Tail end binding structure and bedside upper and lower limb rehabilitation equipment

Abstract

The invention provides a tail end binding structure and bedside upper and lower limb rehabilitation equipment, and relates to the technical field of rehabilitation equipment, and the tail end binding structure provided by the invention comprises a mounting seat, a floating assembly, a bearing assembly and a locking piece; the floating assembly is connected with the mounting seat and can float relative to the mounting seat; the bearing assembly is connected with the floating assembly and used for bearing the tail end of the human body; the locking piece is connected with the bearing assembly, and the locking piece has a locking state in which the locking piece is matched with the mounting base to lock the position of the bearing assembly relative to the mounting base and an unlocking state in which the locking piece is not matched with the mounting base to unlock the bearing assembly. According to the tail end binding structure, extrusion and traction borne by the tail end of the human body during use can be eliminated, the safety of a patient is guaranteed, and a high-quality teaching track is reused.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation equipment, and in particular to a terminal binding structure and bedside upper and lower limb rehabilitation equipment. Background Art

[0002] At present, the existing rehabilitation equipment is convenient for binding. When training the patient's limbs, it is only necessary to bind the patient's ends. It is not necessary to bind each limb, nor is it necessary to adjust the length of each limb of the device. However, there are roughly two types of similar end-binding rehabilitation devices. One is that after the end is bound, the other device joints are basically aligned with the patient's joints. The other is that after the end is bound, the device joints and the patient's joints are not aligned. However, the above two types have a problem in the realization of the prescription function. If the relative position of the person and the device deviates from the prescription entry when the patient wears it next time, then when doing the prescribed exercise, the patient's limbs will feel pulled and squeezed, and may even strain the patient. Summary of the invention

[0003] The purpose of the present invention is to provide an end binding structure and bedside upper and lower limb rehabilitation equipment, which can eliminate the squeezing and pulling of the human body's end during use, ensure the safety of the patient, and enable high-quality teaching trajectories to be reused.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] In a first aspect, the present invention provides an end-binding structure, comprising a mounting seat, a floating assembly, a bearing assembly and a locking member;

[0006] The floating assembly is connected to the mounting seat and is configured to float relative to the mounting seat;

[0007] The bearing assembly is connected to the floating assembly, and the bearing assembly is used to bear the end of the human body;

[0008] The locking member is connected to the bearing assembly, and the locking member has a locking state in which the locking member cooperates with the mounting seat to lock the bearing assembly relative to the mounting seat, and an unlocking state in which the locking member cancels the cooperation with the mounting seat to release the locking of the bearing assembly.

[0009] Furthermore, the mounting seat includes an outer shell, a guide rail, a first elastic member and a second elastic member, the guide rail is installed in the outer shell, the floating component is slidably matched with the guide rail, the first elastic member and the second elastic member are distributed on both sides of the floating component along the extension direction of the guide rail, and the ends of the first elastic member and the second elastic member facing away from the floating component are both against the inner wall of the outer shell.

[0010] Furthermore, the mounting seat also includes a guide shaft extending in a direction parallel to the guide rail, the guide shaft passes through the floating assembly, and the first elastic member and the second elastic member are both sleeved on the outside of the guide shaft.

[0011] Furthermore, the mounting seat also includes a handle connecting seat, a first handle and a second handle, the handle connecting seat is connected to the shell, and the first handle and the second handle are both rotatably connected to the handle connecting seat.

[0012] Furthermore, a silent shaft sleeve is provided between the first handle and the second handle and the handle connecting seat, and an adjusting member is movably connected to the handle connecting seat, and the adjusting member is used to adjust the pressure between the silent shaft sleeve and the first handle, and between the silent shaft sleeve and the second handle;

[0013] At least one of the first handle and the second handle is a control handle, the control handle is provided with a button and a threading hole connected to the button is opened at the axis, and a limiting structure is provided between the control handle and the handle connecting seat to limit the rotation angle of the control handle relative to the handle connecting seat.

[0014] Furthermore, the bearing assembly includes a base, a soft bag assembly and an upper cover, the base is connected to the floating assembly, the upper cover is configured to be connected to the base via a strap and to form a clamping cavity for clamping the end of the human body between the base and the soft bag assembly, and the upper cover is located in the clamping cavity.

[0015] Furthermore, a strip-shaped fitting position is recessed on the surface of the base facing the upper cover, a first thenar fitting position and a first hypothenar fitting position are recessed at one end of the strip-shaped fitting position, and a second thenar fitting position and a second hypothenar fitting position are recessed at the other end, and the first thenar fitting position and the second thenar fitting position are arranged opposite to each other.

[0016] Furthermore, the upper cover is bent toward the bottom bracket along both sides of the width direction of the strip-shaped fitting position, and the degree of bending decreases from the middle to both ends along the length direction of the strip-shaped fitting position.

[0017] In the second aspect, the present invention also provides a bedside upper and lower limb rehabilitation device, comprising a device body and the end binding structure described in the above scheme, the device body having a first motion joint, a second motion joint, a third motion joint, a fourth motion joint and a fifth motion joint arranged in sequence along a direction gradually approaching the end of the device body, the rotation axis of the first motion joint is arranged horizontally, the rotation axis of the second motion joint, the third motion joint and the fourth motion joint are arranged vertically, the fifth motion joint is at the end of the device body and the rotation axis is arranged horizontally, and the end binding structure is connected to the fifth motion joint.

