Four-limb rehabilitation training robot

Abstract

The four-limb rehabilitation training robot comprises a seat, and the seat comprises a seat plate, a backrest plate, a rear supporting leg plate located on the rear side of the bottom of the seat plate and front supporting legs located at the two ends of the front side of the seat plate; upper limb training assemblies for performing active training or passive training on upper limbs are mounted on the two sides of the seat plate respectively, two lower limb training assemblies for performing active training or passive training on lower limbs are symmetrically arranged on the front side of the seat plate, and a protection assembly playing a protection role is further mounted at the front end of the seat plate; the four-limb rehabilitation training device is simple in structure and convenient to operate, through the arrangement of the upper limb training assembly and the lower limb training assembly which can conduct active training and passive training, whole-course matching of four-limb rehabilitation training is achieved, and the requirement that a patient with the upper limb and the lower limb not capable of exerting force needs passive training for muscle activation can be met; the requirement that a patient with a certain activity basis needs active training for muscle strengthening can be met, various training devices do not need to be replaced, time and labor are saved, and the production cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a limb rehabilitation training robot. Background Art

[0002] When the human body's limbs are damaged, it will seriously affect the patient's normal life. Therefore, the treatment of the patient's limbs is more important. During the treatment process, exercise is needed to assist the patient's limb rehabilitation. There are two methods of limb rehabilitation training: active exercise and passive exercise. Active exercise is to use your own muscles to exercise each joint. Passive exercise is to use tools or others to help the injured limb joints to exercise. For example, the CPM machine can help patients exercise their knee joints or elbow joints. If the patient's muscle function is more serious, usually others are needed to help the patient do artificial function exercises.

[0003] Chinese patent 2022101031976 discloses a limb rehabilitation training exoskeleton robot based on a wheelchair platform, including a base; the invention adopts a design scheme of a small number of power sources and multi-joint dexterous linkage, which can not only increase the movement mode and activity of the upper and lower limbs, but also greatly reduce the cost of the robot. However, the structure of the invention is relatively complex, and the assembly and production is time-consuming and labor-intensive, resulting in a relatively high final production cost.

[0004] In addition, Chinese patent 2020211801803 discloses a seat suitable for limb rehabilitation training for the elderly, including a seat, and upper and lower limb training devices respectively arranged on the left and right sides of the seat body, a seat board arranged on the seat, a backrest connected to one end of the seat board, and a support leg arranged at the bottom end of the seat board. The upper and lower limb training device includes: a leg lifting board hinged at the front end of the seat board, an inverted "L"-shaped bracket, an upper limb training mechanism, a rotating linkage mechanism, a lifting mechanism and a fixed frame hinged on the rear side of the leg lifting board. The upper limb training mechanism is arranged on the bracket, and the lifting mechanism and the upper limb training mechanism are linked through the rotating linkage mechanism. The utility model performs passive or active training of the upper and lower limbs through the cooperation of various mechanisms, meets the requirements of comprehensive rehabilitation training for the elderly, promotes the rapid recovery and rehabilitation of the patients' limbs, has a simple structure, strong practicality, and is easy to operate and maintain. However, in actual use, the upper limb training mechanism can only drive the rotating linkage mechanism to complete the leg flexion and extension training through the lifting mechanism, or lift the legs through the lifting mechanism to drive the upper limb training mechanism to perform passive flexion and extension exercises on the upper limbs, and the two methods can be used alternately for exercise. However, this method is only suitable for people with a certain degree of flexibility in their hands or legs. If the upper and lower limbs cannot exert force on their own, passive training of the limbs is required with the assistance of others, and active training can be switched when the limbs have a certain degree of flexibility in exerting force. Utility Model Content

[0005] The technical problem to be solved by the utility model is to provide a limb rehabilitation training robot which can be compatible with complete passive training, auxiliary training and active training in the limb rehabilitation training process, and realize full-process matching of limb rehabilitation training.

