Cerebral stroke early-stage rehabilitation robot

Abstract

The invention relates to the technical field of medical instruments, in particular to a cerebral apoplexy early rehabilitation robot which comprises a robot body, a mounting plate is mounted on one side of the robot body, a seat is mounted in the mounting plate in a penetrating mode, and a turnover mechanism used for training feet is arranged on one side of the robot body. The top of the robot body is provided with a stretching mechanism used for training the shoulders, the two sides of the seat are provided with massage mechanisms used for massaging the legs, eccentric wheels and the like are driven by a driving motor, foot plates swing left and right in a reciprocating mode, the turning motion of ankle joints is simulated, a guide rod drives a movable plug, and inflation and deflation of an air bag are achieved; in addition, when the massage mechanism works, the stretching and bending mechanism is driven to be matched with the turnover mechanism, multi-dimensional movement of the foot plate is achieved, and functional recovery of ankle joints and foot muscles is promoted.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an early-stage stroke rehabilitation robot. Background Art

[0002] Stroke, also known as stroke, is a cerebrovascular disease with high morbidity, high disability rate and high mortality rate. According to statistics, a large number of patients worldwide face physical dysfunction due to stroke every year, which seriously affects the quality of life. Among them, early rehabilitation treatment is crucial for the functional recovery of stroke patients. It can significantly improve the patient's motor ability, daily life self-care ability and the possibility of returning to society. With the continuous development of science and technology, rehabilitation robots are gradually applied to the field of early rehabilitation treatment of stroke. Although the existing rehabilitation robots have reduced the workload of rehabilitation therapists to a certain extent and improved the efficiency of rehabilitation training.

[0003] However, some rehabilitation robots have single functions and can only train a certain part of the patient. During the training process, the movement pattern is relatively fixed, and they lack the function of multi-part coordinated rehabilitation training. They cannot simulate the natural movement state of human limbs, resulting in unsatisfactory rehabilitation effects for patients.

[0004] In view of this, research and improvement are conducted on the existing problems, and a stroke early rehabilitation robot is provided, aiming to solve the problems and improve the practical value through this technology. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings existing in the prior art, and a robot for early stroke rehabilitation is proposed. The present invention drives an eccentric wheel through a driving motor to make the foot swing back and forth, simulating the flipping movement of the ankle joint. The guide rod drives the movable plug to realize the inflation and deflation of the airbag to complete the finger varicose vein training. It can also realize multi-part coordinated rehabilitation by adjusting the telescopic rod, starting the rotary drive motor, etc. In addition, the massage mechanism drives the flexion and extension mechanism when working, and cooperates with the flipping mechanism to realize multi-dimensional movement of the foot and promote the recovery of ankle joint and foot muscle function.

[0006] In order to achieve the above-mentioned object, the present invention adopts the following technical scheme: an early stroke rehabilitation robot, comprising a robot body, a mounting plate is installed on one side of the robot body, a seat is installed through the inside of the mounting plate, a flip mechanism for training feet is arranged on one side of the robot body, a stretching mechanism for training shoulders is arranged on the top of the robot body, and massage mechanisms for massaging legs are arranged on both sides of the seat; The flip mechanism includes a slide groove opened on one side of the bottom of the robot body, a rack A slides inside the slide groove, a push plate is fixedly connected to the top of the rack A, a rotating rod is rotatable at the lower end of the robot body through a bearing, a gear A meshing with the rack A is sleeved on the outer wall of the rotating rod, one end of the rotating rod is fixedly connected to a mounting frame, a foot plate is rotatable inside the mounting frame through a rotating shaft, a driving mechanism is arranged inside the rotating rod, and a flexion mechanism is arranged on one side of the foot plate; The stretching mechanism comprises a telescopic rod installed at the top of the robot body, a rotating motor is installed at the top of the telescopic rod, a rotating arm is installed at the output end of the rotating motor, a handle is installed at the inner end of the rotating arm, and a varicose mechanism for training fingers is arranged on the outer wall of the handle; The varicose mechanism includes an air bag sleeved on the surface of the grip, an air cylinder is installed on one side of the bottom of the robot body, a movable plug slides inside the air cylinder, the air bag and the air cylinder are connected through an air pipe, and one side of the movable plug is connected to the driving mechanism; The massage mechanism includes a mounting groove opened inside the seat, a round rod is slidably arranged inside the mounting groove, a massage ball is fixedly connected to the top of the round rod, a movable seat is slidably arranged on one side of the seat, a sliding rod is fixedly connected to the bottom of the movable seat, a push block corresponding to the bottom end of the round rod is fixedly connected to the top of the sliding rod, and the stretching mechanism and the massage mechanism are connected via a transmission mechanism.