[0018] Furthermore, it also includes a first distance measuring sensor group and / or a second distance measuring sensor group;

[0019] The first distance measuring sensor group is installed at the end of the device body and the distance measuring direction is horizontal;

[0020] The second distance measuring sensor group is installed at the end of the device body and the distance measuring direction is the vertical direction.

[0021] The terminal binding structure and bedside upper and lower limb rehabilitation equipment provided by the present invention can produce the following

[0022] Beneficial effects:

[0023] Compared with the prior art, in the end binding structure provided in the first aspect of the present invention, when the prescription is entered, the locking member cooperates with the mounting seat to lock the position of the bearing assembly relative to the mounting seat. When the prescription movement is performed, the floating assembly and the bearing assembly on the floating assembly do not float. After the prescription is entered, when the patient is led to perform rehabilitation training according to the prescription trajectory, the cooperation between the locking member and the mounting seat is cancelled. The relative position error between the human body end and the equipment can be compensated by the floating of the floating assembly relative to the mounting seat, eliminating the squeezing and pulling of the human body end during use, ensuring the safety of the patient, and allowing the high-quality teaching trajectory to be reused.

[0024] Compared with the prior art, the bedside upper and lower limb rehabilitation equipment provided by the second aspect of the present invention not only has the advantages mentioned above in the terminal binding structure, but also has multiple motion joints, which can meet the training movements and training angles of each joint of the upper and lower limbs. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods 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 cross-sectional view of an end binding structure provided by an embodiment of the present invention;

[0027] Figure 2 A schematic diagram of a three-dimensional structure at a first viewing angle when the end binding structure provided by an embodiment of the present invention is connected to a robotic arm;

[0028] Figure 3 A top view of the end binding structure provided by an embodiment of the present invention when connected to a mechanical arm Figure 1 ;

[0029] Figure 4 for Figure 3 A-A cross-sectional view;

[0030] Figure 5 for Figure 4 A local enlarged schematic diagram of point B;

[0031] Figure 6 A schematic diagram of a three-dimensional structure at a second viewing angle when the end binding structure provided by an embodiment of the present invention is connected to a robotic arm;

[0032] Figure 7 A top view of the end binding structure provided by an embodiment of the present invention when connected to a mechanical arm Figure 2 ;

[0033] Figure 8 for Figure 7 C-C cross-section diagram;

[0034] Fig. 9 for Figure 8 A local enlarged schematic diagram of point D;

[0035] Fig.10 A partial exploded view of the end binding structure provided by an embodiment of the present invention when connected to a mechanical arm;

[0036] Fig.11 for Fig.10 A local enlarged schematic diagram of point E;

[0037] Fig.12 A schematic diagram of the three-dimensional structure of a bedside upper and lower limb rehabilitation device provided by an embodiment of the present invention;

[0038] Fig.13 A schematic diagram of the three-dimensional structure of a bedside upper and lower limb rehabilitation device provided by an embodiment of the present invention when performing rehabilitation training on lower limbs;

[0039] Fig.14 A schematic diagram of the three-dimensional structure of a bedside upper and lower limb rehabilitation device provided in an embodiment of the present invention when performing rehabilitation training on the upper limbs.

[0040] Icons: 1-mounting seat; 11-housing; 111-buffer head; 112-center line; 12-guide rail; 13-first elastic member; 14-second elastic member; 15-guide shaft; 16-handle connection seat; 161-connecting plate; 162-connecting rod; 17-first handle; 171-button; 172-threading hole; 173-handle body; 174-button limit seat; 18-second handle; 19-limiting structure; 191-limiting protrusion; 192-limiting member; 193-silent impact pad; 110-silent sleeve; 1011-adjusting member; 1012-travel switch; 2-floating assembly; 21-slider; 22-slider adapter; 3-bearing assembly; 31-bottom support; 311-strip fitting position; 312-first thenar fitting position; 313-first minor Thenar fitting position; 314 - the second thenar fitting position; 315 - the second hypothenar fitting position; 316 - the first horizontal position; 317 - the second horizontal position; 32 - soft bag assembly; 321 - upper soft bag; 322 - lower soft bag; 33 - upper cover; 331 - the first warping edge; 332 - the second warping edge; 4 - locking piece; 41 - mounting plate; 5 - equipment body; 51 - the first motion joint; 52 - the second motion joint; 53 - the third motion joint; 54 - the fourth motion joint; 55 - the fifth motion joint; 6 - the first distance sensor group; 61 - the first distance sensor; 62 - the second distance sensor; 63 - the third distance sensor; 7 - the second distance sensor group; 71 - the fourth distance sensor; 72 - the fifth distance sensor; 73 - the sixth distance sensor; 8 - laser transmitter. DETAILED DESCRIPTION

[0041] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0043] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0045] The embodiment of the first aspect of the present invention is to provide an end binding structure, such as Figure 1 and Figure 2 As shown, it includes a mounting seat 1, a floating assembly 2, a bearing assembly 3 and a locking member 4;

[0046] The floating assembly 2 is connected to the mounting base 1 and is configured to float relative to the mounting base 1;

[0047] The bearing assembly 3 is connected to the floating assembly 2, and the bearing assembly 3 is used to bear the end of the human body;

[0048] The locking member 4 is connected to the bearing assembly 3 , and has a locking state in which the locking member 4 cooperates with the mounting seat 1 to lock the bearing assembly 3 relative to the mounting seat 1 , and an unlocking state in which the locking member 4 cancels the cooperation with the mounting seat 1 to release the locking of the bearing assembly 3 .

