Rehabilitation robot capable of being used for patients with cardiovascular and cerebrovascular recovery

Abstract

The invention discloses a rehabilitation robot for patients with cardiovascular and cerebrovascular recovery, and relates to the technical field of medical equipment.The rehabilitation robot comprises a base, rollers are fixedly connected to the bottom of the base, an electric push rod is fixedly connected to the top of the base, the telescopic end of the top of the electric push rod is fixedly connected with a sliding frame, and a top frame is fixedly connected to the top of the sliding frame; front and rear ends of the top frame are fixedly connected with a rear handle and a front handle respectively; when a patient wears the mechanical arm to make contact with the bottom face, the electromagnetic spring can be controlled to drive the bottom plate to move downwards, the universal wheels and the driving wheels make contact with the bottom face, the double-shaft motor is started to drive the driving wheels to move, and the mechanical arm and the patient can autonomously move at the bottom face end; the action freedom degree and convenience of the patient are improved; a sliding groove is formed in the side wall of the base in an embedded mode, the vertical rod and the shielding film can be driven to move by pulling the sliding block, the base is wrapped inside to form a protection area, and the privacy of a patient is effectively protected.

Description

Technical Field

[0001] The invention relates to the technical field of medical equipment, and in particular to a rehabilitation robot that can be used for patients recovering from cardiovascular and cerebrovascular diseases. Background Art

[0002] Patients with cardiovascular and cerebrovascular diseases often have limb motor dysfunction after surgery and need rehabilitation training to restore muscle strength and joint mobility. Traditional rehabilitation equipment has the following problems: when exercising, patients use robotic arms to assist in exercising on the base, and the base is open as a whole. When the doctor examines the patient in the area of ​​the rehabilitation robot, the patient's body parts may be more easily exposed. Summary of the invention

[0003] Therefore, in order to solve the above-mentioned deficiencies, the present invention provides a rehabilitation robot that can be used for cardiovascular and cerebrovascular recovery patients.

[0004] The present invention is achieved in this way: a rehabilitation robot that can be used for cardiovascular and cerebrovascular recovery patients is constructed, the device includes a base, a roller is fixedly connected to the bottom of the base, an electric push rod is fixedly connected to the top of the base, the telescopic end of the top of the electric push rod is fixedly connected to the sliding frame, the top of the sliding frame is fixedly connected to the top frame, and the front and rear ends of the top frame are respectively fixedly connected to the rear handle and the front handle; a camera is fixedly connected to the front end of the base, and a controller is fixedly connected to the back of the top frame, and the camera transmits the image taken by the front end to the controller through a wireless module; a plurality of through holes connected to the guide tube are embedded in the fixed surface of the front handle; a mechanical arm is detachably connected to the side wall of the top frame through a clamp; an auxiliary component is provided in the foot area below the mechanical arm, the auxiliary component includes a cavity, the cavity is embedded in the foot area below the mechanical arm, the four corners of the top of the cavity are fixedly connected to electromagnetic springs, the bottom of the electromagnetic spring is fixedly connected to the bottom plate, a universal wheel and a driving wheel are provided on the bottom plate, and the center of the driving wheel is fixedly connected to the output shaft of the dual-axis motor.

[0005] Preferably, a driving wheel is rotatably connected to the bottom of the top frame, the driving wheel is meshed with a driving rack, and the driving rack is fixedly connected to one end of a return spring.

[0006] Preferably, the other end of the return spring is fixedly connected to the top frame, and one end of the driving rack is fixedly connected to the pull rope.

[0007] Preferably, the other end of the pull rope slides through the side wall of the top frame and is fixedly connected to an external electromagnet, and the electromagnet is used to be adsorbed and fixed on the mechanical arm, so that the mechanical arm applies force to drive the pull rope to move when it moves.

[0008] Preferably, a driving shaft is fixedly connected at the center of the driving wheel, a bevel gear set is fixedly connected to the driving shaft, another set of bevel gears on the bevel gear set is connected to the blades in the guide fan through a one-way bearing, and the air outlet on the guide fan is connected to the guide pipe.

[0009] Preferably, the guide tube is fixedly connected to a copper tube at the upper end inside the top frame, an adsorption ring is fixedly connected to the upper end of the drive shaft, a magnet is rotatably connected to the outer surface of the adsorption ring, and the magnet is located inside the copper tube.

[0010] Preferably, the other end of the copper tube is connected to the connecting pipe, and the other end of the connecting pipe is connected to the shielding film.

