Robot for leg joint rehabilitation training and training method thereof

Abstract

The invention discloses a robot for leg joint rehabilitation training and a training method thereof, and relates to the technical field of medical instruments.The robot comprises a bottom plate, a first strip-shaped hole is formed in the bottom plate in the axial direction of the bottom plate, a supporting rod is fixed in the first strip-shaped hole, and the two ends of the supporting rod are sleeved with a limiting sliding block and a movable sliding block respectively; the upper end of the limiting sliding block extends to the position above the bottom plate and is connected with a limiting base, the upper end of the movable sliding block extends to the position above the bottom plate and is connected with a movable base, and a rolling supporting structure is arranged at the lower end of the movable base. According to the invention, the joints are driven to move through the electric push rods, so that the training intensity can be accurately controlled; the massage structure can relieve muscle fatigue and promote blood circulation; the heating structure can improve leg soreness and swelling and relieve swelling and pain; the vibration structure assists muscle activity and enhances blood circulation; the elastic assembly avoids hard collision, and the comfort degree is improved; remote control is convenient to operate, leg joint rehabilitation of the patient is assisted in multiple dimensions, and the training efficiency and effect are improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a robot for leg joint rehabilitation training and its training method. Background Technology

[0002] With the aging population and the increasing number of patients with leg joint dysfunction caused by sports injuries and traffic accidents, leg joint rehabilitation training has become crucial. Traditional rehabilitation training mainly relies on manual assistance from rehabilitation therapists or simple rehabilitation equipment, which has problems such as difficulty in controlling training intensity and precision, high labor intensity for therapists, and low training efficiency.

[0003] The prior art can be referenced in Chinese Patent Application No. 201811049406.3, which discloses an advanced rehabilitation robot applicable to multiple joints, including an upper frame, a lower frame, a middle connecting rod, a detachable protective gear, and two pneumatic muscles. The lower end of the middle connecting rod is hinged to the middle of the lower frame via a central pivot, and the upper end is connected to the middle of the upper frame, forming an I-shaped structure. The two pneumatic muscles are respectively located between the upper and lower frames on both sides of the middle connecting rod, and the pneumatic muscles are connected to the upper frame via an active translation mechanism. However, this robot cannot massage the limbs when it moves them, which is not convenient for effectively assisting in promoting blood circulation and the rehabilitation effect is slow. Therefore, a robot for leg joint rehabilitation training and its training method are provided here. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a robot for leg joint rehabilitation training and its training method. The robot uses an electric push rod to drive joint movement, enabling precise control of training intensity. A massage structure relieves muscle fatigue and promotes blood circulation. A heating structure improves leg soreness, reduces swelling, and relieves pain. A vibration structure assists muscle activity and enhances blood circulation. Elastic components prevent hard impacts, improving comfort. Remote control facilitates operation. This multi-dimensional approach assists patients in leg joint rehabilitation, improving training efficiency and effectiveness, and overcoming the deficiencies of existing technologies.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A robot for leg joint rehabilitation training includes a base plate with a first strip-shaped hole along its axial direction. A support rod is fixed in the first strip-shaped hole. A limit slider and a movable slider are respectively sleeved at both ends of the support rod. The upper end of the limit slider extends above the base plate and is connected to a limit seat. The upper end of the movable slider extends above the base plate and is connected to a movable seat. A rolling support structure is provided at the lower end of the movable seat. An elastic limit component is provided at the end of the support rod near the limit slider, and an elastic support component is provided at the end of the support rod near the movable slider. A thigh support arm is rotatably mounted on the upper end of the limit seat via a first U-shaped seat. A calf support arm is rotatably mounted on the upper end of the movable seat via the first U-shaped seat. The thigh support arm and the calf support arm... The upper ends of the support arms are connected by a rotating structure. The lower end face of the calf support arm and one end of the limiting seat are both fixed with a second U-shaped seat. An electric push rod is rotatably installed between the two second U-shaped seats. The upper ends of the thigh support arm and the calf support arm are both provided with arc-shaped support plates. The thigh support arm and the calf support arm are both provided with second strip holes. Massage structures are provided at the two second strip holes. The lower end faces of the two arc-shaped support plates are both provided with heating structures. The side walls of the thigh support arm and the calf support arm are both provided with vibration structures and fixing components. A controller module is provided on one side of the upper end face of the base plate. A communication module is integrated on the controller module. The controller module is remotely connected to a remote control terminal through the communication module. The remote control terminal is integrated with control buttons and temperature settings.

