CN112451309B

CN112451309B - Intelligent medical robot for treating lower limbs

Info

Publication number: CN112451309B
Application number: CN202011223034.9A
Authority: CN
Inventors: 徐辉任; 黄雅君; 李继平; 杨欧阳; 林卿
Original assignee: Hainan Medical College
Current assignee: Hainan Medical College
Priority date: 2020-11-05
Filing date: 2020-11-05
Publication date: 2022-07-05
Anticipated expiration: 2040-11-05
Also published as: CN112451309A

Abstract

The embodiment of the invention relates to the field of medical robots, and particularly discloses an intelligent medical robot for treating lower limbs, which comprises a base; the base is provided with a walking assembly; still rotate on the base and be provided with the rotation support dish, the opposite side of base is installed and is used for driving the rotatory adjustment motor of certain angle of rotation support dish. According to the embodiment of the invention, the walking assembly is arranged on the base, so that a patient can conveniently walk as required, the lower limb treatment of the patient is facilitated, the waist of the patient is supported and bound through the waist support ring, the arranged handrail is convenient for the patient to perform auxiliary support, and the body stability of the patient during the lower limb treatment of the patient is improved; the intelligent medical robot provided by the embodiment of the invention can adjust the height of the lifting column through the fixed support piece so as to meet the requirements of patients with different body types; in the lower limb treatment robot provided by the embodiment of the invention, the lower limb of a patient can be passively treated conveniently.

Description

Intelligent medical robot for treating lower limbs

Technical Field

The embodiment of the invention relates to the field of medical robots, in particular to an intelligent medical robot for treating lower limbs.

Background

In real life, many people have physical injuries caused by accidents and traffic accidents, particularly, the wounds on the joints of the lower limbs of human bodies are more, the injured joints are easy to be deformed and healed, the joint function injuries after traumatic operations can be treated by bone surgery, the patients can be combined with joint stiffness in the near term and the long term of treatment and recovery after the operations, the chicken heads, fascia and ligaments around the joints are easy to adhere, inflammatory hyperplasia contracture is easy to occur, and the patients need to be treated by using medical instruments.

With the development and progress of medical technology, the technical requirements of medical instruments including medical robots for lower limb diseases are correspondingly higher and higher.

In the prior art, for example, the invention patent with publication number CN 110840709a provides an intelligent medical robot for lower limb treatment, which relates to the technical field of medical instruments, and comprises a foot motion robot system, and is characterized by further comprising: the system comprises a supporting system, a weight losing system, a human body sensing system, a microprocessor control system and an upper computer control system; the weight reduction system comprises: a suspension support strap and a hoisting mechanism; the human body perception system comprises: the device comprises a sensing information processor, a blood pressure sensor, a heart rate sensor and a body temperature sensor which are respectively connected with the sensing information processor; the sensing information processor is also connected with an electromyographic sensor for measuring an electromyographic signal of the lower leg. Although the technical scheme solves the problems that the existing medical robot for treating the lower limbs has too many auxiliary operation procedures and the patient cannot fully exert self subjective consciousness to a certain extent, the medical robot for treating the lower limbs has a relatively fixed structure, a narrow application range, is not beneficial to universal lower limb treatment and has low practicability.

For another example, an authorized bulletin No. CN 208591274U discloses an intelligent medical robot for lower limb treatment, in which a motion suspension system is installed above a motion transmission speed system through an upright post, a patient undergoing lower limb treatment loses weight and maintains position through the suspension system, and the patient vertically walks on the motion transmission speed system under the drive of a lower limb exoskeleton robot system; the gravity center self-balancing system between the lower limb exoskeleton robot system and the rotating system is connected with the gravity center change of walking of a patient to adjust the height of the lower limb exoskeleton robot system; the sensor system collects the equipment parameters and the human body parameters, and transmits the equipment parameters and the human body parameters to the embedded control system for displaying.

As another example, patent document with publication number CN 207206410U discloses a joint driving system of a lower limb treatment intelligent medical robot, which includes a motor, a screw rod, a crank and a position sensor, wherein the motor is fixed on the thigh of the lower limb treatment intelligent medical robot, and one end of the calf is hinged to one end of the thigh through a knee joint; the two ends of the crank are respectively hinged with the nut and the shank; the motor outputs to drive the screw rod of the screw rod to rotate, so that the nut is driven to move axially along the screw rod, and finally the shank is driven to rotate around the knee joint relative to the thigh; the position sensor collects the rotation angle of the knee joint and performs closed-loop control on the motor.

However, the medical treatment robot in the above technical solution is limited by its structure, its structural design is unreasonable, the practical application is labor-consuming, the targeted treatment cannot be performed, and it is unable to adjust and lacks the auxiliary operation function, the treatment effect is poor, and in order to meet the above requirements of the patient treatment and the continuous development of medical instruments, it is necessary to further improve and develop an intelligent medical treatment robot for treating the lower limbs.

Disclosure of Invention

An object of an embodiment of the present invention is to provide an intelligent medical robot for treating lower limbs, so as to solve the problems in the background art.

In order to achieve the above purpose, the embodiments of the present invention provide the following technical solutions:

an intelligent medical robot for treating lower limbs, comprising a base;

the base is provided with a walking assembly; four corners of the lower surface of the base are provided with supporting trundles, so that the whole intelligent medical robot can be conveniently moved to a designated position; a lower limb treatment robot is fixedly arranged on one side of the base;

the base is also rotatably provided with a rotary supporting disk, and the other side of the base is provided with an adjusting motor for driving the rotary supporting disk to rotate for a certain angle;

a first supporting column is fixedly arranged on the upper surface of one side of the rotating supporting disk, a lifting column is mounted on the first supporting column in a height-adjustable mode through a fixed supporting piece, a supporting ball is fixedly mounted at the top end of the lifting column, a hinge seat is horizontally and rotatably connected to the supporting ball, a second supporting column is fixedly arranged on the hinge seat, a fixed rod is fixedly arranged on one side of the top end of the second supporting column, and a waist supporting ring is fixedly arranged on the fixed rod;

and the base is also provided with an intelligent controller.

