Knee joint stroking and pressing manipulator of rehabilitation robot

Abstract

The invention discloses a knee joint stroking and pressing manipulator of a rehabilitation robot, and relates to the technical field of rehabilitation manipulators, the knee joint stroking and pressing manipulator comprises a double-shaft mechanical arm, one end of the double-shaft mechanical arm is provided with an upper clamping structure, and the bottom of the upper clamping structure is provided with a lower clamping structure; the upper clamping structure comprises an upper supporting frame connected with the double-shaft mechanical arm, a sliding assembly installed on the upper supporting frame in a sliding mode, a massager installed at the bottom end of the sliding assembly, two upper arc-shaped air guide frames arranged on the two sides of the massager and a position control assembly arranged between the two upper arc-shaped air guide frames and the upper supporting frame. Through cooperation of the lower expansion piece, the upper expansion piece, the air supply set, the lower arc-shaped air guide frame and other structures, the requirement for fixing different positions of the legs of the patient can be met, the different requirements for leg rehabilitation of the patient are met, and the fixing process is convenient and rapid.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation manipulators, and in particular to a knee joint massage and pressing manipulator of a rehabilitation robot. Background Art

[0002] In order to restore the motor function of the legs of people with movement disorders, it is necessary to carry out rehabilitation training with a certain intensity, repeatability, and task orientation. In the past few decades, in order to meet this growing demand, people have turned their attention to rehabilitation robots. For example, a patent document with the application number 201810197151.9 discloses a household simple knee joint rehabilitation robot, which includes two vertically parallel standing plates and a bottom plate fixedly connected to the lower end surfaces of the two standing plates. A power module is embedded in the bottom plate. At the upper ends of the sides of the two standing plates, there are large arc-shaped sliding grooves. At the lower ends of the sides of the two standing plates, there are straight sliding grooves and small arc-shaped sliding grooves. One end of the straight sliding groove communicates with the lower end of the large arc-shaped sliding groove. A sliding rod is slidably installed in the large arc-shaped sliding groove and the small arc-shaped sliding groove.

[0003] Taking the above-mentioned rehabilitation robot as an example, when the rehabilitation robot performs rehabilitation pressing on the patient, the patient's leg is not fixed, resulting in the patient relying solely on willpower to limit the leg that is uncomfortable under the external force. It is easy to occur that when the manipulator of the rehabilitation robot acts on the human body, the movement of the patient's leg affects the acting point of the manipulator, which affects the working effect of the rehabilitation robot. Summary of the Invention

[0004] The purpose of the present invention is to provide a knee joint massage and pressing manipulator of a rehabilitation robot to solve the problems raised in the prior art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A knee joint massage and pressing manipulator of a rehabilitation robot, including a dual-axis robotic arm. One end of the dual-axis robotic arm is installed with an upper clamping structure. A lower clamping structure is arranged at the bottom of the upper clamping structure. The upper clamping structure includes an upper support frame connected to the dual-axis robotic arm, a sliding component slidably installed on the upper support frame, a massager installed at the bottom end of the sliding component, two upper arc-shaped air guiding frames arranged on both sides of the massager, and a position control component arranged between the two upper arc-shaped air guiding frames and the upper support frame. An upper expansion member is fixedly communicated inside the upper arc-shaped air guiding frame. Connecting pipes are fixedly installed on both sides of the bottom of the upper arc-shaped air guiding frame. The lower clamping structure includes a lower support frame arranged at the bottom of the upper support frame, two lower arc-shaped air guiding frames slidably connected inside the lower support frame, a gas supply component arranged between the two lower arc-shaped air guiding frames, and a lifting component installed at the bottom of the inner cavity of the lower support frame. Distance sensors are arranged on one side of each of the two lower arc-shaped air guiding frames away from each other. A lower expansion member is fixedly communicated inside the lower arc-shaped air guiding frame. Two air guiding holes are opened at the top of the lower arc-shaped air guiding frame.

[0006] Preferably, the biaxial robotic arm includes a first hydraulic cylinder fixedly installed at the top of the upper support frame, an installation ring fixedly sleeved outside the first hydraulic cylinder, and a second hydraulic cylinder fixedly installed on one side of the installation ring. The outer shell of the second hydraulic cylinder is fixed to the equipment and cannot move.

[0007] Preferably, two sliding frames one are fixedly installed on both sides of the two lower arc-shaped air guide frames. One guide rail one is fixedly installed on both sides inside the lower support frame. The bottom end of the sliding frame one is sleeved outside the guide rail one on the same side. The distance sensor is fixedly installed inside the lower support frame.

