End execution device of upper limb rehabilitation robot

Abstract

The utility model belongs to the technical field of human body rehabilitation, and particularly relates to a tail end executive device of an upper limb rehabilitation robot, which comprises a wrapping component, the wrapping component comprises an air bag tube, a hose is communicated and mounted on the side surface of the air bag tube, and a stabilizing component is arranged on the outer surface of the air bag tube in a matched manner. A relieving assembly is arranged in an inner cavity of the air bag pipe in a matched mode. The relieving assembly comprises a bent plate abutting against the inner wall face of the air bag pipe, a straight rod is fixedly connected to the end face of the bent plate, a stand column is fixedly connected to the side face of the bent plate, a supporting frame is fixedly connected to the end face of the air bag pipe, a bottom plate is fixedly connected to the side face of the supporting frame, and a middle shaft is fixedly connected to the end face of the bottom plate. The outer wall of the middle shaft is rotationally sleeved with a transmission disc, and a bag pipe is communicated with a hose, so that the adaptation degree of an execution device of the rehabilitation robot and a patient is higher, the position of a bent plate is stable, and meanwhile, the danger caused by over-charging of the air bag pipe can be avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of human body rehabilitation, and particularly relates to an end effector of an upper limb rehabilitation robot. Background Art

[0002] With the improvement of living standards, the proportion of the aging population is increasing. Through systematic and scientific training of the upper limb rehabilitation robot, the range of motion, muscle strength, flexibility, etc. of the affected limb of hemiplegic patients can be restored, and the ability to perform daily activities can be improved. The end effector of the rehabilitation robot plays an intermediate connection role between the robotic arm and the arm, and needs to drive the upper limb of the patient to move along a certain trajectory during the rehabilitation process.

[0003] However, the existing end effector usually inflates to a certain amount of air to meet the rehabilitation needs of patients. The volume of the arm does not match well with the end effector. Therefore, it is necessary to support the airbag after inflation in the end effector to help arms of different volumes match well. Summary of the Utility Model

[0004] The purpose of the utility model is to provide an end effector of an upper limb rehabilitation robot, aiming to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the utility model provides the following technical solutions:

[0006] An end effector of an upper limb rehabilitation robot, comprising

[0007] a wrapping component, the wrapping component includes an airbag tube, a hose is connected and installed on the side surface of the airbag tube, a stabilizing component is arranged on the outer surface of the airbag tube in a matching manner, and a soothing component is arranged in the inner cavity of the airbag tube in a matching manner;

[0008] The soothing component includes a bent plate abutted against the inner wall surface of the airbag tube, a straight rod is fixedly connected to the end face of the bent plate, a column is fixedly connected to the side surface of the bent plate, a support frame is fixedly connected to the end face of the airbag tube, a bottom plate is fixedly connected to the side surface of the support frame, an intermediate shaft is fixedly connected to the end face of the bottom plate, and a transmission disk is rotatably sleeved on the outer wall of the intermediate shaft.

[0009] As a preferred scheme of the utility model, the teeth of the transmission disk are meshed with a gear, a connecting shaft is fixedly connected to the center of the surface of the gear, the end face of the connecting shaft is fixedly connected to the side surface of the bottom plate, and the outer wall of the column is slidably connected to the surface of the transmission disk.

[0010] As a preferred solution of the present utility model, the center of the drive disk coincides with the center of the airbag tube, and a hoop is fixedly sleeved on the outer wall of the airbag tube. The number of hoops is several, and several hoops are arranged at equal intervals on the outside of the airbag tube.

[0011] As a preferred solution of the present utility model, a flange is movably connected to the surface of the airbag tube. The stabilizing assembly where the flange is located further includes a snap ring, and the inner side of the snap ring is fixedly connected to the side edge of the airbag tube.

[0012] As a preferred solution of the present utility model, the airbag tube is a latex tube with good ductility, and the bottom plate is provided with a plurality of through grooves, and the through grooves are slidably adapted to the straight rods.

[0013] As a preferred solution of the present utility model, the number of snap rings is two groups, and a docking member is fixedly connected between the two groups of snap rings. The docking member is a connecting member spliced integrally.