[0049] When the end binding structure provided by the embodiment of the first aspect of the present invention is used to enter a prescription, the end of the human body is worn on the bearing component 3, and the relative position deviation between the end binding structure and the end of the human body is ensured to be as small as possible. The locking member 4 cooperates with the mounting seat 1 to lock the position of the bearing component 3 relative to the mounting seat 1. When the prescription movement is performed, the floating component 2 and the bearing component 3 on the floating component 2 do not float. After the prescription is entered, when the patient is led to perform rehabilitation training according to the prescription trajectory, the cooperation between the locking member 4 and the mounting seat 1 can be cancelled. The relative position error between the end of the human body and the equipment can be compensated by the floating of the floating component 2 relative to the mounting seat 1, eliminating the squeezing and pulling of the end of the human body during use, ensuring the safety of the patient, and allowing the high-quality teaching trajectory to be reused.

[0050] There are many ways for the locking member 4 to cooperate with the mounting seat 1, such as a snap connection between the locking member 4 and the mounting seat 1, or a threaded connection between the locking member 4 and the mounting seat 1, and so on.

[0051] In an optional embodiment, the locking member 4 is engaged with the mounting seat 1 by means of a snap connection, a limiting hole is provided on the mounting seat 1, the locking member 4 can be a dividing pin, a mounting plate 41 is provided on the housing of the dividing pin, and the mounting plate 41 is connected to the bearing assembly 3, specifically, by screws. When the limiting head of the dividing pin is inserted into the limiting hole, the floating assembly 2 and the bearing assembly 3 will not float relative to the mounting seat 1; after the limiting head of the dividing pin is pulled out of the limiting hole, the floating assembly 2 and the bearing assembly 3 can float relative to the mounting seat 1.

[0052] In an optional embodiment, if Figure 1 As shown, the mounting base 1 includes a shell 11, a guide rail 12, a first elastic member 13 and a second elastic member 14. The guide rail 12 is installed in the shell 11. The floating component 2 is slidably matched with the guide rail 12. The first elastic member 13 and the second elastic member 14 are distributed on both sides of the floating component 2 along the extension direction of the guide rail 12. The ends of the first elastic member 13 and the second elastic member 14 facing away from the floating component 2 are both against the inner wall of the shell 11.

[0053] When entering a prescription, the limit head of the locking member 4 is inserted into the limit hole on the housing 11, so that the floating component 2 is located in the middle position of the guide rail 12 when the prescription moves, ensuring that the amount of error that can be compensated before and after is equal. After the prescription is entered, the limit head of the locking member 4 withdraws from the limit hole, and the floating component 2 can slide relative to the guide rail 12. When sliding, the floating component 2 is subjected to the reverse elastic force of the first elastic member 13 and the second elastic member 14, and the position error is compensated by the floating of the floating component 2, thereby realizing the safe application of the terminal rehabilitation device teaching prescription, greatly reducing the workload of the rehabilitation therapist, reducing the operation time, and the high-quality teaching trajectory is reused.

[0054] Specifically, the extension direction of the guide rail 12 is parallel to the extension direction of the end of the upper limb or the end of the lower limb of the human body when the end binding structure is worn.

[0055] In an optional embodiment, if Figure 1 As shown, in order to achieve the front and rear limit of the floating assembly 2 when sliding along the guide rail 12, a buffer head 111 is also installed in the housing 11. When the floating assembly 2 slides along the guide rail 12 to the limit position, it can collide with the buffer head 111 to achieve the limit of the floating assembly 2.

[0056] The buffer head 111 can be configured as multiple, such as Figure 1 As shown, there are four buffer heads 111, which are arranged in pairs. One group of buffer heads 111 is arranged near one end of the guide rail 12, and is located at both sides of the above end of the guide rail; the other group of buffer heads 111 is arranged near the other end of the guide rail 12, and is located at both sides of the above end of the guide rail.

[0057] The end of the buffer head 111 that collides with the floating assembly 2 can be configured as a flexible material, such as rubber, silicone, etc., which can buffer the impact force and reduce noise at the same time.

[0058] In an optional embodiment, if Figure 1 As shown, the mounting seat 1 further includes a guide shaft 15 extending in a direction parallel to the guide rail 12 . The guide shaft 15 passes through the floating assembly 2 . The first elastic member 13 and the second elastic member 14 are both sleeved on the outside of the guide shaft 15 .

[0059] The guide shaft 15 not only further guides the floating assembly 2 , but also limits the positions of the first elastic member 13 and the second elastic member 14 , so that the first elastic member 13 and the second elastic member 14 can be stably placed in the housing 11 .

[0060] Specifically, Figure 1 As shown, the guide shaft 15 can be arranged on the side of the guide rail 12.

[0061] In an optional embodiment, if Figure 1 As shown, the floating assembly 2 includes a slider 21 and a slider adapter 22 connected to the slider 21 , the slider 21 is slidably matched with the guide rail 12 , the guide shaft 15 passes through the slider adapter 22 , and the slider adapter 22 is slidably matched with the guide shaft 15 .

[0062] Specifically, the slider adapter 22 can be connected to the slider 21 by means of connecting members such as screws.

[0063] In an optional embodiment, if Figure 1 As shown, a travel switch 1012 is provided in the housing 11. The purpose of setting the travel switch 1012 is to identify whether the locking member 4 is matched with the housing 11. When the locking member 4 is matched with the housing 11 to lock the position of the bearing component 3 relative to the mounting base 1, the travel switch 1012 is triggered and sends a signal to the device. At this time, the active mode can be used safely.

