CN114041971A - An adjustable frame of an upper limb rehabilitation robot - Google Patents
An adjustable frame of an upper limb rehabilitation robot Download PDFInfo
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- CN114041971A CN114041971A CN202111454622.8A CN202111454622A CN114041971A CN 114041971 A CN114041971 A CN 114041971A CN 202111454622 A CN202111454622 A CN 202111454622A CN 114041971 A CN114041971 A CN 114041971A
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 48
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 30
- 239000010959 steel Substances 0.000 claims abstract description 30
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
- H02K7/1163—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion
- H02K7/1166—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears where at least two gears have non-parallel axes without having orbital motion comprising worm and worm-wheel
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Health & Medical Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
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- Engineering & Computer Science (AREA)
- Rehabilitation Tools (AREA)
Abstract
本发明涉及康复医疗设备技术领域，尤其是一种上肢康复机器人的可调框架，底座的两侧对称安装有可上下伸缩的支柱，支柱通过底座的移动装置沿底座的轨道前后移动，并限制了立柱左右方向的晃动，两支柱的上端安装有横梁，横梁中的槽钢横梁的上方安装有用于调节肩宽的肩宽调节装置，上肢置于肩宽调节装置上，槽钢横梁的槽内安装有调节立柱的伸缩高度驱动装置，驱动装置的输出端与蜗轮蜗杆副连接，蜗轮蜗杆副与立柱中的升降机构连接，并驱动升降机构沿立柱中的槽钢侧柱作上下伸缩运动，涵盖前后移动、高度、宽度、前后位置的调节变换，通过隐藏于槽钢横梁内的电机驱动，满足医疗器械美观性的同时，实现动力的提供和上肢康复机器人的个性化康复训练。
The invention relates to the technical field of rehabilitation medical equipment, in particular to an adjustable frame of an upper limb rehabilitation robot. Two sides of the base are symmetrically installed with up and down telescopic pillars, and the pillars move forward and backward along the track of the base through the moving device of the base, and restricts the When the column shakes in the left and right directions, a beam is installed on the upper end of the two columns, a shoulder width adjustment device for adjusting the shoulder width is installed above the channel beam in the beam, the upper limb is placed on the shoulder width adjustment device, and the channel beam is installed in the groove. There is a telescopic height driving device for adjusting the column. The output end of the driving device is connected with the worm gear and worm pair, and the worm gear and worm pair are connected with the lifting mechanism in the column, and drive the lifting mechanism to move up and down along the channel steel side column in the column, covering front and rear. The adjustment and transformation of movement, height, width, and front and rear positions are driven by the motor hidden in the channel steel beam, which not only meets the aesthetics of the medical equipment, but also realizes the power supply and the personalized rehabilitation training of the upper limb rehabilitation robot.
Description
Technical Field
The invention relates to the technical field of rehabilitation medical equipment, in particular to an adjustable frame of an upper limb rehabilitation robot.
Background
The user for the upper limb rehabilitation robot is a patient suffering from diseases such as full channel stroke, spinal cord injury, fracture and scapulohumeral periarthritis, and the motor ability of the patient can be mostly recovered through a motor rehabilitation therapy. The cerebral apoplexy is one of serious chronic non-infectious diseases seriously harming the health of China, and is the first cause of death and disability of adults in China between 1990 and 2017, so that at present, the number of cerebral apoplexy patients in people over 40 years old in China reaches 1242 million, about 196 million patients die, about 75 percent of survivors cause disability, and the limb action ability is lost. Meanwhile, 10-14 million traumatic spinal cord injury patients are newly added in China every year, and the total number of the patients reaches more than 200. According to data published by the national statistics bureau 2018, the number of the old aged over 65 years in China exceeds 1.6 hundred million, the increasing aging of the population leads to the increase of the ratio of the old to be nursed, and the number of the patients with upper limb dysfunction is further increased along with the increasing degradation of the body functions of the old, the old suffering from shoulder periarthritis and other old consumptive diseases. The traditional rehabilitation training is to carry out personalized rehabilitation training on a patient through a rehabilitation therapist, the disabled limbs of the patient need to be guided to carry out long-time repeated movement in the training process, and the physical strength of the rehabilitation therapist is challenged. In addition, the rehabilitation industry in China is in a starting stage, the number of rehabilitation therapists subjected to normative learning is only 0.4/10 ten thousand, and the number of the rehabilitation therapists is far from meeting the requirements of patients with limb dysfunction in China.