[0006] In order to solve the above technical problems, the technical solutions adopted by the present utility model are as follows.

[0007] A limb rehabilitation training robot comprises a seat, wherein the seat comprises a seat plate, a backrest plate, a rear leg support plate located at the rear side of the bottom of the seat plate, and front legs located at both ends of the front side of the seat plate; upper limb training components for active or passive training of the upper limbs are respectively installed on both sides of the seat plate, two lower limb training components for active or passive training of the lower limbs are symmetrically arranged on the front side of the seat plate, and a protective component for protective function is also installed at the front end of the seat plate.

[0008] The above-mentioned limb rehabilitation training robot, the upper limb training component includes a side armrest hinged to the seat plate through a second rotating shaft, the second rotating shaft is installed on the side of the seat plate, and a driving motor for driving the second rotating shaft to rotate is also arranged inside the seat plate; the side armrest is L-shaped, and a slide plate is slidably arranged on the horizontal part of the side armrest, and a hand push ring for easy grasping is arranged at the front end of the slide plate; a walking motor for driving the slide plate is installed inside the side armrest.

[0009] In the above-mentioned limb rehabilitation training robot, baffles are arranged on both sides of the horizontal part of the side armrest, and a fixing strap for protection is installed between the baffles on both sides.

[0010] The above-mentioned limb rehabilitation training robot, the lower limb training component includes a leg bracket hinged to the bottom of the front end of the seat plate through a first rotating shaft, the first rotating shaft is driven by a rotating motor installed inside the seat plate; the leg bracket is U-shaped, a telescopic part is slidably arranged at the bottom of the leg bracket, and a pedal is arranged at the bottom of the telescopic part vertically arranged at the telescopic part; a plurality of fixing straps for protection are installed on the leg bracket.

[0011] In the above-mentioned limb rehabilitation training robot, an annular inner rack is arranged on the top of the leg support connected to the first rotating shaft, and a gear meshing with the annular inner rack is installed on the first rotating shaft.

[0012] In the above-mentioned limb rehabilitation training robot, the protection component includes an articulated seat symmetrically arranged at the front end of the side edge of the seat plate, and the articulated seat is hinged to the Z-shaped protection handle having a protective function through a rotating shaft.

[0013] In the above-mentioned limb rehabilitation training robot, lifting components for driving the seat plate to rise and fall to adjust the patient's sitting posture are installed on both sides of the rear leg plate and inside the two front legs; the lifting components include sleeves installed inside the front legs and the rear leg plates, and a lifting cylinder is arranged inside the sleeve, and the lifting cylinder is connected to the seat plate through a piston rod.

[0014] Due to the adoption of the above technical scheme, the technical progress achieved by the present invention is as follows.

[0015] The utility model provides a limb rehabilitation training robot with a simple structure and easy operation. By arranging an upper limb training component and a lower limb training component that can perform both active training and passive training, full-process matching of limb rehabilitation training is achieved. It can meet the needs of patients with upper and lower limb strength failure who need passive training for muscle activation, and can also meet the needs of patients with a certain activity basis who need active training for muscle strengthening. There is no need to replace multiple training equipment, which saves time and effort and reduces production costs. At the same time, the training process is fully protected by arranging a protective component and a fixing strap to ensure the safety of the training process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the specific structure of the utility model;

[0017] Figure 2 It is a top view of the utility model;

[0018] Figure 3 for Figure 2 AA section view in.

[0019] Among them: 1. seat plate, 2. rear leg support plate, 3. front leg support, 4. backrest plate, 5. first rotating shaft, 6. leg support, 7. telescopic part, 8. pedal, 9. fixing strap, 10. side armrest, 11. protective handle, 12. slide plate, 13. push ring, 14. hinged seat, 15. second rotating shaft. DETAILED DESCRIPTION

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0021] A limb rehabilitation training robot, such as Figures 1 to 3 As shown, the seat includes a seat plate 1, a backrest plate 4, a rear leg support plate 2 located at the rear side of the bottom of the seat plate 1, and front legs 3 located at both ends of the front side of the seat plate 1. Upper limb training components for active or passive training of the upper limbs are respectively installed on both sides of the seat plate 1, and two lower limb training components for active or passive training of the lower limbs are symmetrically arranged on the front side of the seat plate 1. A protective component for protective function is also installed at the front end of the seat plate 1.

