Bedside rehabilitation robot

Abstract

The invention relates to the technical field of medical instruments, in particular to a bedside rehabilitation robot which comprises a supporting assembly, the supporting assembly comprises a base and wheels installed at the four corners of the base, and the base is used for supporting the whole device; the host frame is used for installing electric control equipment; the adjusting assembly comprises a six-axis mechanical arm, and the six-axis mechanical arm is installed on the top of the main machine frame; and the bracket assembly comprises a supporting plate support and a supporting plate, the supporting plate support is installed at the end of the mechanical arm, the supporting plate is installed on the supporting plate support, and the supporting plate is used for bearing the upper limbs of a user. The system has the advantages of clear division of labor of supporting, host, adjusting and bracket assemblies, convenience in installation, maintenance and function expansion, and improvement of practicability and reliability.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a bedside rehabilitation robot. Background Art

[0002] At present, with the increasing aging of society, the number of patients with upper limb dysfunction caused by diseases such as stroke is gradually increasing. Patients with upper limb motor dysfunction need to complete certain movements independently with certain external assistance. For example, if patients are given certain support in the sagittal plane, they can move independently in the horizontal direction. At the same time, as people's quality of life improves, patients will choose to go to the hospital for rehabilitation, which leads to an increase in the contradiction between the imbalance of rehabilitation physicians and patients. It is particularly important for upper limb rehabilitation robots to replace the work of traditional rehabilitation physicians and alleviate the contradiction between doctors and patients.

[0003] In recent years, most of the existing rehabilitation robots can only provide single-joint or two-degree-of-freedom activities, providing patients with simple straight-line, curved or planar movements with limited range of motion and movable joints. A few rehabilitation robots with multiple degrees of freedom can help patients move in three-dimensional space, but the movement space and movement types cannot fully meet the requirements of rehabilitation training. In addition, with the increase of the robot's degrees of freedom, its structure has become very complex, and the requirements for control methods and safety are relatively high. In response to the needs of bedside rehabilitation training, exploring rehabilitation equipment with more effective training and richer functions is crucial to meeting the vast rehabilitation treatment needs in my country. Summary of the invention

[0004] In order to improve the problems in the above-mentioned background technology, the present application provides a bedside rehabilitation robot.

[0005] The present application provides a bedside rehabilitation robot that adopts the following technical solution:

[0006] A bedside rehabilitation robot, comprising

[0007] A support assembly, the support assembly comprising a base and wheels installed at four corners of the base, the base being used to support the entire device;

[0008] A host frame, wherein the host frame is used to install the electric control equipment;

[0009] An adjustment component, the adjustment component includes a six-axis mechanical arm, and the six-axis mechanical arm is installed on the top of the main frame;

[0010] A bracket assembly, the bracket assembly includes a pallet support and a pallet, the pallet support is installed at the end of the mechanical arm, the pallet is installed on the pallet support, and the pallet is used to support the upper limbs of the user.

[0011] Preferably, the wheels include an outer shell and two wheel bodies, a mounting hole is opened on the base, a mounting tube is fixedly arranged in the mounting hole, a rotating tube is concentrically sleeved on the outer side of the mounting tube, a first bearing is installed between the rotating tube and the mounting tube, the inner ring of the first bearing is fixed on the outer wall of the mounting tube, and the outer ring of the first bearing is fixed on the inner wall of the rotating tube; the rotating tube is fixedly connected to the outer shell; a partition is arranged inside the outer shell, the two wheel bodies are respectively located on both sides of the partition in the thickness direction, a fixing tube is penetrated through the partition, a mounting shaft is arranged in the fixing tube, both ends of the mounting shaft in the length direction respectively extend out of the fixing tube, and the two ends of the mounting shaft in the length direction are respectively connected to the wheel body for rotation through the second bearing.

[0012] Preferably, the wheel locking device includes a first rotating block, a movable cavity is arranged in the rotating tube, the first rotating block is rotatably connected to the movable cavity through a pin shaft, a second rotating block is fixed on the first rotating block, a clamping block is installed on the second rotating block, a clamping plate is fixed on the wheel body, the clamping plate is concentric with the mounting axis, and a clamping groove for the clamping block to be clamped is evenly opened on the outer circular side wall of the clamping plate along its circumference direction; a first spring is arranged between the second rotating block and the inner side wall of the movable cavity; the wheel locking device also includes a driving mechanism for driving the first rotating block to rotate, when the driving mechanism drives the first rotating block to rotate downward, the first rotating block drives the clamping block and the second rotating block to move, so that the clamping block is inserted into the clamping groove, the second rotating block compresses the first spring, and the clamping block fixes the clamping plate, thereby limiting the rotation of the wheel body to achieve locking of the wheel body; when the driving mechanism disengages from the first rotating block, the first spring rebounds, drives the second rotating block to move, the second rotating block drives the first rotating block to rotate upward, and the first rotating block drives the clamping block to disengage from the clamping plate, so that the wheel body can rotate.

