Four-degree-of-freedom track rehabilitation robot capable of adaptively adjusting heights of left shoulder and right shoulder
By designing a track rehabilitation robot that can adaptively adjust the left and right shoulder heights of four degrees of freedom, the problem that the suspension device in the prior art cannot adaptively adjust the shoulder height and adapt the shoulder width, achieving a more efficient and comfortable rehabilitation training effect, and simplifying the equipment maintenance process.
Patent Information
- Application Number
- CN202510561737.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-30
- Publication Date
- 2025-06-13
AI Technical Summary
The existing rail-track rehabilitation training robot cannot adaptively adjust shoulder height and adapt shoulder width, resulting in uneven shoulder stress on the shoulder, affecting the rehabilitation training effect. The equipment maintenance is complicated and it is difficult to quickly replace the main frame.
A rail rehabilitation robot with four degrees of freedom adaptively adjusting the height of the left and right shoulders is designed. It adopts an adaptive mechanism and a backup suspension mechanism to achieve dynamic adaptation of shoulder height and shoulder width through components such as sliders, guide columns, springs and bent plates, and simplifies the replacement process of the main frame through a simplified disassembly and assembly mechanism.
Adaptive adjustment of shoulder height and shoulder width for different patients is achieved, the comfort and effect of rehabilitation training is improved, equipment maintenance is simplified, replacement time is shortened, and equipment flexibility and practicality are improved.
Smart Images
Figure CN120131393A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of rehabilitation medicine, and particularly to an orbital rehabilitation robot with four degrees of freedom and adjustable left and right shoulder heights adaptively. Background Art
[0002] In the field of modern rehabilitation medicine, the ceiling-rail rehabilitation training robot has become an important device for assisting patients in rehabilitation training. Such a robot is installed on the ceiling rail and uses a suspension device to lift the patient, assisting in performing rehabilitation training actions such as standing and walking. The emergence of the ceiling-rail rehabilitation training robot has effectively reduced the workload of medical staff and provided a relatively safe and stable rehabilitation training environment for patients, and is widely used in places such as hospital rehabilitation departments and nursing homes. Most of the existing ceiling-rail rehabilitation training robots adopt a fixed structure design. The height and position of its suspension device are usually preset, and a simple motor-driven winding device is relied on to adjust the suspension height. When a patient undergoes rehabilitation training, the connection method between the suspension belt and the patient's shoulder is relatively single, and the suspension structure lacks an adaptive adjustment function. The main body frame of the robot and the suspension system mostly adopt a fixed connection. If the main body frame is damaged or needs to be replaced with a different model, professional tools and a long time are often required for disassembly and installation. However, in actual use scenarios, there are many problems in the existing technology. For example, the heights and shoulder widths of different patients vary greatly. When a patient with a relatively tall stature or a wider shoulder width uses a rehabilitation robot with a fixed structure, due to the inability of the suspension device to adaptively adjust the shoulder height and fit the shoulder width, uneven stress on the shoulders will occur, resulting in discomfort, and even affecting the rehabilitation training effect due to unstable suspension, increasing the risk of patient injury. In terms of equipment maintenance, when the main body frame is accidentally damaged, due to its complex fixed connection structure, it is difficult for medical staff to quickly complete the replacement, which not only delays the normal rehabilitation training process of patients but also increases the equipment downtime and maintenance costs. Therefore, the present invention provides an orbital rehabilitation robot with four degrees of freedom and adjustable left and right shoulder heights adaptively to solve the deficiencies existing in the prior art. Summary of the Invention
[0003] In view of the deficiencies of the prior art, the present invention provides an orbital rehabilitation robot with four degrees of freedom and adjustable left and right shoulder heights adaptively, solving the problems mentioned in the above background art.
[0004] To achieve the above object, the present invention is realized through the following technical solutions: a rail rehabilitation robot with four degrees of freedom and adjustable left and right shoulder heights adaptively, including a rail robot body and a main body frame. A motor is installed inside the rail robot body, and a winding rod is fixedly connected to the output end of the motor. A winding belt is fixedly connected to the outside of the winding rod. A disassembly and assembly mechanism is arranged at the bottom of the winding belt. A rotating column is rotatably connected to the top of the main body frame. A U-shaped seat is fixedly connected to the top of the rotating column. A fixed rod is fixedly connected to the inside of the U-shaped seat. Two adaptive mechanisms are arranged outside the main body frame.
