Bionic manipulator for rehabilitation treatment

Abstract

The invention relates to the technical field of rehabilitation treatment, in particular to a bionic manipulator for rehabilitation treatment, which comprises a bionic mechanical arm unit, the bionic mechanical arm unit is composed of a mounting seat, a first rotating arm and a second rotating arm, the first rotating arm is rotatably assembled on the mounting seat, and the second rotating arm is rotatably assembled on the mounting seat; the second rotating arm is rotationally assembled at the end, away from the mounting base, of the first rotating arm, fixing bases are fixed to the first rotating arm and the second rotating arm correspondingly, and each fixing base is provided with a limiting assembly, a wrapping assembly, two driving assemblies and a heating unit. Compared with the prior art, the bionic mechanical arm for rehabilitation treatment has the advantages that the massage function is integrated on the basis of guidance training, the continuous pressing massage effect is achieved, blood circulation is promoted, muscle tension and pain are effectively relieved, and powerful support is provided for nerve regeneration and functional recovery.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation therapy, and particularly to a bionic manipulator for rehabilitation therapy. Background Art

[0002] The bionic robotic arm for upper limb assisted rehabilitation training is a high-tech medical device designed for patients with upper limb weakness caused by damaged cranial nerves, aiming to help patients recover upper limb function through precise and controllable assisted movements.

[0003] After retrieval, a Chinese patent with the publication number CN119367170A discloses a bionic manipulator for rehabilitation therapy, including a bionic manipulator body. Two battery compartments are fixedly installed on the bionic manipulator body, and a compartment door is hinged on the upper surface of each of the two battery compartments. The battery replacement mechanism includes a mounting block and a first trapezoidal plate. The mounting block is fixedly installed on the right surface of the battery compartment. Through the arrangement of the two battery compartments, when the built-in power supply of the bionic manipulator runs out of power and it is inconvenient to charge it, the battery compartment can be used to supply power to it. And when the power supply battery inside the battery compartment runs out of power, the push rod can be pushed to make the second trapezoidal plate leave the inside of the third rectangular groove, and the third spring will bounce the compartment door up to replace the power supply battery inside it, preventing the trouble caused by the inconvenience of charging after the built-in charging power supply of the bionic manipulator runs out of power, improving the use efficiency of the bionic manipulator, and being beneficial to the hand rehabilitation therapy of the user. However, when the above solution is actually used, there are still the following deficiencies:

[0004] Although the manipulator for assisted rehabilitation training proposed by the above solution plays a certain role in assisting the upper limb activities of patients, its functions are relatively single and there are some significant drawbacks. Specifically, these manipulators mainly rely on mechanical structures to assist the upper limb movements of patients, but ignore the importance of massaging the upper limbs of patients during the rehabilitation training process. Massage can not only promote blood circulation, relieve muscle tension and pain, but also promote nerve regeneration and functional recovery, which is particularly important for patients with upper limb weakness caused by damaged cranial nerves. However, the above-mentioned manipulators for assisted rehabilitation training lack this function, resulting in limited rehabilitation effects for patients.

[0005] Therefore, the present application provides a bionic manipulator for rehabilitation therapy. Summary of the Invention

[0006] In view of this, the purpose of the present invention is to propose a bionic manipulator for rehabilitation therapy.

[0007] For the above purposes, the present invention provides a bionic manipulator for rehabilitation treatment, including a bionic robotic arm unit, which is composed of a mounting base, a first rotating arm and a second rotating arm. The first rotating arm is rotatably assembled on the mounting base, and the second rotating arm is rotatably assembled at one end of the first rotating arm away from the mounting base. Fixed seats are fixed on both the first rotating arm and the second rotating arm, and a limiting component, a covering component, two driving components and a heating unit are arranged on each fixed seat;

[0008] Among them, the limiting component includes a fixing plate and two clamping plates. The fixing plate is fixed on the fixed seat, and the two clamping plates are both slidably assembled on the fixed seat. A plurality of massage structures are arranged on each clamping plate, and a positioning component is arranged on the fixed seat, and the positioning component is used to adjust the positions of the two clamping plates. The positioning component is composed of a pulling member and a locking member;

[0009] Among them, the covering component is arranged between the two clamping plates;

[0010] Among them, the two driving components are both arranged on the fixing plate and used to drive the plurality of massage structures;

[0011] Among them, the heating unit includes a heating component and a circulation component.

