CN209984539U - Multi-dimensional upper limb rehabilitation robot - Google Patents
Multi-dimensional upper limb rehabilitation robot Download PDFInfo
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- CN209984539U CN209984539U CN201821746695.8U CN201821746695U CN209984539U CN 209984539 U CN209984539 U CN 209984539U CN 201821746695 U CN201821746695 U CN 201821746695U CN 209984539 U CN209984539 U CN 209984539U
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Abstract
The utility model discloses a multidimensional upper limb rehabilitation robot, relating to the field of rehabilitation robots, comprising upper limb mechanical arm equipment, an APP terminal, a screen and a cloud end; the upper limb mechanical arm equipment is connected with the APP terminal in a wireless connection mode and conducts mutual information transmission; the APP terminal is connected with a cloud terminal, the APP terminal is used for uploading user data to the cloud terminal, and the cloud terminal is used for issuing a rehabilitation plan to the APP terminal; the APP terminal is connected with the screen, the APP terminal sends a virtual scene interaction scheme to the screen, and the screen displays a virtual scene. The utility model discloses a modular design, individualized virtual scene interactive scheme design can satisfy the training requirement of user's multidimension degree action, is applicable to the fixed mode of multiple application scene, can promote user's the degree of throwing into, improves the rehabilitation training effect.
Description
Technical Field
The utility model relates to a recovered robot field especially relates to a recovered robot of upper limbs of multidimension degree.
Background
Nowadays, the aging of the population of the society is aggravated, and the number of people with hemiplegia caused by diseases such as cerebral apoplexy is more and more huge. Stroke is also known as stroke, and is an acute cerebrovascular disease, which is a disease that brain tissue is damaged because blood vessels in the brain suddenly burst or blood cannot flow into the brain due to blood vessel blockage. Upper limb dysfunction occurs in 80% of patients after stroke, with only one third of them recovering function in hemiplegic upper limbs. A large number of clinical tests prove that the high-repeatability exercise training can effectively improve the exercise capacity of the upper limbs of the stroke patients, and the upper limb rehabilitation robot is added into the rehabilitation training of the stroke patients, so that the patients can perform high-repeatability autonomous exercise in the early stage, and the exercise function recovery is promoted. The traditional upper limb rehabilitation robot is used for medical institutions, is large in size and high in cost, and is only suitable for hospital rehabilitation with large space. The rehabilitation is formed by a three-level rehabilitation system of hospital-community-family, and the traditional upper limb rehabilitation robot cannot meet the requirement of long-term rehabilitation at home.
The upper limb rehabilitation of the stroke patient needs to train different joint activities in a multi-dimensional and multi-angle manner, and the stroke patient raises and lowers the shoulder joint, rotates the shoulder joint inwards and outwards, extends and bends the elbow joint and the like. Traditional bedside robot, only the single joint motion of cage is, and it is limited to resume the effect, can't carry out accurate controllable upper limbs rehabilitation training to the patient, and the patient resumes the effect limited. The traditional upper limb rehabilitation robot can be fixed in only one area, only can be adapted to a machine by a patient, and cannot be adapted to the patient according to different requirements of the patient. And the existing upper limb rehabilitation equipment has no virtual scene interaction, so that the user training is boring and easy to be used or lose the training power in half way, and the rehabilitation training effect is influenced.
Therefore, the technical personnel in the field are dedicated to developing a multi-dimensional upper limb rehabilitation robot, which can meet the training requirements of users on multi-dimensional actions and different posture angles, adapt to the rehabilitation requirements of various scenes, and improve the input degree of the users.
SUMMERY OF THE UTILITY MODEL
In view of the above defects in the prior art, the technical problem to be solved by the present invention is to satisfy the training requirements of users for multidimensional movements and different posture angles by means of multidimensional modularization and rotatable support design; the support design which can adapt to various scenes meets the rehabilitation requirements of the user in various scenes; and the input degree of the user is improved through interaction based on the virtual scene.