[0022] Lifting components for driving the seat plate 1 to rise and fall to adjust the patient's sitting posture are installed on both sides of the rear leg support plate 2 and inside the two front legs 3. The lifting components include sleeves installed inside the front legs 3 and the rear leg support plate 2. A lifting cylinder is arranged inside the sleeve, and the lifting cylinder is connected to the seat plate 1 through a piston rod.

[0023] The upper limb training assembly includes a side armrest 10 hinged to the seat plate 1 through a second rotating shaft 15, such as Figure 3 As shown, the second rotating shaft 15 is installed on the side of the seat plate 1, the side armrest 10 is L-shaped, and a slide plate 12 is slidably arranged on the horizontal part of the side armrest 10, and a hand push ring 13 is arranged at the front end of the slide plate 12 for easy grasping.

[0024] Baffles are provided on both sides of the horizontal portion of the side handrail 10. Figure 2 As shown, a fixing strap 9 is installed between the two side baffles to protect the upper limbs during training.

[0025] A walking motor for driving the slide plate 12 is installed inside the side armrest 10 . When the upper limbs cannot exert force, the walking motor can drive the slide plate 12 to perform passive training to activate the upper limb muscles.

[0026] A driving motor is also provided inside the seat plate 1 to drive the second rotating shaft 15 to rotate, so as to drive the upper limbs to perform rotation training.

[0027] The lower limb training assembly includes a leg support 6 hinged to the front bottom of the seat plate 1 through a first rotating shaft 5. Figure 1 As shown, the leg bracket 6 is U-shaped, and the legs can be placed inside the groove of the leg bracket 6. A telescopic part 7 is slidably provided at the bottom of the leg bracket 6, and a pedal 8 is provided at the bottom of the telescopic part 7 and is vertically arranged with the telescopic part.

[0028] The first rotating shaft 5 is driven by a rotating motor installed inside the seat plate 1, and can assist the patient in performing passive training.

[0029] The leg support 6 is provided with a plurality of fixing straps 9 for protection, which can tighten the legs during training to prevent the legs from falling out due to fatigue.

[0030] An annular inner rack is arranged at the top end of the leg support 6 connected to the first rotating shaft 5, and a gear meshing with the annular inner rack is installed on the first rotating shaft 5. Active training of the lower limbs can be achieved through the cooperation between the annular inner rack and the gear.

[0031] The protection assembly includes a hinge seat 14 symmetrically arranged at the front end of the side edge of the seat plate 1. Figure 3 As shown, the hinge seat 14 is hinged to the protective handle 11 through a rotating shaft, and the top end of the hinge seat 14 contacts the bottom end of the horizontal portion of the side armrest 10, which can play a supporting role for the side armrest.

[0032] The protective handle 11 is arranged in a Z shape, which can play a protective role during training. At the same time, standing training can be performed by holding the protective handle 11.

[0033] When in use, the patient sits on the seat 1, places the upper limbs on the side armrests 10 and fastens them with the fixing straps 9, holds the hands on the push rings 13, and similarly places the lower limbs on the leg supports 6. By adjusting the position of the telescopic part 7, the patient's feet are placed on the pedals 8, and then the legs are fastened with the fixing straps 9.

[0034] When the patient's upper and lower limbs are unable to exert force, the walking motor is started to drive the slide plate 12 to move forward and backward to drive the upper limbs to move forward and backward, and passive push and pull training is performed on the upper limbs; the driving motor is started to drive the side armrests 10 to rotate to drive the upper limbs to rotate, and passive rotation training is performed on the upper limbs; the rotating motor is started to drive the leg support 6 to rotate and drive the lower limbs to rotate, and passive flexion and extension training is performed on the lower limbs.

