A rehabilitation therapy robot

Abstract

This invention discloses a rehabilitation therapy robot, relating to the field of robotics. The robot includes a main body with robotic arms mounted on both sides. A massager is attached to the back of the main body, and an electrically retractable seat is located at the front. This rehabilitation therapy robot provides therapeutic massage to patients by having the robotic arms grasp massage heads; it assists patients in joint mobility training by actively lifting the forearms and rotating hip seat; it assists in forearm and upper arm muscle training by activating a continuously variable damping mechanism and having the patient actively pull a handle to adjust resistance; and it allows patients to move while standing using a walking mechanism, with the rotating hip seat randomly rotating in both directions to simulate uneven ground, thus aiding in walking and balance training. This comprehensive, multi-functional rehabilitation therapy meets various training needs of patients.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a rehabilitation therapy robot. Background Technology

[0002] Nowadays, using mobile robots for rehabilitation and physiotherapy is a common technique. The robot moves by walking components on its bottom, massage components on its surface provide massage care, and robotic arms support the patient's movement and rehabilitation training.

[0003] However, in practical applications, existing robots used for rehabilitation therapy have relatively limited functions and are usually designed independently for a specific training or care. However, many patients who need rehabilitation therapy due to injuries or illnesses not only need rehabilitation training in multiple directions, but also need daily care and massage. Relatively independent training and therapy equipment cannot meet the multi-functional needs of users at the same time. Therefore, a rehabilitation therapy robot is provided to solve the above problems. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a rehabilitation therapy robot that solves the problem that existing rehabilitation therapy robots have relatively limited functions and cannot simultaneously meet the multifunctional needs of users.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a rehabilitation therapy robot, comprising a robot body, with mechanical arms mounted on both sides of the robot body, a massager inserted into the back of the robot body, and an electric retractable seat provided on the front of the robot body;

[0006] The robotic arm includes a rotating hip base and a rear upper arm rotatably connected to the outer surface of the rotating hip base. A middle arm is rotatably provided at the end of the rear upper arm, and a forearm is rotatably provided at the end of the middle arm.

[0007] The robotic arm performs massage operations by flexing and extending to pick up the massager.

[0008] The robotic arm is extended and fixed to support the patient's walking and provide balance training.

[0009] The robotic arm assists the patient in upper limb joint mobility training by lifting the upper arm and forearm respectively.

[0010] The robotic arm assists the patient in upper limb muscle training by rotating its forearm and midarm.

[0011] Both ends of the middle arm are equipped with continuously variable damping components, and the forearm and middle arm change rotational resistance through the continuously variable damping components during upper limb muscle training.

[0012] Preferably, the robot body includes a base and a walking component installed at the bottom of the base. The electric telescopic seat is installed inside the front side of the base, and electric telescopic legs are installed at the bottom of the electric telescopic seat. A control host is installed on the top of the base. An inner groove is opened on the front side of the base. A display screen is installed on the control host. A flip push rod is provided at the bottom of the display screen. A storage compartment is installed on the back of the base for placing a massager.

[0013] Preferably, the massager includes an outer shell and an electric heating plate installed on the top of the outer shell. A massage mechanism is provided inside the outer shell. A flexible cover accessory is installed on the side of the outer shell to cover the outer side of the massage mechanism. Connecting brackets are installed on both sides of the outer shell. Opening slots for placing the connecting brackets are provided on both sides of the storage compartment. The end of the forearm is movably engaged with the connecting bracket.

[0014] Preferably, the connecting bracket has an internal electrical connection socket, the end of the forearm is fixedly provided with a connector, the bottom end of the connector is fixedly installed with an electrical connection plug, the electrical connection plug is movably inserted into the electrical connection socket, an electric latch is installed in the side wall of the connector, the electric latch is movably engaged with the inner wall of the connecting bracket, and a handle is fixedly installed on the outer surface of the forearm.

[0015] Preferably, the massage mechanism includes a rotating pressure roller and movable pressure rollers disposed on both sides of the rotating pressure roller. A first support shaft and a second support shaft are fixedly disposed inside the outer casing. The rotating pressure roller is rotatably connected to the outer surface of the first support shaft. Two sets of curved arms are rotatably connected to the outer surface of the second support shaft. A movable shaft is rotatably connected to one end of each set of curved arms facing away from each other. The movable pressure roller is rotatably connected to the outer surface of the movable shaft. An electric telescopic rod is rotatably connected to the outer surface of the second support shaft. A traction member is rotatably connected to the end of the electric telescopic rod. A sliding groove is provided at the outer end of the curved arm. The traction member is slidably disposed in the sliding groove. The electrical connection socket is electrically connected to the electric telescopic rod.

