Training robot provided with traction structure and used for upper limb rehabilitation

Abstract

The utility model discloses an upper limb rehabilitation training robot with a traction structure, which relates to the field of rehabilitation training and comprises a seat plate, a machine body is mounted at the top of the seat plate, a machine frame is connected to the top of the machine body, and a controller is connected to the back of the machine body; according to the training robot provided with the traction structure and used for upper limb rehabilitation, the second arm plate can drive the forearm of a patient to swing in the rotating process through a winding rope, the patient can conduct rehabilitation training through traction, the movement of the arm can be simulated more naturally, the first arm plate can rotate through a fixing plate when moving, and the movement of the forearm can be simulated more naturally. When the first arm plate and the second arm plate rotate at the same time, the whole arm can be driven to conduct activity training, the rehabilitation effect of the training robot is further improved, clamping blocks can be clamped and positioned with clamping holes when resetting, rubber binding bands can be driven to position the arm when the clamping holes are positioned, and the upper limb fixing efficiency of the training robot is improved.

Description

Technical Field

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

[0002] Rehabilitation training is a process that helps individuals restore their health and function through systematic treatment and training. It is usually performed by professional rehabilitation physicians or therapists to help patients restore their physical functions and improve their quality of life. When problems occur in the human body, such as upper limb damage, professional equipment such as rehabilitation training robots are needed to speed up recovery. Upper limb rehabilitation training robots are a type of equipment that uses advanced robotic technology to assist in upper limb rehabilitation training. They can usually provide precise motion control and strength support to help patients perform complex and repetitive exercise training, and can more accurately monitor the patient's exercise progress. Robots are widely used in rehabilitation training.

[0003] In the prior art, a Chinese patent with authorization announcement number CN208492610U discloses an upper limb training robotic arm, which belongs to the field of rehabilitation training. Its technical highlights are that the utility model is an upper limb training robotic arm with a forearm sliding member at the connection between the forearm strap and the forearm structural member and a rear arm sliding member at the connection between the rear arm strap and the rear arm structural member. The forearm strap and the rear arm strap can slide relative to each other along the forearm structural member and the rear arm structural member according to the movement process of the arm, making the arm movement smoother and eliminating the pulling sensation on the arm caused by the forearm strap and the rear arm strap.

[0004] At present, most rehabilitation training robots on the market still have certain deficiencies in use. For example, as described in the above-mentioned document, the upper limb training robot arm is provided with a forearm sliding part at the connection between the forearm strap and the forearm structural part, and a rear arm sliding part at the connection between the rear arm strap and the rear arm structural part. The operation of the device is difficult to better simulate the normal movement of the arm, which reduces the rehabilitation effect. Secondly, the binding method of the device is relatively complicated and troublesome to use, so the existing structure needs to be improved. Utility Model Content

[0005] The purpose of the present utility model is to provide a training robot for upper limb rehabilitation provided with a traction structure, so as to solve the problems raised in the above background technology that the training robot is inconvenient for traction training, cannot better simulate the natural training method, and the steps for positioning the upper limbs are cumbersome, which affects the efficiency of the machine.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solution: a training robot for upper limb rehabilitation provided with a traction structure, comprising a seat plate, a machine body mounted on the top of the seat plate, a machine frame connected to the top of the machine body, and a controller connected to the back of the machine body;

[0007] An L-shaped plate is fixed to the left side of the machine frame, and a traction mechanism for pulling the upper limb movement is provided on the side of the machine frame, and the traction mechanism includes a fixed plate, and the fixed plate is fixed to the bottom of the machine frame, the side of the fixed plate is rotatably connected to the first arm plate, the front of the first arm plate is connected to the second arm plate, and the side of the second arm plate is symmetrically fixed with a connecting block, and a rotating block is fixed on the left side, and the rotating block rotates through the inside of the first arm plate, and a rotating wheel is installed on the outside of the second arm plate, and a winding groove is opened at the bottom of the machine frame, and a motor is installed inside the winding groove, and a winding rope is wound around the motor and the surface of the rotating wheel;

[0008] The upper surfaces of the first arm plate and the second arm plate are connected with rubber straps, and the first arm plate and the second arm plate are provided with binding mechanisms for binding the upper limbs.

[0009] Furthermore, the first arm plate and the second arm plate are attached to the upper surface of the L-shaped plate, and the motor is connected to the winding rope and the rotating wheel in a transmission manner.

[0010] Furthermore, a pushing mechanism for driving the first arm plate to move is provided inside the second arm plate, and the pushing mechanism includes a guide groove, and the guide groove is opened through the side surface of the second arm plate, and an electric push rod is installed inside the guide groove.