[0005] Preferably, the adaptive mechanism includes a U-shaped plate, the outside of the U-shaped plate is fixedly connected to the outside of the main body frame, and a guiding column is fixedly connected to the inside of the U-shaped plate.
[0006] Preferably, a slider is slidably connected to the outside of the guiding column. A sliding plate is fixedly connected to the outside of the slider. The outside of the slider is slidably connected to the inside of the U-shaped plate.
[0007] Preferably, a spring is sleeved on the outside of the guiding column. One end of the spring is fixedly connected to the outside of the slider, and the other end of the spring is fixedly connected to the inside of the U-shaped plate. A suspension belt is fixedly connected to the bottom of the sliding plate.
[0008] Preferably, a spare suspension mechanism is arranged on the outside of the sliding plate. The spare suspension mechanism includes a bent plate. One end of the bent plate is fixedly connected to the outside of the sliding plate. Two fixing blocks are fixedly connected to the outside of the sliding plate. A rotating shaft is rotatably connected inside the two fixing blocks.
[0009] Preferably, a combined block is fixedly connected to the outside of the rotating shaft. A V-shaped groove is formed on the outside of the combined block. The outside of the bent plate is attached to the inside of the V-shaped groove.
[0010] Preferably, a torsion spring is sleeved on the outside of the rotating shaft. One end of the torsion spring is fixedly connected to the inside of the combined block, and the other end of the torsion spring is fixedly connected to the outside of the sliding plate.
[0011] Preferably, the disassembly and assembly mechanism includes a first splicing block, the first splicing block is fixedly connected to the bottom of the winding belt. A connecting belt is fixedly connected to the bottom of the first splicing block. One end of the connecting belt is fixedly connected to a second splicing block. The outside of the connecting belt is attached to the outside of the fixed rod.
[0012] Preferably, two insertion rods are fixedly connected to the outside of the first splicing block. A card slot is formed on the outside of the insertion rod. A cavity is formed inside the second splicing block, and two through holes are formed on the inner wall of the cavity. The insertion rod is slidably connected to the through hole.
[0013] Preferably, a sliding rod is slidably connected in the inner cavity of the second splicing block. One end of the sliding rod is fixedly connected with a pull ring, and the other end of the sliding rod is fixedly connected with a tension spring. One end of the tension spring is fixedly connected with the inner wall of the cavity. Two L-shaped rods are fixedly connected to the outer side of the sliding rod, and one end of each L-shaped rod is engaged inside the card slot.
[0014] The present invention provides an orbital rehabilitation robot with four degrees of freedom that can adaptively adjust the height of the left and right shoulders. It has the following beneficial effects: 1. Through the adaptive adjustment function, the present invention can respond in real time to the tensile force changes generated by the shoulders during the patient's activities. When the patient's activities cause the shoulders to exert force on the sliding plate, the slider will slide on the guide post, and the spring will be compressed and released synchronously, quickly adjusting the position to achieve dynamic adaptation to the patient's shoulder height. This mechanism enables the patient to always maintain a comfortable posture during the rehabilitation training process, effectively reducing muscle fatigue and joint pressure, providing a more natural and smooth movement experience for the patient, and significantly improving the rehabilitation training effect and comfort.
[0015] 2. For patients with different shoulder widths, the present invention is provided with a spare suspension mechanism. The bending plate and the combined block cooperate and can be manually opened and automatically closed under the action of the torsion spring, facilitating the patient to select a suitable suspension position according to their own shoulder width to ensure safe and stable suspension. In terms of equipment maintenance, the unique disassembly and assembly mechanism makes the replacement operation of the main frame extremely simple. Pulling the pull ring drives the relevant components to move, and the connection limit can be released, quickly separating the splicing blocks. The entire replacement process is efficient and convenient, greatly shortening the equipment maintenance time and improving the flexibility and practicality of equipment use. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 is the right three-dimensional view of the present invention; Figure 2 is the front three-dimensional view of the present invention; Figure 3 is the left three-dimensional view of the present invention; Figure 4 is the structural schematic diagram of the adaptive mechanism of the present invention; Figure 5 is the structural schematic diagram of the spare suspension mechanism of the present invention; Figure 6 is the structural schematic diagram of the disassembly and assembly structure of the present invention.