[0016] Preferably, grip grooves are provided on both sides of the back of the base, and grip handles are fixedly installed inside the grip grooves. An integral mounting base is formed above the grip grooves. A rotating seat is connected to the end bearing of the rotating hip seat. The rotating seat is fixedly installed on the mounting base. A high-torque motor is installed inside the rotating hip seat. The output end of the high-torque motor is fixedly connected to the mounting base. A low-speed motor is fixedly installed inside the end of the rear boom. The output end of the low-speed motor is fixedly connected to the rotating hip seat.

[0017] Preferably, the middle arm includes a fixed part and a rotating sleeve integrally formed at the front end of the fixed part. The rotating sleeve is rotatably connected to the rotating part at its end. A hollow rotating shaft is fixedly disposed inside the rotating sleeve. A fixed gear is fixedly disposed at the end of the hollow rotating shaft extending into the rotating part. A torsion motor is fixedly installed on the inner wall of the rotating part. A travel gear is fixedly installed at the output end of the torsion motor. The travel gear meshes with the fixed gear. Two sets of continuously variable damping components are respectively disposed in the fixed part and the rotating part.

[0018] Preferably, the continuously variable transmission damping component includes a damping seat, a damping insert, a sliding push plate, an electric push rod, and a double-ended bearing. Two sets of damping seats are rotatably connected inside the fixed part and the rotating part, respectively. The damping insert is movably inserted into the side wall of the damping seat. One side of the sliding push plate is fixedly connected to the electric push rod, and the other side of the sliding push plate faces the damping insert. The output end of the electric push rod is rotatably connected to the hollow rotating shaft through the double-ended bearing.

[0019] Preferably, the number of damping inserts is multiple sets, arranged vertically at equal intervals, the length of the multiple damping inserts decreases from top to bottom, friction surfaces are provided on both the upper and lower sides of the damping inserts, a C-shaped friction part is provided in the middle of the damping inserts, and a wedge-shaped piece is integrally formed at the end of the damping inserts.

[0020] Limiting grooves are provided on both sides of the damping insert, and a return spring is installed in the limiting groove. A fixed shaft is fixedly provided in the middle arm, the fixed shaft passes through the limiting groove, and the return spring abuts against the outer wall of the fixed shaft.

[0021] Preferably, the damping seat includes a friction column and a plurality of annular friction plates integrally formed on the outer surface of the friction column, the friction column has an internal hexagonal connecting groove, and a positioning tube is provided at the top of the friction column;

[0022] The damping insert is movably inserted between multiple annular friction plates. The fixed part and the rotating part are respectively provided with a first servo motor and a second servo motor at opposite ends. Both the first servo motor and the second servo motor are welded with connectors. The connectors are fixedly installed with the middle arm, and the bottom end of the connectors is movably sleeved on the outer surface of the positioning tube. Anti-detachment components are installed on both the forearm and the upper arm. The two sets of anti-detachment components are rotatably connected in the fixed part and the rotating part, respectively. The output ends of the anti-detachment components, the first servo motor and the second servo motor are all fixedly provided with external hexagonal shafts. The external hexagonal shafts are movably inserted into the internal hexagonal connecting groove.

[0023] This invention discloses a rehabilitation therapy robot, which has the following beneficial effects:

[0024] 1. This rehabilitation therapy robot features a robotic arm mounted on a base, equipped with a massager. During use, the robotic arm operates in multiple modes. It grasps the massage head to provide therapeutic massage to the patient. Simultaneously, the robotic arm adjusts its position by rotating. Initially, the patient sits upright in the electrically retractable seat and holds the handle. The forearm and rotating hip seat actively lift, aiding in joint mobility training. After activating the continuously variable damping mechanism, the patient actively pulls the handle, increasing resistance and assisting in forearm and upper arm muscle training. The patient can also choose a standing position and move using the walking mechanism. During movement, the rotating hip seat randomly rotates in both directions with small amplitudes, simulating uneven ground to aid in walking and balance training. This comprehensive, multi-functional rehabilitation and nursing training caters to various patient needs.

