor pair comprises two scissor arms, respective first ends of the two scissor arms are respectively provided with a sliding groove, the bidirectional electric push rod is fixed on the second shaft section, the ends of two telescopic rods of the bidirectional electric push rod are respectively screwed with threaded pins which can be screwed up and down to insert or separate from the sliding grooves, and the pusher is arranged between the two shaft sections. The robot is wide in application range and good in training effect, and the experience of patients is improved.
Description
Technical Field
The invention relates to the technical field of intelligent rehabilitation medical equipment, in particular to a multifunctional shoulder joint rehabilitation training medical robot.
Background
Rehabilitation training is an important means of rehabilitation medicine, and mainly enables the affected limb of a patient to recover the normal self-care function through the training method, and enables the physical and psychological rehabilitation of the disabled as much as possible through the training method, so that the treatment effect is achieved. With the progress of society and the development of medical science, the rehabilitation medical engineering receives general attention. Among the current rehabilitation methods, motor rehabilitation training is one of the effective methods. The upper limbs are important functional units of human bodies in production and life of people, the upper limb dysfunction, particularly the shoulder joint dysfunction frequently occurs, the shoulder joint bears the movement of the whole arm of the human body, so that the shoulder joint is important to the movement of the human body, and the rapid rehabilitation of the shoulder joint diseases which are frequently caused in the modern society can be effectively carried out by means of a related rehabilitation training device.
Current shoulder joint rehabilitation training ware structural function is comparatively single for comparatively single in the selection of training mode and training mode, can't be according to different patients ' the condition, and suitable training is carried out in different recovered stages, thereby it is less to make current training ware training application scope, and the training is not comprehensive enough, and the training effect is not good enough, and intelligent degree is not high, has influenced patient's use and has experienced.
Disclosure of Invention
In view of the above, the present invention aims to provide a multifunctional shoulder joint rehabilitation training medical robot which has a wide application range, has multiple training modes and training forms, and can perform comprehensive rehabilitation training on muscles, nerves and the like of shoulder joints, thereby greatly improving the level and effect of shoulder joint rehabilitation training, and greatly improving the experience of patients, so as to solve the problems in the prior art.
According to the present invention, there is provided a multifunctional shoulder joint rehabilitation training medical robot, comprising:
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.
Preferably, the height adjusting electric push rod is used for adjusting the overall height of the rotating box, and the pitching electric push rod is used for adjusting the pitching angle of the rotating box.
Preferably, the articulated frame is provided with a connecting rod, one end of the connecting rod is connected with the articulated frame, the other end of the connecting rod is provided with a connecting nut, and the articulated frame is connected with the end of the telescopic rod of the height adjusting electric push rod through the connecting nut.
Preferably, a camera is arranged on the top wall of the rotating box and used for collecting image information of patient training.
Preferably, the pusher is selected as an electric push rod, a first connecting plate is arranged on the end face of the first end of the first shaft section, a second connecting plate is arranged on the end face 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.
Preferably, the device also comprises a driving motor arranged on the fourth side wall of the rotating 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.
Preferably, a mounting bracket is fixed on a fourth side wall of the rotating box, and the driving motor is fixed on the rotating box through the mounting bracket.
Preferably, the first scissor arm and the second scissor arm are respectively connected with an elastic part at the second end, and two ends of the elastic part are respectively connected with the first scissor arm and the second scissor arm.
Preferably, the elastic piece is selected to be an elastic rope, and two ends of the elastic rope are respectively connected to the first scissor arm and the second scissor arm in a quick-detachable mode.
Preferably, 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 the first end to the second end along the axial direction, the screwing hand wheel is arranged on the end head 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.
Has the advantages that:
the multifunctional shoulder joint rehabilitation training medical robot can carry out training in multiple modes and forms on a patient according to requirements, the patient can select two modes, namely a sitting and lying training mode and a standing and training mode of the patient according to different training requirements and can select passive training or active training, and various training actions can be carried out during training, so that the patient can be subjected to all-round training in multiple training modes. The rehabilitation training robot is wide in application range and high in intelligent degree, and can perform comprehensive rehabilitation training on muscles, nerves and the like of shoulder joints, so that the level and effect of the shoulder joint rehabilitation training are greatly improved, and the experience of patients is greatly improved.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings.
