A rehabilitation training robot

Abstract

The application discloses a rehabilitation training robot and relates to the technical field of rehabilitation training.The application comprises a body, a rotating shaft is rotationally connected to the upper portion of the body, an adjusting chamber is arranged in the body, one end of the rotating shaft is rotationally connected in the adjusting chamber, a training swing arm is arranged at the other end of the rotating shaft, a lifting block is arranged on the upper side of the inner wall of the adjusting chamber, an annular frame is arranged at the lower portion of the lifting block, an extrusion piece is arranged on the lower portion of the rotating shaft and is sleeved on the annular frame, two springs and two limiting ring plates are sleeved on the annular frame, the springs are arranged between the limiting ring plates and the extrusion piece, a lifting assembly is arranged in the adjusting chamber, and an extension rod is arranged on the side of the limiting ring plate.The application drives the limiting ring plate to move up and down through the lifting assembly, changes the resistance of the extrusion piece when the extrusion piece rotates by extruding the spring, thereby adjusting the resistance when the training swing arm swings, and detects the time length of single swing of the training swing arm through the cooperation of the two laser radars, so that the resistance when the training swing arm swings can be dynamically adjusted.

Description

Technical Field

[0001] This invention belongs to the field of rehabilitation training, and more specifically, relates to a rehabilitation training robot. Background Technology

[0002] Rehabilitation robots are a combination of industrial and medical robots. They are used to treat hemiplegia, paraplegia, or upper and lower limb dysfunction caused by nerve damage such as stroke, traumatic brain injury, brain tumor, peripheral nervous system diseases, or other motor dysfunctions, which can make it difficult for patients to take care of themselves. Such patients usually need to use rehabilitation robots to assist in rehabilitation training to eliminate or reduce the motor dysfunction of sick, injured, or disabled patients.

[0003] Current rehabilitation robots typically only allow patients to operate the rotating arm. The resistance to the rotation of the arm mainly comes from the arm's own weight and the friction of the pivot point. It is difficult to provide suitable resistance according to the patient's condition. When patients operate the arm, due to differences between individuals and between different motor function conditions, and as patients' physical strength decreases during training, the resistance to the rotation of the arm may exceed the force that the patient's muscles can withstand, thus posing a risk of muscle damage and affecting the patient's health. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a rehabilitation training robot.

[0005] To solve the above-mentioned technical problems, the basic concept of the technical solution adopted by the present invention is as follows: A rehabilitation training robot includes a body, with a rotating shaft rotatably fitted on the upper part of the body and an adjustment chamber inside. One end of the rotating shaft is rotatably fitted in the adjustment chamber, and the other end of the rotating shaft is provided with a training swing arm, which is located on the side of the body. A lifting block is installed on the upper side of the inner wall of the regulating chamber. A ring frame is installed at the lower part of the lifting block. The ring frame is located on the circumference of the rotating shaft. A pressing component is sleeved on the ring frame at the lower part of the rotating shaft. Two springs and two limiting ring plates are sleeved on the ring frame. The pressing component is located between the two springs. The springs are located between the limiting ring plates and the pressing component. The adjustment chamber is equipped with a lifting assembly, with the rotating shaft located between the lifting assembly and the training swing arm. An extension rod is provided on the side of the limiting ring plate, and an anti-detachment block is provided at the end of the extension rod that is movably fitted into the lifting assembly. Two laser radars are embedded on one side of the machine body, and the lower part of the training swing arm is located between the two laser radars. The machine body is equipped with a controller and a timer that are electrically connected to the laser radars and the lifting assembly. The laser radars detect the training swing arm and can be used to calculate the duration of a single swing of the training swing arm.

[0006] Optionally, a through hole connected to the adjustment chamber is provided on one side of the machine body. A first bearing is installed on the circumference of the inner wall of the through hole. The first bearing is installed on the circumference of the rotating shaft to improve the stability of the rotating shaft during rotation.

[0007] Optionally, a cylindrical body is provided on one side of the adjustment chamber, located around the through hole. The cylindrical body is located between the training swing arm and the first bearing. A second bearing is installed on the inner wall of the cylindrical body. The second bearing is installed on the circumference of the rotating shaft. The second bearing is close to the end of the cylindrical body away from the first bearing. The stability of the rotating shaft during rotation is further improved by the second bearing.

