Desktop type upper limb rehabilitation robot

Abstract

The desktop type upper limb rehabilitation robot comprises a shell structure with a bottom plate, a screw rod structure and a clamping seat penetrating through the bottom plate, the clamping seat is provided with a threaded hole and a clamping part which are located on the two opposite sides of the bottom plate respectively, the screw rod structure is in threaded connection with the threaded hole, one end of the screw rod structure abuts against the bottom plate, and the other end of the screw rod structure abuts against the clamping part. The clamping base can move linearly, and the clamping part and the bottom plate are matched to clamp the table top. According to the desktop type upper limb rehabilitation robot provided by the invention, the clamping seat and the screw rod structure are mounted on the bottom plate of the robot, that is, the desktop clamp is integrated in the robot and can be directly mounted on a desktop without additional clamps, so that the desktop type upper limb rehabilitation robot can be suitable for most desktops.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and more specifically, relates to a desktop upper limb rehabilitation robot. Background Art

[0002] The desktop upper limb rehabilitation robot can assist the elderly or patients with movement disorders in rehabilitation training, prevent muscle atrophy, and restore the patient's upper limb movement ability. The handle is set on the desktop through a translation mechanism. As the translation mechanism works, it can drive the hand support plane to move, thereby pulling the upper limb movement.

[0003] In order to maintain its stability, the desktop upper limb rehabilitation robot generally needs to be fixed on the desktop. The current fixing method mainly uses screws to press and fix the robot on the desktop, so threaded holes need to be opened on the desktop, which is not suitable for all desktops. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a desktop upper limb rehabilitation robot to solve the technical problem that the robot in the prior art cannot be applied to all desktops.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide a desktop upper limb rehabilitation robot, including a shell structure with a base plate, a screw structure, and a clamping seat arranged through the base plate, the clamping seat having a threaded hole and a clamping portion respectively located on opposite sides of the base plate, the screw structure is threadedly connected to the threaded hole, and one end of the screw structure abuts against the base plate, so that the clamping seat can move linearly, and the clamping portion and the base plate cooperate to clamp the desktop.

[0006] In the above scheme, the desktop upper limb rehabilitation robot includes a base plate, a screw structure and a clamping seat. The base plate is a part of the shell structure. The clamping seat has a threaded hole and a clamping part. The screw structure is threadedly connected to the clamping seat. When the screw structure rotates, the clamping seat moves linearly under the restriction of the base plate, changing the distance between the clamping part and the base plate, so that objects can be clamped. The clamping seat and the screw structure are installed on the base plate of the device, that is, the desktop clamp is integrated into the desktop upper limb rehabilitation robot, and the robot can be clamped and installed directly on the desktop.

[0007] Optionally, at least part of the screw structure and at least part of the clamping seat are located in the inner cavity of the shell structure.

[0008] In the above solution, at least part of the structure of the desktop fixture is located in the inner cavity of the shell structure and is hidden inside the shell structure, thereby making the structure of the robot more integrated and the appearance more complete.

[0009] Optionally, the clamping seat includes a sliding frame and the clamping part connected to each other, the sliding frame is arranged through the base plate, and the threaded hole is opened on the side of the sliding frame away from the clamping part, and the side of the sliding frame away from the clamping part is located in the inner cavity of the shell structure.

[0010] In the above solution, the clamping seat includes a sliding frame and a clamping part which are connected to each other. The threaded hole can be set on the sliding frame, and the sliding frame can be driven to move linearly through the rotation of the screw structure.

[0011] Optionally, a notch is provided at an edge of the bottom plate, and the sliding frame is at least partially embedded in the notch; or, an avoidance hole is provided on the bottom plate, and the sliding frame is disposed through the avoidance hole.

[0012] In the above scheme, by providing a notch at the edge of the bottom plate, the sliding frame can be arranged through the bottom plate, and the sliding frame can be embedded and assembled from the edge of the bottom plate, which is more convenient for the installation of the sliding frame. The linear motion of the sliding frame can be guided by the inner wall of the notch or the inner wall of the avoidance hole. Alternatively, an avoidance hole is provided on the bottom plate, so that the sliding frame can be arranged through the bottom plate, and the avoidance hole has a better guiding effect on the sliding frame.

