An arthritis rehabilitation robot

Abstract

The present invention belongs to the technical field of rehabilitation robots, and specifically relates to an arthritis rehabilitation robot, comprising a main frame, a bending mechanism, a finger root rotation mechanism, a finger anti-pressure mechanism, a massage and thermal therapy mechanism, and a control system. The main frame comprises a conversion disc and a workbench. The conversion disc is divided into three grids, each of which is provided with a bending mechanism, a finger root rotation mechanism, and a finger anti-pressure mechanism. A three-dimensional positioning system is provided on the workbench, and a massage and thermal therapy mechanism is provided below the workbench. The control system uses a DSP digital processor to control the bending mechanism, the finger root rotation mechanism, the finger anti-pressure mechanism, and the massage and thermal therapy mechanism. The bending mechanism, the finger root rotation mechanism, the finger anti-pressure mechanism, and the massage and thermal therapy mechanism are all provided with a single-chip microcomputer. Each sub-mechanism of the present invention is independently powered and highly reliable, and physical therapy is combined with traditional Chinese medicine therapy to enhance the therapeutic effect of finger joint rehabilitation. The present invention is used for the rehabilitation of arthritis.

Description

Technical Field

[0001] The invention belongs to the technical field of rehabilitation robots, and in particular relates to an arthritis rehabilitation robot. Background Art

[0002] With the increase in the number of patients with limb movement disorders caused by diseases and various accidents, and the increasingly strong demand for a high-quality life, rehabilitation robot technology combining rehabilitation medicine and robotics is gradually becoming a hot topic of research at home and abroad. In recent years, some robots for hand joint rehabilitation care have also appeared, most of which are mechanical gloves or bionic manipulators. Their main function is to assist patients in exercising their fingers or to provide postoperative rehabilitation training for patients who have undergone hand surgery. However, this type of robot still has great limitations. It can only assist patients in simple finger bending exercises and cannot provide comprehensive rehabilitation treatment for patients. Summary of the invention

[0003] In response to the above technical problems, an arthritis rehabilitation robot with comprehensive functions, high reliability and obvious rehabilitation effect is provided.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0005] An arthritis rehabilitation robot comprises a main frame, a bending mechanism, a finger base rotation mechanism, a finger anti-pressure mechanism, a massage and heat therapy mechanism and a control system. The main frame comprises a conversion disc and a workbench. The conversion disc is divided into three grids, each of which is provided with a bending mechanism, a finger base rotation mechanism and a finger anti-pressure mechanism. A three-dimensional positioning system is arranged on the workbench. A massage and heat therapy mechanism is arranged under the workbench. The control system adopts a DSP digital processor to control the bending mechanism, the finger base rotation mechanism, the finger anti-pressure mechanism and the massage and heat therapy mechanism. The bending mechanism, the finger base rotation mechanism, the finger anti-pressure mechanism and the massage and heat therapy mechanism are all provided with a single-chip microcomputer.

[0006] The bending mechanism includes a driving system, a finger sleeve, and a thumb rotating mechanism. The driving system is connected with the finger sleeve and the thumb rotating mechanism. The finger sleeve is bent by being screw-clamped by the driving system. The thumb rotating mechanism includes a thumb sleeve I and a crank wheel. The thumb sleeve I is connected to the crank wheel by a ball pair. The thumb sleeve I is driven by the crank wheel to rotate the finger base.

[0007] The finger base rotation mechanism includes a four-finger sleeve I, a thumb sleeve II, a thumb bending drive system, and a four-finger rotation drive system. The four-finger sleeve I rotates through the four-finger rotation drive system. The four-finger sleeve I is connected to a rotation pair, and the thumb sleeve II is connected to the thumb bending drive system.

[0008] The finger pressure resistance mechanism comprises a four-finger sleeve II, a finger pressure plate, and a sensor. The sensor is arranged inside the four-finger sleeve II, the finger pressure plate is arranged below the four-finger sleeve II, and the finger pressure plate is driven by a motor.

