All-dimensional multifunctional rehabilitation robot for upper and lower limbs

Abstract

The all-dimensional multifunctional rehabilitation robot comprises a seat, a bottom plate is arranged at the bottom of the seat, and universal wheels are arranged on the periphery of the bottom plate; the seat comprises a seat plate, seat legs are fixed below the seat plate and fixed on the bottom plate, and a backrest is fixed above the seat plate; a shoulder height adjusting device is arranged behind the backrest, a shoulder support is arranged at the top of the shoulder height adjusting device, upper limb rehabilitation devices are arranged at the two ends of the shoulder support, and lower limb rehabilitation devices are connected to the two sides of the seat plate and fixedly installed on the seat. The problems that an existing rehabilitation robot is single in function, can only aim at upper limbs or lower limbs and cannot achieve multi-joint training at the same time are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical treatment and parallel mechanism, and in particular to an all-round multifunctional rehabilitation robot for upper and lower limbs. Background Art

[0002] In the medical field, patients with upper or lower limb hemiplegia, trauma and other motor dysfunctions take a long time to recover through self-rehabilitation, and the recovery effect is slow. Rehabilitation robots, with their automation, precision and intelligence, are gradually replacing traditional manual physical therapy.

[0003] Most rehabilitation robots on the market currently only provide single-degree-of-freedom rehabilitation training for upper or lower limbs. Their application scope is limited to the rehabilitation of local joints, and they cannot take into account multi-joint training. They have a limited range of motion, a small range of training movements, and cannot achieve coordinated movement of all joints of the limbs. They have single motor functions and poor training effects. Moreover, most rehabilitation robots still have some parts exposed to the outside, and their safety during use cannot be guaranteed. If medical institutions want to conduct rehabilitation training for patients with different limb disabilities, they have to purchase multiple rehabilitation devices, and if they want to achieve simultaneous recovery of upper and lower limbs, they have to frequently replace the machines, which is expensive and very inconvenient for the elderly whose limb motor abilities have been weakened. Summary of the invention

[0004] The purpose of the present invention is to provide an all-round multifunctional rehabilitation robot for upper and lower limbs, which solves the problem that existing rehabilitation robots have single functions and can only be used for upper limbs or lower limbs and cannot take into account multi-joint training.

[0005] The technical solution adopted by the present invention is an all-round multifunctional rehabilitation robot for upper and lower limbs, including a seat, a bottom plate is arranged at the bottom of the seat, and universal wheels are arranged around the bottom plate; the seat includes a seat plate, chair legs are fixed under the seat plate, the chair legs are fixed on the bottom plate, and a backrest is fixed above the seat plate; a shoulder height adjustment device is arranged behind the backrest, a shoulder bracket is arranged on the top of the shoulder height adjustment device, upper limb rehabilitation devices are arranged at both ends of the shoulder bracket, lower limb rehabilitation devices are connected to both sides of the seat plate, and the lower limb rehabilitation devices are fixedly installed on the seat.

[0006] The present invention is also characterized in that:

[0007] The shoulder height adjustment device includes a hollow box body, which is fixed on the bottom plate. A support plate is arranged in the hollow box body, on which a driving motor is fixed. The output shaft of the driving motor is vertically transmitted upward to connect a lead screw. The end of the lead screw is rotatably installed in the hollow box body. A lead screw nut is sleeved on the lead screw. A lifting plate is fixed on the lead screw nut. The lifting plate extends out of the top of the hollow box body. The top of the lifting plate is connected to a shoulder bracket. The shoulder bracket is semicircular.

[0008] The upper limb rehabilitation device comprises two upper arm shells, each upper arm shell is arranged below the semicircular end of the shoulder bracket, an upper arm adjustment electric cylinder is fixedly arranged in the upper arm shell, the upper arm shell is sleeved with the upper arm extension shell, a slide groove is provided in the inner wall of the upper arm shell along the axial direction, a protrusion is provided in the upper arm extension shell along the axial direction, the protrusion is clamped in the slide groove and moves along the slide groove; the adjustment end of the upper arm adjustment electric cylinder is fixedly connected to the upper arm extension shell;

[0009] The end of the arm extension housing is a cylinder, the axial direction of the cylinder is perpendicular to the axial direction of the arm housing, the axial direction of the cylinder at the end of the arm extension housing fixes the elbow joint motor support, the elbow joint motor is installed on the elbow joint motor support, the output shaft of the elbow joint motor is connected to the connecting plate through a key, the connecting plate is an integrally bent right-angle plate, an elbow joint connecting rod is vertically arranged on the connecting plate, a through groove is provided around the outer wall of the curved surface of the cylinder, the elbow joint connecting rod extends out of the through groove, and an elbow joint torque sensor is arranged on the elbow joint motor support;

[0010] The elbow joint connecting rod extends into and connects the forearm housing, a forearm adjusting electric cylinder is fixedly arranged in the forearm housing, the forearm housing is sleeved with the forearm extension housing, a sliding groove is axially provided on the inner wall of the forearm housing, a protrusion is axially provided on the forearm extension housing, the protrusion is engaged with the sliding groove and moves along the sliding groove; the adjusting end of the forearm adjusting electric cylinder is fixedly connected to the forearm extension housing.