[0007] As a further embodiment of the present invention: the rolling support structure includes two axles fixed to the bottom of the movable seat, each axle is equipped with a roller, and the outer sides of the four rollers are provided with rims, which are engaged with the outer side of the base plate.

[0008] As a further embodiment of the present invention: the elastic limiting component includes a fixing plate fixedly sleeved on one end of the support rod, and a first spring is sleeved on both sides of the support rod and located on the limiting slider.

[0009] As a further embodiment of the present invention: the elastic support assembly includes a movable plate slidably sleeved on the other end of the support rod, and a second spring is sleeved on the support rod at the portion located between the movable plate and the end of the first strip hole.

[0010] As a further embodiment of the present invention: the rotating structure includes a connector head disposed at the upper end of the thigh support arm, and a connecting sleeve disposed at the upper end of the calf support arm, the connecting sleeve being rotatably sleeved on one end of the connector head.

[0011] As a further embodiment of the present invention: the massage structure includes a screw rotatably mounted on one end of a second strip-shaped hole via a bearing, a servo motor fixed to the other end of the second strip-shaped hole, the output end of the servo motor being connected to one end of the screw, a movable block being screwed onto the screw, a massage wheel being rotatably mounted on the top of the movable block, and the top of the massage wheel extending to the bottom of the arc-shaped support plate.

[0012] As a further embodiment of the present invention: the heating structure includes a mounting groove disposed at the bottom end of the arc-shaped support plate, and an electric heating plate is fixed in the mounting groove.

[0013] As a further embodiment of the present invention: the vibration structure includes an L-shaped support plate, and the side walls of the thigh support arm and the calf support arm are both fixed with L-shaped support plates, and an electromagnetic vibrator is installed on the L-shaped support plate.

[0014] As a further embodiment of the present invention: the fixing component includes connecting ears, and two connecting ears are fixed to the side walls of the thigh support arm and the calf support arm. The connecting ears are provided with straps, and the straps are provided with Velcro.

[0015] A training method for a leg joint rehabilitation robot includes the following steps:

[0016] S1: Place the patient's thigh on the arc-shaped support plate at the top of the thigh support arm and the patient's lower leg on the arc-shaped support plate at the top of the lower leg support arm, so that the inner side of the leg joint is placed above the connecting sleeve and the connecting head.

[0017] S2: Use straps to tie the thighs and calves to the curved support plates of the thigh support arm and calf support arm respectively;

[0018] S3: The user sends control commands to the controller module using the remote terminal. The controller module controls the extension and retraction of the electric push rod, which drives the lower leg support arm and the thigh support arm to rotate relative to each other. At the same time, the lower leg support arm drives the movable seat to move back and forth, and the rollers roll back and forth on the base plate, thereby driving the thigh and lower leg to rotate relative to each other, and then driving the joint movement.

[0019] S4: The user sends control commands to the controller module using the remote terminal. The controller module controls two servo motors to drive two screws to rotate, so that the two screws drive two moving blocks to move back and forth. The massage wheels on the two moving blocks roll under the thighs and calves respectively, using the massage wheels to perform rolling massage on the thighs and calves.

[0020] S5: The user sends control commands to the controller module using the remote terminal, and uses the controller module to control the two electric heating plates to turn on. The two arc-shaped support plates transfer heat to the thighs and calves.