[0008] Preferably, two sliding frames two are fixedly installed on both sides of the upper arc-shaped air guide frame. The top ends of the sliding frames two are slidably installed with the upper support frame. A moving frame three is fixedly installed between two adjacent sliding frames two. Two spring-type telescopic rods are fixedly installed on one side of the moving frame three. The outer shell of the spring-type telescopic rod is fixedly connected to the bottom of the upper support frame.

[0009] Preferably, the position control component includes two pull wires fixedly installed on the sides of the two moving frames three close to each other, a winding frame fixedly installed at one end of the pull wire, a transmission shaft fixedly installed inside the winding frame, and a first reversible motor fixedly installed at one end of the transmission shaft. Two connecting frames two are rotatably sleeved outside the transmission shaft. The connecting frame two is fixedly connected to the upper support frame. The outer shell of the first reversible motor is fixedly installed with the adjacent connecting frame two. A guide tube is sleeved outside the pull wire. The guide tube penetrates through the upper support frame and is fixedly connected to the upper support frame.

[0010] Preferably, the air supply component includes a telescopic tube fixedly installed between the two lower arc-shaped air guide frames, an air duct fixedly installed outside the telescopic tube, and an air pump fixedly installed at one end of the air duct. The air duct penetrates through the lower support frame and is fixedly connected to the lower support frame. The air pump is fixedly installed outside the lower support frame. A pressure sensor is fixedly installed outside the air duct.

[0011] Preferably, the jacking component includes a biaxial air cylinder fixedly installed at the bottom of the inner cavity of the lower support frame and two moving frames two fixedly installed at both ends of the biaxial air cylinder. A top plate is rotatably installed on one side of each of the two moving frames two. A connecting frame one is rotatably penetrated through each of the two top plates. A moving frame one is fixedly installed between the two connecting frames one. A rubber part is rotatably connected inside the moving frame one.

[0012] Preferably, the sliding component includes a moving frame four arranged at the top of the upper support frame, two moving frames five fixedly installed at the bottom of the moving frame four, and rollers installed at the bottom ends of the moving frames five. The rollers are arranged on the top of the upper support frame. A U-shaped frame is fixedly installed between the two moving frames five. A pneumatic cylinder is fixedly installed on one side of the U-shaped frame. The outer shell of the pneumatic cylinder is fixedly installed at the top of the upper support frame.

[0013] Preferably, a hydraulic cylinder III and two limiting vertical rods are arranged on the fourth moving frame. The hydraulic cylinder III is fixedly connected to the fourth moving frame. A sixth moving frame is fixedly installed at the bottom end of the hydraulic cylinder III. Two guiding grooves are formed at the top of the upper supporting frame. The two limiting vertical rods respectively penetrate through the two guiding grooves and are fixedly connected to the sixth moving frame.

[0014] Preferably, a seventh moving frame is arranged at the bottom of the sixth moving frame. The seventh moving frame is fixedly connected to the massager. A plurality of second guide rails are arranged on the seventh moving frame. The second guide rails are fixedly connected to the sixth moving frame. A lead screw is rotatably connected to the bottom of the sixth moving frame. A third connecting frame is sleeved on the outer side of the lead screw through a nut pair. The third connecting frame is fixedly connected to the seventh moving frame. One end of the lead screw is fixedly connected to a speed changer. A forward and reverse motor II is fixedly installed at the input end of the speed changer. The forward and reverse motor II and the speed changer are both fixedly connected to the sixth moving frame. A brake is sleeved on the outer side of the other end of the lead screw. The brake is fixedly connected to the sixth moving frame.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. In this application, after controlling the upper arc-shaped air guide frame to move upward away from the lower arc-shaped air guide frame, the connecting pipe and the air guide hole are separated, and the connecting pipe and the air guide hole exhaust air. The lower expansion part and the upper expansion part recover, and the patient's leg loses fixation. Through the cooperation of structures such as the lower expansion part, the upper expansion part, the air supply group, and the lower arc-shaped air guide frame, the needs for fixing different positions of the patient's leg can be met, different needs for the patient's leg rehabilitation can be satisfied, and the fixing process is convenient and fast.

[0016] 2. In this application, control the sliding assembly to work to control the sixth moving frame to move left and right and up and down. After the massager contacts the patient's knee joint, control the massager to work to massage the patient's knee joint, and control the hydraulic cylinder III to continue working to apply a certain pressure to the massager, so that the massager applies pressure to the patient's knee joint during the massage process of the patient's knee joint. Because the patient's leg is fixed and the patient's knee joint is supported by the rubber part, the patient's knee joint cannot bend and change during the pressing process, increasing the auxiliary effect of the pressing manipulator on the rehabilitation of the patient's knee joint.