[0011] The rotating shaft a is fixed on the axis inside the upper arm shell, and the rotating shaft a extends out from the top of the upper arm shell to connect with the shoulder bracket. The extended part of the rotating shaft a is sleeved with the shoulder joint sleeve, and the rotating shaft a is fixedly sleeved with the shoulder joint large gear. The rotating shaft a is rotatably sleeved with the shoulder joint fixed bracket, and the end of the joint fixed bracket is connected to the inner wall of the upper arm shell. The shoulder joint motor is vertically arranged on the shoulder joint fixed bracket, and the output shaft of the shoulder joint motor is sleeved with the shoulder joint pinion through a set screw. The rotating shaft a is connected to the shoulder joint large gear through a key, and the shoulder joint pinion is meshed and connected to the shoulder joint large gear. The shoulder joint torque sensor is fixed to the rotating shaft a through a screw.

[0012] The rotating shaft b is fixed to the axis center inside the forearm shell, and the rotating shaft b extends out from the top of the forearm shell and is connected to the elbow joint connecting rod. The rotating shaft b is fixedly sleeved with the forearm pronation and supination large gear, and the rotating shaft b is rotatably sleeved with the forearm fixing bracket, and the end of the forearm fixing bracket is connected to the inner wall of the forearm shell, and the forearm pronation and supination motor is installed on the forearm fixing bracket. The output shaft of the forearm pronation and supination motor is sleeved with the forearm pronation and supination small gear through a tightening screw, and the rotating shaft b is connected to the forearm pronation and supination large gear through a key, and the forearm pronation and supination small gear is meshed and connected to the forearm pronation and supination large gear, and a forearm pronation and supination torque sensor is fixed to the forearm fixing bracket through screws, and the detection end of the forearm pronation and supination torque sensor is connected to the forearm pronation and supination large gear through a key.

[0013] A wrist joint connecting bracket is fixed at the bottom of the forearm extension housing, a wrist joint connecting bracket is arranged on the wrist joint motor, the output shaft of the wrist joint motor is connected to the handle connecting piece, a handle is arranged on the handle connecting piece, the axial direction of the handle is perpendicular to the extension direction of the output shaft, and a wrist joint torque sensor is fixed on the wrist joint connecting bracket.

[0014] The lower limb rehabilitation device includes a thigh shell, the bottom of the thigh shell is sleeved with a thigh extension shell, a thigh adjustment electric cylinder is arranged inside the thigh shell, the thigh adjustment electric cylinder is connected to the thigh extension shell, the thigh extension shell is connected to the calf shell, the calf extension shell is sleeved on the calf shell, a calf adjustment electric cylinder is arranged inside the calf shell, the calf adjustment electric cylinder is connected to the calf extension shell, and the adjustment end of the calf adjustment electric cylinder is fixed on the calf extension shell.

[0015] A hip joint connecting bracket is arranged inside the thigh shell, a hip joint motor is arranged on the hip joint connecting bracket, a hip joint torque sensor is fixed on the hip joint connecting bracket, the seat is fixed by a threaded connection to the hip joint sleeve, the hip joint sleeve is connected to the hip joint motor, the hip joint motor output shaft is sleeved on the hip joint connecting bracket, and the detection end of the hip joint torque sensor is fixed to the hip joint sleeve; a knee joint motor support is arranged inside the thigh extension shell, a knee joint motor is arranged on the knee joint motor support, the knee joint motor is connected to the knee joint connecting rod through a key, a knee joint torque sensor is installed on the knee joint motor support, and the detection end of the knee joint torque sensor is installed on the knee joint connecting rod.

[0016] The inner axis of the calf shell is fixed with a rotating shaft c, which extends out from the top of the calf shell to connect with the knee joint connecting rod, and the extended part of the rotating shaft c is sleeved with the calf sleeve. The rotating shaft c is fixedly sleeved with the large pronation and supination gear of the foot, and the rotating shaft c is rotatably sleeved with the calf fixing bracket, and the end of the calf fixing bracket is connected with the inner wall of the calf shell; the calf fixing bracket is provided with a foot pronation and supination motor, the output shaft of the foot pronation and supination motor is sleeved with a foot pronation and supination pinion, the rotating shaft c is connected with the large pronation and supination gear of the foot through a key, the small pronation and supination gear of the foot is meshed and connected with the large pronation and supination gear of the foot, and the foot pronation and supination torque sensor is fixed on the calf fixing bracket, and the detection end of the torque sensor is connected with the large pronation and supination gear of the foot through a key connection.

[0017] An ankle joint connection bracket is arranged in the calf extension shell, an ankle joint connection bracket is arranged on the ankle joint motor, an ankle joint torque sensor is arranged on the ankle joint connection bracket, and a pedal is arranged on the ankle joint motor.