Introduction of robotics in the field of rehabilitation therapy is gradually becoming the direction of research in various countries in the world, and has become one of the fields of technological competition in various countries as a new technology product. The application of the treatment means at the front edge improves the recovery energy level of the limb movement function of the patient, enables the patient to recover the limb movement function as soon as possible, breaks away from the consumption of diseases such as spinal cord injury, cerebral apoplexy and the like as soon as possible, and is the graduate pursuit of the practitioner who is dedicated to overcoming the rehabilitation problem. The rehabilitation robot is used as a high-technology medical device for recovering the nerve compensation function, can help patients to perform personalized, mechanical and interactive recovery movement, can also quantize and evaluate patient training data, and scientifically formulate a patient rehabilitation training scheme, so that the movement function of the patients is scientifically and effectively recovered. Upper limb rehabilitation robots have gradually become important tools for treating patients with upper limb dysfunction.
Currently, the research and development of the exoskeleton-type upper limb rehabilitation robot are focused on compatibility research of various joints of a human machine, the attention to a rack serving as an accessory module of the exoskeleton-type upper limb rehabilitation robot is less, and related devices and products are simple and crude and can only provide a simple fixing function.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the adjustable frame of the upper limb rehabilitation robot overcomes the inconvenience of front and back, height and width adjustment of the existing upper limb rehabilitation robot, and meets the personalized training requirements of patients with different body types in the use process of the existing exoskeleton-type upper limb rehabilitation robot.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides an upper limbs rehabilitation robot's adjustable frame, includes base, pillar and crossbeam, the bilateral symmetry of base install the pillar that can stretch out and draw back from top to bottom, the pillar passes through the mobile device of base and moves back and forth along the track of base to restricted rocking of stand left and right directions, the crossbeam is installed to the upper end of two pillars, the shoulder width adjusting device who is used for adjusting the shoulder width is installed to the top of the channel-section steel crossbeam in the crossbeam, the upper limbs are arranged in on the shoulder width adjusting device, the inslot of channel-section steel crossbeam is installed the flexible high drive arrangement who adjusts the stand, drive arrangement's output and worm gear pair are connected, worm gear pair is connected with the elevating system in the stand, and drive elevating system makes upper and lower concertina movement along the channel-section steel side post in the stand.
Further, the moving device comprises a plurality of foot moving wheel mounting frames arranged at the lower end of the channel steel side column and a plurality of rail wheel supports arranged on the side face of the lower end of the channel steel side column, moving wheels and feet are mounted on each foot moving wheel mounting frame, rail wheels are mounted on each rail wheel support and abut against the rail, and the rail wheels are used for limiting the rocking of the left and right directions and moving back and forth in the rail.
Further, the wide adjusting device of shoulder includes backup pad, upper limbs mounting panel and the wide adjusting motor of shoulder, the carousel bearing is installed to the lower extreme of backup pad, and the backup pad is rotatory on the carousel bearing, and the wide adjusting motor of shoulder is installed in the backup pad, and the output of the wide adjusting motor of shoulder passes through the shaft coupling and is connected with the wide screw nut of shoulder pair, and the upper limbs mounting panel is installed to the wide screw nut of shoulder pair upper end, and the wide adjusting motor motion of shoulder drives the wide screw nut pair of shoulder and removes, adjusts the interval between the upper limbs mounting panel, realizes the wide regulation of shoulder.