[0013] Optionally, the sliding frame includes a first connecting section, a second connecting section, a third connecting section and a fourth connecting section which are connected end to end in sequence, so that the sliding frame is frame-shaped, the threaded hole is arranged on the first connecting section, the clamping portion is connected to the third connecting section, and the second connecting section and the fourth connecting section are both arranged through the base plate.

[0014] In the above scheme, the sliding frame is frame-shaped, which can reduce the amount of raw materials used for the sliding frame. Moreover, the second connecting section and the fourth connecting section are both arranged through the bottom plate, the guiding effect of the bottom plate on the sliding frame is enhanced, and the sliding of the sliding frame is more stable.

[0015] Optionally, a gasket is provided on a side of the bottom plate facing the screw structure, and one end of the screw structure abuts against the gasket.

[0016] In the above scheme, the screw structure can be prevented from directly contacting the bottom plate by setting the gasket, thereby protecting the bottom plate from being scratched. In addition, the gasket is a consumable material, and when the gasket is worn out during long-term use, the gasket can be replaced to extend the service life of the device.

[0017] Optionally, a screw connector is fixed to the side of the screw structure facing the gasket, a first through hole is opened on the base plate, a second through hole is opened on the gasket, and the screw connector passes through the first through hole and the second through hole and is threadedly connected to the screw structure.

[0018] In the above solution, the screw structure is connected to the base plate via a screw connector, thereby limiting the position of the screw structure and preventing the screw structure from generating radial displacement when rotating, while not affecting the rotation of the screw structure.

[0019] Optionally, the screw structure includes a screw body and a knob fixed to one end of the screw body, the screw body has an external thread threadedly connected to the threaded hole, and the knob is used to abut against the bottom plate.

[0020] In the above solution, the screw structure includes a screw body and a knob. The knob is convenient for the user to operate by hand, and the contact area between the knob and the clamp seat is large, so the clamp seat is less likely to be scratched.

[0021] Optionally, the shell structure includes the bottom plate and a side plate connected to the bottom plate, and the side plate is provided with an adjustment hole for exposing the knob.

[0022] In the above solution, by providing an adjustment hole on the side panel, the rotation can be at least partially exposed, which is convenient for the user to rotate the knob, and the knob can be screwed from the outside.

[0023] Optionally, the screw body includes a screw head, a screw segment with an external thread, and a connecting segment fixedly connected to the knob, which are connected in sequence, and the screw segment is threadedly connected to the clamp seat.

[0024] In the above solution, the screw body includes a screw head, a screw segment and a connecting segment which are connected in sequence, which can not only realize the threaded connection with the clamping seat, but also realize the fixed connection with the knob. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 A three-dimensional structural diagram of a desktop upper limb rehabilitation robot provided by an embodiment of the present invention;

[0027] Figure 2 A partial three-dimensional structural diagram of a desktop upper limb rehabilitation robot provided by an embodiment of the present invention;

[0028] Figure 3 for Figure 2 The main view of the middle clamping seat clamping the desktop;

[0029] Figure 4 for Figure 2Cross-sectional view at the clamping seat;

[0030] Figure 5 for Figure 2 A longitudinal section view at the clamping seat;

[0031] Figure 6 A three-dimensional structural diagram of a clamping base provided in an embodiment of the present invention;

[0032] Figure 7 for Figure 2 Longitudinal section view at the clamping base when the tabletop is not clamped.

[0033] Among them, the reference numerals in the figure are:

[0034] 100-desktop upper limb rehabilitation robot; 101-shell structure; 10-bottom plate; 11-notch; 12-first through hole; 20-clamp seat; 21-sliding frame; 211-first connecting section; 212-second connecting section; 213-third connecting section; 214-fourth connecting section; 22-clamping part; 221-clamping surface; 23-threaded hole; 24-clamping gap; 30-screw structure; 31-screw body; 311-screw head; 312-screw section; 313-connecting section; 32-knob; 321-recessed structure; 40-gasket; 41-second through hole; 50-screw connector; 60-side panel; 61-adjustment hole; 200-desktop. DETAILED DESCRIPTION

[0035] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0036] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0037] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0038] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0039] The desktop upper limb rehabilitation robot can assist the elderly or patients with movement disorders in rehabilitation training, prevent muscle atrophy, and restore the patient's upper limb movement ability. The handle is set on the desktop through a translation mechanism. As the translation mechanism works, it can drive the hand support plane to move, thereby pulling the upper limb movement.