[0011] Preferably, a sliding groove is embedded in the side wall of the base, a slider is slidably connected in the sliding groove, a vertical pole is fixedly connected to the side wall of the slider, and a shielding film is fixedly connected to the surface of the vertical pole;

[0012] A plurality of sets of slide blocks and vertical rods are slidably connected in the slide groove and are used for unfolding the shielding film.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] When the patient wears the robotic arm and contacts the bottom surface, the electromagnetic spring can be controlled to drive the bottom plate to move downward, so that the universal wheel and the driving wheel contact the bottom surface, and the dual-axis motor is turned on to drive the driving wheel to move, so that the robotic arm and the patient can move autonomously at the bottom end, thereby improving the patient's freedom of movement and convenience; a sliding groove is embedded in the side wall of the base, and the vertical rod and the shielding film can be driven to move by pulling the slider, so that the base is wrapped inside to form a protective area, which effectively protects the patient's privacy and prevents outsiders from seeing the internal situation, providing a more secure training environment for the patient, and connecting the pipe to extract the air in the shielding film so that when the shielding film wraps the base inside, The air flow around the base can be improved; the magnet can be adsorbed by the adsorption ring, and the number of magnets connected to the drive shaft can be changed, thereby adjusting the weight of the patient's leg exercise, so that the rehabilitation robot can adjust the exercise intensity according to the patient's rehabilitation progress and physical condition, which is more scientific and reasonable. The magnet generates a changing magnetic field in the copper tube, which can increase the temperature of the air discharged through the through hole, providing a warm training environment for the patient, especially in cold weather. The surface of the front handle is embedded with multiple groups of through holes connected to the guide tube, and the airflow is driven by the guide fan to be transported to the through holes through the guide tube, so as to dissipate heat and ventilate the patient's hand area. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The structure of the present invention is schematically shown in FIG. Figure 1 ;

[0016] Figure 2 The structure of the present invention is schematically shown in FIG. Figure 2 ;

[0017] Figure 3 The structure of the present invention is schematically shown in FIG. Figure 3 ;

[0018] Figure 4The mechanical arm structure of the present invention is schematically shown in FIG. Figure 1 ;

[0019] Figure 5 The mechanical arm structure of the present invention is schematically shown in FIG. Figure 2 ;

[0020] Figure 6 It is a schematic diagram of the internal structure of the top frame of the present invention;

[0021] Figure 7 It is a schematic diagram of the structure of the adsorption ring of the present invention;

[0022] Figure 8 It is a schematic diagram of the pole structure of the present invention.

[0023] Among them: base-1, roller-2, electric push rod-3, sliding frame-4, top frame-5, rear handle-6, controller-7, camera-8, front handle-9, through hole-10, mechanical arm-11, clamp-12, auxiliary component-13, cavity-131, electromagnetic spring-132, bottom plate-133, universal wheel-134, driving wheel-135, dual-axis motor-136, electromagnet-51, pull rope-52, driving wheel-53, driving rack-54, return spring-55, driving shaft-56, bevel gear set-57, guide fan-58, guide pipe-59, copper pipe-510, connecting pipe-511, adsorption ring-561, magnet-562, sliding groove-101, slider-102, vertical pole-103, shielding film-104. DETAILED DESCRIPTION

[0024] The following will be combined with the attached Figure 1-Figure 8 The present invention is described in detail, and the technical solutions in the embodiments of the present invention are made clear. The complete description is obvious. The described embodiments are only part of the embodiments of the present invention, not all of them. 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.

[0025] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a component centered. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a component centered. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a component centered. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0027] See also Figures 1 to 8 A rehabilitation robot that can be used for patients recovering from cardiovascular and cerebrovascular diseases of the present invention comprises a base 1, a roller 2 is fixedly connected to the bottom of the base 1, an electric push rod 3 is fixedly connected to the top of the base 1, the telescopic end of the top of the electric push rod 3 is fixedly connected to the sliding frame 4, the top of the sliding frame 4 is fixedly connected to the top frame 5, and the front and rear ends of the top frame 5 are respectively fixedly connected to a rear handle 6 and a front handle 9; the caregiver can place his hand on the rear handle 6, and then push the base 1 to move to a suitable area, the patient can wear a mechanical arm 11 to exercise on the base 1, and at the same time can control the electric push rod 3 to drive the top frame 5 to move, and the top frame 5 drives the mechanical arm 11 to move upward, and the patient can exercise his legs with the assistance of the mechanical arm 11, and thereby treat the side effects of cardiovascular and cerebrovascular diseases.

[0028] Specifically, a camera 8 is fixedly connected to the front end of the base 1, and a controller 7 is fixedly connected to the back of the top frame 5. The camera 8 transmits the image captured by the front end to the controller 7 via a wireless module.

[0029] Specifically, a plurality of through holes 10 communicating with the flow guide pipe 59 are embedded in the fixed surface of the front handle 9 .

[0030] Specifically, the side wall of the top frame 5 is detachably connected to the mechanical arm 11 via a clamp 12 .