Fig. 1-2 show schematic perspective views of a multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention from different perspectives.
Fig. 3 shows a top view of the multifunctional shoulder joint rehabilitation training medical robot according to the embodiment of the present invention.
Fig. 4 shows a schematic view of the structure of the portion a in fig. 1.
Fig. 5 shows a schematic view of the structure of the part B in fig. 2.
Fig. 6-7 are schematic perspective views illustrating a base assembly of a multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention from different perspectives.
Fig. 8 is a schematic perspective view illustrating an articulated frame of a multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention.
Fig. 9 to 10 are schematic perspective views illustrating a mounting bracket of a multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention from different perspectives.
Fig. 11 to 12 are perspective views showing a rotation box of the multifunctional shoulder joint rehabilitation training medical robot according to the embodiment of the present invention from different viewpoints.
Fig. 13 to 14 are schematic perspective views illustrating a first shaft segment of a driving shaft of a multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention from different viewpoints.
Fig. 15 to 16 are schematic perspective views illustrating a second shaft segment of a driving shaft of the multifunctional shoulder joint rehabilitation training medical robot according to the embodiment of the present invention from different viewpoints.
Fig. 17 to 18 are perspective views illustrating a first scissor arm of a drive shaft of a multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention.
Fig. 19 to 20 are perspective views illustrating a second scissor arm of a drive shaft of the multifunctional shoulder joint rehabilitation training medical robot according to the embodiment of the present invention.
Fig. 21 is a schematic perspective view illustrating a first connection plate of the multifunctional shoulder joint rehabilitation training medical robot according to the embodiment of the present invention.
Fig. 22 is a schematic perspective view illustrating a second connecting plate of the multifunctional shoulder joint rehabilitation training medical robot according to the embodiment of the invention.
Fig. 23-24 show schematic perspective views of the bidirectional electric putter of the multifunctional shoulder joint rehabilitation training medical robot according to the embodiment of the invention from different perspectives.
Fig. 25 is a schematic perspective view illustrating a threaded pin of the multifunctional shoulder joint rehabilitation training medical robot according to the embodiment of the present invention.
Fig. 26 is a schematic perspective view illustrating an arm harness of a multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention.
Fig. 27 is a schematic diagram showing a control system of the multifunctional shoulder joint rehabilitation training medical robot according to the embodiment of the present invention.
In the figure: the height adjusting electric push rod 21, the hinge frame 22, the pitching electric push rod 23, the rotating box 3, the camera 31, the through shaft hole 32, the mounting bracket 33, the hinge plate 34, the first shaft section 41, the sliding hole 411, the boss part 412, the second shaft section 42, the sliding column part 421, the plane part 422, the training mechanism 5, the first scissor arm 51, the second scissor arm 52, the driving rod part 501, the sliding slot 5011, the connecting rod part 502, the executing rod part 503, the beating rod part 504, the cushion pad 505, the bidirectional electric push rod 53, the push-pull motor 531, the common rotating shaft 54, the wrist fixing sleeve 55, the supporting bracket 551, the tying band 552, the elastic part 56, the threaded pin 57, the threaded part 571, the polished rod part 572, the handle 573, the pusher 58, the first connecting plate 581, the second connecting plate 582, the driving motor 63, the driving clutch 64, the tying band 552, the elastic part 56, a first encoder 71, a second encoder 72, a processor 74, a wireless data transmitting module 75, a wireless data receiving module 76, and an external terminal 100.
Detailed Description
Various embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Like elements in the various figures are denoted by the same or similar reference numerals. For purposes of clarity, the various features in the drawings are not necessarily drawn to scale.
As shown in fig. 1 to 27, the invention provides a multifunctional shoulder joint rehabilitation training medical robot, which comprises a base 11, a pitching mechanism, a rotating box 3, a driving shaft and a training mechanism 5. The drive shaft is rotatable to be worn to locate on rotating case 3, and every single move mechanism locates on base 11 for support rotating case 3, and make whole height adjustment and every single move angle regulation to rotating case 3. An exercise mechanism 5 is provided on the drive shaft for performing a variety of modes and forms of exercise on the patient.
