CN116158942A

CN116158942A - Mobile rehabilitation robot capable of being quickly reconfigured

Info

Publication number: CN116158942A
Application number: CN202310261310.8A
Authority: CN
Inventors: 邵珠峰; 霍晔; 段金昊; 姚铭; 刘汉擎
Original assignee: Tsinghua University
Current assignee: Tsinghua University
Priority date: 2023-03-14
Filing date: 2023-03-14
Publication date: 2023-05-26
Anticipated expiration: 2043-03-14
Also published as: CN116158942B

Abstract

The invention discloses a quickly reconfigurable mobile rehabilitation robot, which comprises a bracket, a sliding rail, a rope driving assembly, a movable platform and a grabbing module, wherein the sliding rail is arranged on the bracket and is a magnetic sliding rail or a mechanical sliding rail; the rope driving assembly comprises a rope and a driving unit, wherein the rope is arranged on the driving unit, one end of the rope extends out of the driving unit, the extending length of the rope is controlled by the driving unit, the driving unit is a magnetic driving unit or a mechanical driving unit, the magnetic driving unit is detachably and movably fixed on a magnetic sliding rail, and the mechanical driving unit is detachably and movably fixed on a mechanical sliding rail; the movable platform is connected with one end of the rope in a suspending way; the gripping module is connected with the movable platform. The self-configuration and rehabilitation training parameters of the invention can be dynamically adjusted, and the invention can be used for carrying out various complex, accurate and personalized rehabilitation training activities, thereby meeting the multifunctional and personalized rehabilitation requirements.

Description

Mobile rehabilitation robot capable of being quickly reconfigured

Technical Field

The invention relates to the technical field of rehabilitation robots, in particular to a mobile rehabilitation robot capable of being quickly reconstructed.

Background

Rehabilitation training is an important part of ICU treatment, patients can evaluate whether to perform rehabilitation treatment after entering the ICU for 24 hours, and early rehabilitation treatment can be started after physiological functions are stable. A large number of researches show that the early rehabilitation training of ICU severe patients can effectively prevent and treat ICU-AW (ICU acquired weakness), reduce the occurrence of delirium, prevent deep vein thrombosis and severe pneumonia, help to keep psychological health of patients, improve the life quality of the patients, and are an important development direction of medical reform in China. Therefore, ICU severe early recovery is an effective means to shorten the time of severe treatment, reduce complications, and improve functional prognosis.

At present, the ICU early rehabilitation theory and path are mature day by day, but most of the current rehabilitation training modes are manual rehabilitation training of nursing staff and rehabilitation training by means of a simple auxiliary mechanical rehabilitation device, and the ICU early rehabilitation theory and path has the defects of few types, single function, low automation degree, weak data acquisition function, quantitative evaluation and self-adjusting function, and is difficult to meet the safety, individuation and multifunctional requirements of ICU severe early rehabilitation, so that ICU severe early rehabilitation training is difficult to effectively develop.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, an object of the present invention is to provide a mobile rehabilitation robot capable of being quickly reconfigured, wherein the self configuration and rehabilitation training parameters can be dynamically adjusted, and the mobile rehabilitation robot can be used for performing various, complex, accurate and personalized rehabilitation training activities, so as to meet the multifunctional and personalized rehabilitation requirements.

According to an embodiment of the invention, a rapidly reconfigurable mobile rehabilitation robot comprises:

a bracket;

the sliding rail is arranged on the bracket and is a magnetic sliding rail or a mechanical sliding rail;

the cable driving assembly comprises a cable and a driving unit, wherein the cable is arranged on the driving unit, one end of the cable extends out of the driving unit, the extending length of the cable is controlled by the driving unit, the driving unit is a magnetic driving unit or a mechanical driving unit, the magnetic driving unit is detachably and movably fixed on the magnetic sliding rail, and the mechanical driving unit is detachably and movably fixed on the mechanical sliding rail;

the movable platform is connected with one end of the rope in a suspending manner;

and the grabbing module is connected with the movable platform.

Compared with the prior art, the movable rehabilitation robot capable of being quickly reconfigured has the advantages that firstly, the movable rehabilitation robot drives limbs of a patient to realize multiple complex rehabilitation training activities in a rope driving mode, is large in working space and good in flexibility, can effectively avoid impact and vibration, and is more friendly to use. The second, the slide rail in the invention is a magnetic type slide rail or a mechanical type slide rail, the driving unit in the invention is a magnetic type driving unit or a mechanical type driving unit, thus when the invention is utilized to carry out corresponding rehabilitation training activities, the configuration of the rehabilitation robot can be quickly changed by quickly changing the position and the number of the cable driving components on the bracket, the change of the degree of freedom and the working space and the change of the functions are realized, so as to realize various, complex and accurate rehabilitation training activities, have good universality, can meet the multifunctional and personalized rehabilitation requirements, and effectively cover the whole period of the rehabilitation training. Thirdly, the rapid-reconfiguration mobile rehabilitation robot is driven by an electric driving source, so that rehabilitation training parameters can be dynamically adjusted, the degree of automation is high, rehabilitation movement data such as movement speed, amplitude, movement duration and the like can be conveniently and accurately acquired in the rehabilitation training process, quantitative evaluation can be conveniently carried out, and better rehabilitation training effects can be achieved.

