Rehabilitation intelligent agent suitable for complete-process rehabilitation of institutions and families

Abstract

The invention discloses a rehabilitation intelligent body suitable for mechanism and family full-process rehabilitation, and belongs to the technical field of medical auxiliary instruments, and the rehabilitation intelligent body suitable for mechanism and family full-process rehabilitation comprises a support, a control cabinet, a mounting seat, a rotating part, a limb rehabilitation mechanism, a fixing seat, a rotating shaft and a locking part. A plurality of supporting arms are fixedly connected to the outer wall of the upper side of the locking part, and a cushion is connected to the upper ends of the supporting arms; and the driving mechanism is arranged on the support and is used for driving the rotating part to synchronously rotate when the cushion axially swings around the rotating shaft. When the rotating shaft rotates, the driving mechanism is triggered to act, so that the driving mechanism drives the rotating part to rotate, and the rotating part drives the limb rehabilitation mechanism to swing towards the inclination direction of the body of the patient, so that when the body of the patient inclines, the arms and the body of the patient still keep a fixed posture, and muscle or ligament traction is prevented; and the influence on rehabilitation training caused by pain is avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical assistive devices, and specifically relates to a rehabilitation intelligent body suitable for full-process rehabilitation of institutions and families. Background Art

[0002] Rehabilitation robots are innovative products that combine advanced technology and medical needs. They provide new possibilities for patients' rehabilitation treatment and are gradually attracting people's attention. In 2024, China's rehabilitation robot industry showed some important development trends and characteristics. (1) Industry chain structure: The upstream of the rehabilitation robot industry chain includes hardware such as reducers, servo motors, controllers, sensors, and related software systems. The midstream is different types of rehabilitation robots, such as upper limb, lower limb, hand and joint rehabilitation robots. The downstream is the demand side of rehabilitation robots, mainly including various medical institutions and patients. (2) Market size and growth: As an important branch of the medical robot field, rehabilitation robots have been widely used in rehabilitation care, prostheses and rehabilitation treatment. With the increase in patient groups such as the elderly, postoperative people, chronic disease patients and disabled people, the demand for rehabilitation robots is also growing. (3) Technology development: The research on rehabilitation robots covers multiple fields such as rehabilitation medicine, biomechanics, mechanics, materials science and robotics, and has become a research hotspot in robotics technology. These robots can be classified according to their functions, targeted body parts, human-machine integration methods and movement methods.

[0003] For unilateral upper limb rehabilitation training, patients often use rehabilitation robots to perform arm lifting and arm bending training. After searching, Chinese patent publication No. CN105726260A discloses a medical rehabilitation training device, specifically an interchangeable upper limb rehabilitation robot, including a movable base plate, a control cabinet, a column lifting column, an interchangeable upper limb rehabilitation mechanism and an adjustable height seat. The control cabinet and the column lifting column are fixedly arranged on the upper rear end of the movable base plate, the lower part of the column lifting column is fixedly arranged in the control cabinet, and the interchangeable upper limb rehabilitation mechanism is movably fixed to the top of the column lifting column. The interchangeable upper limb rehabilitation mechanism includes, in order of connection, a shoulder joint adduction and abduction mechanism, a shoulder joint flexion and extension mechanism, a shoulder joint internal rotation and external rotation mechanism, an elbow joint flexion and extension mechanism, a forearm internal rotation and external rotation mechanism and a wrist and finger joint extension mechanism.

[0004] When the rehabilitation training robot in the above-mentioned prior art is in use, the patient sits on a chair with his arms tied to a rehabilitation mechanism for training and rehabilitation. However, due to long-term rehabilitation training, the patient will become tired, which will cause his body to tilt left and right. When the body tilts, since the arms are still tied to the rehabilitation mechanism, the ligaments or muscles related to the arms will be pulled when the body tilts, causing pain to the patient and affecting the rehabilitation training effect. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a rehabilitation intelligent body suitable for full-process rehabilitation in institutions and families.

[0006] The technical solution adopted to solve the above technical problems is: A rehabilitation intelligent body suitable for full-process rehabilitation in institutions and families, comprising a support mounted on the top of a mobile base, a control cabinet being provided on the upper end of the support, and further comprising: A mounting base fixedly connected to the top of the control cabinet, wherein a rotating part is rotatably connected to the mounting base; A limb rehabilitation mechanism fixedly connected to the rotating part; A fixing seat connected to the side wall of the support, wherein the fixing seat has an open top and a hollow interior; A rotating shaft connected to the support in a horizontal rotation, one end of the rotating shaft penetrates into the inner cavity of the fixing seat and rotates freely, one end of the rotating shaft penetrates into the inner cavity of the fixing seat is connected to a locking portion, a plurality of supporting arms are fixedly connected to the outer wall of the upper side of the locking portion, and a cushion is horizontally connected to the upper ends of the plurality of supporting arms; A driving mechanism is arranged on the support, and is used to drive the rotating part to rotate synchronously when the seat cushion swings around the axial direction of the rotating shaft.