[0012] Preferably, the massage structure includes a through hole, a top rod, a soft package convex head and a collar. The through hole is opened on the clamping plate, the top rod passes through the through hole and slides in the through hole. The soft package convex head is fixed at one end of the top rod, and the collar is fixedly sleeved at the other end of the top rod. The collar is connected to the clamping plate through a first spring.

[0013] Preferably, the pulling member includes a rotating shaft, a gear, two racks and two connecting rods. The rotating shaft is rotatably assembled on the side of the fixed seat, the gear is fixedly sleeved on the rotating shaft, the two racks are both slidably arranged on the side of the fixed seat, and the two racks are both meshed with the gear. Two sliding rods are fixed on the side of the fixed seat, sliders are fixed on the two racks respectively, the two sliders are respectively slidably sleeved on the two sliding rods, one ends of the two connecting rods are respectively connected to the two sliders, and the other ends are respectively connected to the two clamping plates. The two connecting rods are arranged in a cross shape, and a knob is fixed at one end of the rotating shaft away from the fixed seat.

[0014] Preferably, the locking member includes a fixing frame, a fixing ring and a positioning ring. The fixing frame is fixed on the side surface of the fixing seat. An avoidance opening for the rotation shaft to pass through is formed on the fixing frame, and the fixing frame is rotatably connected to the rotation shaft. The fixing ring is fixedly sleeved on the rotation shaft, and the positioning ring is slidably sleeved on the rotation shaft. The fixing ring and the positioning ring are arranged opposite to each other. A plurality of teeth are provided on both the fixing ring and the positioning ring. The positioning ring is connected to the fixing frame through a second spring. A push rod is fixed on the outer peripheral surface of the positioning ring. One end of the push rod away from the positioning ring passes through the fixing frame and is slidably connected to the fixing frame. A push block is fixed on the end of the push rod away from the positioning ring.

[0015] Preferably, the covering assembly includes four side plates and a covering bladder. The four side plates are respectively fixed at both ends of the two clamping plates. Both ends of the covering bladder are respectively connected to the two clamping plates. The covering bladder stores hydraulic fluid inside.

[0016] Preferably, the driving assembly includes a linear driver, a linear sliding seat and a push plate. The linear driver is installed on the fixing plate. The linear sliding seat is assembled on the linear driver. The push plate is fixed on the side surface of the linear sliding seat. Two inclined surfaces with opposite inclined directions are provided on the push plate;

[0017] The linear driver includes a bracket, a motor and a reciprocating lead screw. The bracket is fixed on the fixing plate. The motor is installed on the bracket. The reciprocating lead screw is rotatably installed on the bracket, and one end of the reciprocating lead screw is connected to the output shaft of the motor. The linear sliding seat is threadedly sleeved on the reciprocating lead screw and is slidably assembled on the bracket.

[0018] Preferably, the heating assembly includes a heating cylinder, a heating wire and a heating pipe. The heating cylinder is fixed on the bottom surface of the fixing plate. A heat conduction medium is stored inside the heating cylinder. The heating wire is installed inside the heating cylinder. The heating pipe is fixed inside the heating cylinder and is immersed in the heat conduction medium. Both ends of the heating pipe extend to the outside of the heating cylinder. One end of the heating pipe is communicated with the covering bladder.

[0019] Preferably, the circulation component includes a fixed cylinder, a rotating block, a moving block, an elastic bladder and a shaft rod. The fixed cylinder is fixed to one end of the linear drive through a cross bar. The rotating block and the moving block are both arranged inside the fixed cylinder. The shaft rod passes through one end of the fixed cylinder and is rotatably connected to the fixed cylinder. One end of the cross bar is connected to the rotating block, and the other end is connected to the reciprocating lead screw. One end of the elastic bladder is connected to the inner surface of the fixed cylinder, and the other end is connected to the moving block. The elastic bladder is internally provided with a third spring. A limiting groove is formed in the fixed cylinder, and a limiting block is fixed on the moving block and slides in the limiting groove. Two mounting pipes are connected to the elastic bladder, and one-way valves are installed on both of the two mounting pipes. One end of one of the mounting pipes away from the elastic bladder is communicated with the covering bladder, and the other end of the other mounting pipe away from the elastic bladder is communicated with the other end of the heating pipe. The current-limiting directions of the two one-way valves are opposite.

