SUMMERY OF THE UTILITY MODEL
To the weak point that exists in the above-mentioned technique, the utility model provides a recovered auxiliary robot of arm.
The utility model provides a technical scheme that its technical problem adopted is:
an arm rehabilitation assisting robot comprising: the training unit is used for placing the arms and performing bending training and overturning training on the arms; an adjustment unit for adjusting the position of the training unit relative to the patient; and a chair for supporting the patient in rehabilitation training;
wherein, arm rehabilitation auxiliary robot can carry out the rehabilitation training to patient's left arm or right arm alone.
Preferably, the training unit comprises a turnover driving part fixed on the adjusting unit; and a turning driving part rotatably provided on the turnover driving part.
Preferably, the overturning driving part comprises an overturning supporting frame which is fixedly connected to the adjusting unit, and an arc-shaped guide rail is arranged at one end part of the overturning supporting frame; the overturning driving motor is fixed on the overturning supporting frame;
wherein, the output shaft end of the turnover driving motor is provided with a turnover driving wheel, the turnover supporting frame is rotatably provided with a turnover driven wheel, and a linkage belt is arranged between the turnover driving wheel and the turnover driven wheel.
Preferably, the turning driving part comprises a turning connecting plate, and an arc-shaped guide groove matched and connected with the arc-shaped guide rail is formed on the turning connecting plate; the overturning support frame is also provided with a linkage wheel which synchronously rotates with the overturning driven wheel; the overturning connecting plate is provided with a linkage body which can synchronously rotate with the linkage wheel.
Preferably, the turning driving part further comprises a turning connecting plate which is rotatably arranged on the overturning connecting plate; and the turning connecting plate is provided with a turning driving motor for driving the turning connecting plate to perform turning operation.
Preferably, the bending connecting plate is provided with a handle for a patient to hold; the handle is provided with a first stud; a plurality of first threaded holes are formed in the turning connecting plate along the arm placing direction;
the first stud can be screwed in a first threaded hole in a matching mode.
Preferably, the adjusting unit includes a base; a lifting driving part which is arranged on the top of the base; a first swing support rod connected to a top end portion of the elevation driving portion; the first swing driving motor is arranged on the first swing supporting rod; one end of the folding connecting plate is fixed at the output shaft end of the first swing driving motor; a second swing driving motor provided at the other end of the fold-type connecting plate; the second swing supporting rod is fixed at the output shaft end of the second swing driving motor;
wherein the training unit is fixed on the second swing supporting rod.
Preferably, the training unit is provided with a connecting block and a fixer; the connecting block is provided with an insertion hole which can be sleeved on the second swing supporting rod and is provided with a second threaded hole; the fixer is provided with a second stud;
wherein the second stud is capable of being screwed in the second threaded hole.
Preferably, the seat is fixedly arranged at the side part of the adjusting unit; the adjusting unit is provided with a chair position adjusting plate; the chair is provided with a chair position fixing plate fixedly connected with the chair position adjusting plate.
Preferably, the chair fixing plate is provided with a slot for inserting the chair adjusting plate and a chair fixing hole for connecting the chair adjusting plate; the chair position adjusting plate is provided with a plurality of chair position adjusting holes; the pin rod can be inserted into the chair position fixing hole and the chair position adjusting hole.
Compared with the prior art, the utility model, its beneficial effect is: the utility model provides an arm rehabilitation auxiliary robot, which can be adjusted according to the body shape information of different patients, thereby improving the adaptability of the robot; the mounting position of the training unit can be adjusted according to requirements so as to perform auxiliary training on the arm of the patient in rehabilitation, and the production cost of the rehabilitation auxiliary equipment is reduced; and can carry out the turnover motion and turn the motion to patient's arm regularly under the effect of upset driving motor and turn driving motor, reduce the tired degree in the patient rehabilitation training. The utility model discloses simple structure, operation are stable and supplementary effectual, have higher practical value.
Detailed Description
The present invention is further described in detail below with reference to the drawings so that those skilled in the art can implement the invention with reference to the description.