[0014] As a preferred solution of the present utility model, the snap ring is a rubber ring with large elasticity, and the center of the snap ring coincides with the center of the airbag tube.

[0015] Compared with the prior art, the beneficial effects of the present utility model are as follows: The connection between the airbag tube and the hose enables the airbag tube to be inflated and expanded, thereby helping the execution device of the rehabilitation robot to have a higher degree of adaptation to the patient. The cooperation of the bent plate with the straight rod and the column can help the bent plate to stabilize its position, thereby providing a supporting and limiting effect for the airbag tube, and at the same time, it can also prevent the airbag tube from over-inflating and causing danger. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings. Among them:

[0017] Figure 1 is the overall structural schematic diagram of the present utility model;

[0018] Figure 2 is the structural schematic diagram of the assembly for realizing the stable adjustment effect of the airbag tube in the present utility model.

[0019] Figure 3 is the structural schematic diagram of the assembly for realizing the sliding limit effect in the present utility model.

[0020] Figure 4 is the structural schematic diagram of the assembly for realizing the stable sealing effect of the airbag tube in the present utility model.

[0021] In the figure: 100, wrapping component; 101, airbag tube; 102, hose; 200, stabilizing component; 201, flange; 202, snap ring; 203, docking component; 300, soothing component; 301, bent plate; 302, straight rod; 303, upright column; 304, transmission disc; 305, intermediate shaft; 306, bottom plate; 307, support frame; 308, gear; 309, connecting shaft; 310, hoop. Specific embodiments

[0022] In order to make the above objects, features and advantages of the present utility model more obvious and understandable, the following will describe in detail the specific embodiments of the present utility model with reference to the accompanying drawings of the specification.

[0023] In the following description, many specific details are set forth in order to fully understand the present utility model. However, the present utility model can also be implemented in other ways different from those described herein. Those skilled in the art can make similar generalizations without departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed below.

[0024] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure or characteristic that can be included in at least one implementation manner of the present utility model. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it an individual or alternative embodiment that is mutually exclusive with other embodiments.

[0025] Embodiment 1

[0026] Referring to Figure 1-2 , which is the first embodiment of the present utility model. This embodiment provides an end effector of an upper limb rehabilitation robot, including

[0027] A wrapping component 100, which includes an airbag tube 101. A hose 102 is connected and installed on the side of the airbag tube 101. A stabilizing component 200 is disposed on the outer surface of the airbag tube 101 in a matching manner, and a soothing component 300 is disposed in the inner cavity of the airbag tube 101 in a matching manner;

[0028] The soothing component 300 includes a bent plate 301 that abuts against the inner wall surface of the airbag tube 101. A straight rod 302 is fixedly connected to the end face of the bent plate 301. An upright column 303 is fixedly connected to the side of the bent plate 301. A support frame 307 is fixedly connected to the end face of the stabilizing component 200. A bottom plate 306 is fixedly connected to the side of the support frame 307. An intermediate shaft 305 is fixedly connected to the end face of the bottom plate 306. A transmission disc 304 is rotatably sleeved on the outer wall of the intermediate shaft 305.

[0029] Specifically, the connection between the airbag tube 101 and the hose 102 enables the airbag tube 101 to be inflated, thereby helping the execution device of the rehabilitation robot to have a higher degree of adaptation to the patient. The cooperation between the bent plate 301, the straight rod 302, and the column 303 can help the bent plate 301 to stabilize its position, thereby providing a support and limiting effect for the airbag tube 101. At the same time, it can also prevent the airbag tube 101 from over-inflating and causing danger. The fixed connection between the support frame 307 and the bottom plate 306 further stabilizes the support of the bottom plate 306. The rotational connection between the intermediate shaft 305 and the transmission disc 304 makes the transmission disc 304 more stable and firm, avoiding its own vibration.

[0030] Further, the teeth of the transmission disc 304 are meshed with a gear 308. The center of the surface of the gear 308 is fixedly connected with a connecting shaft 309. The end face of the connecting shaft 309 is rotationally connected to the side face of the bottom plate 306. The outer wall of the column 303 is slidably connected to the surface of the transmission disc 304.