As a further limitation of the technical scheme of the embodiment of the invention, a handrail is fixedly supported on one side of the upper part of the lifting column, anti-drop rings are fixedly arranged at both ends of the handrail, and a rubber bulge is sleeved on the outer ring of the handrail.

As a further limitation of the technical solution of the embodiment of the present invention, a supporting rod is further disposed at the top of the lifting column, a panel bracket is fixedly supported on the supporting rod, and a control panel is fixedly disposed on the panel bracket, so as to facilitate setting of the operation parameters of the walking assembly by the patient and control of the operation of the walking assembly.

As a further limitation of the technical scheme of the embodiment of the invention, the base is provided with a supporting groove, the walking assembly comprises a plurality of walking conveying rollers which are rotatably supported at an opening at the upper part of the supporting groove, and the walking conveying rollers are connected with a walking crawler belt in a winding manner; the walking assembly further comprises a plurality of walking motors for driving the walking conveying rollers to rotate synchronously, the walking motors are servo motors, and the walking motors are in electric control connection with the control panel so as to set running parameters of the walking motors or control the walking motors to be turned on or turned off by the control panel.

As a further limitation of the technical solution of the embodiment of the present invention, to realize that the rotation of the rotation supporting disk is driven by the adjusting motor, in the embodiment provided by the invention, the adjusting motor is fixedly arranged on one side of the base, a driving groove is also formed on the outer side of the base, an output shaft of the adjusting motor extends into the driving groove, and a driving gear is arranged on an output shaft of the adjusting motor extending into the driving groove, a driven gear ring is coaxially and fixedly arranged on the lower surface of the rotating support plate, the driven gear ring is supported and slidably extended into the driving groove, and the driven gear ring positioned in the driving groove is meshed with the driving gear, therefore, when the driving gear is driven by the adjusting motor to rotate, under the linkage action of the meshed driven gear rings, the rotating support plate can be driven to rotate, and the rotating angle of the rotating support plate is adjusted; and the adjusting motor also adopts a servo motor with servo control, and the adjusting motor is electrically connected with the control panel so as to control the operation of the adjusting motor by utilizing the control panel.

As a further limitation of the technical scheme of the embodiment of the invention, a plurality of fixing grooves are uniformly distributed on one side of the lifting column, the lifting column extending into the first supporting upright post is fixed by a fixing and supporting piece, the fixed supporting piece comprises a supporting seat fixedly arranged on one side of the top of the supporting upright post, a supporting round cavity is arranged in the supporting seat, the fixed supporting piece also comprises a supporting cylinder which is rotatably arranged in the supporting round cavity, a rectangular block is arranged in the supporting cylinder in a supporting and sliding way through a supporting spring, the rectangular block is fixedly provided with a supporting pressure rod, the other end of the supporting pressure rod is fixedly provided with a fixed block matched with the fixed groove, therefore, under the elastic supporting action of the supporting spring, the rectangular block can be pushed to move in the supporting cylinder to enable the fixing block to be embedded into the fixing groove, and therefore the effect of supporting and fixing the lifting column extending into the first supporting upright column is achieved;

the arris piece structure of fixed block for having an inclined plane, through the rotation angle of adjustment support cylinder in supporting the round intracavity, can adjust the inclined plane orientation of fixed block, consequently, when the inclined plane of adjustment fixed block is downward, can upwards draw the lift post for support post one, and can't continue to support post one with the lift post this moment in promote, on the contrary, when the inclined plane of adjustment fixed block is upwards, can easily continue to support post one with the lift post and impel, thereby make the lift post for support post downstream, can adjust the height of locating of lift post promptly.

As a further limitation of the technical scheme of the embodiment of the invention, a plurality of thread grooves are uniformly distributed on the other side of the lifting column, a locking bolt in threaded fit with the thread grooves penetrates through the other open side of the first supporting upright post, and the end of the locking bolt is embedded into the thread grooves by screwing the locking bolt, so that the lifted lifting column can be locked, and the safety and reliability of the intelligent medical robot are improved.

As a further limitation of the technical scheme of the embodiment of the invention, the bottom of the supporting seat is provided with a limiting component for limiting the rotation of the supporting cylinder; spacing chamber has been seted up to the bottom of supporting seat, spacing subassembly includes to support through buffer spring and slides and locate the rectangular block in the spacing intracavity, fixed mounting has the stopper on the rectangular block, the outer lane equipartition of a support section of thick bamboo seted up four groups with the spacing groove of stopper looks adaptation, under buffer spring's elastic support effect, can promote the stopper embedding rather than the spacing inslot that corresponds to reach the rotatory effect of restriction support section of thick bamboo.

As a further limitation of the technical scheme of the embodiment of the invention, the rectangular block is also fixedly provided with a pull rod, the bottom end of the pull rod extends to the outside of the supporting seat, and the outer end of the pull rod is fixedly provided with an operating handle, so that the rectangular block can be pulled by operating the operating handle to slide downwards in the limiting cavity, so that the limiting block is separated from the limiting groove, at the moment, the supporting cylinder can be rotated, the direction of the inclined surface of the fixing block can be adjusted, and conversely, when the operating handle is released, the limiting block can be embedded into the corresponding limiting groove under the elastic supporting action of the buffer spring, so that the limiting effect on the supporting cylinder is achieved, and the fixing block is prevented from rotating;

the bottom of the supporting seat and the outer wall of the first supporting upright post are supported and fixed through a supporting angle plate, and the supporting angle plate is fixedly connected with the first supporting upright post in a mounting and dismounting manner through mounting screws.