Referring to fig. 6 and 7, in order to increase the stability of the robot during operation, the main body of the base 11 may be made of cast iron or other material with relatively high density, and of course, the weight of the base 11 may be increased by providing a counter weight. Be equipped with a plurality of universal wheels on the base 11, the universal wheel is the universal wheel that has the locking function, so, can make this rehabilitation training robot be convenient for remove. Further, in order to increase the stability of the base 11, support assemblies 12 are disposed on four end surfaces of the base 11, and each support assembly 12 includes a telescopic device 121 and an adjustable support leg 122. The base 11 and the support assembly 12 form a base 11 assembly 1. Each expansion piece 121 is horizontally arranged, the outer cylinder of each expansion piece 121 is fixed on the end face of the base 11, and the adjustable supporting legs 122 are vertically arranged and screwed on the end heads of the expansion rods of the expansion pieces 121 and can rotate up and down. Before the robot is used, the retractors 121 of the four support assemblies 12 are extended out, and the adjustable support legs 122 are screwed down to form a support structure for the base 11, so that the stability of the robot during operation is ensured.
Every single move mechanism, including height adjustment electric putter 21, articulated frame 22 and every single move electric putter 23, height adjustment electric putter 21's urceolus tail end is fixed in on the base 11 assembly 1, articulated frame 22 is U font structure, height adjustment electric putter 21's telescopic link the end with articulated frame 22 fixed connection, every single move electric putter 23's urceolus tail end rotatable coupling in on the base 11 assembly 1. The height adjusting electric push rod 21 is used for adjusting the overall height of the rotating box 3, and the pitching electric push rod 23 is used for adjusting the pitching angle of the rotating box 3. The articulated frame 22 is provided with a connecting rod, one end of the connecting rod is connected with the articulated frame 22, the other end of the connecting rod is provided with a connecting nut, and the articulated frame 22 is connected with the end of the telescopic rod of the height adjusting electric push rod 21 through the connecting nut.
Referring to fig. 11 and 12, the rotating box 3 is a rectangular parallelepiped structure, two support arms at the opening side of the hinge frame 22 are respectively rotatably connected to a first side surface and a second side surface of the rotating box 3, the first side surface and the second side surface are oppositely arranged, a hinge plate 34 is arranged on the bottom wall of the rotating box 3, and the end of the telescopic rod of the pitching electric push rod 23 is rotatably connected to the hinge plate 34. Wherein the hinge bracket 22 is disposed adjacent to the fourth side wall of the rotation box 3 and the hinge plate 34 is disposed adjacent to the third side wall of the rotation box 3. The rotation case 33 has a through-hole 32, and the through-hole 32 is a through-hole, and the through-hole 32 penetrates from the third side surface to the fourth side surface of the rotation case 3. Bearings are respectively installed at both ends of the through-shaft hole 32 to form a pair of bearings, and the first shaft section 41 of the driving shaft is supported on the pair of bearings and is rotatable relative to the rotation case 3 through the pair of bearings. The top wall of the rotating box 3 is provided with a camera 31 for collecting image information of patient training and transmitting the collected image signal to the external terminal 100.
The driving shaft comprises a first shaft section 41 and a second shaft section 42, wherein the first shaft section 41 is rotatably arranged on the rotating box 3 in a penetrating mode, the first end of the first shaft section 41 is exposed out of the third side face of the rotating box 3, the second end of the first shaft section 41 is exposed out of the fourth side face of the rotating box 3, the third side face and the fourth side face are oppositely arranged and parallel to each other, the first side face, the third side face, the second side face and the fourth side face are sequentially and adjacently enclosed to form an open-mouthed structure, and the second end of the second shaft section 42 is slidably inserted into the first end of the first shaft section 41.