[0013] Preferably, the driving mechanism comprises two first support rods and two second support rods, the two first support rods are respectively arranged on both sides of the length direction of the base, and the two second support rods are respectively arranged on both sides of the width direction of the base, and the first support rod and the second support rod are arranged in a frame shape; a connecting rod is arranged between the two adjacent first support rods and the second support rods, and the two ends of the connecting rod in the length direction are rotatably connected to the first support rod and the second support rod respectively; the two ends of the first support rod in the length direction are respectively provided with mounting seats, and the mounting seats are fixed on the base, and the first support rod is rotatably connected to the mounting seat; a through hole is opened on the base, and a driving rod is arranged at the opening of the through hole, and the driving rod is rotatably mounted on the bottom of the base, and a driving gear is sleeved on the driving rod, and a driven wheel meshing with the driving gear is sleeved on one of the first support rods; a first connecting rod is integrally formed on the driving gear The cam is an assembly made of a plurality of coupling pieces, each of which is connected to a pair of coupling pieces which are coupled to the first and second coupling pieces, and the coupling piece is connected to the pair of coupling pieces at the two ends of the cam.

[0014] Preferably, the connecting assembly includes a connecting sleeve, the connecting sleeve is sleeved on the outer wall of the first support rod, the cross-section of the end of the first support rod is a polygon, and the connecting sleeve is provided with a connecting hole for the first support rod to be adapted and inserted; an end cap is fixed to the end of the pressure rod close to the first support rod, the end cap is threadedly connected to the end of the low-pressure rod, and a protrusion is provided at the end of the end cap away from the pressure rod, and an auxiliary sleeve is fixedly sleeved on the outer periphery of the connecting sleeve, and a first arc groove for the protrusion to be inserted is provided on the outer wall of the auxiliary sleeve, and a second arc groove for the protrusion to be inserted and the groove depth extends into the outer wall of the connecting sleeve; a transition arc block is provided between the first arc groove and the second arc groove, and the two sides of the transition arc block are respectively connected to the first arc groove notch and the second arc groove notch, so that the protrusion can switch positions between the first arc groove and the second arc groove; the end of the protrusion inserted into the first arc groove is set to an arc shape.

[0015] Preferably, the clamping block is U-shaped, a tension spring is arranged in the U-shaped opening of the clamping block, the two ends of the tension spring in the length direction are respectively fixedly connected to the clamping block and the second rotating block, and the second rotating block is located at the U-shaped opening of the clamping block; the clamping block is slidably connected to the movable cavity, and a long groove for sliding the clamping block is opened on the movable cavity.

[0016] In summary, the present application includes at least one of the following beneficial technical effects: the bedside rehabilitation robot adopts a modular design of a support component, a main frame, an adjustment component and a bracket component, and each component has a clear division of labor. The base and wheels of the support component provide stable support and movement functions, the main frame is used to install electronic control equipment, and the six-axis robotic arm of the adjustment component can flexibly adjust the position of the bracket component. The bracket component is used to carry the user's upper limbs. This design facilitates the installation, maintenance and function expansion of the equipment, and improves the overall practicality and reliability; the wheel adopts a unique shell and double wheel body structure, and the first bearing is used to realize the rotation connection between the rotating tube and the mounting tube, and the second bearing is used to realize the rotation connection between the mounting shaft and the wheel body. This structure makes the wheel rotate flexibly, which makes it easier and more convenient to move the bedside rehabilitation robot, reduces the resistance during the movement, and improves the mobility of the equipment; the wheels can be reliably locked to prevent accidental movement, simple operation, and ensure the safety of rehabilitation training; it is driven by a pedal, which is convenient and labor-saving to operate, and the linkage of components ensures stable and reliable drive. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of a bedside rehabilitation robot in an embodiment of the present application.

[0018] Figure 2 It is a schematic diagram used to illustrate the connection relationship between the chassis and the wheels in the embodiment of the present application.