According to some embodiments of the present invention, the magnetic sliding rail includes a first rail, a magnetic strip, and two first conductive pieces, where the first rail is provided with a first sliding groove, the magnetic strip is fixed on a bottom wall of the first sliding groove, and the two first conductive pieces are respectively fixed on two groove side walls of the first sliding groove correspondingly;

the magnetic attraction type driving unit comprises a first shell, a sliding block part and two second conductive sheets, wherein the sliding block part is fixed on the first shell, the two second conductive sheets are fixed on two side walls of the sliding block part, the sliding block part is adaptively arranged in the first sliding groove and is attracted with the magnetic stripe to be fixed, and the two second conductive sheets are respectively contacted with the two first conductive sheets correspondingly.

According to some embodiments of the invention, the magnetic attraction driving unit further comprises a first motor roller module, a first fixed pulley module and a first rope outlet point module, wherein the first motor roller module and the first fixed pulley module are fixed in the first shell, the first rope outlet point module is fixed on the first shell and is positioned outside the first shell, and the rope is wound on the first motor roller module and extends out of the magnetic attraction driving unit through the first fixed pulley module and the first rope outlet point module.

According to some embodiments of the invention, the mechanical slide rail comprises a second rail, wherein a second chute and a third chute are arranged on two side walls of the second rail;

the mechanical driving unit comprises a guide pulley block, a second shell and a rail clamp, wherein the guide pulley block comprises a fixed plate and a guide pulley, the guide pulley is at least provided with a pair of guide pulleys and is rotatably arranged on the fixed plate, the guide pulley can roll along the second sliding groove and the third sliding groove, the second shell is fixed on the fixed plate, the rail clamp is detachably connected with the second rail, and the rail clamp is used for fixing the position of the guide pulley block.

According to some embodiments of the invention, the mechanical driving unit further comprises at least two rotating frames, wherein the middle parts of the rotating frames are rotatably installed on the fixed plate, and each rotating frame is provided with a pair of guide wheels.

According to some embodiments of the invention, the rail clamp comprises a clamp body, a clamping block and a handle, wherein the clamping block is movable relative to the clamp body, the second rail is arranged between the clamping block and the clamp body, and one end of the handle penetrates through the clamping block to be in threaded connection with the clamp body.

According to some embodiments of the invention, the support comprises a vertical column and a horizontal annular beam, the slide rail comprises a horizontal annular slide rail, the horizontal annular slide rail is fittingly fixed on a lower surface of the horizontal annular beam, and the vertical column is fixed on an outer surface of the horizontal annular beam.

According to some embodiments of the present invention, the horizontal annular beam includes two parallel straight-line section beams and convex arc section beams connected to two ends of the straight-line section beams, correspondingly, the horizontal annular slide rail includes two parallel straight-line section slide rails and convex arc section slide rails connected to two ends of the straight-line section slide rails, the two straight-line section slide rails are correspondingly fixed on the lower surfaces of the two straight-line section beams, and the two convex arc section slide rails are correspondingly fixed on the lower surfaces of the two convex arc section beams.

According to some embodiments of the invention, the slide rail comprises a vertical slide rail, which is correspondingly arranged on the inner side of the upright.

According to some embodiments of the invention, the rapidly reconfigurable mobile rehabilitation robot further comprises a mechanical arm, and the gripping module is connected with the movable platform through the mechanical arm.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

fig. 1 is a schematic structural view of a rapidly reconfigurable mobile rehabilitation robot according to an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a linear sliding rail according to an embodiment of the present invention.

Fig. 3 is a schematic structural diagram of an outer convex arc slide rail according to an embodiment of the present invention.

Fig. 4 is a schematic structural view of a vertical sliding rail according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a magnetic driving unit according to an embodiment of the present invention.

Fig. 6 is a schematic diagram illustrating an internal structure of a magnetic driving unit according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a rapidly reconfigurable mobile rehabilitation robot according to another embodiment of the present invention.

Fig. 8 is a schematic structural view of a linear sliding rail according to another embodiment of the present invention.

Fig. 9 is a schematic structural view of an outer convex arc slide rail according to another embodiment of the present invention.

Fig. 10 is a schematic view of a pulley block according to another embodiment of the present invention.

FIG. 11 is a schematic view of a rail clamp according to another embodiment of the present invention.

Fig. 12 is an exploded view of a rail clamp according to another embodiment of the present invention.

Fig. 13 is a schematic structural view of a second housing according to another embodiment of the present invention.

Fig. 14 is a schematic structural diagram of a mechanical arm according to an embodiment of the present invention.