[0020] Preferably, the rotating block and the moving block together form a cylindrical structure. The rotating block and the moving block are of the same size. Bevels are provided at opposite ends of the rotating block and the moving block. The outer peripheral surface of the moving block fits with the inner surface of the fixed cylinder.

[0021] Preferably, the reciprocating lead screw, the shaft rod, the fixed cylinder, the rotating block and the moving block are coaxially arranged.

[0022] Advantages of the present invention:

[0023] 1. The bionic manipulator for rehabilitation treatment proposed by the present invention incorporates a massage function on the basis of guiding training. During the movement training of the patient, the medical staff starts the linear drive, so that the linear slide drives the push plate to move reciprocally. During the movement of the push plate, its bevel will sequentially press a number of ejector rods, causing the ejector rods to extend into the through holes and press the covering bladder on the patient's arm. When the push plate separates from the ejector rods, the ejector rods reset under the elastic force of the first spring, thus realizing a continuous pressing and massaging effect. This design not only promotes blood circulation, effectively relieves muscle tension and pain, but also provides strong support for nerve regeneration and functional recovery;

[0024] 2. The bionic manipulator for rehabilitation treatment proposed by the present invention further adds a hot compress function on the basis of guiding training and massage function. The covering bladder wrapped around the patient's arm can continuously perform hot compress on the patient's arm. The hot compress not only dilates blood vessels and increases blood flow, but also provides more nutrients and oxygen for injured or strained tissues, greatly promoting the tissue repair and regeneration process;

[0025] 3. The splint position adjustment structure proposed by the present invention not only replaces the traditional belt fixing method, greatly simplifies the fixing process of the patient's arm, improves the fixing efficiency, but also ensures the appropriate clamping of the splint on the patient's arm through precise adjustment, preventing the arm from falling off during the rehabilitation training process and avoiding the discomfort caused by excessive restraint. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only those of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0027] Figure 1 is a schematic three-dimensional structure diagram of the present invention;

[0028] Figure 2 is a schematic three-dimensional structure of the present invention Figure 1 ;

[0029] Figure 3 is a schematic structure diagram of the first rotating arm and the limiting component, covering component, two driving components and heating unit thereon;

[0030] Figure 4 is the present invention Figure 2 is an enlarged schematic structure diagram at A in the present invention;

[0031] Figure 5 is the present invention Figure 3 is an enlarged schematic structure diagram at B in the present invention;

[0032] Figure 6 is a schematic cross-sectional structure diagram of the covering capsule;

[0033] Figure 7 is the present invention Figure 6 is an enlarged schematic structure diagram at C in the present invention;

[0034] Figure 8 is an enlarged partial structure diagram of the fixing plate and the limiting component thereon;

[0035] Figure 9 is a schematic structure diagram of the heating component;

[0036] Figure 10 is a schematic structure diagram of the circulation component;

[0037] Figure 11 is a schematic structure diagram of the rotating block and the moving block;

[0038] Figure 12 is a schematic structure diagram of the locking member.

[0039] Marked in the figure as:

[0040] 11. Mounting base; 12. First rotating arm; 13. Second rotating arm; 14. Fixed base; 21. Fixed plate; 22. Clamping plate; 23. Through hole; 24. Thrust rod; 25. Soft package convex head; 26. Collar; 27. First spring; 31. Rotating shaft; 32. Gear; 33. Rack; 34. Guide rod; 35. Guide block; 36. Connecting rod; 41. Fixed frame; 42. Fixed ring; 43. Positioning ring; 44. Teeth; 45. Second spring; 46. Knob; 47. Push rod; 51. Side plate; 52. Coating bag; 61. Linear actuator; 62. Linear sliding seat; 63. Push plate; 71. Heating cylinder; 72. Electric heating wire; 73. Heating tube; 81. Fixed cylinder; 82. Rotating block; 83. Moving block; 84. Elastic bag; 85. Third spring; 86. Limit groove; 87. Limit block; 88. Mounting tube; 89. Check valve; 810. Shaft rod. Detailed implementation mode

[0041] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in combination with specific embodiments.

