DOF (degree of freedom) shoulder and elbow joint rehabilitation training robot
By designing a shoulder and elbow joint rehabilitation training robot with multiple degrees of freedom, the problems of large physical energy consumption, inaccurate training effects and single equipment functions in traditional rehabilitation training methods are solved, and more efficient, safer and more convenient rehabilitation training effects are achieved.
Patent Information
- Application Number
- CN202510588064.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-08
- Publication Date
- 2025-06-13
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The traditional shoulder and elbow rehabilitation training method has problems such as high physical energy consumption, inaccurate training effects, single equipment functions, inability to personalize adjustments, ease of use and space occupation.
A degree of freedom shoulder and elbow joint rehabilitation training robot is designed to automatically adjust and unfold the equipment through multiple drive motors and transmission devices, which can provide diversified training postures according to the individual differences of patients and the rehabilitation process, and can flexibly adjust the length of the arm through devices such as electric push rods and Velcro.
It improves the pertinence and effectiveness of rehabilitation training, reduces physical energy consumption of medical staff, improves the safety and comfort of training, and saves space and operating time through automatic expansion and storage functions.
Smart Images
Figure CN120131388A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of rehabilitation equipment, and specifically to a shoulder and elbow joint rehabilitation training robot with multiple degrees of freedom. Background Art
[0002] In the field of medical rehabilitation, the rehabilitation treatment after shoulder and elbow joint injuries is a key link. As joints with a wide range of activities and frequent use in the human body, once injured, the shoulder and elbow joints will not only affect the patient's ability to take care of themselves in daily life, such as dressing, eating, washing, etc., but may also have a negative impact on their mental health. At present, the rehabilitation training for shoulder and elbow joint injuries faces many challenges.
[0003] Traditional rehabilitation training methods mainly rely on medical staff to manually assist patients in joint activities. This method has obvious limitations. On the one hand, the physical consumption of medical staff is large, and it is difficult to provide continuous and stable rehabilitation training services for a large number of patients for a long time. On the other hand, it is difficult to ensure that the movement amplitude, strength, and frequency of each training are exactly the same. The training effect varies from person to person, lacking accuracy and standardization. Moreover, the professional levels and operation habits of different medical staff are different, further resulting in uneven training quality.
[0004] Some rehabilitation training equipment also cannot well meet the personalized needs of patients. Most rehabilitation equipment has relatively single functions and can only provide simple joint flexion and extension training, unable to achieve multi-degree-of-freedom movement training, and it is difficult to comprehensively exercise the various functions of the shoulder and elbow joints. For patients with different body sizes and at different rehabilitation stages, these equipment often cannot be flexibly adjusted according to the actual situation of the patients. For example, if the patient's arm length is different, when using a hoisting-type rehabilitation equipment, if the hoisting position cannot be adjusted, it may cause uneven stress on the patient's limbs during training, not only affecting the training effect, but also possibly causing secondary damage to the injured joint.
[0005] There are also problems in the usability and space occupation of rehabilitation equipment. Many rehabilitation equipment are large and fixed in volume, difficult to move between different rehabilitation scenarios, restricting the scope of use of the equipment. And when not in use, these equipment occupy a large amount of space, which is a considerable burden for rehabilitation departments and wards with limited space. While some movable equipment is cumbersome to operate during the unfolding and storage processes, consuming a lot of time and manpower, reducing the efficiency of rehabilitation training.
[0006] To solve the above-mentioned problems, the present invention proposes a shoulder and elbow joint rehabilitation training robot with multiple degrees of freedom. Summary of the Invention
[0007] The technical solution adopted by the present invention to solve its technical problems is: a rehabilitation training robot for the shoulder and elbow joints with degrees of freedom, including a base, on the upper end of which a hollow tube is fixed, and a circular tube slides on the outer wall of the hollow tube, and mounting brackets are symmetrically fixed on the outer wall of the circular tube; One end of the mounting bracket is rotatably connected with a mounting block through a first rotating shaft. A groove is provided at the lower end of the mounting block, and a slider slides on the inner wall of the groove. A cavity is provided inside the mounting block, and a roller is rotatably connected to the inner wall of the cavity through a second rotating shaft. A connecting rope is wound around the outer wall of the roller. An arc-shaped groove is opened at one end of the slider, and the connecting rope extends outside the slider through the arc-shaped groove and is fixed with a magic tape. A limiting cavity is penetrated and opened inside the slider, and a triangular block is slidably connected to the inner wall of the limiting cavity. Triangular holes are equidistantly opened on the inner top wall of the groove, and the triangular block extends into the triangular holes. A first spring is fixed to the inner bottom wall of the limiting cavity, and the first spring abuts against the triangular block.
