A robotic arm component for upper limb rehabilitation training with joint angle monitoring

Abstract

This utility model discloses an upper limb rehabilitation training robot arm assembly with joint angle monitoring, including a body. A support column is located at the upper end of the body, and a connecting plate is located at the telescopic end of the support column. A robotic arm is located at the lower end of the connecting plate, and an upper limb placement slot is located at the end of the robotic arm. Two symmetrically arranged fixing rings are located within the upper limb placement slot, each containing an air ring. Air supply mechanisms for supplying air to the air rings are located at both ends of the upper limb placement slot, and a drive mechanism for driving the air supply mechanisms is located at the lower end of the upper limb placement slot. This utility model uses the expansion of the air rings to fix the patient's arm, creating a certain elastic space between the arm and the fixing rings, thus improving the patient's comfort during rehabilitation training.

Description

Technical Field

[0001] This utility model relates to the field of rehabilitation training robot technology, and in particular to an upper limb rehabilitation training robot arm component with joint angle monitoring. Background Technology

[0002] Rehabilitation training robots are important tools in modern rehabilitation medicine. They combine research findings from robotics, biomechanics, and neuroscience to provide patients with efficient, precise, and personalized rehabilitation solutions. These robots are playing an increasingly important role in helping patients regain limb function.

[0003] Existing upper limb rehabilitation training robots with joint angle detection still require staff assistance to fix the arm in the upper limb placement slot on the robot, which is relatively complicated and causes some trouble. In addition, there is no elastic space during fixation, which reduces the comfort of people during rehabilitation training. Utility Model Content

[0004] The purpose of this invention is to address the shortcomings of existing technologies by using the expansion of an air ring to fix the patient's arm, creating a certain elastic space between the arm and the fixing ring, thereby improving the patient's comfort during rehabilitation training. This invention proposes an upper limb rehabilitation training robot arm component with joint angle monitoring.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] An upper limb rehabilitation training robot arm assembly with joint angle monitoring includes a body, a support column at the upper end of the body, a connecting plate at the telescopic end of the support column, a robotic arm at the lower end of the connecting plate, an upper limb placement slot at the end of the robotic arm, two symmetrically arranged fixing rings in the upper limb placement slot, each fixing ring containing an air ring, an air supply mechanism at both ends of the upper limb placement slot for supplying air to the air rings, and a drive mechanism at the lower end of the upper limb placement slot for driving the air supply mechanism.

[0007] Preferably, the air supply mechanism includes a plurality of fixed boxes symmetrically arranged on the outer walls of both ends of the upper limb placement slot, with a connecting pipe running through each of the two fixed boxes on the same side, the two ends of the two connecting pipes being connected to two air rings respectively, and a corrugated pipe provided on the outer wall of the middle of the two connecting pipes.

[0008] Preferably, the driving mechanism includes a housing located at the lower end of the upper limb placement slot, a piston slidably connected inside the housing, and air pipes extending through both sides of the housing, with the ends of the two air pipes respectively passing through two fixed housings and connected to two connecting pipes.

[0009] Preferably, the side wall of the housing has two symmetrically arranged through plates that slide through it, and one end of each through plate is connected to the side wall of the piston.

[0010] Preferably, the lower end of the upper limb placement slot is provided with a mounting frame, the mounting frame is provided with a power motor, and the end of the power motor is provided with a threaded rod.

[0011] Preferably, a movable plate is threadedly connected to the outer wall of the threaded rod, and the other ends of the two through plates are connected to the movable plate.

[0012] The beneficial effects of this utility model are:

[0013] 1. The patient's arm is fixed by the expansion of the air ring, which creates a certain elastic space between the arm and the fixing ring, improving the patient's comfort during rehabilitation training.

[0014] 2. By compressing the gas inside the box into two air tubes, and then into two connecting tubes, the gas is transported through the connecting tubes into the air rings on the inner walls of two fixed rings, causing the two air rings to expand and fix the patient's arm. The operation is convenient, allowing the patient to connect their arm to the training robot by themselves, which brings certain convenience to people. Attached Figure Description

[0015] Figure 1 This is a front view schematic diagram of the overall structure of this utility model;

[0016] Figure 2 This is a top view of part of the structure of this utility model;

[0017] Figure 3 This is a bottom view of a partial structural cross-section of the present invention.

[0018] In the diagram: 1. Body, 2. Support column, 3. Mechanical arm, 4. Upper limb placement slot, 5. Fixing box, 6. Connecting pipe, 7. Corrugated pipe, 8. Fixing ring, 9. Air ring, 10. Box body, 11. Piston, 12. Air pipe, 13. Through plate, 14. Moving plate, 15. Threaded rod, 16. Power motor. Detailed Implementation

[0019] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0020] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0021] Reference Figure 1-3 A robotic arm assembly for upper limb rehabilitation training with joint angle monitoring includes a body 1, a support column 2 at the upper end of the body 1, a connecting plate at the telescopic end of the support column 2, a robotic arm 3 at the lower end of the connecting plate, an upper limb placement groove 4 at the end of the robotic arm 3, two symmetrically arranged fixing rings 8 in the upper limb placement groove 4, and an air ring 9 in each of the two fixing rings 8. The expansion of the air rings 9 is used to fix the patient's arm, so that there is a certain elastic space between the arm and the fixing rings 8, thereby improving the patient's comfort during rehabilitation training.