[0040] In order to maintain its stability, the desktop upper limb rehabilitation robot generally needs to be fixed on the desktop. The current fixing method mainly uses screws to press and fix the robot on the desktop, so threaded holes need to be opened on the desktop, which is not suitable for all desktops.

[0041] In order to solve the above technical problems, the present invention proposes a desktop upper limb rehabilitation robot 100, which includes a base plate 10 with a shell structure 101, a screw structure 30 and a clamp seat 20, wherein the clamp seat 20 is arranged through the base plate 10, and the screw structure 30 is threadedly connected to the clamp seat 20. The clamp seat 20 and the screw structure 30 are integrated on the base plate 10 of the robot. The robot can be directly installed on the desktop 200 using a clamp. The desktop 200 does not need to be provided with a connection hole, and is suitable for most types of desktops 200.

[0042] The desktop upper limb rehabilitation robot 100 provided in an embodiment of the present invention is now described.

[0043] Please also read Figures 1 to 4 The desktop upper limb rehabilitation robot 100 includes a shell structure 101 , a screw structure 30 and a clamping seat 20 .

[0044] The shell structure 101 includes a bottom plate 10, which is a part of the shell structure 101 and is plate-shaped. The screw structure 30 and the clamp seat 20 are mounted on the bottom plate 10, that is, the screw structure 30 and the clamp seat 20 are mounted on the shell structure 101, and the desktop clamp is integrated in the robot, so that the desktop upper limb rehabilitation robot 100 can be directly clamped and fixed on the desktop 200, and there is no need to open a mounting hole on the desktop 200. Among them, the shell structure 101 has an inner cavity, and the main functional structure of the robot can be set in the inner cavity of the shell structure 101.

[0045] The clamping seat 20 is arranged through the bottom plate 10, and the clamping seat 20 can move linearly. It can be understood that the clamping seat 20 can produce linear motion relative to the bottom plate 10. Specifically, the clamping seat 20 has a threaded hole 23 and a clamping portion 22, and the threaded hole 23 and the clamping portion 22 are respectively arranged on opposite sides of the bottom plate 10. The bottom plate 10 has a first side and a second side that are arranged opposite to each other. The threaded hole 23 is located on the first side of the bottom plate 10, and the threaded hole 23 allows the screw structure 30 to pass through. A clamping gap 24 (such as 24) is formed between the clamping portion 22 and the second side of the bottom plate 10. Figure 7 As shown in FIG. 2 , when the desktop 200 extends into the clamping gap 24 , the clamping portion 22 and the second side of the base plate 10 can cooperate to clamp the desktop 200 .

[0046] The screw structure 30 is located at the first side of the bottom plate 10 . The screw structure 30 has an external thread so as to be threadedly connected with the threaded hole 23 . One end of the screw structure 30 abuts against the first side of the bottom plate 10 .

[0047] When the screw structure 30 is rotated, one end of the screw structure 30 is always in contact with the first side of the base plate 10. The clamping seat 20 moves along the length direction of the screw structure 30 under the restriction and guidance of the base plate 10, and the clamping portion 22 also moves along the length direction of the screw structure 30 accordingly, thereby changing the distance between the clamping portion 22 and the second side of the base plate 10, and then the desktop 200 can be clamped between the clamping portion 22 and the second side of the base plate 10 or be loosened from the desktop 200.

[0048] The desktop upper limb rehabilitation robot 100 in the above embodiment includes a base plate 10, a screw structure 30 and a clamping seat 20. The base plate 10 is a part of the shell structure 101. The clamping seat 20 has a threaded hole 23 and a clamping portion 22. The screw structure 30 is threadedly connected to the clamping seat 20. When the screw structure 30 rotates, the clamping seat 20 moves linearly under the restriction of the base plate 10, changing the distance between the clamping portion 22 and the base plate 10, so that objects can be clamped. The clamping seat 20 and the screw structure 30 are installed on the base plate 10 of the device, that is, the desktop clamp is integrated into the desktop upper limb rehabilitation robot 100, and the robot can be clamped and installed directly to the desktop 200.