[0008] Optionally, the training swing arm includes a movement arm. A training handle is installed on the lower part of the movement arm away from the body. The upper part of the movement arm has a slot and a hole connected to each other on both sides. One end of the rotating shaft has a positioning block that is engaged in the slot. The movement arm has a bolt that passes through the hole and is threaded into the positioning block. The patient swings the movement arm by grasping the training handle. The positioning block is engaged in the slot, which reduces the probability of misalignment between the movement arm and the rotating shaft. The bolt passes through the hole and is threaded into the positioning block, which facilitates the connection and assembly of the movement arm and the rotating shaft.

[0009] Optionally, the extrusion component includes a connecting rod located at the lower part of the rotating shaft, and an extrusion ring plate sleeved on the annular frame at the lower part of the connecting rod. The extrusion ring plate is located between two springs. A reinforcing rib is provided at the lower part of the rotating shaft and is located on the side of the connecting rod. The reinforcing rib improves the bending resistance of the connecting rod. The rotation of the rotating shaft drives the extrusion ring plate to extrude the springs through the connecting rod.

[0010] Optionally, the lifting assembly includes a screw cylinder that slides within the adjustment chamber. Two lifting horizontal plates are provided on the side of the screw cylinder. A channel is provided on one side of the lifting horizontal plate, and a limiting groove is provided on one side of the inner wall of the channel. An extension rod passes through the channel laterally, and an anti-detachment block is movably fitted within the limiting groove. A motor is embedded in the lower side of the inner wall of the adjustment chamber, and a screw is fixedly connected to the motor output shaft. The screw cylinder is threaded around the screw, and the channel reduces the probability of the anti-detachment block disengaging from the limiting groove.

[0011] Optionally, a guide rod is provided on the lower side of the lifting plate, and a slot adapted to the guide rod is provided on the lower side of the inner wall of the adjusting chamber. The lower part of the guide rod is located in the slot, and a storage groove is provided on the lower end face of the inner wall of the slot. A stop block is installed on the lower end face of the guide rod, which slides in the storage groove. The diameter of the stop block is larger than the diameter of the slot. The stop block limits the sliding distance of the guide rod and reduces the probability of the guide rod disengaging from the slot. The displacement direction of the lifting plate is limited by the cooperation between the guide rod and the slot.

[0012] Optionally, a cylinder is provided on the upper side of the inner wall of the regulating chamber, and a third bearing is installed on the circumference of the inner wall of the cylinder. The third bearing is installed on the upper circumference of the screw, and the friction between the screw and the cylinder is reduced when the screw rotates.

[0013] Optionally, the lower side of the body is equipped with four casters, which are distributed at the corners of the body, making it easy to push and move the body.

[0014] Optionally, two electric push rods are embedded in the lower side of the robot body. The output shafts of the two electric push rods are fixedly connected to a shaped plate frame. The thickness of the shaped plate frame is less than the thickness of the casters. The shaped plate frame includes a main board fixedly connected to the output shafts of the two electric push rods. Four casters are symmetrically distributed on both sides of the main board. Multiple sub-plates are provided on both sides of the main board. The sub-plate on one side of the main board is located between the two casters on its corresponding side. The main board and sub-plates are integrally formed. A wear-resistant and anti-slip pad is provided on the lower side of the shaped plate frame. The electric push rods push the shaped plate frame down to contact the ground, increasing the friction between the robot and the ground. The wear-resistant and anti-slip pad further increases the friction between the shaped plate frame and the ground.

[0015] By adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art. Of course, any product implementing the present invention does not necessarily need to achieve all of the following advantages at the same time: The lifting assembly drives the limit ring plate to move up and down, and the limit ring plate squeezes the spring to change the resistance when the squeezing part rotates, thereby adjusting the resistance when the training swing arm swings. By using two lidar sensors to detect the duration of a single swing of the training swing arm, the resistance during the swing of the training swing arm can be dynamically adjusted, thereby improving the safety, effectiveness, and standardization of patient rehabilitation training. The anti-detachment circular block is movable within the lifting assembly, which facilitates the rotation and horizontal sliding adjustment of the limit ring plate when it moves along the annular frame. By sleeved on the ring frame, the probability of the spring being misaligned or flying off when squeezed by the compression parts and the limiting ring plate is reduced.

