Upper limb rehabilitation training equipment and rehabilitation robot system

Abstract

The utility model provides upper limb rehabilitation training equipment and a rehabilitation robot system, and relates to the field of medical instruments, the upper limb rehabilitation training equipment comprises a holding part, an arm support part and a base, the holding part and the arm support part are arranged on the upper side of the base; wherein the arm supporting part comprises an arm supporting body and a supporting plate, the supporting plate rotates on the outer side of the holding part, the base comprises a shell, a bottom plate and a rolling wheel fixed to the bottom plate, and a detachable baffle is arranged at the position, adjacent to the rolling wheel, of the shell. The utility model mainly has the following beneficial effects: the roller can be more conveniently replaced, and the baffle can be conveniently detached by screwing off the bolt, so that the roller can be conveniently exposed on the shell, and a worker can conveniently operate the roller.

Description

Technical Field

[0001] The utility model relates to the field of medical equipment, and in particular to an upper limb rehabilitation training device and a rehabilitation robot system. Background Art

[0002] "Stroke" is also known as "apoplexy" and "cerebrovascular accident". It is an acute cerebrovascular disease, a group of diseases caused by sudden rupture of brain blood vessels or blood vessel blockage that prevents blood from flowing into the brain, causing brain tissue damage, including ischemic and hemorrhagic stroke. The incidence of ischemic stroke is higher than that of hemorrhagic stroke, accounting for 60% to 70% of the total number of strokes. Occlusion and stenosis of the internal carotid artery and vertebral artery can cause ischemic stroke, which mostly occurs in people over 40 years old, more often in men than in women, and can cause death in severe cases. More than 70% of patients have sequelae such as hemiplegia and upper limb dysfunction, which seriously affect the quality of life of patients and require the use of upper limb rehabilitation training equipment.

[0003] The current upper limb rehabilitation training equipment needs to use rollers that can be driven by motors when in use, so that the equipment can be conveniently moved according to the user's wishes. Since the rollers are consumable parts, they need to be replaced after long-term use. However, for the sake of aesthetics or the protective effect of the rollers, the rollers of the equipment are usually covered to a certain extent. When replacing the rollers, the entire shell of the equipment needs to be disassembled. Therefore, when replacing the rollers, the procedure is more cumbersome. Utility Model Content

[0004] The utility model aims to provide an upper limb rehabilitation training device and a rehabilitation robot system, which are provided with a detachable panel to facilitate the maintenance of the roller.

[0005] An embodiment of the utility model provides a gripping portion, an arm support portion and a base, wherein the gripping portion and the arm support portion are arranged on the upper side of the base; wherein the arm support portion includes an arm support body and a support plate, wherein the support plate rotates on the outer side of the gripping portion, and the base includes an outer shell, a bottom plate and a roller fixed on the bottom plate, wherein the outer shell is provided with a detachable baffle adjacent to the roller.

[0006] In a feasible embodiment, a notch is provided on the outer shell, and the notch is arranged on one side of the roller. The baffle is detachably connected to the notch. The notch is arranged on the outer shell, and the position of the notch corresponds to the position of the roller, and the number is consistent with the number of rollers. When there are multiple rollers, it is convenient to replace the multiple rollers separately.

[0007] In a feasible embodiment, sliding grooves are provided on both sides of the baffle, and sliding rails matching the sliding grooves are provided on both sides of the notch. The baffle is slidably connected to the notch. When the baffle is installed or disassembled, the sliding grooves on the baffle can slide steadily on the outside of the sliding rails, so that the installation and disassembly of the baffle are smoother and the closing effect of the baffle and the shell is better.

[0008] In a feasible embodiment, a limit strip is provided at one end of the notch, and a limit groove matching the limit strip is provided at one end of the baffle. When the slide groove slides to the maximum position on the slide rail, the limit groove on the baffle can be sleeved on the outer side of the limit strip, so that the baffle structure is more stable.

[0009] In a feasible embodiment, a block is provided in the slide groove, and a slot matching the block is provided on the slide rail. During the installation of the baffle, that is, when the slide groove slides to the maximum position on the slide rail, the block can slide into the slot and be fixed due to the deformation of the baffle itself. The block can be clamped in the slot due to a certain degree of deformation of the baffle during the installation process. Firstly, the baffle is temporarily fixed to facilitate tightening the bolts. Secondly, the fixing effect is enhanced, and the baffle can be fixed when the bolts are accidentally loosened. Finally, a certain sound is generated by the block sliding into the slot to remind that the baffle has slid to the maximum position.

