Upper limb rehabilitation training robot

Abstract

The utility model relates to the technical field of robots, and discloses an upper limb rehabilitation training robot which comprises a base and a training arm, a lead screw lifter is connected to the base, a fixed arm is connected to the lead screw lifter, the training arm is arranged on one side of the fixed arm, and a distance adjusting structure is arranged between the fixed arm and the training arm. Placing soft cushions are arranged on the training arms and the fixed arms, arm fixing belts which are wound and fixed by hook-and-loop fasteners are connected to the fixed arms and the training arms, air pressure clamping structures for clamping arms are arranged on the inner sides of the arm fixing belts, the extending ends of the training arms are connected with extending plates, and air cylinders are connected to the lower portions of the extending plates; the extending end of the air cylinder penetrates through the extending plate to be connected with a B-shaped frame, and a foam sleeve is arranged on a cross rod in the middle of the B-shaped frame. The utility model has the advantages that the training area does not need to be replaced repeatedly, and the constraint to the arm is more comfortable.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an upper limb rehabilitation training robot. Background Art

[0002] Rehabilitation training robots are advanced devices that integrate knowledge and technologies from multiple disciplines, including mechanical engineering, electronics, computer science, and rehabilitation medicine. Through precise motion control and intelligent interactive systems, they provide targeted, repetitive, and personalized rehabilitation training programs for patients with limb movement disorders, stroke, and other conditions. These programs assist with joint range of motion training, strengthen muscle strength, and improve movement coordination. They simulate normal human movement patterns to drive repetitive movements, enhancing the effectiveness and efficiency of rehabilitation training. These robots are of great significance in modern rehabilitation medicine, bringing new hope and possibilities to patients' recovery.

[0003] At present, the functional areas of upper limb rehabilitation training devices are mostly separated. For example, the areas for training arm raising, forward extension, fist clenching and other movements are separated from each other. Such a setting has obvious disadvantages. After training one movement, the patient needs to move to the next training area. Patients who need upper limb training are already in an uncomfortable state. This repeated replacement of equipment will undoubtedly increase their burden. In addition, elastic bands and Velcro are generally used to fix the patient's arms. This method has a strong restraint on the patient's arms, which can easily cause discomfort to the patient and may even affect the training effect and the patient's enthusiasm to a certain extent. Utility Model Content

[0004] In order to solve the above-mentioned problems, the utility model proposes an upper limb rehabilitation training robot which does not require repeated replacement of training areas and has a relatively comfortable restraint on the arms.

[0005] In order to solve the above technical problems, the technical solution proposed in the present invention is: an upper limb rehabilitation training robot, comprising a base and a training arm, a screw lifter is connected on the base, a fixed arm is connected on the screw lifter, the training arm is arranged on one side of the fixed arm, a distance adjustment structure is provided between the fixed arm and the training arm, soft pads are provided on the training arm and the fixed arm, the fixed arm and the training arm are connected with arm fixing straps fixed by Velcro, a pneumatic clamping structure for clamping the arm is provided on the inner side of the arm fixing strap, the protruding end of the training arm is connected with an protruding plate, a cylinder is connected under the protruding plate, the protruding end of the cylinder passes through the protruding plate and is connected with a Japanese-shaped frame, and a foam sleeve is provided on the horizontal bar in the middle of the Japanese-shaped frame.

[0006] Furthermore, the pneumatic clamping structure includes strip-shaped air bags equidistantly arranged on the inner side of the arm fixing belt, and the strip-shaped air bags are connected by the same inflation and deflation pipe, and the inflation and deflation pipe is connected to an external pressure-regulating air supply device.

[0007] Based on these technical features, this pneumatic clamping structure provides uniform and adjustable clamping force to the arm through equidistantly spaced strips of airbags. Connected by a single inflation and discharge tube, this allows for uniform control of the clamping force, adapting to the individual arm thickness and comfort requirements of different patients. This avoids the localized overtightening or overloosening that can occur with traditional fixation methods, improving both comfort and stability.

[0008] Furthermore, a vertical frame is connected to the base, the screw lifter is arranged in the vertical frame, guide grooves are provided on both sides of the vertical frame, and guide grooves that are compatible with the guide grooves are connected on both sides of the nut seat of the screw lifter.

[0009] Based on the above technical features, the vertical frame provides a stable installation position for the screw lifter, and the design of the guide groove ensures the smoothness and accuracy of the lifting process of the screw lifter, reduces shaking and deviation, and improves the reliability and safety of the equipment.

[0010] Furthermore, a control panel is connected to the middle of one side of the vertical frame.

[0011] Based on the above technical features, the control panel is set in the middle of one side of the vertical frame, and its position is conspicuous, which facilitates the operator to operate and monitor intuitively and conveniently, thereby improving the efficiency of equipment use.

[0012] Furthermore, fixable running wheels are connected to the bottom of the base.

[0013] Based on the above technical features, the fixed wheels make the equipment flexible and easy to use in different places, expanding the use scenarios of the equipment. When it needs to be fixed, it can be parked stably to ensure the safety of the training process.

