CN111494158A - Intelligent four-limb rehabilitation device - Google Patents
Intelligent four-limb rehabilitation device Download PDFInfo
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- CN111494158A CN111494158A CN202010325283.2A CN202010325283A CN111494158A CN 111494158 A CN111494158 A CN 111494158A CN 202010325283 A CN202010325283 A CN 202010325283A CN 111494158 A CN111494158 A CN 111494158A
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- 210000003414 extremity Anatomy 0.000 claims abstract description 43
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 6
- 230000001681 protective effect Effects 0.000 claims description 7
- 210000000689 upper leg Anatomy 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000012549 training Methods 0.000 abstract description 12
- 210000003141 lower extremity Anatomy 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 7
- 244000309466 calf Species 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
-
- 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
- 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
- A61H2201/164—Feet or leg, e.g. pedal
-
- 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
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses an intelligent four-limb rehabilitation device which comprises a first mechanical arm for placing upper limbs of a patient, a second mechanical arm for placing lower limbs of the patient and a control end, wherein force sensors are arranged on the first mechanical arm and the second mechanical arm, and the force sensors are in data connection with the control end. The invention provides an intelligent limb rehabilitation device which can provide intelligent limb rehabilitation treatment for a patient and is low in price, so that the patient can conveniently perform rehabilitation training at home.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to an intelligent four-limb rehabilitation device.
Background
As China gradually enters an aging society, the population proportion of the elderly is continuously increased, and meanwhile, the number of the elderly with inconvenient limb activities due to suffering from stroke is gradually increased; these people all need four limbs rehabilitation equipment to take exercise treatment, but only rely on medical equipment in the hospital, the old person is difficult to go to the hospital to carry out rehabilitation treatment because of the mobility inconvenience, even arrive the hospital, also can obtain short live time, just so be unfavorable for patient's rehabilitation training.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides an intelligent limb rehabilitation device which can provide intelligent limb rehabilitation therapy for patients and is low in price, so that the patients can conveniently perform rehabilitation training at home.
The intelligent four-limb rehabilitation device comprises a first mechanical arm for placing upper limbs of a patient, a second mechanical arm for placing lower limbs of the patient and a control end, wherein force sensors are arranged on the first mechanical arm and the second mechanical arm respectively, and the force sensors are in data connection with the control end.
The intelligent limb rehabilitation device provided by the embodiment of the invention at least has the following beneficial effects: the patient can place the upper limb on the first mechanical arm, place the lower limb on the second mechanical arm, and set up the force sensor on the first mechanical arm and second mechanical arm, thus the force sensor on the first mechanical arm and second mechanical arm can detect the physical strength situation of the four limbs of the patient, then convey the received force signal to the control end, then utilize the predetermined movement algorithm, control each part of the first mechanical arm and second mechanical arm to carry on the corresponding movement, thus can realize carrying on the exercise rehabilitation to the four limbs of the patient intelligently; the rehabilitation device in the relative ratio hospital, the structure is relatively simpler, the low price to the patient can carry out the rehabilitation training at home, and need not arrive the hospital, makes the patient can carry out the rehabilitation training more conveniently.
According to some embodiments of the invention, the patient support further comprises a seat portion for the patient to sit on, wherein the first arms are two and the second arms are two, wherein the two first arms are arranged on two sides of the seat portion and the two second arms are arranged on two sides of the seat portion.
According to some embodiments of the present invention, the robot further includes a first support column and a second support column, a first motor is disposed inside the first support column, a second motor is disposed inside the second support column, an output shaft of the first motor is connected to a first rotating cylinder, an output shaft of the second motor is connected to a second rotating cylinder, a first rotating frame is sleeved outside the first rotating cylinder, the first mechanical arm is mounted on the first rotating frame, a second rotating frame is sleeved outside the second rotating cylinder, the second mechanical arm is mounted on the second rotating frame, and both the first motor and the second motor are connected to the control end.
According to some embodiments of the present invention, the first robot arm includes a fixed cylinder connected to the first rotating frame, a first connection ear connected to the fixed cylinder, a first connection bar hinged to the first connection ear, a first arc plate mounted on the first connection bar for placing the elbow region of the patient, a second connection ear connected to the first connection bar, a third connection ear connected to the second connection ear, a second connection bar connected to the third connection ear, and a placing piece hinged to the second connection bar for placing the palm region of the patient; still include third motor, fourth motor and fifth motor, the output shaft of third motor has first joint disc, first joint disc is fixed in on the first connecting strip with the position department that first engaging lug is connected, the output shaft of fourth motor has the rotation lug, rotate the lug set up in between the engaging lug of third engaging lug, the second connecting strip peg graft in rotate on the lug, the output shaft of fifth motor has second joint disc, the second joint disc is fixed in place on the piece with the position department that the second connecting strip is connected, the third motor the fourth motor with the fifth motor all with the control end is connected.