[0010] In a feasible embodiment, the baffle is made of plastic material and can be slightly deformed.

[0011] In a feasible embodiment, a fixing block is connected to one end of the baffle, a fixing column is fixed on the outer shell, the position of the fixing column corresponds to the fixing block, a fixing hole is provided on the fixing block, a bolt is provided on one side of the fixing block, the bolt can pass through the fixing hole and be inserted into the fixing column and fixed by threading, when the sliding grooves on both sides of the baffle slide to the maximum position on the slide rail, the bolt passes through the fixing hole and rotates on the fixing column and is fixed by threading, so that the fixing block is fixed on the fixing column.

[0012] In a feasible embodiment, the thickness of the slide groove is greater than the thickness of the baffle.

[0013] In a feasible embodiment, the thickness of the limiting groove is greater than the thickness of the baffle.

[0014] In a feasible embodiment, the gripping portion further includes a grip, a support rod and a pressure sensor, the bottom of the grip is connected to the support rod via a bearing, and the bottom of the support rod is connected to the base plate via the pressure sensor.

[0015] In a feasible embodiment, the handle includes a first handle or a second handle, the first handle is in the shape of a long strip, which is convenient for the hand to hold horizontally, and the second handle is in the shape of a convex shape, which is convenient for the hand to hold downward, and the first handle or the second handle is fixed to the outer side of the upper end of the support rod through a bearing.

[0016] In a feasible embodiment, the arm support also includes a support frame and a rotating tube, the support frame is fixed on the base plate, the inner side of the upper end of the support frame is connected to the rotating tube through a bearing, and the upper end of the rotating tube is connected to the support plate.

[0017] An embodiment of the present application further proposes a rehabilitation robot system, comprising a control unit and an upper limb rehabilitation training device, wherein the control unit is configured to control the upper limb rehabilitation training device.

[0018] In summary, the utility model mainly has the following beneficial effects:

[0019] The roller can be replaced more conveniently. The baffle can be easily removed by unscrewing the bolts, so that the roller can be exposed on the shell, which is convenient for the staff to operate and replace;

[0020] The baffle is more stable when installed. When installing the baffle, the slide rail is in the slide groove, the limit bar is in the limit groove, and the fixing block and the fixing column are fixed by the action of the bolt, so that the baffle is fixed stably.

[0021] During the insertion of the baffle, the slide rail slides in the slide groove, making the insertion of the baffle smoother and the installation of the baffle more convenient;

[0022] The baffle plate will produce a certain degree of deformation during the installation process, and the card block can be clamped in the card slot. Firstly, it can temporarily fix the baffle plate to facilitate tightening the bolts. Secondly, it can enhance the fixing effect. Finally, a certain sound will be produced when the card block slides into the card slot to remind that the baffle plate has slid to the maximum position. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the three-dimensional structure of the shell of the utility model;

[0024] Figure 2 This is a three-dimensional structural diagram of the housing of the utility model from another perspective;

[0025] Figure 3 For this utility model Figure 2 A schematic diagram of the enlarged structure of the middle A position;

[0026] Figure 4 This is a schematic diagram of the three-dimensional structure of the baffle of the utility model;

[0027] Figure 5 This is a three-dimensional structural schematic diagram of the baffle of the utility model from another perspective;

[0028] Figure 6 This is a schematic diagram of the bottom side structure of the bottom plate of the utility model;

[0029] Figure 7 This is a schematic diagram of the three-dimensional structure of the first handle of the utility model;

[0030] Figure 8 This is a schematic diagram of the three-dimensional structure of the second handle of the utility model;

[0031] Fig. 9 This is a schematic diagram of the internal structure of the housing of the utility model from a top view;

[0032] Fig.10 For this utility model Fig. 9 Schematic diagram of the three-dimensional structure viewed from the AA position.

[0033] Reference numerals:

[0034] 1. Shell; 2. Roller; 3. Baffle; 4. Slide; 5. Slide rail; 6. Limit strip; 7. Limit slot; 8. Block; 9. Slot; 10. Fixing block; 11. Fixing column; 12. Bolt; 13. Notch; 14. Arm support body; 15. Handle; 151. Second handle; 152. First handle; 16. Bottom plate; 17. Support frame; 18. Pressure sensor; 19. Rotating tube; 20. Support rod; 21. Arm support part; 22. Grip part; 23. Drive part; 24. Support plate; 25. Base. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model. Unless otherwise defined, the technical terms or scientific terms used herein should be understood by people with general skills in the field to which the utility model belongs. "Including" and similar words used in this article mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects.