Furthermore, the lifting mechanism comprises a movable vertical plate and a lifting slide rail sliding block module arranged in a groove of the channel steel side column, the movable vertical plate and the channel steel cross beam form rigid connection through a vertical plate cross beam connecting piece, the reverse side of the movable vertical plate is arranged on the lifting slide rail sliding block module, a lifting lead screw pair is arranged on the inner side surface of the movable vertical plate, a nut in the lifting lead screw pair is arranged in the groove of the channel steel side column through a nut support connecting frame, the lifting lead screw pair is connected with a worm gear pair, and the worm gear pair drives the lifting lead screw pair to drive the movable vertical plate to do vertical telescopic motion along the lifting slide rail sliding block module.
Furthermore, a plurality of connecting holes are formed in the rail surface of the rail and used for inserting the quick positioning pins after the rail is moved in place to limit the horizontal movement of the stand column.
Furthermore, the driving device comprises a lifting motor and a transmission shaft, the lifting motor and the transmission shaft are horizontally arranged, a first transmission gear is installed at the output end of the lifting motor, a second transmission gear matched with the first transmission gear is installed on the transmission shaft, worm gear pairs are installed at two end portions of the transmission shaft, the worm gear pairs are connected with a lifting mechanism in the stand column, and the lifting motor drives the worm gear pairs to drive the lifting mechanism in the stand column to do vertical telescopic motion along the side column of the channel steel.
Furthermore, an upper travel switch limiting block and a lower travel switch limiting block are sequentially arranged in the groove of the channel steel side column from top to bottom.
Furthermore, a travel switch is arranged on the reverse side of the movable vertical plate.
Further, lead screw limiting blocks are installed at the upper end and the lower end of a slide rail in the lifting slide rail slide block module.
Furthermore, a plug-in positioning pin is further installed on the channel steel beam and used for limiting rotation of the supporting plate.
The invention has the advantages of overcoming the defects in the background technology,
1. the upper limb rehabilitation robot has the advantages that the front and back movable design and the pillar height adjustable design are combined, the shoulder width adjusting device is in a rotary design, and the upper limb shoulder width automatic adjusting design is matched to realize the personalized rehabilitation training of the upper limb rehabilitation robot;
2. the quick positioning pins arranged at the end parts of the pillars are used for limiting the front and back movement after the pillars are in place, the limit switches on the movable vertical plates realize the electrical limit of the height position, the power transmission of the height adjustment adopts the design of a worm and gear pair to realize self-locking, the rotation of the upper part of the cross beam is limited by the plug-in positioning pins on the cross beam, and the safety of the recovered people is ensured by the limit self-locking;
3. the adjustable power tool covers the adjustment and transformation of front and back movement, height, width and front and back positions, and is driven by the motor hidden in the channel steel beam, so that the beauty of the medical instrument is met, and meanwhile, the power is provided;
4. the design of the horizontal rail wheel not only meets the requirement of front and back movement, but also increases the rigidity of the device; the foot margin fixed through the butterfly nut is convenient to move and switch fixed positions.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an exploded view of the present invention;
FIG. 3 is a schematic view of the base of the present invention;
FIG. 4 is a schematic structural view of the lift mechanism of the present invention;
FIG. 5 is a schematic view of the structure of FIG. 4 in another direction according to the present invention;
FIG. 6 is a schematic view of the structure of the driving device of the present invention;
FIG. 7 is a schematic view showing the structure of the shoulder width adjusting means of the present invention;
fig. 8 is a schematic view of the structure of fig. 7 in another direction according to the present invention.