[0007] Preferably: the driving mechanism includes a driving motor installed at the bottom of the mounting plate, a gear B is rotated at the output end of the driving motor, an eccentric wheel is meshedly connected to one side of the gear B, a slot plate is slidably provided at the top of the eccentric wheel, one end of the slot plate is fixedly connected to a guide rod, and one end of the guide rod is fixedly connected to one side of the movable plug.

[0008] Preferably, a plurality of groups of arc-shaped clamps are installed on the inner side of the rotating arm, and a bandage is installed at one end of the plurality of groups of arc-shaped clamps.

[0009] Preferably, the surface of the airbag is provided with a plurality of groups of massage protrusions.

[0010] Preferably, a limit plate is slidably provided inside the installation groove, and the limit plate is fixedly sleeved on the outer wall of the round rod, and a spring symmetrically arranged about the central axis of the round rod is installed inside the installation groove.

[0011] Preferably, the massage mechanism further comprises a cylinder rotatably mounted on the top of the movable seat, a connecting frame is mounted on the output end of the cylinder, and a massage roller is rotatably mounted on one side of the connecting frame.

[0012] Preferably: the transmission mechanism includes a transmission shaft rotating on one side of the robot body, the top outer wall of the transmission shaft and the output end of the rotating motor are both provided with rotating wheels, the two groups of the rotating wheels are connected by belt transmission, a screw rod rotates on one side of the seat, the movable seat is provided on the outer wall of the screw rod, and the bottom outer wall of the transmission shaft and one end of the bevel gear are both provided with meshingly connected bevel gears.

[0013] Preferably: the extension and flexion mechanism includes a roller installed on one side of the rotating shaft, the roller is connected to the mounting frame by a torsion spring, the outer wall of the roller is sleeved with a connecting rope, a take-up roller is rotatable at the bottom of the seat through a bearing, and the connecting rope is connected to the take-up roller, the outer wall of the take-up roller is sleeved with a gear C, a push rod is fixedly connected to one side of the sliding rod, and one end of the push rod is fixedly connected to a rack B meshing with the gear C.

[0014] Preferably: a fixing ring is provided on the top of the foot plate, and the fixing ring is made of rubber material.

[0015] Preferably, a round ball is fixedly connected to the bottom of the round rod, and the left and right side walls of the push block are both arranged to be inclined.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention starts a rotating motor to make the rotating arm drive the arm to swing, so as to perform shoulder stretching training and improve rehabilitation efficiency. When the stretching mechanism is working, the rotating motor drives the rotating wheel, the transmission shaft and the bevel gear to rotate, so that the screw drives the moving seat to move back and forth, and the moving seat drives the sliding rod to move back and forth synchronously, so that the push block on the top of the sliding rod pushes the round rod to rise, and the massage ball on the round rod rises accordingly and compresses the spring. The spring buffers the impact force to ensure stability, and the reciprocating screw makes the massage ball rise and fall periodically, so as to regularly massage the patient's legs, so that the patient can relax his legs during shoulder and arm stretching training, promote blood circulation, improve rehabilitation efficiency, and realize multi-part coordinated rehabilitation.

[0017] 2. When the massage mechanism of the present invention is working, the sliding rod is driven by the transmission mechanism to reciprocate, so that the sliding rod drives the push rod to push the rack B to move, and the rack B drives the gear C to rotate to realize the rotation of the take-up roller, and the winding connecting rope causes the roller to rotate, which is transmitted to the foot through the rotating shaft to realize the extension and flexion movement. When the flipping mechanism drives the foot to flip left and right, the extension and flexion mechanism cooperates to make the foot flex and extend, which can simulate the natural movement of the foot, realize multi-dimensional rehabilitation training, and can more comprehensively promote the recovery of the patient's ankle joint and foot muscle function.

[0018] 3. The present invention starts a driving motor, the motor drives gear B to rotate, gear B drives the eccentric wheel to rotate, the eccentric wheel drives the slot plate to reciprocate, and the movement is transmitted to the push plate through the guide rod, so that the push plate pushes the rack A to move along the slide groove, so that the rack A drives gear A to rotate, and the rotation of gear A drives the rotating rod to rotate synchronously, so that the rotation of the rotating rod drives the mounting frame and the foot plate to swing back and forth left and right. The left and right reciprocating swing of the foot plate can simulate the natural turning movement of the ankle joint, so that the patient can feel the movement pattern close to the daily activities during the rehabilitation training, which is helpful to improve the rehabilitation effect and the patient's adaptability.