[0021] S6: The user sends a control command to the controller module using the remote terminal, and the controller module controls the electromagnetic vibrator to turn on. The vibration generated by the two electromagnetic vibrators is transmitted to the thigh and calf, assisting the muscles of the thigh and calf to vibrate.

[0022] The beneficial effects of this invention are as follows:

[0023] The electric push rod drives joint movement, allowing for precise control of training intensity; the massage structure relieves muscle fatigue and promotes blood circulation; the heating structure improves leg soreness, reduces swelling and relieves pain; the vibration structure assists muscle activity and enhances blood circulation; the elastic components prevent hard impacts and improve comfort; and the remote control makes operation convenient. These features provide multi-dimensional assistance for patients' leg joint rehabilitation, improving training efficiency and effectiveness. Attached Figure Description

[0024] Figure 1 This is a first-person view schematic diagram of the overall structure of a robot for leg joint rehabilitation training proposed in this invention.

[0025] Figure 2 This is a schematic diagram of the overall structure of a robot for leg joint rehabilitation training proposed in this invention from a second-view perspective.

[0026] Figure 3 This is a schematic diagram of the overall structure of a robot for leg joint rehabilitation training proposed in this invention from a third-view perspective.

[0027] Figure 4 This is a partial structural diagram of a robot for leg joint rehabilitation training proposed in this invention.

[0028] Figure 5 This is a partial cross-sectional structural diagram of a robot for leg joint rehabilitation training proposed in this invention.

[0029] In the diagram: 1. Base plate; 2. First U-shaped seat; 3. Massage roller; 4. Lower leg support arm; 5. Connecting sleeve; 6. Controller module; 7. Thigh support arm; 8. Limiting seat; 9. Second spring; 10. Movable plate; 11. First strip hole; 12. Movable seat; 13. Second strip hole; 14. Arc-shaped support plate; 15. Connector; 16. Second U-shaped seat; 17. Electric push rod; 18. Wheel axle; 19. Roller; 20. Support rod; 21. Fixed plate; 22. First spring; 23. Limiting slider; 24. L-shaped support plate; 25. Electromagnetic vibrator; 26. Movable slider; 27. Electric heating plate; 28. Connecting ear; 29. ​​Strap; 30. Mounting slot; 31. Screw; 32. Moving block; 33. Servo motor. Detailed Implementation

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0031] Example 1, referring to Figure 1-5 A robot for leg joint rehabilitation training includes a base plate 1. A first strip-shaped hole 11 is formed along the axial direction of the base plate 1. A support rod 20 is fixed in the first strip-shaped hole 11. A limiting slider 23 and a movable slider 26 are respectively sleeved at both ends of the support rod 20. The upper end of the limiting slider 23 extends above the base plate 1 and is connected to a limiting seat 8. The upper end of the movable slider 26 extends above the base plate 1 and is connected to a movable seat 12. A rolling support structure is provided at the lower end of the movable seat 12. An elastic limiting component is provided at the end of the support rod 20 near the limiting slider 23, and an elastic support component is provided at the end of the support rod 20 near the movable slider 26. A thigh support arm 7 is rotatably mounted on the upper end of the limiting seat 8 via a first U-shaped seat 2. A calf support arm 4 is rotatably mounted on the upper end of the movable seat 12 via the first U-shaped seat 2. The upper end of the calf support arm 4 is connected to the lower end of the calf support arm 4 via a rotating structure. A second U-shaped seat 16 is fixed to the lower end of the calf support arm 4 and one end of the limiting seat 8. An electric push rod 17 is rotatably installed between the two second U-shaped seats 16. An arc-shaped support plate 14 is provided at the upper end of both the thigh support arm 7 and the calf support arm 4. A second strip hole 13 is provided on both the thigh support arm 7 and the calf support arm 4. A massage structure is provided at both of the two second strip holes 13. A heating structure is provided on the lower end of both arc-shaped support plates 14. A vibration structure and a fixing component are provided on the side wall of both the thigh support arm 7 and the calf support arm 4. A controller module 6 is provided on one side of the upper end of the base plate 1. A communication module is integrated on the controller module 6. The controller module 6 is remotely connected to a remote control terminal through the communication module. The remote control terminal is integrated with control buttons and temperature settings.