As shown in fig. 1-7, the utility model provides an arm rehabilitation auxiliary robot, including:
the training unit 1 is used for placing arms and performing bending training and overturning training on the arms;
an adjustment unit 2 for adjusting the position of the training unit 1 relative to the patient; and
a chair 3 for supporting a patient in rehabilitation training;
wherein, arm rehabilitation auxiliary robot can carry out the rehabilitation training to patient's left arm or right arm alone.
As an embodiment of the present invention, the training unit 1 comprises
A reverse drive unit 11 fixed to the adjustment unit 2; and
and a turning drive part 12 rotatably provided on the inversion drive part 11.
As an embodiment of the present invention, the turnover driving part 11 includes
An overturning support frame 51 fixedly connected to the adjusting unit 2, wherein an arc-shaped guide rail 511 is arranged at one end of the overturning support frame 51; and
a turnover driving motor 50 fixed on a turnover support frame 51;
wherein, the output shaft end of the turnover driving motor 50 is provided with a turnover driving wheel 500, the turnover supporting frame 51 is rotatably provided with a turnover driven wheel 501, and a linkage belt 503 is arranged between the turnover driving wheel 500 and the turnover driven wheel 501.
As an embodiment of the present invention, the cross section of the coupling belt 503 is an O-shape.
As an embodiment of the present invention, the turning driving part 12 includes a turning connecting plate 61, on which an arc-shaped guide slot 610 is formed to be coupled with the arc-shaped guide rail 511;
the overturning support frame 51 is also provided with a linkage wheel 502 which synchronously rotates with the overturning driven wheel 501;
the turning connection plate 61 is provided with an interlocking body 611 capable of rotating synchronously with the interlocking wheel 502.
As an embodiment of the present invention, the linkage wheel 502 and the linkage body 611 rotate in different directions.
As an embodiment of the present invention, a first gear portion is formed on the coupling wheel 502, and a second gear portion is formed on the coupling body 611;
the first gear part and the second gear part are in meshing connection.
As an embodiment of the present invention, a first friction portion is formed on the coupling wheel 502, and a second friction portion is formed on the coupling body 611;
the first friction part and the second friction part are connected in a pressing way.
As an embodiment of the present invention, the turning driving part 12 further includes a turning connecting plate 62 rotatably disposed on the turning connecting plate 61;
a turning driving motor 60 for driving the turning connecting plate 62 to perform a turning operation is mounted on the turning connecting plate 61.
As an embodiment of the present invention, the first and second,
a first bent rotating arm 612 and a second bent rotating arm 613 are fixed on the overturning connecting plate 61;
a third bent rotating arm 622 and a fourth bent rotating arm 621 are fixed on the bent connecting plate 62;
wherein, the turning driving motor 60 is fixed on the second turning arm 613, and the output shaft end of the turning driving motor 60 is fixedly connected to the fourth turning arm 621;
the first and third rotating arms 612 and 622 are hinged.
As an embodiment of the present invention, the turning connecting plate 62 is provided with a handle 63 for holding the hand of the patient.
As an embodiment of the present invention, the handle 63 is detachably mounted on the turning connecting plate 62.
As an embodiment of the present invention, the handle 63 is provided with a first stud 631;
a plurality of first threaded holes 620 are formed in the turning connecting plate 62 along the arm placing direction;
wherein the first stud 631 can be screwed into a first threaded hole 620 to fit the arm length of the patient.
As an embodiment of the present invention, the adjusting unit 2 comprises
A base 20;
a lifting driving part 21 installed on the top of the base 20;
a first swing support rod 22 connected to the tip end of the elevation drive unit 21;
a first swing driving motor 41 provided on the first swing support rod 22;
a folding connecting plate 23, one end of which is fixed to an output shaft end of the first swing driving motor 41;
a second swing drive motor 42 provided at the other end portion of the fold-type connecting plate 23; and
a second swing support rod 24 fixed to an output shaft end of the second swing drive motor 42;
wherein the training unit 1 is fixed to the second swing support bar 24.
