Intelligent rehabilitation shifting robot with mileage counter

Abstract

The utility model relates to the technical field of rehabilitation equipment, in particular to an intelligent rehabilitation shifting robot with a mileage counter, which comprises an exoskeleton frame, a sling is fixedly connected to the top of the exoskeleton frame, handrails are fixedly connected to two sides of the outer part of the exoskeleton frame, traveling wheels and universal wheels are mounted at the bottom of the exoskeleton frame, and the mileage counter is mounted at the bottom of the exoskeleton frame. The walking wheels and the universal wheels are oppositely arranged, the two sets of walking wheels and the two sets of universal wheels are arranged, mounting frames are further fixedly connected to the two sides of the bottom of the exoskeleton frame, and anti-falling wheels are rotationally connected to the outer portions of the mounting frames; according to the rehabilitation device, after a patient wears the exoskeleton frame, the exoskeleton frame assists the patient in rehabilitation walking, through the arrangement of the anti-falling wheels, when the body of the patient leans backwards due to the unstable gravity center in the walking process, the anti-falling wheels can rapidly make contact with the ground, effective supporting is formed, and the patient is prevented from leaning backwards and turning over together with the exoskeleton frame; and the safety in the rehabilitation training process is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of rehabilitation equipment, in particular to an intelligent rehabilitation transfer robot with a mileage counter. Background Art

[0002] Orthopedic trauma patients require rehabilitation training to restore limb mobility. As a key step in restoring lower limb function, rehabilitation walking training is of great significance for patients to regain their ability to care for themselves and improve their quality of life.

[0003] However, currently, patients undergoing rehabilitation walking training primarily rely on handcarts. This traditional method has numerous drawbacks, the most significant of which is the potential for rollover. Handcarts are relatively simple in structure, providing only a basic support frame and lacking a stable anti-tip structure or effective protective measures. In the early stages of rehabilitation, patients have poor limb coordination and balance, resulting in an unstable center of gravity while walking. A single misstep could cause the cart to tip over, resulting in secondary injuries. Utility Model Content

[0004] In current clinical practice, patients mainly rely on handcarts for assistance during rehabilitation walking training. This traditional method has many disadvantages, the biggest safety hazard of which is the technical problem of easy rollover. The utility model provides an intelligent rehabilitation transfer robot with a mileage counter.

[0005] The technical solution adopted by the present invention is: an intelligent rehabilitation transfer robot with a mileage counter, including an exoskeleton frame, the top of the exoskeleton frame is fixedly connected to a sling, the two sides of the outside of the exoskeleton frame are also fixedly connected to armrests, the bottom of the exoskeleton frame is equipped with walking wheels and universal wheels, the walking wheels and universal wheels are arranged opposite to each other, and there are two groups of walking wheels and universal wheels, the two sides of the bottom of the exoskeleton frame are also fixedly connected to mounting frames, the outside of the mounting frame is rotatably connected to anti-fall wheels, and the outside of the exoskeleton frame is also provided with a counting component.

[0006] The utility model is further configured as follows: the counting component includes a photoelectric sensor arranged on the outside of the walking wheel, a control unit and a photoelectric sensor installed on the exoskeleton frame, the outside of the exoskeleton frame is connected to a fixed cylinder, a plug rod is detachably connected to the fixed cylinder, the outside of the plug rod is fixedly connected to a mounting plate, the photoelectric sensor is fixedly connected to the mounting plate, the photoelectric sensor is electrically connected to the controller unit, and the outside of the walking wheel is fixedly connected to a reflective sticker.

[0007] The present invention is further configured such that the control unit includes a control module, a power supply module and a display screen.

[0008] The present invention is further configured such that a section of the insertion rod is fixedly connected to an iron block, a socket is provided in the fixing cylinder, and a magnet is fixedly connected to the bottom of the socket.

[0009] The present invention is further configured such that a limiting sleeve is fixedly connected in the insertion hole, and the limiting sleeve is arranged on the outside of the insertion rod.

[0010] The present invention is further configured such that the end of the fixing tube is fixedly connected with a stud, and the stud is threadedly connected to the exoskeleton frame.

[0011] The present invention is further configured such that the insertion rod is a rectangular parallelepiped structure.

[0012] The beneficial effect of the present invention is that after the patient wears the exoskeleton, the exoskeleton assists the patient in rehabilitation walking, and through the provision of anti-fall wheels, when the patient's body falls backward due to unstable center of gravity during walking, the anti-fall wheels can quickly contact the ground to form effective support, preventing the patient from falling backward and overturning together with the exoskeleton, thereby improving the safety during rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the main structure of the utility model;

[0014] Figure 2 yes Figure 1 Schematic diagram of the enlarged structure of area A in the middle;

[0015] Figure 3 This is a schematic diagram of the cross-sectional structure of the fixed cylinder in the utility model;

[0016] Figure 4 This is a schematic diagram of the main structure of the exoskeleton frame and the running wheels in the utility model;

[0017] Figure 5 This is a schematic diagram of the main structure of the exoskeleton frame in the utility model;

[0018] Figure 6 It is a schematic diagram of the sitting structure of the exoskeleton frame in the utility model.