The training mechanism 5 comprises a scissor pair, a pusher 58 and a bidirectional electric push rod 53, wherein the scissor pair comprises a first scissor arm 51 and a second scissor arm 52 which are matched for use, the first scissor arm 51 and the second scissor arm 52 are rotatably arranged on the end of the first end of the second shaft section 42 through a common rotating shaft 54, the first ends of the first scissor arm 51 and the second scissor arm 52 are respectively provided with a sliding groove 5011, the outer barrel of the bidirectional electric push rod 53 is fixed at the second end of the second shaft section 42, the ends of two telescopic rods of the bidirectional electric push rod 53 are respectively provided with a threaded hole, each threaded hole is screwed with a threaded pin 57, and each threaded pin 57 rotates up and down to be inserted into the corresponding sliding groove 5011 or separated from the sliding groove 5011. One end of the pusher 58 is connected to the end surface of the first end of the first shaft section 41, and the other end is connected to the end surface of the first end of the second shaft section 42, and the pusher 58 drives the second shaft section 42 to slide back and forth relative to the first shaft section 41.
In this embodiment, the pusher 58 is selected to be an electric push rod, a tail end of an outer cylinder of the electric push rod is connected to an end surface of the first end of the first shaft section 41 through a first connecting plate 581, and an end of a telescopic rod of the electric push rod is connected to an end surface of the first end of the second shaft section 42 through a second connecting plate 582. The first scissor arm 51 and the second scissor arm 52 are respectively provided with a wrist fixing sleeve 55 at the second end, and the wrist fixing sleeves 55 can be rotatably arranged on the corresponding scissor arms. The threaded pin 57 is disposed in parallel with the common rotating shaft 54.
Referring to fig. 17 to 20, in particular, the first and second scissor arms 51 and 52 are substantially symmetrical structures. The two scissor arms respectively comprise 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, two ends of the connecting rod part 502 are respectively connected with the driving rod part 501 and the executing rod part 503, and the driving rod part 501 and the executing rod part 503 are arranged in parallel with each other. The slide slot 5011 is provided on the driving lever portion 501 and extends along the longitudinal direction of the driving lever portion 501. Wherein, still be equipped with on the end of carrying out pole portion 503 and pat pole portion 504, should pat pole portion 504 and be used for beating the massage to patient's shoulder joint, the one end of beating pole portion 504 connect in carry out pole portion 503 is last, and the other end is relative carry out pole portion 503 and buckle, beat pole portion 504 relatively drive pole portion 501, connecting rod portion 502 and carry out the common plane slope at pole portion 503 place and predetermine the angle setting. The slide slot 5011 is provided on the driving lever portion 501 and extends along the longitudinal direction of the driving lever portion 501.
In this embodiment, the pusher 58 and the bi-directional power push rod 53 are located on opposite sides of the second shaft section 42, and the flapping rod portion 504 is bent away from the pusher 58. Wherein the included angle alpha between the flapping rod part 504 and the actuating rod part 503 is 120-155 deg., here preferably 150 deg.. Further, the bottom of the tapping rod portion 504 is provided with a cushion 505, and the cushion 505 may be made of, for example, a medical rubber material for achieving a flexible contact with the shoulder joint of the patient. The wrist fixing sleeve 55 is provided on the tapping rod portion 504.
Further, the actuating rods 503 of the first and second scissor arms 51 and 52 are respectively connected with an elastic member 56, and two ends of the elastic member 56 are respectively connected with the first and second scissor arms 51 and 52. The elastic member 56 is a bungee cord for providing a loading force for the patient during active training. 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 mode, and the specific quick detachable connection mode can be a buckle connection mode or a hook connection mode.
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 which are sequentially arranged from the first end to the second end along the axial direction, and the screwing handle 573 is arranged at the end of the threaded portion 571, wherein the threaded portion 571 is used for screwing the threaded pin into the threaded hole of the corresponding telescopic rod of the bidirectional electric push rod 53, and the polished rod portion 572 is used for inserting into the sliding slot 5011 of the corresponding scissor arm.
Further, the rehabilitation training robot further comprises a driving motor 63 mounted on the rotating box 3, and a driving clutch 64. The driving motor 63 is in transmission connection with the second end of the first shaft section 41 through the driving clutch 64, wherein a power output shaft of the driving motor 63 is connected with a power input shaft of the driving clutch 64, and a power output shaft of the driving clutch 64 is connected with the second end of the first shaft section 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, a power output shaft of the driving motor 63 is coupled to a power input shaft of the driving clutch 64, and a power output shaft of the driving clutch 64 is coupled to the second end of the first shaft section 41. The drive clutch 64 is specifically selected to be an electromagnetic clutch, and the drive motor 63 is selected to be a servo motor or a stepping motor with a speed reduction mechanism.