[0019] 4. In the present invention, when the flipping mechanism is working, the guide rod reciprocates to drive the movable plug to move synchronously in the air cylinder. The guide rod moves forward, and the movable plug presses the gas in the air cylinder into the air bag through the air supply pipe, and the air bag expands, thereby simulating the opening of fingers. The guide rod moves in the opposite direction, and the movable plug draws the gas in the air bag back to the air cylinder, and the air bag contracts, and the fingers resume clenching. The guide rod moves periodically, and the movable plug is continuously inflated and deflated, thereby realizing the patient's finger cyclic varicose vein training. Through continuous varicose vein cycle training, the strength and flexibility of the patient's finger muscles can be enhanced, which can not only exercise the finger muscles, but also stimulate the nervous system to control the finger movement, promote blood circulation in the hand, help the patient to rebuild the neuromuscular connection of the hand, accelerate the rehabilitation process, and improve the degree of recovery of the patient's hand function. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of an early stroke rehabilitation robot proposed by the present invention; Figure 2 This is a schematic diagram of the flipping mechanism structure of an early stroke rehabilitation robot proposed by the present invention; Figure 3 This is a schematic diagram of the enlarged structure of part A of an early stroke rehabilitation robot proposed by the present invention; Figure 4 This is a schematic diagram of the overall structure of the foot plate of an early stroke rehabilitation robot proposed by the present invention; Figure 5 This is a schematic diagram of the cross-sectional structure of a handle of an early stroke rehabilitation robot proposed by the present invention; Figure 6 This is a schematic diagram of the cross-sectional structure of a seat of an early stroke rehabilitation robot proposed by the present invention; Figure 7 This is a schematic diagram of the enlarged structure of part B of an early stroke rehabilitation robot proposed by the present invention; Figure 8 This is a schematic diagram of the seat bottom structure of a stroke early rehabilitation robot proposed by the present invention; Fig. 9This is a schematic diagram of the enlarged structure of part C of an early stroke rehabilitation robot proposed by the present invention.

[0021] Legend: 1. Robot body; 2. Mounting plate; 3. Seat; 4. Flip mechanism; 401. Slide; 402. Rack A; 403. Push plate; 404. Rotating rod; 405. Gear A; 406. Mounting frame; 407. Rotating shaft; 408. Foot plate; 409. Driving motor; 410. Gear B; 411. Eccentric wheel; 412. Slot plate; 413. Guide rod; 5. Extension mechanism; 501. Telescopic rod; 502. Rotating motor; 503. Rotating arm; 504. Arc clamp; 505. Handle; 6. Varicose mechanism; 601. Air bag; 602. Air cylinder; 603. Movable plug; 6 04, air pipe; 605, massage protrusion; 7, massage mechanism; 701, installation groove; 702, round rod; 703, massage ball; 704, spring; 705, moving seat; 706, sliding rod; 707, push block; 708, cylinder; 709, connecting frame; 710, massage roller; 8, transmission mechanism; 801, transmission shaft; 802, rotating wheel; 803, belt; 804, bevel gear; 805, screw rod; 9, extension and flexion mechanism; 901, roller; 902, torsion spring; 903, connecting rope; 904, take-up roller; 905, gear C; 906, push rod; 907, rack B. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. 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.

[0023] The present invention provides an early stroke rehabilitation robot, comprising a robot body 1, a mounting plate 2 is mounted on one side of the robot body 1, a seat 3 is installed through the mounting plate 2, a flip mechanism 4 for training feet is arranged on one side of the robot body 1, a stretching mechanism 5 for training shoulders is arranged on the top of the robot body 1, and massage mechanisms 7 for massaging legs are arranged on both sides of the seat 3; See also Figures 1 to 4As shown, the flip mechanism 4 includes a slide groove 401 opened on one side of the bottom of the robot body 1, a rack A402 is slidably arranged inside the slide groove 401, a push plate 403 is fixedly connected to the top of the rack A402, a rotating rod 404 is rotatably arranged at the lower end of the robot body 1 through a bearing, a gear A405 meshingly connected to the rack A402 is sleeved on the outer wall of the rotating rod 404, a mounting frame 406 is fixedly connected to one end of the rotating rod 404, a foot plate 408 is rotatably arranged inside the mounting frame 406 through a rotating shaft 407, a driving mechanism is arranged inside the rotating rod 404, and a flexion and extension mechanism 9 is arranged on one side of the foot plate 408; It should be noted that by starting the drive motor 409, the drive motor 409 drives the gear B410 to rotate, and the rotation of the gear B410 drives the eccentric wheel 411 meshing with it to rotate. The eccentric structure of the eccentric wheel 411 causes it to produce periodic deviations during the rotation process, thereby driving the slot plate 412 to reciprocate. The reciprocating motion of the slot plate 412 is transmitted to the push plate 403 through the guide rod 413, pushing the push plate 403 to perform linear reciprocating motion in the slide groove 401. The reciprocating motion of the push plate 403 pushes the rack A402 to move along the slide groove 401. Due to the meshing relationship between the rack A402 and the gear A405, the rack A402 drives the gear The wheel A405 rotates, and the further rotation of the gear A405 drives the rotating rod 404 to rotate synchronously. One end of the rotating rod 404 is fixedly connected to the mounting frame 406, and the inside of the mounting frame 406 is rotatably connected to the foot plate 408 via the rotating shaft 407. Therefore, the rotation of the rotating rod 404 drives the mounting frame 406 and the foot plate 408 to swing back and forth, simulating the left and right flipping movement of the ankle joint, thereby realizing rehabilitation training for the ankle joint. The left and right reciprocating swing of the foot plate 408 can simulate the natural flipping movement of the ankle joint, so that the patient can feel a movement pattern close to daily activities during the rehabilitation training, which helps to improve the rehabilitation effect and the patient's adaptability.