As a further limitation of the technical solution of the embodiment of the present invention, the lower limb treatment robot includes a transverse support base, and the transverse support base is fixedly mounted on one side of the base in a screw-detachable manner; a seat is fixedly arranged on the upper surface of one side of the transverse supporting seat, and a cushion is arranged on the seat; the utility model discloses a horizontal supporting seat, including horizontal supporting seat, horizontal spring support, horizontal supporting seat, vertical slider, linkage chamber, top, horizontal cavity has been seted up to the opposite side inside of horizontal supporting seat, be provided with horizontal slider through horizontal spring support connection in the horizontal supporting seat, the fixed supporting shoe of foot that is provided with on the horizontal slider, the fixed upright section of thick bamboo that is provided with of middle part upper surface of horizontal supporting seat, it is provided with vertical slider to slide through vertical spring support in the fixed upright section of thick bamboo, support fixedly on the vertical slider and be provided with the kenozooecium bracing piece, the bottom fixed mounting of vertical slider has the driving chain, the linkage chamber has still been seted up in the horizontal supporting seat, the linkage intracavity rotates and is provided with the sprocket, the top still be provided with and be used for the drive the rotatory positive reverse servo motor of sprocket, the meshing of the middle part of driving chain is around locating on the sprocket, the other end of driving chain with horizontal slider fixed connection.

As a further limitation of the technical solution of the embodiment of the present invention, the intelligent controller is configured to receive a control signal from the control panel, wherein a control signal input end of the intelligent controller is electrically connected to a signal output end of the control panel, the intelligent controller is configured to convert the received control signal into a control instruction, and the control instruction respectively controls the operation of the adjustment motor, the forward and reverse servo motor, and the walking motor, so as to achieve an effect of respectively controlling the operation of the adjustment motor, the forward and reverse servo motor, and the walking motor by using the control panel, thereby facilitating a patient to control each electrical component of the intelligent medical robot in real time, and having an advantage of convenient use.

Compared with the prior art, in the lower limb treatment robot provided by the embodiment of the invention, when the clockwise rotation of the sprocket is driven by the clockwise and anticlockwise rotation servo motor, the vertical slider can be pulled to move downwards under the pulling action of the transmission chain, the vertical spring is in a compressed state, and the horizontal slider can move leftwards under the elastic supporting action of the horizontal spring, namely the center support rod moves downwards and the foot support block moves back to the chair, so that the lower limb of a patient can be conveniently stretched, when the anticlockwise rotation of the sprocket is driven by the anticlockwise rotation servo motor, the center support rod moves upwards under the elastic supporting action of the vertical spring, the foot support block gradually approaches the chair, the knee part of the lower limb of the patient can be supported by the center support rod, the center folding of the lower limb is convenient, so that the sprocket is driven to rotate by controlling the clockwise and anticlockwise rotation servo motor, according to the rotation direction of the chain wheel, the lower limbs of the patient can be passively extended or folded, so that the lower limbs of the patient can be passively treated, when the patient returns to the middle and later stages, namely the patient can independently move, the lower limb treatment robot can be detached, the walking speed is set according to the requirement of the patient through the walking assembly arranged on the base, the patient can conveniently move according to the requirement, the treatment of the lower limbs of the patient is facilitated, the waist of the patient is supported and bound through the waist support ring, the arranged hand rest rod is convenient for the patient to perform auxiliary support, and the stability of the body of the patient during the treatment of the lower limbs of the patient is improved; in addition, the intelligent medical robot provided by the embodiment of the invention can adjust the height of the lifting column through the fixed support piece so as to meet the requirements of patients with different body types, and has the advantages of flexible use and wide applicability; the intelligent controller is used for converting the received control signals into control instructions, and the control instructions respectively control the operation of the adjusting motor, the positive and negative rotation servo motor and the walking motor so as to realize the effect of respectively controlling the adjusting motor, the positive and negative rotation servo motor and the walking motor to operate by utilizing the control panel, thereby facilitating the real-time control of each electrical component of the intelligent medical robot by a patient and having the advantage of convenient use.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention.

Fig. 1 is a schematic structural diagram of an intelligent medical robot for treating lower limbs according to an embodiment of the present invention.

Fig. 2 is an enlarged schematic structural view of a portion B in fig. 1.

Fig. 3 is a schematic structural diagram of a fixing support in an intelligent medical robot for treating lower limbs according to an embodiment of the present invention.

Fig. 4 is a perspective view illustrating a fixing support of an intelligent medical robot for treating lower limbs according to an embodiment of the present invention.

Fig. 5 is a partial perspective view of a position limiting assembly in an intelligent medical robot for treating lower limbs according to an embodiment of the present invention.

Fig. 6 is an enlarged schematic view of a portion a of fig. 1.

Fig. 7 is a perspective view illustrating a rotation support plate of the intelligent medical robot for treating lower limbs according to the embodiment of the present invention.

Fig. 8 is a structural diagram of a lower limb treatment robot in an intelligent medical robot for treating lower limbs according to an embodiment of the present invention.

Fig. 9 is a schematic diagram illustrating the cooperation of a sprocket and a transmission chain in the lower limb treatment robot according to the embodiment of the invention.

Fig. 10 is a control schematic block diagram of an intelligent medical robot for treating lower limbs according to an embodiment of the present invention.