According to some embodiments of the present invention, the second mechanical arm includes a first fixed block connected to the second rotating frame, a first rotating block connected to the first fixed block, a first connecting rod, a second rotating block connected to the first rotating block through the first connecting rod, a second connecting rod, and a pedal connected to the second rotating block through the second connecting rod and used for placing the foot of the patient, the first connecting rod is provided with a second arc-shaped plate for placing the thigh of the patient, and the second rotating block is provided with a third arc-shaped plate for placing the calf of the patient.
According to some embodiments of the present invention, each of the first rotating block and the second rotating block is provided therein with a rotating component, the rotating component includes an internal motor, a screw shaft connected to an output shaft of the internal motor, a gear engaged with the screw shaft, a rotating shaft sleeved in the gear, a first rotating lug, and a second rotating lug, the rotating shaft in the first rotating block is connected to the first fixing block through the first rotating lug, the rotating shaft in the second rotating block is connected to the first connecting rod through the second rotating lug, and the internal motor is electrically connected to the control terminal.
According to some embodiments of the invention, further comprising a protective case capable of surrounding the screw shaft, the rotation shaft, and the gear.
According to some embodiments of the present invention, the mobile bottom further comprises a bottom support, a vertical rod relatively connected to the bottom support, an air cylinder connected to the bottom support, a fixed cross rod connected to the bottom support, telescopic rods relatively hinged to the vertical rod, and a push rod connected between the telescopic rods, wherein a movable output rod of the air cylinder is connected to the telescopic rods, the bottom of the telescopic rods abuts against the upper surface of the fixed cross rod, one end of the telescopic rods, which is far away from the telescopic rods, is connected to a mobile diagonal rod, the fixed rod is connected to the mobile diagonal rod, a placing cross rod is connected between the fixed rod and the mobile diagonal rod, the seat portion is installed on the placing cross rod, and the air cylinder is electrically connected to the control end.
According to some embodiments of the invention, further comprising a base, the moving bottom is disposed on the base.
According to some embodiments of the invention, a backrest is attached to an end of the seat portion, and a ramp is attached to an end of the seat portion remote from the backrest.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of an intelligent limb rehabilitation device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a first mechanical arm of an intelligent limb rehabilitation device according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a second mechanical arm of an intelligent limb rehabilitation device according to an embodiment of the invention;
fig. 4 is a schematic view of an internal structure of a second mechanical arm of an intelligent limb rehabilitation device according to an embodiment of the invention;
fig. 5 is a schematic structural diagram of a rotating part of a second mechanical arm of an intelligent limb rehabilitation device according to an embodiment of the invention;
fig. 6 is a schematic structural view of a protective shell of a second mechanical arm of an intelligent limb rehabilitation device according to an embodiment of the invention;
fig. 7 is a schematic view of a first structure of a mobile bottom of an intelligent limb rehabilitation device according to an embodiment of the invention;
fig. 8 is a schematic diagram of a second structure of a mobile bottom of an intelligent limb rehabilitation device according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a first connecting bar of a first mechanical arm of an intelligent limb rehabilitation device according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a second connecting strip ear of a first mechanical arm of an intelligent limb rehabilitation device according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a third connecting bar of a first mechanical arm of an intelligent limb rehabilitation device according to an embodiment of the present invention;
fig. 12 is a schematic structural diagram of a rotation protrusion of a first mechanical arm of an intelligent limb rehabilitation device according to an embodiment of the present invention;
fig. 13 is a schematic structural diagram of a second connecting strip of a first mechanical arm of an intelligent limb rehabilitation device according to an embodiment of the present invention.
