Pneumatic upper limb rehabilitation robot

Abstract

The utility model provides a pneumatic upper limb rehabilitation robot, which belongs to the technical field of upper limb rehabilitation robots and comprises a base, a support frame and a pneumatic mechanical structure, the support frame is fixedly mounted at the top of the base, and the pneumatic mechanical structure is fixedly mounted at the bottom of the support frame. The pneumatic mechanical structure comprises a first joint rotating arm, a second joint rotating arm, a third joint rotating arm, a holding rod and a driving air cylinder, the first joint rotating arm is fixedly installed at the bottom of the supporting frame, and the second joint rotating arm is fixedly installed at the bottom of the first joint rotating arm. Movement of the air pressure upper limb rehabilitation control robot is adjusted through the driving air cylinder, compared with electric or hydraulic driving, the problems of high voltage or oil contamination leakage and the like cannot be generated, the risk that a user is injured is reduced, the response speed of a pneumatic system is high, and operation is convenient. Therefore, after the upper limb rehabilitation robot receives the operation instruction, the upper limb rehabilitation robot can quickly respond, so that a user is helped to better perform rehabilitation training.

Description

Technical Field

[0001] The utility model belongs to the technical field of upper limb rehabilitation robots, and particularly relates to a pneumatic upper limb rehabilitation robot. Background Technique

[0002] The upper limb rehabilitation training robot is the result of the combination of the robot technology field and the rehabilitation medicine field. It is a new technology that supplements or replaces professional physicians to complete the upper limb rehabilitation training of the human body. Its appearance has opened up a new path for the rehabilitation treatment of upper limb hemiplegia patients and made up for the deficiencies in the clinical treatment of hemiplegia patients. The treatment method of the rehabilitation training robot is to connect the affected limb to the robot. Under the drive of the robot, the patient's limb completes various movements, stimulating the nerve control system of the upper limb joints and muscles of the human body, so as to achieve the purpose of restoring the limb motor function of the patient.

[0003] The existing upper limb rehabilitation robots generally adopt electric or hydraulic drive. This drive method may cause problems such as high voltage or oil leakage, which is likely to cause injury to users. The electric or hydraulic drive system has a slow response speed, which means that the upper limb rehabilitation robot cannot respond quickly after receiving an operation instruction, making it inconvenient for users to better carry out rehabilitation training. Content of the Utility Model

[0004] The purpose of the utility model is to provide a pneumatic upper limb rehabilitation robot, aiming to solve the problems raised in the above background technique.

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

[0006] A pneumatic upper limb rehabilitation robot, including a base, a support frame and a pneumatic mechanical structure. The support frame is fixedly installed at the top of the base, and the pneumatic mechanical structure is fixedly installed at the bottom of the support frame. The pneumatic mechanical structure includes a first joint arm, a second joint arm, a third joint arm, a grip rod and a driving cylinder. The first joint arm is fixedly installed at the bottom of the support frame, the second joint arm is fixedly installed at the bottom of the first joint arm, the third joint arm is fixedly installed on the front of the second joint arm, the grip rod is fixedly installed at the top of the third joint arm, and the driving cylinder is fixedly installed at the middle part between the first joint arm and the second joint arm.

[0007] As a preferred scheme of the utility model, a first telescopic arm is arranged inside the first joint arm, a second telescopic arm is fixedly installed inside the second joint arm, and a strap is fixedly connected to one side of the first joint arm and the second joint arm.

[0008] As a preferred embodiment of the present utility model, a fixed rod is fixedly installed on the left side of the pneumatic mechanical structure. A connecting plate is fixedly installed on the back of the fixed rod. A fastener is fixedly installed on the back of the connecting plate. An electric lifting rod is fixedly installed inside the fastener.

[0009] As a preferred embodiment of the present utility model, a support plate is fixedly installed at the top of the electric lifting rod. A second linear motor is fixedly installed on the top of the support plate. A second slide rail is fixedly installed on the top of the second linear motor.

[0010] As a preferred embodiment of the present utility model, first slide rails are respectively fixedly installed on the left and right sides of the base. Two first linear motors are fixedly installed on the outer sides of the first slide rails. An installation plate is fixedly installed on the outer sides of the two first linear motors. Movable wheels are fixedly installed at the bottom of the base.

[0011] As a preferred embodiment of the present utility model, the support frame includes channel steel columns and channel steel crossbeams. The channel steel columns are fixedly installed in the middle part between the two installation plates. The number of the channel steel columns is set to two. The channel steel crossbeam is fixedly installed on the tops of the two channel steel columns.

[0012] As a preferred embodiment of the present utility model, the channel steel columns and the channel steel crossbeam are fixedly connected by first fastening screws. The channel steel columns and the installation plates are fixedly connected by second fastening screws.