[0064] In an optional embodiment, if Figure 3 As shown, the mounting base 1 further includes a handle connecting base 16 , a first handle 17 and a second handle 18 . The handle connecting base 16 is connected to the housing 11 , and the first handle 17 and the second handle 18 are both rotatably connected to the handle connecting base 16 .

[0065] In the existing terminal binding rehabilitation equipment, one operating structure includes a handle and a bottom support. When in use, the therapist needs to hold the upper handle with one hand and support the bottom with the other hand; the other operating structure includes a gripping rod. When in use, the medical staff needs to hold the gripping rod with one hand and lift the hand to move. In actual operation, whether it is the upper limbs or lower limbs of the human body, the movements are relatively complicated. The above operating method is not convenient for the therapist to realize the various movements in the terminology. The therapist needs to operate with both hands to facilitate the realization of various rotational movements in various postures that generate torque. In the above embodiment, a first handle 17 and a second handle 18 are designed to facilitate the two-handed operation of the therapist, and the first handle 17 and the second handle 18 are both rotatably connected to the handle connecting seat 16 to realize flexible operation of the terminal, thereby improving the comfort of the therapist when performing various movements on the patient.

[0066] In an optional embodiment, if Figure 3 As shown, the handle connecting base 16 includes a connecting plate 161 and a connecting rod 162. The connecting plate 161 is connected to one side in the width direction of the shell 11 through two connecting rods 162. The first handle 17 and the second handle 18 are both rotatably connected to the connecting plate 161 and both extend in a direction away from the shell 11. The first handle 17 and the second handle 18 are distributed at both ends of the connecting plate 161. The first handle 17 and the second handle 18 are each at an equal distance from the center line 112 of the shell 11, so that the rehabilitation therapist can adjust the position of the shell 11 through the first handle 17 and the second handle 18.

[0067] In an optional embodiment, if Figure 4 and Figure 5 As shown, a silent bushing 110 is provided between the first handle 17 and the second handle 18 and the handle connecting seat 16 to ensure silent rotation of the first handle 17 and the second handle 18 .

[0068] In an optional embodiment, if Figure 5 As shown, an adjusting member 1011 is movably connected to the handle connecting seat 16 , and the adjusting member 1011 is used to adjust the pressure between the silent shaft sleeve 110 and the first handle 17 , and between the silent shaft sleeve 110 and the second handle 18 .

[0069] The setting of the adjustment member 1011 can adjust the rotation damping of the first handle 17 and the second handle 18, ensuring the rotation freedom of the two handles while preventing them from rotating too smoothly and being difficult to control, thereby achieving stable operation of the action.

[0070] Specifically, to facilitate the adjustment of the adjusting member 1011, the adjusting member 1011 can be threadedly matched with the handle connecting seat 16, and the adjusting member 1011 can be a top screw, and the end of the top screw can tighten the silent sleeve 110 onto the corresponding handle.

[0071] It can be understood that the above embodiment includes the first handle 17 and the second handle 18, and correspondingly, the adjusting member 1011 is also configured in two in a one-to-one correspondence.

[0072] like Figure 3 As shown, the first handle 17 and the second handle 18 are both thin at both ends and bulged in the middle, and the bulged position can be just grasped by the hand, which is convenient for exerting force. One end of the first handle 17 and the second handle 18 is rotatably connected to the handle connecting seat 16 and the axial position is limited by a retaining ring.

[0073] In an optional embodiment, at least one of the first handle 17 and the second handle 18 is a control handle, and the control handle is provided with a button 171 and a threading hole 172 communicating with the button 171 is opened at the axis.

[0074] In the above embodiment, since the button 171 is directly disposed on the handle, the rehabilitation therapist can trigger the button 171 while holding the handle, and can release the button 171 while releasing the handle, which is convenient for the rehabilitation therapist to operate.

[0075] The button 171 can be a teaching button. When the therapist holds the handle to operate, the teaching button is also pressed, triggering the device teaching action, and recording the teaching trajectory at the same time, and the teaching action is continuous. If the teaching button is set at other positions, the therapist needs to press the teaching button first and then perform the teaching action, which will produce a time difference, causing the teaching action trajectory to pause and be incoherent.

[0076] In addition, when the therapist holds the handle and triggers the teaching button, the end of the device changes from being immobile to being draggable. In the above implementation, although the end can move freely at this time, the end has been taken over by the therapist through the two handles, and safety can be guaranteed. If the teaching button is set in other positions, it is necessary to press the teaching button first, and then the therapist lifts and drags to perform the teaching action, which will produce a time difference. The resulting time difference may cause the end to fall. For example, if the patient exerts downward force, the end binding structure will move downward, which is not conducive to the safe use of the device.

[0077] by Figure 6 For example, the first handle 17 is a control handle, the button 171 protrudes from the bulging part in the middle of the first handle 17, and the threading hole 172 extends from the end of the first handle 17 for rotational connection with the handle connecting seat 16 into the first handle 17. The threading hole 172 can be used for routing, and the wiring harness is electrically connected to the guide keypad in the first handle 17. Pressing the button 171 can trigger the guide keypad. Since the threading hole 172 is located at the axis of the first handle 17, it can ensure that the wiring harness is protected while retaining the rotational freedom of the first handle 17.

[0078] In an optional embodiment, if Figures 7 to 9As shown, a limiting structure 19 is provided between the control handle and the handle connecting seat 16 to limit the rotation angle of the control handle relative to the handle connecting seat 16 .