Fig. 15 is a schematic structural view of a gripping module according to an embodiment of the present invention.

Fig. 16 is a schematic structural view of a first motor drum module according to an embodiment of the present invention.

Fig. 17 is a schematic structural diagram of a first cable-out point module according to an embodiment of the invention.

Fig. 18 is an exploded view of a first cable dispensing module according to an embodiment of the present invention.

Reference numerals:

a rapidly reconfigurable mobile rehabilitation robot 1000;

a bracket 1;

a column 101; a horizontal annular beam 102; a straight-line section beam 1021; a convex arc segment beam 1022;

universal casters 103;

a slide rail 2;

a magnetic attraction type slide rail 201; a first track 2011; a magnetic stripe 2012; a first conductive sheet 2013;

a mechanical slide rail 202; a second track 2021; a horizontal annular slide rail 203; a straight section slide rail 2031;

an outer convex arc segment slide rail 2032; a vertical slide rail 204; end cap 2041;

a cable drive assembly 3;

a rope 31; a driving unit 32; a magnetic attraction type driving unit 321; a first housing 3211;

a slider portion 3212; a second conductive sheet 3213; a mechanical drive unit 322; a guide pulley 3221;

a fixed plate 32211; guide wheel 32212; a rotating frame 32213; a second housing 3222;

a rail clamp 3223; a clamp 32231; a clamping block 32232; a handle 32233;

a second payout point module 3224;

a movable platform 4; a grip module 5; a mechanical arm 6; a first motor drum module 414;

a first support seat 4141; a rolling bearing 4142; a left end cap 4143; a drum 4144;

a right end cap 4145; a second support 4146; a joint motor 4147; a first fixed sheave block 415;

a first payout point module 417; a base 4171; a side plate 4172; a horizontal bearing 4173;

spacer 4174; a short shaft 4175; v-groove bearing 4176; rope take-out roller 4177.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.

The rapidly reconfigurable mobile rehabilitation robot 1000 of the present invention is described below with reference to fig. 1 to 18.

As shown in fig. 1 to 18, a rapidly reconfigurable mobile rehabilitation robot 1000 according to an embodiment of the present invention includes a bracket 1, a slide rail 2, a cable driving assembly 3, a movable platform 4 and a gripping module 5, wherein the slide rail 2 is disposed on the bracket 1, and the slide rail 2 is a magnetic attraction type slide rail 201 or a mechanical type slide rail 202; the cable driving assembly 3 comprises a cable 31 and a driving unit 32, wherein the cable 31 is arranged on the driving unit 32, one end of the cable 31 extends out of the driving unit 32, the extending length of the cable 31 is controlled by the driving unit 32, the driving unit 32 is a magnetic driving unit 321 or a mechanical driving unit 322, the magnetic driving unit 321 is detachably and movably fixed on the magnetic sliding rail 201, and the mechanical driving unit 322 is detachably and movably fixed on the mechanical sliding rail 202; the movable platform 4 is connected with one end of the rope 31 in a suspending manner; the gripping module 5 is connected with the movable platform 4.

In particular, the rapidly reconfigurable mobile rehabilitation robot 1000 of the present invention may be used for rehabilitation training of limbs of a human body, such as thigh lifting, calf lifting, knee bending, arm lifting, forearm lifting, arm rotation, and the like. The slide rail 2 is arranged on the bracket 1, the bracket 1 is used for supporting and mounting the slide rail 2, for example, the slide rail 2 can be fixed on the bracket 1 through bolts. Here, the slide rail 2 may be disposed at any position on the bracket 1 and a plurality of slide rails may be disposed as needed, for example, the bracket 1 may include a horizontal cross beam disposed horizontally and a vertical column 101 connected to the cross beam and disposed vertically, and the slide rail 2 may be disposed on both the cross beam and the vertical column 101.

As shown in fig. 1 and 7, the cable driving assembly 3 includes a cable 31 and a driving unit 32, the cable 31 being disposed on the driving unit 32 and one end of the cable 31 extending out of the driving unit 32, the extending length of the cable 31 being controlled by the driving unit 32. It can be understood that the driving unit 32 can control the extending length of the rope 31 and also control the extending speed of the rope 31, and the driving unit 32 is controlled so as to control the movement of the grasping module 5, and further drive the limbs of the patient to do rehabilitation training activities. The invention drives the limbs of the patient to carry out rehabilitation training activities under the drive of the electric drive source, so that the rehabilitation training parameters can be dynamically adjusted, the degree of automation is high, the rehabilitation training process can conveniently and accurately collect the rehabilitation training data such as the movement speed, the amplitude, the movement duration and the like, the quantitative evaluation can be conveniently carried out, and the better rehabilitation training effect can be achieved. In addition, the rehabilitation robot 1000 of the invention adopts the rope 31 to drive the limbs of the patient to perform rehabilitation training activities, thus having the advantages of light weight, flexible degree of freedom and oversized working space, simultaneously having excellent muscle similarity and excellent force and motion transmission performance, effectively avoiding impact and vibration and being more friendly to use.