[0036] Please combine Figure 1As shown, an embodiment of the utility model provides an upper limb rehabilitation training device, including a gripping portion 22, an arm support portion 21 and a base 25, wherein the gripping portion 22 and the arm support portion 21 are arranged on the upper side of the base 25; wherein the arm support portion 21 includes an arm support body 14 and a support plate 24, wherein the support plate 24 rotates on the outer side of the gripping portion 22, and the base 25 includes a shell 1, a base plate 16 and a roller 2 fixed on the base plate 16, and a driving portion 23 is fixed on the base plate 16 for driving the roller 2 to rotate, and the shell 1 is provided with a detachable baffle 3 adjacent to the roller 2, and the baffle 3 on the shell 1 can be removed from the shell 1 to expose the roller 2 on the shell 1, because the roller 2 is a wear part and needs to be replaced, thereby facilitating the disassembly and replacement of the roller 2 inside the baffle 3.

[0037] In some embodiments, Figure 7 As shown, the roller 2 is not provided with a driving component. When the user is in use, the user's arm is placed on the arm support part 21, which can bear the weight of the arm, and the palm of the same arm is placed on the grip part 22 for gripping. The movement of the arm drives the upper limb rehabilitation training device to move, and the roller 2 rotates freely, so that the arm can perform rotation training.

[0038] In some embodiments, Fig. 9 As shown, a driving part 23 for driving the roller 2 is provided on the base plate 16. When the user is in use, the user's arm is placed on the arm support part 21, which can bear the weight of the arm, and at the same time, the palm of the same arm is placed on the gripping part 22 for gripping. When the upper limb rehabilitation training equipment moves, it drives the entire arm to move, thereby exerting traction on the arm to enable the arm to perform rotation training.

[0039] Please combine Figure 2 and Figure 3 , Figure 2 The figure shows a view of the housing 1 at an inclined upward angle. Figure 3 for Figure 2 From the view of part A, it can be seen that the shell 1 is provided with a notch 13, the notch 13 is arranged on the side wall of the shell 1, slide rails 5 are provided on both sides of the notch 13, a limit strip 6 is provided at one end of the notch 13, the slide rail 5 is provided with a slot 9 that matches the block 8, and a fixing column 11 is fixed on the shell 1.

[0040] Please combine Figure 4 and Figure 5, shown in the figure is a schematic diagram of the structure of the baffle 3. It can be seen from the figure that slide grooves 4 are provided on both sides of the baffle 3, and the slide grooves 4 cooperate with the slide rails 5. One end of the baffle 3 is provided with a limiting groove 7 that cooperates with the limiting strip 6. A clamping block 8 is provided in the slide groove 4, and the clamping block 8 cooperates with the clamping groove 9. One end of the baffle 3 is connected with a fixed block 10, and the position of the fixed block 10 corresponds to the fixed column 11. The fixed block 10 is provided with a fixing hole.

[0041] In some embodiments, in combination Figure 4 and Figure 5 The two ends of the limiting groove 7 are respectively connected to the slide groove 4, and the two ends of the limiting strip 6 are respectively connected to the slide rail 5. When the baffle 3 is fixed, on the one hand, the sealing effect of the top of the baffle 3 is better, which is conducive to waterproofing, and on the other hand, the baffle 3 has better stability.

[0042] In some embodiments, the baffle 3 is made of plastic material and can be slightly deformed.

[0043] In some embodiments, in combination Figure 4 The baffle plate 3 may have a certain degree of curvature in the horizontal direction to increase the structural stability of the baffle plate 3 .

[0044] In some embodiments, please combine Figure 3 and Figure 5 , the thickness of the limiting groove 7 is greater than the thickness of the baffle 3. For example, the thickness of the baffle 3 is 4-6 mm, the thickness of the limiting groove 7 is 8-12 mm, and one end of the baffle 3 is provided with the limiting groove 7. When the thickness of the limiting groove 7 is greater than the thickness of the baffle 3, on the one hand, the stability of the structure of the baffle 3 is increased, and on the other hand, the stability of the connection position of the baffle 3 and the housing 1 is increased.