[0017] Among them, 1. Orbital robot body; 2. Winding belt; 3. Disassembly and assembly mechanism; 301. First splicing block; 302. Insertion rod; 303. Card slot; 304. Second splicing block; 305. Sliding rod; 306. Pull ring; 307. L-shaped rod; 308. Tension spring; 309. Connecting belt; 4. U-shaped seat; 5. Fixed rod; 6. Rotating column; 7. Main body frame; 8. Adaptive mechanism; 801. U-shaped plate; 802. Guide post; 803. Sliding plate; 804. Slide block; 805. Spring; 806. Suspension belt; 9. Spare suspension mechanism; 901. Bent plate; 902. Fixed block; 903. Rotating shaft; 904. Combined block; 905. V-shaped groove; 906. Torsion spring. Specific implementation mode
[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.
[0019] Please refer to the attached Figure 1 - attached Figure 6, the embodiment of the present invention provides an orbital rehabilitation robot with four degrees of freedom that can adaptively adjust the height of the left and right shoulders, including an orbital robot body 1 and a main body frame 7. In the design of the orbital robot body 1, the motor is the power core, and its installation position is optimized to ensure the stability and efficiency of power transmission. The output end of the motor is fixed to the winding rod by a high-strength key connection method to ensure that the two will not rotate relative to each other during long-term operation, thus stably driving the winding and unwinding of the winding belt 2. The winding belt 2 is made of wear-resistant and high-strength fiber material, and its surface is anti-slip treated. It can not only bear the weight of the patient, but also reduce wear during the winding and releasing process, extending its service life. The winding belt 2 is fixedly connected to the outside of the winding rod, and a disassembly and assembly mechanism 3 is arranged at the bottom of the winding belt 2. A rotating column 6 is rotatably connected to the top of the main body frame 7. The rotating connection between the rotating column 6 and the main body frame 7 uses a high-precision bearing to ensure that when the patient rotates the body, the U-shaped seat 4 and the fixed rod 5 can rotate flexibly, and the rotation process is stable and without jamming. The top of the rotating column 6 is fixedly connected with a U-shaped seat 4, and a fixed rod 5 is fixedly connected to the inside of the U-shaped seat 4. The structural design of the U-shaped seat 4 and the fixed rod 5 provides a stable connection foundation for the disassembly and assembly mechanism 3, and at the same time, effectively disperses the pulling force transmitted by the winding belt 2 during the patient's movement, ensuring the safety and reliability of the entire system. Two adaptive mechanisms 8 are arranged on the outside of the main body frame 7. The adaptive mechanism 8 includes a U-shaped plate 801, and the outside of the U-shaped plate 801 is fixedly connected to the outside of the main body frame 7 by a welding process to ensure the connection strength. A guide column 802 is fixedly connected to the inside of the U-shaped plate 801. The surface of the guide column 802 is precisely polished and rust-proof treated to reduce the friction force of the slider 804 during sliding, so that it can respond more sensitively to the pulling force of the patient's shoulder. A slider 804 is slidably connected to the outside of the guide column 802, and a sliding plate 803 is fixedly connected to the outside of the slider 804. The outside of the slider 804 is slidably connected to the inside of the U-shaped plate 801. A spring 805 is sleeved on the outside of the guide column 802. The spring 805 is made of a material with high elasticity and good fatigue performance, and can still maintain a stable elastic force after multiple expansions and contractions. One end of it is fixedly connected to the outside of the slider 804, and