The sliding rail 2 is a magnetic sliding rail 201 or a mechanical sliding rail 202; the driving unit 32 is a magnetic driving unit 321 or a mechanical driving unit 322, wherein the magnetic driving unit 321 is detachably and movably fixed on the magnetic sliding rail 201, and it is understood that the magnetic driving unit 321 and the magnetic sliding rail 201 can be magnetically attracted and fixed; the mechanical driving unit 322 is detachably and movably fixed to the mechanical slide rail 202, that is, the mechanical driving unit 322 may be connected to the mechanical slide rail 202 by a mechanical structure that can be quickly fixed and detached; thus, the arrangement is convenient, the positions of the driving units 32 on the support 1 and the number of the driving units on the support 1 are changed quickly by a user, so that the configuration of the rehabilitation robot 1000 is changed quickly, the degree of freedom and the working space are changed, the function is changed, namely, the rehabilitation robot 1000 has different functions and different working spaces by changing the positions and the number of the rope driving components 3, and when the rehabilitation robot is used, the number and the positions of the rope driving components 3 can be adjusted quickly according to the type and the actual condition of rehabilitation training, so that the accuracy and individuation of the rehabilitation training are well ensured, the multifunctional and individuation rehabilitation requirement is met, and the whole period of the rehabilitation training is effectively covered.

It should be noted that any number of cable drive assemblies 3 may be provided, and for example, as shown in fig. 1 and 7, 10 cable drive assemblies 3 may be provided. The number of the cable driving components 3 can be set according to the degree of freedom of the part required to be subjected to rehabilitation training, the required movement range and working space and the complexity of rehabilitation training activities, and generally, the more the degree of freedom of the part required to be subjected to rehabilitation training, the larger the required movement range and working space, the higher the complexity of rehabilitation training, and the more the number of the cable driving components 3 is. For example, the shoulder joint has three degrees of freedom of movement, while the elbow joint has only one degree of freedom of movement, so that the number of cable drive assemblies 3 that need to be provided when performing rehabilitation training activities on the shoulder joint is greater than the number of cable drive assemblies 3 that need to be provided when performing rehabilitation training activities on the elbow joint.

The movable platform 4 is connected with one end of the rope 31 in a suspending manner; it will be appreciated that the cords 31 of the plurality of cord drive assemblies 3 collectively drive the motion of the motion platform 4 to effect adjustment of the spatial position and attitude of the motion platform 4. The grasping module 5 is connected with the movable platform 4, so that the grasping module 5 is driven to move when the movable platform 4 moves, and the grasping module 5 is used for grasping the tail end of a limb of a patient and pulling the limb of the patient to move so as to perform corresponding rehabilitation training activities.

The mobile rehabilitation robot 1000 capable of being quickly reconfigured has the advantages that firstly, the limb of a patient is driven to realize multiple complex rehabilitation training activities in a rope 31 driving mode, the working space is large, the flexibility is good, impact and vibration can be effectively avoided, and the use is more friendly. The second, the slide rail 2 in the invention is a magnetic type slide rail 201 or a mechanical type slide rail 202, the driving unit 32 in the invention is a magnetic type driving unit 321 or a mechanical type driving unit 322, so that when the invention is utilized to carry out corresponding rehabilitation training activities, the configuration of the rehabilitation robot 1000 can be quickly changed by quickly changing the position and the number of the cable driving components 3 on the bracket 1, the change of the degree of freedom, the working space and the function can be realized, the various, complex and accurate rehabilitation training activities can be realized, the universality is good, the multifunctional and personalized rehabilitation requirement can be met, and the whole period of the rehabilitation training can be effectively covered. Thirdly, the rapidly reconfigurable mobile rehabilitation robot 1000 is driven by an electric driving source, so that rehabilitation training parameters can be dynamically adjusted, and compared with the manual rehabilitation training of nursing staff, the rapid reconfigurable mobile rehabilitation robot is high in automation degree, can conveniently and accurately collect rehabilitation movement data such as movement speed, amplitude and movement duration in the rehabilitation training process, can conveniently conduct quantitative evaluation, and is beneficial to achieving a better rehabilitation training effect.

Optionally, the position of the cable driving assembly 3 on the support 1 can be measured through a grating ruler, so that the accurate positioning of the cable driving assembly 3 before and after the configuration reconstruction is realized, and the accuracy of rehabilitation training activities is ensured.