[0042] It should be noted that unless otherwise defined, the technical terms or scientific terms used in the present invention should have the ordinary meanings understood by those with ordinary skills in the field to which the present invention belongs. The "first", "second" and similar terms used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. The terms such as "including" or "comprising" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. The terms such as "connection" or "coupling" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "upper", "lower", "left" and "right" are only used to represent relative position relationships. When the absolute position of the object to be described changes, the relative position relationship may also change accordingly.

[0043] As Figures 1 to 12 shown, the bionic manipulator for rehabilitation treatment includes a bionic robotic arm unit. The bionic robotic arm unit is composed of a mounting base, a first rotating arm and a second rotating arm. The first rotating arm is rotatably assembled on the mounting base, and the second rotating arm is rotatably assembled at one end of the first rotating arm away from the mounting base. Fixed bases are fixed on both the first rotating arm and the second rotating arm, and a limiting component, a coating component, two driving components and a heating unit are arranged on each fixed base;

[0044] When the bionic manipulator for rehabilitation treatment proposed by the present invention is in use, the patient passes the arm that needs rehabilitation training through the two covering bags on the two fixing plates, places the upper arm on the fixing plate on the first rotating arm, and places the lower arm on the fixing plate on the second rotating arm. Then, the medical staff uses the two limiting components on the two fixing plates to fix the patient's arm. When performing rehabilitation training, the rotation of the second rotating arm can drive the rotation of the patient's lower arm, and the rotation of the first rotating arm can drive the rotation of the patient's upper arm. The overall vertical rotation of the mounting seat, the first rotating arm, and the second rotating arm can drive the entire arm of the patient to swing in the vertical direction. With the intervention of the mounting seat, the first rotating arm, and the second rotating arm, the patient's arm can perform guided training. During the training process, the patient needs to actively or passively participate in the movement according to the guidance of the robotic arm, which can gradually restore the muscle strength and coordination. Through continuous repeated practice, it can activate and strengthen the neural network related to upper limb movement in the brain and promote the recovery and remodeling of nerve function. It should be noted that the structure used to drive the mounting seat, the first rotating arm, and the second rotating arm to rotate is a prior art and is adopted by conventional means, which is not shown in the figure and will not be elaborated here;

[0045] As Figure 3 and Figure 5 shown, the limiting component includes a fixing plate and two clamping plates. The fixing plate is fixed on the fixed seat, and the two clamping plates are both slidably assembled on the fixed seat. A number of massage structures are provided on each clamping plate. The massage structure includes a through hole, a top rod, a soft package convex head, and a sleeve. The through hole is opened on the clamping plate, the top rod passes through the through hole and slides in the through hole. The soft package convex head is fixed at one end of the top rod, and the sleeve is fixedly sleeved at the other end of the top rod. The sleeve is connected to the clamping plate by a first spring;

[0046] As Figure 8 and Figure 12As shown in the figure, a positioning component is provided on the fixed seat. The positioning component is used to adjust the positions of the two clamping plates. The positioning component consists of a pulling member and a locking member. The pulling member includes a rotating shaft, a gear, two racks, and two connecting rods. The rotating shaft is rotatably assembled on the side surface of the fixed seat. The gear is fixedly sleeved on the rotating shaft. The two racks are both slidably arranged on the side surface of the fixed seat, and both racks are engaged with the gear. Two sliding rods are fixed on the side surface of the fixed seat. Sliders are fixed on the two racks respectively. The two sliders are respectively slidably sleeved on the two sliding rods. One ends of the two connecting rods are respectively connected to the two sliders, and the other ends are respectively connected to the two clamping plates. The two connecting rods are arranged in a cross shape. A knob is fixed at one end of the rotating shaft away from the fixed seat. The locking member includes a fixed frame, a fixed ring, and a positioning ring. The fixed frame is fixed on the side surface of the fixed seat. An avoidance opening for the rotating shaft to pass through is formed on the fixed frame, and the fixed frame is rotatably connected to the rotating shaft. The fixed ring is fixedly sleeved on the rotating shaft. The positioning ring is slidably sleeved on the rotating shaft. The fixed ring and the positioning ring are arranged opposite to each other. A plurality of teeth are provided on both the fixed ring and the positioning ring. The positioning ring is connected to the fixed frame through a second spring. A push rod is fixed on the outer peripheral surface of the positioning ring. One end of the push rod away from the positioning ring passes through the fixed frame and is slidably connected to the fixed frame. A push block is fixed at one end of the push rod away from the positioning ring;