the other end is fixedly connected to the inside of the U-shaped plate 801. The design shape of the sliding plate 803 conforms to ergonomics, and its surface is provided with an anti-slip cushion layer. When the suspender 806 suspends the patient's clothes, it can effectively prevent the clothes from slipping. The bottom of the sliding plate 803 is fixedly connected with a suspender 806, and a spare suspension mechanism 9 is arranged on the outside of the sliding plate 803. The spare suspension mechanism 9 includes a bent plate 901, and one end of the bent plate 901 is connected to the sliding plate 803 in a firm fixing manner and can bear a large pulling force. Two fixing blocks 902 are fixedly connected to the outside of the sliding plate 803. The fixing blocks 902 are made of high-strength plastic. The inside of the two fixing blocks 902 is matched with a rotating shaft 903 through a bearing, making the rotation of the rotating shaft 903 smoother.A combined block 904 is fixedly connected to the outer side of the rotating shaft 903. A V-shaped groove 905 is formed on the outer side of the combined block 904. The designed angle of the V-shaped groove 905 is precisely calculated to be able to closely fit with the bent plate 901. The inner side of the V-shaped groove 905 is in contact with the outer side of the bent plate 901. A torsion spring 906 is sleeved on the outside of the rotating shaft 903. The torsional force of the torsion spring 906 has been tested and adjusted multiple times. It can not only ensure that the combined block 904 can be easily opened manually, but also provide sufficient fastening force when closed. One end of it is fixedly connected to the inner side of the combined block 904, and the other end is fixedly connected to the outer side of the sliding plate 803. The disassembly and assembly mechanism 3 includes a first splicing block 301. The first splicing block 301 is fixedly connected to the bottom of the winding belt 2. A connecting belt 309 is fixedly connected to the bottom of the first splicing block 301. The connecting belt 309 has a certain flexibility and can closely surround when in contact with the fixed rod 5 to avoid loosening. One end of the connecting belt 309 is fixedly connected to a second splicing block 304, and the outer side of the connecting belt 309 is in contact with the outer side of the fixed rod 5. Two insertion rods 302 are fixedly connected to the outer side of the first splicing block 301. The matching precision between the insertion rods 302 and the internal through holes of the second splicing block 304 is relatively high, ensuring smooth insertion of the insertion rods 302 without obstruction and at the same time ensuring the stability of the connection. A clamping groove 303 is formed on the outer side of the insertion rod 302. A cavity is formed inside the second splicing block 304, and two through holes are formed on the inner wall of the cavity. The insertion rod 302 is slidably connected to the through holes. A sliding rod 305 is slidably connected to the internal cavity of the second splicing block 304. During the sliding process of the sliding rod 305 in the internal cavity of the second splicing block 304, guide grooves are provided on both sides to cooperate with the guide protrusions on the inner wall of the cavity to prevent the sliding rod 305 from shifting during movement, so that the L-shaped rod 307 can accurately engage with and disengage from the clamping groove 303. One end of the sliding rod 305 is fixedly connected to a pull ring 306, the other end of the sliding rod 305 is fixedly connected to a tension spring 308. One end of the tension spring 308 is fixedly connected to the inner wall of the cavity. Two L-shaped rods 307 are fixedly connected to the outer side of the sliding rod 305, and one end of the L-shaped rod 307 is clamped inside the clamping groove 303.
