CN113768758A

CN113768758A - Household rehabilitation robot

Info

Publication number: CN113768758A
Application number: CN202111013085.3A
Authority: CN
Inventors: 李仁军; 李鑫; 徐锐; 奚琳; 王静平; 漆小敏; 郑乐飞
Original assignee: Anhui Polytechnic University
Current assignee: Anhui Polytechnic University
Priority date: 2021-08-31
Filing date: 2021-08-31
Publication date: 2021-12-10

Abstract

The invention belongs to the field of robots, and particularly relates to a home rehabilitation robot which comprises a support cover, a rear cover and a walking unit, wherein the support cover is arranged on the rear cover; the left side surface of the supporting cover is hinged with a rear cover; the front side and the rear side of the supporting cover are hinged with safety side plates; through handling host computer electric connection display and first motor, thereby can show the rotational speed of first motor in real time on the display, thereby can let the walking speed of knowing oneself now that patient is clear, the cotton safety handle of protective sheath that cup joints through both sides can give the patient of independently standing and assist when walking is taken exercise, prevent to tumble, through keeping perpendicular locking groove with the lock axle, rotate safety side plate this moment, can open the safety side plate of both sides, thereby can be quick from the side with patient shift out with emergency rescue patient down, through first motor, handle the low price combination of host computer and display, make this rehabilitation robot with low costs, the selling price is low.

Description

Household rehabilitation robot

Technical Field

The invention relates to the field of robots, in particular to a home rehabilitation robot.

Background

The rehabilitation robot belongs to one of medical robots and plays a role in assisting recovery of patients in a postoperative recovery stage.

The existing robot products all belong to high-end medical equipment, have comprehensive functions and high intelligence, and can detect the recovery condition of patients in real time.

The existing rehabilitation robot is high in selling price and cannot be borne by families with high treatment cost; therefore, a home rehabilitation robot is provided for solving the problems.

Disclosure of Invention

The invention provides a household rehabilitation robot, which aims to make up for the defects of the prior art and solve the problems that the conventional rehabilitation robot is high in selling price and cannot bear families with high treatment cost.

The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to a home rehabilitation robot, which comprises a supporting cover, a rear cover and a walking unit, wherein the supporting cover is arranged on the rear cover; the left side surface of the supporting cover is hinged with a rear cover; the front side and the rear side of the supporting cover are hinged with safety side plates; a plurality of safety handrails are fixedly connected to the inner side surface of the safety side plate; the contact surfaces of the safety side plate and the support cover are both provided with locking grooves; a buckling shaft is hinged above the locking groove; two rotating shafts are rotatably connected in the supporting cover; two support shafts are fixedly connected to the two rotating shafts; the two support shafts are in tensioning sleeve joint with a conveyor belt; a first synchronous wheel is fixedly connected to the supporting shaft; a synchronous belt is sleeved on the first synchronous wheel; a second synchronous wheel is sleeved on the synchronous belt; the second synchronous wheel is fixedly connected to an output shaft of the first motor; the first motor is fixedly connected to the inner side wall of the support cover; a display is fixedly connected with the inner wall of the supporting cover through a groove; the display is electrically connected with a processing host; the during operation, through handling host computer electric connection display and first motor, thereby can show the rotational speed of first motor in real time on the display, thereby can let patient's the walking speed of knowing oneself now that patient is clear, the safety handle who cup joints the protective cotton through both sides can give the patient of independently standing and assist when the walking is taken exercise, prevent to tumble, vertical articulated lock axle through locking the inslot, realize simple invariable lock and die supporting cover and safety curb plate, through keeping perpendicular lock groove with the lock axle, rotate safety curb plate this moment, can open the safety curb plate of both sides, thereby can be quick from the side shift out patient and emergency rescue patient down, through first motor, handle the low price combination of host computer and display, make this rehabilitation robot with low costs, the selling price is low.

