CN210673716U

CN210673716U - Novel sitting traditional Chinese medicine water bath lower limb rehabilitation robot device

Info

Publication number: CN210673716U
Application number: CN201920862043.9U
Authority: CN
Inventors: 张冰; 蒋雪生; 苏忠周; 施杰民; 宁萌; 孙恺; 邱晟; 李建有
Original assignee: Huzhou Central Hospital
Current assignee: Huzhou Central Hospital
Priority date: 2019-06-10
Filing date: 2019-06-10
Publication date: 2020-06-05
Anticipated expiration: 2029-06-10

Abstract

The utility model relates to a novel sitting posture traditional chinese medicine water bath low limbs rehabilitation robot device, including water bath cabin, control box, elevating system, rotating column, seat, low limbs rehabilitation robot. The lifting mechanism and the rotary upright post form a lifting system, the lifting system is matched and connected with the water bath cabin, and the rotary mechanism is connected with the rehabilitation seat through a connecting piece; the control box is arranged in the water bath cabin, water and traditional Chinese medicines are contained in the control box, safety monitoring glass, a control button for controlling the work of the system and a display for displaying work data are arranged outside the cabin, and the control box comprises a temperature control system, a motor and a safety module and is used for realizing the constant temperature and water flow control of liquid medicines; the lower limb rehabilitation robot is assembled with the seat and used for lower limb rehabilitation of patients, and can be carried by the lifting system to do lifting and rotating motion so as to enter the water bath cabin for rehabilitation. The utility model discloses rational in infrastructure, easy operation combines passive robot rehabilitation and traditional chinese medical treatment, especially is fit for patient's low limbs rehabilitation.

Description

Novel sitting traditional Chinese medicine water bath lower limb rehabilitation robot device

Technical Field

The utility model relates to a medical treatment rehabilitation equipment field especially relates to a novel recovered robot of sitting posture traditional chinese medicine water bath low limbs device.

Background

Due to aging population and lifestyle changes, patients with limb movement disorders are more and more, especially for the elderly, disabled and chronic patients. Thus, emerging rehabilitation medicine has become one of the key points of medical research, including active, active and targeted rehabilitation measures to restore patient dysfunction based on a bio-psycho-social medical model. On one hand, research and development of various novel rehabilitation medical instruments for limb movement disorder, particularly, the national encourages full application of modern scientific technology under the guidance of the theory of traditional Chinese medicine, and promotes research, development and application of high-end traditional Chinese medicine medical instruments. On the other hand, medical workers gradually agree on a treatment pattern: in order to recover the limb function as much as possible, after the operation treatment, a completely passive and semi-active rehabilitation training process is adopted, and finally, a completely active rehabilitation training process is realized. If the training of the rehabilitation doctor is excessively relied on, the rehabilitation training effect is not obvious due to the lack of consciousness of active movement.

At present, for rehabilitation of patients, a one-to-one rehabilitation training method of doctors and patients is most commonly adopted. There are a number of problems with this rehabilitation mode of treatment: first, the rehabilitation of the doctor is labor intensive and burdensome. Secondly, the doctor and the patient have one-to-one rehabilitation training, and the efficiency is extremely low. Thirdly, the rehabilitation effect of the treatment is also very different due to the different technical level and clinical experience of the rehabilitation doctors. Therefore, the traditional rehabilitation therapy lacks scientific and unified specifications and standards in training time, strength and mode, and is a problem to be solved in the rehabilitation therapy.

Under the background, innovative rehabilitation medical appliance products are continuously generated, including fumigation medication, hydrotherapy, physical therapy, assistance and the like for rehabilitation treatment, and have huge market prospects. Such as CPM (passive rehabilitation exercise training), but may cause muscle spasm or nerve pain in some patients due to external stimulation, or mechanical shock, rendering the treatment impossible. The hydrotherapy and the traditional Chinese medicine fumigation therapy are suitable for patients with severe disability, such as hemiplegia, but passive movement cannot be supplemented in the treatment process. On the other hand, research and application of the rehabilitation robot are rapidly developed, the rehabilitation robot can carry out training treatment according to the time, strength and mode required by rehabilitation of patients, the consistency and the normalization of treatment can be kept, and certain limitations exist, such as no combined treatment with medicines and the like.

Aiming at the situations, an innovative medical appliance is researched, the defects of the existing rehabilitation equipment can be overcome, the novel lower limb rehabilitation robot system is reasonable in structure, simple and convenient to operate, safe and effective, and combines passive mechanical motion with traditional Chinese medicines and hydrotherapy.