[0008] Specifically, an electric push rod is fixed to the outer wall of one end of the mounting block. An auxiliary cavity is opened on one side of the limiting cavity inside the slider. A push block is slidably connected to the inner wall of the auxiliary cavity. A conical top block is fixed to one end of the push block, and the conical top block abuts against the triangular block. The output end of the electric push rod is fixedly connected to the push block.
[0009] Specifically, a circular groove is penetrated and opened at the middle position of the hollow tube. A threaded rod is rotatably connected to the inner bottom wall of the circular groove. A nut is threaded on the outer wall of the threaded rod. A connecting block is fixed to the outer wall of the nut. Slide holes are symmetrically opened on the inner wall of the circular groove. The connecting block extends outside the slide holes and is fixedly connected to the circular tube. Rack bars are symmetrically fixed to the upper outer wall of the hollow tube. A half gear is fixed to the outer wall of the mounting block, and the half gear meshes with the rack bar.
[0010] Specifically, a first driving motor is fixed to the upper surface of the mounting bracket, and the output end of the first driving motor is fixedly connected to the first rotating shaft through a coupling.
[0011] Specifically, a second driving motor is fixed to the outer wall of one side of the mounting block, and the output end of the second driving motor is fixedly connected to the second rotating shaft through a coupling.
[0012] Specifically, a third driving motor is fixed to the lower surface of the base, and the output end of the third driving motor is fixedly connected to the threaded rod through a coupling.
[0013] Specifically, driving wheels are fixed at the four corners of the base.
[0014] Specifically, the groove and the slider are both arranged in a T shape, and the hollow tube is arranged in a cylindrical shape.
[0015] The beneficial effects of the present invention: (1) During the use of the rehabilitation training robot for the shoulder and elbow joints with multiple degrees of freedom according to the present invention, the device can drive the threaded rod to rotate through the third driving motor, causing the round tube to move on the outer wall of the hollow tube. At the same time, it cooperates with the first driving motor to drive the mounting block to rotate and adjust to different positions, enabling the patient to take various postures for exercise. For example, the patient can perform basic training of arm extension by connecting the wrist to the connecting rope through Velcro, and the second driving motor drives the roller to wind up the connecting rope. The patient can also bend the elbow to the back for internal rotation training of the shoulder joint. By automatically adjusting different unfolding postures of the device, it can provide adapted postures according to the individual differences of the patient and the needs at different stages of the rehabilitation process, which helps to improve the pertinence and effectiveness of the rehabilitation training and promotes the patient to better recover the function of the shoulder and elbow joints.
[0016] (2) When the patient is ready to start training with the rehabilitation training robot for the shoulder and elbow joints with multiple degrees of freedom according to the present invention, if the patient has a relatively long arm, the electric push rod can be activated to drive the push block to push the conical top block, causing the triangular block to move into the slider, thereby enabling the slider to move outward and adjusting the position of the Velcro. In this way, the position of the hoisting device can be adjusted according to the length of the patient's arm. Since the arm lengths of different patients are different, the position of the hoisting device can be adjusted according to the patient's arm length to avoid secondary injuries caused by improper positions, greatly improving the safety and comfort of the training.
[0017] (3) When the device of the rehabilitation training robot for the shoulder and elbow joints with multiple degrees of freedom according to the present invention is not in use, the third driving motor is activated to drive the threaded rod to rotate in the reverse direction. The threaded rod drives the nut, the connecting block and the round tube to move downward. At this time, the rack drives the semi-gear to rotate downward, causing the mounting block to be wound to both sides of the round tube for storage. It occupies a small space and is convenient to store in limited spaces such as rehabilitation departments and wards without affecting the use of other functions of the venue. When it is needed to be used, through the forward rotation of the motor, the device can be automatically unfolded without complex manual operations by medical staff or patients, reducing the operation steps, saving time, improving the convenience of use, and making the rehabilitation training process smoother and more efficient. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] The present invention will be further described below in conjunction with the drawings and embodiments.