Reference numerals:
the base 100, the movable bottom 200, the bottom bracket 210, the vertical rod 220, the telescopic rod 231, the push rod 232, the movable diagonal rod 240, the cylinder 250, the fixed rod 260, the placing cross rod 270, the fixed cross rod 280, the first support 300, the first rotating frame 310, the first rotating cylinder 320, the second support 400, the second rotating frame 410, the second rotating cylinder 420, the first mechanical arm 500, the fixed cylinder 510, the first connecting lug 520, the third motor 530, the first clamping disk 531, the first connecting bar 540, the connecting bump 541, the connecting circular hole 5400, the first clamping cylinder 542, the first arc-shaped plate 550, the second connecting lug 560, the first inserting hole 561, the fourth motor 570, the third connecting lug 580, the rotating bump 581, the second connecting bar 582, the second connecting hole 5800, the second inserting hole 5810, the second clamping cylinder 5820, the third connecting hole 5821, the fifth motor 590, the placing sheet 591, the second clamping disk 592, the second mechanical arm 600, The seat comprises a first fixed block 610, a first rotating block 620, a second arc-shaped plate 630, a second rotating block 640, a rotating part 641, a protective shell 6411, an internal motor 6412, a screw shaft 6413, a gear 6414, a rotating shaft 6415, a second rotating ear 642, a first connecting rod 643, a first rotating ear 644, a third arc-shaped plate 650, a pedal 660, a second connecting rod 670, a connecting block 680, a seat 700, a backrest 710 and a bevel plate 720.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to, for example, the upper, lower, etc., is indicated based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.
In the description of the present invention, unless otherwise explicitly defined, terms such as arrangement, connection and the like should be broadly construed, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the detailed contents of the technical solutions.
Referring to fig. 1, the intelligent limb rehabilitation device according to the embodiment of the present invention includes a first mechanical arm 500 for placing an upper limb of a patient, a second mechanical arm 600 for placing a lower limb of the patient, and a control end, wherein the first mechanical arm 500 and the second mechanical arm 600 are both provided with force sensors, and the force sensors are in data connection with the control end. The patient can place the upper limb on the first mechanical arm 500 and place the lower limb on the second mechanical arm 600, and the force sensors are arranged on the first mechanical arm 500 and the second mechanical arm 600, so that the force sensors on the first mechanical arm 500 and the second mechanical arm 600 can detect the physical force condition of the limbs of the patient, then transmit the received force signals to the control end, and then control the parts of the first mechanical arm 500 and the second mechanical arm 600 to perform corresponding movement by using a preset movement algorithm, thereby realizing the purpose of intelligently exercising and rehabilitating the limbs of the patient; the rehabilitation device in the relative ratio hospital, the structure is relatively simpler, the low price to the patient can carry out the rehabilitation training at home, and need not arrive the hospital, makes the patient can carry out the rehabilitation training more conveniently. Wherein, the control end can be computer, cell-phone, flat board or other handheld terminal equipment, only needs to install control APP on these equipment, just can make things convenient for supervisory equipment's behavior to can directly set up the rehabilitation training mode of equipment on APP.
Further, in some embodiments of the present invention, there is further provided a seat portion 700 for a patient to sit on, two first robot arms 500 and two second robot arms 600, two first robot arms 500 being respectively arranged at both sides of the seat portion 700, and two second robot arms 600 being respectively arranged at both sides of the seat portion 700. The rehabilitation device is further provided with a seat part 700 so that the patient can directly sit up on the seat part 700 and then place the limbs on the first mechanical arm 500 and the second mechanical arm 600 which are respectively arranged on both sides of the seat part 700, and then the patient can comfortably and conveniently perform limb rehabilitation training.
Further, in some embodiments of the present invention, the robot further includes a first support column 300 and a second support column 400, a first motor is disposed inside the first support column 300, a second motor is disposed inside the second support column 400, an output shaft of the first motor is connected to a first rotating cylinder 320, an output shaft of the second motor is connected to a second rotating cylinder 420, a first rotating frame 310 is sleeved outside the first rotating cylinder 320, the first robot arm 500 is mounted on the first rotating frame 310, a second rotating frame 410 is sleeved outside the second rotating cylinder 420, the second robot arm 600 is mounted on the second rotating frame 410, and both the first motor and the second motor are connected to the control end. The first motor built in the first pillar 300 and the second motor built in the second pillar 400 are controlled by the control end, so that the control end can make the first rotating cylinder 320 and the second rotating cylinder 420 move by controlling the movement of the first motor and the second motor, and further make the first mechanical arm 500 installed on the first rotating frame 310 and the second mechanical arm 600 installed on the second rotating frame 410 integrally rotate, so that the first mechanical arm 500 and the second mechanical arm 600 have a larger range of rotation angles, and the patient can adjust according to the needs of the patient, so that the intelligent four-limb rehabilitation device is more complete and more powerful in function.