[0017] 3. In this application, after the hydraulic cylinder III applies pressure to the massager for a period of time, control the jacking assembly to work so that the rubber part moves down a certain distance. At this time, the massager presses down to assist the patient in performing knee joint straightening rehabilitation work. Under the restriction of the rubber part, the downward movement distance of the patient's knee joint is limited, and the rehabilitation work of the patient's knee joint is carried out in stages according to the plan. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a structural schematic diagram of the present invention; Figure 2 is a structural schematic diagram of the first guide rail of the present invention; Figure 3 Structural schematic diagram of the upper support frame of the present invention; Figure 4 Structural schematic diagram of the lower arc-shaped air guide frame of the present invention; Figure 5 Structural schematic diagram of the first moving frame of the present invention; Figure 6 Structural schematic diagram of the second moving frame of the present invention; Figure 7 Structural schematic diagram of the third moving frame of the present invention; Figure 8 Structural schematic diagram of the transmission shaft of the present invention; Figure 9 Structural schematic diagram of the U-shaped frame of the present invention; Figure 10 Structural schematic diagram of the limiting vertical rod of the present invention; Figure 11 Structural schematic diagram of the seventh moving frame of the present invention; Figure 12 Partial structural schematic diagram of the sixth moving frame of the present invention.

[0019] Reference numerals in the figure: 1, lower clamping structure; 11, lower support frame; 12, first guide rail; 13, first sliding frame; 14, lower arc-shaped air guide frame; 15, lower expansion member; 16, air guide hole; 17, telescopic tube; 18, air duct; 19, air pressure sensor; 110, air pump; 111, distance sensor; 112, rubber member; 113, first moving frame; 114, double-axis air cylinder; 115, second moving frame; 116, top plate; 117, first connecting frame; 2, upper clamping structure; 21, upper support frame; 22, second sliding frame; 23, upper arc-shaped air guide frame; 24, upper expansion member; 25, connecting pipe; 26, third moving frame; 27, spring-type telescopic rod; 28, wire; 29, guide tube; 210, winding frame; 211, transmission shaft; 212, second connecting frame; 214, first forward and reverse motor; 216, fourth moving frame; 217, fifth moving frame; 218, third hydraulic cylinder; 219, limiting vertical rod; 220, guide groove; 221, sixth moving frame; 222, seventh moving frame; 223, massager; 224, second guide rail; 225, lead screw; 226, third connecting frame; 227, second forward and reverse motor; 228, transmission; 229, brake; 231, air cylinder; 232, U-shaped frame; 3, double-axis robotic arm; 31, first hydraulic cylinder; 32, mounting ring; 33, second hydraulic cylinder. Detailed implementation manners

[0020] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments 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.

[0021] Embodiment: As Figures 1 - 12 shown, the present invention provides a technical solution for a knee joint massage and pressing manipulator of a rehabilitation robot, including a biaxial robotic arm 3. One end of the biaxial robotic arm 3 is installed with an upper clamping structure 2, and a lower clamping structure 1 is arranged at the bottom of the upper clamping structure 2. The upper clamping structure 2 includes an upper support frame 21 connected to the biaxial robotic arm 3, a sliding component slidably installed on the upper support frame 21, a massager 223 installed at the bottom end of the sliding component, two upper arc-shaped air guiding frames 23 arranged on both sides of the massager 223, and a position control component arranged between the two upper arc-shaped air guiding frames 23 and the upper support frame 21. An upper expansion member 24 is fixedly communicated inside the upper arc-shaped air guiding frame 23, and connecting pipes 25 are fixedly installed on both sides of the bottom of the upper arc-shaped air guiding frame 23. The lower clamping structure 1 includes a lower support frame 11 arranged at the bottom of the upper support frame 21, two lower arc-shaped air guiding frames 14 slidably connected inside the lower support frame 11, a gas supply component arranged between the two lower arc-shaped air guiding frames 14, and a jacking component installed at the bottom of the inner cavity of the lower support frame 11. Distance sensors 111 are arranged on one side of each of the two lower arc-shaped air guiding frames 14 away from each other. A lower expansion member 15 is fixedly communicated inside the lower arc-shaped air guiding frame 14, and two air guiding holes 16 are opened at the top of the lower arc-shaped air guiding frame 14.