[0025] 2. During training, this rehabilitation therapy robot activates an electric push rod via the control unit, causing a sliding push plate to move towards the damping inserts. During this movement, the sliding push plate first pushes the uppermost set of damping inserts into the damping seat. At this point, the friction surfaces on the upper and lower sides of the damping inserts are in contact with the annular friction plates on the damping seat. As insertion continues, the contact area between the two gradually increases, increasing the frictional resistance. As the sliding push plate continues to move, multiple sets of damping inserts are inserted into the damping seat sequentially. By increasing the number of damping inserts, the frictional resistance is further increased. Finally, the C-shaped friction parts on the multiple damping inserts adhere to the outer surface of the friction column, further increasing the frictional resistance. This allows for stepless speed regulation of resistance during muscle training. Compared to traditional damping springs, it eliminates the problem of rapid rebound when force is released, making it safer and preventing injury.

[0026] 3. This rehabilitation therapy robot, equipped with a massager, allows the user to sit facing the base on an electrically retractable seat. The robotic arm picks up the massager and places the flexible padding attachment against the patient's back. The robotic arm then pushes the massager up and down against the patient's back, using rotating and movable pressure rollers to massage the back. Alternatively, the user can activate the electric telescopic rod, causing the movable pressure rollers on both sides to open and close, simulating the kneading motion of massage techniques. The user can also sit with their back to the base on the electrically retractable seat, where herbal patches can be attached to the heating plate on the outer surface of the massager for back heat therapy. This combination of methods achieves the therapeutic effect of massage for the patient. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the overall storage structure of the present invention;

[0029] Figure 2 This is a schematic diagram of the working condition of the robotic arm retrieving the massager according to the present invention;

[0030] Figure 3 This is a schematic diagram of the robotic arm of the present invention used for upper limb strength training.

[0031] Figure 4 This is a schematic diagram of the rear structure of the robot body of the present invention;

[0032] Figure 5 This is a schematic diagram of the outer surface structure of the massager of the present invention;

[0033] Figure 6 This is a schematic diagram of the internal structure of the massager of the present invention;

[0034] Figure 7 This is a schematic diagram of the massage mechanism structure of the present invention;

[0035] Figure 8 This is a schematic diagram of the outer surface structure of the robotic arm of the present invention;

[0036] Figure 9 This is a schematic diagram of the outer surface structure of the forearm of the present invention;

[0037] Figure 10 This is a cross-sectional view of the internal structure of the arm in this invention;

[0038] Figure 11 This is a schematic diagram of the continuously variable transmission damping component structure of the present invention;

[0039] Figure 12 This is a schematic diagram of the damping insert structure of the present invention;

[0040] Figure 13 This is a cross-sectional view of the internal structure of the damping seat of the present invention;

[0041] Figure 14 This is a schematic diagram of the robotic arm of the present invention used in walking training.

[0042] Figure 15 This is a schematic diagram of the robotic arm of the present invention used for joint movement training.

[0043] Figure 16This is a schematic diagram of the massage operation of the robotic arm-driven massager of the present invention.

[0044] In the diagram: 1. Robot body; 11. Base; 12. Electric telescopic seat; 122. Electric telescopic legs; 13. Walking mechanism; 14. Inner groove; 15. Control unit; 16. Display screen; 162. Flip push rod; 17. Grip slot; 172. Grip armrest; 18. Storage compartment; 182. Opening slot; 19. Mounting base;

[0045] 2. Robotic arm; 21. Rotating hip seat; 212. High torque motor; 213. Rotating seat; 22. Rear upper arm; 222. Low speed motor; 223. First servo motor; 23. Middle arm; 231. Fixed part; 232. Rotating sleeve; 233. Rotating part; 234. Second servo motor; 235. Connector; 236. Hollow rotating shaft; 237. Fixed gear; 238. Torsion motor; 239. Travel gear; 24. Forearm; 242. Handle; 243. Connector; 244. Electric latch; 245. Electrical connector plug; 25. Continuously variable transmission damping component; 251. Damping seat; 2511. Friction column; 2512. Internal hexagonal connector groove; 2513. Positioning tube; 2514. Annular friction plate; 252. Damping insert; 2521. Friction surface; 2522. C-shaped friction part; 2523. Wedge plate; 2524. Limiting groove; 253. Sliding push plate; 254. Electric push rod; 255. Double-ended bearing; 256. Fixed shaft; 257. Return spring; 26. Anti-disengagement component; 27. External hexagonal shaft;