According to some embodiments of the present invention, as shown in fig. 2 to 4, the magnetically attractable sliding rail 201 includes a first track 2011, a magnetic strip 2012 and two first conductive pieces 2013, the first track 2011 is provided with a first sliding slot, the magnetic strip 2012 is fixed on a slot bottom wall of the first sliding slot, and the two first conductive pieces 2013 are respectively fixed on two slot side walls of the first sliding slot correspondingly; the magnetic driving unit 321 includes a first housing 3211, a slider portion 3212, and two second conductive pieces 3213, the slider portion 3212 is fixed on the first housing 3211, the two second conductive pieces 3213 are fixed on two sidewalls of the slider portion 3212, the slider portion 3212 is adaptively disposed in the first chute and is fixed by being attracted to the magnetic stripe 2012, and the two second conductive pieces 3213 are respectively in corresponding contact with the two first conductive pieces 2013. It can be appreciated that the magnetic strip 2012 is fixed by being attracted to the slider portion 3212, and the slider portion 3212 can move along the first track 2011, so that the purpose that the magnetic attraction type driving unit 321 is detachably and movably fixed on the magnetic attraction type sliding rail 201 is achieved, a complex mechanical fixing structure is not needed, the installation is simple, the number and the position of the magnetic attraction type driving unit 321 can be adjusted at any time according to the rehabilitation training requirement, and the degree of freedom change and the rapid reconstruction of the configuration are achieved. The two first conducting strips 2013 are connected with an external power supply, the two second conducting strips 3213 are respectively in contact electrical connection with the two first conducting strips 2013 and are used for supplying power to the magnetic driving unit 321, so that additional power wiring is not needed, the high integration of the cable driving assembly 3 is realized, the structure is simplified, the size is small, convenience and quickness are realized, and the appearance is more attractive.

Specifically, the second conductive sheet 3213 may be a short linear conductive sheet, and the slider portion 3212 may be a structure including an electromagnet or may be a structure including iron or a magnet directly, so as to achieve the purpose of being able to attract the magnetic stripe 2012.

According to some embodiments of the present invention, as shown in fig. 5 and 6, the magnetic driving unit 321 further includes a first motor drum module 414, a first fixed pulley module 415, and a first rope outlet point module 417, wherein the first motor drum module 414 and the first fixed pulley module 415 are fixed in a first housing 3211, the first rope outlet point module 417 is fixed on the first housing 3211 and is located outside the first housing 3211, and the rope 31 is wound on the first motor drum module 414 and extends out of the magnetic driving unit 321 through the first fixed pulley module 415 and the first rope outlet point module 417. It will be appreciated that the first motor drum module 414 is used to drive the rope 31 to be wound and unwound, and the first fixed pulley module 415 and the first rope outlet point module 417 are used to guide the movement of the rope 31, so as to reduce the friction force when the rope 31 moves.

More specifically, as shown in fig. 16, the first motor drum module 414 includes a first support seat 4141, a rolling bearing 4142, a left end cover 4143, a drum 4144, a right end cover 4145, a second support seat 4146, and a joint motor 4147, the joint motor 4147 is fixedly connected with the right end cover 4145, the right end cover 4145 is fixedly connected with the drum 4144, the joint motor 4147 is mounted on the second support seat 4146, and the second conductive sheet 3213 supplies power to the joint motor 4147 so that the joint motor 4147 rotates to further drive the drum 4144 to rotate, thereby realizing retraction of the rope 31; the other end of the roller 4144 is fixedly connected with a left end cover 4143, and the left end cover 4143 is arranged on a first supporting seat 4141 through a rolling bearing 4142; the entire first motor drum module 414 is fixed in the first housing 3211 by a first support 4141 and a second support 4146.

Alternatively, as shown in fig. 6, the first fixed pulley module 415 includes a fixed pulley and a fixed pulley bracket, by which the fixed pulley is fixed in the first housing 3211.

Fig. 17 is a schematic structural diagram of a first rope-out module 417 according to an embodiment of the present invention, and fig. 18 is a schematic exploded structural diagram of the first rope-out module 417. The first cable outlet module 417 includes a base 4171, a side plate 4172, a horizontal bearing 4173, a spacer 4174, a short shaft 4175, a V-groove bearing 4176 and a cable outlet roller 4177, wherein the base 4171 is provided with an upwardly extending boss, a central through hole is formed in the boss, and the base 4171 is mounted on the first housing 3211 through the horizontal bearing 4173 and has a rotational degree of freedom; the side plates 4172 are oppositely arranged at intervals, and the upper ends of the two side plates 4172 are fixed on the base 4171; two V-groove bearings 4176 are arranged, the two V-groove bearings 4176 are respectively arranged on the respective short shafts 4175 to form a side-by-side tangential configuration, and V-grooves are formed at the tangential positions; two ends of the two short shafts 4175 are respectively supported on the two side plates 4172 through spacers 4174; two rope discharging rollers 4177 are respectively arranged at the upper ends of the two side plates 4172 in a one-to-one correspondence manner, and a slit is formed between the two rope discharging rollers 4177. After the rope 31 is led out from the first fixed pulley module 415, the rope is connected with the movable platform 4 through a central through hole on the convex column, two V-shaped grooves corresponding to the tangents of the two V-shaped groove bearings 4176 and a slit between the two rope outlet rollers 4177.