[0009] The massage thermotherapy mechanism comprises a massage head, an infrared irradiation lamp and a fumigation pool, wherein the massage head, the infrared irradiation lamp and the fumigation pool are all connected to a single chip computer, Chinese medicine is placed in the fumigation pool, and a heating wire is arranged at the bottom of the fumigation pool, and the maximum temperature of the heating wire is adjusted by a temperature sensor.

[0010] The three-dimensional positioning system includes an X-axis, a Y-axis, and a Z-axis. The X-axis, Y-axis, and Z-axis are all driven by screws. The Z-axis drives the positioning platform to move through two screws, and the X-axis and Y-axis are driven by synchronous pulleys.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] Each sub-mechanism of the present invention is independently powered and highly reliable. The main frame is mainly composed of a three-dimensional positioning system, a subsystem switching structure and a control system. The parallel sub-mechanisms can be flexibly switched according to functional requirements, and a series of treatment steps can also be set for execution, which is convenient and efficient. Physical therapy is combined with traditional Chinese medicine therapy to enhance the therapeutic effect of finger joint rehabilitation. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0014] Figure 2 It is a structural schematic diagram of the bending mechanism of the present invention;

[0015] Figure 3 It is a structural schematic diagram of the finger root rotating mechanism of the present invention;

[0016] Figure 4 It is a structural schematic diagram of the finger pressure resistance mechanism of the present invention;

[0017] Figure 5 It is a structural schematic diagram of the massage and thermal therapy mechanism of the present invention;

[0018] Figure 6 It is a structural schematic diagram of the three-dimensional positioning system of the present invention;

[0019] Among them: 1 is a main frame, 2 is a bending mechanism, 3 is a finger base rotation mechanism, 4 is a finger anti-pressure mechanism, 5 is a massage heat therapy mechanism, 6 is a conversion disc, 7 is a workbench, 8 is a three-dimensional positioning system, 9 is a finger sleeve, 10 is a thumb rotation mechanism, 11 is a thumb sleeve I, 12 is a crank wheel, 13 is a four-finger sleeve I, 14 is a thumb sleeve II, 15 is a thumb bending drive system, 16 is a four-finger rotation drive system, 17 is a four-finger sleeve II, 18 is a finger pressure plate, 19 is a motor, 20 is a massage head, 21 is an infrared irradiation lamp, 22 is a fumigation pool, 23 is an X-axis, 24 is a Y-axis, and 25 is a Z-axis. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] An arthritis rehabilitation robot, such as Figure 1 As shown, it includes a main frame 1, a bending mechanism 2, a finger base rotation mechanism 3, a finger anti-pressure mechanism 4, a massage and thermal therapy mechanism 5 and a control system. The main frame includes a conversion disk 6 and a workbench 7. The conversion disk 6 is divided into three grids, on which the bending mechanism 2, the finger base rotation mechanism 3, and the finger anti-pressure mechanism 4 are placed respectively. A three-dimensional positioning system 8 is arranged on the workbench 7. A massage and thermal therapy mechanism 5 is arranged under the workbench 7. The control system adopts a DSP digital processor to control the bending mechanism 2, the finger base rotation mechanism 3, the finger anti-pressure mechanism 4, and the massage and thermal therapy mechanism 5. The bending mechanism 2, the finger base rotation mechanism 3, the finger anti-pressure mechanism 4, and the massage and thermal therapy mechanism 5 are all provided with a single-chip microcomputer. Put the hand into the three-dimensional positioning system 8, the rotating disk 6 turns the bending mechanism 2 to the working position, the three-dimensional positioning system 8 places the hand on the bending mechanism 2, after the bending training is completed, the three-dimensional positioning system 8 takes the hand out of the bending mechanism 2, the conversion disk 6 turns the finger base rotation mechanism 3 to the working position, the three-dimensional positioning system 8 places the hand on the finger base rotation mechanism 3, after the rotation training is completed, the three-dimensional positioning system 8 takes the hand out of the finger base rotation mechanism 3, the conversion disk 6 turns the finger anti-pressure mechanism 4 to the working position, the three-dimensional positioning system 8 places the hand on the finger anti-pressure mechanism 4, after the anti-pressure training is completed, the three-dimensional positioning system 8 takes the hand out of the finger anti-pressure mechanism 4, the patient releases the hand splint and puts the hand into the massage and heat therapy mechanism 5, after the massage and heat therapy is completed, the hand is removed, and the entire rehabilitation process is completed.