[0018] The beneficial effects of the present invention are as follows: the all-round multifunctional rehabilitation robot for upper and lower limbs of the present invention realizes the function of machine-assisted human body rehabilitation training through the upper limb rehabilitation device and lower limb rehabilitation device arranged on the seat. The robot collects sensor data at each joint for analysis and feedback, and adjusts and controls the combination of human limb structure and human kinematic parameters to help users perform rehabilitation training more safely, efficiently and comfortably. The all-round multifunctional rehabilitation robot for upper and lower limbs of the present invention realizes multi-part rehabilitation treatment of limbs of people with limb dysfunction. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic structural diagram of the all-round multifunctional rehabilitation robot for upper and lower limbs of the present invention;

[0020] Figure 2 It is a schematic structural diagram of the shoulder height adjustment device of the upper and lower limbs all-round multifunctional rehabilitation robot of the present invention;

[0021] Figure 3 It is a schematic diagram of the structure of the upper limb rehabilitation device of the upper and lower limb omnidirectional multifunctional rehabilitation robot of the present invention;

[0022] Figure 4 It is a schematic diagram of the upper arm structure of the upper limb rehabilitation device of the all-round multifunctional rehabilitation robot for upper and lower limbs of the present invention;

[0023] Figure 5 It is a schematic diagram of the structure of the forearm of the upper limb rehabilitation device of the upper and lower limb all-round multifunctional rehabilitation robot of the present invention;

[0024] Figure 6 It is a schematic diagram of the structure of the lower limb rehabilitation device of the all-round multifunctional rehabilitation robot for upper and lower limbs of the present invention;

[0025] Figure 7 It is a schematic diagram of the thigh structure of the lower limb rehabilitation device of the all-round multifunctional rehabilitation robot for upper and lower limbs of the present invention;

[0026] Figure 8 It is a schematic diagram of the lower leg structure of the lower limb rehabilitation device of the upper and lower limb all-round multifunctional rehabilitation robot of the present invention.

[0027] In the figure, 1. seat, 2. shoulder height adjustment device, 3. shoulder support, 4. upper limb rehabilitation device, 5. lower limb rehabilitation device, 6. support plate, 7. drive motor, 8. lead screw nut, 9. lifting plate, 10. upper arm extension housing, 11. upper arm adjustment electric cylinder, 12. upper arm housing, 13. forearm housing, 14. forearm adjustment electric cylinder, 15. forearm extension housing, 16. elbow joint connecting rod, 17. elbow joint torque sensor, 18. elbow joint motor support, 19. elbow joint motor, 20. shoulder joint torque sensor, 21. shoulder joint sleeve, 22. shoulder joint large gear, 23. shoulder joint small gear, 24. shoulder joint fixing bracket, 25. shoulder joint motor, 26. forearm fixing bracket, 27. forearm pronation and supination motor, 28. forearm pronation and supination small gear, 29. forearm pronation and supination torque sensor, 30. forearm pronation and supination large gear, 31 .Wrist joint motor, 32. Wrist joint connecting bracket, 33. Handle connecting piece, 34. Handle, 35. Wrist joint torque sensor, 36. Thigh housing, 37. Thigh extension housing, 38. Thigh adjustment electric cylinder, 39. Calf housing, 40. Calf adjustment electric cylinder, 41. Calf extension housing, 42. Hip joint motor, 43. Hip joint connecting bracket, 44. Hip joint sleeve, 45. Hip joint torque sensor, 46. Knee joint motor, 47. Knee joint motor support, 48. Knee joint connecting rod, 49. Knee joint torque sensor, 50. Foot pronation and supination motor, 51. Calf fixing bracket, 52. Foot pronation and supination small gear, 53. Foot pronation and supination large gear, 54. Calf sleeve, 55. Foot pronation and supination torque sensor, 56. Ankle joint connecting bracket, 57. Ankle joint motor, 58. Ankle joint torque sensor, 59. Pedal. DETAILED DESCRIPTION

[0028] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] Example 1

[0030] The all-round multifunctional rehabilitation robot for upper and lower limbs of the present invention is as follows: Figure 1 As shown, it includes a seat 1, a bottom plate is arranged at the bottom of the seat 1, and universal wheels are arranged around the bottom plate; the seat 1 includes a seat plate, chair legs are fixed under the seat plate, the chair legs are fixed on the bottom plate, and a backrest is fixed above the seat plate; a shoulder height adjustment device 2 is arranged behind the backrest, a shoulder support 3 is arranged on the top of the shoulder height adjustment device 2, and upper limb rehabilitation devices 4 are arranged at both ends of the shoulder support 3 to realize rehabilitation training of the upper limbs, and lower limb rehabilitation devices 5 are connected to both sides of the seat plate, and the lower limb rehabilitation devices 5 are fixedly installed on the seat 1 to realize rehabilitation training of the lower limbs.