[0032] The rolling support structure includes two axles 18 fixed to the bottom of the movable seat 12. Rollers 19 are installed at both ends of the two axles 18. The outer sides of the four rollers 19 are provided with rims, and the rims are engaged with the outer side of the base plate 1.

[0033] The elastic limiting component includes a fixing plate 21 fixedly sleeved on one end of the support rod 20, and first springs 22 are sleeved on both sides of the support rod 20 and located on the limiting slider 23.

[0034] The elastic support assembly includes a movable plate 10 that is slidably sleeved on the other end of the support rod 20, and a second spring 9 is sleeved on the support rod 20 at the portion located between the movable plate 10 and the end of the first strip hole 11.

[0035] The rotating structure includes a connector 15 located at the upper end of the thigh support arm 7, and a connecting sleeve 5 located at the upper end of the calf support arm 4. The connecting sleeve 5 is rotatably sleeved on one end of the connector 15.

[0036] The massage structure includes a screw 31 rotatably mounted on one end of a second strip hole 13 via a bearing, a servo motor 33 fixed to the other end of the second strip hole 13, the output end of the servo motor 33 being connected to one end of the screw 31, a moving block 32 being screwed onto the screw 31, a massage wheel 3 being rotatably mounted on the top of the moving block 32, and the top of the massage wheel 3 extending to the bottom of the arc-shaped support plate 14.

[0037] The heating structure includes a mounting groove 30 at the bottom of the arc-shaped support plate 14, in which an electric heating plate 27 is fixed.

[0038] The vibration structure includes an L-shaped support plate 24, and the side walls of the thigh support arm 7 and the calf support arm 4 are all fixed with the L-shaped support plate 24. An electromagnetic vibrator 25 is installed on the L-shaped support plate 24.

[0039] The fixing components include connecting ears 28. Two connecting ears 28 are fixed to the side walls of the thigh support arm 7 and the calf support arm 4. The connecting ears 28 are provided with straps 29, and the straps 29 are provided with Velcro.

[0040] A training method for a leg joint rehabilitation robot includes the following steps:

[0041] S1: Place the patient's thigh on the arc-shaped support plate 14 at the top of the thigh support arm 7, and place the patient's lower leg on the arc-shaped support plate 14 at the top of the lower leg support arm 4, so that the inner side of the leg joint is placed above the connecting sleeve 5 and the connecting head 15.

[0042] S2: Use straps 29 to tie the thigh and calf to the curved support plate 14 of the thigh support arm 7 and calf support arm 4 respectively;

[0043] S3: The user sends a control command to the controller module 6 using the remote control terminal. The controller module 6 controls the electric push rod 17 to extend and retract, causing the lower leg support arm 4 and the thigh support arm 7 to rotate relative to each other. At the same time, the lower leg support arm 4 drives the movable seat 12 to move back and forth, and the roller 19 rolls back and forth on the base plate 1, thereby driving the thigh and lower leg to rotate relative to each other, and then driving the joint movement.

[0044] S4: The user sends control commands to the controller module 6 using the remote control terminal. The controller module 6 controls the two servo motors 33 to drive the two screws 31 to rotate, so that the two screws 31 drive the two moving blocks 32 to move back and forth. The massage rollers 3 on the two moving blocks 32 roll under the thighs and calves respectively. The massage rollers 3 roll and massage the thighs and calves, which helps to relieve leg muscle fatigue and discomfort, promotes blood return, and prevents deep vein thrombosis.