[0024] See also Figure 1 to Figure 2 As shown, the extension mechanism 5 includes a telescopic rod 501 installed at the top of the robot body 1, a rotating motor 502 is installed on the top of the telescopic rod 501, a rotating arm 503 is installed at the output end of the rotating motor 502, a handle 505 is installed at the inner end of the rotating arm 503, and the outer wall of the handle 505 is provided with a varicose mechanism 6 for training fingers; It should be noted that when it is necessary to train the patient's shoulders, first adjust the height of the telescopic rod 501 according to the patient's height, then fix the patient's arm inside the arc-shaped clamp 504, start the rotary drive motor 409 to drive the rotating arm 503 to swing left and right, so that the rotating arm 503 drives the patient's arm to swing synchronously, thereby performing stretching training on the patient's shoulders and improving the efficiency of the patient's rehabilitation.

[0025] See also Figures 1 to 5As shown, the varicose mechanism 6 includes an air bag 601 sleeved on the surface of the grip 505, an air cylinder 602 is installed on one side of the bottom of the robot body 1, and a movable plug 603 slides inside the air cylinder 602. The air bag 601 and the air cylinder 602 are connected through an air pipe 604, and one side of the movable plug 603 is connected to the driving mechanism; It should be noted that during the operation of the flipping mechanism 4, the reciprocating movement of the guide rod 413 drives the movable plug 603 to move synchronously in the gas cylinder 602 through a mechanical connection. When the guide rod 413 moves forward, the movable plug 603 compresses the gas in the gas cylinder 602 through the gas pipe 604 and transports it to the interior of the airbag 601. As the gas continues to enter, the airbag 601 gradually expands, exerting an outward thrust on the fingers, simulating the opening action of the fingers. When the guide rod 413 moves in the opposite direction, the movable plug 603 draws the gas in the airbag 601 back into the air cylinder 602, and the airbag 601 contracts accordingly. The fingers resume the clenched state under the action of their own elasticity or external force. Through the periodic reciprocating movement of the guide rod 413, the movable plug 603 continuously repeats the above-mentioned inflation and deflation process, so that the patient's fingers can undergo cyclic varicose vein training. Through continuous varicose vein cycle training, the strength and flexibility of the patient's finger muscles can be enhanced, which can not only exercise the finger muscles, but also stimulate the nervous system to control the finger movement, promote blood circulation in the hand, help the patient rebuild the neuromuscular connection in the hand, accelerate the rehabilitation process, and improve the degree of recovery of the patient's hand function.

[0026] In addition, according to the patient's training needs, the motion parameters of the drive motor 409 can be adjusted, and the inflation and deflation speeds of the airbag 601 can be accurately controlled, thereby achieving training of different intensities to meet the needs of different patients' finger strength and rehabilitation stages.

[0027] See also Figure 6 to Figure 7 As shown, the massage mechanism 7 includes a mounting groove 701 opened inside the seat 3, a round rod 702 is slidably arranged inside the mounting groove 701, a massage ball 703 is fixedly connected to the top of the round rod 702, a movable seat 705 is slidably arranged on one side of the seat 3, a sliding rod 706 is fixedly connected to the bottom of the movable seat 705, a push block 707 corresponding to the bottom end of the round rod 702 is fixedly connected to the top of the sliding rod 706, and the extension mechanism 5 and the massage mechanism 7 are connected via a transmission mechanism 8.