[0031] Example 2

[0032] like Figure 2As shown, the shoulder height adjustment device 2 includes a hollow box body, which is fixed on the bottom plate, a support plate 6 is arranged in the hollow box body, a driving motor 7 is fixed on the support plate 6, and the output shaft of the driving motor 7 is vertically upwardly transmitted to the connecting screw, and the end of the screw is rotatably installed in the hollow box body, a screw nut 8 is sleeved on the screw, and a lifting plate 9 is fixed on the screw nut 8, the lifting plate 9 extends out of the top of the hollow box body, and the top of the lifting plate 9 is connected to the shoulder bracket 3, and the shoulder bracket 3 is semicircular. After the driving motor 7 drives the screw to rotate, the screw nut 8 rises or falls in the vertical direction, thereby driving the shoulder bracket 3 to rise and fall vertically.

[0033] Example 3

[0034] like Figure 3 As shown, the upper limb rehabilitation device 4 includes two upper arm shells 12, each upper arm shell 12 is arranged below the semicircular end of the shoulder support 3, and an upper arm adjusting electric cylinder 11 is fixedly arranged in the upper arm shell 12. The upper arm shell 12 is sleeved with the upper arm extension shell 10, and a slide groove is axially opened on the inner wall of the upper arm shell 12, and a protrusion is axially opened on the upper arm extension shell 10, which is engaged with the slide groove and moves along the slide groove; the adjusting end of the upper arm adjusting electric cylinder 11 is fixedly connected to the upper arm extension shell 10, and the length of the upper arm is adjusted by controlling the extension and shortening of the upper arm adjusting electric cylinder 11.

[0035] The end of the arm extension housing 10 is a cylinder, and the axial direction of the cylinder is perpendicular to the axial direction of the arm housing 12. Figure 4 As shown, the cylinder at the end of the upper arm extension housing 10 axially fixes the elbow joint motor support 18, and the elbow joint motor 19 is installed on the elbow joint motor support 18. The output shaft of the elbow joint motor 19 is connected to the connecting plate through a key. The connecting plate is a plate body that is bent into a right angle as a whole. The elbow joint connecting rod 16 is vertically arranged on the connecting plate. A through groove is provided around the outer wall of the curved surface of the cylinder. The elbow joint connecting rod 16 extends out of the through groove, and an elbow joint torque sensor 17 is arranged on the elbow joint motor support 18; the rotation of the elbow joint motor 19 drives the elbow joint connecting rod 16 to rotate, and the elbow joint connecting rod 16 is connected to the forearm mechanism to realize the flexion and extension movement of the elbow joint, thereby driving the forearm to move, and the elbow joint torque sensor 17 collects information on torque changes.

[0036] The elbow joint connecting rod 16 extends into and connects to the forearm housing 13, a forearm adjusting electric cylinder 14 is fixedly arranged inside the forearm housing 13, the forearm housing 13 is sleeved with the forearm extension housing 15, a slide groove is axially provided on the inner wall of the forearm housing 13, the forearm extension housing 15 is axially provided with a protrusion, the protrusion is engaged with the slide groove and moves along the slide groove; the adjusting end of the forearm adjusting electric cylinder 14 is fixedly connected to the forearm extension housing 15, and the length of the upper arm is adjusted by controlling the extension and shortening of the forearm adjusting electric cylinder 14.

[0037] The rotating shaft a is fixed to the axis of the upper arm housing 12, and the rotating shaft a extends out of the upper arm housing 12 and is connected to the shoulder bracket 3. The extended part of the rotating shaft a is sleeved with the shoulder joint sleeve 21, and the rotating shaft a is fixedly sleeved with the shoulder joint large gear 22, and the rotating shaft a is rotatably sleeved with the shoulder joint fixed bracket 24, and the end of the joint fixed bracket 24 is connected to the inner wall of the upper arm housing 12, and the shoulder joint motor 25 is vertically arranged on the shoulder joint fixed bracket 24, and the output shaft of the shoulder joint motor 25 is sleeved with the shoulder joint small gear 23 through a set screw, and the rotating shaft a is connected to the shoulder joint pinion 23 through a key. The shoulder joint large gear 22 is connected, and the shoulder joint small gear 23 is meshed with the shoulder joint large gear 22. The shoulder joint torque sensor 20 is fixed on the rotating shaft a by screws. The shoulder joint motor 25 drives the shoulder joint small gear 23 to rotate. The shoulder joint large gear 22 is fixed on the rotating shaft a. The shoulder joint small gear 23 rotates around the shoulder joint large gear 22, driving the shoulder joint fixed bracket 24 and the upper arm housing 12 to move together, thereby realizing the abduction and adduction of the shoulder joint. At the same time, the shoulder joint torque sensor 20 can collect information on torque changes.