Disclosure of Invention

An object of the utility model is to consider above-mentioned problem and provide a function abundant, both be applicable to indoor but also be applicable to outdoor, will be passive mechanical motion and traditional chinese medical treatment combine together, overcome the obscure shortcoming of current recovered robot treatment, rational in infrastructure, the efficiency is obvious, operate simple and easy novel recovered robot device of low limbs.

The technical scheme is as follows: in order to achieve the above object, the utility model adopts the following technical scheme:

the utility model provides a novel sitting posture traditional chinese medicine water bath lower limbs rehabilitation robot device which characterized in that: the lower limb rehabilitation robot comprises a water bath cabin, a control box, a lifting mechanism, a rotating stand column, a seat and a lower limb rehabilitation robot, wherein the lifting mechanism and the rotating stand column form a lifting system which is connected with the water bath cabin in a matching way, and the rotating mechanism and the rehabilitation seat are connected together through a connecting piece; the control box is arranged in the water bath cabin and is provided with safety monitoring glass, the bottom end of the cabin can be fixed on the ground, the cabin is used for containing liquid medicine, and the control box comprises a temperature control system and a motor, so that the constant temperature and water flow control of the liquid medicine are realized; the lower limb rehabilitation robot is assembled with the seat and used for lower limb rehabilitation of a patient, and can be carried by the lifting system to move up and down and rotate so as to enter the water bath cabin for rehabilitation.

Further, wearing anchor clamps on the recovered robot of low limbs can fix user's shank, prevent that the low limbs from taking place to slide, have guaranteed that user's low limbs can make synchronous motion with the recovered robot, have improved the motion accuracy nature.

Further, the seat and the foot support of the lower limb rehabilitation robot system are hollowed out, so that buoyancy can be reduced when the sitting type lower limb rehabilitation robot invades liquid medicine, and meanwhile, water accumulation of the seat is prevented.

Furthermore, the sitting-type lower limb rehabilitation robot is driven by the air cylinder, mechanical impact during electric driving is avoided, the rehabilitation robot is made of waterproof materials, the electric conduction danger during water bath is avoided, and the sitting-type lower limb rehabilitation robot has safety and flexibility.

Furthermore, the leg support of the sitting type lower limb rehabilitation robot can adjust different lengths, is suitable for users with different limb lengths, meets the principle of human engineering and has man-machine compatibility.

Further, the control box in the water bath cabin comprises a temperature control system and a motor, the temperature control system can heat and keep the temperature of the liquid medicine constant, and the motor can control the flow rate of the liquid medicine, so that the exertion of the drug properties of the traditional Chinese medicine is ensured.

The utility model has the advantages that: reasonable structure, simple installation and simple operation, combines passive mechanical rehabilitation and traditional Chinese medicine treatment, and further optimizes the rehabilitation effect of patients.

Drawings

The present invention will be described in further detail with reference to the accompanying drawings and embodiments:

FIG. 1 is a general schematic diagram of the present invention

FIG. 2 is a schematic side view of the present invention

Fig. 3 is a schematic view of the lifting system of the present invention

FIG. 4 is a schematic view of the sitting type lower limb rehabilitation robot of the present invention

FIG. 5 is a schematic view of the leg of the lower limb rehabilitation robot of the present invention

Figure 6 is the cylinder schematic diagram of the lower limb rehabilitation robot of the utility model

[ figure notation ] 1. water bath cabin; 2. tempering the glass; 3. a control box; 4. a lifting system; 5 sitting type lower limb rehabilitation robot; 6. fixing the upright post; 7. lifting the upright post; 8. a lifting motor; 9. fixing the connecting piece; 10. rotating the lower end of the upright post; 11. rotating the upper end of the upright post; an F-shaped connector; 13. a seat tray; 14. a seat; 15. wearing a clamp; 16. an arc-shaped connecting piece; 17. a foot support; 18. a shank upper support; 19. a cylindrical pin; 20. a chute; 21. a lower leg support; 22. a baffle plate; 23. a key; 24. a thigh front support; 25. a thigh rear support; 26. a through hole; 27. a bolt; 28. a cylinder barrel; 29. a piston rod; 30. and a through hole.

Detailed Description

The invention will be further described with reference to the following drawings and examples:

the structure, ratio, size, quantity, etc. shown in the drawings attached to the present specification are only used for matching with the contents disclosed in the specification, so as to be known and read by those skilled in the art, and are not used for limiting the limit conditions that the present invention can be implemented, so that the present invention has no technical essential meaning, and any structure modification, ratio relationship change or size adjustment should still fall within the scope that the technical contents disclosed in the present invention can cover without affecting the function that the present invention can produce and the purpose that the present invention can achieve. Meanwhile, the terms "upper", "lower", "left", "right", "middle", and the like used in the present specification are for the sake of clarity only, and are not intended to limit the scope of the present invention, and changes or adjustments of the relative relationship thereof are also considered to be the scope of the present invention without substantial changes in the technical content.