Preferably, a sliding rail is fixedly connected to the inner wall of the support cover; the sliding rail is connected with a sliding block in a buckling manner; the sliding block is fixedly connected with a connecting plate; a threaded shaft is inserted in the internal thread of the connecting plate; during operation, through the connecting plate rigid coupling on the slider, slider lock sliding connection is on the slide rail to make connecting plate lock sliding connection on the slide rail, thereby make the resistance through rotating the threaded spindle little, the rotation that can last changes the position help patient of connecting plate is recovered.

Preferably, the threaded shaft is rotatably connected in the support cover; one end of the threaded shaft is detachably and fixedly connected with a crank; a second motor is fixedly connected to the connecting plate; the during operation rotates the crank through just reversing, and the crank drives the screw shaft and rotates to move about driving the connecting plate, thereby can will wear to put up the patient after connecting the clothes and remove the intermediate position, walk or the training of running, at the rotation crank that lasts simultaneously, can assist the patient and carry out reciprocating motion help rehabilitation on the conveyer belt that stops.

Preferably, an output shaft of the second motor is fixedly connected with a speed reducer; a wire coil is fixedly connected to an output shaft of the speed reducer; the speed reducer is fixedly connected to the connecting plate; during operation, connect the speed reducer through second motor mechanical transmission, the rigid coupling has the drum on the output shaft of speed reducer for can export bigger moment of torsion on the drum through the second motor, thereby can be the low-speed stable rise the haulage rope, thereby guaranteed the security of recovered process.

Preferably, a traction rope is fixedly wound in the wire coil; the other end of the traction rope is fixedly connected with a connecting garment; a safety pipe is sleeved on the traction rope; during operation, the safety pipe made of high-hardness plastic is sleeved on the traction rope, so that the traction rope is small in abrasion in the winding process of the second motor, and the service life of the traction rope is prolonged.

Preferably, the safety pipe is connected in the sliding groove in a buckling and sliding manner; the sliding groove is formed in the safety partition plate; the safety baffle is detachably and fixedly connected in the supporting cover; during operation, the safety pipe is buckled and connected in the sliding groove in a sliding mode, so that the movement track of the connecting clothes during hoisting through the traction rope is uniform, the connecting clothes cannot shake left and right, and the safety of recovery training is guaranteed.

Preferably, an elastic base is detachably and fixedly connected with the corresponding conveying belt in the supporting cover; two buffer shafts are rotatably connected in the elastic base; an auxiliary belt is tensioned and sleeved on the two buffer shafts; an elastic plate is fixedly connected to the elastic base in the auxiliary belt; the during operation, through the surface of supplementary area and the internal surface meshing of conveyer belt for the conveyer belt keeps sufficient frictional force in the pivoted, thereby prevent to cause the skid in the recovery training of running and walking and sprains, has the elastic plate through the level and smooth rigid coupling in the internal surface of supplementary area, makes supplementary area and conveyer belt also can not sunken down too much when heavily stepping on lead to about the foot height on the uneven hand of falling, thereby makes patient's safety more when the training of running of walking.

Preferably, the inner side wall of the safety side plate is detachably and fixedly connected with a protective strip corresponding to the upper surface of the conveying belt; the cross section of the protection strip is an isosceles triangle; the side surface of the supporting cover is provided with heat dissipation holes; the during operation blocks the border position of conveyer belt through the protection strip for article that patient dropped or the edge extrusion that the clothing can not get into the conveyer belt cause the damage, can continuously rotate the timely discharge of heat that produces through the louvre with first motor.

The invention has the advantages that:

1. the invention can display the rotating speed of the first motor on the display in real time by electrically connecting the processing host with the display and the first motor, so that a patient can clearly know the walking speed of the patient, the safety handrails sleeved with the protective cotton on two sides can assist the patient who stands independently during walking exercise to prevent falling down, the simple and constant buckling and locking of the supporting cover and the safety side plates can be realized by vertically hinging the buckling shafts in the locking grooves, the safety side plates on two sides can be opened by keeping the buckling shafts vertical to the locking grooves, so that the patient can be rapidly moved out from the side and rescued under emergency, and the problem of high selling price of the existing rehabilitation robot is solved by the low-price combination of the first motor, the processing host and the display, the selling price of the rehabilitation robot is reduced;