[0019] Figure 3 It is a disassembly schematic diagram used to illustrate the wheel structure in the embodiment of the present application.

[0020] Figure 4 It is a disassembly schematic diagram for illustrating the wheel locking device in the embodiment of the present application.

[0021] Figure 5 It is a disassembly diagram for illustrating the driving mechanism in the embodiment of the present application.

[0022] Figure 6 It is a disassembly schematic diagram used to reflect the structure of the connection component in the embodiment of the present application.

[0023] Explanation of the reference numerals: 1. base; 11. mounting hole; 12. through hole; 2. wheel; 21. housing; 22. wheel body; 23. mounting tube; 24. rotating tube; 25. first bearing; 26. partition; 27. fixed tube; 28. mounting shaft; 29. ​​second bearing; 3. host frame; 4. six-axis robot arm; 5. bracket assembly; 51. support plate support; 52. support plate; 6. first rotating block; 60. second rotating block; 61. movable cavity; 62. block; 63. chuck; 64. slot; 65. first spring; 66. tension spring; 67. long Groove; 7, driving mechanism; 71, first support rod; 72, second support rod; 73, connecting rod; 74, mounting seat; 75, driving rod; 751, driving gear; 7511, driven wheel; 76, first connecting block; 761, first pedal; 77, second connecting block; 771, linkage piece; 772, linkage block; 773, second pedal; 78, pressing rod; 8, connecting assembly; 81, connecting sleeve; 82, connecting hole; 83, end cover; 84, protrusion; 85, auxiliary sleeve; 86, first arc groove; 87, second arc groove; 88, transition arc block. DETAILED DESCRIPTION

[0024] The following is combined with Figure 1-6 This application is described in further detail.

[0025] The present application embodiment discloses a bedside rehabilitation robot. Figure 1-Figure 6 The rehabilitation robot includes a supporting assembly, which includes a base 1 and wheels 2 installed at the four corners of the base 1, and the base 1 is used to support the entire device; a main frame 3, and the main frame 3 is used to install electronic control equipment such as display screens and controllers; an adjusting assembly, which includes a six-axis robotic arm 4, and the six-axis robotic arm 4 is installed on the top of the main frame 3; a bracket assembly 5, which includes a pallet 52 support 51 and a pallet 52, and the pallet 52 support 51 is installed at the end of the robotic arm, and the pallet 52 is installed on the pallet 52 support 51, and the pallet 52 is used to support the upper limbs of the user.

[0026] The wheels 2 each include an outer shell 21 and two wheel bodies 22. A mounting hole 11 is provided on the base 1. A mounting tube 23 is fixedly arranged in the mounting hole 11. A rotating tube 24 is concentrically sleeved on the outer side of the mounting tube 23. A first bearing 25 is installed between the rotating tube 24 and the mounting tube 23. The inner ring of the first bearing 25 is fixed on the outer side wall of the mounting tube 23, and the outer ring of the first bearing 25 is fixed on the inner side wall of the rotating tube 24. The rotating tube 24 is fixedly connected to the outer shell 21. A partition 26 is provided inside the outer shell 21. The two wheel bodies 22 are respectively located on both sides of the thickness direction of the partition 26. A fixing tube 27 is penetrated through the partition 26. A mounting shaft 28 is provided in the fixing tube 27. Both ends of the mounting shaft 28 in the length direction extend out of the fixing tube 27 respectively. Both ends of the mounting shaft 28 in the length direction are respectively connected to the wheel body 22 for rotation through a second bearing 29.

[0027] A wheel locking device is installed on the base 1, and the wheel locking device includes a first rotating block 6, a movable cavity 61 is arranged in the rotating tube 24, the first rotating block 6 is rotatably connected to the movable cavity 61 through a pin shaft, a second rotating block is fixed on the first rotating block 6, a clamping block 62 is installed on the second rotating block, a chuck 63 is fixed on the wheel body 22, the chuck 63 is concentric with the mounting shaft 28, and a clamping groove 64 for the clamping block 62 to be clamped is uniformly opened on the outer circular side wall of the chuck 63 along its circumference direction; a first spring 65 is arranged between the second rotating block and the inner side wall of the movable cavity 61; the clamping block 62 is U-shaped, and a tension spring 66 is arranged in the U-shaped opening of the clamping block 62, and the two ends of the tension spring 66 in the length direction are respectively fixedly connected to the clamping block 62 and the second rotating block, and the second rotating block is located at the U-shaped opening of the clamping block 62; the clamping block 62 is slidably connected to the movable cavity 61, and a long groove 67 for the clamping block 62 to slide is opened on the movable cavity 61.