Referring to fig. 13 to 16, in this embodiment, a circular sliding hole 411 is formed in an end surface of the first end of the first shaft segment 41, and a boss portion 412 is disposed on the second end of the first shaft segment, and the boss portion 412 is used for limiting and exposing to the third side surface of the rotating box 3. The second end of the second shaft section 42 is provided with a sliding column part 421, the first end is provided with a plane part 422, the sliding column part 421 is matched with the sliding hole 411 in shape and size and can be slidably inserted into the sliding hole 411, and the plane part 422 is used for fixing the bidirectional electric push rod 53. The common shaft 54 of the first scissor arm 51 and the second scissor arm 52 is disposed at the end of the plane, and the outer cylinder of the two-way electric push rod 53 is fixed on the plane 422 through the fixing seat thereof and is located between the common shaft 54 and the second side wall of the rotating box 3. The bidirectional electric push rod 53 can be specifically selected as the bidirectional electric push rod 53, so that two telescopic rods of the bidirectional electric push rod can synchronously extend towards two sides.
In this embodiment, the ratio of the distance from the common rotating shaft 54 to the driving rod 501 to the distance from the common rotating shaft 54 to the actuating rod 503 along the extending direction of the connecting rod 502 is 1:1.5-1:3.5, for example, 1:2, so that when the bidirectional electric push rod 53 of the training mechanism 5 is in a small action range, a large movement range of the two scissor arms can be realized, a fast response of the scissor arms can be realized, and the structure of the rehabilitation training robot can be more compact.
Referring to fig. 26, the wrist fixing sleeve 55 includes a supporting bracket 551 and a binding band 552, the supporting bracket 551 is in a semi-ring structure, one end of the binding band 552 is connected to one end of the supporting end, a sub-sticker of a magic sticker is arranged at the other end of the binding band 552, a main sticker of the magic sticker is arranged at the other end of the supporting bracket 551, and the binding of the wrist of the patient is realized through the cooperation of the sub-sticker. The support 551 may be made of medical plastics material with medical rubber material in the inner ring for flexible contact with the wrist. The supporting bracket 551 is provided with a rotating shaft on the peripheral wall opposite to the opening, the rotating shaft can be rotatably inserted on the outer side surface of the beating rod part 504 of the corresponding scissor arm, the rotating shafts of the two supporting brackets 551 are coaxially arranged, and the rotating shaft of the supporting bracket 551 and the common rotating shaft 54 of the two scissor arms are mutually and vertically arranged.
Fig. 27 is a schematic diagram showing a control system of the multifunctional shoulder joint rehabilitation training medical robot according to the embodiment of the present invention. As shown in fig. 27, the control system includes a processor 74, a wireless data transmitting module 75, a wireless data receiving module 76, a driving motor 63, a height adjusting electric putter 21, a pitching electric putter 23, a driving clutch 64, a push-pull motor 531, a first encoder 71, a camera 31, and a 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 access hole can be opened on the rotating box 3 for the maintenance of the electric control component. In this embodiment, the push-pull motor 531 is a driving device of the bidirectional electric push rod 53, and the number of the push-pull motor 531 is one, and the push-pull motor 531 drives the two telescopic rods to extend and retract through its own transmission mechanism. The first encoder 71 is mounted on the bidirectional electric push rod 53, and is used for measuring the rotation speed and the rotation angle of the push-pull motor 531. The second encoder 72 is mounted on the driving motor 63 for measuring the rotational speed and rotational angle of the driving motor 63. The wireless data transmitting module 75, the wireless data receiving module 76, the driving motor 63, the height adjusting electric push rod 21, the pitching electric push rod 23, the driving clutch 64, the push-pull motor 531, the first encoder 71 and the second encoder 72 are respectively and electrically connected with the processor 74, the wireless data transmitting module 75 and the wireless data receiving module 76 are respectively and electrically connected with the external terminal 100, and the processor 74 realizes wireless communication with the external terminal 100 through the wireless data transmitting module 75 and the wireless data receiving module 76. The external terminal 100 may be any communication device capable of 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 the rotation speed and rotation angle signals to the processor 74, and the processor 74 calculates the displacement and speed signals of the telescopic rod of the electric push rod. The second encoder 72 receives the rotation speed and rotation angle signals from the driving motor 63 and transmits the rotation speed and rotation angle signals to the processor 74, and the processor 74 calculates the rotation speed and rotation angle signals of the driving motor 6363. The processor 74 receives a control instruction from the external terminal 100, controls the driving motor 63, the driving clutch 64, the push-pull motor 531, the height adjusting electric push rod 21 and the pitching electric push rod 23 to perform preset actions, receives related parameters from the first encoder 71 and the second encoder 72 simultaneously in the action process, and after comprehensively processing and analyzing the received information, the processor 74 continuously adjusts the information and performs the preset actions according to the requirements of the external control instruction.