[0014] Furthermore, the distance adjustment structure is an electric telescopic rod connected under the fixed arm and the training arm, the extended end of the electric telescopic rod is connected to the training arm, and the main body of the electric telescopic rod is connected to the fixed arm.

[0015] Based on the above technical features, the electric telescopic rod can accurately adjust the distance between the fixed arm and the training arm to meet the differences in arm length and training needs of different patients, thereby improving the adaptability and versatility of the equipment.

[0016] Furthermore, the soft cushion is integrally formed with an arm groove for placing the arm.

[0017] Based on the above technical features, the arm slots on the cushion can better fix the position of the arms, prevent the arms from shifting during training, improve the accuracy and effectiveness of training, and also increase the comfort of the patients.

[0018] Compared with the prior art, the utility model has the following advantages:

[0019] This upper limb rehabilitation training robot eliminates the need for frequent changes in training areas. Traditional upper limb training devices often require different training areas, requiring patients to frequently relocate. However, this design integrates multiple functions, including a screw lift to adjust the height of the fixed arm, an electric telescopic rod to adjust the distance between the fixed and training arms, and a pneumatic cylinder to drive the "Japanese" frame movement. This allows patients to complete a variety of upper limb rehabilitation exercises from the same location, significantly reducing their burden and improving training efficiency.

[0020] The arm restraint is more comfortable. The pneumatic clamping structure inside the arm strap utilizes equidistantly spaced strips of airbags connected by a single inflation and deflation tube. The clamping force can be adjusted based on the patient's arm size and comfort needs, avoiding the potential for overtightening or loosening caused by traditional fixation methods such as elastic bands and Velcro. The integrally molded arm groove on the cushion better secures the arm, increasing patient comfort and enabling them to maintain a good condition during training, further facilitating rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a three-dimensional Figure 1 ;

[0022] Figure 2 This is a three-dimensional Figure 2 ;

[0023] Figure 3 It is a left view of the utility model;

[0024] Figure 4 It is the main view of the present utility model.

[0025] As shown in the figure: 1. Base; 2. Training arm; 3. Screw lifter; 4. Fixed arm; 5. Placement cushion; 6. Arm fixing strap; 7. Extension plate; 8. Cylinder; 9. Japanese-style frame; 10. Foam sleeve; 11. Strip airbag; 12. Inflation and deflation tube; 13. Vertical frame; 14. Control panel; 15. Travel wheel; 16. Electric telescopic rod; 17. Arm slot. DETAILED DESCRIPTION

[0026] The present invention will be described in further detail below with reference to the accompanying drawings.

[0027] Combined with attachment Figure 4A upper limb rehabilitation training robot includes a base 1 and a training arm 2. The base 1 is connected to a fixed walking wheel 15 below. The fixed walking wheel 15 enables the device to be flexibly moved, which is convenient for use in different places and increases the use scenarios of the device. When it needs to be fixed, it can be stably parked to ensure the safety of the training process. The base 1 is connected to a screw lifter 3. The screw lifter 3 is connected to a fixed arm 4. The training arm 2 is arranged on one side of the fixed arm 4. A distance adjustment structure is provided between the fixed arm 4 and the training arm 2. The distance adjustment structure is an electric telescopic rod 16 connected to the bottom of the fixed arm 4 and the training arm 2. The protruding end of the electric telescopic rod 16 is connected to the training arm 2. The main body of the electric telescopic rod 16 is connected to the fixed arm 4. The electric telescopic rod 16 can accurately adjust the distance between the fixed arm 4 and the training arm 2 to meet the differences in arm length and training needs of different patients, thereby improving the adaptability and versatility of the device.

[0028] Combined with attachment Figure 1 The training arm 2 and the fixed arm 4 are both provided with a placement cushion 5, and the placement cushion 5 is integrally formed with an arm slot 17 for placing the arm. The arm slot 17 on the placement cushion 5 can better fix the position of the arm and prevent the arm from shifting during training, thereby improving the accuracy and effect of training and increasing the comfort of the patient. The fixed arm 4 and the training arm 2 are both connected with an arm fixing strap 6 fixed by Velcro, and the inner side of the arm fixing strap 6 is provided with a pneumatic clamping structure for clamping the arm, and the pneumatic clamping structure includes strip air bags 11 equidistantly arranged on the inner side of the arm fixing strap 6, and the strip air bags 11 are connected by the same inflation and discharge air pipe 12, and the inflation and discharge air pipe 12 is connected to an external pressure regulating air supply device. This pneumatic clamping structure can provide uniform and adjustable clamping force for the arm through the equidistant strip air bags 11. They are connected by the same inflation and discharge tube 12, which facilitates unified control of the clamping degree and adapts to the thickness and comfort needs of different patients' arms, avoids the problem of local over-tightness or over-looseness that may be caused by traditional fixation methods, and improves the comfort and stability of fixation.