[0079] Because the control handle needs to be routed inside, the handle cannot rotate infinitely. The setting of the limiting structure 19 can limit the rotation angle of the control handle, thereby preventing the wiring harness from being damaged due to excessive steering of the control handle.

[0080] like Fig. 9 As shown, the limiting structure 19 includes a limiting protrusion 191 and a limiting member 192. The limiting protrusion 191 is arranged on the handle connecting seat 16, and the limiting member 192 is arranged on the control handle. When the control handle rotates relative to the handle connecting seat 16, the limiting member 192 rotates synchronously with the control handle. When the control handle rotates counterclockwise to the extreme position, it collides with one side of the limiting protrusion 191. When the control handle rotates clockwise to the extreme position, it collides with the other side of the limiting protrusion 191.

[0081] Specifically, the rotation angle range of the control handle is about ±153 degrees.

[0082] like Fig. 9 As shown, in order to reduce the impact noise, silent impact pads 193 are arranged on both sides of the limiting protrusion 191.

[0083] To facilitate the installation of the button 171, Figure 1 As shown, the control handle may include a handle body 173 and a button limit seat 174. The limit member 192 may be a screw. The screw can not only cooperate with the limit protrusion 191 to play a mechanical limit role, but also realize the connection between the handle body 173 and the button limit seat 174. The button limit seat 174 can limit the button 171 on the handle body 173.

[0084] Since the hands have many nerves and blood vessels, these blood vessels can easily cause numbness in the hands if squeezed for a long time. There are roughly three ways to tie the hands with existing equipment. The first one is to tie the palms and fingers inward or outward in a circle. In this way, the contact position between the support and the hand is in the direction of the back of the hand. When the hand is lifted, the arm is easy to fall out of the support under the action of gravity; the second one is to solve the problem of the arm falling out of the support under the action of gravity by restricting the wrist joint, but there are many nerves and blood vessels in the wrist joint. After training for a long time, the whole palm is easy to become congested and numb, which is detrimental to rehabilitation; the third one is to hold the four fingers together after passing the fingers through the straps, and hold a fixed object to prevent the arm from falling out. Although this method reduces the feeling of numbness in the wrist, it is not comfortable to hold a fixed object for a long time. After long-term use, the fingers will be stressed and easily numb. In addition, similar rehabilitation equipment often needs to replace the support after training the legs after training the hands, which is troublesome and replacement is easy to cause looseness.

[0085] In this regard, in an optional embodiment, as Fig.10 and Fig.11 As shown, the bearing assembly 3 includes a base 31, a soft bag assembly 32 and an upper cover 33. The base 31 is connected to the slider adapter 22 in the floating assembly 2. The mounting plate 41 on the locking member 4 is connected to the base 31 by screws. The upper cover 33 is configured to be connected to the base 31 by a strap and to form a clamping cavity for clamping the end of the human body between the base 31. The soft bag assembly 32 is located in the clamping cavity.

[0086] In the above embodiment, the clamping cavity can clamp the palm or calf of the human body, realizing the innovation of sharing the hand and leg supports. There is no need to replace the bottom support 31 when training the legs after training the hands. The setting of the soft bag component 32 can buffer the clamping force between the bottom support 31 and the upper cover 33, making the patient more comfortable when using it.

[0087] Specifically, the edge of the bottom bracket 31 may be provided with a strap hole for the strap to pass through, and the strap hole may be configured in multiples. The strap hole may be made of metal to ensure its strength and reliability.

[0088] like Fig.11 As shown, there are four strap holes arranged in groups of two, and the two groups of strap holes are respectively distributed at both ends of the length direction of the base bracket 31. The two strap holes in one group are distributed on both sides of the base bracket 31 along the width direction of the base bracket 31, and the two strap holes in the other group are also distributed on both sides of the base bracket 31 along the width direction of the base bracket 31.

[0089] In an optional embodiment, the surface of the bottom support 31 facing the upper cover 33 is concavely provided with a strip-shaped fitting position 311, and the strip-shaped fitting position 311 can be used to place the arm or the calf. One of the reasons why ordinary hand and leg supports cannot be shared is that the diameter of the forearm is smaller than the diameter of the calf, and the thickness of the hands and legs of different people is inconsistent. In the above embodiment, the strip-shaped fitting position 311 meets the thickest calf diameter in the entire width space of the bottom support 31, and has a concave and recessed design to meet the requirements of the circular cross-section of the arm and leg, and has the function of left and right limiting. The concave human-machine shape can be designed according to the structure of the palm and arm, and the size is a mid-range size that meets the needs of most people.

[0090] On the basis of the above-mentioned implementation manner, a first thenar fitting position 312 and a first hypothenar fitting position 313 are recessed at one end of the strip fitting position 311 .

[0091] When wearing the hand, the thenar of the palm is aligned with the first thenar fitting position 312, and the hypothenar is aligned with the first hypothenar fitting position 313. The upper cover 33 is pressed against the back of the palm by the strap passing through the strap hole to complete the wearing of the hand. When wearing the leg, the ankle joint is aligned with the first handle 17 or the second handle 18, the gastrocnemius of the calf is placed in the strip fitting position 311, and the gastrocnemius that exceeds the portion is fitted to the first flat position 316 and the second flat position 317 on both sides of the middle of the strip fitting position 311. The upper cover 33 is pressed against the back of the calf by the strap passing through the strap hole to complete the wearing of the calf.