[0022] Specifically, the front, rear, left, right, up, down and other orientation descriptions in this text are all based on Figure 1 what is shown in [the figure]. The lower support frame 11 in the lower clamping structure 1 is fixed to the equipment or building and cannot move. The lower clamping structure 1, the upper clamping structure 2 and the biaxial robotic arm 3 are electrically connected to a human-computer interaction device for control, which is an application of the existing public technology and will not be elaborated here.

[0023] Specifically, a first hydraulic cylinder 31 in the biaxial robotic arm 3 is fixedly installed on the top of the upper support frame 21. The first hydraulic cylinder 31 controls the up and down position of the upper support frame 21 when it works. One side of an installation ring 32 fixedly sleeved outside the first hydraulic cylinder 31 is fixedly installed with a second hydraulic cylinder 33. The housing of the second hydraulic cylinder 33 is fixed to the equipment and cannot move. The second hydraulic cylinder 33 controls the front and rear position of the first hydraulic cylinder 31 when it works. Thus, the front and rear position of the upper support frame 21 is controlled, so that the upper clamping structure 2 can be aligned with the lower clamping structure 1 and the two cooperate with each other, and the upper clamping structure 2 can also be far away from the lower clamping structure 1 to provide sufficient space for the patient to place the leg inside the lower clamping structure 1.

[0024] Specifically, the telescopic tube 17 in the air supply assembly is fixedly installed between the two lower arc-shaped air guide frames 14. The telescopic tube 17 that can be extended and contracted within a certain range meets the left-right movement requirements of the two lower arc-shaped air guide frames 14. The air guide pipe 18 fixedly installed on the outer side of the telescopic tube 17 penetrates through the lower support frame 11 and is fixedly connected to the lower support frame 11. The air pump 110 fixedly installed at one end of the air guide pipe 18 is fixedly installed on the outer side of the lower support frame 11. By controlling the operation of the air pump 110, gas can be infused into the interior of the lower arc-shaped air guide frame 14. By controlling the operation of the air supply assembly, gas can be infused into the interior of the two lower arc-shaped air guide frames 14. The air pressure sensor 19 fixedly installed on the outer side of the air guide pipe 18 real-time detects the air pressure inside the air guide pipe 18. The air guide pipe 18 is communicated with the interior of the two lower arc-shaped air guide frames 14. Therefore, the air pressure sensor 19 detects the air pressure inside the lower arc-shaped air guide frame 14 and displays it on the human-computer interaction device electrically connected to it.

[0025] Specifically, two pull wires 28 in the position control assembly are respectively fixedly installed on the sides of the two moving frames three 26 close to each other. The moving frames three 26 are arranged at the bottom of the upper support frame 21. The guide pipes 29 sleeved on the outer sides of the pull wires 28 penetrate through the upper support frame 21 and are fixedly connected to the upper support frame 21. The ends of the pull wires 28 far from the moving frames three 26 are located at the top of the upper support frame 21 under the guidance of the guide pipes 29; and a winding frame 210 is fixedly installed at one end of each of the two pull wires 28. A connecting frame two 212 is rotatably sleeved on the outer side of the transmission shaft 211 fixedly installed inside the winding frame 210. The connecting frame two 212 is fixedly connected to the upper support frame 21 so that the transmission shaft 211 can be supported and rotate. One end of the transmission shaft 211 is fixedly connected to the output end of the forward and reverse motor one 214. The outer side of the forward and reverse motor one 214 is fixedly connected to the adjacent connecting frame two 212. Therefore, by controlling the forward rotation of the two forward and reverse motors one 214, the two transmission shafts 211 rotate, the two winding frames 210 rotate to wind the two pull wires 28, and the two pull wires 28 pull the two moving frames three 26 closer to each other; when controlling the reverse rotation of the two forward and reverse motors one 214, the two pull wires 28 are unwound, and the outer shells of the two spring-type telescopic rods 27 fixedly installed on one side of the moving frame three 26 are both fixedly connected to the bottom of the upper support frame 21. At this time, the rebounding multiple spring-type telescopic rods 27 push the two moving frames three 26 away from each other; And by controlling the working time of the forward and reverse motor one 214, the moving distance of the corresponding moving frame three 26 can be controlled, and the positions of the two moving frames three 26 can be flexibly controlled.