[0046] 3. Massager; 31. Outer shell; 32. Connecting bracket; 33. Electrical connection socket; 34. Flexible cover accessory; 35. Massage mechanism; 351. First support shaft; 352. Rotating pressure roller; 353. Second support shaft; 354. Curved arm; 355. Electric telescopic rod; 356. Movable shaft; 357. Movable pressure roller; 358. Slide groove; 359. Traction component; 36. Heating plate. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are described clearly and completely. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0048] This application provides a rehabilitation therapy robot that solves the problem that existing rehabilitation therapy robots have relatively limited functions and cannot simultaneously meet the multifunctional needs of users.

[0049] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0050] This invention discloses a rehabilitation therapy robot.

[0051] According to the appendix Figure 1-16 As shown, the robot includes a main body 1, with robotic arms 2 installed on both sides of the main body 1, a massager 3 inserted into the back of the main body 1, and an electric telescopic seat 12 installed on the front of the main body 1.

[0052] The robotic arm 2 includes a rotating hip seat 21 and a rear upper arm 22 rotatably connected to the outer surface of the rotating hip seat 21. A middle arm 23 is rotatably provided at the end of the rear upper arm 22, and a front forearm 24 is rotatably provided at the end of the middle arm 23.

[0053] The robotic arm 2 uses flexion and extension to pick up the massager 3 and perform the massage operation.

[0054] The robotic arm 2 is used for balance training by extending and fixing to support the patient's walking;

[0055] The robotic arm 2 assists the patient in upper limb joint mobility training by separately raising the upper arm 22 and the forearm 24;

[0056] The robotic arm 2 assists the patient in upper limb muscle training by rotating its forearm 24 and middle arm 23.

[0057] Both ends of the middle arm 23 are equipped with continuously variable damping components 25. During upper limb muscle training, the forearm 24 and the middle arm 23 change the rotational resistance through the continuously variable damping components 25.

[0058] The robot body 1 includes a base 11 and a walking component 13 installed at the bottom of the base 11. An electric telescopic seat 12 is installed inside the front side of the base 11. Electric telescopic legs 122 are installed at the bottom of the electric telescopic seat 12. A control host 15 is installed on the top of the base 11. An inner groove 14 is opened on the front side of the base 11. A display screen 16 is installed on the control host 15. A flip push rod 162 is provided at the bottom of the display screen 16. A storage compartment 18 is installed on the back of the base 11. The storage compartment 18 is used to place the massager 3.

[0059] Sensors are configured on the base 11 and connected to the control host 15. The control host 15 controls the movement of the walking component 13 through sensor feedback, so that it can actively avoid obstacles when walking.

[0060] The massager 3 includes a housing 31 and an electric heating plate 36 installed on the top of the housing 31. A massage mechanism 35 is provided inside the housing 31. A flexible cover accessory 34 is installed on the side of the housing 31, which covers the outer side of the massage mechanism 35. A connecting card seat 32 is installed on both sides of the housing 31. An opening slot 182 for placing the connecting card seat 32 is opened on both sides of the storage compartment 18. The end of the forearm 24 is movably engaged with the connecting card seat 32.

[0061] The connecting bracket 32 ​​has an internal electrical connection socket 33. The end of the forearm 24 is fixedly provided with a connector 243. The bottom end of the connector 243 is fixedly installed with an electrical connection plug 245. The electrical connection plug 245 is movably inserted into the electrical connection socket 33. An electric latch 244 is installed in the side wall of the connector 243. The electric latch 244 is movably engaged with the inner wall of the connecting bracket 32. A handle 242 is fixedly installed on the outer surface of the forearm 24.

[0062] The massage mechanism 35 includes a rotating pressure roller 352 and movable pressure rollers 357 disposed on both sides of the rotating pressure roller 352. A first support shaft 351 and a second support shaft 353 are fixedly disposed inside the outer casing 31. The rotating pressure roller 352 is rotatably connected to the outer surface of the first support shaft 351. Two sets of curved arms 354 are rotatably connected to the outer surface of the second support shaft 353. Movable shafts 356 are rotatably connected to the opposite ends of the two sets of curved arms 354. Movable pressure rollers 357 are rotatably connected to the outer surface of the movable shafts 356. An electric telescopic rod 355 is rotatably connected to the outer surface of the second support shaft 353. A traction member 359 is rotatably connected to the end of the electric telescopic rod 355. A groove 358 is opened at the outer end of the curved arm 354. The traction member 359 is slidably disposed in the groove 358. An electrical connection socket 33 is electrically connected to the electric telescopic rod 355.