As an embodiment of the present invention, the training unit 1 is provided with a connecting block 512 and a fixer 52;
the connecting block 512 is provided with an insertion hole which can be sleeved on the second swing supporting rod 24, and a second threaded hole 513 is formed;
the fixer 52 is provided with a second stud 521;
the second stud 521 can be screwed into the second threaded hole 513, and one end of the second stud 521 abuts against the second swing support rod 24, so that the training unit 1 is fixed to the second swing support rod 24.
As an embodiment of the present invention, the connecting block 512 is fixed to another end of the turning support frame 51.
As an embodiment of the present invention, the lifting driving portion 21 is a lifting cylinder, and the first swing supporting rod 22 is fixed at the end of the telescopic shaft of the lifting cylinder.
As an embodiment of the present invention, the seat 3 is fixedly disposed at a side portion of the adjusting unit 2.
As an embodiment of the present invention, the adjusting unit 2 is provided with a chair position adjusting plate 25,
the seat 3 is provided with a seat fixing plate 31 fixedly connected with the seat adjusting plate 25.
In an embodiment of the present invention, the relative position between the seat adjusting plate 25 and the seat fixing plate 31 is adjustable.
As an embodiment of the present invention, the seat fixing plate 31 is provided with a slot 312 for inserting the seat adjusting plate 25 and a seat fixing hole 311 for connecting the seat adjusting plate 25;
the chair position adjusting plate 25 is provided with a plurality of chair position adjusting holes 250;
the pin 251 can be inserted into the seat fixing hole 311 and the seat adjusting hole 250 to fix the relative positions of the seat fixing plate 31 and the seat adjusting plate 25.
The working principle of the arm rehabilitation assisting robot is as follows:
when the robot assists the right arm of the patient to train, the robot is adjusted to the state shown in figure 1 and the body type information of the patient is obtained
Adjusting the position of the seat 3 relative to the adjustment unit 2;
driving the lifting driving part 21, the first swing driving motor 41 and the second swing driving motor 42 to adjust the position of the training unit 1 relative to the patient; and are
The handle 63 is adjusted to fit the arm length of the patient.
The patient sits in the chair 3, rests the right arm on the elbow connection plate 62, and holds the handle 63; the turning driving motor 50 and the turning driving motor 60 are started, the right arm uses the right forearm as an axis to perform turning motion under the action of the turning driving motor 50, and uses the right elbow as a turning point to perform turning motion under the action of the turning driving motor 60, so as to realize the rehabilitation training of the right arm of the auxiliary patient.
When the left arm training of the patient is assisted, the first swing driving motor 41 is driven to swing the training unit 1 to the left side of the seat 3, and the second swing driving motor 42 is driven to swing the second swing supporting rod 24 to the front side of the adjusting unit 2; the training unit 1 is detached from the second swinging support rod 24, rotated by 180 degrees by taking the second swinging support rod 24 as an axis, and then reinstalled on the second swinging support rod 24; to adjust the robot to the state shown in fig. 2.
Then, according to the body type information of the patient
Adjusting the position of the seat 3 relative to the adjustment unit 2;
driving the lifting driving part 21, the first swing driving motor 41 and the second swing driving motor 42 to adjust the position of the training unit 1 relative to the patient; and are
The handle 63 is adjusted to fit the arm length of the patient.
The patient sits in the chair 3, rests the left arm on the elbow web 62, and holds the handle 63; the turning driving motor 50 and the turning driving motor 60 are started, the left arm turns around by taking the left forearm as an axis under the action of the turning driving motor 50, and the left elbow is taken as a turning point to turn around under the action of the turning driving motor 60, so that the left arm rehabilitation training of the patient is assisted.
While the embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields of application suitable for this invention, and further modifications may be readily made by those skilled in the art, and the invention is therefore not limited to the specific details and illustrations shown and described herein, without departing from the general concept defined by the claims and their equivalents.