2. according to the invention, the crank is rotated in the positive and negative directions, the crank drives the threaded shaft to rotate, so that the connecting plate is driven to move left and right, a patient wearing the connecting clothes can be moved to the middle position to perform walking or running training, meanwhile, the reciprocating movement of the patient on the stopped conveying belt can be assisted to help the rehabilitation by continuously rotating the crank, the problem that the existing rehabilitation robot is high in manufacturing cost and single in rehabilitation training mode is solved, and the training mode of the rehabilitation robot is increased.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, 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, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

FIG. 1 is a schematic perspective view of a first embodiment;

FIG. 2 is a partial cross-sectional front view according to the first embodiment;

FIG. 3 is a schematic side view, partially in section, illustrating a first embodiment of the present invention;

FIG. 4 is a schematic side view of the first embodiment;

fig. 5 is a schematic side view of the second embodiment.

In the figure: 1. a support housing; 2. a rear cover; 3. a safety side plate; 4. a rotating shaft; 5. a support shaft; 6. a first synchronizing wheel; 7. a synchronous belt; 8. a second synchronizing wheel; 9. a first motor; 10. a display; 11. a slide rail; 12. a slider; 13. a connecting plate; 14. a threaded shaft; 15. a crank; 16. a safety barrier; 17. a chute; 18. a safety tube; 19. a second motor; 20. a speed reducer; 21. wire coils; 22. a hauling rope; 23. connecting clothes; 24. a safety handrail; 25. processing the host; 26. a protective strip; 27. heat dissipation holes; 28. a conveyor belt; 29. a locking groove; 30. buckling the shaft; 31. a handle; 32. a hanging rod; 33. an elastic base; 34. a buffer shaft; 35. an auxiliary belt; 36. an elastic plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example one

Referring to fig. 1-4, a home rehabilitation robot includes a support cover 1, a rear cover 2, and a walking unit; the left side surface of the support cover 1 is hinged with a rear cover 2; the front side and the rear side of the support cover 1 are hinged with safety side plates 3; a plurality of safety handrails 24 are fixedly connected with the inner side surface of the safety side plate 3; the contact surfaces of the safety side plate 3 and the support cover 1 are both provided with locking grooves 29; a buckling shaft 30 is hinged above the locking groove 29; two rotating shafts 4 are rotatably connected in the supporting cover 1; two support shafts 5 are fixedly connected to the two rotating shafts 4; a conveyor belt 28 is tightly sleeved on the two support shafts 5; a first synchronous wheel 6 is fixedly connected to the supporting shaft 5; a synchronous belt 7 is sleeved on the first synchronous wheel 6; a second synchronous wheel 8 is sleeved on the synchronous belt 7; the second synchronous wheel 8 is fixedly connected to an output shaft of the first motor 9; the first motor 9 is fixedly connected to the inner side wall of the support cover 1; a display 10 is fixedly connected with the inner wall of the supporting cover 1 through a groove; the display 10 is electrically connected with a processing host 25; when in work, the processing host 25 is electrically connected with the display 10 and the first motor 9, so that the rotating speed of the first motor 9 can be displayed on the display 10 in real time, thereby enabling the patient to know the walking speed clearly, the safety armrests 24 which are sleeved with the protective cotton at the two sides can assist the patient who stands independently in walking exercise to prevent falling down, the buckling shaft 30 is vertically hinged in the locking groove 29, so that the simple and constant buckling and locking of the supporting cover 1 and the safety side plate 3 are realized, the buckling shaft 30 is kept to be vertical to the locking groove 29, the safety side plate 3 is rotated at the moment, the safety side plates 3 at the two sides can be opened, so that the patient can be quickly moved out from the side and rescued in emergency, the rehabilitation robot has low cost and low selling price through the low-price combination of the first motor 9, the processing host 25 and the display 10.