[0022] Furthermore, the bending mechanism 2 includes a driving system, a finger sleeve 9, and a thumb rotating mechanism 10. The driving system is connected to the finger sleeve 9 and the thumb rotating mechanism 10. Four fingers are inserted into the finger sleeve 9, and the finger sleeve 9 is screw-clamped by the driving system to perform bending movement. During movement, the fingers can be freely separated and closed. The movement trajectory of the finger sleeve is controlled by the track. The thumb rotating mechanism 10 includes a thumb sleeve Ⅰ11 and a crank wheel 12. When the four fingers are bent, the thumb sleeve Ⅰ11 is driven by the crank wheel 12 to perform finger base rotation movement. The thumb sleeve Ⅰ11 is connected to the crank wheel 12 with a ball pair.

[0023] Furthermore, the finger base rotation mechanism 3 includes a four-finger sleeve I 13, a thumb sleeve II 14, a thumb bending drive system 15, and a four-finger rotation drive system 16. The four-finger sleeve I 13 rotates through the four-finger rotation drive system 16. The four-finger sleeve I 13 is connected to a rotation pair, which can change the angle laterally to adapt to the angle change when the finger rotates. The thumb sleeve II 15 is connected to the thumb bending drive system 15, and the thumb is driven by the thumb sleeve II 13 to perform bending movement along the track.

[0024] Furthermore, the finger pressure resistance mechanism 4 includes a four-finger sleeve II 17, a finger pressure plate 18, and a sensor. The sensor is arranged inside the four-finger sleeve II 17, and the pressure resistance degree can be automatically adjusted according to the transmitted reaction force. The finger pressure plate 18 is arranged below the four-finger sleeve II 17, and the finger pressure plate 18 is driven by a motor 19. When resisting pressure, four fingers are inserted into the four-finger sleeve II 17, and the finger pressure plate 18 is driven by the motor 19 to rotate upward. When the specified value of the sensor is reached, the motor 19 reverses and drives the finger pressure plate 18 to rotate downward to the initial position, and the pressure resistance training is performed in this cycle.

[0025] Furthermore, the massage thermotherapy mechanism 5 includes a massage head 20, an infrared irradiation lamp 21, and a fumigation pool 22. The massage head 20, the infrared irradiation lamp 21, and the fumigation pool 22 are all connected to the single-chip computer. The massage head 20 exerts pressure on the hand to achieve a massage effect. The fumigation pool 22 is filled with Chinese medicine. The bottom of the fumigation pool 22 is provided with a heating wire, and the heating wire adjusts the maximum temperature through a temperature sensor. During massage, the infrared irradiation lamp 21 is driven to illuminate the hand. Infrared irradiation can heat the affected part, relieve pain, and further promote blood circulation. Chinese medicine can be added to the fumigation pool 22 at the bottom. The hot air of the Chinese medicine fumigates the fingers through the small holes to allow the medicine to penetrate the fingers.

[0026] Furthermore, the three-dimensional positioning system 8 includes an X-axis 23, a Y-axis 24, and a Z-axis 25. The X-axis 23, the Y-axis 24, and the Z-axis 25 are all driven by screws. The Z-axis 25 drives the positioning platform to move through two screws. The X-axis 23 and the Y-axis 24 are driven by synchronous pulleys, which can complete the positioning task while avoiding complex mechanisms. The screws are intertwined in space, allowing the hand to move flexibly in the XYZ axes of space without interfering with each other.