[0031] Preferably, the fixed connection between the gear 308 and the connecting shaft 309 makes the rotational friction loss between the gear 308 and the connecting shaft 309 quite small, further ensuring the stability of the torque. And the rotational connection between the connecting shaft 309 and the bottom plate 306 further ensures that the gear 308 can rotate stably. The sliding connection between the column 303 and the transmission disc 304 can drive the bent plate 301 to continuously support the airbag tube 101, making the overall device better adapted to the patient's arm.

[0032] During use, first, the stabilizing assembly 200 is sleeved and connected to the outside of the airbag tube 101. Then, the support frame 307 is fixedly connected to the bottom plate 306, and the support frame 307 is fixed to the stabilizing assembly 200. Further, the intermediate shaft 305 is fixedly assembled at the center of the surface of the bottom plate 306, and the transmission disc 304 is fixedly sleeved on the outer wall of the intermediate shaft 305 for supporting the transmission disc 304.

[0033] Embodiment 2

[0034] Refer to Figure 2-3 , which is the second embodiment of the present utility model. Different from the previous embodiment, this embodiment provides relevant components for the stable support effect of the airbag tube.

[0035] Specifically, the center of the transmission disc 304 coincides with the center of the airbag tube 101, and a hoop 310 is fixedly sleeved on the outer wall of the airbag tube 101. The number of the hoops 310 is several, and several hoops 310 are arranged equidistantly on the outside of the airbag tube 101.

[0036] Further, the equidistant arrangement of several hoops 310 makes the airbag tube 101 safer when inflated, avoiding safety problems caused by over-inflation.

[0037] Moreover, a flange 201 is movably connected to the surface of the airbag tube 101. The stabilizing assembly 200 where the flange 201 is located further includes a snap ring 202, and the inner side of the snap ring 202 is fixedly connected to the side edge of the airbag tube 101.

[0038] Among them, the movable connection between the flange 201 and the airbag tube 101 enables the airbag tube 101 to be stably connected to other rehabilitation components. At the same time, the snap ring 202 is fixed to the edge of the airbag tube 101. By restricting the expansion of the edge of the airbag tube 101, the nervousness of the patient can be relieved, which is beneficial to increasing the market share of the product.

[0039] During use, several hoop rings 310 are first arranged on the outer side of the airbag tube 101, and then the flange 201 is assembled on the outer surface of the airbag tube 101, and the snap ring 202 is installed on the side edge of the airbag tube 101 for the combined connection of the airbag tube 101 with other devices and for fixing the edge of the airbag tube 101.

[0040] Embodiment 3

[0041] Refer to Figure 2-4 For the third embodiment of the utility model, different from the previous embodiment, this embodiment provides related components for the stable sealing effect of the airbag tube.

[0042] Specifically, the airbag tube 101 is a latex tube with good ductility, and the bottom plate 306 is provided with a plurality of through grooves which are slidably adapted to the straight rods 302. The number of snap rings 202 is two groups, and a docking member 203 is fixedly connected between the two groups of snap rings 202. The docking member 203 is a connecting member spliced together.

[0043] Furthermore, the plurality of through grooves provided on the bottom plate 306 enable the straight rods 302 to slide simultaneously. The cooperation between the docking member 203 and the snap ring 202 further ensures better sealing and fixing of the edge of the airbag tube 101, and avoids air leakage of the airbag tube 101 from affecting the rehabilitation effect.

[0044] Preferably, the snap ring 202 is a rubber ring with large elasticity, and the center of the snap ring 202 coincides with the center of the airbag tube 101.

[0045] During use, first, the straight rods 302 are slidably adapted to the through grooves provided on the bottom plate 306, and then the docking member 203 is fixedly installed between the snap rings 202 to enhance the sealing and fixing effect of the snap rings 202.