[0035] When the upper limbs can exert force, hold the push ring with your hands and move it back and forth to perform active push and pull training. At the same time, the force of the arms can drive the upper limbs to rotate.

[0036] When the lower limbs can exert force, the legs actively exert force to drive the calves to rotate, completing active flexion and extension exercises.

[0037] The utility model provides a limb rehabilitation training robot with a simple structure and easy operation. By arranging an upper limb training component and a lower limb training component that can perform both active training and passive training, full-process matching of limb rehabilitation training is achieved. It can meet the needs of patients with upper and lower limb strength failure who need passive training for muscle activation, and can also meet the needs of patients with a certain activity basis who need active training for muscle strengthening. There is no need to replace multiple training equipment, which saves time and effort and reduces production costs. At the same time, the training process is fully protected by arranging a protective component and a fixing strap to ensure the safety of the training process.

Claims

1. A limb rehabilitation training robot, comprising a seat, the seat comprising a seat plate (1), a backrest plate (4), a rear leg plate (2) located at the rear side of the bottom of the seat plate (1), and front legs (3) located at both ends of the front side of the seat plate (1); characterized in that: Upper limb training components for active or passive training of the upper limbs are respectively installed on both sides of the seat plate (1), two lower limb training components for active or passive training of the lower limbs are symmetrically arranged on the front side of the seat plate (1), and a protective component for protective function is also installed at the front end of the seat plate (1).

2. A limb rehabilitation training robot according to claim 1, characterized in that: The upper limb training component comprises a side armrest (10) hinged to a seat plate (1) via a second rotating shaft (15), the second rotating shaft (15) being mounted on the side of the seat plate (1), and a driving motor for driving the second rotating shaft (15) to rotate is also arranged inside the seat plate (1); the side armrest (10) is arranged in an L-shape, a slide plate (12) is slidably arranged on the horizontal part of the side armrest (10), and a hand push ring (13) for easy grasping is arranged at the front end of the slide plate (12); a travel motor for driving the slide plate (12) to move is installed inside the side armrest (10).

3. A limb rehabilitation training robot according to claim 2, characterized in that: Baffles are arranged on both sides of the horizontal part of the side handrail (10), and a fixing strap (9) for protection is installed between the baffles on both sides.

4. A limb rehabilitation training robot according to claim 1, characterized in that: The lower limb training component comprises a leg support (6) hinged to the bottom of the front end of the seat plate (1) via a first rotating shaft (5), the first rotating shaft (5) being driven by a rotating motor installed inside the seat plate (1); the leg support (6) is arranged in a U-shape, a telescopic part (7) is slidably arranged at the bottom of the leg support (6), and a pedal (8) is arranged perpendicular to the telescopic part at the bottom of the telescopic part (7); and a plurality of fixing straps (9) for protection are installed on the leg support (6).

5. A limb rehabilitation training robot according to claim 4, characterized in that: An annular inner rack is arranged at the top end of the leg bracket (6) connected to the first rotating shaft (5), and a gear meshing with the annular inner rack is installed on the first rotating shaft (5).

6. The limb rehabilitation training robot according to claim 1, characterized in that: The protection component comprises an articulated seat (14) symmetrically arranged at the front end of the side edge of the seat plate (1); the articulated seat (14) is articulated with a Z-shaped protection handle (11) having a protective function via a rotating shaft.

7. The limb rehabilitation training robot according to claim 1, characterized in that: Lifting components for driving the seat plate (1) to move up and down to adjust the patient's sitting posture are installed on both sides of the rear leg support plate (2) and inside the two front legs (3); the lifting components include sleeves installed inside the front legs (3) and the rear leg support plate (2), and a lifting cylinder is arranged inside the sleeve, and the lifting cylinder is connected to the seat plate (1) via a piston rod.

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