CN218685143U

CN218685143U - Interchangeable upper limbs rehabilitation robot

Info

Publication number: CN218685143U
Application number: CN202221686073.7U
Authority: CN
Inventors: 张强; 刘一; 郝海
Original assignee: Jiangsu Research Institute Co Ltd of Dalian University of Technology
Current assignee: Jiangsu Research Institute Co Ltd of Dalian University of Technology
Priority date: 2022-07-01
Filing date: 2022-07-01
Publication date: 2023-03-24
Anticipated expiration: 2032-07-01

Abstract

The utility model discloses an interchangeable upper limbs rehabilitation robot, it is connected with first joint seat to rotate on the base, it is connected with the support arm to rotate on the first joint seat, the top of support arm articulates through the joint seat of second has the execution arm, be provided with first arm support on the execution arm, the arm recess has been seted up on the first arm support, the inside of carrying the arm recess is provided with upper arm massage roller, the function of pressing to the upper limbs arm is further increased in setting up of upper arm massage roller, make the upper limbs arm obtain effectual passive training, be provided with respectively in first joint seat and the second joint seat and be used for driving support arm and execution arm pivoted servo motor, place user's arm in carrying the arm recess, control servo motor work, make the execution arm with second joint seat rotation position, upper and lower reciprocating displacement, user's arm obtains the training through the displacement along with the execution arm, displacement about the arm.

Description

Interchangeable upper limbs rehabilitation robot

Technical Field

The utility model relates to a rehabilitation training device technical field, specific field is an interchangeable upper limbs rehabilitation robot.

Background

Nerve damage is the disruption of the integrity of the nerve structure and the impairment of the function of the nerve. Nerve injuries are caused by a variety of causes, including trauma: concussion of brain, contusion and laceration of brain caused by trauma of head and face, or nerve fracture caused by trauma of limbs, and intervertebral disc protrusion caused by trauma of cervical vertebra, lumbar vertebra or thoracic vertebra, and spinal fracture can compress spinal cord; cerebrovascular diseases and spinal cord angiopathy can cause certain damage to nerves; genetic diseases: most genetic diseases can cause the deficiency of substances required by nerve development due to various reasons, and can not develop normally, thus causing various nerve injuries;

for patients with nervous system injury, limb training with certain strength is necessary to avoid amyotrophy, however, such patients cannot independently complete limb movement recovery, need continuous auxiliary implementation by accompanying personnel, and are large in physical strength consumption and relatively labor-consuming for accompanying personnel. At present, current rehabilitation training device is the rehabilitation training device of initiative generally, and the user all needs certain autonomous usability, to the patient that does not possess autonomous use, still needs the manual assistance of accompanying person, and is not practical.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an interchangeable upper limbs rehabilitation robot to solve the problem that provides among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides an interchangeable upper limbs rehabilitation robot, includes the base, it has first joint seat to rotate on the base to be connected with, rotate on the first joint seat and be connected with the support arm, the top of support arm articulates through second joint seat has the execution arm, be provided with first arm support on the execution arm, the arm recess has been seted up on the first arm support, the support arm with the execution arm can be in respectively first joint seat with relative rotation on the second joint seat, in order to satisfy have suitable position between carrying the arm recess and the user, the inside of carrying the arm recess is provided with upper arm massage roller, during the upper limbs rehabilitation training process, the function of pressing to the upper limbs arm is further increased in the setting of upper arm massage roller for the upper limbs arm obtains effectual passive training, be provided with respectively in first joint seat with in the second joint seat and be used for driving support arm with execution arm pivoted servo motor, servo motor is the motor among the prior art, sets up the button of control servo motor work outside the robot, place user's arm in carry the arm recess, control servo motor work joint makes the execution arm with second joint, the upper limb displacement is through the reciprocal massage roller of the user arm displacement, thereby the arm is realized to the user arm displacement about the arm.

Preferably, upper arm massage roller includes the dead lever, the both ends difference fixed connection of dead lever in carry on the lateral wall of symmetry in the arm recess, it is connected with the bar and changes the roller to rotate on the dead lever, it is protruding that the bar evenly is provided with the massage on changeing the lateral wall of roller, the bar is changeed the roller and is formed relative rotation with the upper arm contact under the frictional force condition, the bar is changeed the roller and is in rotate the in-process on the dead lever, the massage is protruding constantly to press the upper arm, plays the massage effect to the upper arm, promotes arm blood circulation.

Preferably, the base includes walking portion and fixed part, the lower extreme of walking portion sets up the walking wheel, the lower terminal surface of fixed part sets up the fixedly connected with slipmat, the walking portion with the setting of fixed part is convenient for the removal and the fixing of robot, and the robot accessible walking wheel removes under the exogenic action, can stabilize fixedly under no exogenic action.

Preferably, the fixed part is circular seat, the slipmat is the loop configuration, the slipmat fixed bond in the lower terminal surface of fixed part, the slipmat increases the steadiness of fixed part.