It will be appreciated that the use of two V-groove bearings 4176 in the first payout module 417 not only provides a large pivot angle for the cord 31, but also ensures that the cord 31 does not fall off the V-groove bearings 4176; the rope discharging roller 4177 guides the rope 31 to be connected to the movable platform 4, so that the abrasion of the rope 31 is reduced; the first rope-out point module 417 has a degree of freedom of rotation about the projection axis, so that when the rope 31 swings, the first rope-out point module 417 can swing together, ensuring coplanarity of the rope 31 and the bearing center plane.

According to some embodiments of the present invention, as shown in fig. 8 and 9, the mechanical sliding rail 202 includes a second rail 2021, and the second rail 2021 is provided with a second sliding groove and a third sliding groove on two sidewalls of the second rail 2021, that is, the second rail 2021 is an i-shaped rail. Mechanical drive unit 322 includes a guide pulley 3221, a second housing 3222 and a rail clamp 3223. As shown in FIG. 10, guide pulley 3221 includes a fixed plate 32211 and a guide pulley 32212, guide pulley 32212 is rotatably mounted on fixed plate 32211, at least one pair of guide pulleys 32212 is provided, that is, guide pulley 32212 may be provided in a plurality of pairs, and guide pulley 32212 may roll along the second and third runners. For example, one of each pair of guide wheels 32212 is rollably disposed in a second runner and the other of each pair of guide wheels 32212 is rollably disposed in a third runner. The second housing 3222 is fixed to the fixing plate 32211, for example, the second housing 3222 is fixed to the fixing plate 32211 by bolts. The rail clamp 3223 is detachably connected to the second rail 2021, and the rail clamp 3223 is used to fix the position of the guide pulley block 3221, it being understood that the position of the guide pulley block 3221 may be fixed by fixing the position of the rail clamp 3223, and the guide pulley block 3221 may be moved along the second rail 2021 when the rail clamp 3223 is detached from the second rail 2021. When the guide pulley block 3221 is moved to the end of the second track 2021 (the end is an open end), the guide pulley block 3221 can be separated from the second track 2021, namely, the mechanical driving unit 322 can be detached from the mechanical sliding rail 202, so that the purposes of conveniently moving the position of the mechanical driving unit 322 and changing the number of the mechanical driving units 322 are achieved, and the number and the position of the mechanical driving units 322 can be adjusted at any time according to the rehabilitation training requirement, so that the invention can realize the rapid reconstruction of the degree of freedom change and the configuration. The mechanical sliding rail 202 and the mechanical driving unit 322 are simple in structure, low in cost, convenient and quick to maintain and high in universality.

According to some embodiments of the present invention, as shown in fig. 10, the mechanical driving unit 322 further includes two rotating frames 32213, wherein a middle portion of the rotating frames 32213 is rotatably mounted on the fixed plate 32211, and a pair of guide wheels 32212 are provided on each rotating frame 32213. By mounting guide wheel 32212 on rotating frame 32213, guide wheel sled 3221 can accommodate changes in the shape of mechanical slide rail 202, for example, when mechanical slide rail 202 is arc-shaped, it can still be used, and has strong versatility.

According to some embodiments of the present invention, as shown in fig. 11 and 12, the track clamp 3223 includes a clamp body 32231, a clamp block 32232 and a handle 32233, the clamp block 32232 being movable relative to the clamp body 32231, the second track 2021 being disposed between the clamp block 32232 and the clamp body 32231, one end of the handle 32233 being threadably connected to the clamp body 32231 through the clamp block 32232. It will be appreciated that when it is desired to secure the track clamp 3223 to the second track 2021, the clamping block 32232 and clamp body 32231 are brought into abutment with the second track 2021 by screwing in the knob 32233, and when it is desired to separate the track clamp 3223 from the second track 2021, the knob 32233 is unscrewed to separate the clamping block 32232 and clamp body 32231 from the second track 2021.

Further, the mechanical driving unit 322 further includes a second motor roller module, a second fixed pulley module, and a second rope outlet point module 3224 (as shown in fig. 13), the second motor roller module and the second fixed pulley module are fixed in the second housing 3222, the second rope outlet point module 3224 is fixed on the second housing 3222 and is located outside the second housing 3222, and the rope 31 is wound on the second motor roller module, extends out of the mechanical driving unit 322 through the second fixed pulley module and the second rope outlet point module 3224, and is connected with the movable platform 4. The second motor roller module is used for driving the winding and unwinding of the rope 31, and the second fixed pulley module and the second rope outlet point module 3224 are used for guiding the movement of the rope 31, so that the friction force generated when the rope 31 moves is reduced.

Optionally, the second motor roller module is identical to the first motor roller module 414 in shape and configuration, the second fixed pulley module is identical to the first fixed pulley module 415 in shape and configuration, and the second rope outlet point module 3224 is identical to the first rope outlet point module 417 in shape and configuration.