In the figure: 100-base, 101-supporting caster, 102-rotation supporting disk, 103-supporting groove, 104-walking crawler, 105-walking transmission roller, 106-walking motor, 107-adjusting motor, 108-driving groove, 109-driving gear, 110-driven gear ring;

200-supporting upright post I, 201-locking bolt, 202-supporting seat, 203-supporting cylinder, 204-supporting round cavity, 205-fixing block, 206-supporting spring, 207-rectangular block I, 208-supporting pressure bar, 209-supporting angle plate, 210-mounting screw, 211-limiting cavity, 212-limiting block, 213-limiting groove, 214-buffer spring, 215-pull rod, 216-rectangular block II and 217-operating handle;

300-lifting column, 301-supporting ball, 302-supporting rod, 303-thread groove and 304-fixing groove;

400-control panel, 401-panel bracket;

500-waist support ring, 501-fixing rod, 502-support column II, 503-hinging seat;

600-a handrail, 601-an anti-drop ring and 602-a rubber bulge;

700-lower limb treatment robot, 701-seat, 702-cushion, 703-fixed vertical cylinder, 704-vertical slide block, 705-principal support rod, 706-vertical spring, 707-transmission chain, 708-positive and negative rotation servo motor, 709-chain wheel, 710-transverse support seat, 711-linkage cavity, 712-transverse cavity, 713-transverse spring, 714-transverse slide block and 715-foot support block; 800-intelligent controller.

Detailed Description

The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.

It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are used for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms may be changed or adjusted without substantial change in the technical content.

Example 1

As shown in fig. 1, in an embodiment of the present invention, an intelligent medical robot for treating lower limbs includes a base 100, a walking assembly is disposed on the base 100, the running speed of the walking assembly is controllable, and four corners of the lower surface of the base 100 are respectively provided with a supporting caster 101, so as to conveniently move the entire intelligent medical robot to a designated position; a lower limb treatment robot 700 is fixedly arranged on one side of the base 100, a rotation supporting disc 102 is rotatably arranged on the base 100, and an adjusting motor 107 for driving the rotation supporting disc 102 to rotate for a certain angle is arranged on the other side of the base 100; a first supporting column 200 is fixedly arranged on the upper surface of one side of the rotating supporting disc 102, a lifting column 300 is mounted on the first supporting column 200 in a height-adjustable manner through a fixed supporting piece, a supporting ball 301 is fixedly mounted at the top end of the lifting column 300, a hinge seat 503 is horizontally and rotatably connected to the supporting ball 301, a second supporting column 502 is fixedly arranged on the hinge seat 503, a fixing rod 501 is fixedly arranged on one side of the top end of the second supporting column 502, a lumbar supporting ring 500 is fixedly arranged on the fixing rod 501, and the lumbar supporting ring 500 is provided with an openable opening, so that the waist of a patient can be conveniently supported and bound; a grab bar 600 is fixedly supported on one side of the upper part of the lifting column 300, anti-falling rings 601 are fixedly arranged at two ends of the grab bar 600, and a rubber bulge 602 is sleeved on the outer ring of the grab bar 600; the base 100 is further provided with an intelligent controller 800.

Therefore, in the intelligent medical robot provided by the embodiment of the invention, the walking assembly is arranged on the base 100, and the walking speed is set according to the requirements of the patient, so that the patient can conveniently walk as required, the treatment of the lower limbs of the patient is facilitated, the waist of the patient is supported and bound by the waist support ring 500, the arranged handrail 600 is convenient for the patient to support in an auxiliary manner, and the stability of the body of the patient during the treatment of the lower limbs of the patient is improved; in addition, the intelligent medical robot provided by the embodiment of the invention can adjust the height of the lifting column 300 through the fixed support piece so as to meet the requirements of patients with different body types, and has the advantage of wide applicability.

Example 2

As shown in fig. 1, in an embodiment of the present invention, an intelligent medical robot for treating lower limbs includes a base 100, a walking assembly is disposed on the base 100, the running speed of the walking assembly is controllable, and four corners of the lower surface of the base 100 are respectively provided with a supporting caster 101, so as to conveniently move the entire intelligent medical robot to a designated position; a lower limb treatment robot 700 is fixedly arranged on one side of the base 100, a rotation supporting disc 102 is rotatably arranged on the base 100, and an adjusting motor 107 for driving the rotation supporting disc 102 to rotate for a certain angle is arranged on the other side of the base 100; a first supporting column 200 is fixedly arranged on the upper surface of one side of the rotating supporting disc 102, a lifting column 300 is mounted on the first supporting column 200 in a height-adjustable manner through a fixing supporting piece, a supporting ball 301 is fixedly mounted at the top end of the lifting column 300, a hinge seat 503 is horizontally and rotatably connected to the supporting ball 301, a second supporting column 502 is fixedly arranged on the hinge seat 503, a fixing rod 501 is fixedly arranged on one side of the top end of the second supporting column 502, a lumbar supporting ring 500 is fixedly arranged on the fixing rod 501, and the lumbar supporting ring 500 is provided with an openable opening, so that the waist of a patient can be conveniently supported and restrained; a grab bar 600 is fixedly supported on one side of the upper part of the lifting column 300, anti-falling rings 601 are fixedly arranged at two ends of the grab bar 600, and a rubber bulge 602 is sleeved on the outer ring of the grab bar 600; the base 100 is further provided with an intelligent controller 800.

Referring to fig. 1, in the embodiment of the present invention, a supporting rod 302 is further disposed at the top of the lifting column 300, a panel bracket 401 is fixedly supported on the supporting rod 302, and a control panel 400 is fixedly disposed on the panel bracket 401, so as to facilitate the patient to set the operation parameters of the walking assembly and control the operation of the walking assembly.