[0045] S5: The user sends a control command to the controller module 6 using the remote terminal. The controller module 6 controls the two electric heating plates 27 to turn on. The two arc-shaped support plates 14 transfer heat to the thighs and calves. The remote terminal can set three temperature levels: low, medium and high. The user can choose the appropriate level according to their needs. Heating the thighs and calves can help improve blood circulation in the legs, improve leg soreness and discomfort, and help reduce swelling, relieve pain and reduce muscle spasms.

[0046] S6: The user sends a control command to the controller module 6 using the remote control terminal. The controller module 6 then controls the electromagnetic vibrator 25 to turn on. The vibrations generated by the two electromagnetic vibrators 25 are transmitted to the thigh and calf, which helps the muscles of the thigh and calf to vibrate, assists in leg muscle activity, further promotes blood circulation, and achieves the effect of assisting in rehabilitation.

[0047] When the electric push rod 17 extends and retracts, causing the lower leg support arm 4 and the thigh support arm 7 to rotate relative to each other, the two first springs 22 provide elastic support for the limiting slider 23 on both sides of the limiting slider 23, which can prevent the limiting slider 23 and the limiting seat 8 from having a hard collision with other components and causing discomfort to the patient. During the process of the movable slider 26 moving towards the movable plate 10 to the extreme position, the movable slider 26 abuts against the movable plate 10, and the second spring 9 is compressed, which prevents the movable slider 26 and the movable seat 12 from having a hard collision with other components and causing discomfort to the patient.

[0048] The above are merely preferred embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A robot for leg joint rehabilitation training, comprising a base plate (1), characterized in that, The base plate (1) has a first strip-shaped hole (11) along its axial direction. A support rod (20) is fixed in the first strip-shaped hole (11). Both ends of the support rod (20) are respectively fitted with a limiting slider (23) and a movable slider (26). The upper end of the limiting slider (23) extends to the top of the base plate (1) and is connected to a limiting seat (8). The upper end of the movable slider (26) extends to the top of the base plate (1) and is connected to a movable seat (12). The movable seat (12) has... The lower end is provided with a rolling support structure. An elastic limiting component is provided at one end of the support rod (20) near the limiting slider (23). An elastic support component is provided at one end of the support rod (20) near the movable slider (26). A thigh support arm (7) is rotatably mounted on the upper end of the limiting seat (8) through the first U-shaped seat (2). A calf support arm (4) is rotatably mounted on the upper end of the movable seat (12) through the first U-shaped seat (2). The thigh support arm (7) and the calf support arm (4) are connected. The upper end of the leg support arm (4) is connected by a rotating structure. The lower end face of the lower leg support arm (4) and one end of the limiting seat (8) are both fixed with a second U-shaped seat (16). An electric push rod (17) is rotatably installed between the two second U-shaped seats (16). The upper ends of the thigh support arm (7) and the lower leg support arm (4) are both provided with arc-shaped support plates (14). The thigh support arm (7) and the lower leg support arm (4) are both provided with second strip holes (13). The two second strip holes (14) are connected by a rotating structure. Massage structures are provided at all 3) locations, and heating structures are provided on the lower surfaces of the two arc-shaped support plates (14). Vibration structures and fixing components are provided on the side walls of the thigh support arm (7) and the calf support arm (4). A controller module (6) is provided on one side of the upper surface of the base plate (1), and a communication module is integrated on the controller module (6). The controller module (6) is remotely connected to a remote control terminal through the communication module. The remote control terminal is equipped with control buttons and temperature settings.

2. The robot for leg joint rehabilitation training according to claim 1, characterized in that, The rolling support structure includes two axles (18) fixed at the bottom of the movable seat (12). Rollers (19) are installed at both ends of the two axles (18). The outer sides of the four rollers (19) are provided with rims, and the rims are engaged with the outer side of the base plate (1).

3. The robot for leg joint rehabilitation training according to claim 1, characterized in that, The elastic limiting component includes a fixing plate (21) fixedly sleeved on one end of the support rod (20), and a first spring (22) is sleeved on both sides of the support rod (20) and located on the limiting slider (23).