A slide rail 11 is fixedly connected to the inner wall of the support cover 1; the slide rail 11 is connected with a slide block 12 in a buckling manner; the slide block 12 is fixedly connected with a connecting plate 13; a threaded shaft 14 is inserted into the internal thread of the connecting plate 13; during operation, through connecting plate 13 rigid coupling on slider 12, slider 12 lock sliding connection is on slide rail 11 to make connecting plate 13 lock sliding connection on slide rail 11, thereby make the resistance through rotating threaded shaft 14 little, the rotation that can last changes the position help patient recovered of connecting plate 13.

The threaded shaft 14 is rotatably connected in the support cover 1; one end of the threaded shaft 14 is detachably and fixedly connected with a crank 15; a second motor 19 is fixedly connected to the connecting plate 13; during operation, through positive and negative rotation crank 15, crank 15 drives threaded shaft 14 and rotates to drive connecting plate 13 and remove about, thereby can remove the intermediate position with wearing the patient after putting up connecting clothes 23, walk or the training of running, at the rotation crank 15 that lasts simultaneously, can assist the patient and carry out reciprocating motion on the conveyer belt 28 that stops and help recovered.

An output shaft of the second motor 19 is fixedly connected with a speed reducer 20; a wire coil 21 is fixedly connected to an output shaft of the speed reducer 20; the speed reducer 20 is fixedly connected to the connecting plate 13; during operation, connect speed reducer 20 through 19 mechanical transmission of second motor, the rigid coupling has drum 21 on speed reducer 20's the output shaft for can export bigger moment of torsion on drum 21 through second motor 19, thereby can be stable with haulage rope 22 rise at a low speed, thereby guaranteed the security of recovered process.

A traction rope 22 is fixedly wound in the wire coil 21; the other end of the hauling cable 22 is fixedly connected with a connecting suit 23; the safety pipe 18 is sleeved on the traction rope 22; when the safety device works, the safety pipe 18 made of high-hardness plastic is sleeved on the traction rope 22, so that the traction rope 22 is small in abrasion in the winding process of the second motor 19, and the service life of the traction rope 22 is longer.

The safety pipe 18 is connected in the sliding groove 17 in a buckling and sliding manner; the sliding groove 17 is formed in the safety partition plate 16; the safety baffle 16 is detachably and fixedly connected in the support cover 1; during operation, the safety pipe 18 is buckled and slidably connected in the sliding groove 17, so that the movement track of the connecting clothes 23 during hoisting through the traction rope 22 is uniform, the left and right swinging is avoided, and the safety of recovery training is guaranteed.

An elastic base 33 is detachably and fixedly connected in the support cover 1 corresponding to the conveyor belt 28; two buffer shafts 34 are rotatably connected in the elastic base 33; an auxiliary belt 35 is tightly sleeved on the two buffer shafts 34; an elastic plate 36 is fixedly connected to the elastic base 33 in the auxiliary belt 35; in operation, the outer surface of the auxiliary belt 35 is engaged with the inner surface of the transmission belt 28, so that the transmission belt 28 keeps enough friction force when rotating, thereby preventing slipping and spraining caused in the recovery training of running and walking, and the elastic plate 36 is smoothly and fixedly connected to the inner surface of the auxiliary belt 35, so that the auxiliary belt 35 and the transmission belt 28 can not be sunk down too much to cause the left foot and the right foot to be not tilted down to the hands when being heavily stepped, thereby ensuring that the patient is safer when running and training.

A protective strip 26 is detachably and fixedly connected to the upper surface of the inner side wall of the safety side plate 3 corresponding to the conveyor belt 28; the cross section of the protection strip 26 is an isosceles triangle; the side surface of the support cover 1 is provided with a heat dissipation hole 27; in operation, the edge position of the conveyor belt 28 is blocked by the protective strip 26, so that the articles dropped by the patient or the clothes cannot enter the edge of the conveyor belt 28 to be extruded to cause damage, and the heat generated by the continuous rotation of the first motor 9 can be discharged in time through the heat dissipation holes 27.