As shown in fig. 1, in the embodiment provided by the present invention, a supporting groove 103 is formed on the base 100, the walking assembly includes a plurality of walking conveying rollers 105 rotatably supported at an upper opening of the supporting groove 103, and a walking crawler 104 is connected around the walking conveying rollers 105; the walking assembly further comprises a walking motor 106 used for driving the walking conveying rollers 105 to synchronously rotate, the walking motor 106 is a servo motor, and the walking motor 106 is electrically connected with the control panel 400, so that the control panel 400 is used for setting the running parameters of the walking motor 106 or controlling the walking motor 106 to be turned on or turned off.

Further, as shown in fig. 1, 6 and 7, in order to realize that the rotation support plate 102 is driven to rotate by the adjustment motor 107, in an embodiment of the present invention, the adjustment motor 107 is fixedly installed at one side of the base 100, a driving groove 108 is further formed at an outer side of the base 100, an output shaft of the adjustment motor 107 extends into the driving groove 108, and a driving gear 109 is installed on an output shaft of the adjustment motor 107 extending into the driving groove 108, a driven gear ring 110 is coaxially and fixedly installed at a lower surface of the rotation support plate 102, the driven gear ring 110 is slidably extended into the driving groove 108, and the driven gear ring 110 located in the driving groove 108 is engaged with the driving gear 109, so that when the driving gear 109 is driven to rotate by the adjustment motor 107, the rotation support plate 102 can be driven to rotate under an interlocking action of the driven gear rings 110 engaged with each other, further, the rotation angle of the rotation support plate 102 is adjusted; and the adjusting motor 107 also adopts a servo motor with servo control, and the adjusting motor 107 is electrically connected with the control panel 400 so as to control the operation of the adjusting motor 107 by using the control panel 400.

Example 3

As shown in fig. 1, in an embodiment provided by the present invention, an intelligent medical robot for treating lower limbs includes a base 100, a walking assembly is disposed on the base 100, and the running speed of the walking assembly is controllable, four corners of the lower surface of the base 100 are each provided with a supporting caster 101, so as to conveniently move the entire intelligent medical robot to a designated position; a lower limb treatment robot 700 is fixedly arranged on one side of the base 100, a rotation supporting disc 102 is rotatably arranged on the base 100, and an adjusting motor 107 for driving the rotation supporting disc 102 to rotate for a certain angle is arranged on the other side of the base 100; a first supporting column 200 is fixedly arranged on the upper surface of one side of the rotating supporting disc 102, a lifting column 300 is mounted on the first supporting column 200 in a height-adjustable manner through a fixed supporting piece, a supporting ball 301 is fixedly mounted at the top end of the lifting column 300, a hinge seat 503 is horizontally and rotatably connected to the supporting ball 301, a second supporting column 502 is fixedly arranged on the hinge seat 503, a fixing rod 501 is fixedly arranged on one side of the top end of the second supporting column 502, a lumbar supporting ring 500 is fixedly arranged on the fixing rod 501, and the lumbar supporting ring 500 is provided with an openable opening, so that the waist of a patient can be conveniently supported and bound; a grab bar 600 is fixedly supported on one side of the upper part of the lifting column 300, anti-falling rings 601 are fixedly arranged at two ends of the grab bar 600, and a rubber bulge 602 is sleeved on the outer ring of the grab bar 600; the base 100 is further provided with an intelligent controller 800.

As shown in fig. 1, in the embodiment provided by the present invention, a supporting groove 103 is formed on the base 100, the walking assembly includes a plurality of walking transmission rollers 105 rotatably supported at an upper opening of the supporting groove 103, and a walking crawler 104 is wound on the walking transmission rollers 105; the walking assembly further comprises a walking motor 106 for driving the plurality of walking transmission rollers 105 to synchronously rotate, the walking motor 106 adopts a servo motor, and the walking motor 106 is electrically connected with the control panel 400, so that the control panel 400 is utilized to set the running parameters of the walking motor 106 or control the on or off of the walking motor 106.

As shown in fig. 1 to 4, in the embodiment provided by the present invention, a plurality of fixing grooves 304 are uniformly formed on one side of the lifting column 300, the lifting column 300 extending into the first supporting column 200 is fixed by a fixing support, the fixing support includes a supporting base 202 fixedly disposed on one side of the top of the first supporting column 200, a supporting circular cavity 204 is formed in the supporting base 202, the fixing support further includes a supporting cylinder 203 rotatably disposed in the supporting circular cavity 204, a rectangular block 207 is slidably disposed in the supporting cylinder 203 through a supporting spring 206, a supporting pressure rod 208 is fixedly mounted on the rectangular block 207, and a fixing block 205 adapted to the fixing grooves 304 is fixedly disposed at the other end of the supporting pressure rod 208, so that, under the elastic supporting action of the supporting spring 206, the rectangular block 207 can be pushed to move in the supporting cylinder 203 to enable the fixing block 205 to be embedded into the fixing grooves 304, thereby realizing the effect of supporting and fixing the lifting column 300 extending into the first supporting upright post 200.

As a preferred embodiment of the present invention, the fixing block 205 is a prism structure having an inclined surface, and the orientation of the inclined surface of the fixing block 205 can be adjusted by adjusting the rotation angle of the supporting cylinder 203 in the supporting circular cavity 204, so that when the inclined surface of the fixing block 205 is adjusted to be downward, the lifting column 300 can be pulled upward relative to the supporting upright one 200, and the lifting column 300 cannot be pushed into the supporting upright one 200 continuously, whereas when the inclined surface of the fixing block 205 is adjusted to be upward, the lifting column 300 can be pushed into the supporting upright one 200 easily, so that the lifting column 300 moves downward relative to the supporting upright one 200, and the height of the lifting column 300 can be adjusted.