[0028] The wheel locking device also includes a driving mechanism 7 for driving the first rotating block 6 to rotate. The driving mechanism 7 includes two first support rods 71 ​​and two second support rods 72. The two first support rods 71 ​​are respectively arranged on both sides of the length direction of the base 1, and the two second support rods 72 are respectively arranged on both sides of the width direction of the base 1. The first support rod 71 and the second support rod 72 are arranged in a frame shape; a connecting rod 73 is arranged between two adjacent first support rods 71 ​​and second support rods 72, and the two ends of the connecting rod 73 in the length direction are respectively rotatably connected to the first support rods 71 ​​and the second support rods 72. The first support rod 71 and the second support rod 72; the first support rod 71 is provided with mounting seats 74 at both ends in the length direction, and the mounting seats 74 are fixed on the base 1, and the first support rod 71 is rotatably connected with the mounting seats 74; the base 1 is provided with a through hole 12, and a driving rod 75 is provided at the opening of the through hole 12, and the driving rod 75 is rotatably mounted on the bottom of the base 1, and a driving gear 751 is sleeved on the driving rod 75, and a driven wheel 7511 meshing with the driving gear 751 is sleeved on one of the first support rods 71; a driven wheel 751 on the driving gear 751 The first connecting block 76 is formed in the body, and the first connecting block 76 is provided with a first pedal 761 for driving the driving gear 751 to rotate; the second connecting block 77 is rotatably provided on the driving rod 75, and a linkage block 772 is sleeved on the first support rod 71, and a linkage piece 771 is provided between the linkage block 772 and the second connecting block 77, and the two ends of the linkage piece 771 in the length direction are respectively rotatably connected to the linkage block 772 and the second connecting block 77, and the second connecting block 77 is fixedly connected with a second pedal 773; the driving mechanism 7 also includes The pressure rods 78 are respectively installed at both ends of the two first support rods 71 ​​in the length direction. The pressure rods 78 are movably inserted into the mounting tube 23. The pressure rods 78 are concentrically arranged with the mounting tube 23. One end of the pressure rod 78 in the length direction is used to press the first rotating block 6. A connecting assembly 8 is arranged between the other end of the pressure rod 78 in the length direction and the first support rod 71. When the first support rod 71 rotates, the pressure rod 78 is driven to move along the length direction of the mounting tube 23 through the connecting assembly 8, thereby controlling the pressure rod 78 to press or disengage from the first rotating block 6.

[0029] The coupling assembly 8 includes a coupling sleeve 81, which is sleeved on the outer side wall of the first support rod 71. The cross section of the end of the first support rod 71 is polygonal, and a connecting hole 82 for the first support rod 71 to be inserted is provided on the coupling sleeve 81; an end cap 83 is fixed to the end of the pressure rod 78 close to the first support rod 71, and the end cap 83 is threadedly connected to the end of the low-pressure rod, and a protrusion 84 is provided on the end of the end cap 83 away from the pressure rod 78. An auxiliary sleeve 85 is fixedly sleeved on the outer periphery of the coupling sleeve 81, and a hole 82 is provided on the outer side wall of the auxiliary sleeve 85. There is a first arc groove 86 for the protrusion 84 to be inserted, and the auxiliary sleeve 85 is also provided with a second arc groove 87 for the protrusion 84 to be inserted and the groove depth extends to the outer wall of the connecting sleeve 81; a transition arc block 88 is arranged between the first arc groove 86 and the second arc groove 87, and the two sides of the transition arc block 88 are respectively connected to the notch of the first arc groove 86 and the notch of the second arc groove 87, so that the protrusion 84 can switch positions between the first arc groove 86 and the second arc groove 87; one end of the protrusion 84 inserted into the first arc groove 86 is set to an arc shape.