[0026] Specifically, the double-axis air cylinder 114 in the jacking assembly is fixedly installed at the bottom of the inner cavity of the lower support frame 11. Movement frames II 115 are fixedly installed at both ends of the double-axis air cylinder 114. A top plate 116 is rotatably installed on one side of the movement frame II 115 slidably installed on the lower support frame 11. A connecting frame I 117 rotatably passing through the outside of the top plate 116 is fixedly connected to the movement frame I 113. And the movement frame II 115 is arranged at one end where the two top plates 116 are far away from each other, the connecting frame I 117 is arranged at one end where the two top plates 116 are close to each other, and the connecting frame I 117 is arranged on the top of the movement frame II 115. Therefore, when the double-axis air cylinder 114 works and its two ends contract, the two movement frames II 115 approach each other, and the two top plates 116 rotate to push the movement frame I 113 upward. When the double-axis air cylinder 114 works and its two ends contract, the two movement frames II 115 move away from each other, and the movement frame I 113 descends; Therefore, by controlling the operation of the jacking assembly, the up-and-down position of the rubber part 112 rotatably connected inside the movement frame I 113 can be controlled, so that the rubber part 112 moves upward to support the bottom of the patient's knee joint.

[0027] Specifically, in the sliding assembly, the movement frame IV 216 is arranged on the top of the upper support frame 21. Rollers are installed at the bottom ends of the two movement frames V 217 fixedly installed at the bottom of the movement frame IV 216, and the rollers abut against the top of the upper support frame 21. And an air cylinder 231 is fixedly installed on one side of the U-shaped frame 232 fixedly installed between the two movement frames V 217. By controlling the operation of the air cylinder 231 fixedly installed on the top of the upper support frame 21, the left-and-right position of the movement frame IV 216 can be controlled. And a hydraulic cylinder III 218 and two limiting vertical rods 219 are arranged through the movement frame IV 216. The hydraulic cylinder III 218 is fixedly connected to the movement frame IV 216 and moves left and right synchronously with the movement frame IV 216. The movement frame VI 221 fixedly installed at the bottom end of the hydraulic cylinder III 218 moves left and right synchronously. Two guiding grooves 220 are opened on the top of the upper support frame 21. After the two limiting vertical rods 219 fixedly installed on the movement frame VI 221 respectively penetrate through the two guiding grooves 220, the limiting vertical rods 219 can move up and down under the limitation of the movement frame IV 216, and the limiting vertical rods 219 can move left and right synchronously with the movement frame IV 216; And when the hydraulic cylinder III 218 works, the movement frame VI 221 can be controlled to move up and down; In summary, by controlling the operation of the sliding assembly, the left-and-right position and the up-and-down position of the movement frame VI 221 can be controlled, so that the movement frame VI 221 drives the massager 223 to move left and right and up and down, and the massager 223 performs comprehensive pressing and massaging on the patient's leg.

[0028] In this application, the lower clamping structure 1 is used to support the patient's leg, and the upper clamping structure 2 cooperates with the lower clamping structure 1 to fix the patient's leg while massaging and pressing the patient's knee joint. The dual-axis robotic arm 3 positions the upper clamping structure 2. The pressing manipulator composed of the lower clamping structure 1 and the upper clamping structure 2 works as follows: After the patient places the leg inside the lower clamping structure 1, control the position of the leg so that the knee joint is located at the top of the rubber part 112. At this time, the two lower arc-shaped air guiding frames 14 inside the lower support frame 11 are respectively located on the outer sides of the patient's thigh and calf, and the lower expansion parts 15 fixedly installed inside the lower arc-shaped air guiding frames 14 have a certain elasticity to reduce discomfort of the patient's leg.