Referring to fig. 1, 7 and 8, a moving base 200 capable of moving the seat 700 may be provided below the seat 700. The movable bottom 200 comprises a bottom bracket 210, a vertical rod 220 relatively connected to the bottom bracket 210, a cylinder 250 connected to the bottom bracket 210, a fixed cross rod 280 connected to the bottom bracket 210, a telescopic rod 231 relatively hinged to the vertical rod 220, and a push rod 232 connected between the telescopic rods 231, wherein a movable output rod of the cylinder 250 is connected to the telescopic rod 231, the bottom of the telescopic rod 231 abuts against the upper surface of the fixed cross rod 280, one end of the telescopic rod 231, which is far away from the telescopic rod 231, is connected with a movable oblique rod 240, the movable oblique rod 240 is connected with a fixed rod 260, a placing cross rod 270 is connected between the fixed rod 260 and the movable oblique rod 240, a seat 700 is installed on the placing cross rod 270, and the cylinder 250 is. A patient can sit on the seat part 700 arranged on the movable bottom 200, then the position of the seat part 700 is adjusted according to the actual requirement of the patient, the air cylinder 250 is controlled by the control end to move, and the movable output rod of the air cylinder 250 can move; the movable output rod can drive the push rod 232 to move in the moving process, and the push rod 232 is arranged between the telescopic rods 231, so that the telescopic rods 231 can be driven to perform telescopic movement along the fixed cross rod 280; the telescopic link 231 will drive rather than the removal down tube 240 of being connected and move at the in-process of motion, it places the horizontal pole 270 and moves to drive at last, because on horizontal pole 270 is placed to seat portion 700 installation structure, thereby seat portion 700 can remove, and then the patient can be according to the needs of self and adjust the processing to seat portion 700's position, when making its end seat on seat portion 700, four limbs can be comfortable accurately place first arm 500 and second arm 600 on, and then can conveniently carry out four limbs rehabilitation training.
Further, a backrest 710 is coupled to an end of the seat 700, and a slope plate 720 is coupled to an end of the seat 700 remote from the backrest 710. Backrest 710 is connected to the one end of seat portion 700, and the other end is connected with inclined plane board 720 to when the patient sits on seat portion 700, the back can rely on backrest 710, and the position of low limbs can be lifted by inclined plane board 720, makes the patient can feel comfortable carrying out four limbs rehabilitation training's in-process.
Referring to fig. 2, 9 to 13, in some embodiments of the present invention, the first robot arm 500 includes a fixed cylinder 510 connected to the first rotating frame 310, a first connecting ear 520 connected to the fixed cylinder 510, a first connecting bar 540 hinged to the first connecting ear 520, a first arc 550 mounted on the first connecting bar 540 for placing the elbow region of the patient, a second connecting ear 560 connected to the first connecting bar 540, a third connecting ear 580 connected to the second connecting ear 560, a second connecting bar 582 connected to the third connecting ear 580, and a placing piece 591 hinged to the second connecting bar 582 for placing the palm region of the patient; the electric bicycle further comprises a third motor 530, a fourth motor 570 and a fifth motor 590, an output shaft of the third motor 530 is connected with a first clamping disc 531, the first clamping disc 531 is fixed at a position, connected with the first connecting lug 520, on the first connecting bar 540, an output shaft of the fourth motor 570 is connected with a rotating lug 581, the rotating lug 581 is arranged between connecting lugs of the third connecting lug 580, the second connecting bar 582 is inserted into the rotating lug 581, an output shaft of the fifth motor 590 is connected with a second clamping disc 592, the second clamping disc 592 is fixed at a position, connected with the second connecting bar 582, on the placing sheet 591, the third motor 530, the fourth motor 570 and the fifth motor 590 are all connected with a control end. The fixed cylinder 510 is fixed on the first rotating frame 310, so that the first rotating frame 310 drives the fixed cylinder 510 to move during the rotation process, and further drives the first mechanical arm 500 to integrally rotate; the first connecting lug 520 can move under the driving of the fixed cylinder 510; a third motor 530 is arranged at the connection position of the first connection lug 520 and the first connection strip 540, an output shaft of the third motor 530 is connected with a first clamping disc 531, a connection round hole 5400 is arranged on a connection bump 541 on the first connection strip 540, the first clamping disc 531 is fixed on the connection round hole 5400 through a screw, and the first connection strip 540 can rotate around the first connection lug 520 in the working process of the third motor 530; because the first inserting cylinder 542 is inserted into the first inserting hole 561 of the second engaging lug 560, the first connecting bar 540 drives the second engaging lug 560 to move through the first inserting cylinder 542 in the rotating process; an output shaft of the fourth motor 570 passes through the second connection hole 5800 and is connected with a rotating lug 581, and a second insertion hole 5810 on the rotating lug 581 is connected with a second insertion cylinder 5820 of the second connection rod 582, so that the rotating lug 581 can drive the second connection rod 582 to rotate in the movement process; because the third connecting hole 5821 connects the second connecting bar 582 with the placing sheet 591, the second connecting bar 582 drives the placing sheet 591 to move during the movement, and the output shaft of the fifth motor 590 is connected with the second clamping disk 592, the second clamping disk 592 is fixed on the placing sheet 591 by screws, and the fifth motor 590 drives the placing sheet 591 to rotate around the second connecting bar 582 during the movement; the motors are mutually matched, so that the first mechanical arm 500 can rotate in a multi-dimensional mode to shift, and more comprehensive limb rehabilitation training can be provided for a patient.