[ examples ] A method for producing a compound

As shown in fig. 1, is a general schematic diagram of the present invention.

As shown in fig. 2, the utility model relates to a novel sitting posture traditional chinese medicine water bath lower limbs rehabilitation robot device, its characterized in that: the lower limb rehabilitation robot comprises a water bath cabin 1, a lifting system 4 and a sitting type lower limb rehabilitation robot 5, wherein the water bath cabin 1 comprises toughened glass 2 and a control box 3, a safety module is arranged in the control box 3, when the water temperature reaches a preset temperature, the machine automatically stops running, and the temperature cannot rise; when a patient touches a foreign object, such as an external force, the machine automatically stops working, and the safety is ensured. In the initial state, the water bath cabin 1 and the lifting system 4 are connected into a whole by the fixed connecting piece 9, and the upper end surface of the seat supporting plate 13 of the lifting system 4 is fixed with the bottom end surface of the seat 14 of the sitting type lower limb rehabilitation robot 5.

FIG. 3 is a schematic view of the lifting system of the present invention, which comprises an inner column tube 6, an outer column tube 7, a driving motor 8, a fixed connecting member 9, a lower end 10 of a rotary column, an upper end 11 of the rotary column, an F-shaped connecting member 12, and a seat supporting plate 13, wherein the outer column tube 7 is sleeved outside the inner column tube 6 and can slide axially along the inner tube 6, the lower end 10 of the rotary column is fixedly engaged with the outer column tube 7, matched with the shaft hole of the upper end 11 of the rotating upright post, the rotating upright post and the rotating upright post can rotate relatively, an F-shaped connecting piece 12 is fixedly connected with the upper end 11 of the rotating upright post, the lower end of the F-shaped connecting piece 12 is fixedly matched with a seat supporting plate 13, a driving motor 8 is arranged in the upright post inner tube 6, the ball screw drives the upright post outer tube 7, the upper end 11 of the rotating upright post, the lower end 10 of the rotating upright post and the F-shaped connecting piece 12 to do lifting motion, and the upper end 11 of the rotating upright post drives the F-shaped connecting piece 12 and the seat supporting plate 13 to do rotating motion.

As shown in fig. 4 to 6, which are schematic views of a sitting-type lower limb rehabilitation robot and parts thereof according to the present invention, the sitting-type lower limb rehabilitation robot includes a seat 14, an arc-shaped connecting piece 16, the seat 14, a wearing fixture 15, the arc-shaped connecting piece 16, a foot rest 17, a lower leg support 18, a lower leg support 21, a baffle 22, a front thigh support 24, a rear thigh support 25, a cylinder 28, and a piston rod 29. Taking the left leg of the lower limb rehabilitation robot as an example, the wearing clamp 15 is tightly matched with the thigh and the shank bracket through bolts, other wearing clamps are similar and used for fixing the leg of a user and driving the user to do synchronous motion, the foot support 17 is connected with the shank bracket 21 through a pin and does relative rotation fit, the rotation is limited by the baffle 22 and is used for bearing the foot of the user to do rotation with a certain angle, the lower leg lower bracket 21 and the shank upper bracket 18 are both provided with through holes 26 which are fixed in the sliding groove 20 through bolts, the length of the shank bracket can be adjusted through the matching of different through holes so as to meet the requirements of different users, the shank upper bracket 18 and the thigh front bracket 24 are connected and matched with each other in the key groove through the key 23 so as to realize the mutual rotation of the lower leg lower bracket and the shank upper bracket, the thigh front bracket 24 and the thigh rear bracket 25 are respectively provided with a plurality of through holes, the thigh, the length adjustment of the thigh support can be realized by connecting different through holes at the same time, and finally the thigh rear support 25 is fixed with the seat 14, as shown in fig. 4. The piston rod 29 is sleeved in the cylinder barrel 28 and can axially extend and retract within the cylinder barrel 28 in a certain stroke, through holes are formed in the tail ends of the cylinder barrel 28 and the arc-shaped connecting piece 16 respectively and can be connected with the cylinder barrel through pins to achieve relative rotation, the upper end face of the arc-shaped connecting piece 16 is tightly connected with the lower end face of the seat, a through hole 30 is formed in the front end of the piston rod 29 and can be matched with the cylindrical pin 19 on the lower leg support 21 to achieve relative rotation of the cylinder barrel and the lower leg support, meanwhile, the telescopic motion of the piston rod 29 can drive the lower leg support to do flexion and extension motions, the right leg of the lower limb rehabilitation robot 5 is similar, and through the cooperation, the passive motion of the sitting.