Preferably, the first arm holds in the palm the one end of connecting the telescopic link, the other end of telescopic link is flexible end, the flexible end of telescopic link is connected with the second arm and holds in the palm, the second arm hold in the palm with the structure that first arm held in the palm is the same, the setting up of second arm support makes the robot can drive both arms simultaneously and train, further increases robot training efficiency, the telescopic link makes the second arm hold in the palm the position adjustable, distance is adjustable between first arm support and the second arm support, is fit for the wide user of different shoulders.

Preferably, a handle is fixedly connected to the second joint seat, and the handle is arranged to facilitate movement of the robot.

Preferably, the telescopic link is formed by outer pipe sleeve and interior pole swing joint, and wherein threaded connection has the locking hoop on the outer pipe sleeve, screws the locking hoop for telescopic link length is fixed, loosens soon the locking hoop, telescopic link length is adjustable.

Compared with the prior art, the beneficial effects of the utility model are that: rotate on the base and be connected with first joint seat, it is connected with the support arm to rotate on the first joint seat, the top of support arm articulates through the second joint seat has the execution arm, be provided with first arm support on the execution arm, the year arm recess has been seted up on the first arm support, support arm and execution arm can rotate relatively on first joint seat and second joint seat respectively, in order to satisfy and have suitable position between year arm recess and the user, the inside of year arm recess is provided with upper arm massage roller, in the upper arm rehabilitation training process, the setting of upper arm massage roller further increases the function of pressing down to the upper limb arm, make the upper limb arm obtain effectual passive training, be provided with respectively in first joint seat and the second joint seat and be used for driving support arm and execution arm pivoted servo motor, place user's arm in year arm recess, control servo motor work, make the execution arm with second joint seat rotation position, the reciprocal displacement from top to bottom, user's arm obtains the training through the displacement along with the execution arm, upper arm displacement, thereby the upper arm rotates for user's arm and plays the massage effect, promote blood circulation, the local is applicable to not possess the manual training of the patient, need not good auxiliary for the person of accompanying the training, the good process.

Drawings

FIG. 1 is a schematic view of the main structure of the present invention;

FIG. 2 is a side view of the upper arm massage roller of the present invention;

fig. 3 is a bottom view of the base of the present invention;

fig. 4 is a cross-sectional view of the telescopic rod of the present invention.

In the figure: 1-base, 101-walking part, 102-fixing part, 103-walking wheel, 104-non-slip mat, 2-first joint seat, 3-supporting arm, 4-second joint seat, 5-executing arm, 6-first arm support, 7-arm-carrying groove, 8-upper arm massage roller, 801-fixing rod, 802-bar-shaped rotating roller, 803-massage bulge, 9-telescopic rod, 10-second arm support, 11-handle and 12-locking hoop.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

Example (b):

referring to fig. 1-4, the present invention provides the following technical solutions: an interchangeable upper limb rehabilitation robot comprises a base 1, wherein a first joint seat 2 is connected to the base 1 in a rotating mode, a supporting arm 3 is connected to the first joint seat 2 in a rotating mode, an executing arm 5 is hinged to the top end of the supporting arm 3 through a second joint seat 4, a first arm support 6 is arranged on the executing arm 5, a carrying arm groove 7 is formed in the first arm support 6, the supporting arm 3 and the executing arm 5 can rotate on the first joint seat 2 and the second joint seat 4 relatively to meet the requirement that a proper position is formed between the carrying arm groove 7 and a user, an upper arm massage roller 8 is arranged inside the carrying arm groove 7, and in the upper limb rehabilitation training process, the upper arm massage roller 8 is further added with a pressing function for the upper limb, the upper limb massage roller 8 rotates relative to the arm of the user, so that the arm of the user is massaged, and the blood circulation of the arm is promoted.

Specifically, upper arm massage roller 8 includes dead lever 801, the both ends of dead lever 801 respectively fixed connection in carry on the lateral wall of arm recess 7 interior symmetry, it is connected with the bar and changes roller 802 to rotate on the dead lever 801, evenly be provided with the massage arch 803 on the lateral wall of bar commentaries on classics roller 802, the bar is changeed roller 802 and is formed relative rotation under the frictional force condition with the upper arm contact, the bar changes roller 802 and is in rotate the in-process on the dead lever 801, the protruding 803 of massage constantly presses the upper arm, plays the massage effect to the upper arm, promotes arm blood circulation.

Particularly, the base 1 comprises a walking portion 101 and a fixing portion 102, walking wheels 103 are arranged at the lower end of the walking portion 101, anti-skidding pads 104 are fixedly connected to the lower end face of the fixing portion 102, the walking portion 101 and the fixing portion 102 are convenient to move and fix, the robot can move through the walking wheels 103 under the action of external force, and can be stably fixed under the action of no external force.

Specifically, the fixing portion 102 is a circular seat plate, the non-slip mat 104 is a ring structure, the non-slip mat 104 is fixedly bonded to the lower end surface of the fixing portion 102, and the non-slip mat 104 increases the stability of the fixing portion 102.