[0007] Through the above technical solution, when the patient sits on the cushion, when the patient's body tilts left or right, the rotating shaft will rotate. When the rotating shaft rotates, it will trigger the driving mechanism to drive the rotating part to rotate, and the rotating part drives the limb rehabilitation mechanism to swing in the direction of the patient's body tilt. When the patient's body tilts, his arms and body still maintain a fixed posture, preventing pulling of muscles or ligaments, avoiding pain and affecting the effect of rehabilitation training.

[0008] Furthermore, a touch screen is installed on one side of the fixing base.

[0009] Through the above technical solution, the touch screen is electrically connected to the control cabinet, so that the patient can operate the touch screen to adjust the impedance of the limb rehabilitation mechanism, so that the patient's rehabilitation training intensity can be adjusted.

[0010] Furthermore, the limb rehabilitation mechanism includes a suspension arm fixedly connected to the end of the rotating part, and a shoulder rotation drive motor is provided at one end of the suspension arm away from the rotating part, and the output end of the shoulder rotation drive motor is drivingly connected to a first connecting arm, and the end of the first connecting arm away from the shoulder rotation drive motor is rotatably connected to a second connecting arm, a joint rotation drive motor is installed on the outer wall of the first connecting arm, and the output end of the joint rotation drive motor is drivingly connected to the second connecting arm, and an arm restraint unit is respectively provided on the first connecting arm and the second connecting arm.

[0011] Through the above technical solution, the shoulder rotation drive motor drives the first connecting arm to rotate and swing on the horizontal plane, thereby cooperating with the patient to perform shoulder flexion rehabilitation training. The joint rotation drive motor drives the second connecting arm to rotate and swing on the longitudinal plane, thereby cooperating with the patient to perform elbow joint flexion rehabilitation training.

[0012] Furthermore, the arm restraint unit includes a fixed bracket fixedly connected to the side walls of the first connecting arm and the second connecting arm, a supporting opening is opened on the upper surface of the fixed bracket, a restraint belt is fixedly connected to one side of the top of the fixed bracket, and a clamping assembly is provided on the fixed bracket for clamping the end of the restraint belt that is not connected to the fixed bracket.

[0013] Through the above technical solution, the clamping assembly clamps the restraint belt, and after the patient's arm is inserted between the restraint belt and the supporting opening, the restraint belt can restrain the patient's arm.

[0014] Furthermore, torque sensors are provided on the output shafts of the shoulder rotation drive motor and the joint rotation drive motor, the touch screen is built-in with a detection processing unit and an artificial intelligence module, and three-dimensional force sensors and motion sensors are installed at the rotation fulcrums of the first connecting arm and the second connecting arm. The three-dimensional force sensor is used to detect the magnitude and direction of the force acting on the rotation fulcrums of the first connecting arm and the second connecting arm, and the torque sensor and the motion sensor collect the speed, direction, and torque parameters of the shoulder rotation drive motor and the joint rotation drive motor in real time. The three-dimensional force sensor feeds back the collected force magnitude and direction parameters, as well as the parameters collected in real time by the torque sensor and the motion sensor to the detection processing unit and the artificial intelligence module of the touch screen, and the artificial intelligence module analyzes the parameters, establishes an intelligent evaluation model, and generates a rehabilitation evaluation result for the patient based on the data model.

[0015] Through the above technical solution, the entire rehabilitation process of the patient can be evaluated more intelligently, so that the patient can perform targeted exercises.

[0016] Furthermore, the clamping assembly includes a clamping block fixedly connected to the bottom of the fixed bracket, the side wall of the clamping block is provided with a clamping opening in the form of a notch, the top of the fixed bracket is provided with a through opening for the end of the restraining belt to pass through, and two installation grooves are provided in the clamping block from top to bottom, and an electromagnet and a magnetic block are respectively installed in the two installation grooves, and the electromagnet is used in conjunction with the magnetic block.

[0017] Through the above technical scheme, magnetism is generated when the electromagnet is energized, thereby generating magnetic attraction on the magnetic block, so that the magnetic block drives the lower part of the clamping block separated by the clamping mouth to bend upward, so that the inner walls on the upper and lower sides of the clamping mouth can clamp the restraint belt, and then the restraint belt can clamp the patient's arm.

[0018] Furthermore, a power-off mechanism is provided on the top of the control cabinet, and the power-off mechanism is used to disconnect the circuit of the electromagnet. The power-off mechanism includes an insulating block connected to the end of the rotating part, and a conductive shift block is fixedly connected to the insulating block. An insulating seat is provided on the top of the control cabinet, and the interior of the insulating seat is hollow. The lower end of the conductive shift block penetrates into the inner cavity of the insulating seat, and a clearance groove is provided on the top of the insulating seat for the conductive shift block to freely pass through to swing back and forth around the axial direction of the rotating part. Conductive sliding rods are horizontally penetrated on both sides of the insulating seat, and the conductive sliding rods slide freely on the insulating seat. The insulating seat is provided with an elastic driving unit for driving the surface of the conductive sliding rod to abut against the surface of the conductive shift block.