[0038] like Figure 5 As shown, the internal axis of the forearm housing 13 is fixed with a rotating shaft b, the rotating shaft b extends out from the top of the forearm housing 13 and is connected to the elbow joint connecting rod 16, the rotating shaft b is fixedly sleeved with a forearm pronation and supination large gear 30, the rotating shaft b is rotatably sleeved with a forearm fixing bracket 26, the end of the forearm fixing bracket 26 is connected to the inner wall of the forearm housing 13, the forearm pronation and supination motor 27 is installed on the forearm fixing bracket 26, the output shaft of the forearm pronation and supination motor 27 is sleeved with a forearm pronation and supination small gear 28 through a set screw, the rotating shaft b is connected to the forearm pronation and supination large gear 30 through a key, and the forearm pronation and supination small gear 28 The forearm pronation and supination large gear 30 is meshed and connected, and the forearm pronation and supination torque sensor 29 is fixed to the forearm fixed bracket 26 by screws. The detection end of the forearm pronation and supination torque sensor 29 is connected to the forearm pronation and supination large gear 30 through a key. The forearm pronation and supination motor 27 drives the forearm pronation and supination small gear 28 to rotate, and the forearm pronation and supination small gear 28 rotates around the forearm pronation and supination large gear 30, driving the forearm fixed bracket 26 and the forearm housing 13 to move together, thereby realizing the pronation and supination of the forearm. At the same time, the forearm pronation and supination torque sensor 29 can collect information on torque changes.

[0039] A wrist joint connecting bracket 32 ​​is fixed at the bottom of the forearm extension housing 15, a wrist joint connecting bracket 32 ​​is provided with a wrist joint motor 31, an output shaft of the wrist joint motor 31 is connected to a handle connecting piece 33, a handle 34 is provided on the handle connecting piece 33, and the axial direction of the handle 34 is perpendicular to the extension direction of the output shaft. A wrist joint torque sensor 35 is fixed on the wrist joint connecting bracket 32. During operation, the wrist joint motor 31 drives the handle connecting piece 33 and the handle 34 to rotate, thereby realizing the flexion and extension movement of the wrist. At the same time, the wrist joint torque sensor 35 can collect information on torque changes.

[0040] Example 4

[0041] like Figure 6 As shown, the lower limb rehabilitation device includes a thigh shell 36, the bottom of the thigh shell 36 is sleeved with a thigh extension shell 37, a thigh adjustment electric cylinder 38 is arranged inside the thigh shell 36, the thigh adjustment electric cylinder 38 is connected to the thigh extension shell 37, and the thigh length is adjusted by controlling the extension and shortening of the extension rod by the thigh adjustment electric cylinder 38. The thigh extension shell 37 is connected to the calf shell 39, the calf extension shell 41 is sleeved on the calf shell 39, and a calf adjustment electric cylinder 40 is arranged inside the calf shell 39, the calf adjustment electric cylinder 40 is connected to the calf extension shell 41, and the adjustment end of the calf adjustment electric cylinder 40 is fixed on the calf extension shell 41, and the length of the calf is adjusted by controlling the extension and shortening of the extension rod by the calf adjustment electric cylinder 40.

[0042] like Figure 7 As shown, a hip joint connecting bracket 43 is arranged inside the thigh shell 36, a hip joint motor 42 is arranged on the hip joint connecting bracket 43, a hip joint torque sensor 45 is fixed on the hip joint connecting bracket 43, the seat is fixed by a threaded hip joint sleeve 44, the hip joint sleeve 44 is connected to the hip joint motor 42, the output shaft of the hip joint motor 42 is sleeved on the hip joint connecting bracket 43, the detection end of the hip joint torque sensor 45 is fixed to the hip joint sleeve 44, the hip joint motor 42 drives the hip joint connecting bracket 43 to rotate, thereby driving the thigh shell 36 to rotate, realizing the hip joint flexion and extension movement, and at the same time the hip joint torque sensor 45 can collect information on torque changes.

[0043] A knee joint motor support 47 is arranged in the thigh extension shell 37, and a knee joint motor 46 is arranged on the knee joint motor support 47. The knee joint motor 46 is connected to the knee joint connecting rod 48 through a key. A knee joint torque sensor 49 is installed on the knee joint motor support 47, and the detection end of the knee joint torque sensor 49 is installed on the knee joint connecting rod 48. The rotation of the knee joint motor 46 drives the knee joint connecting rod 48 to rotate, thereby driving the calf movement to realize the flexion and extension movement of the knee joint. At the same time, the knee joint torque sensor 49 can collect information on torque changes.

[0044] The inner axis of the calf shell 39 is fixed with a rotating shaft c, which extends out of the top of the calf shell 39 and is connected to the knee joint connecting rod 48, and the extended part of the rotating shaft c is sleeved with the calf sleeve 54. The rotating shaft c is fixedly sleeved with the foot pronation and supination large gear 53, and the rotating shaft c is rotatably sleeved with the calf fixing bracket 51, and the end of the calf fixing bracket 51 is connected to the inner wall of the calf shell 39; the calf fixing bracket 51 is provided with a foot pronation and supination motor 50, and the foot pronation and supination small gear 52 is sleeved on the output shaft of the foot pronation and supination motor 50, and the rotating shaft c is connected to the foot pronation and supination large gear 53 through a key, and the foot pronation and supination small gear 52 is meshed and connected to the foot pronation and supination large gear 53, and the foot pronation and supination torque sensor 55 is fixed on the calf fixing bracket 51, and the detection end of the torque sensor 55 is connected to the foot pronation and supination large gear 53 through a key connection. The foot pronation and supination motor 50 drives the foot pronation and supination small gear 52 to rotate, and the foot pronation and supination small gear 52 rotates around the foot pronation and supination large gear 53, driving the calf fixing bracket 21 and the calf shell 39 to move together, thereby realizing the pronation and supination of the foot. At the same time, the foot pronation and supination torque sensor 55 can collect information on torque changes.