Particularly, the one end of connecting telescopic link 9 on the first arm holds in the palm 6, the other end of telescopic link 9 is flexible end, the flexible end of telescopic link 9 is connected with second arm and holds in the palm 10, second arm hold in the palm 10 with first arm holds in the palm 6 the structure the same, the setting up of second arm support 10 makes the robot can drive both arms simultaneously and train, further increases robot training efficiency, telescopic link 9 makes second arm hold in the palm 10 adjustable positions, first arm holds in the palm 6 and second arm holds in the palm between the 10 distance adjustable, is fit for the user of different shoulder widths.

Specifically, a handle 11 is fixedly connected to the second joint seat 4, and the handle 11 is arranged to facilitate movement of the robot.

Particularly, the telescopic link 9 is formed by outer pipe sleeve and interior pole swing joint, and wherein threaded connection has locking hoop 12 on the outer pipe sleeve, screws locking hoop 12 makes telescopic link 9 length is fixed, unscrews locking hoop 12, telescopic link 9 adjustable length.

The working principle is as follows: set up base 1, it has first joint seat 2 to rotate on the base 1, it has support arm 3 to rotate on first joint seat 2, the top of support arm 3 articulates through second joint seat 4 has execution arm 5, be provided with first arm support 6 on the execution arm 5, the year arm recess 7 has been seted up on the first arm support 6, support arm 3 and execution arm 5 can be relatively rotated on first joint seat 2 and second joint seat 4 respectively, in order to satisfy and have suitable position between year arm recess 7 and the user, the inside of year arm recess 7 is provided with upper arm massage roller 8, during the upper limbs rehabilitation training process, the setting of upper arm massage roller 8 further increases the function of pressing to the upper limb arm, make the upper limb arm obtain effectual passive training, be provided with respectively in first joint seat 2 and the second joint seat 4 and be used for driving support arm 3 and execution arm 5 pivoted servo motor, servo motor is the motor among the prior art, set up the button of control servo motor work outside the robot, place user's arm in year arm recess 7, control servo motor work, make execution arm 5 with second joint seat 4, the displacement of second joint seat plays the user's arm and the displacement of the reciprocal massage roller of the arm, thereby the arm is realized the displacement of the user's arm, thereby the arm is rotated and the arm is realized through the reciprocal displacement of the user's blood.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. An interchangeable upper limb rehabilitation robot, characterized in that: the arm massage device comprises a base (1), wherein a first joint seat (2) is connected to the base (1) in a rotating mode, a supporting arm (3) is connected to the first joint seat (2) in a rotating mode, an executing arm (5) is hinged to the top end of the supporting arm (3) through a second joint seat (4), a first arm support (6) is arranged on the executing arm (5), a carrying arm groove (7) is formed in the first arm support (6), an upper arm massage roller (8) is arranged inside the carrying arm groove (7), servo motors used for driving the supporting arm (3) and the executing arm (5) to rotate are respectively arranged in the first joint seat (2) and the second joint seat (4), a user arm is placed in the carrying arm groove (7), the user arm is trained through massage displacement along with the executing arm (5), and the upper arm massage roller (8) rotates relative to the user arm to play a massage role on the user arm.

2. The interchangeable upper limb rehabilitation robot of claim 1, wherein: upper arm massage roller (8) are including dead lever (801), the both ends difference fixed connection of dead lever (801) in carry on the lateral wall of arm recess (7) interior symmetry, it is connected with the bar and changes roller (802) to rotate on dead lever (801), the bar is changeed and evenly is provided with massage arch (803) on the lateral wall of roller (802).

3. The interchangeable upper limb rehabilitation robot of claim 2, wherein: the base (1) comprises a walking part (101) and a fixing part (102), the lower end of the walking part (101) is provided with a walking wheel (103), and the lower end face of the fixing part (102) is provided with a non-slip mat (104) fixedly connected with.

4. The interchangeable upper limb rehabilitation robot of claim 3, wherein: the fixing part (102) is a round seat plate, the non-slip mat (104) is of an annular structure, and the non-slip mat (104) is fixedly bonded to the lower end face of the fixing part (102).

5. The interchangeable upper limb rehabilitation robot according to any one of claims 1-4, wherein: the one end of connecting telescopic link (9) on first arm support (6), the other end of telescopic link (9) is flexible end, the flexible end of telescopic link (9) is connected with second arm support (10), second arm support (10) with the structure of first arm support (6) is the same.

6. The interchangeable upper limb rehabilitation robot according to any one of claims 1-4, wherein: the second joint seat (4) is fixedly connected with a handle (11).

7. The interchangeable upper limb rehabilitation robot of claim 5, wherein: the telescopic rod (9) is formed by movably connecting an outer pipe sleeve and an inner rod, wherein the outer pipe sleeve is in threaded connection with a locking hoop (12).