[0022] Both ends of the upper limb placement slot 4 are equipped with an air supply mechanism for supplying air to the air ring 9. The air supply mechanism includes multiple fixed boxes 5 symmetrically arranged on the outer walls of both ends of the upper limb placement slot 4. A connecting pipe 6 is provided between two fixed boxes 5 on the same side. The two ends of the two connecting pipes 6 are respectively connected to two air rings 9. A corrugated pipe 7 is provided on the outer wall of the middle of the two connecting pipes 6.

[0023] The lower end of the upper limb placement slot 4 is provided with a drive mechanism to drive the air supply mechanism. The drive mechanism includes a box 10 located at the lower end of the upper limb placement slot 4. A piston 11 is slidably connected inside the box 10. Air pipes 12 are provided through both sides of the box 10. The ends of the two air pipes 12 pass through two fixed boxes 5 and are connected to two connecting pipes 6.

[0024] The side wall of the housing 10 has two symmetrically arranged through plates 13 that slide through it. One end of each through plate 13 is connected to the side wall of the piston 11.

[0025] The lower end of the upper limb placement slot 4 is provided with a mounting frame, and a power motor 16 is provided inside the mounting frame. The end of the power motor 16 is provided with a threaded rod 15.

[0026] The outer wall of the threaded rod 15 is threaded with a movable plate 14. The other ends of the two through plates 13 are connected to the movable plate 14. By squeezing the gas in the box 10 into the two air pipes 12, and then into the two connecting pipes 6, the gas enters the air rings 9 on the inner wall of the two fixed rings 8 through the connecting pipes 6. The two air rings 9 expand to fix the patient's arm. The operation is convenient, and the patient can connect the arm to the training robot by himself, which brings certain convenience to people.

[0027] When using this invention, the arm is placed in the upper limb placement slot 4, passing through the two fixing rings 8, with the elbow joint positioned between them. The power motor 16 is activated using existing technology, causing the threaded rod 15 to rotate. The threaded rod 15 is connected to the moving plate 14, allowing the moving plate 14 to move along its outer wall. Through the sliding motion of the two through plates 13, the moving plate 14 pushes the piston 11 within the housing 10, compressing the gas within the housing 10 into the two air pipes 12, then into the two connecting pipes 6. After being transported through the connecting pipes 6, the gas enters the air rings 9 on the inner walls of the two fixing rings 8, causing the two air rings 9 to expand and fix the patient's arm. This method is convenient, allowing a single patient to connect their arm to the training robot, providing convenience. Furthermore, the expansion of the air rings 9 to fix the patient's arm creates a certain elastic space between the arm and the fixing rings 8, improving the patient's comfort during rehabilitation training.

[0028] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A robotic arm assembly for upper limb rehabilitation training with joint angle monitoring, comprising a body (1), characterized in that, The upper end of the body (1) is provided with a support column (2), the telescopic end of the support column (2) is provided with a connecting plate, the lower end of the connecting plate is provided with a mechanical arm (3), the end of the mechanical arm (3) is provided with an upper limb placement groove (4), the upper limb placement groove (4) is provided with two symmetrically arranged fixing rings (8), each of the two fixing rings (8) is provided with an air ring (9), both ends of the upper limb placement groove (4) are provided with an air supply mechanism for supplying air to the air ring (9), and the lower end of the upper limb placement groove (4) is provided with a drive mechanism for driving the air supply mechanism.

2. The upper limb rehabilitation training robot arm assembly with joint angle monitoring according to claim 1, characterized in that, The gas supply mechanism includes multiple symmetrically arranged fixed boxes (5) on the outer walls of both ends of the upper limb placement slot (4). A connecting pipe (6) is provided between two fixed boxes (5) on the same side. The two ends of the two connecting pipes (6) are respectively connected to two air rings (9). A corrugated pipe (7) is provided on the outer wall of the middle of the two connecting pipes (6).

3. The upper limb rehabilitation training robot arm assembly with joint angle monitoring according to claim 2, characterized in that, The driving mechanism includes a box (10) located at the lower end of the upper limb placement slot (4), a piston (11) is slidably connected inside the box (10), and air pipes (12) are provided through both sides of the box (10). The ends of the two air pipes (12) pass through two fixed boxes (5) and are connected to two connecting pipes (6).

4. The upper limb rehabilitation training robot arm assembly with joint angle monitoring according to claim 3, characterized in that, The side wall of the housing (10) has two symmetrically arranged through plates (13) that slide through it. One end of each through plate (13) is connected to the side wall of the piston (11).

5. The upper limb rehabilitation training robot arm assembly with joint angle monitoring according to claim 4, characterized in that, The lower end of the upper limb placement slot (4) is provided with an installation frame, and a power motor (16) is provided inside the installation frame. The end of the power motor (16) is provided with a threaded rod (15).

6. The upper limb rehabilitation training robot arm assembly with joint angle monitoring according to claim 5, characterized in that, The outer wall of the threaded rod (15) is threaded with a movable plate (14), and the other ends of the two through plates (13) are connected to the movable plate (14).

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