[0063] Both sides of the back of the base 11 are provided with grip grooves 17. The grip handles 172 are fixedly installed inside the grip grooves 17. The mounting base 19 is integrally formed above the grip grooves 17. The end bearing of the rotating hip seat 21 is connected to the rotating seat 213. The rotating seat 213 is fixedly installed on the mounting base 19. The high torque motor 212 is installed inside the rotating hip seat 21. The output end of the high torque motor 212 is fixedly connected to the mounting base 19. The end of the rear boom 22 is fixedly installed inside the rear boom 22. The output end of the low speed motor 222 is fixedly connected to the rotating hip seat 21.

[0064] The middle arm 23 includes a fixed part 231 and a rotating sleeve 232 integrally formed at the front end of the fixed part 231. The end of the rotating sleeve 232 is rotatably connected to a rotating part 233. A hollow rotating shaft 236 is fixedly installed inside the rotating sleeve 232. The end of the hollow rotating shaft 236 extends into the rotating part 233 and is fixedly installed with a fixed gear 237. A torsion motor 238 is fixedly installed on the inner wall of the rotating part 233. A travel gear 239 is fixedly installed at the output end of the torsion motor 238. The travel gear 239 meshes with the fixed gear 237. Two sets of continuously variable damping components 25 are respectively installed in the fixed part 231 and the rotating part 233.

[0065] The continuously variable transmission damping component 25 includes a damping seat 251, a damping insert 252, a sliding push plate 253, an electric push rod 254, and a double-ended bearing 255. Two sets of damping seats 251 are rotatably connected to the inside of the fixed part 231 and the rotating part 233 respectively. The damping insert 252 is movably inserted into the side wall of the damping seat 251. One side of the sliding push plate 253 is fixedly connected to the electric push rod 254, and the other side of the sliding push plate 253 faces the damping insert 252. The output end of the electric push rod 254 is rotatably connected to the hollow rotating shaft 236 through the double-ended bearing 255.

[0066] The damping inserts 252 are in multiple sets, arranged vertically at equal intervals. The length of the multiple damping inserts 252 decreases from top to bottom. Friction surfaces 2521 are provided on both the upper and lower sides of the damping inserts 252. A C-shaped friction part 2522 is provided in the middle of the damping inserts 252. A wedge-shaped piece 2523 is integrally formed at the end of the damping inserts 252.

[0067] Both sides of the damping insert 252 have limit grooves 2524, and a return spring 257 is installed in the limit groove 2524. A fixed shaft 256 is fixedly installed in the middle arm 23. The fixed shaft 256 passes through the limit groove 2524, and the return spring 257 abuts against the outer wall of the fixed shaft 256.

[0068] The damping seat 251 includes a friction column 2511 and a plurality of annular friction plates 2514 integrally formed on the outer surface of the friction column 2511. The friction column 2511 has an internal hexagonal connecting groove 2512 inside, and a positioning tube 2513 is provided at the top of the friction column 2511.

[0069] Damping inserts 252 are movably inserted between multiple annular friction plates 2514. The fixed part 231 and the rotating part 233 are respectively provided with a first servo motor 223 and a second servo motor 234 at opposite ends. Both the first servo motor 223 and the second servo motor 234 are welded with connectors 235. The connectors 235 are fixedly installed with the middle arm 23, and the bottom end of the connectors 235 is movably sleeved on the outer surface of the positioning tube 2513. Anti-detachment components 26 are installed on the forearm 24 and the rear arm 22. The two sets of anti-detachment components 26 are rotatably connected in the fixed part 231 and the rotating part 233 respectively. The output ends of the anti-detachment components 26, the first servo motor 223 and the second servo motor 234 are all fixedly provided with external hexagonal shafts 27. The external hexagonal shafts 27 are movably inserted into the internal hexagonal connecting grooves 2512.