[0029] Subsequently, control the dual-axis robotic arm 3 to work to control the position of the upper clamping structure 2, so that the upper clamping structure 2 moves to the top of the lower clamping structure 1; and distance sensors 111 are provided on one side where the two lower arc-shaped air guiding frames 14 are away from each other. The two distance sensors 111 detect the moving distance of the lower arc-shaped air guiding frames 14 during the process of the patient's leg being placed inside the lower support frame 11, and the detection results of the distance sensors 111 are fed back to the human-computer interaction device; During the process of the dual-axis robotic arm 3 controlling the front and back positions of the upper clamping structure 2, control the middle control component of the upper clamping structure 2 to work, so that the left and right positions of the two moving frames three 26 are respectively aligned with the two lower arc-shaped air guiding frames 14. Since sliding frames two 22 are fixedly installed on both sides of the upper arc-shaped air guiding frame 23, the top ends of the sliding frames two 22 are slidably installed with the upper support frame 21, and a moving frame three 26 is fixedly installed between the two sliding frames two 22 installed on one upper arc-shaped air guiding frame 23, so the left and right movement of the moving frame three 26 will drive the left and right movement of the upper arc-shaped air guiding frame 23. Under the action of the control component, the two upper arc-shaped air guiding frames 23 are aligned with the two lower arc-shaped air guiding frames 14; When the upper support frame 21 moves to the top of the lower support frame 11, the two upper arc-shaped air guiding frames 23 and the two lower arc-shaped air guiding frames 14 are in an aligned state. Subsequently, the dual-axis robotic arm 3 controls the up and down position of the upper clamping structure 2, which will cause the two connecting pipes 25 fixedly installed on both sides of the bottom of the upper arc-shaped air guiding frame 23 to move down and insert into the two air guiding holes 16 opened on both sides of the top of the lower arc-shaped air guiding frame 14, and the connecting pipes 25 and the lower arc-shaped air guiding frame 14 enter an interference fit state. The upper arc-shaped air guiding frame 23 and the lower arc-shaped air guiding frame 14 are communicated through the connecting pipes 25, and the sealing performance between the upper arc-shaped air guiding frame 23 and the lower arc-shaped air guiding frame 14 is good; Subsequently, control the air supply assembly to work and infuse gas into the two lower arc-shaped air guide frames 14. The gas enters the upper arc-shaped air guide frame 23 through the connecting pipe 25, causing the lower expansion member 15 fixedly installed inside the lower arc-shaped air guide frame 14 and the upper expansion member 24 fixedly installed inside the upper arc-shaped air guide frame 23 to inflate and expand. Fix the patient's leg through the expanded lower expansion member 15 and upper expansion member 24 to reduce the harm suffered by the patient. When the air pressure inside the lower arc-shaped air guide frame 14 reaches the preset value, control the air pump 110 to pause working to complete the fixation of the patient's leg; After controlling the upper arc-shaped air guide frame 23 to move upward and away from the lower arc-shaped air guide frame 14, the connecting pipe 25 and the air guide hole 16 are separated, and the connecting pipe 25 and the air guide hole 16 exhaust air. The lower expansion member 15 and the upper expansion member 24 recover, and the patient's leg loses fixation. Through the cooperation of structures such as the lower expansion member 15, the upper expansion member 24, the air supply group, and the lower arc-shaped air guide frame 14, the needs for fixing different positions of the patient's leg can be met, the different needs for the patient's leg rehabilitation can be satisfied, and the fixation process is convenient and fast.

[0030] Subsequently, control the lifting assembly to work and push the rubber member 112 upward to contact the patient's popliteal fossa, so that the rubber member 112 supports the patient's knee joint and reduces the discomfort of the patient's leg where the knee joint cannot be fully extended. Subsequently, control the sliding assembly to work to control the movement frame six 221 to move left and right and up and down. After the massager 223 contacts the patient's knee joint, control the massager 223 to work to massage the patient's knee joint, and control the hydraulic cylinder three 218 to continue working to apply a certain pressure to the massager 223, so that the massager 223 applies pressure to the patient's knee joint during the massage process. Because the patient's leg is fixed and the patient's knee joint is supported by the rubber member 112, the patient's knee joint cannot bend and change during the pressing process, increasing the auxiliary effect of the pressing manipulator on the rehabilitation of the patient's knee joint.

[0031] After the hydraulic cylinder three 218 applies pressure to the massager 223 for a period of time, control the lifting assembly to work so that the rubber member 112 moves down a certain distance. At this time, the massager 223 presses down to assist the patient in the knee joint straightening rehabilitation work. Under the restriction of the rubber member 112, the downward movement distance of the patient's knee joint is limited, and the patient's knee joint rehabilitation work is carried out in stages according to the plan; Moreover, two sliding brackets one 13 are fixedly installed on both sides of the lower arc-shaped air guide frame 14. Two guide rails one 12 are fixedly installed on both sides inside the lower support frame 11. The bottom end of the sliding bracket one 13 is sleeved outside the guide rail one 12 on the same side. The lower arc-shaped air guide frame 14 can move left and right. The sliding bracket two 22 fixedly installed on the upper arc-shaped air guide frame 23 is slidably connected with the upper support frame 21. The sliding bracket two 22 can move left and right. Therefore, when the pressing manipulator assists the patient's knee joint to straighten during rehabilitation, the movement of the patient's leg will cause the lower arc-shaped air guide frame 14 and the upper arc-shaped air guide frame 23 to move accordingly, ensuring the rehabilitation effect of the patient's leg and enabling the pressing manipulator to meet the needs of various knee joint rehabilitations.

