CN219001044U

CN219001044U - Rehabilitation auxiliary robot

Info

Publication number: CN219001044U
Application number: CN202223121752.2U
Authority: CN
Inventors: 杨妍; 冯思淇; 刘子杰; 沈嘉诚; 韩顺; 赵汝华
Original assignee: Wuhan University of Science and Engineering WUSE
Current assignee: Wuhan University of Science and Engineering WUSE
Priority date: 2022-11-23
Filing date: 2022-11-23
Publication date: 2023-05-12
Anticipated expiration: 2032-11-23

Abstract

The utility model relates to the technical field of medical equipment and discloses a rehabilitation auxiliary robot which comprises a frame, wherein an exoskeleton lifting component is arranged on one side wall of the frame, a waist supporting structure is fixedly arranged on one side outer wall of the exoskeleton lifting component, hip joints are respectively arranged on two side outer walls of the waist supporting structure, and through the arranged frame, the waist supporting structure, the hip joints, the knee joints, the ankle joints and the sole supports and crutches, muscle strength training, motion support and motion control training can be carried out on central paralyzed patients, the training can be integrated to teach the patients to learn motion control, lower limb gait and walking can be effectively completed, meanwhile, muscle strength training can be carried out on peripheral nerve patients, after muscle strength is enhanced, the patients can effectively stand, stand and keep balanced, gait training is carried out, further functions of the device are diversified, the degree of automation is high, and physical therapy modes can be provided for limb dysfunction patients and independent walking can be supported.

Description

Rehabilitation auxiliary robot

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a rehabilitation auxiliary robot.

Background

The number of disabled people caused by cerebral apoplexy, spinal cord injury, cerebral trauma and the like is rapidly increased, the number of disabled people in China is over 2400 ten thousand, new cerebral apoplexy patients are about 200 ten thousand each year, most of patients have a certain degree of dysfunction, traditional rehabilitation training is based on manual means, the number of professional therapists in China is very short, the number of the US rehabilitation therapists is 70/10 ten thousand, the current number of the US rehabilitation therapists is only 0.4/10 ten thousand and the professional level is low, the increasing demands cannot be met, central paralysis is the most common sequelae of cerebral apoplexy, peripheral paralysis is mainly lower limb paralysis which is the lower limb paralysis which is subjected to the nerve defect left after peripheral nerve injury, and the two causes of the peripheral paralysis are distinct, so that the rehabilitation auxiliary robot is designed, the use of the lower limb rehabilitation auxiliary robot can improve the rehabilitation efficiency, reduce the treatment cost, reduce the demands and the physical consumption of personnel, and simultaneously improve the rehabilitation effect, and hope are brought to the rehabilitation of the nerve injury patients, the disabled and the old.

Disclosure of Invention

The utility model aims to provide a rehabilitation auxiliary robot to solve the problem that the traditional rehabilitation training proposed in the background art is based on manual means and cannot meet the increasing demands.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a rehabilitation auxiliary robot, includes the frame, install exoskeleton lifting unit on one side wall of frame, fixed mounting has waist bearing structure on the outer wall of one side of exoskeleton lifting unit, install the hip joint on the outer wall of the both sides of waist bearing structure respectively, the hip joint is kept away from waist bearing structure's one end is connected with knee joint, the knee joint is kept away from the one end of hip joint is connected with ankle joint and sole support, install the pushing hands on the outer wall of one side of frame, install the controller on the outer wall of one side of frame, just waist bearing structure hip joint knee joint with ankle joint and sole support respectively with controller electric connection, install the power box on the outer wall of one side of frame, the inside of power box is provided with the battery, install the joint piece on the outer wall of one side of power box, the power box passes through the joint has the walking stick respectively, just the waist bearing structure, the hip joint the knee joint the ankle joint with ankle joint and sole support respectively with controller electric connection with the power box.

As a preferable scheme, the crutch comprises a crutch rod, the crutch rod is clamped with the clamping piece, and a crutch handle is inserted into the inner side of the crutch rod.

As a preferable scheme, the outer wall of the crutch handle is inserted with a hand support piece, the crutch handle and the outer wall of the hand support piece are respectively provided with a fixing hole, and the hand support piece and the crutch handle are locked and fixed by a screw through the fixing holes.