[0028] It should be noted that during the operation of the extension mechanism 5, the rotating motor 502 drives the rotating wheel 802 to rotate, the rotation of the rotating wheel 802 drives the transmission shaft 801 to rotate, the transmission shaft 801 further drives the bevel gear 804 to rotate, the rotation of the bevel gear 804 drives the screw rod 805 meshing therewith to rotate, the rotation of the screw rod 805 causes the movable seat 705 to reciprocate along its axial direction, the reciprocating movement of the movable seat 705 drives the sliding rod 706 fixed at its bottom to move synchronously, and the push block 707 at the top of the sliding rod 706 corresponds to the bottom end of the round rod 702. When the sliding rod 706 moves, the push block 707 pushes the round rod 702 to rise, and the massage ball 703 fixedly connected to the top of the round rod 702 rises accordingly. At the same time, the rise of the round rod 702 will compress the spring 704 in the mounting groove 701. The elastic effect of the spring 704 can buffer the impact force during the rise of the round rod 702, ensuring the smooth rise of the massage ball 703. Driven by the round rod 702, the massage ball 703 can regularly massage the patient's legs. Through the reciprocating motion of the screw rod 805, the massage ball 703 can achieve periodic rise and fall, thereby providing the patient with a stable massage effect, so that when the patient is performing stretching exercises on the shoulders, arms and other parts, the legs can be massaged and relaxed at the same time, promoting blood circulation throughout the body, improving rehabilitation efficiency, and achieving coordinated rehabilitation of multiple parts.

[0029] See also Figure 8 As shown, the driving mechanism includes a driving motor 409 installed at the bottom of the mounting plate 2, and a gear B410 is rotated at the output end of the driving motor 409, and an eccentric wheel 411 is meshedly connected to one side of the gear B410, and a slot plate 412 is slidably provided at the top of the eccentric wheel 411, and one end of the slot plate 412 is fixedly connected to a guide rod 413, and one end of the guide rod 413 is fixedly connected to one side of the movable plug 603.

[0030] See also Figure 1 to Figure 2 As shown, multiple sets of arc-shaped clamps 504 are installed on the inner side of the rotating arm 503, and bandages are installed at one end of the multiple sets of arc-shaped clamps 504, which can better fix the patient's arm and improve the stability of shoulder training.

[0031] See also Figure 5 As shown, the surface of the airbag 601 is provided with multiple groups of massage protrusions 605, which can locally stimulate the surface of the patient's fingers or palms, similar to the finger pressure or tapping techniques in traditional massage. This stimulation can act on the acupuncture points or nerve endings of the fingers, promote local blood circulation, and relieve muscle tension and fatigue.

[0032] See also Figure 7As shown, there is a limit plate sliding inside the installation groove 701, and the limit plate is fixedly sleeved on the outer wall of the round rod 702. A spring 704 symmetrically arranged about the central axis of the round rod 702 is installed inside the installation groove 701. The spring 704 can provide elastic restoring force for the round rod 702 to ensure that the round rod 702 can quickly and smoothly return to the initial position during movement.

[0033] See also Figure 6 to Figure 7 As shown, the massage mechanism 7 also includes a cylinder 708 rotatably mounted on the top of the movable seat 705, a connecting frame 709 is mounted on the output end of the cylinder 708, and a massage roller 710 is rotatably mounted on one side of the connecting frame 709. When the movable seat 705 reciprocates, the movable seat 705 can drive the massage roller 710 to massage the patient's thigh back and forth, which can simulate the kneading and rolling techniques in manual massage, promote blood circulation, and relieve muscle tension.

[0034] See also Figure 7 As shown, the transmission mechanism 8 includes a transmission shaft 801 rotating on one side of the robot body 1, the top outer wall of the transmission shaft 801 and the output end of the rotating motor 502 are both provided with rotating wheels 802, the two sets of rotating wheels 802 are connected by belts 803, a screw rod 805 rotates on one side of the seat 3, the moving seat 705 is sleeved on the outer wall of the screw rod 805, and the bottom outer wall of the transmission shaft 801 and one end of the bevel gear 804 are both sleeved with meshing bevel gears 804.

[0035] See also Figures 8 to 9 As shown, the flexion and extension mechanism 9 includes a roller 901 installed on one side of the rotating shaft 407, the roller 901 is connected to the mounting frame 406 by a torsion spring 902, the outer wall of the roller 901 is sleeved with a connecting rope 903, a take-up roller 904 is rotatable at the bottom of the seat 3 through a bearing, and the connecting rope 903 is connected to the take-up roller 904, the outer wall of the take-up roller 904 is sleeved with a gear C905, a push rod 906 is fixedly connected to one side of the sliding rod 706, and one end of the push rod 906 is fixedly connected to a rack B907 meshing with the gear C905.