[0016] The specific embodiments of the present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0017] The accompanying drawings described below are merely some embodiments. Those skilled in the art can obtain other drawings based on these drawings without any creative effort. In the drawings: Figure 1 This is a three-dimensional structural schematic diagram of an embodiment of the present invention; Figure 2 This is a schematic diagram of a training swing arm structure according to an embodiment of the present invention; Figure 3 This is a schematic diagram of a lifting component structure according to an embodiment of the present invention; Figure 4 This is a schematic diagram of a shaped plate frame structure according to an embodiment of the present invention.

[0018] The attached diagram lists the components represented by each number as follows: 1. Body, 101. Adjustment chamber, 102. Through hole, 103. Cylinder, 2. Lifting block, 201. Ring frame, 3. Rotating shaft, 301. Connecting rod, 302. Reinforcing rib, 303. Extrusion ring plate, 304. Positioning rib, 4. Movement arm, 401. Training grip, 402. Slot, 403. Bolt, 5. First bearing, 6. Second bearing, 7. Motor, 8. Screw, 801. Screw barrel, 9. Lifting horizontal plate, 901. Channel, 902. Limiting slide, 903. Guide rod, 904. Limiting ring plate, 10. Extension rod, 1001. Anti-detachment round block, 1002. Spring, 11. Universal wheel, 12. Electric push rod, 13. Shaped plate frame, 1301. LiDAR, 14.

[0019] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0020] The invention will now be described in further detail with reference to the accompanying drawings.

[0021] Please see Figure 1-4 As shown, this embodiment provides a rehabilitation training robot, including a body 1. The upper part of the body 1 is rotatably fitted with a rotating shaft 3 and has an adjustment chamber 101 inside. One end of the rotating shaft 3 is rotatably fitted in the adjustment chamber 101, and the other end of the rotating shaft 3 is provided with a training swing arm, which is located on the side of the body 1. A lifting block 2 is installed on the upper side of the inner wall of the regulating chamber 101. A ring frame 201 is provided at the lower part of the lifting block 2. The ring frame 201 is located on the periphery of the rotating shaft 3. A pressing component is provided at the lower part of the rotating shaft 3 and sleeved on the ring frame 201. Two springs 11 and two limiting ring plates 10 are sleeved on the ring frame 201. The pressing component is located between the two springs 11. The springs 11 are located between the limiting ring plates 10 and the pressing component. The adjustment chamber 101 is equipped with a lifting assembly. The rotating shaft 3 is located between the lifting assembly and the training swing arm. The side of the limiting ring plate 10 is provided with an extension rod 1001. The rotating shaft 3 is located between the two extension rods 1001. The end of the extension rod 1001 is provided with an anti-detachment block 1002 that is movably fitted in the lifting assembly. Two laser radars 14 are embedded in one side of the machine body 1. The lower part of the training swing arm is located between the two laser radars 14. The machine body 1 is equipped with a controller and a timer that are electrically connected to the laser radars 14 and the lifting assembly. Two limiting protrusions are provided on one side of the machine body 1. The two laser radars 14 are located between the two limiting protrusions. The angle range of the swing of the training swing arm is limited by the limiting protrusions. The laser radars 14 detect the training swing arm and can be used to calculate the duration of a single swing of the training swing arm.

[0022] One application of this embodiment is as follows: When in use, the patient can grasp the training swing arm to perform swing force training. During the swing of the training swing arm, the rotating shaft 3 and the squeezing component will rotate. The squeezing component rotates along the annular frame 201 to squeeze the spring 11 on this side. The spring 11 provides resistance to achieve the purpose of training. When the training swing arm swings to the front of one of the lidar 14, the timer is triggered. When the training swing arm swings to the front of the other lidar 14, the timer is triggered again. The timer can measure the time for the patient to swing the training swing arm once. Multiple threshold ranges can be preset in the controller. When the duration of a single swing of the training swing arm is less than the critical preset threshold, the lifting component moves the anti-dislodgement block 1002, the extension rod 1001, and the limiting ring plate 10 downward. The limiting ring plate 10 moves along the annular frame 201 and squeezes the spring 11. The angle change of the limiting ring plate 10 can drive the extension rod 1001 and the anti-dislodgement block 1002 to rotate and adjust. The horizontal position change of the limiting ring plate 10 can drive the anti-dislodgement block 1002 to slide on the lifting component through the extension rod 1001. The compression of the spring 11 by the limiting ring plate 10 can increase the resistance when the training swing arm swings. When the duration of a single swing of the training swing arm is greater than the critical preset threshold, the resistance when the training swing arm swings can be reduced in the same way as above. Thus, it can be adapted according to the patient's strength and physical exertion, realizing the function of dynamically adjusting the resistance of the training swing arm during the patient's training process.