Referring to fig. 3 to 5, in some embodiments of the present invention, the second robot arm 600 includes a first fixed block 610 connected to the second rotating frame 410, a first rotating block 620 connected to the first fixed block 610, a first connecting rod 643, a second rotating block 640 connected to the first rotating block 620 by a first connecting rod 643, a second connecting rod 670, a foot rest 660 connected to the second rotating block 640 by a second connecting rod 670 for placing the foot of the patient, the first connecting rod 643 is provided with a second arc-shaped plate 630 for placing the upper leg of the patient, and the second rotating block 640 is provided with a third arc-shaped plate 650 for placing the lower leg of the patient. The first rotating block 620 and the second rotating block 640 are internally provided with a rotating part 641, the rotating part 641 comprises an internal motor 6412, a screw shaft 6413 connected to an output shaft of the internal motor 6412, a gear 6414 engaged with the screw shaft 6413, a rotating shaft 6415 sleeved in the gear 6414, a first rotating lug 644 and a second rotating lug 642, the rotating shaft 6415 in the first rotating block 620 is connected with the first fixing block 610 through the first rotating lug 644, the rotating shaft 6415 in the second rotating block 640 is connected with the first connecting rod 643 through the second rotating lug 642, and the internal motor 6412 is electrically connected with a control end. The second mechanical arm 600 is provided with two rotating parts 641 which are respectively arranged between the first fixing block 610 and the first rotating block 620 and between the second rotating block 640 and the first rotating block 620, a built-in motor 6412 in the rotating part 641 is operated under the control of a control end to drive the screw shaft 6413 to move and further drive the gear 6414 to move, and finally the rotating shaft 6415 is moved to make the first rotating block 620 rotate around the first fixing block 610, and the second rotating block 640 rotates around the first fixing block 610, so that the thigh and the calf of a patient can be followed to exercise.
Referring to fig. 6, in some embodiments of the present invention, a protective case 6411 is further included, and the protective case 6411 can enclose the screw shaft 6413, the rotation shaft 6415, and the gear 6414. The protective housing 6411 surrounds the screw shaft 6413, the rotation shaft 6415, and the gear 6414, so that the three can be protected by surrounding, and the rotation between the three can be smoother.
Wherein, in some embodiments of the present invention, a connection block 680 is further included, and the second connection rod 670 is connected to the foothold 660 through the connection block 680. The drum connecting block 680 enables the second connecting bar 670 to be more stably connected with the foothold 660.
Referring to fig. 1, in some embodiments of the present invention, a base 100 is further included, and a movable base 200 is disposed on the base 100. The movable base 200 is provided on the base 100 so that the entire apparatus can be operated more stably.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. The utility model provides an intelligence four limbs rehabilitation device which characterized in that: including being used for supplying first arm that patient's upper limbs were placed, second arm, the control end that is used for supplying patient's low limbs to place, first arm with all set up force sensor on the second arm, force sensor with data connection is carried out to the control end.
2. The intelligent limb rehabilitation device according to claim 1, wherein: the patient support device further comprises a seat portion for the patient to sit on, the number of the first mechanical arms is two, the number of the second mechanical arms is two, the two first mechanical arms are respectively arranged on two sides of the seat portion, and the two second mechanical arms are respectively arranged on two sides of the seat portion.