[0036] It should be noted that when the massage mechanism 7 is working, the sliding rod 706 moves back and forth under the drive of the transmission mechanism 8, and the movement of the sliding rod 706 drives the push rod 906 to move synchronously, and the push rod 906 drives the rack B907 to move along its track. Since the rack B907 is meshed with the gear C905, the linear movement of the rack B907 is converted into the rotational movement of the gear C905, and the rotation of the gear C905 drives the wire take-up roller 904 to rotate, and the wire take-up roller 904 realizes motion transmission by winding the connecting rope 903, and the winding of the connecting rope 903 drives the roller 901 to rotate, and the roller 901 rotates. The rotation of 01 is transmitted to the foot plate 408 through the rotating shaft 407, so that the foot plate 408 can realize flexion and extension movement. While the flipping mechanism 4 drives the foot plate 408 to flip left and right, the flexion and extension mechanism 9 realizes the flexion and extension movement of the foot plate 408 through the above-mentioned transmission process. The foot plate 408 can perform flexion and extension movement simultaneously during the flipping process, simulating the natural movement of the patient's foot, providing the patient with more comprehensive rehabilitation training, and enabling the foot plate 408 to perform flexion and extension movement while flipping left and right, realizing multi-dimensional rehabilitation training, and more comprehensively promoting the functional recovery of the patient's ankle joint and foot muscles.

[0037] See also Figure 4 As shown, a fixing ring is provided on the top of the foot plate 408 , and the fixing ring is made of rubber material. The rubber fixing ring can fit tightly to the patient's foot to ensure that the foot remains stable during rehabilitation training and prevent the foot from sliding or shifting on the foot plate 408 .

[0038] See also Figure 7 As shown, a round ball is fixedly connected to the bottom of the round rod 702, and the left and right side walls of the push block 707 are both set to be inclined. The design of the round ball allows the round rod 702 to contact the push block 707 more smoothly during the up and down movement.