[0023] The lifting assembly drives the limiting ring plate 10 to move up and down. The limiting ring plate 10 compresses the spring 11 to change the resistance when the extruder rotates, thereby adjusting the resistance when the training swing arm swings. Two laser radars 14 work together to detect the duration of a single swing of the training swing arm, which facilitates dynamic adjustment of the resistance when the training swing arm swings, improving the safety, effectiveness and standardization of patient rehabilitation training. The anti-dislodgement block 1002 is movable and cooperates in the lifting assembly, which facilitates the rotation and horizontal sliding adjustment of the limiting ring plate 10 when it moves along the annular frame 201. The spring 11 is sleeved on the annular frame 201, which reduces the probability of the spring 11 being misaligned or flying off when it is squeezed by the extruder and the limiting ring plate 10.

[0024] like Figure 2 As shown, the body 1 of this embodiment has a through hole 102 connected to the adjustment chamber 101 on one side. A first bearing 6 is installed on the circumference of the inner wall of the through hole 102. The first bearing 6 is installed on the circumference of the rotating shaft 3. The stability of the rotating shaft 3 when rotating is improved by the first bearing 6, and the friction between the rotating shaft 3 and the inner wall of the through hole 102 when rotating is reduced.

[0025] like Figure 2As shown, in this embodiment, a cylindrical body 103 is provided on one side of the adjustment chamber 101, located around the through hole 102. The cylindrical body 103 is located between the training swing arm and the first bearing 6. A second bearing 7 is installed on the inner wall of the cylindrical body 103. The second bearing 7 is installed on the circumference of the rotating shaft 3. The second bearing 7 is close to the end of the cylindrical body 103 away from the first bearing 6. The distance between the second bearing 7 and the first bearing 6 is extended by the cylindrical body 103, and the stability of the rotating shaft 3 during rotation is further improved by the second bearing 7.

[0026] like Figure 1 , 2 As shown, the training swing arm in this embodiment includes a movement arm 4. A training grip 401 is installed on the lower part of the movement arm 4 away from the body 1. The upper part of the movement arm 4 has a slot 402 and a hole 403 connected to each other on both sides. One end of the rotating shaft 3 is provided with a positioning block 304 that is engaged in the slot 402. A bolt 5 is provided on the movement arm 4 with one end passing through the hole 403 and threaded in the positioning block 304. The side of the block 304 away from the rotating shaft 3 is provided with a screw hole that matches the bolt 5. The end of the bolt 5 is threaded in the screw hole. The patient swings the movement arm 4 by grasping the training grip 401. The positioning block 304 is engaged in the slot 402, which facilitates the positioning and installation of the movement arm 4 and reduces the probability of rotational misalignment between the movement arm 4 and the rotating shaft 3. The bolt 5 passes through the hole 403 and is threaded in the positioning block 304, which facilitates the connection and assembly of the movement arm 4 and the rotating shaft 3. At the same time, the training swing arm can be disassembled and replaced.

[0027] like Figure 2 , 3 As shown, the extrusion component in this embodiment includes a connecting rod 301 located at the lower part of the rotating shaft 3. The lower part of the connecting rod 301 is provided with an extrusion ring plate 303 sleeved on the annular frame 201. The extrusion ring plate 303 is located between the two springs 11. The lower part of the rotating shaft 3 is provided with a reinforcing rib 302, which is located on the side of the connecting rod 301. The reinforcing rib 302 improves the bending resistance of the connecting rod 301 and reduces the probability of the connecting rod 301 breaking or bending under stress. The rotation of the rotating shaft 3 drives the extrusion ring plate 303 to extrude the springs 11 through the connecting rod 301.