[0047] For the two clamping plates, the staff can adjust the distance between the two clamping plates according to the size of the patient's arm, so that the two clamping plates jointly clamp the patient's arm to prevent the patient's arm from falling off the fixing plate during the rehabilitation training process. Specifically, the staff first presses the push block on the push rod to move the push rod. When the push rod moves, it can drive the positioning ring to move until a plurality of teeth on the positioning ring are separated from a plurality of teeth on the fixed ring. Lacking the limiting effect of the positioning ring and the plurality of teeth thereon, the fixed ring and the rotating shaft can rotate freely. At this time, the staff rotates the rotating shaft through the knob. When the rotating shaft rotates, it drives the gear to rotate. When the gear rotates, it can drive the two racks to move. When the two racks move, they drive the two clamping plates to move through the two connecting rods. As Figure 5 shown, based on the above process, the staff can adjust the distance between the two clamping plates by rotating the rotating shaft. After the adjustment is completed, the staff releases the push block to reset the positioning ring under the action of the second spring until a plurality of teeth on the positioning ring are engaged with a plurality of teeth on the fixed ring. At this time, the positioning ring and the plurality of teeth thereon play a positioning role on the positioning ring, and the position of the rotating shaft is fixed accordingly, thus ensuring the position stability of the two clamping plates. This adjustment method can quickly adjust the positions of the two clamping plates, replacing the traditional method of using straps to fix the patient's arm, and realizing the quick fixation of the patient's arm;

[0048] As Figure 6As shown, the covering assembly is arranged between two clamping plates. The covering assembly includes four side plates and a covering bladder. The four side plates are respectively fixed at both ends of the two clamping plates. Both ends of the covering bladder are respectively connected to the two clamping plates. The inside of the covering bladder stores hydraulic fluid;

[0049] As Figure 7 and Figure 8 As shown, both driving assemblies are arranged on the fixing plate and are used to drive a number of massage structures. The driving assembly includes a linear driver, a linear sliding seat and a push plate. The linear driver is installed on the fixing plate. The linear sliding seat is assembled on the linear driver. The push plate is fixed on the side of the linear sliding seat. Two inclined surfaces with opposite inclined directions are arranged on the push plate; The linear driver includes a bracket, a motor and a reciprocating lead screw. The bracket is fixed on the fixing plate. The motor is installed on the bracket. The reciprocating lead screw is rotatably installed on the bracket, and one end of the reciprocating lead screw is connected to the output shaft of the motor. The linear sliding seat is threadedly sleeved on the reciprocating lead screw and is slidably assembled on the bracket;

[0050] The bionic manipulator for rehabilitation treatment proposed by the present invention has the function of massaging the patient's arm. By adding a massage function during the guiding training process, it can not only promote blood circulation, relieve muscle tension and pain, but also promote nerve regeneration and functional recovery, which is particularly important for patients with upper limb weakness caused by damaged cranial nerves. Specifically, during the movement training process of the patient, the medical staff starts the linear driver to drive the linear sliding seat to make a reciprocating movement. When the linear sliding seat moves, the push plate thereon also moves, so that the push plate moves from one end of the fixing plate towards the other end of the fixing plate. During this process, the inclined surfaces of the push plate will sequentially squeeze a number of ejector rods. When the ejector rod is squeezed by the inclined surface of the push plate, the ejector rod can move and extend into the through hole. At this time, the soft package convex head on the ejector rod can press the patient's arm. When the push plate is separated from the ejector rod, the ejector rod will reset under the elastic force of the first spring. Based on the above process, during the movement of the push plate, a number of ejector rods can move sequentially, achieving the effect of pressing and massaging the patient's arm. It should be noted that although the patient's arm is covered with a covering bladder, the covering bladder is relatively thin. When the ejector rod moves, it can squeeze the covering bladder to form a pressing point on the covering bladder. Therefore, the presence of the covering bladder will not affect the pressing effect of the ejector rod on the patient's arm. For the linear driver, the motor therein serves as a power source. When the motor operates, it drives the reciprocating lead screw to rotate, and when the reciprocating lead screw rotates, it can drive the linear sliding seat to make a reciprocating movement;