As the preferred scheme, ectoskeleton lifting unit includes the fixing base, just the fixing base respectively with the frame is connected, install guide bar and lead screw on the lateral wall of fixing base respectively, just the lead screw with threaded connection between the fixing base, the guide bar with be provided with the elevating socket on the outer wall of lead screw, just the elevating socket with threaded connection between the lead screw, install the locating lever on the both sides wall of elevating socket respectively, movable grafting has the mounting on the outer wall of locating lever respectively, just waist bearing structure pass through the screw with the mounting is connected.

As the preferable scheme, the pushing handle comprises a fixed rod, the inner side of the fixed rod is inserted with a conveying rod, round holes are respectively formed in the outer wall of one side of the fixed rod, a fixed buckle is arranged on one side wall of the conveying rod, and the conveying rod is respectively fixed with the round holes and the fixed rod through the fixed buckle.

As a preferable scheme, an anti-abrasion pad is arranged on the outer wall of the conveying rod, and the anti-abrasion pad is made of rubber or sponge.

Preferably, a fan is mounted on a side wall of the power supply box, and the fan is located on one side of the storage battery.

The utility model has the technical effects and advantages that:

1. through frame, waist bearing structure, hip joint, knee joint, ankle joint and sole support and walking stick that set up, can carry out muscle strength training and motion support, motion control training to central paralyzed patient, synthesize these training just can teach patient's learning motion control, effectually accomplish low limbs gait and walking, can also carry out muscle strength training to peripheral nerve patient simultaneously, after reinforcing muscle strength, let his effectual standing, standing up steady, keep balance, carry out gait training again, and then make the device function diversified, degree of automation is high and can provide physical therapy mode and support its independent walking for limbs dysfunctional person.

2. Through fixing base, guide bar, lead screw, elevating socket, locating lever and the mounting that set up, can adjust waist bearing structure, hip joint, knee joint and ankle joint and sole support's height and width to make the device be applicable to the patient of different heights, and then can satisfy the demand.

Drawings

Fig. 1 is a schematic diagram of the overall structure of the present utility model.

Fig. 2 is a schematic diagram of the exoskeleton system of the present utility model.

Fig. 3 is a schematic structural view of the clamping member of the present utility model.

Fig. 4 is a schematic side plan view of the present utility model.

Fig. 5 is a schematic view of the exoskeleton lifting assembly of the present utility model.

Fig. 6 is a schematic structural diagram of a push handle according to the present utility model.

FIG. 7 is a schematic view of the crutch according to the utility model.

Figure 8 is a schematic structural view of the lumbar support structure of the present utility model.

Fig. 9 is a schematic diagram of an electrical connection structure according to the present utility model.

In the figure: 1. a frame; 2. an exoskeleton lifting assembly; 21. a fixing seat; 22. a guide rod; 23. a screw rod; 24. a lifting seat; 25. a positioning rod; 26. a fixing member; 3. a lumbar support structure; 4. a hip joint; 5. a knee joint; 6. ankle joint and sole support; 7. a power box; 8. a controller; 9. a clamping piece; 10. a walking stick; 101. a cane; 102. a cane handle; 103. a hand support; 11. pushing hands; 1101. a fixed rod; 1102. a conveying rod; 1103. and a round hole.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

The utility model provides a rehabilitation auxiliary robot as shown in figures 1-9, which comprises a frame 1, wherein an exoskeleton lifting component 2 is arranged on one side wall of the frame 1, the height and the width of an exoskeleton system are adjusted through the exoskeleton lifting component 2, so that patients with different shapes can conveniently use the robot, a waist supporting structure 3 is fixedly arranged on one side outer wall of the exoskeleton lifting component 2, the waist supporting structure 3 comprises a waist protection pad, left and right expansion plates, left and right waist plates, hip joints 4 are respectively arranged on two side outer walls of the waist supporting structure 3, one end of the hip joint 4, which is far away from the waist supporting structure 3, is connected with a knee joint 5, one end of the knee joint 5, which is far away from the hip joint 4, is connected with an ankle joint and sole support 6, and the patient can control the walking of the exoskeleton through the waist supporting structure 3, the hip joint 4, the knee joint 5 and the ankle joint and the sole support 6, so that the patient can provide a physical therapy mode for a limb functional hander and support the patient to independently walk, and a push-up hand 11 is arranged on one side outer wall of the frame 1, and the push-down hand 11 is positioned on the outer side of the patient, and the patient can conveniently push the patient to move the device through the appropriate position of the push-up device after the patient is pushed by the pushing the hip supporting device 11;