[0092] The binding method of the above-mentioned embodiment avoids several areas of the hand that are prone to numbness, such as the wrists and fingers. Instead, the front and back of the palm are pressed by two human-machine-shaped plates, that is, by the base 31 and the upper cover 33. The concentrated force is avoided by the large-area compression and friction force method, and the local force concentration is avoided by the soft bag component 32, so that the nerves and blood vessels can circulate normally. In addition, the pressing position of the above-mentioned embodiment is the thenar and hypothenar eminences on the back and front of the hand, where there are fewer nerves and blood vessels, further alleviating the problem of hand numbness.

[0093] On the basis of the above embodiment, the other end of the strip fitting position 311 is recessed with a second thenar fitting position 314 and a second hypothenar fitting position 315 , and the first thenar fitting position 312 and the second thenar fitting position 314 are relatively arranged along the length direction of the strip fitting position 311 .

[0094] In the above embodiment, the second thenar fitting position 314 and the second hypothenar fitting position 315 are mirror-imaged relative to the first thenar fitting position 312 and the first hypothenar fitting position 313. When in use, the patient can extend the clamping cavity from either end, and the end binding structure can better adapt to the rehabilitation equipment to perform various rehabilitation movements.

[0095] In an optional embodiment, the upper cover 33 is bent toward the base 31 along both sides of the strip-shaped fitting position 311 in the width direction, and the degree of bending decreases from the middle to both ends along the length direction of the strip-shaped fitting position 311 .

[0096] The above embodiment can form a raised side structure at both ends of the upper cover 33 in the length direction, that is, Fig.11 The first warped edge 331 and the second warped edge 332 in the middle, through the upper cover 33 and the bottom support 31 of the two human-machine shapes arranged above and below, enable the bearing component 3 to fit the entire contour of the human hand and bear the force evenly. The first thenar fitting position 312, the first hypothenar fitting position 313, the first warped edge 331, the second warped edge 332, the second thenar fitting position 314 and the second hypothenar fitting position 315 can just meet the requirements of the left and right sides being interchangeable, and when the hand is lifted vertically, there are limits in the direction of the arm at the thenar and hypothenar to prevent the arm from falling.

[0097] The first warped edge 331 and the second warped edge 332 are both provided with strap holes for straps to pass through.

[0098] In an optional embodiment, if Fig.11 As shown, the soft bag assembly 32 includes an upper soft bag 321 and a lower soft bag 322 . When in use, the palm or the calf is clamped between the upper soft bag 321 and the lower soft bag 322 .

[0099] An embodiment of the second aspect of the present invention is to provide a bedside upper and lower limb rehabilitation device. The bedside upper and lower limb rehabilitation device provided by the embodiment of the second aspect of the present invention includes the above-mentioned end binding structure.

[0100] The bedside upper and lower limb rehabilitation equipment provided in the second aspect of the present invention has the end binding structure provided in the embodiment of the first aspect of the present invention, and thus has all the beneficial effects of the end binding structure provided in the embodiment of the first aspect of the present invention.

[0101] In an optional embodiment, if Fig.12 As shown, the bedside upper and lower limb rehabilitation device includes a device body 5, and the device body 5 is provided with a mechanical arm.

[0102] Specifically, the robotic arm has a first motion joint 51, a second motion joint 52, a third motion joint 53, a fourth motion joint 54 and a fifth motion joint 55 which are arranged in sequence along a direction gradually approaching the end of the equipment body 5. The rotation axis of the first motion joint 51 is arranged horizontally, and the rotation axes of the second motion joint 52, the third motion joint 53 and the fourth motion joint 54 are arranged vertically. An operation screen can be arranged at the fourth motion joint 54. The fifth motion joint 55 is at the end of the equipment body 5 and the rotation axis is arranged horizontally. The end binding structure is connected to the fifth motion joint 55.

[0103] The above-mentioned bedside upper and lower limb rehabilitation equipment has five motion joints. The rotation axis of the first motion joint 51 mainly satisfies the movement of the terminal on the Z axis, the rotation axes of the second motion joint 52 and the third motion joint 53 satisfy the movement of the terminal on the XY plane, and the rotation axes of the fourth motion joint 54 and the fifth motion joint 55 satisfy the terminal posture. Therefore, as long as the terminal movement avoids the training action space of each joint, the training action and training angle of each joint can be satisfied.

[0104] like Fig.13 As shown, the starting position of the movement of the mechanical arm of the above-mentioned device is in the middle of the bed, coinciding with the sagittal plane of the patient, so that the length of the mechanical arm can be fully utilized, and the mechanical arm does not need to be extended from the side of the patient. The motor output end of the fifth motion joint 55 is directly aligned with the training limb, so that when the training limb performs rotational movements such as flexion, the end motor can well meet the training requirements by rotating.

[0105] It should be noted that the premise for the end binding structure to compensate for the relative position error between the end of the human body and the device by floating is that the relative position deviation between the end binding structure and the end of the human body must be as small as possible when worn. Fig.12 As shown, a laser transmitter 8 can be arranged on the robot arm, and positioning can be performed by a cross laser.

[0106] like Fig.12 and Fig.13 As shown, when the patient lies on the bed, first straighten the patient's limbs and push the device to the patient. When performing rehabilitation training on the lower limbs, the longitudinal axis of the cross laser on the device is aligned with the patient's sagittal plane, and the horizontal axis of the cross laser is aligned with the line connecting the patient's elbow joints. When the lower limb end is worn, the first handle 17 is aligned with the patient's ankle joint to minimize the relative position deviation of the device from the patient each time it is used. The remaining small errors are compensated by the floating support of the floating component 2 to eliminate squeezing and pulling during use and ensure patient safety.