[0011] Furthermore, a guide block is fixed to the top of the electric push rod, and the guide block slides through the guide groove, and the two sides of the guide block are fixed to the inner side of the connecting block. A rotating groove is opened through the side of the first arm plate, and a rotating block rotates and slides through the rotating groove. A positioning block is fixed to the right end of the inner side of the rotating groove, and a through hole is opened through the side of the rotating block.

[0012] Furthermore, the guide block is slidably connected to the guide groove, the guide block is an integral structure with the connecting block and the rotating block, the rotating block is rotatably and slidably connected to the rotating groove, and the positioning block is slidably connected to the through hole.

[0013] Furthermore, the binding mechanism includes a locking hole, which is opened through the surface of the rubber strap, and there are multiple locking holes. The upper surface of the first arm plate and the second arm plate are both opened through a slot, and the side of the slot is opened through a slide groove, a spring is connected inside the slide groove, the end of the spring is connected to a push plate, and a card block is fixed on the side of the push plate.

[0014] Furthermore, the push plate and the clamping block are an integrated structure, and the push plate is telescopically connected to the slide groove through a spring, and the clamping block is clampingly connected to the clamping hole.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] 1. This upper limb rehabilitation training robot, equipped with a traction structure, uses a winding rope to enable the second arm plate to rotate and drive the patient's forearm to swing, allowing the patient to perform rehabilitation training through traction and simulating arm movements more naturally. The first arm plate can rotate through the fixed plate when moving. When the first and second arm plates rotate simultaneously, the entire arm can be driven for movement training, further improving the rehabilitation effect of the training robot. When the clamping block is reset, it can be locked and positioned with the locking hole. When the locking hole is positioned, it can drive the rubber strap to position the arm, improving the efficiency of the training robot in fixing the upper limb.

[0017] 2. An L-shaped plate is provided to improve the stability of the first arm plate and the second arm plate when they are placed flat, and to provide additional support for the first arm plate and the second arm plate;

[0018] 3. A coiled rope is provided, and the inclined traction of the coiled rope can better simulate the natural activity training of the upper limbs, which can improve the effect of rehabilitation training;

[0019] 4. A rotating wheel is provided. The rotation of the rotating wheel and the second arm plate can reduce the resistance during rope winding and traction, which can reduce the power consumption of traction, make the operation smoother, and be more convenient to use;

[0020] 5. A positioning block and a rotating block are provided. Inserting the positioning block into the through hole can realize positioning with the rotating block, so that the upper arm can be driven for training without a separate output device, reducing production costs;

[0021] 6. A card block is provided, and the rubber strap can be directly inserted into the slot for positioning through the inclined surface of the card block. The operation is simple and can improve the efficiency of arm restraint and release. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall front-view three-dimensional structure of the utility model;

[0023] Figure 2 This is a schematic diagram of the overall test three-dimensional structure of the utility model;

[0024] Figure 3 This is a schematic diagram of the split three-dimensional structure of the machine frame of the utility model;

[0025] Figure 4 This is an enlarged three-dimensional structural diagram of the rotating block of the utility model;

[0026] Figure 5 This is an enlarged three-dimensional structural diagram of the rubber band of the utility model;

[0027] Figure 6 This is a schematic diagram of the sectional three-dimensional structure of the first arm plate of the present invention.

[0028] In the figure: 1. seat plate; 2. machine body; 3. machine frame; 4. controller; 301. L-shaped plate; 302. fixed plate; 303. first arm plate; 304. second arm plate; 305. connecting block; 306. rotating block; 307. rotating wheel; 308. winding groove; 309. motor; 310. winding rope; 311. guide groove; 312. electric push rod; 313. guide block; 314. rotating groove; 315. positioning block; 316. through hole; 317. rubber band; 318. engaging hole; 319. slot; 320. slide groove; 321. spring; 322. push plate; 323. clamping block. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0030] Example 1:

[0031] like Figure 1-Figure 3 The technical solution shown in the figure, the present invention provides the following technical solutions: In order to solve the problem that the training robot is inconvenient for pulling training, cannot better simulate the natural training method, and affects the rehabilitation effect, a pulling mechanism is disclosed:

[0032] It includes a seat plate 1, a machine body 2 is installed on the top of the seat plate 1, a machine frame 3 is connected to the top of the machine body 2, a controller 4 is connected to the back of the machine body 2, an L-shaped plate 301 is fixed to the left side of the machine frame 3, and a traction mechanism for pulling the upper limb movement is set on the side of the machine frame 3. The traction mechanism includes a fixed plate 302, and the fixed plate 302 is fixed to the bottom of the machine frame 3. The side of the fixed plate 302 is rotatably connected to the first arm plate 303, the front of the first arm plate 303 is connected to the second arm plate 304, and the side of the second arm plate 304 is symmetrically fixed with a connecting block 305. A rotating block 306 is fixed on the left side, and the rotating block 306 rotates through the inside of the first arm plate 303. A rotating wheel 307 is installed on the outside of the second arm plate 304. A winding groove 308 is opened at the bottom of the machine frame 3, and a motor 309 is installed inside the winding groove 308. A winding rope 310 is wound around the surface of the motor 309 and the rotating wheel 307. A rubber band 317 is connected to the upper surface of the first arm plate 303 and the second arm plate 304. A binding mechanism for binding the upper limbs is set inside the first arm plate 303 and the second arm plate 304. 304 is attached to the upper surface of the L-shaped plate 301, and the motor 309 is connected to the winding rope 310 and the rotating wheel 307 for transmission. When the training robot is used, the patient sits on the surface of the seat plate 1, and then with the help of other people, the patient's upper limbs and forearms are placed on the surfaces of the first arm plate 303 and the second arm plate 304 respectively. After the upper limbs are fixed, the motor 309 is started by the controller 4. When the motor 309 is started, the output end can wind the winding rope 310 wound on the surface. When the winding rope 310 is wound, it can drive the rotating wheel 307 to move, and the winding rope 310 can The rotating wheel 307 is driven to rotate, and when the rotating wheel 307 rotates, it can rotate through the second arm plate 304. When the rotating wheel 307 moves, it can drive the second arm plate 304 to rotate. When the second arm plate 304 rotates, it can drive the connecting block 305 to rotate. When the connecting block 305 rotates, the rotating block 306 can rotate through the first arm plate 303. During the rotation of the second arm plate 304, the patient's forearm can be driven to swing, so that the patient can perform rehabilitation training through traction, can simulate the movement of the arm more naturally, and improve the stability of the tissue during activity.

[0033] Example 2:

[0034] like Figure 1 、 Figure 2 and Figure 4 The technical solution shown in the figure, the present invention provides the following technical solution: In order to solve the problem that the pulling mechanism of the training robot is difficult to better drive the entire upper limb to perform rehabilitation training, based on the first embodiment, a pushing mechanism is disclosed:

[0035] The second arm plate 304 is also provided with a driving mechanism for driving the first arm plate 303 to move. The driving mechanism includes a guide groove 311, and the guide groove 311 is opened through the side of the second arm plate 304. An electric push rod 312 is installed inside the guide groove 311. A guide block 313 is fixed on the top of the electric push rod 312. The guide block 313 slides through the guide groove 311, and both sides of the guide block 313 are fixed on the inner side of the connecting block 305. A rotating groove 314 is opened through the side of the first arm plate 303, and a rotating sliding member is inserted into the rotating groove 314. The second arm plate 304 can be reset to fall on the upper surface of the L-shaped plate 301, and the output end of the electric push rod 312 can be started to push the guide block 313 and the guide groove 311 to slide. When the guide block 313 moves, the guide block 313 can slide through the guide groove 311 when it moves. When the guide block 313 slides, it can drive the connecting block 305 to slide. When the connecting block 305 slides, it can drive the rotating block 306 to move. When the rotating block 306 moves, it can slide through the rotating groove 314. When the rotating block 306 slides, the positioning block 315 can be inserted into the through hole 316. After the through hole 316 is inserted, the second arm plate 304 will not move significantly with the first arm plate 303 under the action of the inclined traction of the winding rope 310. The positioning block 315 can position the rotating block 306. At this time, the starting motor 309 drives the second arm plate 304 to rotate through the pulling mechanism. When the second arm plate 304 rotates, the rotating block 306 can squeeze the positioning block 315. When the positioning block 315 is squeezed, it can drive the first arm plate 303 to move. When the first arm plate 303 moves, it can rotate through the fixed plate 302. When the first arm plate 303 and the second arm plate 304 rotate at the same time, they can drive the entire arm to perform activity training, further improving the rehabilitation effect of the training robot.

[0036] Example 3:

[0037] like Figure 1 、 Figure 2 、 Figure 5 and Figure 6 The technical solution shown in the figure, the present invention provides the following technical solutions: In order to solve the problem that the steps are cumbersome when training the robot to position the upper limbs, which affects the efficiency of the machine, a binding mechanism is disclosed:

[0038] The binding mechanism includes a locking hole 318, which is opened through the surface of the rubber band 317, and there are multiple locking holes 318. A slot 319 is opened through the upper surface of the first arm plate 303 and the second arm plate 304, and a slide groove 320 is opened through the side of the slot 319. A spring 321 is connected inside the slide groove 320, and the end of the spring 321 is connected to the push plate 322. A block 323 is fixed to the side of the push plate 322. The push plate 322 and the block 323 are an integrated structure, and the push plate 322 is telescopically connected to the slide groove 320 through the spring 321, and the block 323 is locked with the locking hole 318. Before using the training robot, place the arm on the upper surface of the first arm plate 303 and the second arm plate 304, then move one end of the rubber band 317 around the arm surface to the top of the slot 319 for insertion. When the end of the rubber band 317 is inserted into the inclined surface of the block 323, When the arm is restrained, the rubber strap 317 can be pulled downward to restrain the arm. After the arm is restrained, the rubber strap 317 can drive the other engaging hole 318 to move to the side of the block 323. At this time, the spring 321 can push the push plate 322 to reset through its own elastic force. When the push plate 322 is reset, the block 323 can be reset to its original position. When the block 323 is reset, it can be engaged with the engaging hole 318 for positioning. When the engaging hole 318 is positioned, it can drive the rubber strap 317 to position the arm, thereby improving the efficiency of the training robot in fixing the upper limbs and improving the convenience of use.

[0039] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A training robot for upper limb rehabilitation with a pulling structure, comprising a seat plate (1), a machine body (2) mounted on the top of the seat plate (1), a machine frame (3) connected to the top of the machine body (2), and a controller (4) connected to the back of the machine body (2), characterized in that ； An L-shaped plate (301) is fixed on the left side of the machine frame (3), and a traction mechanism for pulling the upper limbs is provided on the side of the machine frame (3), the traction mechanism includes a fixed plate (302), and the fixed plate (302) is fixed to the bottom of the machine frame (3), the fixed plate (302) is rotatably connected to the first arm plate (303) on the side, the front of the first arm plate (303) is connected to the second arm plate (304), and the second arm plate (304) is symmetrically fixed with a connecting block (305) on the side, and a rotating block (306) is fixed on the left side, and the rotating block (306) rotates through the inside of the first arm plate (303), and a rotating wheel (307) is installed on the outside of the second arm plate (304). A winding groove (308) is opened at the bottom of the machine frame (3), and a motor (309) is installed inside the winding groove (308), and a winding rope (310) is wound around the surface of the motor (309) and the rotating wheel (307); The upper surfaces of the first arm plate (303) and the second arm plate (304) are connected with rubber bands (317), and the first arm plate (303) and the second arm plate (304) are internally provided with binding mechanisms for binding the upper limbs.

2. The upper limb rehabilitation training robot with a pulling structure according to claim 1, characterized in that: The first arm plate (303) and the second arm plate (304) are attached to the upper surface of the L-shaped plate (301), and the motor (309) is in transmission connection with the winding rope (310) and the rotating wheel (307).

3. The upper limb rehabilitation training robot with a pulling structure according to claim 1, characterized in that: A pushing mechanism for driving the first arm plate (303) to move is further provided inside the second arm plate (304), and the pushing mechanism includes a guide groove (311), and the guide groove (311) is opened through the side of the second arm plate (304), and an electric push rod (312) is installed inside the guide groove (311).

4. The upper limb rehabilitation training robot with a pulling structure according to claim 3, characterized in that: A guide block (313) is fixed on the top of the electric push rod (312), and the guide block (313) slides through the guide groove (311). Both sides of the guide block (313) are fixed on the inner side of the connecting block (305). A rotating groove (314) is opened through the side of the first arm plate (303), and a rotating block (306) rotates and slides through the inside of the rotating groove (314). A positioning block (315) is fixed to the right end of the inner side of the rotating groove (314), and a through hole (316) is opened through the side of the rotating block (306).

5. The upper limb rehabilitation training robot with a pulling structure according to claim 4, characterized in that: The guide block (313) is connected to the guide groove (311) in a sliding manner. The guide block (313) is integrated with the connecting block (305) and the rotating block (306). The rotating block (306) is connected to the rotating groove (314) in a rotational sliding manner. The positioning block (315) is connected to the through hole (316) in a sliding manner.

6. The upper limb rehabilitation training robot with a pulling structure according to claim 1, characterized in that: The binding mechanism includes a snap-fitting hole (318), which is opened through the surface of the rubber band (317), and a plurality of snap-fitting holes (318) are provided. A slot (319) is opened through the upper surface of the first arm plate (303) and the second arm plate (304), and a slide groove (320) is opened through the side of the slot (319). A spring (321) is connected inside the slide groove (320), and a push plate (322) is connected to the end of the spring (321). A block (323) is fixed to the side of the push plate (322).

7. The upper limb rehabilitation training robot with a pulling structure according to claim 6, characterized in that: The push plate (322) and the clamping block (323) are an integral structure, and the push plate (322) is telescopically connected to the slide groove (320) via a spring (321), and the clamping block (323) is clamped to the clamping hole (318).

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