In this embodiment, an APP of the rehabilitation training robot may be installed in the external terminal 100, and the rehabilitation training robot may be controlled to act by operating the APP. In the APP interface, the patient sitting and lying type training mode and the patient standing type training mode are arranged according to the training posture of the patient, the active training mode option and the passive training mode option are arranged according to the active and passive training conditions, and the passive training mode option is provided with the options of single scissor arm swinging, double scissor arm rotating, double scissor arm swinging, shoulder joint beating massage and the like. The single scissor arm swing option is that one scissor arm swings around the common rotating shaft 54 under the pushing of the bidirectional electric push rod 53, the double scissor arm swing option is that two scissor arms are locked, only the drive shaft drives the training structure to integrally rotate, and the double scissor arm swing option is that two scissor arms swing around the common rotating shaft 54 respectively under the pushing of the bidirectional electric push rod 53. The shoulder joint flapping massage option is that the pusher 58 continuously extends outwards and adducts to flap the two corresponding shoulder joints, thereby promoting blood circulation of the shoulder joints, promoting nerve development and reducing muscle tension of the shoulder joints. In addition, the APP interface is further provided with rehabilitation training levels, which are set to be multi-level according to the severity of the patient, for example, six levels are sequentially set according to the severity from strong to weak, that is, one-level rehabilitation training to six-level rehabilitation training options, and each level of rehabilitation training corresponds to different action frequencies and action amplitudes of the training mechanism 5 so as to adapt to the situation of the patient. The first-level rehabilitation option is the lowest level of training options available for severe patients with little active training ability. The patient selects the corresponding training mode and training grade according to the requirement. For example, for a severe patient with little active training ability, since the muscle of the patient cannot act autonomously, a passive training mode is adopted and a first-level rehabilitation training option is selected accordingly to train the patient according to the situation. The external mobile terminal can be controlled by an assistant, such as a medical staff, or by the patient himself. The specific setting of the APP can be performed as needed, and is not described in detail here.
The rehabilitation training robot can realize training in various modes and forms, and specific training methods can be adjusted according to requirements. When the patient is hemiplegic and the like and can not stand, or the patient can relax after training, a sitting and lying type training mode can be adopted, and the sitting type can be a sitting type, namely that the patient faces or backs to the training mechanism 5; the specific horizontal posture can be supine and prone, shoulder joints can be flapped, massaged and relaxed during prone posture, and the whole height and the pitching angle of the rotating box 3 can be adjusted by the height adjusting electric push rod 21 and the pitching electric push rod 23 during sitting and lying posture, so that the chair is suitable for patients with different heights and poses. The beating massage relaxation of the shoulder joints can be carried out by firstly adjusting the distance between the beating rod parts 504 on the two scissors fork arms to be matched with the distance between the two shoulder joints of a patient through the bidirectional electric push rod 53, then carrying out alternate beating massage on the two shoulder joints through the rotation of the driving shaft, or pushing and pulling two pairs of two shoulder joints of the whole scissors fork pair through the pusher 58 to carry out simultaneous beating massage; when sitting and lying formula training mode, the patient lies down in rotating 3 below of case and making the shoulder be in suitable position department, and every single move mechanism drives whole training mechanism 5 and crooks to predetermineeing the angle towards the patient to realize patient's rehabilitation training, for example initiative training and passive training. When two shoulder joints of a patient need to be passively trained simultaneously, the external terminal 100 selects a double-scissor arm rotation option in a passive training mode, two threaded pins 57 are screwed down into corresponding sliding grooves 5011, so that the two scissor arms are locked, then two wrists of the left hand and the right hand of the patient are respectively