[0039] Working principle: When in use, the patient first sits on the seat 3, and then fixes the patient's arm inside the arc-shaped clamp 504, and starts the drive motor 409, which drives the gear B410 to rotate. The rotation of the gear B410 drives the eccentric wheel 411 meshing with it to rotate. The eccentric structure of the eccentric wheel 411 causes it to produce periodic deviations during the rotation process, thereby driving the slot plate 412 to reciprocate. The reciprocating motion of the slot plate 412 is transmitted to the push plate 403 through the guide rod 413, pushing the push plate 403 to perform a linear reciprocating motion in the slide groove 401. The reciprocating motion of the push plate 403 pushes the rack A402 to move along the slide groove 401. Due to the contact between the rack A402 and the gear A405 The meshing relationship is such that the linear motion of the rack A402 is converted into the rotational motion of the gear A405. The rotation of the gear A405 drives the rotating rod 404 to rotate synchronously. One end of the rotating rod 404 is fixedly connected to the mounting frame 406. The mounting frame 406 is rotatably connected to the foot plate 408 via the rotating shaft 407. Therefore, the rotation of the rotating rod 404 drives the mounting frame 406 and the foot plate 408 to swing back and forth, simulating the left and right flipping motion of the ankle joint, thereby realizing the rehabilitation training of the ankle joint. The left and right reciprocating swing of the foot plate 408 can simulate the natural flipping motion of the ankle joint, so that the patient can feel the movement mode close to the daily activities during the rehabilitation training, which is helpful to improve the rehabilitation effect and the adaptability of the patient. During the operation of the flipping mechanism 4, the reciprocating movement of the guide rod 413 drives the movable plug 603 to move synchronously in the gas cylinder 602 through the mechanical connection. When the guide rod 413 moves forward, the movable plug 603 compresses the gas in the gas cylinder 602 through the gas pipe 604 and transports it to the inside of the airbag 601. As the gas continues to enter, the airbag 601 gradually expands, exerting an outward thrust on the fingers, simulating the opening action of the fingers. When the guide rod 413 moves in the opposite direction, the movable plug 603 draws the gas in the airbag 601 back into the air cylinder 602, and the airbag 601 contracts accordingly. The fingers resume the clenched state under the action of their own elasticity or external force. Through the periodic reciprocating movement of the guide rod 413, the movable plug 603 continuously repeats the above-mentioned inflation and deflation process, so that the patient's fingers can undergo cyclic varicose vein training. Through continuous varicose vein cycle training, the strength and flexibility of the patient's finger muscles can be enhanced, which can not only exercise the finger muscles, but also stimulate the nervous system to control the finger movements, promote blood circulation in the hands, help patients rebuild the neuromuscular connection of the hands, accelerate the rehabilitation process, and improve the degree of recovery of the patient's hand functions. When the patient's shoulder needs to be trained, the height of the telescopic rod 501 is first adjusted according to the patient's height, and then the patient's arm is fixed inside the arc-shaped clamp 504, and the rotary drive motor 409 is started to drive the rotating arm 503 to swing left and right, so that the rotating arm 503 drives the patient's arm to swing synchronously, so that the patient's shoulder can be stretched, thereby improving the efficiency of the patient's rehabilitation; During the operation of the stretching mechanism 5, the rotating motor 502 drives the rotating wheel 802 to rotate, and the rotation of the rotating wheel 802 drives the transmission shaft 801 to rotate. The transmission shaft 801 further drives the bevel gear 804 to rotate. The rotation of the bevel gear 804 drives the screw rod 805 meshing with it to rotate. The rotation of the screw rod 805 causes the moving seat 705 to reciprocate along its axial direction. The reciprocating movement of the moving seat 705 drives the sliding rod 706 fixed at its bottom to move synchronously, and the push block 707 on the top of the sliding rod 706 corresponds to the bottom end of the round rod 702. When the sliding rod 706 moves, the push block 707 pushes the round rod 702 to rise, and the massage ball 703 fixedly connected to the top of the round rod 702 rises accordingly. At the same time, the rise of the round rod 702 will compress the spring 704 in the installation groove 701. The elastic effect of the spring 704 can buffer the impact force during the rise of the round rod 702, ensuring the stability of the rising movement of the massage ball 703. Driven by the round rod 702, the massage ball 703 can regularly massage the patient's legs. Through the reciprocating motion of the screw rod 805, the massage ball 703 can achieve periodic rise and fall, thereby providing a stable massage effect for the patient, so that when the patient is doing stretching exercises on the shoulders, arms and other parts, the legs can be massaged and relaxed at the same time, promoting blood circulation throughout the body, improving rehabilitation efficiency, and achieving coordinated rehabilitation of multiple parts. When the massage mechanism 7 is working, the sliding rod 706 moves back and forth under the drive of the transmission mechanism 8, and the movement of the sliding rod 706 drives the push rod 906 to move synchronously. The push rod 906 pushes the rack B907 to move along its track. Since the rack B907 is meshed with the gear C905, the linear movement of the rack B907 is converted into the rotational movement of the gear C905. The rotation of the gear C905 drives the take-up roller 904 to rotate. The take-up roller 904 realizes motion transmission by winding the connecting rope 903. The winding of the connecting rope 903 drives the roller 901 to rotate. The roller 901 The rotation is transmitted to the foot plate 408 through the rotating shaft 407, so that the foot plate 408 can perform flexion and extension movements. While the flipping mechanism 4 drives the foot plate 408 to flip left and right, the flexion and extension mechanism 9 realizes the flexion and extension movements of the foot plate 408 through the above-mentioned transmission process. The foot plate 408 can perform flexion and extension movements simultaneously during the flipping process, simulating the natural movement of the patient's foot, providing the patient with more comprehensive rehabilitation training, and enabling the foot plate 408 to perform flexion and extension movements while flipping left and right, thereby realizing multi-dimensional rehabilitation training and more comprehensively promoting the functional recovery of the patient's ankle joint and foot muscles.