In order to achieve the purpose, the utility model provides a multi-dimensional upper limb rehabilitation robot, which is characterized by comprising upper limb mechanical arm equipment, an APP terminal, a screen and a cloud end; the upper limb mechanical arm equipment is connected with the APP terminal in a wireless connection mode and conducts mutual information transmission; the APP terminal is connected with a cloud terminal, the APP terminal is used for uploading user data to the cloud terminal, and the cloud terminal is used for issuing a rehabilitation plan to the APP terminal; the APP terminal is connected with the screen, the APP terminal sends a virtual scene interaction scheme to the screen, and the screen displays a virtual scene; the upper limb mechanical arm equipment comprises a pluggable base, a supporting bracket, a first motor, a second motor, a third motor, a handle, a connecting rod, a control box and a handheld emergency stop device; the pluggable base is connected with the lower end of the support bracket; the upper end of the supporting bracket is connected with the connecting rod; one end of the connecting rod is connected with one end of the first motor; the other end of the first motor is connected with one end of the second motor; the other end of the second motor is connected with one end of the third motor; the other end of the third motor is connected with the handle; the control box is installed on the pluggable base; the handheld emergency stop device remotely controls the upper limb mechanical arm equipment to be in emergency stop.
Further, the upper limb mechanical arm equipment is fixed through the pluggable base and the supporting bracket.
Furthermore, the height of the upper limb mechanical arm equipment relative to the user is adjusted through the supporting bracket, and the angle of the upper limb mechanical arm equipment relative to the user is adjusted through the mounting position of the connecting rod.
Furthermore, the pluggable base is connected with the supporting bracket in a pluggable mode.
Further, when the first motor is used for shoulder joint raising and lowering training, the rotation angle range of the first motor is from upward raising to positive 180 degrees and from downward lowering to negative 30 degrees.
Further, the second motor is used for training forearm internal rotation and external rotation.
Further, the third motor is used for training elbow joint flexion and extension.
Further, the handle is used for grasping positioning and direction indication of forearm pronation and supination.
Further, the control box controls the movement amplitude and the movement angle of the upper limb mechanical arm equipment, and the control precision is 1 degree.
Further, the grinding disc device and the guide rail device are further included; the second motor and the third motor are mounted in a detachable mode; after the third motor is detached, the guide rail device is connected with the second motor and used for comprehensive upper limb training of upper limb push-pull, and the rotating angle range of the first motor is 0-360 degrees; after the second motor and the third motor are disassembled, the grinding disc device is connected with the first motor and used for comprehensive upper limb training of elbow joint flexion and extension and shoulder joint inward-extension and outward-retraction.
The utility model can meet the training requirement of multidimensional action of the user through the modularized detachable replacement component; the rotatable bracket can meet the training requirements of users on different posture angles; the support which can adapt to various scenes meets the multi-scene rehabilitation requirements of a user on a bed, a chair or a wall and the like; the interactive scene based on the virtual scene can improve the input degree of the user and improve the rehabilitation training effect.
The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings, so as to fully understand the objects, the features and the effects of the present invention.
Drawings
Fig. 1 is a block diagram of a multi-dimensional upper limb rehabilitation robot system according to a preferred embodiment of the present invention;
FIG. 2 is a system flow diagram of another preferred embodiment of the present invention;
fig. 3 is a diagram illustrating the construction of an upper limb robotic arm apparatus according to another preferred embodiment of the present invention;
fig. 4 is a schematic view of a wall fixing scheme according to another preferred embodiment of the present invention;
FIG. 5 is a schematic view of a side fixing scheme of a chair according to another preferred embodiment of the present invention;
fig. 6 is a schematic view of a bedside fixing scheme according to another preferred embodiment of the present invention;
fig. 7 is a schematic view of a detachable module according to another preferred embodiment of the present invention.
The intelligent emergency stop system comprises 1-upper limb mechanical arm equipment, 2-APP terminals, 3-screens, 4-cloud ends, 11-pluggable bases, 12-supporting brackets, 13-first motors, 14-second motors, 15-third motors, 16-handles, 17-connecting rods, 18-control boxes and 19-handheld emergency stop devices.
Detailed Description
The technical contents of the preferred embodiments of the present invention will be more clearly understood and appreciated by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments, and the scope of the invention is not limited to the embodiments described herein.
In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.