4. The robot for leg joint rehabilitation training according to claim 3, characterized in that, The elastic support assembly includes a movable plate (10) that is slidably sleeved on the other end of the support rod (20), and a second spring (9) is sleeved on the support rod (20) at the portion located between the movable plate (10) and the end of the first strip hole (11).

5. The robot for leg joint rehabilitation training according to claim 1, characterized in that, The rotating structure includes a connector (15) located at the upper end of the thigh support arm (7), and a connecting sleeve (5) located at the upper end of the calf support arm (4). The connecting sleeve (5) is rotatably sleeved on one end of the connector (15).

6. The robot for leg joint rehabilitation training according to claim 1, characterized in that, The massage structure includes a screw (31) rotatably mounted on one end of a second strip hole (13) via a bearing, a servo motor (33) fixed to the other end of the second strip hole (13), the output end of the servo motor (33) being connected to one end of the screw (31), a moving block (32) being screwed onto the screw (31), a massage wheel (3) being rotatably mounted on the top of the moving block (32), and the top of the massage wheel (3) extending to the bottom of the arc-shaped support plate (14).

7. A robot for leg joint rehabilitation training according to claim 6, characterized in that, The heating structure includes a mounting groove (30) at the bottom of the arc-shaped support plate (14), and an electric heating plate (27) is fixed in the mounting groove (30).

8. The robot for leg joint rehabilitation training according to claim 1, characterized in that, The vibration structure includes an L-shaped support plate (24), and the side walls of the thigh support arm (7) and the calf support arm (4) are fixed with L-shaped support plates (24). An electromagnetic vibrator (25) is installed on the L-shaped support plate (24).

9. The robot for leg joint rehabilitation training and its training method according to claim 1, characterized in that, The fixing component includes connecting ears (28), and two connecting ears (28) are fixed to the side walls of the thigh support arm (7) and the calf support arm (4). The connecting ears (28) are provided with straps (29), and the straps (29) are provided with Velcro.

10. A training method for a robot used for leg joint rehabilitation training according to any one of claims 1-9, characterized in that, Includes the following steps: S1: Place the patient's thigh on the arc-shaped support plate (14) at the top of the thigh support arm (7), and place the patient's lower leg on the arc-shaped support plate (14) at the top of the lower leg support arm (4), so that the inner side of the leg joint is placed above the connecting sleeve (5) and the connecting head (15). S2: Use straps (29) to tie the thigh and calf to the curved support plate (14) of the thigh support arm (7) and calf support arm (4) respectively; S3: The user sends a control command to the controller module (6) using the remote terminal. The controller module (6) controls the electric push rod (17) to extend and retract, causing the lower leg support arm (4) and the thigh support arm (7) to rotate relative to each other. At the same time, the lower leg support arm (4) drives the movable seat (12) to move back and forth, and the roller (19) rolls back and forth on the base plate (1), thereby driving the thigh and lower leg to rotate relative to each other, and then driving the joint to move. S4: The user sends a control command to the controller module (6) using the remote terminal. The controller module (6) controls two servo motors (33) to drive two screws (31) to rotate, so that the two screws (31) drive two moving blocks (32) to move back and forth. The massage rollers (3) on the two moving blocks (32) roll under the thighs and calves respectively, and use the massage rollers (3) to perform rolling massage on the thighs and calves. S5: The user sends a control command to the controller module (6) using the remote terminal, and uses the controller module (6) to control the two electric heating plates (27) to turn on, and the two arc-shaped support plates (14) transfer heat to the thighs and calves; S6: The user sends a control command to the controller module (6) using the remote terminal, and uses the controller module (6) to control the electromagnetic vibrator (25) to turn on. The vibration generated by the two electromagnetic vibrators (25) is transmitted to the thigh and calf, which helps the muscles of the thigh and calf to vibrate.

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