[0107] Similarly, if Fig.12 and Fig.14 As shown, when performing rehabilitation training on the upper limbs, the patient's limbs are first aligned, and the device is pushed to the patient so that the longitudinal axis of the cross laser on the device coincides with the patient's sagittal plane, the transverse axis of the cross laser coincides with the line connecting the knee joints of the patient's two legs, the thenar position of the palm of the human hand is aligned with the first thenar fitting position 312 or the second thenar fitting position 314, and the hypothenar position is aligned with the first hypothenar fitting position 313 or the second hypothenar fitting position 315, so that the relative position deviation between the device and the patient is as small as possible each time it is used.

[0108] In addition, when training the lower limbs, Fig.13 As shown in the figure, the device moves above the human body, and the starting position of the robot arm is located in the sagittal plane of the human body and coincides with the elbow joint line. At this time, the hip joint is completely under the device, and the movement space of the entire lower limb has been avoided. The same is true for the other mirror side limb. When training the upper limbs, Fig.14 As described above, the device moves under the human body, and the starting position of the robot arm is located in the sagittal plane of the human body and coincides with the line connecting the knee joints. At this time, the lowest position of the upper limb is completely above the device, and the movement space of the entire upper limb has been avoided. The same is true for the limb on the other side of the mirror image. By ensuring the above two points, the device can not only realize various movements, but also meet the requirements of not being blocked in space when performing various movements, and realize the maximum limb training angle.

[0109] At present, the basic safety protections of terminal rehabilitation equipment include equipment emergency stop, handheld emergency stop, and spasm protection, but the above protections can only play a protective role when subjected to certain impacts or dangers. Therefore, in an optional embodiment, the bedside upper and lower limb rehabilitation equipment includes a first ranging sensor group 6 and / or a second ranging sensor group 7; the first ranging sensor group 6 is installed at the end of the robotic arm and the ranging direction is horizontal; the second ranging sensor group 7 is installed at the end of the robotic arm and the ranging direction is vertical.

[0110] The above implementation adopts an advance protection method. A distance measuring sensor is designed at the end of the robotic arm. When the end moves close to the body or other objects, it can sense and avoid them in advance to avoid danger.

[0111] In a preferred embodiment, the bedside upper and lower limb rehabilitation device includes a first ranging sensor group 6 and a second ranging sensor group 7 .

[0112] The first distance measuring sensor group 6 and the second distance measuring sensor group 7 may both include multiple distance measuring sensors, specifically two, three, four or even more. The multiple distance measuring sensors in the first distance measuring sensor group 6 are arranged at intervals around the same horizontal axis, and the multiple distance measuring sensors in the second distance measuring sensor group 7 are arranged at intervals around the same horizontal axis, and the two horizontal axes may also coincide.

[0113] There is a certain angle between two adjacent distance measuring sensors in the first distance measuring sensor group 6, and this angle is determined according to the movement, and the same is true for the second distance measuring sensor group 7. The reason is that when the first motion joint 51 rotates, the angle of the end of the robot arm will change, and it is possible that the distance measuring sensor on the side will be located at the bottom. At this time, the distance measuring sensor on the side is the most important protection.

[0114] Specifically, the angle between two adjacent distance measuring sensors may be 58°. Of course, the above angle is only an example, and designers may adjust the above angle upward or downward according to actual conditions.

[0115] like Figure 6 As shown, the first distance measuring sensor group 6 includes a first distance measuring sensor 61 , a second distance measuring sensor 62 and a third distance measuring sensor 63 ; the second distance measuring sensor group 7 includes a fourth distance measuring sensor 71 , a fifth distance measuring sensor 72 and a sixth distance measuring sensor 73 .

[0116] In an optional embodiment, the above-mentioned bedside upper and lower limb rehabilitation equipment can be battery-powered.

[0117] In summary, the above-mentioned bedside upper and lower limb rehabilitation equipment has the following advantages:

[0118] 1. Laser positioning is adopted, and the floating design of the bearing component 3 is used to overcome the safe application of the teaching prescription of the terminal rehabilitation equipment, which greatly reduces the workload of the rehabilitation therapist, reduces the operation time, and the high-quality teaching trajectory is reused;

[0119] 2: The innovation of sharing hand and leg supports makes it convenient to train legs after hand training. There is no need to change manually. By changing the binding method, the difficulty of numbness and falling of upper limbs during bedside training can be overcome;

[0120] 3: The strip fitting position 311 meets the thickest calf diameter in the entire width of the base 31, and has a concave and recessed design to meet the requirements of the circular cross-section of the arms and legs, and has the function of left and right limit. The concave ergonomic shape can be designed according to the structure of the palm and arm, and the size is a mid-range size that meets the needs of most people, suitable for patients of different heights and weights to wear conveniently;

[0121] 4: The first handle 17 and the second handle 18 are designed to facilitate the operation of the rehabilitation therapist with both hands, and the first handle 17 and the second handle 18 are rotatably connected to the handle connecting seat 16 to realize flexible operation of the end, thereby improving the comfort of the rehabilitation therapist when performing various actions on the patient;

[0122] 5: The robot adopts an advance protection method. A distance sensor is designed at the end of the robot arm. When the end moves close to the body or other objects, it can sense and avoid danger in advance;

[0123] 6: It can be placed on one side beside the bed to train the left and right limbs of the upper and lower limbs, and it is very convenient to exchange the left and right sides of the upper and lower limbs;

[0124] 7: An operation screen is provided at the fourth motion joint 54 to facilitate the control operation by the rehabilitation therapist;

[0125] 8: As long as the end motion leaves space for each joint training action, the training actions and angles of each joint can be met;

[0126] 9: Battery life makes it more convenient to use;

[0127] 10: The device body 5 is overall C-shaped, which allows for a smaller device placement space and is suitable for use in a crowded ward environment;

[0128] 11. More intelligent and user-friendly, the equipment body 5 can have a built-in electric silent brake device to meet the needs of braking under the bed. At the same time, the whole machine can be designed to suppress vibration, with stable movement to meet the requirements of convenient operation.