According to some embodiments of the present invention, as shown in fig. 1 and 7, the bracket 1 includes a vertical column 101 and a horizontal annular beam 102, the slide rail 2 includes a horizontal annular slide rail 203, the horizontal annular slide rail 203 is fittingly fixed on a lower surface of the horizontal annular beam 102, and the vertical column 101 is fixed on an outer surface of the horizontal annular beam 102.

Alternatively, as shown in fig. 1 and 7, the horizontal annular beam 102 includes two parallel straight-line section beams 1021 and outer arc section beams 1022 connected to two ends of the two straight-line section beams 1021, correspondingly, the horizontal annular slide rail 203 includes two parallel straight-line section slide rails 2031 and outer arc section slide rails 2032 connected to two ends of the two straight-line section slide rails 2031, the two straight-line section slide rails 2031 are correspondingly fixed on the lower surfaces of the two straight-line section beams 1021, and the two outer arc section slide rails 2032 are correspondingly fixed on the lower surfaces of the two outer arc section beams 1022. The bracket 1 adopting the form is more suitable for the actual use environment and has more attractive appearance. However, the shape and configuration of the horizontal annular beam 102 are not limited thereto, and the horizontal annular beam 102 may be a rectangular ring or a circular, oval, or other annular beams, and may be selected according to actual use environments.

Alternatively, the outer convex arc segment rail 2032 may be disconnected from, i.e., spaced apart from, the ends of the straight segment rail 2031 to facilitate quick disassembly of the mechanical drive unit 322. When the two outer arc segment slide rails 2032 are connected to two ends of the two straight segment slide rails 2031, the outer arc segment slide rails 2032 or the straight segment slide rails 2031 can be directly detached to realize quick detachment of the mechanical driving unit 322. Or additionally, a small section of short sliding rail convenient to detach is arranged in the horizontal annular sliding rail 203, when the mechanical driving unit 322 is required to be detached, only the small section of short sliding rail convenient to detach is detached, so that the whole horizontal annular sliding rail 203 can be provided with a notch rapidly, and the mechanical driving unit 322 can be detached rapidly.

According to some embodiments of the present invention, as shown in fig. 1 and 7, the slide rail 2 comprises a vertical slide rail 204, the vertical slide rail 204 being correspondingly provided on the inner side of the upright 101. Here, the vertical sliding rail 204 is also a magnetic sliding rail 201 or a mechanical sliding rail 202, and the magnetic driving unit 321 or the mechanical driving unit 322 is correspondingly disposed on the vertical sliding rail 204. It can be understood that by arranging the slide rail 2 and the cable driving assembly 3 on the upright post 101, the rope 31 led out from the horizontal annular beam 102 and the rope 31 led out from the upright post 101 can be in an up-down opposite state, and the rope 31 led out from the upright post 101 and the rope 31 led out from the horizontal annular beam 102 can be mutually tensioned, so that the problem of control safety is not easy to occur, the rehabilitation robot 1000 is not easy to be disturbed by the outside, and in addition, the rehabilitation robot 1000 has more degrees of freedom and realizes more complex rehabilitation movements; the control algorithm can also be simplified, and when some fine actions are realized, the control process is simpler, the working space of the gripping module 5 is increased, and a larger range of movement is realized.

Preferably, as shown in fig. 1 and 7, the columns 101 have four columns 101 fixed on the outer surface of the horizontal annular beam 102 at intervals circumferentially, correspondingly, the vertical slide rails 204 are provided with four, and the four vertical slide rails 204 are respectively provided on the inner surfaces of the four columns 101. Therefore, the device is more suitable for actual use environments, has better use effect and is more convenient to use. The upright 101 is fixed to the outer surface of the horizontal annular beam 102, thereby facilitating the two straight-line segment slide rails 2031 and the two outer convex arc segment slide rails 2032 to form one continuous annular slide rail 2.

Alternatively, as shown in fig. 4, when the vertical sliding rail 204 is the magnetic sliding rail 201, end caps 2041 for limiting are provided at the upper end and the lower end of the vertical sliding rail 204.

Optionally, as shown in fig. 1 and 7, a universal caster 103 may be disposed between the stand 1 and the ground, so that a user can conveniently move the rehabilitation robot 1000 of the present invention, and the use is convenient.

Optionally, as shown in fig. 1 and fig. 7, a positioning component is disposed on the universal castor 103 or on the support 1, where the positioning component is used to limit the rotation of the universal castor 103 or prevent the universal castor 103 from driving the support 1 to move, so that the position of the rehabilitation robot 1000 of the present invention can be fixed.

Further, as shown in fig. 1 and 7, a caster 103 and a positioning assembly are provided at the lower end of the upright 101.