[0019] The following are marked in the figure:

[0020] 1. Exoskeleton; 2. Sling; 3. Handrail; 4. Travel wheel; 5. Universal wheel; 6. Mounting frame; 7. Anti-fall wheel; 8. Fixing tube; 9. Mounting plate; 10. Insert rod; 11. Photoelectric sensor; 12. Reflective sticker; 13. Stud; 14. Socket; 15. Limit sleeve; 16. Magnet; 17. Iron block; 18. Display screen. DETAILED DESCRIPTION

[0021] In the description of the present invention, it should be noted that the terms "front", "up", "down", "left", "right", "vertical", "horizontal", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0022] The following is combined with Figure 1-6 The utility model is further described.

[0023] In order to solve the problems existing in the background technology, the present application proposes the following technical solutions: an intelligent rehabilitation transfer robot with an mileage counter, comprising an exoskeleton frame 1, a sling 2 fixedly connected to the top of the exoskeleton frame 1, and handrails 3 fixedly connected to the outside of the exoskeleton frame 1. The bottom of the exoskeleton frame 1 is equipped with walking wheels 4 and universal wheels 5, the walking wheels 4 and universal wheels 5 are arranged opposite to each other, and there are two groups of walking wheels 4 and universal wheels 5. The bottom two sides of the exoskeleton frame 1 are also fixedly connected to mounting frames 6, and the outside of the mounting frame 6 is rotatably connected to anti-fall wheels 7. The outside of the exoskeleton frame 1 is also provided with a counting component (provided with a code scanning function for easy code scanning); the exoskeleton frame 1 serves as the core supporting structure and is made of high-strength and lightweight alloy material, which not only ensures the stability of the structure and can withstand the weight of the user and various forces generated during walking, but also does not bring excessive burden to patients undergoing rehabilitation. The sling 2 fixed at the top is scientifically and rationally designed. It is made of soft and breathable material, fits the curve of the human body, and can be flexibly adjusted according to the patient's body shape. By tightly binding the patient to the exoskeleton 1, it not only provides reliable support for the patient, but also provides necessary protection during walking to prevent the patient from falling due to body imbalance.

[0024] The handrails 3 on either side of the exoskeleton 1 are of moderate height and feature a non-slip finish, making them convenient for patients to grip during walking rehabilitation. For patients with limited mobility and poor balance, the handrails 3 serve not only as a support point but also as a crucial aid in boosting their walking confidence. Patients can adjust their grip on the handrails 3 based on their recovery progress, using them as support when necessary to maintain stability and gradually improve their balance and walking abilities.

[0025] Among them, the running wheels 4 and universal wheels 5 installed at the bottom cooperate with each other to give the rehabilitation transfer robot good mobility. The two sets of relatively arranged running wheels 4 provide the main forward power. The wheel surface is made of wear-resistant rubber material, which is in close contact with the ground and has strong grip, ensuring that the robot is stable and does not slip during walking. The universal wheels 5 enhance the steering flexibility of the robot. Whether in a narrow corridor or an open rehabilitation training site, it can easily perform operations such as turning and turning, making it convenient for patients to carry out rehabilitation training in different environments. The anti-fall wheels 7 rotatably connected to the mounting frames 6 on both sides of the bottom are a highlight. When the patient's body falls backward due to unstable center of gravity during walking, the anti-fall wheels 7 can quickly contact the ground to form effective support, preventing the patient from falling backward and overturning with the exoskeleton frame 1, greatly improving the safety during rehabilitation training. The counting component set on the outside of the exoskeleton frame 1 provides quantitative data support for rehabilitation training, helping medical staff and patients to understand the progress and effect of rehabilitation training in a timely manner.

[0026] In this embodiment, the counting assembly includes a photoelectric sensor 11 disposed on the exterior of the running wheel 4, a control unit mounted on the exoskeleton frame 1, and the photoelectric sensor 11. The exoskeleton frame 1 is externally connected to a fixing tube 8, a plug rod 10 being detachably connected to the fixing tube 8, and a mounting plate 9 being fixedly connected to the exterior of the plug rod 10. The photoelectric sensor 11 is fixedly connected to the mounting plate 9 and electrically connected to a controller unit. The control unit includes a control module, a power supply module, and a display screen 18. The controller unit is equipped with a PLC control component and a signal processing circuit, all of which are conventional. The photoelectric sensor 11 in the counting assembly is mounted on the exterior of the running wheel 4 and accurately detects the rotation of the running wheel 4 to calculate the travel distance. With each rotation of the running wheel 4, the reflective sticker 12 is blocked once, and the photoelectric sensor 11 senses the corresponding signal change and transmits the signal to the control unit. This detection method is highly accurate and is not subject to excessive interference from external environmental factors such as light and dust. It can stably and reliably record the number of rotations of the running wheel 4. The reflective sticker 12 is fixedly connected to the exterior of the running wheel 4.