[0032] A moving bracket seven 222 is arranged at the bottom of the moving bracket six 221. The moving bracket seven 222 is fixedly installed together with the massager 223. A plurality of guide rails two 224 penetrating through the moving bracket seven 222 are fixedly connected with the moving bracket six 221. The moving bracket seven 222 can only move back and forth. A nut pair is sleeved outside the screw rod 225 rotatably connected to the bottom of the moving bracket six 221, and a connecting bracket three 226 is sleeved. The connecting bracket three 226 is fixedly connected with the moving bracket seven 222. One end of the screw rod 225 is fixedly connected to the output end of the transmission 228. The forward and reverse motor two 227 fixedly installed at the input end of the transmission 228 is fixedly connected with the moving bracket six 221. Control the forward rotation or reverse rotation of the forward and reverse motor two 227. The forward and reverse motor two 227 drives the screw rod 225 to rotate accordingly through the transmission 228. The connecting bracket three 226 outside the screw rod 225 and the moving bracket seven 222 fixedly connected to the connecting bracket three 226 move forward or backward. The massager 223 moves forward or backward, enabling the moving bracket seven 222 to move back and forth on the patient's knee joint, increasing the massage effect of the massager 223 on the patient's knee joint, increasing the effective force-bearing area between the massager 223 and the patient's knee joint, and the rehabilitation effect of the patient's knee joint.

[0033] In addition, as Figure 12 shown, a brake 229 is sleeved outside the other end of the screw rod 225. The brake 229 is fixedly connected with the moving bracket six 221. When the massager 223 does not need to move, control the brake 229 to work to limit the screw rod 225, preventing the massager 223 from moving during the massage of the patient's knee joint by the massager 223.

[0034] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, in any aspect, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be embraced within the present invention. Any reference signs in the claims should not be construed as limiting the claims involved.

Claims

1. A knee joint massage and pressing manipulator of a rehabilitation robot, comprising a biaxial robotic arm (3), characterized in that: One end of the biaxial robotic arm (3) is equipped with an upper clamping structure (2), and a lower clamping structure (1) is arranged at the bottom of the upper clamping structure (2). The upper clamping structure (2) includes an upper support frame (21) connected to the biaxial robotic arm (3), a sliding component slidably installed on the upper support frame (21), a massager (223) installed at the bottom end of the sliding component, two upper arc-shaped air guiding frames (23) arranged on both sides of the massager (223), and a position control component arranged between the two upper arc-shaped air guiding frames (23) and the upper support frame (21). An upper expansion member (24) is fixedly communicated inside the upper arc-shaped air guiding frame (23), and connecting pipes (25) are fixedly installed on both sides of the bottom of the upper arc-shaped air guiding frame (23). The lower clamping structure (1) includes a lower support frame (11) arranged at the bottom of the upper support frame (21), two lower arc-shaped air guiding frames (14) slidably connected inside the lower support frame (11), a gas supply component arranged between the two lower arc-shaped air guiding frames (14), and a jacking component installed at the bottom of the inner cavity of the lower support frame (11). Distance sensors (111) are arranged on one side of each of the two lower arc-shaped air guiding frames (14) away from each other. A lower expansion member (15) is fixedly communicated inside the lower arc-shaped air guiding frame (14), and two air guiding holes (16) are formed at the top of the lower arc-shaped air guiding frame (14).

2. The knee joint touch and press manipulator of a rehabilitation robot according to claim 1, characterized in that: The biaxial robotic arm (3) includes a first hydraulic cylinder (31) fixedly installed at the top of the upper support frame (21), an installation ring (32) fixedly sleeved outside the first hydraulic cylinder (31), and a second hydraulic cylinder (33) fixedly installed on one side of the installation ring (32). The outer shell of the second hydraulic cylinder (33) is fixed to the equipment and cannot move.

3. The knee joint touch and press manipulator of a rehabilitation robot according to claim 1, characterized in that: Two sliding frames one (13) are fixedly installed on both sides of each of the two lower arc-shaped air guiding frames (14). Two guide rails one (12) are fixedly installed on both sides inside the lower support frame (11). The bottom end of the sliding frame one (13) is sleeved outside the guide rail one (12) on the same side. The distance sensor (111) is fixedly installed inside the lower support frame (11).

4. The knee joint touch and press manipulator of a rehabilitation robot according to claim 1, characterized in that: Two sliding frames two (22) are fixedly installed on both sides of the upper arc-shaped air guiding frame (23). The top ends of the sliding frames two (22) are slidably installed with the upper support frame (21). A moving frame three (26) is fixedly installed between two adjacent sliding frames two (22). Two spring-type telescopic rods (27) are fixedly installed on one side of the moving frame three (26). The outer shell of the spring-type telescopic rod (27) is fixedly connected to the bottom of the upper support frame (21).