[0049] In some embodiments of the present invention, the bottom plate 10 is usually placed on a table and can withstand a certain amount of pressure, and is therefore more suitable for installing the screw structure 30 and the clamping seat 20 .

[0050] In some embodiments of the present invention, at least part of the screw structure 30 and at least part of the clamp seat 20 are located in the inner cavity of the shell structure 101. In this way, at least part of the structure of the desktop clamp is located in the inner cavity of the shell structure 101 and is hidden inside the shell structure 101, so that the structure of the robot is more integrated and the appearance is more complete.

[0051] In some embodiments of the present invention, see Figure 4 and Figure 5 The clamping seat 20 includes a sliding frame 21 and a clamping portion 22 connected to each other. The sliding frame 21 is arranged through the bottom plate 10, and the threaded hole 23 is opened on the side of the sliding frame 21 away from the clamping portion 22. The side of the sliding frame 21 away from the clamping portion 22 is located in the inner cavity of the shell structure 101. The part of the sliding frame 21 provided with the threaded hole 23 is located on the first side of the bottom plate 10, and the part of the sliding frame 21 connected to the clamping portion 22 is located on the second side of the bottom plate 10. The sliding frame 21 is arranged through the bottom plate 10, and a avoidance structure for avoiding the sliding frame 21 is correspondingly opened on the bottom plate 10. The inner wall of the avoidance structure can guide the sliding frame 21. The side of the sliding frame 21 with the threaded hole 23 is hidden inside the shell structure 101.

[0052] The clamping seat 20 includes a sliding frame 21 and a clamping portion 22 which are connected to each other. The threaded hole 23 can be set on the sliding frame 21, and the sliding frame 21 can be driven to move linearly by the rotation of the screw structure 30.

[0053] In some embodiments, the sliding frame 21 and the clamping portion 22 are integrally formed. For example, the sliding frame 21 and the clamping portion 22 are integrally injection molded, or the sliding frame 21 and the clamping portion 22 are integrally cast.

[0054] In some embodiments, the sliding frame 21 and the clamping portion 22 are formed separately. For example, the sliding frame 21 and the clamping portion 22 are fixedly connected by a connecting member such as a screw; or the sliding frame 21 and the clamping portion 22 are fixed by welding.

[0055] In some embodiments, the clamping portion 22 extends from one side of the sliding frame 21 toward the second side of the bottom plate 10. The clamping portion 22 has a clamping surface 221, and the clamping surface 221 cooperates with the second side of the bottom plate 10 to clamp the object. The clamping surface 221 can be arranged away from the sliding frame 21, so that the clamping seat 20 can cooperate with the bottom plate 10 to clamp objects with a larger area of ​​the clamping surface 221.

[0056] In some embodiments of the present invention, see Figures 3 to 5The sliding frame 21 includes a first connecting section 211, a second connecting section 212, a third connecting section 213 and a fourth connecting section 214 which are connected end to end in sequence, so that the sliding frame 21 is frame-shaped, the threaded hole 23 is provided in the first connecting section 211, the clamping portion 22 is connected to the third connecting section 213, and the second connecting section 212 and the fourth connecting section 214 are both provided through the bottom plate 10. The first connecting section 211, the second connecting section 212, the third connecting section 213 and the fourth connecting section 214 are connected in sequence, and the end of the first connecting section 211 away from the second connecting section 212 and the end of the fourth connecting section 214 away from the third connecting section 213 are connected to each other. The first connecting section 211 is located at the first side of the bottom plate 10, the third connecting section 213 is located at the second side of the bottom plate 10, and the second connecting section 212 and the fourth connecting section 214 are both provided through the bottom plate 10.

[0057] The sliding frame 21 is frame-shaped, which can reduce the amount of raw materials used for the sliding frame 21. Moreover, the second connecting section 212 and the fourth connecting section 214 are both arranged through the bottom plate 10, so the guiding effect of the bottom plate 10 on the sliding frame 21 is enhanced, and the sliding of the sliding frame 21 is more stable.