[0027] The working process of the present invention is as follows: the hand is placed in a three-dimensional positioning system, the rotating disk turns the bending mechanism to the working position, the three-dimensional positioning system places the hand on the bending mechanism, after the bending training is completed, the three-dimensional positioning system takes the hand out of the bending mechanism, the conversion disk turns the finger base rotation mechanism to the working position, the three-dimensional positioning system places the hand on the finger base rotation mechanism, after the rotation training is completed, the three-dimensional positioning system takes the hand out of the finger base rotation mechanism, the conversion disk turns the finger anti-pressure mechanism to the working position, the three-dimensional positioning system places the hand on the finger anti-pressure mechanism, after the anti-pressure training is completed, the three-dimensional positioning system takes the hand out of the finger anti-pressure mechanism, the patient releases the hand splint and places the hand in the massage and heat therapy mechanism, after the massage and heat therapy is completed, the hand is removed, and the entire rehabilitation process is completed.

[0028] Only the preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention, and various changes should be included in the protection scope of the present invention.

Claims

1. An arthritis rehabilitation robot, Features: The invention comprises a main frame (1), a bending mechanism (2), a finger base rotation mechanism (3), a finger anti-pressure mechanism (4), a massage and thermal therapy mechanism (5) and a control system. The main frame comprises a conversion disk (6) and a workbench (7). The conversion disk (6) is divided into three equal compartments, each of which is provided with a bending mechanism (2), a finger base rotation mechanism (3), and a finger anti-pressure mechanism (4). A three-dimensional positioning system (8) is arranged on the workbench (7). A massage and thermal therapy mechanism (5) is arranged below the workbench (7). The control system adopts a DSP digital processor to control the bending mechanism (2), the finger base rotation mechanism (3), and the finger anti-pressure mechanism (4). The invention relates to a pressure-resistant mechanism (4) and a massage and thermal therapy mechanism (5); the bending mechanism (2), the finger base rotation mechanism (3), the finger pressure-resistant mechanism (4) and the massage and thermal therapy mechanism (5) are all provided with a single-chip computer; the bending mechanism (2) comprises a driving system, a finger sleeve (9) and a thumb rotation mechanism (10); the driving system is connected to the finger sleeve (9) and the thumb rotation mechanism (10); the finger sleeve (9) is bent by being screw-clamped by the driving system; the thumb rotation mechanism (10) comprises a thumb sleeve I (11) and a crank wheel (12); the thumb sleeve I (11) and the crank wheel (12) are connected by a ball The thumb sleeve I (11) is driven by a crank wheel (12) to rotate the finger base; the finger base rotation mechanism (3) comprises a four-finger sleeve I (13), a thumb sleeve II (14), a thumb bending drive system (15), and a four-finger rotation drive system (16); the four-finger sleeve I (13) rotates through the four-finger rotation drive system (16); the four-finger sleeve I (13) is connected to a rotation pair; the thumb sleeve II (14) is connected to the thumb bending drive system (15); the finger pressure resistance mechanism (4) comprises a four-finger sleeve II (17), a finger pressure plate (18), and a sensor. The sensor is arranged inside the four-finger sleeve II (17); the finger pressure plate (18) is arranged below the four-finger sleeve II (17); the finger pressure plate (18) is driven by a motor (19); the massage and thermal therapy mechanism (5) comprises a massage head (20), an infrared irradiation lamp (21), and a fumigation pool (22); the massage head (20), the infrared irradiation lamp (21), and the fumigation pool (22) are all connected to a single-chip microcomputer of the massage and thermal therapy mechanism (5); Chinese medicine is placed in the fumigation pool (22); a heating wire is arranged at the bottom of the fumigation pool (22); the heating wire adjusts the maximum temperature through a temperature sensor.

2. The arthritis rehabilitation robot according to claim 1, Features: The three-dimensional positioning system (8) comprises an X-axis (23), a Y-axis (24), and a Z-axis (25); the X-axis (23), the Y-axis (24), and the Z-axis (25) are all driven by screws; the Z-axis (25) drives the positioning platform to move via two screws; and the X-axis (23) and the Y-axis (24) are driven via synchronous pulleys.

Images