Therefore, in specific use, when the lifting column 300 needs to be adjusted to be high, the inclined surface of the adjusting fixing block 205 faces downwards, and then the lifting column 300 is pulled upwards, on the contrary, when the lifting column 300 needs to be adjusted to be low, the inclined surface of the adjusting fixing block 205 faces upwards, that is, the lifting column 300 can be pushed downwards relative to the first support upright post 200, and when the height of the lifting column 300 is adjusted to be a designated position, the inclined surface of the adjusting fixing block 205 faces downwards, that is, the fixing of the lifting column 300 relative to the first support upright post 200 can be maintained.

Further, in the embodiment provided by the invention, a plurality of thread grooves 303 are uniformly distributed on the other side of the lifting column 300, a locking bolt 201 in threaded fit with the thread grooves 303 penetrates through the other side of the opening of the first supporting upright post 200, and the end part of the locking bolt 201 is embedded into the thread grooves 303 by screwing the locking bolt 201, so that the lifted lifting column 300 can be locked, and the safety and reliability of the intelligent medical robot are improved.

Example 4

Referring to fig. 1, in the embodiment of the present invention, a supporting rod 302 is further disposed on the top of the lifting column 300, a panel bracket 401 is fixedly supported on the supporting rod 302, and a control panel 400 is fixedly disposed on the panel bracket 401, so as to facilitate the setting of the operating parameters of the walking assembly by the patient and the control of the operation of the walking assembly.

Further, as shown in fig. 1, 6 and 7, in order to realize that the rotation support plate 102 is driven to rotate by the adjustment motor 107, in an embodiment of the present invention, the adjustment motor 107 is fixedly installed at one side of the base 100, a driving groove 108 is further formed at an outer side of the base 100, an output shaft of the adjustment motor 107 extends into the driving groove 108, and a driving gear 109 is installed on an output shaft of the adjustment motor 107 extending into the driving groove 108, a driven gear ring 110 is coaxially and fixedly installed at a lower surface of the rotation support plate 102, the driven gear ring 110 is slidably extended into the driving groove 108, and the driven gear ring 110 located in the driving groove 108 is engaged with the driving gear 109, so that when the driving gear 109 is driven to rotate by the adjustment motor 107, the rotation support plate 102 can be driven to rotate under an interlocking action of the driven gear rings 110 engaged with each other, further, the rotation angle of the rotation support plate 102 is adjusted; the adjusting motor 107 is also a servo motor with servo control, and the adjusting motor 107 is electrically connected with the control panel 400 so as to control the operation of the adjusting motor 107 by using the control panel 400.

Further, in the embodiment provided by the invention, a plurality of thread grooves 303 are uniformly formed in the other side of the lifting column 300, a locking bolt 201 in threaded fit with the thread grooves 303 penetrates through the other side of the opening of the first supporting upright post 200, and the end of the locking bolt 201 is embedded into the thread grooves 303 by screwing the locking bolt 201, so that the lifted lifting column 300 can be locked, and the safety and reliability of the intelligent medical robot are improved.

Referring to fig. 1-5, in the embodiment of the present invention, a limiting component for limiting the rotation of the supporting cylinder 203 is disposed at the bottom of the supporting base 202; spacing chamber 211 has been seted up to the bottom of supporting seat 202, spacing subassembly includes supports through buffer spring 214 and slides and locate rectangular block 216 in the spacing chamber 211, fixed mounting has stopper 212 on the rectangular block 216, support the outer lane equipartition of a section of thick bamboo 203 seted up four groups with the spacing groove 213 of stopper 212 looks adaptation, under buffer spring 214's elastic support effect, can promote stopper 212 embedding rather than the spacing groove 213 that corresponds in to reach the rotatory effect of restriction support section of thick bamboo 203.

Further, in the embodiment of the present invention, a pull rod 215 is further fixedly mounted on the rectangular block 216, a bottom end of the pull rod 215 extends to the outside of the supporting seat 202, and an operating handle 217 is fixedly mounted at an outer end of the pull rod 215, so that the rectangular block 216 can be pulled by operating the operating handle 217 to slide the rectangular block 216 downward in the limiting cavity 211, so that the limiting block 212 is disengaged from the limiting groove 213, at this time, the supporting cylinder 203 can be rotated, and the orientation of the inclined surface of the fixing block 205 can be adjusted, conversely, when the operating handle 217 is released, the limiting block 212 can be embedded into the corresponding limiting groove 213 under the elastic supporting action of the buffer spring 214, so as to limit the supporting cylinder 203 and prevent the fixing block 205 from rotating.

Referring to fig. 1-2, in the embodiment of the present invention, the bottom of the supporting base 202 and the outer wall of the first supporting column 200 are supported and fixed by a supporting angle plate 209, and the supporting angle plate 209 and the first supporting column 200 are detachably and fixedly connected by a mounting screw 210.

In summary, in the intelligent medical robot provided by the embodiment of the present invention, the walking assembly is arranged on the base 100, and the walking speed is set according to the needs of the patient, so that the patient can conveniently walk as required, which is helpful for the treatment of the lower limbs of the patient, the waist of the patient is supported and constrained by the waist support ring 500, and the handrail 600 is arranged to facilitate the auxiliary support of the patient, thereby improving the stability of the body of the patient when the lower limbs of the patient are treated; in addition, the intelligent medical robot provided by the embodiment of the invention can adjust the height of the lifting column 300 through the fixed support piece so as to meet the requirements of patients with different body types, and has the advantage of wide applicability.