[0070] Working principle; This device has multiple operating conditions during use, which will be described separately below for each condition;

[0071] Operating Condition 1: This device is used for nursing massage. The control unit 15 activates the electric retractable seat 12, causing it to extend outwards. Then, the electric retractable legs 122 extend downwards to contact the ground. At this time, the control unit 15 controls the robotic arm 2 to retrieve the massager 3 from the storage compartment 18. Figure 2 In the indicated state, by adjusting the rotating hip seat 21, rear upper arm 22, middle arm 23, and forearm 24, the connector 243 is inserted into the connecting slots 32 on both sides of the massager 3. Then, the electric pin 244 is activated and extends outward, inserting into the connecting slot 32. At the same time, the electrical connector 245 is inserted into the electrical connector socket 33, thus completing the power supply to the massager 3. Simultaneously, the robotic arm 2 rotates, causing the entire massager 3 to rotate to the position shown. Figure 16 In the indicated state, the user sits upright on the electric telescopic seat 12 facing the base 11, holding the armrests 172 with both hands, and placing their face inside the recess 14. The robotic arm 2 picks up the massager 3 and makes the flexible attachment 34 fit against the patient's back. The robotic arm 2 then pushes the massager 3 to slide up and down against the patient's back, rotating the pressure rollers 352 and the movable pressure rollers 357 to perform a roller massage on the patient's back. Alternatively, the user can activate the electric telescopic rod 355, causing the output end of the electric telescopic rod 355 to repeatedly extend and retract. The electric telescopic rod 355 drives the curved arms 354 on both sides to rotate, causing the movable pressure rollers 357 on both sides to open and close, simulating the kneading action in massage techniques. The user can also sit upright on the electric telescopic seat 12 with their back to the base 11. In this case, they can attach herbal patches such as plasters to the heating plate 36 on the outer surface of the massager 3 for back heat therapy. This combination of methods achieves the effect of massage therapy for the patient. After use, the robotic arm 2 puts the massager 3 back into the storage compartment 18 for storage.

[0072] Operating Condition 2: This device is used for muscle training, such as... Figure 3 In the indicated state, the patient sits upright on the electric telescopic seat 12 with their back to the base 11, holding the handles 242 with both hands. The rotating hip seat 21 and upper arm 22 remain stationary. The patient pulls the handles 242 towards their chest, causing the middle arm 23 and forearm 24 to rotate, thus exercising the patient's forearm muscles. The position is then adjusted as follows... Figure 15 In the state shown, the patient holds the handle 242 with both hands and pulls the handle 242 downward. At this time, the rotating hip seat 21, the upper arm 22 and the middle arm 23 are locked, and the forearm 24 rotates to train the patient's upper arm muscles.

[0073] During training, the electric push rod 254 is activated by the control host 15, causing the electric push rod 254 to move the sliding push plate 253 closer to the damping insert 252. When the sliding push plate 253 begins to contact the damping insert 252, it first pushes the uppermost set of damping inserts 252 into the damping seat 251. At this time, the friction surfaces 2521 on the upper and lower sides of the damping insert 252 are in contact with the annular friction plate 2514 on the damping seat 251. As it continues to be inserted, the friction contact area between the two gradually increases, thereby increasing the frictional resistance. Then, as the sliding push plate 253 continues to move, the lower sets of damping inserts 252 will be inserted into the damping seat 251 in sequence. By increasing the number of damping inserts 252, the frictional resistance is further increased. Finally, when all the damping inserts 252 are inserted into the damping seat 251, the frictional resistance is increased. When all 52 are inserted into the damping seat 251, the C-shaped friction portions 2522 on the multiple damping inserts 252 adhere to the outer surface of the friction column 2511, thereby increasing the frictional resistance. This allows for stepless speed regulation of resistance during muscle training, catering to the resistance needs of different training stages. Compared with traditional damping springs, it eliminates the problem of rapid rebound when the force is released, making it safer and preventing injury. After training, the electric push rod 254 resets, and under the action of the reset spring 257, the multiple damping inserts 252 automatically move out of the damping seat 251, preventing excessive frictional resistance from damaging the motors and the stepless speed regulation damping components 25 when the first servo motor 223 and the second servo motor 234 drive the middle arm 23 and forearm 24.