[0019] When the arm is in a state of tension, the spring will release the force from the spring which will cause the arm to move out of the way and the spring will release it from the gripping action of the restraining member, which in turn will cause the restraining member to move out of the way and the gripping action of the restraining member to the next stop.

[0020] Furthermore, the elastic driving unit includes a stopping ring which is sleeved on one end of the conductive sliding rod adjacent to the conductive shift block, a plastic spring is sleeved around the periphery of the conductive sliding rod, and both ends of the plastic spring in the elastic force direction elastically press against the stopping ring and the inner wall of the insulating seat respectively, and the other end of the conductive sliding rod is fixedly sleeved on a limiting nut.

[0021] Through the above technical solution, the plastic spring generates an elastic resisting force on the stop ring, thereby causing the conductive sliding rod to move toward the conductive shift block until the ends of the two conductive sliding rods are respectively connected to the outer walls on both sides of the conductive shift block. In addition, the limit nut is used to limit the movement of the conductive sliding rod toward the conductive shift block.

[0022] Furthermore, the driving mechanism includes a worm gear rotatably connected to the outer wall of the support, a worm portion is provided at one end of the rotating shaft away from the fixed seat, the worm portion and the worm gear are meshed, the outer wall of the support is also connected to a mounting block, a driving rod is vertically penetrated through the mounting block, a connecting plate is fixedly connected to the lower end of the driving rod, rack rods are vertically fixedly connected to both sides of the connecting plate, gears are coaxially connected to both ends of the worm gear, the two gears are respectively meshed with the two rack rods, a hinge rod is hinged at the upper end of the driving rod, a connecting shaft is coaxially fixed to the end of the rotating portion, a swing arm is fixedly sleeved on the connecting shaft, and the swing arm is hinged to the upper end of the hinge rod.

[0023] Through the above technical scheme, when the patient's body tilts left or right, the seat cushion will rotate around the axial direction of the rotating shaft. When the rotating shaft rotates, the worm part will be driven to rotate, and the worm part will mesh with the worm wheel for transmission, thereby driving the gear to rotate. The gear will mesh with the rack rod, thereby causing the rack rod to drive the driving rod to move up and down slightly, and the hinge rod will drive the swing arm to swing, so that the rotating part can rotate slightly, thereby allowing the patient's arm and body to maintain a relatively fixed posture. In addition, since the meshing of the worm wheel and the worm part has mechanical self-locking properties, the rotating part will be in a stable state after the rotating shaft stops rotating, thereby preventing the rotating part from rotating on its own and causing the suspension arm to shake.

[0024] Furthermore, a plurality of dampers are vertically mounted on the inner bottom wall of the inner cavity of the fixing seat, and the telescopic ends of the dampers are abutted and connected to the bottom of the supporting arm.

[0025] Through the above technical solution, the damper generates a damping force on the left and right swing of the seat cushion, so that after the patient's body is straightened, the two sides of the seat cushion can be quickly reset.

[0026] The beneficial effects of the present invention are as follows: (1) The present invention rotates the shaft, which triggers the driving mechanism to rotate, so that the driving mechanism drives the rotating part to rotate, and the rotating part drives the limb rehabilitation mechanism to swing in the direction of the patient's body tilt, so that when the patient's body tilts, his arm and body still maintain a fixed posture, preventing the muscles or ligaments from being stretched, and avoiding the pain that affects the effect of rehabilitation training; (2) The present invention generates an elastic resisting force on the conductive sliding rod through the elastic driving unit, so that the end of the conductive sliding rod is against the surface of the conductive shift block. When the rotating part rotates, the conductive shift block will generate a thrust on one of the conductive sliding rods, so that the conductive sliding rod slides toward the outside of the insulating seat. When the rotation stroke of the rotating part is large, the other conductive sliding rod will be separated from the contact with the conductive shift block, thereby making the circuit of the electromagnet in an open circuit state, so that the electromagnet loses its magnetism when it is powered off, and the magnetic attraction force on the magnetic block disappears, so that the two parts of the clamping block divided by the clamping mouth are quickly separated, and the clamping force of the inner wall of the clamping mouth on the restraint belt disappears. At this time, the clamping force of the restraint belt on the patient's arm is reduced, thereby preventing the patient's body from being tilted too much, resulting in the arm being unable to quickly break away from the restraint state of the restraint belt, and causing the arm to be pulled; (3) The present invention generates axial rotation around the rotating shaft through the seat cushion. When the rotating shaft rotates, it will drive the worm part to rotate. The worm part meshes with the worm wheel for transmission, thereby driving the gear to rotate. The gear meshes with the rack rod, thereby causing the rack rod to drive the driving rod to move up and down slightly, and causing the hinge rod to drive the swing arm to swing, so that the rotating part can rotate slightly, thereby allowing the patient's arm and body to maintain a relatively fixed posture. In addition, since the meshing of the worm wheel and the worm part has a mechanical self-locking property, the rotating part will be in a stable state after the rotating shaft stops rotating, thereby preventing the rotating part from rotating by itself and causing the suspension arm to shake; (4) By setting up motion sensors, torque sensors, three-dimensional force sensors and touch screens, the mechanical and motion parameters of patients during rehabilitation can be detected in real time. The built-in artificial intelligence module on the touch screen automatically generates rehabilitation assessment results and provides real-time feedback on rehabilitation training based on the mechanical, motion parameters and rehabilitation assessment results. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of a rehabilitation intelligent body suitable for full-process rehabilitation in institutions and families in the present invention; Figure 2 yes Figure 1 A magnified schematic diagram of the local structure at point A; Figure 3 yes Figure 1 Schematic diagram of the structure at a medium upward viewing angle; Figure 4 yes Figure 1 A schematic diagram of the structure after the protective cover is omitted in the side view angle; Figure 5 yes Figure 4 The schematic diagram of the structure after the control cabinet, protective cover, rotating part and fixed seat are omitted; Figure 6 yes Figure 5 Schematic diagram of the structure at a medium upward viewing angle; Figure 7 It is a schematic diagram of the structure after the fixing bracket, the clamping block and the restraining belt are assembled in the present invention; Figure 8 yes Figure 7 Schematic diagram of the cross-sectional structure at a mid-frontal angle.