[0129] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An end binding structure, characterized in that: It comprises a mounting seat (1), a floating assembly (2), a bearing assembly (3) and a locking member (4); The floating assembly (2) is connected to the mounting seat (1) and is configured to float relative to the mounting seat (1); The bearing component (3) is connected to the floating component (2), and the bearing component (3) is used to bear the end of the human body; The locking member (4) is connected to the bearing assembly (3), and the locking member (4) has a locking state in which it cooperates with the mounting seat (1) to lock the position of the bearing assembly (3) relative to the mounting seat (1), and an unlocking state in which it cancels the cooperation with the mounting seat (1) to release the lock of the bearing assembly (3).

2. The end binding structure according to claim 1, characterized in that: The mounting seat (1) comprises a shell (11), a guide rail (12), a first elastic member (13) and a second elastic member (14); the guide rail (12) is installed in the shell (11); the floating component (2) is slidably matched with the guide rail (12); the first elastic member (13) and the second elastic member (14) are distributed on both sides of the floating component (2) along the extension direction of the guide rail (12); and the ends of the first elastic member (13) and the second elastic member (14) facing away from the floating component (2) are both in contact with the inner wall of the shell (11).

3. The end binding structure according to claim 2, characterized in that: The mounting seat (1) further comprises a guide shaft (15) extending in a direction parallel to the guide rail (12); the guide shaft (15) passes through the floating assembly (2); and the first elastic member (13) and the second elastic member (14) are both sleeved on the outside of the guide shaft (15).

4. The end binding structure according to claim 2, characterized in that: The mounting base (1) further comprises a handle connecting base (16), a first handle (17) and a second handle (18); the handle connecting base (16) is connected to the housing (11); and the first handle (17) and the second handle (18) are both rotatably connected to the handle connecting base (16).

5. The end binding structure according to claim 4, characterized in that: A silent shaft sleeve (110) is provided between the first handle (17) and the second handle (18) and the handle connecting seat (16); an adjusting member (1011) is movably connected to the handle connecting seat (16); the adjusting member (1011) is used to adjust the pressure between the silent shaft sleeve (110) and the first handle (17), and between the silent shaft sleeve (110) and the second handle (18); At least one of the first handle (17) and the second handle (18) is a control handle, the control handle is provided with a button (171) and a threading hole (172) connected to the button (171) is opened at the axis, and a limiting structure (19) is provided between the control handle and the handle connecting seat (16) to limit the rotation angle of the control handle relative to the handle connecting seat (16).

6. The end binding structure according to claim 1, characterized in that: The bearing assembly (3) comprises a base (31), a soft bag assembly (32) and an upper cover (33); the base (31) is connected to the floating assembly (2); the upper cover (33) is configured to be connected to the base (31) via a strap and to form a clamping cavity for clamping the end of the human body between the base (31); the soft bag assembly (32) is located in the clamping cavity.

7. The end binding structure according to claim 6, characterized in that: A strip-shaped fitting position (311) is recessed on the surface of the base (31) facing the upper cover (33); a first thenar fitting position (312) and a first hypothenar fitting position (313) are recessed on one end of the strip-shaped fitting position (311); a second thenar fitting position (314) and a second hypothenar fitting position (315) are recessed on the other end; the first thenar fitting position (312) and the second thenar fitting position (314) are arranged opposite to each other.

8. The end-binding structure according to claim 7, characterized in that: The upper cover (33) is bent toward the base (31) along both sides of the width direction of the strip-shaped fitting position (311), and the degree of bending decreases from the middle to both ends along the length direction of the strip-shaped fitting position (311).

9. A bedside upper and lower limb rehabilitation device, characterized in that: The invention comprises an equipment body (5) and an end binding structure as claimed in any one of claims 1 to 8, wherein the equipment body (5) comprises a first motion joint (51), a second motion joint (52), a third motion joint (53), a fourth motion joint (54) and a fifth motion joint (55) which are arranged in sequence in a direction gradually approaching the end of the equipment body (5), the rotation axis of the first motion joint (51) is arranged horizontally, the rotation axes of the second motion joint (52), the third motion joint (53) and the fourth motion joint (54) are arranged vertically, the fifth motion joint (55) is at the end of the equipment body (5) and the rotation axis is arranged horizontally, and the end binding structure is connected to the fifth motion joint (55).

10. The bedside upper and lower limb rehabilitation device according to claim 9, characterized in that: It also includes a first distance measuring sensor group (6) and / or a second distance measuring sensor group (7); The first distance measuring sensor group (6) is installed at the end of the device body (5) and the distance measuring direction is horizontal; The second distance measuring sensor group (7) is installed at the end of the device body (5) and the distance measuring direction is the vertical direction.

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