[0040] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A stroke early rehabilitation robot, comprising a robot body (1), characterized in that: A mounting plate (2) is installed on one side of the robot body (1), a seat (3) is installed through the interior of the mounting plate (2), a flipping mechanism (4) for training the feet is arranged on one side of the robot body (1), a stretching mechanism (5) for training the shoulders is arranged on the top of the robot body (1), and massage mechanisms (7) for massaging the legs are arranged on both sides of the seat (3); The flip mechanism (4) comprises a slide groove (401) provided on one side of the bottom of the robot body (1); a rack A (402) is slidably provided inside the slide groove (401); a push plate (403) is fixedly connected to the top of the rack A (402); a rotating rod (404) is rotatably provided at the lower end of the robot body (1) via a bearing; a gear A (405) meshingly connected to the rack A (402) is sleeved on the outer wall of the rotating rod (404); a mounting frame (406) is fixedly connected to one end of the rotating rod (404); a foot plate (408) is rotatably provided inside the mounting frame (406) via a rotating shaft (407); a driving mechanism is provided inside the rotating rod (404); and a flexion and extension mechanism (9) is provided on one side of the foot plate (408); The extension mechanism (5) comprises a telescopic rod (501) mounted on the top of the robot body (1); a rotating motor (502) is mounted on the top of the telescopic rod (501); a rotating arm (503) is mounted on the output end of the rotating motor (502); a handle (505) is mounted on the inner end of the rotating arm (503); and a varicose mechanism (6) for training fingers is disposed on the outer wall of the handle (505); The varicose mechanism (6) comprises an air bag (601) sleeved on the surface of the grip (505), an air cylinder (602) is installed on one side of the bottom of the robot body (1), a movable plug (603) is slidably disposed inside the air cylinder (602), the air bag (601) and the air cylinder (602) are connected via an air pipe (604), and one side of the movable plug (603) is connected to the driving mechanism; The massage mechanism (7) comprises a mounting groove (701) provided inside the seat (3), a round rod (702) slidingly arranged inside the mounting groove (701), a massage ball (703) fixedly connected to the top of the round rod (702), a movable seat (705) slidingly arranged on one side of the seat (3), a sliding rod (706) fixedly connected to the bottom of the movable seat (705), a push block (707) corresponding to the bottom end of the round rod (702) fixedly connected to the top of the sliding rod (706), and the extension mechanism (5) and the massage mechanism (7) are transmission-connected via a transmission mechanism (8).

2. The early stroke rehabilitation robot according to claim 1, characterized in that: The driving mechanism comprises a driving motor (409) mounted on the bottom of the mounting plate (2); a gear B (410) is rotatably mounted at the output end of the driving motor (409); an eccentric wheel (411) is meshingly connected to one side of the gear B (410); a slot plate (412) is slidably mounted on the top end of the eccentric wheel (411); a guide rod (413) is fixedly connected to one end of the slot plate (412); and one end of the guide rod (413) is fixedly connected to one side of the movable plug (603).

3. The early stroke rehabilitation robot according to claim 1, characterized in that: A plurality of groups of arc-shaped clamps (504) are installed on the inner side of the rotating arm (503), and a bandage is installed at one end of the plurality of groups of arc-shaped clamps (504).

4. The early stroke rehabilitation robot according to claim 1, characterized in that: The surface of the airbag (601) is provided with a plurality of groups of massage protrusions (605).

5. The early stroke rehabilitation robot according to claim 1, characterized in that: A limit plate is slidably disposed inside the installation groove (701), and the limit plate is fixedly sleeved on the outer wall of the round rod (702). A spring (704) symmetrically disposed about the central axis of the round rod (702) is installed inside the installation groove (701).

6. The early stroke rehabilitation robot according to claim 1, characterized in that: The massage mechanism (7) further comprises a cylinder (708) rotatably mounted on the top of the movable seat (705); a connecting frame (709) is mounted on the output end of the cylinder (708); and a massage roller (710) is rotatably mounted on one side of the connecting frame (709).

7. The early stroke rehabilitation robot according to claim 1, characterized in that: The transmission mechanism (8) comprises a transmission shaft (801) rotating on one side of the robot body (1); a top outer wall of the transmission shaft (801) and an output end of the rotating motor (502) are both sleeved with a rotating wheel (802); two sets of the rotating wheels (802) are connected by a belt (803); a screw rod (805) rotates on one side of the seat (3); the movable seat (705) is sleeved on the outer wall of the screw rod (805); and a bottom outer wall of the transmission shaft (801) and one end of the bevel gear (804) are both sleeved with a meshing bevel gear (804).

8. The early stroke rehabilitation robot according to claim 1, characterized in that: The flexion and extension mechanism (9) comprises a roller (901) mounted on one side of a rotating shaft (407); the roller (901) is connected to a mounting frame (406) via a torsion spring (902); a connecting rope (903) is sleeved on the outer wall of the roller (901); a wire take-up roller (904) is rotatably provided at the bottom of the seat (3) via a bearing; the connecting rope (903) is connected to the wire take-up roller (904); a gear C (905) is sleeved on the outer wall of the wire take-up roller (904); a push rod (906) is fixedly connected to one side of the sliding rod (706); and a rack B (907) meshing with the gear C (905) is fixedly connected to one end of the push rod (906).

9. The early stroke rehabilitation robot according to claim 1, characterized in that: A fixing ring is provided on the top of the foot plate (408), and the fixing ring is made of rubber material.

10. The early stroke rehabilitation robot according to claim 1, characterized in that: A round ball is fixedly connected to the bottom of the round rod (702), and the left and right side walls of the push block (707) are both arranged in an inclined shape.

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