[0028] Figure numerals: 1, support; 2, control cabinet; 3, protective cover; 4, mounting seat; 5, rotating part; 6, suspension arm; 7, shoulder rotation drive motor; 8, first connecting arm; 9, joint rotation drive motor; 10, second connecting arm; 11, lifting handle; 12, fixing bracket; 13, touch screen; 14, fixing seat; 15, cushion; 16, conductive dial block; 17, avoidance groove; 18, plastic spring; 19, stop ring; 20, conductive sliding rod; 21, limit nut; 22, insulating seat; 2 3. Insulating block; 24. Connecting shaft; 25. Swing arm; 26. Hinge rod; 27. Driving rod; 28. Mounting block; 29. ​​Rack rod; 30. Worm part; 31. Worm wheel; 32. Damper; 33. Locking part; 34. Support arm; 35. Rotating shaft; 36. Gear; 37. Connecting plate; 38. Restraint belt; 39. Supporting mouth; 40. Clamping block; 41. Clamping mouth; 42. Magnetic block; 43. Electromagnet; 44. Motion sensor; 45. Three-dimensional force sensor; 46. Torque sensor. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of 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.

[0030] like Figure 1-Figure 8 As shown, this embodiment provides a rehabilitation intelligent body suitable for full-process rehabilitation of institutions and families, including a mobile base, a plurality of rollers are installed at the bottom of the mobile base, and a support 1 is installed on the top of the mobile base, a control cabinet 2 is installed on the upper end of the support 1, and a computer device is installed in the control cabinet 2. A mounting seat 4 is fixedly connected to the top of the control cabinet 2, and a rotating part 5 is horizontally rotatably connected to the mounting seat 4, and a suspension arm 6 is fixedly connected to the end of the rotating part 5. A shoulder rotation drive motor 7 is provided at one end of the suspension arm 6 away from the rotating part 5, and a first connecting arm 8 is rotatably connected to the output end of the shoulder rotation drive motor 7, and a second connecting arm 10 is rotatably connected to the end of the first connecting arm 8 away from the shoulder rotation drive motor 7. A joint rotation drive motor 9 is installed on the outer wall of the first connecting arm 8, and the output end of the joint rotation drive motor 9 is drivably connected to the second connecting arm 10. The shoulder rotation drive motor 7 can drive the first connecting arm 8 to rotate in a horizontal plane, and the joint rotation drive motor 9 can drive the second connecting arm 10 to rotate in a longitudinal plane. Combination Figure 4 , Figure 5 and Figure 6 As shown, a fixing seat 14 is installed on the side wall of the support 1, the fixing seat 14 is hollow inside and its top is open, a rotating shaft 35 is horizontally penetrated on the support 1, and the rotating shaft 35 is rotatably connected to the support 1, and one end of the rotating shaft 35 penetrates into the inner cavity of the fixing seat 14, and the rotating shaft 35 can rotate freely on the fixing seat 14, and one end of the rotating shaft 35 penetrates into the inner cavity of the fixing seat 14 is connected with a locking portion 33, and a plurality of supporting arms 34 are fixedly connected to the upper outer wall of the locking portion 33, and a plurality of supporting arms 34 are commonly and horizontally connected to a cushion 15 at the upper ends, and the top surface of the cushion 15 is not lower than the top surface of the fixing seat 14, and a touch screen 13 is installed on one side of the fixing seat 14, and the touch screen 13 is electrically connected to the control cabinet 2, and the UI interface of the touch screen 13 at least displays a shoulder training intensity adjustment interface and a joint training intensity adjustment interface, and the patient can adjust the impedance of the shoulder rotation drive motor 7 and the joint rotation drive motor 9 by clicking the shoulder training intensity adjustment interface and the joint training intensity adjustment interface; Combination Figure 6 , Figure 7 and Figure 8 As shown, the side walls of the first connecting arm 8 and the second connecting arm 10 are respectively connected to a fixed bracket 12, and a holding opening 39 is provided on the upper surface of the fixed bracket 12. The opening of the holding opening 39 faces upward and has an arc-shaped cross-section, so that the patient's arm can be positioned in the holding opening 39. A restraining belt 38 is fixedly connected to one side of the top of the fixed bracket 12, and a lifting handle 11 is provided at the end of the second connecting arm 10 away from the first connecting arm 8. A clamping block 40 is fixedly connected to the bottom of the fixed bracket 12, and a clamping opening 41 in the form of a notch is provided on the side wall of the clamping block 40. A through opening is provided on the top of the fixed bracket 12 for the end of the restraining belt 38 to pass through, and two installation grooves are provided in the clamping block 40 from top to bottom, and electromagnetic Iron 43 and magnetic block 42 The electromagnet 43 is used in conjunction with the magnetic block 42, and the magnetic block 42 is made of any one of iron, cobalt and nickel. When the electromagnet 43 is energized, the electromagnet 43 will generate magnetism and generate magnetic attraction to the magnetic block 42. The patient holds the lifting handle 11 with his hand and lifts the lifting handle 11 upward, thereby driving the first connecting arm 8 to swing upward for exercise and rehabilitation. In addition, the electromagnet 43 generates magnetism after being energized, thereby generating magnetic attraction to the magnetic block 42, so that the magnetic block 42 drives the lower part of the clamping block 40 divided by the clamping opening 41 to bend upward, so that the inner walls on the upper and lower sides of the clamping opening 41 can clamp the restraint belt 38, thereby enabling the restraint belt 38 to clamp the patient's arm; Combination Figure 1 to Figure 2As shown, an insulating seat 22 is connected to the top of the control cabinet 2, and the inside of the insulating seat 22 is hollow. An insulating block 23 is connected to the end of the rotating part 5. A conductive shift block 16 is fixed to the insulating block 23. The lower end of the conductive shift block 16 penetrates