[0031] Specifically, an auxiliary component 13 is provided in the foot area below the robotic arm 11, and the auxiliary component 13 includes a cavity 131. The cavity 131 is embedded in the foot area below the robotic arm 11, and electromagnetic springs 132 are fixedly connected to the four corners of the top of the cavity 131. The bottom of the electromagnetic spring 132 is fixedly connected to the bottom plate 133. A universal wheel 134 and a driving wheel 135 are provided on the bottom plate 133. The driving wheel 135 is fixedly connected to the output shaft of the dual-axis motor 136 at the center of the circle.

[0032] Specifically, a driving wheel 53 is rotatably connected to the bottom of the top frame 5, the driving wheel 53 is meshed with a driving rack 54, the driving rack 54 is fixedly connected to one end of a return spring 55, the other end of the return spring 55 is fixedly connected to the top frame 5, one end of the driving rack 54 is fixedly connected to a pull rope 52, the other end of the pull rope 52 slides through the side wall of the top frame 5 and is fixedly connected to an external electromagnet 51, the electromagnet 51 is used to be adsorbed and fixed on the robotic arm 11, so that the robotic arm 11 exerts force to drive the pull rope 52 to move when it moves.

[0033] Specifically, a driving shaft 56 is fixedly connected at the center of the driving wheel 53, a bevel gear set 57 is fixedly connected to the driving shaft 56, another set of bevel gears on the bevel gear set 57 is connected to the blades in the guide fan 58 through a one-way bearing, the air outlet on the guide fan 58 is connected to the guide pipe 59, the guide pipe 59 is fixedly connected to the upper end of the top frame 5 with a copper tube 510, an adsorption ring 561 is fixedly connected to the upper end of the driving shaft 56, a magnet 562 is rotatably connected to the outer surface of the adsorption ring 561, an electromagnetic coil for electromagnetic adsorption is arranged inside the adsorption ring 56, the magnet 562 is located in the copper tube 510, the other end of the copper tube 510 is connected to the connecting pipe 511, and the other end of the connecting pipe 511 is connected to the shielding film 104.

[0034] Specifically, a sliding groove 101 is embedded in the side wall of the base 1, a slider 102 is slidably connected in the sliding groove 101, a vertical rod 103 is fixedly connected to the side wall of the slider 102, and a shielding film 104 is fixedly connected to the surface of the vertical rod 103; multiple groups of sliders 102 and vertical rods 103 are slidably connected in the sliding groove 101, which are used to unfold the shielding film 104, make the shielding film 104 hollow inside, and have multiple through holes on the surface of the shielding film 104.

[0035] Specifically, after the patient wears the robotic arm 11, he / she performs training on the base 1, with the patient's hand in contact with the front handle 9, and the patient uses the robotic arm 11 to bend his / her legs for rehabilitation training;

[0036] During the training process, the electromagnet 51 is energized to be adsorbed to the leg area of ​​the mechanical arm 11. When the mechanical arm 11 is bent, the pull rope 52 is driven to move. The pull rope 52 pulls the drive rack 54 to engage and drive the drive wheel 53 to rotate. The drive wheel 53 drives the bevel gear set 57 to rotate through the drive shaft 56. The bevel gear set 57 also drives the guide fan 58 to rotate, so that the guide fan 58 drives the air in the copper tube 510 and extracts the air in the shielding film 104 through the connecting pipe 511. When the shielding film 104 wraps the base 1, the air flow around the base 1 can be improved.

[0037] Then the guide fan 58 drives the airflow to be delivered to the through hole 10 on the front handle 9 through the guide tube 59, and facilitates heat dissipation and ventilation of the patient's hand area;

[0038] In addition, the adsorption collar 561 can be opened to adsorb the magnet 562, and the driving shaft 56 drives the magnet 562 to rotate while rotating. One or two groups of adsorption collars 561 can be opened according to the required weight, so that the number of magnets 562 connected to the driving shaft 56 can be changed, which is convenient for changing the weight of the patient's leg exercise.

[0039] When the driving shaft 56 drives the magnet 562 to rotate, the magnet 562 will generate a changing magnetic field in the surrounding copper tube 510. According to Faraday's law of electromagnetic induction, an eddy current heating mechanism will be formed inside the copper tube 510: when the eddy current flows in the copper tube 510, the Joule effect of the resistance of the copper tube 510 converts electrical energy into thermal energy, so that the temperature inside the copper tube 510 increases, and the air transported by the guide fan 58 is also increased, so that the temperature of the air discharged through the through hole 10 increases;

[0040] The slider 102 can be pulled to move, and the slider 102 drives the vertical rod 103 to move, and the shielding film 104 is unfolded to wrap the base 1 inside to form a protective area, and prevent outsiders from seeing the inside, so that the doctor can check the patient exercising on the base 1 with his hands;

[0041] When the patient wears the robotic arm 11 and contacts the bottom surface, the electromagnetic spring 132 is controlled to drive the bottom plate 133 to move downward, driving the universal wheel 134 and the driving wheel 135 to contact the bottom surface, and the dual-axis motor 136 is turned on to drive the driving wheel 135 to move, so that the driving wheel 135 drives the robotic arm 11 and the patient to move at the bottom end.