bound in two wrist fixing sleeves 55, the external terminal 100 sends a corresponding control instruction, the processor 74 receives the control instruction and then controls the driving clutch 64 to be sucked so that the driving motor 63 is in transmission connection with the driving shaft, the processor 74 controls the driving motor 63 to drive the driving shaft to rotate back and forth at a preset angle so as to drive the whole training mechanism 5 to rotate, and the two scissor arms respectively drive the two arms to do control direction disc-type cross swinging, so that cross rotation training of the two shoulder joints of the patient is realized; when the shoulder joints of the patient need to be trained respectively, only one wrist can be bound in the corresponding wrist fixing sleeve 55, and the shoulder joints are driven by the driving shaft to carry out 360-degree convoluted training. When the double-scissor-arm swing option is selected, the two scissor arms rotate to the horizontal plane, are locked through the two threaded pins 57, are bound in the wrist fixing sleeve 55, and perform scissor movement in the horizontal plane, so that the shoulder joint is subjected to outward swinging and inward folding training. When the single scissor arm swing option is selected, the patient is positioned 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 to the vertical plane, one scissor arm at the upper part is locked through the threaded pin 57, then the shoulder joint wrist to be trained is bound in the arm fixing sleeve of the other scissor arm at the upper part, and the bidirectional electric push rod 53 drives the shoulder joint to perform forward rotation training; meanwhile, when the patient is positioned in front of the training mechanism 5 and faces away from the training mechanism 5, the wrist is bound in the arm fixing sleeve of one scissor arm at the lower part, and the back rotation training of the shoulder joint can be performed at the moment.
When the active training mode is selected using 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 thus active training of the patient, such as outward and inward swinging and inward contracting training of the two shoulder joints under a load force and steering wheel type cross-rotation training of the two shoulder joints, can be performed.
Utilize this multi-functional shoulder joint rehabilitation training medical robot can carry out the training of multiple mode and mode to patient's shoulder joint as required, no longer give unnecessary details here one by one.
The multifunctional shoulder joint rehabilitation training medical robot can carry out training in multiple modes and forms on a patient according to requirements, the patient can select two modes, namely a sitting and lying training mode and a standing and training mode of the patient according to different training requirements and can select passive training or active training, and various training actions can be carried out during training, so that the patient can be subjected to all-round training in multiple training modes. The rehabilitation training robot is wide in application range and high in intelligent degree, and can perform comprehensive rehabilitation training on muscles, nerves and the like of shoulder joints, so that the level and effect of the shoulder joint rehabilitation training are greatly improved, and the experience of patients is greatly improved.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Finally, it should be noted that: it should be understood that the above examples are only for clearly illustrating the present invention and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of the invention may be made without departing from the scope of the 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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| CN201810837879.3A CN108938330B (en) | 2018-07-26 | 2018-07-26 | Multifunctional shoulder joint rehabilitation training medical robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810837879.3A CN108938330B (en) | 2018-07-26 | 2018-07-26 | Multifunctional shoulder joint rehabilitation training medical robot |
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| CN108938330B true CN108938330B (en) | 2020-10-02 |
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| CN109875720A (en) * | 2019-04-01 | 2019-06-14 | 环山集团股份有限公司 | One broad sow massages semen deposition folder |
| CN113827444A (en) * | 2021-09-30 | 2021-12-24 | 重庆三峡医药高等专科学校 | Finger training device |
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| GB8823855D0 (en) * | 1988-10-11 | 1988-11-16 | Close J C | Ultra-arm machine |
| CN1440738A (en) * | 2002-02-25 | 2003-09-10 | 松下电工株式会社 | Chair type massage machine |
| CN200963317Y (en) * | 2006-11-03 | 2007-10-24 | 北京石油化工学院 | Simple recreation massaging chair |
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