[0074] Condition 3: This device is used for joint mobility training, such as... Figure 15 In this state, the patient sits upright on the electric telescopic seat 12 with their back to the base 11 and their hands holding the handles 242. At this time, the hip seat 21, upper arm 22 and middle arm 23 remain stationary, while the forearm 24 rotates upward to drive the patient's forearm to perform flexion and extension movements. Then, the hip seat 21 rotates upward to drive the patient's upper arm to rotate upward to perform shoulder joint mobility training, thereby helping the patient to perform joint opening and closing range of motion training.

[0075] Operating Condition 4: This device is used for balance and coordination training, such as... Figure 14 In this state, the patient remains standing with both hands gripping the handles 242. The base 11 moves via the bottom walking component 13, and the patient follows the base 11 with the support of the robotic arm 2. During the movement, the rotating hip seat 21 will rotate randomly in both directions with small amplitudes, thereby reducing the support effect on the patient's arms. This is used to simulate the patient walking on uneven ground, thereby helping the patient to conduct walking training and balance training.

[0076] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A rehabilitation therapy robot, comprising a robot body (1), characterized in that, The robot body (1) is equipped with mechanical arms (2) on both sides, a massager (3) is inserted into the back of the robot body (1), and an electric telescopic seat (12) is provided on the front of the robot body (1). The robotic arm (2) includes a rotating hip seat (21) and a rear upper arm (22) rotatably connected to the outer surface of the rotating hip seat (21). A middle arm (23) is rotatably provided at the end of the rear upper arm (22), and a forearm (24) is rotatably provided at the end of the middle arm (23). The robotic arm (2) performs massage by flexing and extending to pick up the massager (3); The robotic arm (2) is used for balance training by extending and fixing to support the patient's walking; The robotic arm (2) assists the patient in upper limb joint movement training by raising the upper arm (22) and forearm (24) respectively; The robotic arm (2) assists the patient in upper limb muscle training by rotating its forearm (24) and mid-arm (23); Both ends of the middle arm (23) are equipped with continuously variable damping components (25), and the forearm (24) and middle arm (23) change rotational resistance through continuously variable damping components (25) during upper limb muscle training. The massager (3) includes an outer shell (31) and an electric heating plate (36) installed on the top of the outer shell (31). The massage mechanism (35) is provided inside the outer shell (31). The massage mechanism (35) includes a rotating pressure roller (352) and movable pressure rollers (357) arranged on both sides of the rotating pressure roller (352). A first support shaft (351) and a second support shaft (353) are fixedly arranged inside the outer shell (31). The rotating pressure roller (352) is rotatably connected to the outer surface of the first support shaft (351). Two sets of curved arms (354) are rotatably connected to the outer surface of the second support shaft (353). Movable pressure rollers (357) are rotatably connected to the opposite ends of the two sets of curved arms (354). The shaft (356) is rotatably connected to the outer surface of the movable shaft (356), the outer surface of the second support shaft (353) is rotatably connected to the electric telescopic rod (355), the end of the electric telescopic rod (355) is rotatably connected to the traction member (359), the outer end of the curved arm (354) is provided with a sliding groove (358), the traction member (359) is slidably disposed in the sliding groove (358), and the electrical connection socket (33) is electrically connected to the electric telescopic rod (355).

2. The rehabilitation therapy robot according to claim 1, characterized in that: The robot body (1) includes a base (11) and a walking component (13) installed at the bottom of the base (11). The electric telescopic seat (12) is installed inside the front side of the base (11). The electric telescopic seat (12) has an electric telescopic leg (122) installed at the bottom. The base (11) has a control host (15) installed on the top. The base (11) has an inner groove (14) on the front side. The control host (15) has a display screen (16). The display screen (16) has a flip push rod (162) at the bottom. The base (11) has a storage compartment (18) installed on the back. The storage compartment (18) is used to place the massager (3).

3. The rehabilitation therapy robot according to claim 2, characterized in that: The outer shell (31) is equipped with a flexible bag attachment (34) on its side, which covers the outer side of the massage mechanism (35). The outer shell (31) is equipped with a connecting card seat (32) on both sides. The storage compartment (18) has an opening slot (182) on both sides for placing the connecting card seat (32). The end of the forearm (24) is movably engaged with the connecting card seat (32).

4. The rehabilitation therapy robot according to claim 3, characterized in that: The connecting card holder (32) is provided with an electrical connection socket (33) inside. The end of the forearm (24) is fixedly provided with a connector (243). The bottom end of the connector (243) is fixedly installed with an electrical connection plug (245). The electrical connection plug (245) is movably inserted into the electrical connection socket (33). An electric plug (244) is installed in the side wall of the connector (243). The electric plug (244) is movably engaged with the inner wall of the connecting card holder (32). A handle (242) is fixedly installed on the outer surface of the forearm (24).