into the inner cavity of the insulating seat 22. A free groove 17 is provided on the top of the insulating seat 22 for the conductive shift block 16 to swing back and forth freely around the axial direction of the rotating part 5. Conductive sliding rods 20 are horizontally penetrated on both sides of the insulating seat 22. One end of the conductive sliding rod 20 is connected to the positive or negative pole of the power supply device in the control cabinet 2 through a cable. The two electromagnets 43 are installed in series. The other conductive sliding rod 20 is connected to the positive or negative pole of the power supply device in the control cabinet 2 through a cable. The two electromagnets 43 are installed in series. The end of the rod 20 is connected to the positive or negative pole of one of the electromagnets 43 through a cable, and the negative or positive pole of the other electromagnet 43 is connected to the negative or positive pole of the power supply device, so that when the surface of the conductive block 16 abuts against the end of the conductive sliding rod 20, the electromagnet 43 and the power supply device are in a conductive state, so that the power supply device can supply power to the electromagnet 43, and the conductive sliding rod 20 slides freely on the insulating seat 22, and a stop ring 19 is fixedly sleeved on one end of the conductive sliding rod 20 adjacent to the conductive block 16, and a plastic spring 18 is sleeved around the periphery of the conductive sliding rod 20, and the elastic force of the plastic spring 18 The two ends of the conductive sliding rod 20 elastically abut against the stop ring 19 and the inner wall of the insulating seat 22 respectively, and the other end of the conductive sliding rod 20 is fixedly sleeved with the limit nut 21, and the plastic spring 18 generates an elastic abutting force on the stop ring 19, thereby causing the conductive sliding rod 20 to move in the direction of the conductive shift block 16 until the ends of the two conductive sliding rods 20 are respectively in contact with the outer walls of the two sides of the conductive shift block 16. When the rotating part 5 rotates, the conductive shift block 16 will generate a thrust on one of the conductive sliding rods 20, causing the conductive sliding rod 20 to slide toward the outer side of the insulating seat 22. When the rotating part 5 rotates, the conductive shift block 16 will generate a thrust on one of the conductive sliding rods 20. When the position of the conductive sliding rod 20 is relatively large, the other conductive sliding rod 20 will be out of contact with the conductive shifting block 16, thereby causing the circuit of the electromagnet 43 to be in an open circuit state, causing the electromagnet 43 to be powered off and lose its magnetism, thereby causing the magnetic attraction force on the magnetic conductive block 42 to disappear, causing the two parts of the clamping block 40 divided by the clamping opening 41 to be quickly separated, thereby causing the clamping force of the inner wall of the clamping opening 41 on the restraining belt 38 to disappear. At this time, the clamping force of the restraining belt 38 on the patient's arm is reduced, thereby preventing the patient's body from being tilted too much, resulting in the arm being unable to quickly escape from the restraining state of the restraining belt 38, and causing the arm to be pulled; Combination Figure 4 , Figure 5 and Figure 6As shown, the outer wall of the support 1 is horizontally rotatably connected with a worm wheel 31, and a worm part 30 is provided at one end of the rotating shaft 35 away from the fixed seat 14, and the worm part 30 and the worm wheel 31 are meshed. The outer wall of the support 1 is also connected to a mounting block 28, and a driving rod 27 is vertically penetrated on the mounting block 28. A connecting plate 37 is fixedly connected to the lower end of the driving rod 27, and rack rods 29 are vertically fixedly connected to both sides of the connecting plate 37. Gears 36 are coaxially connected to the two ends of the worm wheel 31, and the two gears 36 are respectively meshed with the two rack rods 29. The upper end of the driving rod 27 is hinged There is a hinge rod 26, and the end of the rotating part 5 is coaxially fixed with a connecting shaft 24. A swing arm 25 is fixedly sleeved on the connecting shaft 24. The swing arm 25 is hinged to the upper end of the hinge rod 26. When the patient's body tilts left and right, the seat cushion 15 rotates axially around the rotating shaft 35. When the rotating shaft 35 rotates, it will drive the worm part 30 to rotate. The worm part 30 is meshed with the worm wheel 31 for transmission, and then the gear 36 is driven to rotate. The gear 36 is meshed with the rack rod 29, and then the rack rod 29 drives the driving The rod 27 moves up and down with a small amplitude, and the hinge rod 26 drives the swing arm 25 to swing, so that the rotating part 5 can rotate with a small amplitude, so as to drive the first connecting arm 8 and the second connecting arm 10 to rotate with a small amplitude around the axial direction of the rotating part 5, thereby keeping the patient's arm and body in a relatively fixed posture. In addition, since the meshing of the worm wheel 31 and the worm part 30 has a mechanical self-locking property, the rotating part 5 will be in a stable state after the rotating shaft 35 stops rotating, thereby preventing the rotating part 5 from rotating by itself and driving the patient's arm and body to rotate. The suspension arm 6 shakes, and a plurality of dampers 32 are vertically installed on the inner bottom wall of the inner cavity of the fixed seat 14. The telescopic end of the damper 32 contacts the bottom of the connecting arm 34, and the damper 32 generates a damping force on the left and right swing of the cushion 15, so that after the patient's body is straightened, both sides of the cushion 15 can be quickly reset. In addition, a protective cover 3 is jointly installed on the outer wall of the support 1 and the control cabinet 2, so that components such as the worm part 30, the worm wheel 31, and the drive rod 27 are accommodated in the protective cover 3, and these components are protected by the protective cover 3.