[0042] The above shows and describes the basic principle, main features and advantages of the present invention, and the standard parts used in the present invention can be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt the conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt the conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here.

[0043] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rehabilitation robot that can be used for patients recovering from cardiovascular and cerebrovascular diseases, comprising a base (1), the bottom of the base (1) is fixedly connected to a roller (2), the top of the base (1) is fixedly connected to an electric push rod (3), the telescopic end of the top of the electric push rod (3) is fixedly connected to a sliding frame (4), the top of the sliding frame (4) is fixedly connected to a top frame (5), and the front and rear ends of the top frame (5) are respectively fixedly connected to a rear handle (6) and a front handle (9); Features: A camera (8) is fixedly connected to the front end of the base (1), and a controller (7) is fixedly connected to the back of the top frame (5). The camera (8) transmits images captured at the front end to the controller (7) via a wireless module. A plurality of through holes (10) communicating with the flow guide pipe (59) are embedded in the fixed surface of the front handle (9); The side wall of the top frame (5) is detachably connected to a mechanical arm (11) via a clamp (12); An auxiliary component (13) is provided in the foot region below the mechanical arm (11), the auxiliary component (13) comprising a cavity (131), the cavity (131) being embedded in the foot region below the mechanical arm (11), electromagnetic springs (132) being fixedly connected at the four corners of the top of the cavity (131), the bottom of the electromagnetic spring (132) being fixedly connected to a bottom plate (133), a universal wheel (134) and a driving wheel (135) being provided on the bottom plate (133), and the driving wheel (135) being fixedly connected at the center of a circle to an output shaft of a dual-axis motor (136).

2. A rehabilitation robot for cardiovascular and cerebrovascular rehabilitation patients according to claim 1, characterized in that: A driving wheel (53) is rotatably connected to the bottom of the top frame (5), the driving wheel (53) is meshed with a driving rack (54), and the driving rack (54) is fixedly connected to one end of a return spring (55).

3. A rehabilitation robot for cardiovascular and cerebrovascular rehabilitation patients according to claim 2, characterized in that: The other end of the return spring (55) is fixedly connected to the top frame (5), and one end of the driving rack (54) is fixedly connected to the pull rope (52).

4. A rehabilitation robot for cardiovascular and cerebrovascular recovery patients according to claim 3, characterized in that: The other end of the pull rope (52) slides through the side wall of the top frame (5) and is fixedly connected to an external electromagnet (51), and the electromagnet (51) is used to be adsorbed and fixed on the mechanical arm (11), so that the mechanical arm (11) applies force to drive the pull rope (52) to move when it moves.

5. A rehabilitation robot for cardiovascular and cerebrovascular rehabilitation patients according to claim 4, characterized in that: A driving shaft (56) is fixedly connected to the center of the driving wheel (53), a bevel gear set (57) is fixedly connected to the driving shaft (56), another set of bevel gears on the bevel gear set (57) is connected to the blades in the guide fan (58) through a one-way bearing, and an air outlet on the guide fan (58) is communicated with the guide pipe (59).

6. A rehabilitation robot for cardiovascular and cerebrovascular rehabilitation patients according to claim 5, characterized in that: The guide tube (59) is fixedly connected to a copper tube (510) at the inner upper end of the top frame (5), and an adsorption ring (561) is fixedly connected to the upper end of the driving shaft (56). A magnet (562) is rotatably connected to the outer surface of the adsorption ring (561), and the magnet (562) is located in the copper tube (510).

7. A rehabilitation robot for cardiovascular and cerebrovascular rehabilitation patients according to claim 6, characterized in that: The other end of the copper tube (510) is in communication with the connecting pipe (511), and the other end of the connecting pipe (511) is in communication with the shielding film (104).

8. A rehabilitation robot for cardiovascular and cerebrovascular rehabilitation patients according to claim 7, characterized in that: A sliding groove (101) is embedded in the side wall of the base (1), a sliding block (102) is slidably connected in the sliding groove (101), a vertical rod (103) is fixedly connected to the side wall of the sliding block (102), and a shielding film (104) is fixedly connected to the surface of the vertical rod (103); A plurality of groups of sliding blocks (102) and vertical rods (103) are slidably connected in the sliding groove (101) and are used to unfold the shielding film (104).

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