In the figure: 1. a base, 4. a track, 5. a foot margin moving wheel mounting rack, 6. a track wheel bracket, 7. a track wheel, 8. a rubber pad, 9. foot margin, 10. a moving wheel,
2. the device comprises a support column, 11 channel steel side columns, 12 lower travel switch limiting blocks, 13 lifting screw rod pairs, 14 moving vertical plates, 15 lifting slide rail sliding block modules, 17 nut support column connecting frames, 20 travel switches, 22 upper travel switch limiting blocks, 23 screw rod limiting blocks, 26 vertical plate cross beam connecting pieces,
3. the device comprises a beam, 27U-steel beams, 28 shoulder width adjusting motors, 29 shoulder width screw nut pairs, 32 upper limb mounting plates, 34 turntable bearings, 37 supporting plates, 38 sliding rail sliding block modules, 39 transmission shafts, 40 plug-in type positioning pins, 41 lifting motors, 42 second transmission gears, 43 first transmission gears and 44 worm gear and worm pairs.
Detailed Description
The invention will now be described in further detail with reference to the drawings and preferred embodiments. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
As shown in fig. 1 to 8, the adjustable frame of the upper limb rehabilitation robot comprises a base 1, pillars 2 and a beam 3, wherein the pillars 2 capable of extending and retracting up and down are symmetrically installed on two sides of the base 1, the pillars 2 move in the horizontal direction back and forth along a track 4 of the base 1 through a moving device of the base 1 and limit the shaking of the pillars 2 in the left and right directions, the track 4 is formed by welding channel steel,
the upper ends of the two pillars 2 are provided with a beam 3, a shoulder width adjusting device for adjusting the shoulder width is arranged above a channel steel beam 27 in the beam 3, the upper limb is arranged on the shoulder width adjusting device,
the groove of the channel-section beam 27 is provided with a driving device for adjusting the telescopic height of the upright column 2, the output end of the driving device is connected with a worm gear pair 44, the worm gear pair 44 is connected with a lifting mechanism in the upright column 2, and drives the lifting mechanism to do up-and-down telescopic motion along the channel-section side column 11 in the upright column 2.
As shown in fig. 1-2, base 1 is fixed through rubber pad 8 and is placed in the bottom surface, rubber pad 8 is used for the buffering to inhale shake, the mobile device is including installing a plurality of cross-sectional shapes at channel-section steel jamb 11 lower extreme and being the lower margin removal wheel mounting bracket 5 of "L" shape and installing a plurality of rail wheel supports 6 on channel-section steel jamb 11 lower extreme side, all install removal wheel 10 and lower margin 9 on every lower margin removal wheel mounting bracket 5, the removal wheel 10 in the outside is used for front and back position adjustment, inboard lower margin 9 is used for operating position's fixed, install rail wheel 7 on every rail wheel support 6, rail wheel 7 supports track 4, be used for restricting rocking and back-and-forth movement in track 4 of left and right directions.
A plurality of connecting holes (not marked in the drawing) are formed in the rail surface of the rail 4 and used for inserting the quick positioning pins into the end surfaces of the channel steel side columns 11 after the quick positioning pins are moved in place and limiting the torque brought by the upper limbs when in work and limiting the horizontal movement of the stand columns 2.
As shown in fig. 7 to 8, the shoulder width adjusting device includes a rotatable support plate 37, an upper limb mounting plate 32 and a shoulder width adjusting motor 28, a turntable bearing 34 is installed at the lower end of the support plate 37, the support plate 37 rotates on the turntable bearing 34, the shoulder width adjusting motor 28 is installed on the support plate 37, the output end of the shoulder width adjusting motor 28 is connected with the shoulder width screw nut pair 29 through a coupling, the upper limb mounting plate 32 is installed at the upper end of the shoulder width screw nut pair 29, power drives the shoulder width screw nut pair 29 to move through the shoulder width adjusting motor 28, the distance between the upper limb mounting plates 32 is adjusted, and shoulder width adjustment is realized.
The support plate 37 is further provided with slide rail and slide block modules 38, and the slide rail and slide block modules 38 are positioned at two sides of the shoulder-wide screw nut pair 29.