Specifically, in the fixing support provided in the embodiment of the present invention, the orientation of the inclined surface of the fixing block 205 can be adjusted by adjusting the rotation angle of the supporting cylinder 203 in the supporting circular cavity 204, when the lifting column 300 needs to be adjusted high, the inclined surface of the fixing block 205 is adjusted to be downward, and then the lifting column 300 is pulled upward, whereas when the lifting column 300 needs to be adjusted low, the inclined surface of the fixing block 205 is adjusted to be upward, so that the lifting column 300 can be pushed downward relative to the first supporting column 200, and when the height of the lifting column 300 is adjusted to a specified position, the inclined surface of the fixing block 205 is adjusted to be downward, so that the fixing of the lifting column 300 relative to the first supporting column 200 can be maintained.

Example 5

Specifically, as shown in fig. 1, 8 and 9, in the lower limb treatment robot 700 according to the embodiment of the present invention, the lower limb treatment robot 700 includes a transverse support 710, and the transverse support 710 is detachably and fixedly mounted on one side of the base 100 by screws; a seat 701 is fixedly arranged on the upper surface of one side of the transverse supporting seat 710, and a cushion 702 is arranged on the seat 701; a transverse cavity 712 is formed in the other side of the transverse support seat 710, a transverse slider 714 is supported and connected in the transverse support seat 710 through a transverse spring 713, a foot support block 715 is fixedly arranged on the transverse slider 714, and a fixed vertical cylinder 703 is fixedly arranged on the upper surface of the middle part of the transverse support seat 710;

the vertical sliding block 704 is arranged in the fixed vertical cylinder 703 in a supporting and sliding mode through a vertical spring 706, a principal supporting rod 705 is fixedly arranged on the vertical sliding block 704 in a supporting mode, a transmission chain 707 is fixedly arranged at the bottom of the vertical sliding block 704, a linkage cavity 711 is further formed in the transverse supporting seat 710, a chain wheel 709 is rotationally arranged in the linkage cavity 711, a forward and reverse rotation servo motor 708 used for driving the chain wheel 709 to rotate is further arranged at the top of the linkage cavity 711, the middle of the transmission chain 707 is meshed and wound on the chain wheel 709, and the other end of the transmission chain 707 is fixedly connected with the transverse sliding block 714.

With reference to fig. 1 to 10, in the embodiment provided by the present invention, the intelligent controller 800 is configured to receive a control signal from the control panel 400, wherein a control signal input end of the intelligent controller 800 is electrically connected to a signal output end of the control panel 400, and the intelligent controller 800 is configured to convert the received control signal into a control instruction, where the control instruction respectively controls the operation of the adjustment motor 107, the forward/reverse servo motor 708, and the walking motor 106, so as to achieve the effect of respectively controlling the operation of the adjustment motor 107, the forward/reverse servo motor 708, and the walking motor 106 by using the control panel 400, thereby facilitating the patient to perform real-time control on each electrical component of the intelligent medical robot, and having the advantage of convenient use.

In the lower limb treatment robot 700 provided by the embodiment of the present invention, when the clockwise and counterclockwise rotation servo motor 708 is used to drive the sprocket 709 to rotate clockwise, at this time, under the pulling action of the transmission chain 707, the vertical slider 704 can be pulled to move downward, at this time, the vertical spring 706 is in a compressed state, and at this time, under the elastic supporting action of the horizontal spring 713, the horizontal slider 714 can be moved leftward, that is, the center support rod 705 at this time moves downward, and the foot support block 715 moves back to the seat 701, at this time, the lower limb of the patient can be conveniently extended, while when the clockwise and counterclockwise rotation servo motor 708 drives the sprocket 709 to rotate counterclockwise, under the elastic supporting action of the vertical spring 706, the center support rod 705 moves upward, and the foot support block 715 gradually approaches the seat 701, at this time, the center support rod can support the knee of the lower limb of the patient, so that the center of the lower limb can be conveniently folded, thereby the clockwise and counterclockwise rotation servo motor 708 is controlled to drive the sprocket 709 to rotate, according to the rotating direction of the chain wheel 709, the lower limbs of the patient can passively extend or close, so that the lower limbs of the patient can be passively treated, when the patient returns to the middle and later stages, namely the patient can autonomously move, the lower limb treatment robot 700 can be detached, the walking speed is set according to the requirement of the patient through the walking assembly arranged on the base 100, the patient can conveniently move as required, the treatment of the lower limbs of the patient is facilitated, the waist of the patient is supported and bound through the waist support ring 500, the arranged handrail 600 facilitates the auxiliary support of the patient, and the stability of the body of the patient during the treatment of the lower limbs of the patient is improved;

in addition, the intelligent medical robot provided by the embodiment of the invention can adjust the height of the lifting column 300 through the fixed support piece so as to meet the requirements of patients with different body types, and has the advantages of flexible use and wide applicability.

In the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. An intelligent medical robot for treatment of lower limbs, comprising a base (100);

a walking component is arranged on the base (100);

four corners of the lower surface of the base (100) are provided with supporting caster wheels (101);

a lower limb treatment robot (700) is fixedly arranged on one side of the base (100);

a rotary supporting plate (102) is further rotatably arranged on the base (100), and an adjusting motor (107) for driving the rotary supporting plate (102) to rotate for a certain angle is mounted on the other side of the base (100);

a first supporting upright (200) is fixedly arranged on the upper surface of one side of the rotating supporting disc (102), a lifting column (300) is mounted on the first supporting upright (200) in a height-adjustable manner through a fixed supporting piece, a supporting ball (301) is fixedly mounted at the top end of the lifting column (300), a hinge seat (503) is horizontally and rotatably connected with the supporting ball (301), a second supporting upright (502) is fixedly arranged on the hinge seat (503), a fixing rod (501) is fixedly arranged on one side of the top end of the second supporting upright (502), and a waist supporting ring (500) is fixedly arranged on the fixing rod (501);