[0058] In some embodiments, the threaded hole 23 is disposed in the middle of the first connecting section 211 , so that the force on the sliding frame 21 can be more balanced and the movement of the sliding frame 21 can be more stable.

[0059] In some embodiments, the length directions of the first connecting section 211 and the third connecting section 213 are parallel to each other, and the length directions of the second connecting section 212 and the fourth connecting section 214 are parallel to each other, so that the sliding frame 21 is rectangular. The structure shape of the sliding frame 21 is regular, easy to process, and has high structural strength.

[0060] In some embodiments of the present invention, see Figure 1 The bottom plate 10 has a notch 11 at its edge, and the sliding frame 21 is at least partially embedded in the notch 11; or, the bottom plate 10 has a avoidance hole, and the sliding frame 21 is arranged through the avoidance hole. The notch 11 at the edge of the bottom plate 10 refers to the notch 11 formed by the edge of the bottom plate 10 being recessed inward. The bottom plate 10 has an avoidance hole, which is located in the middle of the bottom plate 10 and is a circumferentially closed hole structure.

[0061] By providing the notch 11 at the edge of the bottom plate 10, the sliding frame 21 can be installed through the bottom plate 10, and the sliding frame 21 can be embedded and assembled from the edge of the bottom plate 10, which is more convenient for the installation of the sliding frame 21. The linear motion of the sliding frame 21 can be guided by the inner wall of the notch 11 or the inner wall of the avoidance hole. Alternatively, the avoidance hole is opened on the bottom plate 10, so that the sliding frame 21 can be installed through the bottom plate 10, and the avoidance hole has a better guiding effect on the sliding frame 21.

[0062] In some embodiments, two notches 11 are formed at the edge of the bottom plate 10, and the second connecting section 212 and the fourth connecting section 214 of the sliding frame 21 are respectively embedded in the two notches 11. Specifically, the side wall of the second connecting section 212 cooperates with the inner wall of the notch 11.

[0063] In some embodiments, two avoidance holes are opened on the bottom plate 10, and the second connecting section 212 and the fourth connecting section 214 of the sliding frame 21 pass through the two avoidance holes respectively, and the inner walls of the two avoidance holes respectively limit the second connecting section 212 and the fourth connecting section 214 circumferentially.

[0064] Optionally, in order to facilitate the installation of the sliding frame 21, the third connecting section 213 can be separately provided from the second connecting section 212 and the fourth connecting section 214. After the second connecting section 212 and the fourth connecting section 214 are respectively inserted into the two avoidance holes, the two ends of the third connecting section 213 are respectively connected to the second connecting section 212 and the fourth connecting section 214.

[0065] In some embodiments of the present invention, see Figure 3 and Figure 4 A gasket 40 is provided on one side of the bottom plate 10 facing the screw structure 30, and one end of the screw structure 30 abuts against the gasket 40. When the screw structure 30 rotates, one end of the screw structure 30 always abuts against the gasket 40.

[0066] By setting the gasket 40, the screw structure 30 can be prevented from directly contacting the bottom plate 10, thereby protecting the bottom plate 10 from being scratched. In addition, the gasket 40 is a consumable material. When the gasket 40 is worn out during long-term use, the gasket 40 can be replaced to extend the service life of the device.

[0067] In some embodiments, the washer 40 is fixed to the first side of the base plate 10 , and when the screw structure 30 rotates, the washer 40 remains stationary.

[0068] Optionally, the gasket 40 is fixed to the bottom plate 10 by a screw, so as to facilitate the replacement of the gasket 40. A connecting hole is provided on the gasket 40, and a connecting hole is also provided on the bottom plate 10. The screw passes through the connecting hole on the gasket 40 and is connected to the connecting hole on the bottom plate 10, so that the gasket 40 is fixed to the bottom plate 10.