[0020] Specifically, first, the main body 1 of the rail robot is stably connected to the overhead rail through the sliding mechanism at its top. The sliding mechanism is made of high-strength wear-resistant materials to ensure that derailment does not occur during long-term operation. After the patient puts on the matching rehabilitation training suit, the buckle on the clothes is accurately hooked on the sling 806. The sling 806 is designed with a wide width that conforms to ergonomics, which can evenly disperse the pressure on the patient's shoulders and effectively reduce the discomfort caused by long-term hanging. Start the internal motor of the main body 1 of the rail robot, and the output end of the motor drives the winding rod to rotate, and the winding belt 2 starts to wind. During the winding process, the length of the winding belt 2 gradually shortens, and the patient's body is smoothly lifted accordingly. By precisely controlling the forward and reverse rotation and speed of the motor, the length of the winding belt 2 can be accurately adjusted to perfectly adapt to the needs of patients of different heights, enabling the patient to comfortably perform walking or other daily rehabilitation training behaviors. When the patient is moving, due to the change of the body center of gravity and the diversity of movements, different directions and magnitudes of pulling forces will be exerted on the sliding plate 803 by both shoulders. When a pulling force is applied to the shoulder, the sliding plate 803 will drive the slider 804 to slide downward on the guiding column 802. At this time, the spring 805 is compressed and stores elastic potential energy. When the pulling force on the patient's shoulder decreases or disappears, the spring 805 releases the elastic potential energy and pushes the slider 804 to quickly reset. This adaptive adjustment mechanism can respond in real time to the change of the patient's shoulder height, ensuring that the patient always maintains a comfortable posture during the activity, effectively reducing muscle fatigue and joint pressure. Under the action of the rotating column 6, the patient can freely rotate the body. The rotating column 6 is connected by a high-precision bearing, and the friction during the rotation process is extremely small. The patient only needs to apply a very small force to achieve a 360° free rotation. This design enables the patient not to worry about the winding belt 2 getting twisted together during the activity, greatly improving the patient's freedom of movement and providing a broader movement space for rehabilitation training. In addition, when the patient has a larger shoulder width or needs to adjust the hanging position, the hanging loop on the clothes can be hooked on the bending plate 901. The special bending design of the bending plate 901 can provide a larger hanging range and effectively adapt to patients with different shoulder widths. When the bending plate 901 needs to be used, manually open the combined block 904 outward. At this time, the torsion spring 906 is twisted and stores torsional force. After hanging the hanging loop into the bending plate 901, release the combined block 904. Under the action of the torsional force of the torsion spring 906, the combined block 904 automatically closes and tightly clamps the hanging loop to ensure the safety of the hanging. When the main body frame 7 is damaged or needs to be replaced with a different model, the medical staff only needs to pull the pull ring 306. The pull ring 306 drives the sliding rod 305 to slide in the internal cavity of the splicing block two 304. The movement of the sliding rod 305 will drive the two L-shaped rods 307 to move synchronously, so that one end of the L-shaped rod 307 is pulled out from the card slot 303, releasing the limit on the inserting rod 302. At this time, the medical staff can easily separate the splicing block one 301 from the splicing block two 304 to achieve the rapid replacement of the main body frame 7. The entire replacement process is simple to operate and takes no more than 2 minutes, greatly improving the maintenance efficiency of the equipment.
[0021] Working principle: First, the track robot body 1 is installed on the track of the overhead rail. After the patient puts on the matching clothes, the hook on the clothes can be hung on the sling 806. Then, the internal motor of the track robot body 1 is started to wind up the winding belt 2 to adjust the length of the winding belt 2, so as to adapt to the patient's height for walking or performing other daily behaviors. When the patient is moving, the two shoulders will exert a pulling force on the sliding plate 803, thereby causing the position of the slider 804 to move downward. Under the elastic force of the spring 805, the slider 804 can be quickly reset, so that it can adapt to the shoulder heights of both sides of the patient. Under the action of the rotating column 6, the patient can freely rotate the body without worrying about the winding belt 2 being twisted together, realizing high-degree-of-freedom movement; in addition, the hanging loop on the clothes can be hung on the bending plate 901 to adapt to patients with different shoulder widths. The combination block 904 can be easily manually opened and automatically closed under the torsional force of the torsion spring 906; when the main body frame 7 is damaged or needs to be replaced with a different model, the pull ring 306 can be pulled to drive the sliding rod 305 to move, thereby causing the two L-shaped rods 307 to be pulled out of the card slots 303, releasing the limit on the insertion rod 302, and the splicing block one 301 and the splicing block two 304 can be separated, so that the main body frame 7 can be easily replaced.
[0022] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A four-degree-of-freedom track rehabilitation robot capable of adaptively adjusting the height of left and right shoulders, comprising a track robot body (1) and a main frame (7), characterized in that: A motor is installed inside the rail robot body (1), and a winding rod is fixedly connected to the output end of the motor, a winding belt (2) is fixedly connected to the outside of the winding rod, a disassembly mechanism (3) is arranged at the bottom of the winding belt (2), a rotating column (6) is rotatably connected to the top of the main frame (7), a U-shaped seat (4) is fixedly connected to the top of the rotating column (6), a fixed rod (5) is fixedly connected to the inside of the U-shaped seat (4), and two adaptive mechanisms (8) are arranged on the outside of the main frame (7).