[0045] like Figure 8 As shown, an ankle joint connecting bracket 56 is arranged in the calf extension housing 41, an ankle joint connecting bracket 56 is arranged on the ankle joint motor 57, an ankle joint torque sensor 58 is arranged on the ankle joint connecting bracket 56, a pedal 59 is arranged on the ankle joint motor 57, a detection end of the joint torque sensor 58 is fixed to the pedal 59 by a screw, the ankle joint motor 57 drives the pedal 59 to rotate, so as to realize the flexion and extension movement of the ankle joint, and at the same time the ankle joint torque sensor 58 can collect information on torque changes.

[0046] The driving motor 7, the upper arm adjusting electric cylinder 11, the forearm adjusting electric cylinder 14, the elbow joint torque sensor 17, the elbow joint motor 19, the shoulder joint torque sensor 20, the shoulder joint motor 25, the forearm pronation and supination motor 27, the forearm pronation and supination torque sensor 29, the wrist joint motor 31, the wrist joint torque sensor 35, the thigh adjusting electric cylinder 38, the calf adjusting electric cylinder 40, the hip joint motor 42, the hip joint torque sensor 45, the knee joint motor 46, the knee joint torque sensor 49, the foot pronation and supination motor 50, the foot pronation and supination torque sensor 55, the ankle joint motor 57, and the ankle joint torque sensor 58 are electrically connected to the controller respectively.

[0047] The working principle of the upper and lower limb all-round multifunctional rehabilitation robot of the present invention is as follows: the upper arm adjusting electric cylinder 11 is fixed on the upper arm housing 12, and the adjusting end of the upper arm adjusting electric cylinder 11 is fixedly connected to the upper arm extension housing 10, thereby adjusting the length of the upper arm; the forearm adjusting electric cylinder 14 is fixedly arranged in the forearm housing 13, and the forearm housing 13 is sleeved on the forearm extension housing 15, thereby adjusting the length of the forearm; the movement principles of the thigh adjusting electric cylinder 38 and the calf adjusting electric cylinder 40 are the same as those of the upper arm adjusting electric cylinder 11 and the forearm adjusting electric cylinder 14, and are used to adjust the length of the thigh and the calf. The adjustment of the corresponding joints is controlled respectively by the elbow joint motor 19, the shoulder joint motor 25, the forearm pronation and supination motor 27, the wrist joint motor 31, the hip joint motor 42, the knee joint motor 46, the foot pronation and supination torque sensor 55, and the ankle joint motor 57. Each motor controls a rotational motion individually, thereby improving the dynamic motion performance. Each rotational motion is completely independent. The motion branches do not affect each other. By installing sensors at multiple locations, data information such as the torque of each part during rehabilitation training is transmitted to the controller. Users or medical staff can reasonably adjust the rehabilitation training plan according to the patient's rehabilitation needs and feedback information to improve the rehabilitation effect.

[0048] The working process of the all-round multifunctional rehabilitation robot for upper and lower limbs of the present invention is as follows: the universal wheels are fixed, the patient sits on the seat 1, the patient holds the handle 34, the patient's feet are placed on the pedal 59, the height of the shoulder bracket 3 is adjusted by the controller with the lead screw nut 8, and after the limbs are adjusted to the position suitable for the patient, the limbs are fixed at the relative joint positions accordingly, the parts that need to be rehabilitated are controlled by the controller, and the corresponding joints are exercised to meet the patient's rehabilitation training needs for various parts. At the same time, the sensors at each joint can collect the user's motion data and feed it back to the doctor, so that the doctor can understand the rehabilitation process and rehabilitation effect conveniently. Users can receive rehabilitation training that is more tailored to their own conditions; it can comprehensively consider upper limb rehabilitation and lower limb rehabilitation, and realize the integrated function of multifunctional rehabilitation exercises for users' wrist, elbow, shoulder, hip, knee and ankle joints. It is suitable for various scenarios such as medical care, rehabilitation training, and home care, and meets the rehabilitation needs of different groups of people. One set of equipment can complete the rehabilitation of most important joints in the body, greatly freeing the hands of patients' families and caregivers. Through scientific and standardized rehabilitation training, it helps people with limb motor dysfunction to get out of trouble and move freely, so that patients can recover in time and improve the rehabilitation effect.