[0028] like Figure 2 , 3As shown, the lifting assembly in this embodiment includes a screw cylinder 9 slidably fitted within an adjustment chamber 101. Two lifting horizontal plates 901 are provided on the side of the screw cylinder 9. A channel 902 is provided on one side of each lifting horizontal plate 901, and a limiting groove 903 is provided on one side of the inner wall of the channel 902. An extension rod 1001 transversely passes through the channel 902. An anti-detachment block 1002 is movably fitted within the limiting groove 903. The height of the channel 902 is less than the diameter of the anti-detachment block 1002. A motor 8 is embedded in the lower side of the inner wall of the adjustment chamber 101. The lower side of the inner wall of chamber 101 is provided with a first equipment slot. The motor 8 is installed in the first equipment slot. The output shaft of the motor 8 is fixedly connected to a screw 801. The screw 801 is rotatably engaged in the adjustment chamber 101. The screw barrel 9 is threadedly engaged in the circumference of the screw 801. The motor 8 drives the screw 801 to rotate. The rotation of the screw 801 drives the screw barrel 9 to move up and down. The movement of the screw barrel 9 drives the lifting horizontal plate 901 to move synchronously. The channel 902 reduces the probability of the anti-detachment round block 1002 disengaging from the limiting slide groove 903.

[0029] like Figure 3 As shown, in this embodiment, a guide rod 904 is provided on the lower side of the lifting plate 901, and a slot adapted to the guide rod 904 is provided on the lower side of the inner wall of the adjustment chamber 101. The lower part of the guide rod 904 is located in the slot, and a receiving groove is provided on the lower end face of the inner wall of the slot. A stop block is installed on the lower end face of the guide rod 904, which is slidably engaged in the receiving groove. The diameter of the stop block is larger than the diameter of the slot. The stop block restricts the sliding distance of the guide rod 904, reducing the probability of the guide rod 904 disengaging from the slot. The cooperation between the guide rod 904 and the slot restricts the displacement direction of the lifting plate 901, reducing the probability of the screw 801 rotating and causing the screw barrel 9 to rotate or slide.

[0030] like Figure 2 As shown, in this embodiment, a cylinder is provided on the upper side of the inner wall of the adjustment chamber 101. The thickness of the cylinder is less than or equal to the thickness of the lifting block 2. A third bearing is installed on the circumference of the inner wall of the cylinder. The third bearing is installed on the upper circumference of the screw 801. The cylinder improves the stability of the screw 801 when it rotates, and the third bearing reduces the friction between the screw 801 and the cylinder when it rotates.

[0031] like Figure 1 , 4 As shown, the lower side of the body 1 in this embodiment is equipped with four casters 12. The casters 12 are distributed at the corners of the body 1. The casters 12 facilitate the pushing and displacement of the body 1, thereby making it convenient for the robot to move and adjust its position.

[0032] like Figure 4As shown, in this embodiment, two electric push rods 13 are embedded in the lower side of the body 1. Two second equipment slots are provided on the lower side of the body 1, and the electric push rods 13 are installed in the second equipment slots. The output shafts of the two electric push rods 13 are fixedly connected to a shaped plate frame 1301. The shaped plate frame 1301 fits against the lower side of the body 1. The thickness of the shaped plate frame 1301 is less than the thickness of the casters 12. The shaped plate frame 1301 includes a main board fixedly connected to the output shafts of the two electric push rods 13. Four casters 12 are symmetrically distributed on both sides of the main board. Multiple sub-boards are provided on both sides of the main board. The sub-board on one side of the main board is located between the two universal wheels 12 on the corresponding side. The main board and the sub-board are integrally formed. The underside of the shaped board frame 1301 is provided with a wear-resistant and anti-slip pad. When the patient uses the robot, the control electric push rod 13 extends and pushes the shaped board frame 1301 down to touch the ground, thereby increasing the friction between the robot and the ground and reducing the probability of displacement of the robot during use. The wear-resistant and anti-slip pad increases the friction between the shaped board frame 1301 and the ground.