[0031] The working principle of this embodiment is as follows: The patient sits on the cushion 15 and inserts his arms into the holding openings 39 of the two fixed brackets 12, then passes the end of the restraint belt 38 around the patient's arm and inserts it into the through opening of the fixed bracket 12, and then inserts the end of the restraint belt 38 into the clamping opening 41 of the clamping block 40. The patient presses the power supply of the electromagnet 43 on the touch screen 13, so that the power supply device supplies power to the electromagnet 43, so that the electromagnet 43 is energized and generates magnetism, thereby generating magnetic attraction to the magnetic conductive block 42, so that the magnetic conductive block 42 drives the lower part of the clamping block 40 divided by the clamping opening 41 to bend upward, so that the inner walls of the upper and lower sides of the clamping opening 41 can clamp the restraint belt 38, and then the restraint belt 38 can clamp the patient's arm; The patient clicks the shoulder training intensity adjustment interface and the joint training intensity adjustment interface on the touch screen 13, and then can adjust the impedance of the shoulder rotation drive motor 7 and the joint rotation drive motor 9. Then the patient raises his arm and bends his shoulder, so that the impedance of the shoulder rotation drive motor 7 and the joint rotation drive motor 9 is used to perform rehabilitation training on the patient. An artificial intelligence module is installed in the touch screen 13. The artificial intelligence module can record the rotation amplitude parameters of the first connecting arm 8 and the second connecting arm 10 corresponding to the impedance of the shoulder rotation drive motor 7 and the joint rotation drive motor 9, and generate a model, so that it is convenient to monitor and record the patient's rehabilitation training intensity according to the model at a later time. When the patient's body tilts left or right, the cushion 15 rotates axially around the shaft 35. When the shaft 35 rotates, the worm part 30 is driven to rotate. The worm part 30 meshes with the worm wheel 31 for transmission, thereby driving the gear 36 to rotate. The gear 36 meshes with the rack rod 29, thereby causing the rack rod 29 to drive the drive rod 27 to move up and down slightly, and the hinge rod 26 drives the swing arm 25 to swing, so that the rotating part 5 can rotate slightly, thereby keeping the patient's arm and body in a relatively fixed posture. When the rotation stroke of the rotating part 5 is large, Another conductive sliding rod 20 will be out of contact with the conductive shift block 16, thereby making the circuit of the electromagnet 43 in an open circuit state, so that the electromagnet 43 is powered off and loses its magnetism, and the magnetic attraction to the magnetic conductive block 42 disappears, so that the two parts of the clamping block 40 divided by the clamping opening 41 are quickly separated, and the clamping force of the inner wall of the clamping opening 41 on the restraining belt 38 disappears. At this time, the clamping force of the restraining belt 38 on the patient's arm is reduced, thereby preventing the patient's body from tilting too much, resulting in the arm being unable to quickly break away from the restraining state of the restraining belt 38, and causing the arm to be pulled; In addition, in this embodiment, a torque sensor 46 is provided on the output shaft of the shoulder rotation drive motor 7 and the joint rotation drive motor 9, the touch screen 13 is built with a detection processing unit and an artificial intelligence module, and a three-dimensional force sensor 45 and a motion sensor 44 are installed at the rotation fulcrum of the first connecting arm 8 and the second connecting arm 10. The three-dimensional force sensor 45 is used to detect the magnitude and direction of the force acting on the rotation fulcrum of the first connecting arm 8 and the second connecting arm 10. The torque sensor 46 and the motion sensor 44 collect the speed, direction, and torque parameters of the shoulder rotation drive motor 7 and the joint rotation drive motor 9 in real time. The three-dimensional force sensor 45 feeds back the collected force magnitude and direction parameters, as well as the parameters collected in real time by the torque sensor 46 and the motion sensor 44 to the detection processing unit and the artificial intelligence module of the touch screen 13. The artificial intelligence module analyzes the parameters and establishes an intelligent evaluation model. Based on the data model, a rehabilitation evaluation result for the patient is generated, and the mechanical and motion parameters of the patient during the rehabilitation process are detected in real time. The artificial intelligence module built into the touch screen 13 automatically generates the rehabilitation evaluation result, and provides real-time feedback on rehabilitation training based on the mechanical, motion parameters and rehabilitation evaluation results.