5. The knee joint touch and press manipulator of a rehabilitation robot according to claim 4, characterized in that: The position control component includes two wire ropes (28) fixedly installed on the mutually approaching sides of two moving frames three (26), a winding frame (210) fixedly installed at one end of the wire rope (28), a transmission shaft (211) fixedly installed inside the winding frame (210), and a forward and reverse motor one (214) fixedly installed at one end of the transmission shaft (211). Two connecting frames two (212) are rotatably sleeved on the outer side of the transmission shaft (211), and the connecting frames two (212) are fixedly connected to the upper support frame (21). The outer shell of the forward and reverse motor one (214) is fixedly installed with the adjacent connecting frame two (212). A guide tube (29) is sleeved on the outer side of the wire rope (28), and the guide tube (29) penetrates through the upper support frame (21) and is fixedly connected to the upper support frame (21).

6. The knee joint touch and press manipulator of a rehabilitation robot according to claim 1, characterized in that: The air supply component includes an expansion tube (17) fixedly installed between two lower arc-shaped air guide frames (14), an air guide tube (18) fixedly installed on the outer side of the expansion tube (17), and an air pump (110) fixedly installed at one end of the air guide tube (18). The air guide tube (18) penetrates through the lower support frame (11) and is fixedly connected to the lower support frame (11). The air pump (110) is fixedly installed on the outer side of the lower support frame (11), and a pressure sensor (19) is fixedly installed on the outer side of the air guide tube (18).

7. The knee joint touch and press manipulator of a rehabilitation robot according to claim 1, characterized in that: The jacking component includes a double-acting pneumatic cylinder (114) fixedly installed at the bottom of the inner cavity of the lower support frame (11) and two moving frames two (115) fixedly installed at both ends of the double-acting pneumatic cylinder (114). A top plate (116) is rotatably installed on one side of each of the two moving frames two (115). A connecting frame one (117) is rotatably penetrated through each of the two top plates (116). A moving frame one (113) is fixedly installed between the two connecting frames one (117). A rubber part (112) is rotatably connected inside the moving frame one (113).

8. The knee joint massage and pressing manipulator of a rehabilitation robot according to claim 1, characterized in that: The sliding component includes a moving frame four (216) arranged at the top of the upper support frame (21), two moving frames five (217) fixedly installed at the bottom of the moving frame four (216), and rollers installed at the bottom ends of the moving frames five (217). The rollers are arranged on the top of the upper support frame (21). A U-shaped frame (232) is fixedly installed between the two moving frames five (217). A pneumatic cylinder (231) is fixedly installed on one side of the U-shaped frame (232). The outer shell of the pneumatic cylinder (231) is fixedly installed on the top of the upper support frame (21).

9. The knee joint massage and pressing manipulator of a rehabilitation robot according to claim 8, characterized in that: A hydraulic cylinder three (218) and two limiting vertical rods (219) are penetrated through the moving frame four (216). The hydraulic cylinder three (218) is fixedly connected to the moving frame four (216). A moving frame six (221) is fixedly installed at the bottom end of the hydraulic cylinder three (218). Two guide grooves (220) are opened at the top of the upper support frame (21). The two limiting vertical rods (219) respectively penetrate through the two guide grooves (220) and are fixedly connected to the moving frame six (221).

10. The knee joint touch and press manipulator of a rehabilitation robot according to claim 9, characterized in that: A seventh exercise frame (222) is provided at the bottom of the sixth exercise frame (221). The seventh exercise frame (222) is fixedly connected to a massager (223). A plurality of second guide rails (224) are disposed through the seventh exercise frame (222), and the second guide rails (224) are fixedly connected to the sixth exercise frame (221). A lead screw (225) is rotatably connected to the bottom of the sixth exercise frame (221). A third connecting frame (226) is sleeved on the outer side of the lead screw (225) through a nut pair, and the third connecting frame (226) is fixedly connected to the seventh exercise frame (222). One end of the lead screw (225) is fixedly connected to a speed changer (228), and a second forward and reverse motor (227) is fixedly installed at the input end of the speed changer (228). Both the second forward and reverse motor (227) and the speed changer (228) are fixedly connected to the sixth exercise frame (221). A brake (229) is sleeved on the outer side of the other end of the lead screw (225), and the brake (229) is fixedly connected to the sixth exercise frame (221).

Images