2. The track rehabilitation robot with four degrees of freedom and adaptively adjustable left and right shoulder heights according to claim 1, characterized in that: The adaptive mechanism (8) comprises a U-shaped plate (801), the outer side of the U-shaped plate (801) being fixedly connected to the outer side of the main frame (7), and the inner side of the U-shaped plate (801) being fixedly connected to a guide column (802).
3. The track rehabilitation robot with four degrees of freedom and adaptively adjustable left and right shoulder heights according to claim 2, characterized in that: The outside of the guide column (802) is slidably connected to a slider (804), the outside of the slider (804) is fixedly connected to a sliding plate (803), and the outside of the slider (804) is slidably connected to the inside of the U-shaped plate (801).
4. The track rehabilitation robot with four degrees of freedom and adaptively adjustable left and right shoulder heights according to claim 3, characterized in that: The guide column (802) is sleeved with a spring (805) on its exterior, one end of the spring (805) being fixedly connected to the exterior of the sliding block (804), the other end of the spring (805) being fixedly connected to the interior of the U-shaped plate (801), and a sling (806) being fixedly connected to the bottom of the sliding plate (803).
5. The track rehabilitation robot with four degrees of freedom and capable of adaptively adjusting the height of left and right shoulders according to claim 4, characterized in that: A backup suspension mechanism (9) is arranged on the outer side of the sliding plate (803), and the backup suspension mechanism (9) comprises a bending plate (901), one end of the bending plate (901) is fixedly connected to the outer side of the sliding plate (803), and two fixed blocks (902) are fixedly connected to the outer side of the sliding plate (803), and the interiors of the two fixed blocks (902) are rotatably connected to a rotating shaft (903).
6. The track rehabilitation robot with four degrees of freedom and adaptively adjustable left and right shoulder heights according to claim 5, characterized in that: The outer side of the rotating shaft (903) is fixedly connected to a combination block (904), the outer side of the combination block (904) is provided with a V-shaped groove (905), and the inner side of the V-shaped groove (905) is in contact with the outer side of the bending plate (901).
7. The track rehabilitation robot with four degrees of freedom and adaptively adjustable left and right shoulder heights according to claim 6, characterized in that: A torsion spring (906) is sleeved on the outside of the rotating shaft (903), one end of the torsion spring (906) is fixedly connected to the inner side of the assembly block (904), and the other end of the torsion spring (906) is fixedly connected to the outer side of the sliding plate (803).
8. The track rehabilitation robot with four degrees of freedom and adaptively adjustable left and right shoulder heights according to claim 1, characterized in that: The disassembly and assembly mechanism (3) comprises a first splicing block (301), wherein the first splicing block (301) is fixedly connected to the bottom of the reel (2), a connecting belt (309) is fixedly connected to the bottom of the first splicing block (301), one end of the connecting belt (309) is fixedly connected to the second splicing block (304), and the outer side of the connecting belt (309) is in contact with the outer side of the fixing rod (5).
9. The track rehabilitation robot with four degrees of freedom and adaptively adjustable left and right shoulder heights according to claim 8, characterized in that: The outer side of the first splicing block (301) is fixedly connected to two insertion rods (302), the outer side of the insertion rods (302) is provided with a clamping groove (303), the interior of the second splicing block (304) is provided with a cavity, and the inner wall of the cavity is provided with two through holes, and the insertion rods (302) are slidably connected to the through holes.
10. The track rehabilitation robot with four degrees of freedom and capable of adaptively adjusting the height of left and right shoulders according to claim 9, characterized in that: A sliding rod (305) is slidably connected in the internal cavity of the second splicing block (304); a pull ring (306) is fixedly connected to one end of the sliding rod (305); a tension spring (308) is fixedly connected to the other end of the sliding rod (305); one end of the tension spring (308) is fixedly connected to the inner wall of the cavity; two L-shaped rods (307) are fixedly connected to the outer side of the sliding rod (305); one end of the L-shaped rod (307) is engaged in the interior of the slot (303).