[0033] This invention is not limited to the embodiments described above. Anyone should understand that structural changes made under the guidance of this invention, and any technical solutions that are the same as or similar to this invention, fall within the protection scope of this invention. Technical aspects, shapes, and structures not described in detail in this invention are all publicly known technologies.

Claims

1. A rehabilitation training robot, characterized in that, include: The machine body (1) has a rotating shaft (3) on its upper part and an adjustment chamber (101) inside. One end of the rotating shaft (3) is rotated in the adjustment chamber (101), and the other end of the rotating shaft (3) is equipped with a training swing arm. The upper side of the inner wall of the regulating chamber (101) is equipped with a lifting block (2), and the lower part of the lifting block (2) is equipped with an annular frame (201). The lower part of the rotating shaft (3) is equipped with an extrusion piece sleeved on the annular frame (201). Two springs (11) and two limiting ring plates (10) are sleeved on the annular frame (201). The springs (11) are located between the limiting ring plates (10) and the extrusion piece. The adjustment chamber (101) is equipped with a lifting assembly. The side of the limiting ring plate (10) is provided with an extension rod (1001). The end of the extension rod (1001) is provided with an anti-detachment round block (1002) that is movably fitted in the lifting assembly. Two laser radars (14) are embedded in one side of the machine body (1). The lower part of the training swing arm is located between the two laser radars (14). The lifting assembly includes a screw cylinder (9) that slides within the adjustment chamber (101). Two lifting cross plates (901) are provided on the side of the screw cylinder (9). A channel (902) is provided on one side of the lifting cross plate (901). A limiting slide groove (903) is provided on one side of the inner wall of the channel (902). An extension rod (1001) passes through the channel (902) laterally. An anti-detachment round block (1002) is movably fitted within the limiting slide groove (903). A motor (8) is embedded in the lower side of the inner wall of the adjustment chamber (101). The output shaft of the motor (8) is fixedly connected to a screw rod (801). The screw cylinder (9) is threadedly fitted around the screw rod (801).

2. The rehabilitation training robot according to claim 1, characterized in that, The machine body (1) has a through hole (102) on one side that is connected to the adjustment chamber (101). A first bearing (6) is installed on the circumference of the inner wall of the through hole (102). The first bearing (6) is installed on the circumference of the rotating shaft (3).

3. The rehabilitation training robot according to claim 2, characterized in that, The regulating chamber (101) has a cylindrical body (103) located around the through hole (102) on one side. A second bearing (7) is installed on the inner wall of the cylindrical body (103) around the circumference of the rotating shaft (3).

4. The rehabilitation training robot according to claim 1, characterized in that, The training swing arm includes a movement arm (4). A training grip (401) is installed on the lower part of the movement arm (4) away from the body (1). The upper part of the movement arm (4) has a slot (402) and a hole (403) connected to each other on both sides. A positioning block (304) is provided on one end of the rotating shaft (3) and is engaged in the slot (402). A bolt (5) is provided on the movement arm (4) with one end penetrating the hole (403) and threaded into the positioning block (304).

5. A rehabilitation training robot according to claim 1, characterized in that, The extrusion component includes a connecting rod (301) located at the lower part of the rotating shaft (3), and an extrusion ring plate (303) sleeved on the annular frame (201) at the lower part of the connecting rod (301).

6. A rehabilitation training robot according to claim 1, characterized in that, The lower side of the lifting plate (901) is provided with a guide rod (904), and the lower side of the inner wall of the adjustment chamber (101) is provided with a slot that matches the guide rod (904).

7. A rehabilitation training robot according to claim 1, characterized in that, The upper side of the inner wall of the regulating chamber (101) is provided with a cylinder, and a third bearing is installed on the circumference of the inner wall of the cylinder. The third bearing is installed on the upper circumference of the screw (801).

8. A rehabilitation training robot according to claim 1, characterized in that, The lower side of the body (1) is equipped with four universal wheels (12).

9. A rehabilitation training robot according to claim 8, characterized in that, Two electric push rods (13) are embedded in the lower side of the body (1). The output shafts of the two electric push rods (13) are fixedly connected to the shaped plate frame (1301). The thickness of the shaped plate frame (1301) is less than the thickness of the universal wheel (12).

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