[0051] As Figure 9As shown in the figure, the heating unit includes a heating component and a circulation component. The heating component includes a heating cylinder, a heating wire, and a heating tube. The heating cylinder is fixed to the bottom surface of the fixing plate. There is a heat-conducting medium stored inside the heating cylinder. The heating wire is installed inside the heating cylinder. The heating tube is fixed inside the heating cylinder and is immersed in the heat-conducting medium. Both ends of the heating tube extend to the outside of the heating cylinder. One end of the heating tube is connected to the coating bladder.

[0052] As Figure 10 and Figure 11 shown in the figure, the circulation component includes a fixed cylinder, a rotating block, a moving block, an elastic bladder, and a shaft rod. The fixed cylinder is fixed to one end of the linear drive through a cross bar. The rotating block and the moving block are both arranged inside the fixed cylinder. The rotating block and the moving block together form a cylindrical structure. The rotating block and the moving block are of the same size. The opposite ends of the rotating block and the moving block are both provided with inclined surfaces. The outer peripheral surface of the moving block is in mutual contact with the inner surface of the fixed cylinder. The shaft rod passes through one end of the fixed cylinder and is rotatably connected to the fixed cylinder. One end of the cross bar is connected to the rotating block, and the other end is connected to the reciprocating lead screw. The reciprocating lead screw, the shaft rod, the fixed cylinder, the rotating block, and the moving block are coaxially arranged. One end of the elastic bladder is connected to the inner surface of the fixed cylinder, and the other end is connected to the moving block. A third spring is provided inside the elastic bladder. A limiting groove is provided on the fixed cylinder, and a limiting block is fixed on the moving block, and the limiting block slides in the limiting groove. Two mounting pipes are connected to the elastic bladder, and one-way valves are installed on both mounting pipes. One end of one mounting pipe away from the elastic bladder is connected to the coating bladder, and the other end of the other mounting pipe away from the elastic bladder is connected to the other end of the heating tube. The flow-limiting directions of the two one-way valves are opposite.

[0053] In addition, the bionic manipulator for rehabilitation therapy proposed by the present invention also has the function of hot compress on the patient's arm. Specifically, while the motor drives the reciprocating lead screw to rotate, the reciprocating lead screw can also drive the shaft rod to rotate, so that the shaft rod drives the rotating block to rotate. Since the rotating block and the moving block together form a cylindrical structure, the rotating block and the moving block are of the same size, and inclined surfaces are provided at the opposite ends of the rotating block and the moving block. Therefore, during the rotation of the rotating block, its inclined surface end will squeeze the inclined surface end of the moving block. The moving block is also connected to the fixed cylinder through the limiting groove and the limiting block. Under the limiting action of the limiting groove and the limiting block, the moving block cannot follow the rotating block to rotate, but will move linearly under the squeezing action of the rotating block. When the moving block moves, the moving block can squeeze the elastic capsule, causing the elastic capsule to be compressed. Therefore, under the rotation action of the rotating block and the elastic force of the third spring inside the elastic capsule, the moving block can reciprocate inside the fixed cylinder, causing the elastic capsule to be periodically squeezed and restored. Two one-way valves are connected to the elastic capsule, and the current-limiting directions of the two one-way valves are opposite. Specifically, one of the one-way valves restricts the liquid to only enter the elastic capsule, while the other one-way valve restricts the liquid to only flow out of the elastic capsule. When the elastic capsule is squeezed, the elastic capsule performs a liquid discharge action. When the elastic capsule returns to its original state, the elastic capsule performs a liquid suction action. Based on the above process, with the rotation of the rotating block, the elastic capsule can continuously extract the oil liquid in the covering capsule and discharge the oil liquid into the heating tube. After the oil liquid flows through the heating tube, it finally flows back into the covering capsule, which makes the oil liquid circulate between the covering capsule, the elastic capsule and the heating tube;