5. The rehabilitation therapy robot according to claim 4, characterized in that: The back of the base (11) is provided with grip grooves (17) on both sides. A grip armrest (172) is fixedly installed inside the grip groove (17). An installation seat (19) is integrally formed above the grip groove (17). A rotating seat (213) is connected to the end bearing of the rotating hip seat (21). The rotating seat (213) is fixedly installed on the installation seat (19). A high-torque motor (212) is installed inside the rotating hip seat (21). The output end of the high-torque motor (212) is fixedly connected to the installation seat (19). A low-speed motor (222) is fixedly installed inside the end of the rear boom (22). The output end of the low-speed motor (222) is fixedly connected to the rotating hip seat (21).

6. The rehabilitation therapy robot according to claim 5, characterized in that: The middle arm (23) includes a fixed part (231) and a rotating sleeve (232) integrally formed at the front end of the fixed part (231). The end of the rotating sleeve (232) is rotatably connected to a rotating part (233). A hollow rotating shaft (236) is fixedly installed inside the rotating sleeve (232). The end of the hollow rotating shaft (236) extends into the rotating part (233) and a fixed gear (237) is fixedly installed therein. A torsion motor (238) is fixedly installed on the inner wall of the rotating part (233). A walking gear (239) is fixedly installed at the output end of the torsion motor (238). The walking gear (239) meshes with the fixed gear (237). Two sets of continuously variable damping components (25) are respectively installed in the fixed part (231) and the rotating part (233).

7. A rehabilitation therapy robot according to claim 6, characterized in that: The continuously variable transmission damping component (25) includes a damping seat (251), a damping insert (252), a sliding push plate (253), an electric push rod (254), and a double-headed bearing (255). The two sets of damping seats (251) are rotatably connected to the inside of the fixed part (231) and the rotating part (233) respectively. The damping insert (252) is movably inserted into the side wall of the damping seat (251). One side of the sliding push plate (253) is fixedly connected to the electric push rod (254), and the other side of the sliding push plate (253) is directly opposite the damping insert (252). The output end of the electric push rod (254) is rotatably connected to the hollow rotating shaft (236) through the double-headed bearing (255).

8. A rehabilitation therapy robot according to claim 7, characterized in that: The damping inserts (252) are in multiple sets, arranged vertically at equal intervals. The length of the multiple damping inserts (252) decreases from top to bottom. Friction surfaces (2521) are provided on both the upper and lower sides of the damping inserts (252). A C-shaped friction part (2522) is provided in the middle of the damping inserts (252). A wedge-shaped piece (2523) is integrally formed at the end of the damping inserts (252). Both sides of the damping insert (252) are provided with limiting grooves (2524), and a return spring (257) is installed in the limiting groove (2524). A fixed shaft (256) is fixedly provided in the middle arm (23). The fixed shaft (256) passes through the limiting groove (2524), and the return spring (257) abuts against the outer wall of the fixed shaft (256).

9. A rehabilitation therapy robot according to claim 8, characterized in that: The damping seat (251) includes a friction column (2511) and a plurality of annular friction plates (2514) integrally formed on the outer surface of the friction column (2511). The friction column (2511) has an internal hexagonal connecting groove (2512) and a positioning tube (2513) is provided at the top of the friction column (2511). The damping insert (252) is movably inserted between the plurality of annular friction plates (2514). The fixed part (231) and the rotating part (233) are respectively provided with a first servo motor (223) and a second servo motor (234) at opposite ends. 34) is welded with a connector (235). The connector (235) is fixedly installed with the middle arm (23), and the bottom end of the connector (235) is movably sleeved on the outer surface of the positioning tube (2513). The forearm (24) and the rear upper arm (22) are both equipped with anti-detachment parts (26). The two sets of anti-detachment parts (26) are rotatably connected in the fixed part (231) and the rotating part (233) respectively. The output ends of the anti-detachment parts (26), the first servo motor (223) and the second servo motor (234) are all fixedly provided with an external hexagonal shaft (27). The external hexagonal shaft (27) is movably inserted into the internal hexagonal connecting groove (2512).

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