[0019] Figure 1 It is a front view structural schematic diagram of the rehabilitation training robot for the shoulder and elbow joints with multiple degrees of freedom provided by the present invention; Figure 2 It is a structural schematic diagram of the unfolded mounting block of the rehabilitation training robot for the shoulder and elbow joints with multiple degrees of freedom provided by the present invention; Figure 3 It is a cross-sectional structural schematic diagram of the hollow tube of the rehabilitation training robot for the shoulder and elbow joints with multiple degrees of freedom provided by the present invention; Figure 4Schematic front view structure of the hollow tube of the shoulder and elbow rehabilitation training robot with degrees of freedom provided by the present invention; Figure 5 Schematic front view structure of the mounting block of the shoulder and elbow rehabilitation training robot with degrees of freedom provided by the present invention; Figure 6 Schematic sectional view structure of the mounting block of the shoulder and elbow rehabilitation training robot with degrees of freedom provided by the present invention; Figure 7 Schematic front view structure of the slider of the shoulder and elbow rehabilitation training robot with degrees of freedom provided by the present invention; Figure 8 Schematic sectional view structure of the slider of the shoulder and elbow rehabilitation training robot with degrees of freedom provided by the present invention; Figure 9 Schematic sectional view structure of the push block of the shoulder and elbow rehabilitation training robot with degrees of freedom provided by the present invention.
[0020] In the figure: 1, base; 2, hollow tube; 3, round tube; 4, mounting block; 5, slider; 6, roller; 7, connecting rope; 8, magic tape; 9, triangular block; 10, triangular hole; 11, first spring; 12, electric push rod; 13, push block; 14, conical top block; 15, connecting block; 16, rack; 17, half gear; 18, first drive motor; 19, second drive motor; 20, third drive motor; 21, drive wheel; 22, threaded rod. Detailed implementation manners
[0021] In order to make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the present invention will be further described below in conjunction with the detailed implementation manners.
[0022] As Figures 1-9 shown, the present invention provides the following technical solutions: Embodiment 1: A shoulder and elbow rehabilitation training robot with degrees of freedom, including a base 1, a hollow tube 2 is fixed at the upper end of the base 1, a round tube 3 slides on the outer wall of the hollow tube 2, and mounting frames are symmetrically arranged on the outer wall of the round tube 3; One end of the mounting frame is rotatably provided with a mounting block 4 through a first rotating shaft. A groove is provided at the lower end of the mounting block 4, a slider 5 slides on the inner wall of the groove. A cavity is provided inside the mounting block 4, a roller 6 is rotatably provided on the inner wall of the cavity through a second rotating shaft, a connecting rope 7 is wound around the outer wall of the roller 6, an arc-shaped groove is provided at one end of the slider 5, the connecting rope 7 extends outside the slider 5 through the arc-shaped groove and is fixed with a magic tape 8. A limiting cavity is penetrated and provided inside the slider 5, a triangular block 9 is slidably connected to the inner wall of the limiting cavity, triangular holes 10 are equidistantly provided on the inner top wall of the groove, the triangular block 9 extends into the triangular holes 10, and a first spring 11 is fixed on the inner bottom wall of the limiting cavity, and the first spring 11 abuts against the triangular block 9.
[0023] One end of the outer wall of the mounting block 4 is fixedly connected with an electric push rod 12. An auxiliary cavity is arranged on one side of the limiting cavity inside the slider 5. A push block 13 is slidably connected to the inner wall of the auxiliary cavity. One end of the push block 13 is fixedly connected with a conical top block 14. The conical top block 14 abuts against the triangular block 9. The output end of the electric push rod 12 is fixedly connected with the push block 13.