[0049] The all-round multifunctional rehabilitation robot for upper and lower limbs of the present invention integrates the functions of upper and lower limb rehabilitation and adopts a multi-degree-of-freedom mechanical arm design. It can not only perform individual rehabilitation training for a certain part, but also realize the rehabilitation training of multiple parts of the upper and lower limbs in linkage, thereby realizing diversified rehabilitation training functions. It adopts a wrapping design of the internal structure to avoid danger to people caused by exposed internal parts, and processes the sharp parts with rounded lines. When in use, the machine maintains a certain safe distance from the human limbs, and the size of the machine can be adjusted according to the size of the human body. It is comfortable to wear and has stability and reliability.

Claims

1. An all-round multifunctional rehabilitation robot for upper and lower limbs, characterized in that: The invention comprises a seat (1), wherein a bottom plate is arranged at the bottom of the seat (1), and universal wheels are arranged around the bottom plate; the seat (1) comprises a seat plate, chair legs are fixed below the seat plate, the chair legs are fixed to the bottom plate, and a backrest is fixed above the seat plate; a shoulder height adjustment device (2) is arranged behind the backrest, a shoulder bracket (3) is arranged at the top of the shoulder height adjustment device (2), upper limb rehabilitation devices (4) are arranged at both ends of the shoulder bracket (3), lower limb rehabilitation devices (5) are connected to both sides of the seat plate, and the lower limb rehabilitation devices (5) are fixedly installed on the seat (1).

2. The all-round multifunctional rehabilitation robot for upper and lower limbs according to claim 1, characterized in that: The shoulder height adjustment device (2) comprises a hollow box body, which is fixed on a bottom plate. A support plate (6) is arranged in the hollow box body, a driving motor (7) is fixed on the support plate (6), an output shaft of the driving motor (7) is vertically driven upward to connect a lead screw, an end of the lead screw is rotatably mounted in the hollow box body, a lead screw nut (8) is sleeved on the lead screw, a lifting plate (9) is fixed on the lead screw nut (8), the lifting plate (9) extends out of the top of the hollow box body, the top of the lifting plate (9) is connected to a shoulder bracket (3), and the shoulder bracket (3) is semicircular.

3. The all-round multifunctional rehabilitation robot for upper and lower limbs according to claim 2, characterized in that: The upper limb rehabilitation device (4) comprises two upper arm housings (12), each upper arm housing (12) is arranged below the semicircular end of the shoulder bracket (3), an upper arm adjustment electric cylinder (11) is fixedly arranged in the upper arm housing (12), the upper arm housing (12) is sleeved with the upper arm extension housing (10), a slide groove is provided in the inner wall of the upper arm housing (12) along the axial direction, and a protrusion is provided along the axial direction, the protrusion is clamped in the slide groove and moves along the slide groove; the adjustment end of the upper arm adjustment electric cylinder (11) is fixedly connected to the upper arm extension housing (10); The end of the upper arm extension housing (10) is a cylinder, the axial direction of the cylinder is perpendicular to the axial direction of the upper arm housing (12), the cylinder at the end of the upper arm extension housing (10) axially fixes the elbow joint motor support (18), the elbow joint motor (19) is installed on the elbow joint motor support (18), the output shaft of the elbow joint motor (19) is connected to the connecting plate through a key, the connecting plate is a plate body bent into a right angle, an elbow joint connecting rod (16) is vertically arranged on the connecting plate, a through groove is provided around the outer wall of the curved surface of the cylinder, the elbow joint connecting rod (16) extends out of the through groove, and an elbow joint torque sensor (17) is arranged on the elbow joint motor support (18); The elbow joint connecting rod (16) extends into and connects to the forearm housing (13), a forearm adjusting electric cylinder (14) is fixedly arranged in the forearm housing (13), the forearm housing (13) is sleeved with the forearm extension housing (15), a sliding groove is provided in the inner wall of the forearm housing (13) along the axial direction, and a protrusion is provided in the forearm extension housing (15) along the axial direction, the protrusion is clamped in the sliding groove and moves along the sliding groove; the adjusting end of the forearm adjusting electric cylinder (14) is fixedly connected to the forearm extension housing (15).

4. The all-round multifunctional rehabilitation robot for upper and lower limbs according to claim 3, characterized in that: The rotating shaft a is fixed to the axis center inside the upper arm housing (12), and the rotating shaft a extends out of the top of the upper arm housing (12) to connect to the shoulder bracket (3). The extending part of the rotating shaft a is sleeved with the shoulder joint sleeve (21), and the rotating shaft a is fixedly sleeved with the shoulder joint large gear (22). The rotating shaft a is rotatably sleeved with the shoulder joint fixed bracket (24), and the end of the joint fixed bracket (24) is connected to the inner wall of the upper arm housing (12). A shoulder joint motor (25) is vertically arranged on the shoulder joint fixed bracket (24), and the output shaft of the shoulder joint motor (25) is sleeved with the shoulder joint pinion (23) through a set screw, and the rotating shaft a is connected to the shoulder joint large gear (22) through a key, and the shoulder joint pinion (23) is meshed and connected to the shoulder joint large gear (22), and the rotating shaft a is fixed with a shoulder joint torque sensor (20) through a screw.