[0032] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention.

Claims

1. A rehabilitation intelligent body suitable for full-process rehabilitation in institutions and families, comprising a support (1) mounted on the top of a mobile base, wherein a control cabinet (2) is provided at the upper end of the support (1), characterized in that: Also includes: A mounting base (4) fixedly connected to the top of the control cabinet (2), wherein a rotating portion (5) is rotatably connected to the mounting base (4); A limb rehabilitation mechanism fixedly connected to the rotating part (5); A fixing seat (14) connected to the side wall of the support (1), wherein the fixing seat (14) is open at the top and hollow inside; A rotating shaft (35) is horizontally rotatably connected to the support (1), one end of the rotating shaft (35) penetrates into the inner cavity of the fixed seat (14) and rotates freely, one end of the rotating shaft (35) penetrates into the inner cavity of the fixed seat (14) and is connected to a locking portion (33), a plurality of supporting arms (34) are fixedly connected to the upper outer wall of the locking portion (33), and the upper ends of the plurality of supporting arms (34) are horizontally connected to a seat cushion (15); A driving mechanism is provided on the support (1), and is used to drive the rotating part (5) to rotate synchronously when the seat cushion (15) swings axially around the rotating shaft (35).

2. The rehabilitation agent suitable for full-process rehabilitation in institutions and families according to claim 1, characterized in that: A touch screen (13) is mounted on one side of the fixing seat (14).

3. The rehabilitation agent suitable for full-process rehabilitation in institutions and families according to claim 2, characterized in that: The limb rehabilitation mechanism comprises a suspension arm (6) fixedly connected to the end of the rotating part (5); a shoulder rotation drive motor (7) is provided at one end of the suspension arm (6) away from the rotating part (5); the output end of the shoulder rotation drive motor (7) is drivingly connected to a first connecting arm (8); the end of the first connecting arm (8) away from the shoulder rotation drive motor (7) is rotatably connected to a second connecting arm (10); a joint rotation drive motor (9) is installed on the outer wall of the first connecting arm (8); the output end of the joint rotation drive motor (9) is drivingly connected to the second connecting arm (10); and an arm restraint unit is respectively provided on the first connecting arm (8) and the second connecting arm (10).

4. The rehabilitation agent suitable for full-process rehabilitation in institutions and families according to claim 3, characterized in that: The arm restraint unit comprises a fixed bracket (12) fixedly connected to the side walls of the first connecting arm (8) and the second connecting arm (10), a holding opening (39) is provided on the upper surface of the fixed bracket (12), a restraining belt (38) is fixedly connected to one side of the top of the fixed bracket (12), and a clamping assembly is provided on the fixed bracket (12) for clamping the end of the restraining belt (38) not connected to the fixed bracket (12).