The lifting system 4 is tightly connected with the sitting type lower limb rehabilitation robot 5, the driving motor 8 drives the ball screw to push the upright post outer tube 7 and other matching parts (the lower end 10 of the rotating upright post, the upper end 11 of the rotating upright post, the F-shaped connecting piece 12, the seat supporting plate 13 and the sitting type lower limb rehabilitation robot 5) through the extravehicular lifting control button, lifting motion is realized, and the rotating upright post can realize rotating motion of the sitting type lower limb rehabilitation robot after receiving signals of the rotating control button. Initially, the user wears the lower limb rehabilitation robot 5, the lower limb rehabilitation robot is carried into the water bath cabin 1 filled with traditional Chinese medicines by the lifting system 4 receiving a control button signal, then the robot motion (including a control switch, a control speed and a control motion amplitude) button is pressed, the lower limb rehabilitation robot drives a patient to do rehabilitation motion after receiving the signal, and the working state can be observed more visually through a display outside the rehabilitation cabin, such as the temperature, the working time, the motion speed and the motion angle of liquid medicine are displayed. The utility model relates to a novel sitting posture traditional chinese medicine water bath low limbs rehabilitation robot device through the work of mutually supporting between water bath cabin, operating system and the sitting posture low limbs rehabilitation robot, has realized the recovered system that combines together of mechanical passive rehabilitation motion and traditional chinese medicine water treatment, provides a function abundance, both had been applicable to indoor and be applicable to outdoor again, has overcome the obscure shortcoming of current rehabilitation robot treatment, rational in infrastructure, the efficiency is obvious, operate simple and easy novel low limbs rehabilitation robot device.

Claims

1. The utility model provides a novel sitting posture traditional chinese medicine water bath lower limbs rehabilitation robot device which characterized in that: the lower limb rehabilitation robot comprises a water bath cabin, a control box, a lifting mechanism, a rotating stand column, a seat and a lower limb rehabilitation robot, wherein the lifting mechanism and the rotating stand column form a lifting system, the lifting system is connected with the water bath cabin in a matched manner, and the rotating mechanism is connected with the rehabilitation seat through a connecting piece; the control box is arranged in the water bath cabin, water and traditional Chinese medicines are contained in the control box, safety monitoring glass, a control button for controlling the work of the system and a display for displaying work data are arranged outside the cabin, and the control box comprises a temperature control system, a motor and a safety module and is used for realizing the constant temperature and water flow control of liquid medicines; the lower limb rehabilitation robot is assembled with the seat and used for lower limb rehabilitation of patients, and can be carried by the lifting system to do lifting and rotating motion so as to enter the water bath cabin for rehabilitation.

2. The novel sitting traditional Chinese medicine water bath lower limb rehabilitation robot device as claimed in claim 1, is characterized in that: the wearing clamp on the lower limb rehabilitation robot can fix the legs of a user, so that the lower limbs are prevented from sliding, the lower limbs of the user can move synchronously with the rehabilitation robot, and the movement accuracy is improved.

3. The novel sitting traditional Chinese medicine water bath lower limb rehabilitation robot device as claimed in claim 1, is characterized in that: the seat and the foot support of the lower limb rehabilitation robot system are hollowed, so that buoyancy can be reduced when the sitting type lower limb rehabilitation robot invades liquid medicine, and meanwhile, water accumulation of the rehabilitation robot is prevented.

4. The novel sitting traditional Chinese medicine water bath lower limb rehabilitation robot device as claimed in claim 1, is characterized in that: the sitting type lower limb rehabilitation robot is driven by the air cylinder, mechanical impact during electric driving is avoided, the rehabilitation robot is made of waterproof materials, the electric conduction danger during water bath is avoided, and safety and flexibility are achieved.

5. The novel sitting traditional Chinese medicine water bath lower limb rehabilitation robot device as claimed in claim 1, is characterized in that: the leg support of the sitting type lower limb rehabilitation robot can adjust different lengths, is suitable for users with different limb lengths, meets the principle of human engineering and has man-machine compatibility.

6. The novel sitting traditional Chinese medicine water bath lower limb rehabilitation robot device as claimed in claim 1, is characterized in that: the control box in the water bath cabin comprises a temperature control system and a motor, the temperature control system can heat and keep the temperature of the liquid medicine constant, and the motor can control the flow rate of the liquid medicine and fully exert the rehabilitation effect of the liquid medicine.