Example two

Referring to fig. 5, in a first comparative example, as another embodiment of the present invention, a handle 31 and a hanging rod 32 are fixedly connected to an outer side wall of the safety side plate 3; during operation, there are handle 31 and peg 32 through the rigid coupling on the lateral wall of safety curb plate 3 for can rotate safety curb plate 3 through handle 31, can place patient's article through peg 32, thereby make the convenience that can be more when using this rehabilitation robot.

The working principle, through the processing host 25 electric connection display 10 and first motor 9, thereby can show the rotational speed of first motor 9 on the display 10 in real time, thereby can let patient know the walking speed of oneself now clearly, can give the patient who independently stands to assist when the walking is taken exercise through the safety handle 24 of cup joint protection cotton of both sides, prevent falling down, through vertical articulated the lock axle 30 in the locking groove 29, realize simple invariable lock and lock supporting cover 1 and safe curb plate 3, through keeping lock axle 30 perpendicular locking groove 29, at this moment with safe curb plate 3 rotation, can open the safe curb plate 3 of both sides, thereby can be fast from the side with patient shift out and emergency rescue patient under the emergency, through first motor 9, the low price combination of processing host 25 and display 10, make this rehabilitation robot with low costs, the selling price is low; the connecting plate 13 is fixedly connected to the sliding block 12, the sliding block 12 is connected to the sliding rail 11 in a buckling and sliding manner, so that the connecting plate 13 is connected to the sliding rail 11 in a buckling and sliding manner, the resistance caused by rotating the threaded shaft 14 is small, and the position of the connecting plate 13 can be continuously changed in a rotating manner to help the patient to recover; by rotating the crank 15 forwards and backwards, the crank 15 drives the threaded shaft 14 to rotate, so that the connecting plate 13 is driven to move left and right, the patient wearing the connecting clothes 23 can be moved to the middle position to perform walking or running training, and meanwhile, the patient can be assisted to perform reciprocating movement on the stopped conveyor belt 28 to help rehabilitation by continuously rotating the crank 15; the speed reducer 20 is connected through the second motor 19 in a mechanical transmission mode, and the output shaft of the speed reducer 20 is fixedly connected with the wire coil 21, so that larger torque can be output on the wire coil 21 through the second motor 19, the traction rope 22 can be stably lifted at a low speed, and the safety of the rehabilitation process is guaranteed; the safety pipe 18 made of high-hardness plastic is sleeved on the traction rope 22, so that the traction rope 22 is less worn in the winding process of the second motor 19, and the service life of the traction rope 22 is longer; the safety pipe 18 is in buckled sliding connection in the sliding groove 17, so that the movement track of the connecting clothes 23 when the connecting clothes are hoisted through the hauling rope 22 is uniform, the left and right shaking is avoided, and the safety of the recovery training is ensured; the outer surface of the auxiliary belt 35 is engaged with the inner surface of the conveyor belt 28, so that the conveyor belt 28 keeps enough friction force when rotating, thereby preventing slipping and spraining caused in the recovery training of running and walking, and the elastic plate 36 is smoothly and fixedly connected to the inner surface of the auxiliary belt 35, so that the auxiliary belt 35 and the conveyor belt 28 can not be sunk too much to cause the left foot and the right foot to be not flat and fall over the hands when being heavily stepped, thereby ensuring that a patient is safer when running and training; the edge position of the conveyor belt 28 is blocked by the protective strip 26, so that articles or clothes dropped by a patient cannot enter the edge of the conveyor belt 28 to be extruded to cause damage, and heat generated by continuous rotation of the first motor 9 can be timely discharged through the heat radiation holes 27.