[0024] A circular groove is penetrated through the middle position of the hollow tube 2. A threaded rod 22 is rotatably connected to the inner bottom wall of the circular groove. A nut is threaded on the outer wall of the threaded rod 22. A connecting block 15 is fixedly connected to the outer wall of the nut. Slide holes are symmetrically arranged on the inner wall of the circular groove. The connecting block 15 extends outside the slide holes and is fixedly connected to the circular tube 3. Rack bars 16 are symmetrically fixedly connected to the upper end outer wall of the hollow tube 2. A half gear 17 is fixedly connected to the outer wall of the mounting block 4. The half gear 17 meshes with the rack bars 16. The first drive motor 18, the second drive motor 19, the third drive motor 20, the drive wheel 21 and the electric push rod 12 are all connected to an external drive source through a controller.
[0025] During use, when the device is moved to the required position by using the drive wheel 21, the third drive motor 20 is started to drive the threaded rod 22 to rotate. The threaded rod 22 drives the nut and the connecting block 15 to move upward. The connecting block 15 drives the circular tube 3 to move on the outer wall of the hollow tube 2. When the circular tube 3 moves to the upper end of the hollow tube 2, the rack bars 16 drive the meshing half gear 17 to rotate outward. The mounting block 4 is unfolded through the half gear 17. As Figure 2 shown, the first drive motor 18 is started. The first drive motor 18 drives the first rotating shaft and the mounting block 4 to rotate inward. As Figure 1 described, at this time, the patient's wrist is connected to the connecting rope 7 through the magic tape 8. The second drive motor 19 is started to drive the second rotating shaft and the roller 6 to rotate. The roller 6 winds up the connecting rope 7 to pull the magic tape 8 and the patient's arm to move upward, stretching the patient's arm. After stretching, the second drive motor 19 drives the roller 6 to rotate in the reverse direction, so that the patient's arm moves downward, and the patient's arm is exercised up and down reciprocally. The patient's elbow can also be carried to the back and fixed with the magic tape 8. The second drive motor 19 is started to drive the arm to move upward, performing internal rotation of the shoulder joint. In this way, the exercise is carried out reciprocally. The first drive motor 18 can also be started to rotate the mounting block 4 to the same horizontal plane. As Figure 2As shown, the patient's feet can be opened to the same width as the shoulders, and the magic tape 8 is connected to the connecting rope 7. The second driving motor 19 is started to wind up the connecting rope 7, and the connecting rope 7 drives the arm to perform an abduction movement. When the patient's arm is relatively long, the electric push rod 12 can be started to drive the push block 13 to move in the direction of the electric push rod 12. The push block 13 pushes the conical top block 14 to move the triangular block 9 into the slider 5 until the push block 13 abuts against the slider 5. The electric push rod 12 drives the slider 5 to move outward through the push block 13, increasing the position of the magic tape 8. On the contrary, the electric push rod 12 pushes the push block 13 to drive the slider 5 to move inward, reducing the position of the magic tape 8. After adjustment, the first spring 11 pushes the triangular block 9 into the triangular hole 10 to limit and fix the slider 5. When not in use, the third driving motor 20 can be started to drive the threaded rod 22 to rotate in the reverse direction. The threaded rod 22 drives the nut, the connecting block 15 and the round tube 3 to move downward. At this time, the rack 16 drives the half gear 17 to rotate downward, so that the mounting block 4 is wound to both sides of the round tube 3 for storage.
[0026] Embodiment 2: The technical solution of this embodiment different from that of Embodiment 1 includes: Among them, a first driving motor 18 is fixed on the upper surface of the mounting frame. The output end of the first driving motor 18 is fixedly connected to the first rotating shaft through a coupling. The first driving motor 18 is a stepping motor with a brake, which is convenient to use the first driving motor 18 to drive the first rotating shaft and the mounting block 4 to rotate, and adjust the movement of the connecting rope 7 and the magic tape 8.
[0027] Among them, a second driving motor 19 is fixed on the outer wall of one side of the mounting block 4. The output end of the second driving motor 19 is fixedly connected to the second rotating shaft through a coupling. The second driving motor 19 is a stepping motor with a brake, which is convenient to use the second driving motor 19 to drive the second rotating shaft and the roller 6 to rotate, and wind up the connecting rope 7 through the roller 6.
[0028] Among them, a third driving motor 20 is fixed on the lower surface of the base 1. The output end of the third driving motor 20 is fixedly connected to the threaded rod 22 through a coupling. The third driving motor 20 is a stepping motor with a brake, which is convenient to use the third driving motor 20 to drive the threaded rod 22 to rotate, and the threaded rod 22 drives the nut, the connecting block 15 and the round tube 3 to move up and down.