5. The rehabilitation agent suitable for full-process rehabilitation in institutions and families according to claim 4, characterized in that: The output shafts of the shoulder rotation drive motor (7) and the joint rotation drive motor (9) are provided with torque sensors (46); the touch screen (13) is built with a detection processing unit and an artificial intelligence module; the rotation fulcrums of the first connecting arm (8) and the second connecting arm (10) are provided with three-dimensional force sensors (45) and motion sensors (44); the three-dimensional force sensor (45) is used to detect the magnitude and direction of the force acting on the rotation fulcrums of the first connecting arm (8) and the second connecting arm (10); the torque sensor (46) and the motion sensor (44) collect the speed, direction and torque parameters of the shoulder rotation drive motor (7) and the joint rotation drive motor (9) in real time; the three-dimensional force sensor (45) feeds back the collected force magnitude and direction parameters, and the parameters collected in real time by the torque sensor (46) and the motion sensor (44) to the detection processing unit and the artificial intelligence module of the touch screen (13); the artificial intelligence module analyzes the parameters, establishes an intelligent evaluation model, and generates a rehabilitation evaluation result for the patient based on the data model.

6. The rehabilitation agent suitable for full-process rehabilitation in institutions and families according to claim 4, characterized in that: The clamping assembly comprises a clamping block (40) fixedly connected to the bottom of the fixed bracket (12); a clamping opening (41) in the form of a notch is provided on the side wall of the clamping block (40); a through opening is provided on the top of the fixed bracket (12) for the end of the restraining belt (38) to pass through; two installation grooves are provided in the clamping block (40) from top to bottom; an electromagnet (43) and a magnetic block (42) are respectively installed in the two installation grooves; the electromagnet (43) is used in conjunction with the magnetic block (42).

7. The rehabilitation agent suitable for full-process rehabilitation in institutions and families according to claim 6, characterized in that: A power-off mechanism is provided on the top of the control cabinet (2), and the power-off mechanism is used to disconnect the circuit of the electromagnet (43). The power-off mechanism comprises an insulating block (23) connected to the end of the rotating part (5), and a conductive shifting block (16) is fixedly connected to the insulating block (23). An insulating seat (22) is provided on the top of the control cabinet (2), and the interior of the insulating seat (22) is hollow. The lower end of the conductive shifting block (16) penetrates into the inner cavity of the insulating seat (22). A free groove (17) is provided on the top of the insulating seat (22) for the conductive shifting block (16) to freely pass through and swing back and forth around the axial direction of the rotating part (5). Conductive sliding rods (20) are horizontally penetrated on both sides of the insulating seat (22), and the conductive sliding rods (20) slide freely on the insulating seat (22). An elastic driving unit for driving the surface of the conductive sliding rod (20) to abut against the surface of the conductive shifting block (16) is provided on the insulating seat (22).

8. The rehabilitation agent suitable for full-process rehabilitation in institutions and families according to claim 7, characterized in that: The elastic drive unit comprises a stop ring (19) sleeved on one end of the conductive sliding rod (20) adjacent to the conductive shift block (16); a plastic spring (18) is sleeved around the periphery of the conductive sliding rod (20); two ends of the plastic spring (18) in the elastic force direction elastically abut against the stop ring (19) and the inner side wall of the insulating seat (22), respectively; and the other end of the conductive sliding rod (20) is fixedly sleeved on a limit nut (21).

9. The rehabilitation agent suitable for full-process rehabilitation in institutions and families according to claim 1, characterized in that: The driving mechanism comprises a worm wheel (31) rotatably connected to the outer wall of the support (1); a worm portion (30) is provided at one end of the rotating shaft (35) away from the fixed seat (14); the worm portion (30) is meshed with the worm wheel (31); the outer wall of the support (1) is also connected to a mounting block (28); a driving rod (27) is vertically penetrated through the mounting block (28); a connecting plate (37) is fixedly connected to the lower end of the driving rod (27); the connecting plate (37) A rack rod (29) is vertically fixedly connected to each of the two sides; gears (36) are coaxially connected to each of the two ends of the worm wheel (31); the two gears (36) are respectively meshed with the two rack rods (29); the upper end of the driving rod (27) is hingedly connected to a hinge rod (26); the end of the rotating part (5) is coaxially fixedly connected to a connecting shaft (24); a swing arm (25) is fixedly sleeved on the connecting shaft (24); and the swing arm (25) is hingedly connected to the upper end of the hinge rod (26).

10. The rehabilitation agent suitable for full-process rehabilitation in institutions and families according to claim 9, characterized in that: A plurality of dampers (32) are vertically mounted on the inner bottom wall of the inner cavity of the fixing seat (14), and the telescopic ends of the dampers (32) are abutted and connected to the bottom of the support arm (34).

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