A method of use; for patients who cannot stand; the crank 15 is rotated, so that the connecting plate 13 moves to the rightmost end of the sliding rail 11, the second motor 19 is controlled to rotate at the moment, the connecting clothes 23 are lowered, the second motor 19 is controlled to rotate reversely after the connecting clothes 23 and the patient are fixed, the height of the patient is raised, the patient stops when two feet are attached to the conveying belt 28, the crank 15 is rotated at the moment, the patient moves to the middle position of the conveying belt 28, then the processing host 25, the display 10 and the first motor 9 are electrified, the rotating speed of the first motor 9 is controlled through the display 10, the proper recovery speed of the patient is matched, and at the moment, two hands of the patient respectively grab the safety handrails 24 on the two sides, and the patient can walk and exercise by himself;

for the patient who can stand and walk independently, the first motor 9 is started to rotate the conveyor belt 28 to a proper speed, and the safety handrail 24 is held by two hands, so that the patient can walk and exercise by himself.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to 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.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed.

Claims

1. The utility model provides a recovered robot of house which characterized in that: comprises a supporting cover (1), a rear cover (2) and a walking unit; the left side surface of the support cover (1) is hinged with a rear cover (2); the front side and the rear side of the support cover (1) are hinged with safety side plates (3); a plurality of safety handrails (24) are fixedly connected with the inner side surface of the safety side plate (3); the contact surfaces of the safety side plate (3) and the support cover (1) are both provided with locking grooves (29); a buckling shaft (30) is hinged above the locking groove (29); two rotating shafts (4) are rotatably connected in the supporting cover (1); two support shafts (5) are fixedly connected to the two rotating shafts (4); a conveyor belt (28) is tensioned and sleeved on the two support shafts (5); a first synchronous wheel (6) is fixedly connected to the supporting shaft (5); a synchronous belt (7) is sleeved on the first synchronous wheel (6); a second synchronous wheel (8) is sleeved on the synchronous belt (7); the second synchronous wheel (8) is fixedly connected to an output shaft of the first motor (9); the first motor (9) is fixedly connected to the inner side wall of the support cover (1); a display (10) is fixedly connected with the inner wall of the supporting cover (1) through a groove; the display (10) is electrically connected with a processing host (25).

2. The home rehabilitation robot according to claim 1, characterized in that: a sliding rail (11) is fixedly connected to the inner wall of the support cover (1); the slide rail (11) is connected with a slide block (12) in a buckling way; a connecting plate (13) is fixedly connected to the sliding block (12); and a threaded shaft (14) is inserted in the internal thread of the connecting plate (13).

3. The home rehabilitation robot according to claim 2, characterized in that: the threaded shaft (14) is rotatably connected in the support cover (1); one end of the threaded shaft (14) is detachably and fixedly connected with a crank (15); and a second motor (19) is fixedly connected to the connecting plate (13).

4. The home rehabilitation robot according to claim 3, characterized in that: an output shaft of the second motor (19) is fixedly connected with a speed reducer (20); a wire coil (21) is fixedly connected to an output shaft of the speed reducer (20); the speed reducer (20) is fixedly connected to the connecting plate (13).

5. The home rehabilitation robot according to claim 4, characterized in that: a traction rope (22) is wound and fixedly connected in the wire coil (21); the other end of the hauling rope (22) is fixedly connected with a connecting garment (23); the safety pipe (18) is sleeved on the traction rope (22).

6. The home rehabilitation robot according to claim 5, characterized in that: the safety pipe (18) is connected in the sliding groove (17) in a buckling and sliding manner; the sliding groove (17) is formed in the safety partition plate (16); the safety baffle (16) is detachably and fixedly connected in the support cover (1).

7. The home rehabilitation robot according to claim 6, characterized in that: an elastic base (33) is detachably and fixedly connected in the support cover (1) corresponding to the conveyor belt (28); two buffer shafts (34) are rotatably connected in the elastic base (33); an auxiliary belt (35) is tightly sleeved on the two buffer shafts (34); an elastic plate (36) is fixedly connected to the elastic base (33) in the auxiliary belt (35).

8. The home rehabilitation robot according to claim 7, characterized in that: a protective strip (26) is detachably and fixedly connected to the inner side wall of the safety side plate (3) corresponding to the upper surface of the conveying belt (28); the cross section of the protection strip (26) is an isosceles triangle; the side surface of the support cover (1) is provided with heat dissipation holes (27).