[0030] When the operator steps on the first pedal 761, the first pedal 761 drives the first connecting block 76 to rotate, the first connecting block 76 drives the driving gear 751 to rotate, the driving gear 751 drives the gear to rotate, and the driven gear drives the first support rod 71 on the operating end side to rotate, and the first support rod 71 drives the other first support rod 71 to rotate synchronously through the connecting rod 73 and the second support rod 72; the first support rod 71 drives the connecting sleeve 81 and the auxiliary sleeve 85 to rotate, so that the protrusion 84 moves from the second arc groove 87 to the first arc groove 86, and at the same time, the protrusion 84 pushes the end cover 83 to move toward the end away from the connecting sleeve 81, and the end cover 83 drives the pressing rod 78 to move, so that the pressing rod 78 presses on the first rotating block 6, and the pressing rod 78 pushes the first rotating block 6 to rotate downward, and the first rotating block 6 drives the clamping block 62 and the second rotating block to move. The card block 62 is inserted into the card slot 64, the second rotating block compresses the first spring 65, the card block 62 fixes the chuck 63, and then limits the rotation of the wheel body 22, thereby locking the wheel body 22; when the operator steps on the second pedal 773, the second pedal 773 drives the second connecting block 77 to rotate, the first connecting block 76 drives the linkage block 772 to rotate through the linkage piece 771, the linkage block 772 drives the first support rod 71 to rotate, the first support rod 71 drives the connecting sleeve 81 and the auxiliary sleeve 85 to rotate, at this time the first spring 65 rebounds, drives the second rotating block to move, the second rotating block drives the first rotating block 6 to rotate upward, the first rotating block 6 drives the card block 62 to disengage from the chuck 63, the first rotating block 6 pushes the pressing rod 78 to move upward, so that the protrusion 84 is inserted into the second groove, thereby completing the unlocking of the wheel body 22.

[0031] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A bedside rehabilitation robot, characterized in that: include A support assembly, the support assembly comprising a base (1) and wheels (2) mounted on four corners of the base (1), the base (1) being used to support the entire device; A host frame (3), wherein the host frame (3) is used to install the electric control equipment; An adjustment component, the adjustment component comprising a six-axis mechanical arm (4), the six-axis mechanical arm (4) being mounted on the top of the main frame (3); A bracket assembly (5), the bracket assembly (5) comprising a bracket (51) and a bracket (52), the bracket (51) being mounted at the end of a mechanical arm, the bracket (52) being mounted on the bracket (51), and the bracket (52) being used to support the upper limbs of a user.

2. A bedside rehabilitation robot according to claim 1, characterized in that: The wheels (2) each comprise a housing (21) and two wheel bodies (22); a mounting hole (11) is provided on the base (1); a mounting tube (23) is fixedly disposed in the mounting hole (11); a rotating tube (24) is concentrically sleeved on the outer side of the mounting tube (23); a first bearing (25) is installed between the rotating tube (24) and the mounting tube (23); an inner ring of the first bearing (25) is fixed on the outer side wall of the mounting tube (23); and an outer ring of the first bearing (25) is fixed on the inner side wall of the rotating tube (24); The rotating tube (24) is fixedly connected to the outer shell (21); a partition (26) is arranged inside the outer shell (21); the two wheel bodies (22) are respectively located on both sides of the partition (26) in the thickness direction; a fixed tube (27) is arranged through the partition (26); a mounting shaft (28) is arranged inside the fixed tube (27); both ends of the mounting shaft (28) in the length direction respectively extend to the outside of the fixed tube (27); and both ends of the mounting shaft (28) in the length direction are respectively connected to the wheel body (22) through a second bearing (29) for rotational connection.

3. A bedside rehabilitation robot according to claim 2, characterized in that: The wheel locking device comprises a first rotating block (6), a movable cavity (61) is arranged in the rotating tube (24), the first rotating block (6) is rotatably connected to the movable cavity (61) through a pin shaft, the movable cavity (61) is rotatably connected to the first rotating block (6), the first rotating block (6) is fixed with a second rotating block, the second rotating block is installed with a clamping block (62), a chuck (63) is fixed to the wheel body (22), the chuck (63) is concentric with the mounting shaft (28), and clamping grooves (64) for clamping the clamping block (62) are uniformly opened on the outer circular side wall of the chuck (63) along its circumferential direction; a first spring (65) is arranged between the second rotating block and the inner side wall of the movable cavity (61); the wheel locking device also The invention comprises a driving mechanism (7) for driving the first rotating block (6) to rotate. When the driving mechanism (7) drives the first rotating block (6) to rotate downward, the first rotating block (6) drives the clamping block (62) and the second rotating block to move, so that the clamping block (62) is inserted into the clamping groove (64), the second rotating block compresses the first spring (65), and the clamping block (62) fixes the clamping disk (63), thereby limiting the rotation of the wheel body (22) and realizing locking of the wheel body (22); when the driving mechanism (7) is separated from the first rotating block (6), the first spring (65) rebounds and drives the second rotating block to move, the second rotating block drives the first rotating block (6) to rotate upward, and the first rotating block (6) drives the clamping block (62) to separate from the clamping disk (63), so that the wheel body (22) can rotate.