Example one
As shown in fig. 1, the utility model provides a pair of recovered robot of upper limbs of multidimension degree comprises upper limbs arm equipment 1, APP terminal 2, screen 3 and high in the clouds 4.
As shown in fig. 2, a user opens APP software in the APP terminal 2, inputs an account and a password in a wireless connection mode in the APP software, and completes connection between the upper limb mechanical arm device 1 and the APP terminal 2 in the wireless connection mode; the upper limb mechanical arm equipment 1 transmits motion data of the mechanical arm, such as information of position, torque, angle, speed and the like of user motion, to the APP software in the APP terminal 2, and the APP software in the APP terminal 2 can issue corresponding control data to the upper limb mechanical arm equipment 1; the user wears the upper limb mechanical arm device 1 on the affected hand, and first evaluates the current maximum joint mobility, such as shoulder joint elevation or lowering, elbow joint flexion and extension, forearm internal rotation or external rotation; the APP software in the APP terminal 2 uploads the evaluation data of the user to the cloud end 4, and the cloud end 4 sends an individualized rehabilitation plan to the APP terminal 2 by combining the historical data and background data of the user; the APP terminal 2 provides the rehabilitation plan as input to a virtual scene to form a set of personalized scene interaction scheme, and the personalized scene interaction scheme guides the user to carry out training through the output of the screen 3. The APP terminal can be connected with the screen or integrated with the screen in a wireless connection or wired connection mode.
Example two
As shown in fig. 3, the upper limb mechanical arm device includes a pluggable base 11, a support bracket 12, a first motor 13, a second motor 14, a third motor 15, a handle 16, a connecting rod 17, a control box 18 and a handheld emergency stop device 19; the pluggable base 11 is connected with the lower end of the support bracket 12 in a pluggable manner; the upper end of the support bracket 12 is connected with the connecting rod 17; one end of the connecting rod 17 is connected with one end of the first motor 13; the other end of the first motor 13 is connected with one end of the second motor 14; the other end of the second motor 14 is connected with one end of the third motor 15; the other end of the third motor 15 is connected with the handle 16; the control box 18 is installed on the pluggable base 11; the hand-held emergency stop device 19 remotely controls the upper limb robot apparatus 1 to be emergently stopped.
The first motor 13 can drive the shoulder joint of the user to perform lifting and lowering training, and the training is performed from upwards lifting to positive 180 degrees to downwards lowering to negative 30 degrees, so that the requirement of the whole range of motion of the shoulder joint of the human body is met; the second motor 14 can drive the user to carry out internal rotation and external rotation training on the forearm; the third motor 15 can drive the user to perform elbow joint flexion and extension training; the supporting bracket 12 can be adjusted individually according to different heights of users; the handle 16 is used for the user to grasp and position, and is also used for the user to indicate the direction of the internal rotation and the external rotation of the forearm; the connecting rod 17 can adjust the angle of the user relative to the upper limb mechanical arm equipment 1, is suitable for users in different space environments, can perform interchange of left-hand training and right-hand training, and meets different rehabilitation requirements of the users; the control box 18 can accurately control the moving amplitude and the moving angle of the mechanical arm, and can accurately control the deviation to be plus or minus 5 percent at 1 degree; when the user is in a sudden spasm state, the hand-held emergency stop device 19 prevents the upper limb mechanical arm device 1 from being injured by the user's healthy side arm through emergency stop control, or when the user is in a state of slow reaction, the user can control the upper limb mechanical arm device 1 to stop immediately by other accompanying persons or caregivers holding the emergency stop device, so that the safety of the user is ensured to the maximum extent.
As shown in fig. 4, 5 and 6, the user can train at the bedside, on the chair, at the wall and in different indoor scenes by the pluggable base 11 and the support bracket 12, so as to meet the individual requirements of different indoor states.
As shown in fig. 7, the upper limb mechanical arm device 1 is modularized, and the different modules can be quickly disassembled and assembled, so that the requirements of different expansion actions of upper limb rehabilitation can be met. The lower part of the first motor 13 is removed, and the grinding disc device is installed by utilizing the first motor 13, so that the comprehensive upper limb training of elbow joint flexion and extension and shoulder joint inward-extension and outward-retraction of a user can be met. The lower part of the second motor 14 is removed, and the second motor 14 is used for installing a guide rail device, so that the comprehensive upper limb training of pushing and pulling the upper limb can be carried out
The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the teachings of this invention without undue experimentation. Therefore, the technical solutions that can be obtained by a person skilled in the art through logic analysis, reasoning or limited experiments based on the prior art according to the concepts of the present invention should be within the scope of protection defined by the claims.