3. The intelligent limb rehabilitation device according to claim 1 or 2, wherein: the mechanical arm device comprises a first support and a second support, a first motor is arranged inside the first support, a second motor is arranged inside the second support, an output shaft of the first motor is connected with a first rotating barrel, an output shaft of the second motor is connected with a second rotating barrel, a first rotating frame is sleeved outside the first rotating barrel, a first mechanical arm is installed on the first rotating frame, a second rotating frame is sleeved outside the second rotating barrel, a second mechanical arm is installed on the second rotating frame, and the first motor and the second motor are connected with a control end.
4. The intelligent limb rehabilitation device according to claim 3, wherein: the first mechanical arm comprises a fixed cylinder connected with the first rotating frame, a first connecting lug connected with the fixed cylinder, a first connecting strip hinged with the first connecting lug, a first arc-shaped plate arranged on the first connecting strip and used for placing the elbow part of a patient, a second connecting lug connected with the first connecting strip, a third connecting lug connected with the second connecting lug, a second connecting strip connected with the third connecting lug, and a placing piece hinged with the second connecting strip and used for placing the palm part of the patient; still include third motor, fourth motor and fifth motor, the output shaft of third motor has first joint disc, first joint disc is fixed in on the first connecting strip with the position department that first engaging lug is connected, the output shaft of fourth motor has the rotation lug, rotate the lug set up in between the engaging lug of third engaging lug, the second connecting strip peg graft in rotate on the lug, the output shaft of fifth motor has second joint disc, the second joint disc is fixed in place on the piece with the position department that the second connecting strip is connected, the third motor the fourth motor with the fifth motor all with the control end is connected.
5. The intelligent limb rehabilitation device according to claim 3, wherein: the second arm including connect in on the second rotating frame first fixed block, with first turning block, head rod, through the head rod with second turning block, second connecting rod that first turning block is connected, through the second connecting rod with the confession patient foot that the second turning block is connected is placed is pedal, the head rod is provided with the second arc that supplies patient thigh position to place, the second turning block is provided with the third arc that supplies patient shank position to place.
6. The intelligent limb rehabilitation device according to claim 5, wherein: the rotating parts are arranged inside the first rotating block and the second rotating block and comprise a built-in motor, a spiral shaft connected to an output shaft of the built-in motor, a gear meshed with the spiral shaft, a rotating shaft sleeved in the gear, a first rotating lug and a second rotating lug, the rotating shaft in the first rotating block is connected with the first fixing block through the first rotating lug, the rotating shaft in the second rotating block is connected with the first connecting rod through the second rotating lug, and the built-in motor is electrically connected with the control end.
7. The intelligent limb rehabilitation device according to claim 6, wherein: the spiral shaft, the rotating shaft and the gear are surrounded by the protective shell.
8. The intelligent limb rehabilitation device according to claim 2, wherein: still including removing the bottom, remove the bottom including the bottom support, connect relatively in montant on the bottom support, connect in cylinder on the bottom support, connect in fixed horizontal pole on the bottom support, relatively with montant articulated telescopic link, connect in push rod between the telescopic link, the activity delivery rod of cylinder with the telescopic link is connected, the bottom of telescopic link with the upper surface looks butt of fixed horizontal pole, the telescopic link is kept away from the one end of telescopic link is connected with the removal down tube, it is connected with the dead lever to remove the down tube, the dead lever with it places the horizontal pole to be connected with between the removal down tube, seat portion install in place on the horizontal pole, the cylinder with the control end carries out the electricity and connects.
9. The intelligent limb rehabilitation device according to claim 8, wherein: still include the base, remove the bottom set up in on the base.
10. The intelligent limb rehabilitation device according to claim 2, wherein: one end of the seat part is connected with a backrest, and one end of the seat part, which is far away from the backrest, is connected with an inclined plane plate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010325283.2A CN111494158A (en) | 2020-04-23 | 2020-04-23 | Intelligent four-limb rehabilitation device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010325283.2A CN111494158A (en) | 2020-04-23 | 2020-04-23 | Intelligent four-limb rehabilitation device |
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| CN111494158A true CN111494158A (en) | 2020-08-07 |
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| CN202010325283.2A Pending CN111494158A (en) | 2020-04-23 | 2020-04-23 | Intelligent four-limb rehabilitation device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112155948A (en) * | 2020-10-26 | 2021-01-01 | 广州一康医疗设备实业有限公司 | Multi-body-position four-limb cooperative rehabilitation training equipment |
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