[0045] In some embodiments, please combine Figure 6 The thickness of the slide groove 4 is greater than the thickness of the baffle 3. Slide grooves 4 are provided on both sides of the baffle 3. When the thickness of the slide groove 4 is greater than the thickness of the baffle 3, for example, the thickness of the baffle 3 is 4-6 mm, and the thickness of the slide groove is 8-12 mm, on the one hand, the stability of the baffle 3 structure is increased, and on the other hand, the stability of the connection position between the baffle 3 and the shell 1 is increased.

[0046] Please combine Figure 6 , the figure shows a view of the bottom baffle 3 of the bottom plate 16 installed in the notch 13. At this time, the notch 13 is set on one side of the roller 2, the slide groove 4 slides on the outside of the slide rail 5, the limit groove 7 is on the outside of the limit bar 6, and the clamping block 8 is just clamped inside the clamping groove 9.

[0047] In some embodiments, by Figure 6It can be known from the content that the baffles 3 can be set to N according to the number of rollers 2, N is an integer greater than or equal to 1, and the number of baffles 3 is the same as the number of rollers 2, so that multiple rollers 2 are easy to replace.

[0048] The working principle of the baffle 3 of the utility model when in use:

[0049] When removing the baffle 3, turn the bolt 12 to remove it, so that the fixing block 10 and the fixing column 11 can be separated, hold the baffle 3 with a little force, separate the clamping block 8 in the clamping groove 9, make the slide groove 4 slide on the outside of the slide rail 5, and the limit groove 7 separates on the outside of the limit bar 6, so that the baffle 3 can be removed, so as to facilitate the replacement of the roller 2;

[0050] When installing the baffle 3, align the slide groove 4 and the slide rail 5 and slide them, so that the baffle 3 slides in the notch 13 until the clamping block 8 is clamped and fixed in the clamping groove 9. At the same time, the limit groove 7 slides to the outside of the limit bar 6, penetrates the fixing block 10 through the bolt 12, and is rotated on the fixing column 11 and fixed by threads to achieve the fixation of the baffle 3.

[0051] Please combine Figure 7 and Figure 8 The holding portion 22 also includes a handle 15, a support rod 20 and a pressure sensor 18. The bottom of the handle 15 is connected to the support rod 20 through a bearing, and the bottom of the support rod 20 is connected to the base plate 16 through the pressure sensor 18. The handle 15 includes a first handle 152 or a second handle 151.

[0052] Please combine Figure 7 , the figure shows a view of the inside of the shell 1 when the first handle 152 is installed. The first handle 152 is fixed to the outer side of the upper end of the support rod 20 through a bearing. The first handle 152 is in the shape of a long strip. When in use, when the user puts his arm on the arm support body 14, the hand holds the first handle 152 at the same time, which is convenient for simulating arm training when the palm is facing one side in daily life.

[0053] Please combine Figure 8 , the figure shows a view of the inside of the housing 1 when the second handle 151 is installed. The second handle 151 is fixed to the outer side of the upper end of the support rod 20 through a bearing. The second handle 151 is a convex shape. When in use, when the user puts his arm on the arm support body 14, the hand holds the second handle 151 at the same time, which is convenient for simulating arm training when holding with the palm facing down in daily life.

[0054] Please combine Fig. 9 and Fig.10, the figure shows the specific structural arrangement of the gripping part 22 and the arm support part 21 in the upper limb rehabilitation training equipment. The gripping part 22 also includes a handle 15, a support rod 20 and a pressure sensor 18. The bottom of the handle 15 is connected to the support rod 20 through a bearing, and the bottom of the support rod 20 is connected to the base plate 16 through the pressure sensor 18.

[0055] The arm support part 21 also includes a support frame 17 and a rotating tube 19. The support frame 17 is fixed on the base plate 16. The inner side of the upper end of the support frame 17 is connected to the rotating tube 19 through a bearing. The upper end of the rotating tube 19 is connected to the support plate 24. A bolt 12 is provided on one side of the fixing block 10. The bolt 12 can pass through the fixing hole and be inserted into the fixing column 11 and fixed by threads.

[0056] An embodiment of the present application further proposes a rehabilitation robot system, comprising a control unit and an upper limb rehabilitation training device, wherein the control unit is configured to control the upper limb rehabilitation training device.