According to some embodiments of the present invention, as shown in fig. 1 and 7, the rapidly reconfigurable mobile rehabilitation robot 1000 further includes a mechanical arm 6, and the gripping module 5 is connected to the moving platform 4 through the mechanical arm 6. Here, the mechanical arm 6 may be a mechanical arm 6 with three degrees of freedom of rotation (as shown in fig. 14), or may be replaced with a mechanical arm 6 with other degrees of freedom as required, and by providing the mechanical arm 6 between the movable platform 4 and the gripping module 5, the working range of the gripping module 5 may be enlarged, and the pose of the gripping module 5 may be finely adjusted according to the rehabilitation training requirement.

The mechanical arm 6 with light weight is arranged on the movable platform 4, the basis of a large working space of the rope 31 is combined, the large-range posture change of the grasping module 5 can be realized through the adjustment of the mechanical arm 6 with three degrees of freedom, the complex and accurate rehabilitation training activity with high degrees of freedom under the large space is developed, and the effectiveness, the accuracy and the safety of the rehabilitation training are improved.

Preferably, the grasping module 5 is a soft grasping module, and the soft grasping module can adaptively adjust the shape and grasping force of the soft grasping module according to the appearance of the rehabilitation part of the patient, so that the rigid impact on the limb of the patient is effectively avoided, the grasping is firm, the safety is high, and the comfort is good.

More specifically, as shown in fig. 15, the soft grip module includes a plurality of sets of soft drive units, and the spacing and grip force between the plurality of sets of soft drive units can be adjusted to ensure proper grip force.

Optionally, each of the first housing 3211 and the second housing 3222 includes a housing cavity having one end opened and a cover body provided on the opening.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A rapidly reconfigurable mobile rehabilitation robot, comprising:

a bracket;

and the grabbing module is connected with the movable platform.

2. The rapid-reconfigurable mobile rehabilitation robot according to claim 1, wherein the magnetic-attraction-type sliding rail comprises a first rail, a magnetic strip and two first conductive plates, the first rail is provided with a first sliding groove, the magnetic strip is fixed on a groove bottom wall of the first sliding groove, and the two first conductive plates are respectively and correspondingly fixed on two groove side walls of the first sliding groove;

3. The rapid-reconfigurable mobile rehabilitation robot according to claim 2, wherein the magnetic-attraction-type driving unit further comprises a first motor roller module, a first fixed pulley module and a first rope-out point module, wherein the first motor roller module and the first fixed pulley module are fixed in the first housing, the first rope-out point module is fixed on the first housing and is located outside the first housing, and the rope is wound on the first motor roller module and extends out of the magnetic-attraction-type driving unit through the first fixed pulley module and the first rope-out point module.

4. The rapid-reconfigurable mobile rehabilitation robot according to claim 1, wherein the mechanical slide rail comprises a second rail, and a second chute and a third chute are provided on both side walls of the second rail;

the mechanical driving unit comprises a guide pulley block, a rail clamp and a second housing, wherein the guide pulley block comprises a fixed plate and a guide pulley, the guide pulley is at least provided with a pair of guide pulleys and is rotatably arranged on the fixed plate, the guide pulley can roll along the second sliding groove and the third sliding groove, the second housing is fixed on the fixed plate, the rail clamp is detachably connected with the second rail, and the rail clamp is used for fixing the position of the guide pulley block.

5. The rapid-reconfigurable mobile rehabilitation robot according to claim 4, wherein the mechanical drive unit further comprises at least two rotating frames, the middle of which is rotatably mounted on the fixed plate, and each rotating frame is provided with a pair of guide wheels.

6. The rapid-reconfigurable mobile rehabilitation robot according to claim 5, wherein the track clamp comprises a clamp body, a clamp block and a handle, the clamp block is movable relative to the clamp body, the second track is disposed between the clamp block and the clamp body, and one end of the handle is threaded through the clamp block and the clamp body.

7. The rapid-reconfigurable mobile rehabilitation robot according to any of claims 1-6, wherein the rack comprises a post and a horizontal annular beam, the rail comprising a horizontal annular rail, the horizontal annular rail being fittingly secured to a lower surface of the horizontal annular beam, the post being secured to an outer surface of the horizontal annular beam.

8. The rapid-reconfigurable mobile rehabilitation robot according to claim 7, wherein the horizontal annular beam comprises two parallel straight-line section beams and convex arc section beams connected to two ends of the straight-line section beams, and correspondingly, the horizontal annular slide rail comprises two parallel straight-line section slide rails and convex arc section slide rails connected to two ends of the straight-line section slide rails, the two straight-line section slide rails are correspondingly fixed on the lower surfaces of the two straight-line section beams, and the two convex arc section slide rails are correspondingly fixed on the lower surfaces of the two convex arc section beams.

9. The rapid-reconfigurable mobile rehabilitation robot of claim 7, wherein the slide rail comprises a vertical slide rail correspondingly disposed on an inner side of the upright.

10. The rapid-reconfigurable mobile rehabilitation robot of any of claims 1-6, further comprising a robotic arm through which the gripping module is coupled to the mobile platform.