As shown in fig. 4 to 5, the upright column 2 includes a horizontally moving channel-section side column 11 and a moving lifting mechanism, the moving lifting mechanism includes a moving riser 14 and a lifting slide block module 15 installed in a groove of the channel-section side column 11, the moving riser 14 and the channel-section cross beam 27 form a rigid connection through a riser cross beam connector 26 to achieve an adjusting effect of adjusting height, a reverse side of the moving riser 14 is installed on the lifting slide block module 15, a lifting lead screw pair 13 is installed on an inner side surface of the moving riser 14, a nut in the lifting lead screw pair 13 is installed in the groove of the channel-section side column 11 through a nut support connector 17, the lifting lead screw pair 13 is connected with a worm gear pair 44, and power drives the lifting lead screw pair 13 to drive the moving riser 14 to move up and down along the lifting slide block module 15 through the worm gear pair 44 via a lifting motor 41.
Meanwhile, the worms in the worm-gear pair 44 are arranged on the two ends of the transmission shaft 39, the worm gears in the worm-gear pair 44 are arranged on the upper ends of the screw rods in the lifting screw rod pair 13, and the design of the worm-gear pair 44 increases the torque, and simultaneously provides self-locking for the device, reduces the complexity of the mechanism and ensures the safety of the device.
In addition, an upper travel switch limiting block 22 and a lower travel switch limiting block 12 are sequentially installed in the groove of the channel steel side column 11 from top to bottom.
Meanwhile, a travel switch 20 is also installed on the reverse side of the movable vertical plate 14, and screw rod limiting blocks 23 are installed at the upper end and the lower end of the slide rail in the lifting slide rail slide block module 15.
As shown in fig. 6, the driving device includes a lifting motor 41 and a transmission shaft 39, the lifting motor 41 and the transmission shaft 39 are horizontally disposed, a first transmission gear 43 is installed at an output end of the lifting motor 41, a second transmission gear 42 matched with the first transmission gear 43 is installed on the transmission shaft 39, worm gear pairs 44 are installed at two end portions of the transmission shaft 39, the worm gear pairs 44 are connected with a lifting mechanism in the upright column 2, and the lifting motor 41 rotates to drive the worm gear pairs 44 to drive the lifting mechanism in the upright column 2 to move up and down along the channel-steel side column 11.
The channel beam 27 is further provided with a plug-in positioning pin 40 for limiting the rotation of the supporting plate 37.
The working process is as follows:
step 1: the exoskeleton type upper limb rehabilitation robot is arranged on the upper limb mounting plate 32, the hanging position of the upper limb robot is adjusted, and the safety in the adjusting process is ensured;
step 2: pushing the support column 2 to move back and forth to meet the training requirement, inserting the quick positioning pin on the side surface into a connecting hole in the base track, and manually adjusting a butterfly nut for mounting the anchor 9 to enable the anchor 9 to be in contact with the ground;
and step 3: the lifting motor 41 is turned on, and the height is adjusted to a proper height; the shoulder width adjusting motor 28 is turned on to adjust the shoulder width to be suitable for the rehabilitation trainers;
and 4, step 4: starting upper limb rehabilitation training;
and 5: adjust the upper limbs to vertical position, with the shoulder width, height control to minimum, guarantee safety, rise lower margin 9, remove quick locating pin, promote the frame to suitable rigidity, accomplish the use.
To sum up, the application provides an adjustable frame of recovered robot of both arms upper limbs of over-and-under type, rotatable platform, has both solved the gesture transform problem of recovered robot, adds power-assisted adjustment again, provides solution for subsequent intelligent automatically regulated
While particular embodiments of the present invention have been described in the foregoing specification, various modifications and alterations to the previously described embodiments will become apparent to those skilled in the art from this description without departing from the spirit and scope of the invention.
Claims (10)
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111454622.8A CN114041971B (en) | 2021-12-01 | 2021-12-01 | An adjustable frame of an upper limb rehabilitation robot |
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| CN202111454622.8A CN114041971B (en) | 2021-12-01 | 2021-12-01 | An adjustable frame of an upper limb rehabilitation robot |
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| CN114041971A true CN114041971A (en) | 2022-02-15 |
| CN114041971B CN114041971B (en) | 2022-12-02 |
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