the base (100) is also provided with an intelligent controller (800);

the top of the lifting column (300) is also provided with a support rod (302), a panel bracket (401) is fixedly supported on the support rod (302), and a control panel (400) is fixedly arranged on the panel bracket (401);

a plurality of fixing grooves (304) are uniformly distributed on one side of the lifting column (300), and the lifting column (300) extending into the first supporting upright post (200) is fixed through a fixing support piece;

the fixed support piece comprises a support seat (202) fixedly arranged on one side of the top of the first support upright post (200), a support circular cavity (204) is formed in the support seat (202), and the fixed support piece further comprises a support cylinder (203) rotatably arranged in the support circular cavity (204);

a first rectangular block (207) is supported and slidably arranged in the supporting cylinder (203) through a supporting spring (206);

a supporting compression bar (208) is fixedly arranged on the first rectangular block (207); the other end of the supporting pressure rod (208) is fixedly provided with a fixed block (205) matched with the fixed groove (304);

the fixed block (205) is of a prism block structure with an inclined surface;

a plurality of thread grooves (303) are uniformly distributed on the other side of the lifting column (300), and locking bolts (201) in threaded fit with the thread grooves (303) penetrate through the other side of the opening of the first supporting upright column (200);

the bottom of the supporting seat (202) is provided with a limiting component for limiting the rotation of the supporting cylinder (203);

the bottom of the supporting seat (202) is provided with a limiting cavity (211);

the limiting assembly comprises a second rectangular block (216) which is supported by a buffer spring (214) and slidably arranged in the limiting cavity (211), and a limiting block (212) is fixedly arranged on the second rectangular block (216);

four sets of limit grooves (213) matched with the limit blocks (212) are uniformly distributed on the outer ring of the support cylinder (203), and the buffer spring (214) pushes the limit blocks (212) to be embedded into the corresponding limit grooves (213);

a pull rod (215) is fixedly mounted on the second rectangular block (216), the bottom end of the pull rod (215) extends to the outside of the supporting seat (202), and an operating handle (217) is fixedly mounted at the outer end of the pull rod (215);

the bottom of the supporting seat (202) and the outer wall of the first supporting upright post (200) are supported and fixed through a supporting angle plate (209), and the supporting angle plate (209) and the first supporting upright post (200) are fixedly connected in a dismounting manner through a mounting screw (210);

the lower limb treatment robot (700) comprises a transverse supporting seat (710), wherein the transverse supporting seat (710) is fixedly arranged on one side of a base (100) in a screw dismounting mode; a seat (701) is fixedly arranged on the upper surface of one side of the transverse supporting seat (710); a transverse cavity (712) is formed in the other side of the transverse supporting seat (710), a transverse sliding block (714) is arranged in the transverse supporting seat (710) in a supporting and connecting mode through a transverse spring (713), a foot supporting block (715) is fixedly arranged on the transverse sliding block (714), a fixed vertical cylinder (703) is fixedly arranged on the upper surface of the middle part of the transverse supporting seat (710), a vertical sliding block (704) is arranged in the fixed vertical cylinder (703) in a supporting and sliding mode through a vertical spring (706), a middle supporting rod (705) is fixedly arranged on the vertical sliding block (704) in a supporting mode, a transmission chain (707) is fixedly installed at the bottom of the vertical sliding block (704), a linkage cavity (711) is further formed in the transverse supporting seat (710), a chain wheel (709) is rotatably arranged in the linkage cavity (711), and a forward and reverse servo motor (708) for driving the chain wheel (709) to rotate is further arranged at the top of the linkage cavity (711), the middle part of the transmission chain (707) is meshed and wound on the chain wheel (709), and the other end of the transmission chain (707) is fixedly connected with the transverse sliding block (714);

the intelligent controller (800) is used for receiving a control signal from the control panel (400), the control signal input end of the intelligent controller (800) is electrically connected with the signal output end of the control panel (400), the intelligent controller (800) is used for converting the received control signal into a control command, and the control command respectively controls the operation of the adjusting motor (107), the forward and reverse rotation servo motor (708) and the walking motor (106).

2. The intelligent medical robot for treating the lower limbs of the patient according to claim 1, wherein a handrail (600) is fixedly supported on one side of the upper portion of the lifting column (300), anti-drop rings (601) are fixedly arranged at two ends of the handrail (600), and a rubber protrusion (602) is sleeved on the outer ring of the handrail (600).

3. The intelligent medical robot for treating the lower limbs of the patient according to claim 2, wherein the base (100) is provided with a supporting groove (103), and the walking assembly comprises a plurality of walking transmission rollers (105) which are rotatably supported at an upper opening of the supporting groove (103);

a walking crawler belt (104) is wound on the walking conveying roller (105);

the walking assembly also comprises a walking motor (106) for driving the walking transmission rollers (105) to synchronously rotate.

4. The intelligent medical robot for treating lower limbs according to claim 3, wherein the adjusting motor (107) is fixedly installed at one side of the base (100), a driving groove (108) is further formed in the outer side of the base (100), and an output shaft of the adjusting motor (107) extends into the driving groove (108);

an output shaft of the adjusting motor (107) extending into the driving groove (108) is provided with a driving gear (109);

a driven gear ring (110) is coaxially and fixedly arranged on the lower surface of the rotary supporting disc (102);

the driven gear ring (110) is supported and slidably extends into the driving groove (108), and the driven gear ring (110) positioned in the driving groove (108) is meshed with the driving gear (109).