4. A bedside rehabilitation robot according to claim 3, characterized in that: The driving mechanism (7) comprises two first support rods (71) and two second support rods (72); the two first support rods (71) are respectively arranged on both sides of the base (1) in the length direction; the two second support rods (72) are respectively arranged on both sides of the base (1) in the width direction; the first support rods (71) and the second support rods (72) are arranged in a frame shape; a connecting rod (73) is arranged between two adjacent first support rods (71) and second support rods (72); two ends of the connecting rod (73) in the length direction are rotatably connected to the first support rod (71) and the second support rod (72); the two ends of the first support rod (71) in the length direction are respectively A mounting seat (74) is provided, the mounting seat (74) is fixed on the base (1), and the first support rod (71) is rotatably connected to the mounting seat (74); a through hole (12) is provided on the base (1), and a driving rod (75) is provided at the opening of the through hole (12), and the driving rod (75) is rotatably mounted on the bottom of the base (1), and a driving gear (751) is sleeved on the driving rod (75), and one of the first support rods (71) is sleeved on a driven wheel (7511) meshing with the driving gear (751); a first connecting block (76) is integrally formed on the driving gear (751) The first connecting block (76) is provided with a first pedal (761) for driving the driving gear (751) to rotate; the driving rod (75) is rotatably provided with a second connecting block (77); the first supporting rod (71) is sleeved with a linkage block (772); a linkage piece (771) is provided between the linkage block (772) and the second connecting block (77); the two ends of the linkage piece (771) in the length direction are respectively rotatably connected to the linkage block (772) and the second connecting block (77); the second connecting block (77) is fixedly connected with a second pedal (773); the driving mechanism (7) also includes two mounting holes respectively installed. A pressure rod (78) is provided at both ends of the two first support rods (71) in the length direction. The pressure rod (78) is movably inserted into the mounting tube (23). The pressure rod (78) is concentrically arranged with the mounting tube (23). One end of the pressure rod (78) in the length direction is used to press against the first rotating block (6). A coupling assembly (8) is provided between the other end of the pressure rod (78) in the length direction and the first support rod (71). When the first support rod (71) rotates, the pressure rod (78) is driven by the coupling assembly (8) to move in the length direction of the mounting tube (23), thereby controlling the pressure rod (78) to press against or separate from the first rotating block (6).

5. A bedside rehabilitation robot according to claim 4, characterized in that: The coupling assembly (8) comprises a coupling sleeve (81), the coupling sleeve (81) being sleeved on the outer side wall of the first support rod (71), the cross section of the end of the first support rod (71) being polygonal, and the coupling sleeve (81) being provided with a connecting hole (82) for the first support rod (71) to be adapted and inserted; an end cap (83) is fixedly provided at one end of the pressure rod (78) close to the first support rod (71), the end cap (83) being threadedly connected to the end of the low-pressure rod, and a protrusion (84) is provided at one end of the end cap (83) away from the pressure rod (78); an auxiliary sleeve (85) is fixedly sleeved on the outer periphery of the coupling sleeve (81), and the auxiliary sleeve (85) is A first arc-shaped groove (86) for inserting the projection (84) is provided on the outer wall, and a second arc-shaped groove (87) for inserting the projection (84) is also provided on the auxiliary sleeve (85), and the groove depth extends into the outer wall of the connecting sleeve (81); a transition arc-shaped block (88) is provided between the first arc-shaped groove (86) and the second arc-shaped groove (87), and two sides of the transition arc-shaped block (88) are respectively connected to the notch of the first arc-shaped groove (86) and the notch of the second arc-shaped groove (87), so that the projection (84) can switch between the first arc-shaped groove (86) and the second arc-shaped groove (87); one end of the projection (84) inserted into the first arc-shaped groove (86) is set to be arc-shaped.

6. The bedside rehabilitation robot according to claim 5, characterized in that: The clamping block (62) is U-shaped, and a tension spring (66) is arranged in the U-shaped opening of the clamping block (62). The two ends of the tension spring (66) in the length direction are respectively fixedly connected to the clamping block (62) and the second rotating block, and the second rotating block is located at the U-shaped opening of the clamping block (62); the clamping block (62) is slidably connected to the movable cavity (61), and the movable cavity (61) is provided with a long groove (67) for the clamping block (62) to slide.

Images