[0069] In some embodiments of the present invention, see Figure 3 and Figure 4A screw connector 50 is fixed to the side of the screw structure 30 facing the gasket 40. A first through hole 12 is provided on the bottom plate 10, and a second through hole 41 is provided on the gasket 40. The screw connector 50 passes through the first through hole 12 and the second through hole 41 and is threadedly connected to the screw structure 30. An external thread is provided on the screw connector 50, and the screw connector 50 passes through the bottom plate 10 and the gasket 40 and is threadedly connected to the screw structure 30. When the screw structure 30 rotates, the screw connector 50 rotates with the screw structure 30, and the gasket 40 and the bottom plate 10 remain stationary.

[0070] The screw structure 30 is connected to the base plate 10 via a screw connector 50 , so that the position of the screw structure 30 can be limited to prevent the screw structure 30 from generating radial displacement when rotating, while not affecting the rotation of the screw structure 30 .

[0071] In some embodiments, the head of the screw connector 50 is located in the first through hole 12, so that the head of the screw connector 50 is hidden and does not affect the appearance of the device.

[0072] Optionally, a groove is provided on the side of the gasket 40 facing the base plate 10, and a second through hole 41 is set through the bottom of the groove. The head of the screw connector 50 is partially embedded in the groove. The groove can position the head of the screw connector 50 to prevent the screw connector 50 from shaking.

[0073] In some embodiments of the present invention, see Figure 3 and Figure 4 The screw structure 30 includes a screw body 31 and a knob 32 fixed to one end of the screw body 31. The screw body 31 has an external thread threadedly connected to the threaded hole 23, and the knob 32 is used to abut against the bottom plate 10. The screw body 31 is threadedly connected to the clamp seat 20, and the rotation of the screw body 31 drives the translation of the clamp seat 20. When the knob 32 rotates, it can drive the rotation of the screw body 31, which is more convenient for manual tightening operation.

[0074] The screw structure 30 includes a screw body 31 and a knob 32 . The knob 32 is convenient for the user to operate by hand, and the contact area between the knob 32 and the clamping seat 20 is large, so the clamping seat 20 is less likely to be scratched.

[0075] In some embodiments, a gasket 40 is fixed to the first side of the base plate 10 , and the knob 32 and the gasket 40 abut against each other.

[0076] In some embodiments, see Figure 2 The outer periphery of the knob 32 is provided with a recessed structure 321, or a texture structure for increasing the surface roughness.

[0077] When holding the knob 32, the concave structure 321 provides a holding position for fingers, making it more convenient to manually rotate the knob 32. The texture structure increases the roughness of the outer periphery of the knob 32 to prevent the knob 32 from slipping when being held.

[0078] Optionally, there are multiple recessed structures 321 , which are sequentially arranged along the outer periphery of the knob 32 .

[0079] Optionally, the texture structure may be strip-shaped protrusions, strip-shaped depressions, convex points, patterns, etc.

[0080] In some embodiments of the present invention, see Figure 5 The housing structure 101 includes a bottom plate 10 and a side plate 60 connected to the bottom plate 10. The side plate 60 is provided with an adjustment hole 61 for exposing the knob 32. At least a portion of the knob 32 is exposed outside the housing structure 101. Specifically, at least a portion of the knob 32 is disposed through the adjustment hole 61.

[0081] By providing the adjustment hole 61 on the side plate 60 , the knob 32 can be at least partially exposed, so that the user can rotate the knob 32 conveniently, and the knob 32 can be screwed from the outside.

[0082] In some embodiments of the present invention, see Figure 3 and Figure 4 The screw body 31 includes a screw head 311, a screw segment 312 having an external thread, and a connecting segment 313 which are connected in sequence, and the screw segment 312 is threadedly connected to the clamp seat 20. The radial dimension of the screw head 311 is greater than the radial dimension of the screw segment 312, so the screw head 311 cannot pass through the threaded hole 23, and the screw head 311 abuts against the surface of the clamp seat 20.

[0083] The screw body 31 includes a screw head 311 , a screw segment 312 and a connecting segment 313 which are connected in sequence, and can not only realize a threaded connection with the clamping seat 20 , but also realize a fixed connection with the knob 32 .

[0084] In some embodiments, the knob 32 is provided with a connecting hole, and the connecting section 313 is inserted into the connecting hole. The cross-section of the connecting hole and the cross-section of the connecting section 313 match each other, and the knob 32 and the connecting section 313 can be fixedly connected by interference fit, welding fixation, fixing part connection, etc.