[0013] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0014] By driving the air cylinder to adjust the movement of the pneumatic upper limb rehabilitation control robot, this method will not cause problems such as high voltage or oil leakage compared with electric or hydraulic drive, reducing the risk of injury to the user. The pneumatic system has a fast response speed, which means that the upper limb rehabilitation robot can quickly respond after receiving the operation instruction, thereby helping the user to better carry out rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] 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:

[0016] Figure 1 is the overall structural schematic diagram of the present utility model;

[0017] Figure 2 is the schematic diagram of the pneumatic mechanical structure of the present utility model;

[0018] Figure 3 This is the overall bottom view of the present utility model;

[0019] Figure 4 This is the partial exploded view of the present utility model.

[0020] In the figure: 1. Base; 2. Support frame; 201. Channel steel column; 202. Channel steel cross beam; 3. Pneumatic mechanical structure; 301. First joint rotating arm; 302. Second joint rotating arm; 303. Third joint rotating arm; 304. Gripping rod; 305. Driving cylinder; 4. First telescopic arm; 5. Second telescopic arm; 6. Strapping; 7. Fixed rod; 8. Connecting plate; 9. Fastener; 10. Electric lifting rod; 11. Support plate; 12. Second linear motor; 13. Second slide rail; 14. First slide rail; 15. First linear motor; 16. Mounting plate; 17. First fastening screw; 18. Second fastening screw; 19. Movable wheel. Detailed implementation manners

[0021] To make the above objects, features and advantages of the present utility model more obvious and understandable, the following detailed description of the specific implementation manners of the present utility model will be given in conjunction with the accompanying drawings of the specification.

[0022] In the following description, many specific details are set forth to facilitate a full understanding of 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 extensions without departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed below.

[0023] 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 "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it an embodiment that is separate or selectively mutually exclusive with other embodiments.

[0024] Embodiment

[0025] Refer to Figures 1-4, which is the first embodiment of the present utility model. This embodiment provides a pneumatic upper limb rehabilitation robot, including a base 1, a support frame 2 and a pneumatic mechanical structure 3. The top of the base 1 is fixedly installed with the support frame 2, and the bottom of the support frame 2 is fixedly installed with the pneumatic mechanical structure 3. The pneumatic mechanical structure 3 includes a first joint arm 301, a second joint arm 302, a third joint arm 303, a grip bar 304 and a driving cylinder 305. The first joint arm 301 is fixedly installed at the bottom of the support frame 2, the second joint arm 302 is fixedly installed at the bottom of the first joint arm 301, the third joint arm 303 is fixedly installed on the front of the second joint arm 302, the grip bar 304 is fixedly installed at the top of the third joint arm 303, and the driving cylinder 305 is fixedly installed at the middle part between the first joint arm 301 and the second joint arm 302.

[0026] Specifically, a first telescopic arm 4 is arranged inside the first joint arm 301, a second telescopic arm 5 is fixedly installed inside the second joint arm 302, and a strap 6 is fixedly connected to one side of the first joint arm 301 and the second joint arm 302.

[0027] Furthermore, through the setting of the strap 6, it is convenient to fix the upper limb of the user to maintain the stability of the user during the rehabilitation training.

[0028] Specifically, a fixing rod 7 is fixedly installed on the left side of the pneumatic mechanical structure 3, a connecting plate 8 is fixedly installed on the back of the fixing rod 7, a fastener 9 is fixedly installed on the back of the connecting plate 8, and an electric lifting rod 10 is fixedly installed inside the fastener 9.

[0029] Furthermore, through the setting of the electric lifting rod 10, it is convenient to adjust the height of the pneumatic mechanical structure 3 to adapt to users of different heights, improve the flexibility of the robot, and provide better user-friendly services.

[0030] Specifically, a support plate 11 is fixedly installed at the top of the electric lifting rod 10, a second linear motor 12 is fixedly installed at the top of the support plate 11, a second slide rail 13 is fixedly installed at the top of the second linear motor 12, first slide rails 14 are respectively fixedly installed on the left and right sides of the base 1, two first linear motors 15 are fixedly installed on the outside of the first slide rails 14, a mounting plate 16 is fixedly installed on the outside of the two first linear motors 15, and moving wheels 19 are fixedly installed at the bottom of the base 1.

[0031] Furthermore, through the setting of the moving wheels 19, it is convenient to move the robot as a whole, improving the flexibility and adaptability of the robot's use.

[0032] Specifically, the support frame 2 includes channel steel columns 201 and channel steel crossbeams 202. The channel steel columns 201 are fixedly installed in the middle of the two mounting plates 16. The number of the channel steel columns 201 is set to two. The channel steel crossbeams 202 are fixedly installed on the tops of the two channel steel columns 201. The channel steel columns 201 and the channel steel crossbeams 202 are fixedly connected by first fastening screws 17. The channel steel columns 201 and the mounting plates 16 are fixedly connected by second fastening screws 18.

[0033] Furthermore, through the setting of the support frame 2, it provides a supporting effect for the pneumatic mechanical structure 3, and at the same time increases the overall stiffness of the robot. Through the setting of the first fastening screws 17 and the second fastening screws 18, they can be removed to disassemble the structure of the pneumatic upper limb rehabilitation robot, which is convenient for effective storage when the robot is not in use, reduces the overall volume, and is convenient for storage.