the controller 8 is installed on the outer wall of one side of the frame 1, and waist bearing structure 3, hip joint 4, knee joint 5 and ankle joint and sole support 6 respectively with controller 8 electric connection, through controller 8, can control the opening and closing of hip joint 4, knee joint 5 and ankle joint and sole support 6, install power box 7 on the outer wall of one side of frame 1, the inside of power box 7 is provided with the battery, install joint 9 on the outer wall of one side of power box 7, power box 7 has walking stick 10 through joint 9 respectively, through walking stick 10, make the patient can stand, stand steady and keep balanced, and then both conveniently carry out gait training, and can improve patient's stable safe effect again, and waist bearing structure 3, hip joint 4, knee joint 5, ankle joint and sole support 6 and controller 8 respectively with power box 7 electric connection, through power box 7 and battery, thereby conveniently supply power to the device, and then make things convenient for the device to use, install the fan on the side wall of power box 7, and the fan is located one side of battery, can cool down through the fan, the gear.

In this embodiment, walking stick 10 includes cane pole 101, and cane pole 101 and joint piece 9 looks joint, the inboard of cane pole 101 has pegged graft and has been had cane handle 102, cooperate with cane handle 102 through cane pole 101, thereby make inconvenient patient of health can stand, stand steady and keep balanced, and then conveniently carry out gait training, peg graft on the outer wall of cane handle 102 has hand support piece 103, the fixed orifices has been seted up respectively on the outer wall of cane handle 102 and hand support piece 103, and hand support piece 103 and cane handle 102 pass through the fixed orifices and lock fixedly with the screw, through hand support piece 103, make the patient can be stable hold cane handle 102, be favorable to avoiding the patient because carelessly to make cane handle 102 and hand support piece 103 drop and empty from the hand, and then avoid causing the influence to standing or training process.

In this embodiment, the exoskeleton lifting assembly 2 includes a fixed seat 21, and the fixed seat 21 is connected with the frame 1 respectively, a guide rod 22 and a screw rod 23 are installed on a side wall of the fixed seat 21 respectively, and screw threads are connected between the screw rod 23 and the fixed seat 21, lifting seats 24 are disposed on outer walls of the guide rod 22 and the screw rod 23, and screw threads are connected between the lifting seats 24 and the screw rod 23, the screw rod 23 installed by a bearing on the fixed seat 21 is rotated and drives the lifting seats 24 in threaded connection on the side wall to lift under the action of the guide rod 22, so that the exoskeleton system can be adjusted according to the height of a patient, positioning rods 25 are installed on two side walls of the lifting seats 24 respectively, fixing pieces 26 are movably inserted on outer walls of the positioning rods 25 respectively, and the lumbar support structure 3 is connected with the fixing pieces 26 through screws, and the fixing pieces 26 are manually moved to two sides or the middle, so that the width between the lumbar support structure 3 can be adjusted according to the body shape of a wearer, and further the requirements can be met.

In this embodiment, the pushing handle 11 includes a fixing rod 1101, and a conveying rod 1102 is inserted into the inner side of the fixing rod 1101, a round hole 1103 is formed on an outer wall of one side of the fixing rod 1101, a fixing buckle is installed on a side wall of the conveying rod 1102, the conveying rod 1102 is fixed with the round hole 1103 and the fixing rod 1101 respectively through the fixing buckle, the conveying rod 1102 inserted into the fixing rod 1101 is pulled upwards manually, then the fixing buckle on the conveying rod 1102 can be clamped with the round hole 1103 in the same manner as an umbrella handle, so that the conveying rod 1102 is conveniently fixed, and then the conveying rod 1102 is manually supported or pushed, so that the device is conveniently pushed to a proper position to enable a patient to perform rehabilitation training, and the safety performance of the patient can be improved

In this embodiment, be provided with the abrasionproof pad on the outer wall of conveyer rod 1102, and the material that the abrasionproof was filled up is rubber or sponge, through the abrasionproof pad, is favorable to protecting patient family members or doctor's palm, and then can improve the propelling movement and support the comfort level of device personnel.