[0029] Among them, driving wheels 21 are fixed at the four corners of the base 1. The driving wheels 21 are electric rubber wheels, which are convenient to use the driving wheels 21 to drive the device to move to the required position when moving the device.
[0030] Among them, the groove and the slider 5 are both arranged in a T shape, and the hollow tube 2 is arranged in a cylindrical shape to prevent the slider 5 from moving out of the mounting block 4.
[0031] The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of protection required by the present invention. The scope of protection required by the present invention is defined by the appended claims and their equivalents.
Claims
1. A 3D-freedom shoulder and elbow joint rehabilitation training robot, comprising a base (1), a hollow tube (2) being fixed to the upper end of the base (1), a round tube (3) slidingly disposed on the outer wall of the hollow tube (2), and a mounting frame being symmetrically fixed to the outer wall of the round tube (3); Features: A mounting block (4) is rotatably mounted on one end of the mounting frame via a first rotating shaft, a groove is provided at the lower end of the mounting block (4), a slider (5) is slidably mounted on the inner wall of the groove, a cavity is provided inside the mounting block (4), a roller (6) is rotatably mounted on the inner wall of the cavity via a second rotating shaft, a connecting rope (7) is wound around the outer wall of the roller (6), an arc groove is provided at one end of the slider (5), the connecting rope (7) extends to the outside of the slider (5) through the arc groove and is fixed with a Velcro (8), a limiting cavity is provided inside the slider (5), a triangular block (9) is slidably mounted on the inner wall of the limiting cavity, triangular holes (10) are equidistantly provided on the inner top wall of the groove, the triangular block (9) extends into the triangular hole (10), a first spring (11) is fixed to the inner bottom wall of the limiting cavity, and the first spring (11) abuts against the triangular block (9).
2. The DOF shoulder and elbow joint rehabilitation training robot according to claim 1, characterized in that: An electric push rod (12) is fixed to the outer wall of one end of the mounting block (4); an auxiliary cavity is provided inside the slider (5) at one side of the limiting cavity; a push block (13) is slidably connected to the inner wall of the auxiliary cavity; a conical top block (14) is fixed to one end of the push block (13); the conical top block (14) abuts against the triangular block (9); and the output end of the electric push rod (12) is fixedly connected to the push block (13).
3. The DOF shoulder and elbow joint rehabilitation training robot according to claim 1, characterized in that: A circular groove is provided through the middle of the hollow tube (2); a threaded rod (22) is rotatably provided on the inner bottom wall of the circular groove; a nut is threaded on the outer wall of the threaded rod (22); a connecting block (15) is fixed to the outer wall of the nut; sliding holes are symmetrically provided on the inner wall of the circular groove; the connecting block (15) extends out of the sliding holes and is fixedly connected to the circular tube (3); a rack (16) is symmetrically fixed to the outer wall of the upper end of the hollow tube (2); a half gear (17) is fixed to the outer wall of the mounting block (4); the half gear (17) is meshed with the rack (16).
4. The DOF shoulder and elbow joint rehabilitation training robot according to claim 1, characterized in that: A first drive motor (18) is fixed to the upper surface of the mounting frame, and an output end of the first drive motor (18) is fixedly connected to the first rotating shaft via a coupling.
5. The DOF shoulder and elbow joint rehabilitation training robot according to claim 1, characterized in that: A second drive motor (19) is fixed to an outer wall of one side of the mounting block (4), and an output end of the second drive motor (19) is fixedly connected to a second rotating shaft via a coupling.
6. The DOF shoulder and elbow joint rehabilitation training robot according to claim 1, characterized in that: A third drive motor (20) is fixed to the lower surface of the base (1), and an output end of the third drive motor (20) is fixedly connected to a threaded rod (22) via a coupling.
7. The DOF shoulder and elbow joint rehabilitation training robot according to claim 1, characterized in that: Driving wheels (21) are fixed at the four corners of the base (1).
8. The freedom shoulder and elbow joint rehabilitation training robot according to claim 1, characterized in that: The groove and the slider (5) are both arranged in a T-shape, and the hollow tube (2) is arranged in a cylindrical shape.