[0057] When in use, one arm of the patient is placed on the arm support body 14 to bear the weight, while the hand holds the handle 15, and the arm support body 14 can rotate relative to the handle 15. When in use, the roller 2 is driven to move by the driving unit 23, and the upper limb rehabilitation training equipment is driven to move, and the arm support body 14 rotates around the handle 15. Since the human body does not move, the arm is driven to rotate when the upper limb rehabilitation training equipment moves. Since the arm is placed on the arm support body 14, the arm support body 14 is driven to rotate around the handle 15, thereby having a certain rotation training effect on the arm.

[0058] In addition, the path of movement of the upper limb rehabilitation training equipment is determined by two situations:

[0059] In the first case, when the hand holds the handle 15, since the pressure sensor 18 is provided at the lower side of the handle 15, the intention of the person is detected by the different angles of the hand on the handle 15. The specific process is that the pressure sensor 18 detects the electrical signal of the pressure sensor 18, and the electrical signal is transmitted to the controller in the upper limb rehabilitation training device (arranged inside the housing 1, not shown in the figure), and the controller controls the driving part 23 to rotate, and then drives the roller 2 to rotate to move the upper limb rehabilitation training device, so as to realize training according to the person's intention;

[0060] In the second case, when the hand holds the handle 15, the preset program in the controller (not shown in the figure) in the upper limb rehabilitation training equipment controls the driving part 23 to rotate, and then drives the roller 2 to rotate to move the upper limb rehabilitation training equipment, thereby achieving scientific training of the arm.

[0061] In some embodiments, the arm support body 14 can rotate at an angle ranging from 0 to 120 degrees to avoid damaging the user's arm due to excessive rotation angles.

[0062] In some embodiments, in combination Fig.10 The rotating tube 19 does not contact the support rod 20, and then the arm support body 14 does not contact the handle 15, so that the arm support body 14 will not interfere with the handle 15 when rotating, and the handle 15 will not interfere with the arm support body 14 when performing pressure detection through the pressure sensor 18.

[0063] Although the embodiments of the present invention are described in detail above, it is obvious to those skilled in the art that various modifications and variations can be made to these embodiments. However, it should be understood that such modifications and variations are within the scope and spirit of the present invention as described in the claims. Moreover, the present invention described herein may have other embodiments and may be implemented or realized in a variety of ways.

Claims

1. An upper limb rehabilitation training device, characterized in that: It comprises a gripping part, an arm support part and a base, wherein the gripping part and the arm support part are arranged on the upper side of the base; The arm support part includes an arm support body and a support plate, the support plate rotates outside the grip part, the base includes a shell, a bottom plate and a roller fixed on the bottom plate, and the shell is provided with a detachable baffle adjacent to the roller.

2. The device according to claim 1, characterized in that: The shell is provided with a notch, the notch is arranged on one side of the roller, and the baffle is detachably connected to the notch.

3. The device according to claim 2, characterized in that: Slide grooves are arranged on both sides of the baffle plate, slide rails matching with the slide grooves are arranged on both sides of the notch, and the baffle plate is slidably connected with the notch.

4. The device according to claim 2, characterized in that: A limiting strip is provided at one end of the notch, and a limiting groove matched with the limiting strip is provided at one end of the baffle.

5. The device according to claim 3, characterized in that: A clamping block is arranged in the slide groove, and a clamping groove matched with the clamping block is arranged on the slide rail.

6. The device according to claim 5, characterized in that: The baffle is made of plastic material.

7. The device according to claim 2 or 3, characterized in that: A fixing block is connected to one end of the baffle, a fixing column is fixed on the outer shell, the position of the fixing column corresponds to the fixing block, a fixing hole is provided on the fixing block, a bolt is provided on one side of the fixing block, and the bolt can pass through the fixing hole, be inserted into the fixing column and be fixed by threads.

8. The device according to claim 1, characterized in that: A driving part for driving the roller is fixedly arranged on the bottom plate.

9. The device according to claim 1, characterized in that: The arm support also includes a support frame and a rotating tube. The support frame is fixed on the bottom plate. The inner side of the upper end of the support frame is connected to the rotating tube through a bearing, and the upper end of the rotating tube is connected to the support plate.

10. The device according to claim 1, characterized in that: The gripping portion further comprises a grip, and the grip comprises a first grip or a second grip, wherein the first grip is in an elongated shape so that the hand can grip in a horizontal direction, and the second grip is in a convex shape so that the hand can grip in a downward direction.

11. A rehabilitation robot system, characterized in that: It comprises a control unit and the upper limb rehabilitation training device according to any one of claims 1 to 10, wherein the control unit is configured to control the upper limb rehabilitation training device.

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