The working principle of the utility model is as follows: the utility model relates to a rehabilitation auxiliary robot, when in use, a lifting seat 24 in threaded connection with the side wall of the robot is driven by a screw rod 23 to lift under the action of a guide rod 22, so that an exoskeleton system can be adjusted according to the height of a patient, and simultaneously, a fixing piece 26 on a positioning rod 25 is manually moved to two sides or the middle, so that the width between waist supporting structures 3 can be adjusted according to the shape of a wearer, and then, the body of the user and the exoskeleton on the device are fixed together by flexible binding belts on a hip joint 4, a knee joint 5, an ankle joint and a sole support 6, so that the exoskeleton user can control the walking of the exoskeleton through the change of the trunk and the gravity center, and further, the robot can provide a physical treatment mode for a limb dysfunctional person and support the independent walking.

Finally, it should be noted that: the foregoing description of the preferred embodiments of the present utility model is not intended to be limiting, but rather, it will be apparent to those skilled in the art that the foregoing description of the preferred embodiments of the present utility model can be modified or equivalents can be substituted for some of the features thereof, and any modification, equivalent substitution, improvement or the like that is within the spirit and principles of the present utility model should be included in the scope of the present utility model.

Claims

1. A rehabilitation assistance robot, its characterized in that: including frame (1), install exoskeleton lifting unit (2) on a side wall of frame (1), fixed mounting has waist bearing structure (3) on the outer wall of one side of exoskeleton lifting unit (2), install hip joint (4) on the outer wall of both sides of waist bearing structure (3) respectively, hip joint (4) keep away from one end of waist bearing structure (3) is connected with knee joint (5), knee joint (5) keep away from one end of hip joint (4) is connected with ankle joint and sole support (6), install pushing hands (11) on the outer wall of one side of frame (1), install controller (8) on the outer wall of one side of frame (1), just waist bearing structure (3) hip joint (4) knee joint (5) with ankle joint and sole support (6) respectively with controller (8) electric connection, install power box (7) on the outer wall of one side of frame (1), the inside of power box (7) is provided with battery, install joint (7) on the outer wall (9) of joint (9) through joint (9) of joint (3), waist (9) have joint (9) on the outer wall of frame (1) joint (9) respectively The knee joint (5), the ankle joint and sole support (6) and the controller (8) are respectively and electrically connected with the power supply box (7).

2. A rehabilitation assistance robot according to claim 1, characterized in that: the crutch (10) comprises a crutch rod (101), the crutch rod (101) is clamped with the clamping piece (9), and a crutch handle (102) is inserted into the inner side of the crutch rod (101).

3. A rehabilitation assistance robot according to claim 2, characterized in that: the outer wall of the crutch handle (102) is inserted with a hand support (103), the outer walls of the crutch handle (102) and the hand support (103) are respectively provided with a fixing hole, and the hand support (103) and the crutch handle (102) are locked and fixed by screws through the fixing holes.

4. A rehabilitation assistance robot according to claim 1, characterized in that: exoskeleton lifting assembly (2) include fixing base (21), just fixing base (21) respectively with frame (1) are connected, install guide bar (22) and lead screw (23) on the lateral wall of fixing base (21) respectively, just lead screw (23) with threaded connection between fixing base (21), guide bar (22) with be provided with elevating seat (24) on the outer wall of lead screw (23), just elevating seat (24) with threaded connection between lead screw (23), install locating lever (25) on the both sides wall of elevating seat (24) respectively, movable grafting has mounting (26) on the outer wall of locating lever (25) respectively, just waist bearing structure (3) pass through the screw with mounting (26) are connected.

5. A rehabilitation assistance robot according to claim 1, characterized in that: the pushing handle (11) comprises a fixing rod (1101), a conveying rod (1102) is inserted into the inner side of the fixing rod (1101), round holes (1103) are formed in the outer wall of one side of the fixing rod (1101) respectively, fixing buckles are mounted on one side wall of the conveying rod (1102), and the conveying rod (1102) is fixed with the round holes (1103) and the fixing rod (1101) respectively through the fixing buckles.

6. The rehabilitation assistance robot of claim 5, wherein: an anti-abrasion pad is arranged on the outer wall of the conveying rod (1102), and is made of rubber or sponge.

7. A rehabilitation assistance robot according to claim 1, characterized in that: a fan is mounted on one side wall of the power supply box (7), and the fan is located on one side of the storage battery.