[0054] For the heating component, the electric heating wire in the heating cylinder is used to heat the heat-conducting medium, and the heating tube is immersed in the heat-conducting medium. Therefore, during the process of the oil liquid flowing through the heating tube, the high-temperature heat-conducting medium can heat the oil liquid through the heating tube, so that the oil liquid entering the covering capsule has a certain temperature. In this case, the covering capsule wrapped around the patient's arm can perform hot compress on the patient's arm. Hot compress can dilate blood vessels, increase blood flow, bring more nutrients and oxygen to the injured or strained tissues, and promote tissue repair and regeneration, which helps to accelerate the muscle recovery process after rehabilitation training.

[0055] Those of ordinary skill in the art should understand that the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples; under the concept of the present invention, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the present invention as described above, which are not provided in detail for the sake of brevity.

[0056] The present invention aims to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A bionic manipulator for rehabilitation treatment, characterized in that: The bionic mechanical arm unit comprises a mounting seat (11), a first rotating arm (12) and a second rotating arm (13); the first rotating arm (12) is rotatably mounted on the mounting seat (11); the second rotating arm (13) is rotatably mounted on an end of the first rotating arm (12) away from the mounting seat (11); a fixing seat (14) is fixed on each of the first rotating arm (12) and the second rotating arm (13); and each of the fixing seats (14) is provided with a limiting component, a covering component, two driving components and a heating unit; The limiting assembly comprises a fixing plate (21) and two clamping plates (22), the fixing plate (21) is fixed on the fixing seat (14), the two clamping plates (22) are slidably assembled on the fixing seat (14), each clamping plate (22) is provided with a plurality of massage structures, the fixing seat (14) is provided with a positioning assembly, the positioning assembly is used to adjust the positions of the two clamping plates (22), and the positioning assembly is composed of a pulling member and a locking member; Wherein, the covering component is arranged between two clamping plates (22); Wherein, the two driving components are both arranged on a fixed plate (21) and are used to drive a plurality of the massage structures; Wherein, the heating unit includes a heating component and a circulation component.

2. The bionic manipulator for rehabilitation treatment according to claim 1, characterized in that: The massage structure comprises a through-hole (23), a push rod (24), a soft-packed protrusion (25) and a sleeve ring (26); the through-hole (23) is provided on the clamping plate (22); the push rod (24) passes through the through-hole (23) and slides in the through-hole (23); the soft-packed protrusion (25) is fixed to one end of the push rod (24); the sleeve ring (26) is fixedly sleeved on the other end of the push rod (24); and the sleeve ring (26) is connected to the clamping plate (22) via a first spring (27).

3. The bionic manipulator for rehabilitation treatment according to claim 2, characterized in that: The pulling member comprises a rotating shaft (31), a gear (32), two racks (33) and two connecting rods (36); the rotating shaft (31) is rotatably assembled on the side of the fixed seat (14); the gear (32) is fixedly sleeved on the rotating shaft (31); the two racks (33) are slidably arranged on the side of the fixed seat (14), and the two racks (33) are meshed with the gear (32); two sliding rods are fixed on the side of the fixed seat (14); sliders are fixed on the two racks (33); the two sliders are slidably sleeved on the two sliding rods respectively; one end of the two connecting rods (36) is respectively connected to the two sliders, and the other end is respectively connected to the two clamping plates (22); the two connecting rods (36) are cross-arranged; a knob (46) is fixed on the end of the rotating shaft (31) away from the fixed seat (14).

4. The bionic manipulator for rehabilitation treatment according to claim 3, characterized in that: The locking member comprises a fixing frame (41), a fixing ring (42) and a positioning ring (43); the fixing frame (41) is fixed to the side of the fixing seat (14); a clearance opening for the rotating shaft (31) to pass through is provided on the fixing frame (41); the fixing frame (41) and the rotating shaft (31) are rotatably connected; the fixing ring (42) is fixedly sleeved on the rotating shaft (31); the positioning ring (43) is slidably sleeved on the rotating shaft (31); and the fixing ring (42) and the positioning ring (43) are rotatably sleeved on the rotating shaft (31). The fixing ring (42) and the positioning ring (43) are arranged opposite to each other, and a plurality of teeth (44) are arranged on each of the fixing ring (42) and the positioning ring (43). The positioning ring (43) and the fixing frame (41) are connected via a second spring (45). A push rod (47) is fixed to the outer peripheral surface of the positioning ring (43). One end of the push rod (47) away from the positioning ring (43) passes through the fixing frame (41) and is slidably connected to the fixing frame (41). A push block is fixed to one end of the push rod (47) away from the positioning ring (43).