[0046] Importantly, it should be noted that the construction and arrangement of the present application shown in multiple different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who refer to this disclosure should easily understand that many modifications are possible without materially departing from the novel teachings and advantages of the subject matter described in this application (e.g., changes in the dimensions, scales, structures, shapes and proportions of various elements, as well as parameter values (such as temperature, pressure, etc.), installation arrangements, use of materials, colors, orientations, etc.). For example, elements shown as integrally formed may be composed of multiple parts or elements, the positions of the elements may be inverted or otherwise changed, and the nature, number or position of discrete elements may be altered or changed. Accordingly, all such modifications are intended to be included within the scope of the present utility model. The order or sequence of any process or method steps may be changed or reordered according to alternative embodiments. In the claims, any "means-plus-function" clause is intended to cover the structures that perform the recited function herein, and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present utility model. Therefore, the present utility model is not limited to a particular embodiment, but extends to various modifications that still fall within the scope of the appended claims.

[0047] In addition, in order to provide a concise description of the exemplary embodiments, all features of the actual embodiments may not be described (i.e., those features that are not relevant to the currently contemplated best mode of carrying out the present utility model or those features that are not relevant to the implementation of the present utility model).

[0048] It should be understood that in the development of any actual implementation, as in any engineering or design project, numerous specific implementation decisions may be made. Such development efforts may be complex and time-consuming, but for those of ordinary skill in the art who benefit from this disclosure, without undue experimentation, such development efforts will be a routine task of design, manufacturing and production.

[0049] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model and not to limit them. Although the present utility model has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present utility model may be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present utility model, and they should all be covered within the scope of the claims of the present utility model.

Claims

1. An end effector of an upper limb rehabilitation robot, characterized in that: include, A wrapping assembly (100), the wrapping assembly (100) comprising an airbag tube (101), a hose (102) being connected and installed on the side of the airbag tube (101), a stabilizing assembly (200) being provided on the outer surface of the airbag tube (101), and a soothing assembly (300) being provided in the inner cavity of the airbag tube (101); The relief component (300) includes a bent plate (301) abutting against the inner wall of the airbag tube (101), the end face of the bent plate (301) is fixedly connected to a straight rod (302), the side of the bent plate (301) is fixedly connected to a column (303), the end face of the stabilizing component (200) is fixedly connected to a support frame (307), the side of the support frame (307) is fixedly connected to a bottom plate (306), the end face of the bottom plate (306) is fixedly connected to an intermediate shaft (305), and the outer wall of the intermediate shaft (305) is rotatably sleeved with a transmission disk (304).

2. The end effector of an upper limb rehabilitation robot according to claim 1, characterized in that: The teeth of the transmission disc (304) are meshed with a gear (308), a connecting shaft (309) is fixedly connected to the center of the surface of the gear (308), an end surface of the connecting shaft (309) is rotatably connected to the side surface of the base plate (306), and the outer wall of the column (303) is slidably connected to the surface of the transmission disc (304).

3. The end effector of an upper limb rehabilitation robot according to claim 2, characterized in that: The center of the circle of the transmission plate (304) is kept coincident with the center of the circle of the airbag tube (101), and the outer wall of the airbag tube (101) is fixedly sleeved with a hoop (310), the number of the hoop (310) is several, and the several hoop (310) are arranged equidistantly on the outer side of the airbag tube (101).

4. The end effector of an upper limb rehabilitation robot according to claim 3, characterized in that: A flange (201) is movably connected to the surface of the airbag tube (101), and the stabilizing component (200) where the flange (201) is located further comprises a clamping ring (202), the inner side of the clamping ring (202) is fixedly connected to the side edge of the airbag tube (101).

5. The end effector of an upper limb rehabilitation robot according to claim 4, characterized in that: The air bag tube (101) is a latex tube with good ductility, and the bottom plate (306) is provided with a plurality of through grooves, which are slidably matched with the straight rod (302).

6. The end effector of an upper limb rehabilitation robot according to claim 5, characterized in that: The number of the clamping rings (202) is two groups, and a docking piece (203) is fixedly connected between the two groups of the clamping rings (202), and the docking piece (203) is a connecting component that is spliced ​​together.

7. The end effector of an upper limb rehabilitation robot according to claim 6, characterized in that: The clamping ring (202) is a rubber ring with relatively high elasticity, and the center of the clamping ring (202) is kept coincident with the center of the circle of the airbag tube (101).

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