[0085] Optionally, the connecting hole is a transmission hole, that is, when the knob 32 rotates, the connecting section 313 rotates synchronously with the knob 32. The cross section of the connecting hole is non-circular, such as D-shaped, C-shaped, racetrack-shaped, etc.

[0086] In some embodiments of the present invention, see Figure 1The number of the clamping seat 20 and the screw structure 30 are both multiple, and are arranged at intervals on the bottom plate 10. In this way, the multiple clamping seats 20 cooperate with each other to clamp larger objects, or each clamping seat 20 clamps different objects, which can make the function of the device more complete and rich.

[0087] In some embodiments, a notch 11 for the clamping seat 20 to pass through is provided at the edge of the bottom plate 10 , and the clamping seat 20 is disposed at the edge of the bottom plate 10 , and a plurality of clamping seats 20 are sequentially spaced around the edge of the bottom plate 10 .

[0088] In some embodiments of the present invention, the base plate 10 is the base plate of the outer shell structure of the device, the outer shell structure has a accommodating cavity, and the screw structure 30 and at least part of the clamp seat 20 are shielded by the outer shell structure, thereby improving the structural integrity of the device and providing protection for the clamp seat 20, the screw structure 30, etc.

[0089] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A desktop upper limb rehabilitation robot, characterized in that: It includes a shell structure with a base plate, a screw structure, and a clamping seat arranged through the base plate, the clamping seat has a threaded hole and a clamping portion respectively located on opposite sides of the base plate, the screw structure is threadedly connected to the threaded hole, and one end of the screw structure abuts against the base plate, so that the clamping seat can move linearly, and the clamping portion and the base plate cooperate to clamp the desktop.

2. The desktop upper limb rehabilitation robot according to claim 1, characterized in that: At least part of the screw structure and at least part of the clamping seat are located in the inner cavity of the shell structure.

3. The desktop upper limb rehabilitation robot according to claim 2, characterized in that: The clamping seat includes a sliding frame and the clamping part connected to each other. The sliding frame is arranged through the bottom plate, and the threaded hole is opened on the side of the sliding frame away from the clamping part. The side of the sliding frame away from the clamping part is located in the inner cavity of the shell structure.

4. The desktop upper limb rehabilitation robot according to claim 3, characterized in that: A notch is provided at the edge of the bottom plate, and the sliding frame is at least partially embedded in the notch; or, an avoidance hole is provided on the bottom plate, and the sliding frame is disposed through the avoidance hole.

5. The desktop upper limb rehabilitation robot according to claim 3, characterized in that: The sliding frame includes a first connecting section, a second connecting section, a third connecting section and a fourth connecting section which are connected end to end in sequence, so that the sliding frame is frame-shaped, the threaded hole is arranged on the first connecting section, the clamping part is connected to the third connecting section, and the second connecting section and the fourth connecting section are both arranged through the bottom plate.

6. The desktop upper limb rehabilitation robot according to any one of claims 1 to 5, characterized in that: A gasket is arranged on one side of the bottom plate facing the screw structure, and one end of the screw structure abuts against the gasket.

7. The desktop upper limb rehabilitation robot according to claim 6, characterized in that: A screw connector is fixed on the side of the screw structure facing the gasket, a first through hole is provided on the bottom plate, a second through hole is provided on the gasket, the screw connector passes through the first through hole and the second through hole, and is threadedly connected to the screw structure.

8. The desktop upper limb rehabilitation robot according to any one of claims 1 to 5, characterized in that: The screw structure comprises a screw body and a knob fixed to one end of the screw body, the screw body has an external thread threadedly connected to the threaded hole, and the knob is used to abut against the bottom plate.

9. The desktop upper limb rehabilitation robot according to claim 8, characterized in that: The shell structure includes the bottom plate and a side plate connected to the bottom plate, and the side plate is provided with an adjustment hole for exposing the knob.

10. The desktop upper limb rehabilitation robot according to claim 8, characterized in that: The screw body comprises a screw head, a screw segment with an external thread, and a connecting segment fixedly connected to the knob, which are connected in sequence. The screw segment is threadedly connected to the clamp seat.

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