5. The bionic manipulator for rehabilitation treatment according to claim 4, characterized in that: The covering component comprises four side plates (51) and a covering bag (52), wherein the four side plates (51) are respectively fixed to the two ends of two clamping plates (22), the two ends of the covering bag (52) are respectively connected to the two clamping plates (22), and oil is stored inside the covering bag (52).

6. The bionic manipulator for rehabilitation treatment according to claim 5, characterized in that: The driving assembly comprises a linear driver (61), a linear slide (62) and a push plate (63), wherein the linear driver (61) is mounted on a fixed plate (21), the linear slide (62) is assembled on the linear driver (61), the push plate (63) is fixed on a side surface of the linear slide (62), and the push plate (63) is provided with two inclined surfaces with opposite inclined directions; The linear drive (61) comprises a bracket, a motor and a reciprocating screw, wherein the bracket is fixed on a fixed plate (21), the motor is mounted on the bracket, the reciprocating screw is rotatably mounted on the bracket, and one end of the reciprocating screw is connected to an output shaft of the motor, the linear slide (62) is threadedly sleeved on the reciprocating screw, and the linear slide (62) is slidably assembled on the bracket.

7. The bionic manipulator for rehabilitation treatment according to claim 6, characterized in that: The heating assembly comprises a heating cylinder (71), an electric heating wire (72) and a heating tube (73); the heating cylinder (71) is fixed on the bottom surface of the fixing plate (21); a heat-conducting medium is stored inside the heating cylinder (71); the electric heating wire (72) is installed inside the heating cylinder (71); the heating tube (73) is fixed inside the heating cylinder (71), and the heating tube (73) is immersed in the heat-conducting medium; both ends of the heating tube (73) extend to the outside of the heating cylinder (71); and one end of the heating tube (73) is connected to the covering bag (52).

8. The bionic manipulator for rehabilitation treatment according to claim 7, characterized in that: The circulation assembly comprises a fixed cylinder (81), a rotating block (82), a moving block (83), an elastic bag (84) and a shaft (810); the fixed cylinder (81) is fixed to one end of the linear driver (61) through a cross bar; the rotating block (82) and the moving block (83) are both arranged inside the fixed cylinder (81); the shaft (810) passes through one end of the fixed cylinder (81) and is rotatably connected to the fixed cylinder (81); one end of the cross bar is connected to the rotating block (82), and the other end is connected to the reciprocating screw rod; one end of the elastic bag (84) is connected to the inner surface of the fixed cylinder (81), and the other end is connected to the moving block (83); The elastic bag (84) has a third spring (85) built in, the fixed tube (81) is provided with a limiting groove (86), the movable block (83) is fixed with a limiting block (87), and the limiting block (87) slides in the limiting groove (86), the elastic bag (84) is connected with two mounting tubes (88), and both mounting tubes (88) are provided with a one-way valve (89), one end of one mounting tube (88) away from the elastic bag (84) is connected to the covering bag (52), and the other end of the mounting tube (88) away from the elastic bag (84) is connected to the other end of the heating tube (73), and the limiting directions of the two one-way valves (89) are opposite.

9. The bionic manipulator for rehabilitation treatment according to claim 8, characterized in that: The rotating block (82) and the moving block (83) together form a cylindrical structure. The rotating block (82) and the moving block (83) are of the same size. The opposite ends of the rotating block (82) and the moving block (83) are both provided with inclined surfaces. The outer peripheral surface of the moving block (83) and the inner surface of the fixed cylinder (81) are mutually fitted.

10. The bionic manipulator for rehabilitation treatment according to claim 8, characterized in that: The reciprocating screw rod, the shaft rod (810), the fixed cylinder (81), the rotating block (82) and the moving block (83) are arranged coaxially.

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