[0029] Combined with attachment Figure 2, a protruding plate 7 is connected to the protruding end of the training arm 2. A cylinder 8 is connected below the protruding plate 7. The protruding end of the cylinder 8 passes through the protruding plate 7 and is connected with a figure-eight frame 9. A foam sleeve 10 is provided on the horizontal bar in the middle of the figure-eight frame 9. A vertical frame 13 is connected to the upper surface of the base 1. The screw jack 3 is arranged in the vertical frame 13. Guide grooves are provided on both sides inside the vertical frame 13. Guide blocks adapted to the guide grooves are connected to both sides of the nut seat of the screw jack 3. The vertical frame 13 provides a stable installation position for the screw jack 3. The design of the guide grooves ensures the smoothness and accuracy of the lifting process of the screw jack 3, reduces shaking and deviation, and improves the reliability and safety of the equipment. A control panel 14 is connected to the middle of one side of the vertical frame 13. The control panel 14 is arranged in the middle of one side of the vertical frame 13, with a prominent position, which is convenient for the operator to operate and monitor intuitively and conveniently, and improves the efficiency of equipment use. [[ID=!]]

[0030] Working principle: For a patient with an upper limb injury undergoing rehabilitation training, the staff moves the upper limb rehabilitation training robot to a suitable position through the fixed travel wheels 15 and fixes it to ensure that the equipment does not move during the training process. The patient sits in front of the equipment. According to their own height and arm length, the staff starts the screw jack 3 through the operation of the control panel 14 to adjust the height of the fixed arm 4. At the same time, the electric telescopic rod 16 is used to adjust the distance between the fixed arm 4 and the training arm 2 to adapt to the patient's physical conditions. The patient places the arm on the placement cushion 5 with an arm groove 17, and then wraps the arm fixing band 6 with a magic tape. The palm holds the foam sleeve 10 of the figure-eight frame 9. Through an external pressure-regulating gas supply device, the strip-shaped airbag 11 is inflated via the air charging and discharging pipe 12 to clamp the patient's arm with a comfortable and stable force. The patient follows the guidance of the equipment for upper limb rehabilitation training. During the training process, the guide grooves in the vertical frame 13 ensure the smooth operation of the screw jack 3 to realize the up and down movement of the arm for training the arm. The cylinder 8 is started to extend and retract, driving the figure-eight frame 9 to perform up and down movements to realize wrist training. The arm fixing band 6 on the fixed arm 4 is untied, and the electric telescopic rod 16 is started to extend and retract to realize the forward and backward retraction training of the arm. This design improves the safety and effectiveness of the training.

[0031] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; for those of ordinary skill in the art, the specific meaning of the above terms in the present invention can be understood according to specific situations.

[0032] The above description of the present invention and its embodiments is non-limiting. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if a person skilled in the art is inspired by the above, and does not deviate from the purpose of the present invention, without inventive design, a structure and embodiment similar to the technical solution should fall within the scope of protection of the present invention.

Claims

1. An upper limb rehabilitation training robot, characterized by: The invention comprises a base (1) and a training arm (2), wherein a screw lifter (3) is connected to the base (1), a fixed arm (4) is connected to the screw lifter (3), the training arm (2) is arranged on one side of the fixed arm (4), a distance adjustment structure is provided between the fixed arm (4) and the training arm (2), a soft cushion (5) is provided on both the training arm (2) and the fixed arm (4), an arm fixing belt (6) fixed by Velcro is connected to the fixed arm (4) and the training arm (2), a pneumatic clamping structure for clamping the arm is provided on the inner side of the arm fixing belt (6), the protruding end of the training arm (2) is connected to a protruding plate (7), a cylinder (8) is connected to the lower side of the protruding plate (7), the protruding end of the cylinder (8) passes through the protruding plate (7) and is connected to a Japanese-shaped frame (9), and a foam sleeve (10) is provided on the cross bar in the middle of the Japanese-shaped frame (9).

2. The upper limb rehabilitation training robot according to claim 1, characterized in that: The pneumatic clamping structure comprises strip-shaped air bags (11) equidistantly arranged on the inner side of the arm fixing belt (6); the strip-shaped air bags (11) are connected by a same inflation and deflation pipe (12); and the inflation and deflation pipe (12) is connected to an external pressure regulating air supply device.

3. The upper limb rehabilitation training robot according to claim 1, characterized in that: A vertical frame (13) is connected to the base (1), and the screw lifter (3) is arranged in the vertical frame (13). Both sides of the vertical frame (13) are provided with guide grooves, and both sides of the nut seat of the screw lifter (3) are connected with guide grooves that are compatible with the guide grooves.

4. The upper limb rehabilitation training robot according to claim 3, characterized in that: A control panel (14) is connected to the middle of one side of the vertical frame (13).

5. The upper limb rehabilitation training robot according to claim 1, characterized in that: The base (1) is provided with a fixed running wheel (15) connected to the bottom.

6. The upper limb rehabilitation training robot according to claim 1, characterized in that: The distance adjustment structure is an electric telescopic rod (16) connected to the bottom of the fixed arm (4) and the training arm (2), the extended end of the electric telescopic rod (16) is connected to the training arm (2), and the main body of the electric telescopic rod (16) is connected to the fixed arm (4).

7. The upper limb rehabilitation training robot according to claim 1, characterized in that: An arm groove (17) for placing an arm is integrally formed on the placement cushion (5).

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