[0034] During use, the entire pneumatic upper limb rehabilitation robot is moved to a designated position through the moving wheels 19. The user steps into the interior of the base 1. According to the position of the user, the position of the support frame 2 is adjusted by the first linear motor 15, the position of the pneumatic mechanical structure 3 is adjusted by the second linear motor 12, and the height of the joint rotating arm is adjusted by the electric lifting rod 10. Then the user places the upper limb to be rehabilitated on the pneumatic mechanical structure 3 and fixes it with the strap 6. The user's upper arm, forearm, and hand are fixedly installed at the first joint rotating arm 301, the second joint rotating arm 302, and the third joint rotating arm 303 in sequence. The user holds the grip rod 304 with the palm. The driving cylinder 305 is started. The driving cylinder 305 provides power for the joint rotating arm. According to the needs of the user, the driving cylinder 305 controls the movement of the rotating arm to provide rehabilitation training for the user. After the training is over, the user's upper limb can be removed from the pneumatic mechanical structure 3.

[0035] In summary, the driving cylinder 305 is used to adjust the movement of the pneumatic upper limb rehabilitation control robot. Compared with electric or hydraulic drive, this method will not cause problems such as high voltage or oil leakage, reducing the risk of injury to the user. The pneumatic system has a fast response speed, which means that the upper limb rehabilitation robot can quickly respond after receiving an operation instruction, thereby helping the user better carry out rehabilitation training.

[0036] 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 substantially 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, an element shown as integrally formed may be composed of multiple parts or elements, the position of the element may be inverted or otherwise changed, and the nature, number or position of discrete elements may be altered or changed. Therefore, 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 described 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 specific embodiment, but extends to various modifications that still fall within the scope of the appended claims.

[0037] 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).

[0038] 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 excessive experimentation, such development efforts will be a routine task of design, manufacturing and production.

[0039] 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 can 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. A pneumatic upper limb rehabilitation robot, characterized in that: The invention comprises a base (1), a support frame (2) and a pneumatic mechanical structure (3), wherein the support frame (2) is fixedly mounted on the top of the base (1), the pneumatic mechanical structure (3) is fixedly mounted on the bottom of the support frame (2), the pneumatic mechanical structure (3) comprises a first joint rotating arm (301), a second joint rotating arm (302), a third joint rotating arm (303), a gripping rod (304) and a driving cylinder (305), wherein the first joint rotating arm (301) is fixedly mounted on the bottom of the support frame (2), the second joint rotating arm (302) is fixedly mounted on the bottom of the first joint rotating arm (301), the third joint rotating arm (303) is fixedly mounted on the front of the second joint rotating arm (302), the gripping rod (304) is fixedly mounted on the top of the third joint rotating arm (303), and the driving cylinder (305) is fixedly mounted on the middle part between the first joint rotating arm (301) and the second joint rotating arm (302).

2. A pneumatic upper limb rehabilitation robot according to claim 1, characterized in that: A first telescopic arm (4) is arranged inside the first joint rotating arm (301), a second telescopic arm (5) is fixedly installed inside the second joint rotating arm (302), and a binding strap (6) is fixedly connected to one side of the first joint rotating arm (301) and the second joint rotating arm (302).

3. The pneumatic upper limb rehabilitation robot according to claim 1, characterized in that: A fixing rod (7) is fixedly installed on the left side of the pneumatic mechanical structure (3), a connecting plate (8) is fixedly installed on the back side of the fixing rod (7), a fastener (9) is fixedly installed on the back side of the connecting plate (8), and an electric lifting rod (10) is fixedly installed inside the fastener (9).

4. The pneumatic upper limb rehabilitation robot according to claim 3, characterized in that: A support plate (11) is fixedly mounted on the top of the electric lifting rod (10), a second linear motor (12) is fixedly mounted on the top of the support plate (11), and a second slide rail (13) is fixedly mounted on the top of the second linear motor (12).

5. The pneumatic upper limb rehabilitation robot according to claim 4, characterized in that: First slide rails (14) are fixedly mounted on the left and right sides of the base (1), two first linear motors (15) are fixedly mounted on the outer sides of the first slide rails (14), mounting plates (16) are fixedly mounted on the outer sides of the two first linear motors (15), and moving wheels (19) are fixedly mounted on the bottom of the base (1).

6. The pneumatic upper limb rehabilitation robot according to claim 1, characterized in that: The support frame (2) comprises a channel steel column (201) and a channel steel beam (202), wherein the channel steel column (201) is fixedly mounted at the middle portion of two mounting plates (16), the number of the channel steel columns (201) is set to two, and the channel steel beam (202) is fixedly mounted on the top of the two channel steel columns (201).

7. The pneumatic upper limb rehabilitation robot according to claim 6, characterized in that: The channel steel column (201) is fixedly connected to the channel steel beam (202) via a first fastening screw (17), and the channel steel column (201) is fixedly connected to the mounting plate (16) via a second fastening screw (18).

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