Claims (8)
1. A multi-dimensional upper limb rehabilitation robot is characterized by comprising upper limb mechanical arm equipment, an APP terminal, a screen and a cloud; the upper limb mechanical arm equipment is connected with the APP terminal in a wireless connection mode and conducts mutual information transmission; the upper limb mechanical arm equipment is used for transmitting motion data to the APP terminal, and the APP terminal is used for issuing control data to the upper limb mechanical arm equipment; the APP terminal is connected with a cloud terminal, the APP terminal is used for uploading user data to the cloud terminal, and the cloud terminal is used for issuing a rehabilitation plan to the APP terminal; the APP terminal is connected with the screen, the APP terminal sends a virtual scene interaction scheme to the screen, and the screen displays a virtual scene; the upper limb mechanical arm equipment comprises a pluggable base, a supporting bracket, a first motor, a second motor, a third motor, a handle, a connecting rod, a control box and a handheld emergency stop device; the pluggable base is connected with the lower end of the support bracket; the upper end of the supporting bracket is connected with the connecting rod; one end of the connecting rod is connected with one end of the first motor; the other end of the first motor is connected with one end of the second motor; the other end of the second motor is connected with one end of the third motor; the other end of the third motor is connected with the handle; the control box is installed on the pluggable base; the handheld emergency stop device remotely controls the upper limb mechanical arm equipment to be in emergency stop;
the height of the upper limb mechanical arm equipment relative to the user is adjusted through the supporting bracket, and the angle of the upper limb mechanical arm equipment relative to the user is adjusted through the mounting position of the connecting rod;
the grinding disc device and the guide rail device are also included; the second motor and the third motor are mounted in a detachable mode; after the third motor is detached, the guide rail device is connected with the second motor and used for comprehensive upper limb training of upper limb push-pull, and the rotating angle range of the first motor is 0-360 degrees; after the second motor and the third motor are disassembled, the grinding disc device is connected with the first motor and used for comprehensive upper limb training of elbow joint flexion and extension and shoulder joint inward-extension and outward-retraction.
2. The multi-dimensional upper limb rehabilitation robot of claim 1, wherein the upper limb robotic arm device is secured by the pluggable chassis and the support cradle.
3. The multi-dimensional upper limb rehabilitation robot of claim 1, wherein the pluggable base is in pluggable connection with the support bracket.
4. The multi-dimensional upper limb rehabilitation robot of claim 1, wherein the first motor is rotated through an angle ranging from upward elevation to positive 180 ° and downward depression to negative 30 ° for shoulder joint elevation and lowering training.
5. The multi-dimensional upper extremity rehabilitation robot of claim 1, wherein the second motor is used to train forearm pronation and supination.
6. The multi-dimensional upper limb rehabilitation robot of claim 1, wherein the third motor is used to train elbow joint flexion and extension.
7. The multi-dimensional upper extremity rehabilitation robot of claim 1, wherein said handle is used for grip positioning and directional indication of forearm pronation and supination.
8. The multi-dimensional upper limb rehabilitation robot according to claim 1, wherein the control box controls the range and angle of motion of the upper limb robotic device with a control accuracy of 1 °.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821746695.8U CN209984539U (en) | 2018-10-26 | 2018-10-26 | Multi-dimensional upper limb rehabilitation robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821746695.8U CN209984539U (en) | 2018-10-26 | 2018-10-26 | Multi-dimensional upper limb rehabilitation robot |
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| CN209984539U true CN209984539U (en) | 2020-01-24 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109199791A (en) * | 2018-10-26 | 2019-01-15 | 上海伟赛智能科技有限公司 | A kind of upper limb rehabilitation robot of various dimensions |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109199791A (en) * | 2018-10-26 | 2019-01-15 | 上海伟赛智能科技有限公司 | A kind of upper limb rehabilitation robot of various dimensions |
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