5. The all-round multifunctional rehabilitation robot for upper and lower limbs according to claim 4, characterized in that: The inner axis of the forearm housing (13) is fixed with a rotating shaft b, the rotating shaft b extends out of the top of the forearm housing (13) and is connected to the elbow joint connecting rod (16), the rotating shaft b is fixedly sleeved with a forearm pronation and supination large gear (30), the rotating shaft b is rotatably sleeved with a forearm fixing bracket (26), the end of the forearm fixing bracket (26) is connected to the inner wall of the forearm housing (13), the forearm pronation and supination motor (27) is installed on the forearm fixing bracket (26), and the forearm pronation and supination motor (27) is installed on the forearm fixing bracket (26). The output shaft of the forearm pronation and supination pinion (28) is sleeved with a set screw, the rotating shaft b is connected to the forearm pronation and supination large gear (30) via a key, the forearm pronation and supination pinion (28) is meshedly connected to the forearm pronation and supination large gear (30), the forearm pronation and supination torque sensor (29) is fixed to the forearm fixing bracket (26) via a screw, and the detection end of the forearm pronation and supination torque sensor (29) is connected to the forearm pronation and supination large gear (30) via a key.

6. The all-round multifunctional rehabilitation robot for upper and lower limbs according to claim 5, characterized in that: A wrist joint connecting bracket (32) is fixed at the bottom of the forearm extension housing (15), a wrist joint motor (31) is arranged on the wrist joint connecting bracket (32), an output shaft of the wrist joint motor (31) is connected to a handle connecting piece (33), a handle (34) is arranged on the handle connecting piece (33), an axial direction of the handle (34) is perpendicular to an extension direction of the output shaft, and a wrist joint torque sensor (35) is fixed on the wrist joint connecting bracket (32).

7. The all-round multifunctional rehabilitation robot for upper and lower limbs according to claim 6, characterized in that: The lower limb rehabilitation device comprises a thigh shell (36), the bottom of the thigh shell (36) is sleeved with a thigh extension shell (37), a thigh adjustment electric cylinder (38) is arranged inside the thigh shell (36), the thigh adjustment electric cylinder (38) is connected to the thigh extension shell (37), the thigh extension shell (37) is connected to the calf shell (39), the calf shell (39) is sleeved with the calf extension shell (41), a calf adjustment electric cylinder (40) is arranged inside the calf shell (39), the calf adjustment electric cylinder (40) is connected to the calf extension shell (41), and the adjustment end of the calf adjustment electric cylinder (40) is fixed on the calf extension shell (41).

8. The all-round multifunctional rehabilitation robot for upper and lower limbs according to claim 7, characterized in that: A hip joint connecting bracket (43) is arranged inside the thigh shell (36), a hip joint motor (42) is arranged on the hip joint connecting bracket (43), a hip joint torque sensor (45) is fixed on the hip joint connecting bracket (43), the seat is fixed by a threaded connection with a hip joint sleeve (44), the hip joint sleeve (44) is connected to the hip joint motor (42), the output shaft of the hip joint motor (42) is sleeved with the hip joint connecting bracket (43), and the detection end of the hip joint torque sensor (45) is fixed to the hip joint sleeve (44); a knee joint motor support (47) is arranged inside the thigh extension shell (37), a knee joint motor (46) is arranged on the knee joint motor support (47), the knee joint motor (46) is connected to the knee joint connecting rod (48) through a key, a knee joint torque sensor (49) is installed on the knee joint motor support (47), and the detection end of the knee joint torque sensor (49) is installed on the knee joint connecting rod (48).

9. The all-round multifunctional rehabilitation robot for upper and lower limbs according to claim 8, characterized in that: The inner axis of the calf shell (39) is fixed with a rotating shaft c, the rotating shaft c extends out of the top of the calf shell (39) to connect with the knee joint connecting rod (48), and the extending part of the rotating shaft c is sleeved with the calf sleeve (54); the rotating shaft c is fixedly sleeved with the large gear (53) for pronation and supination of the foot, and the rotating shaft c is rotatably sleeved with the calf fixing bracket (51), and the end of the calf fixing bracket (51) is connected with the inner wall of the calf shell (39); the calf fixing bracket (51) is provided with a foot pronation and supination motor (50), a foot pronation and supination pinion gear (52) is sleeved on the output shaft of the foot pronation and supination motor (50), a foot pronation and supination pinion gear (52) is connected to the foot pronation and supination pinion gear (53) via a key on the rotation axis c, the foot pronation and supination pinion gear (52) is meshedly connected to the foot pronation and supination pinion gear (53), a foot pronation and supination torque sensor (55) is fixed on the calf fixing bracket (51), and a detection end of the torque sensor (55) is connected to the foot pronation and supination pinion gear (53) via a key connection.

10. The all-round multifunctional rehabilitation robot for upper and lower limbs according to claim 9, characterized in that: An ankle joint connection bracket (56) is arranged in the calf extension housing (41), an ankle joint motor (57) is arranged on the ankle joint connection bracket (56), an ankle joint torque sensor (58) is arranged on the ankle joint connection bracket (56), and a pedal (59) is arranged on the ankle joint motor (57).

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