[0027] In addition, the control unit, as the core of the entire counting component, integrates a control module, a power supply module and a display screen 18. The power supply module uses a large-capacity, long-lasting battery to provide stable power support for the entire control unit and the photoelectric sensor 11, ensuring that the counting component can continue to work normally during long-term rehabilitation training. The built-in PLC control component and signal processing circuit of the control module can quickly and accurately process and analyze the signals transmitted from the photoelectric sensor 11. According to parameters such as the diameter of the walking wheel 4 and the number of rotations, the actual walking distance of the patient is obtained through precise mathematical calculations.

[0028] In addition, the fixed tube 8 and the insertion rod 10 connected to the outside of the exoskeleton 1 constitute a detachable installation structure for the photoelectric sensor 11. The iron block 17 fixedly connected to one end of the insertion rod 10 attracts the magnet 16 at the bottom of the socket 14 of the fixed tube 8, which ensures that the insertion rod 10 is firmly installed while facilitating disassembly and installation. The limiting sleeve 15 in the socket 14 is sleeved on the outside of the insertion rod 10, further enhancing the stability of the insertion rod 10 after installation and preventing it from shaking or shifting during use. The stud 13 at the end of the fixed tube 8 is threadedly connected to the exoskeleton 1 to ensure that the fixed tube 8 itself is firmly installed. This detachable design facilitates the installation, debugging and maintenance of the photoelectric sensor 11. When the photoelectric sensor 11 fails or needs to be calibrated or replaced, medical staff can easily disassemble it for processing without the need for complicated disassembly of the entire rehabilitation displacement robot, which greatly improves the maintenance efficiency of the equipment and reduces maintenance costs. Finally, the calculated walking distance will be intuitively displayed on the display screen 18 of the control unit, which is convenient for patients and medical staff to check at any time, providing important data basis for the formulation and adjustment of rehabilitation training plans.

[0029] In this embodiment, a section of the insertion rod 10 is fixedly connected to an iron block 17, a socket 14 is provided in the fixed tube 8, and a magnet 16 is fixedly connected to the bottom of the socket 14. A limiting sleeve 15 is fixedly connected inside the socket 14, and the limiting sleeve 15 is sleeved on the outside of the insertion rod 10. The end of the fixed tube 8 is fixedly connected to a stud 13, and the stud 13 is threadedly connected to the exoskeleton frame 1. The insertion rod 10 is a rectangular parallelepiped structure; the iron block 17 fixedly connected to one end of the insertion rod 10 forms a magnetic connection with the magnet 16 at the bottom of the socket 14 of the fixed tube 8. This connection method is easy to operate. You only need to align the insertion rod 10 with the socket 14 and insert it. The attraction between the iron block 17 and the magnet 16 can quickly fix the insertion rod 10 in place without the help of additional tools. During the installation process, the operator can quickly complete the installation of the photoelectric sensor 11, saving a lot of time and energy.

[0030] In addition, the limiting sleeve 15 fixedly connected in the socket 14 is sleeved on the outside of the insertion rod 10, and its role is crucial. The limiting sleeve 15 is made of high-strength and wear-resistant material, which can fit tightly on the outer surface of the insertion rod 10, and plays a role in positioning and limiting the insertion rod 10. It not only prevents the insertion rod 10 from rotating in the socket 14, ensuring that the photoelectric sensor 11 is always in the correct detection position and ensuring the accuracy of the counting; it can also effectively limit the up and down movement range of the insertion rod 10, preventing the insertion rod 10 from falling out of the socket 14 due to external force, and further enhancing the stability of the insertion rod 10 after installation. Even during rehabilitation training, if the patient generates large vibrations when walking, or the exoskeleton frame 1 moves on uneven ground, the limiting sleeve 15 can firmly fix the insertion rod 10, ensuring that the photoelectric sensor 11 works stably and reliably.

[0031] In addition, the stud 13 at the end of the fixing tube 8 is connected to the exoskeleton frame 1 through a threaded connection. This connection method is firm and reliable, and can stably install the fixing tube 8 on the exoskeleton frame 1.

[0032] The method of using this embodiment is as follows:

[0033] The patient who needs exercise rehabilitation wears the exoskeleton frame 1 and is bound by the sling 2. Then, the exoskeleton frame 1 assists the patient to perform walking rehabilitation.

[0034] The anti-fall wheels 7 can prevent the patient from falling backward along with the exoskeleton 1. When the patient is walking, the rotation of the walking wheels 4 can be detected by the photoelectric sensor 11, so that the number of circles of the walking wheels 4 can be recorded. Then, the distance walked by the patient can be calculated based on the diameter of the walking wheels 4 and the number of circles, and then displayed on the display screen 18.

[0035] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this utility model based on the specific circumstances.

[0036] While the embodiments of the present invention have been shown and described, it will be apparent to those skilled in the art that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent rehabilitation transfer robot with a mileage counter, characterized in that: The invention comprises an exoskeleton frame (1), wherein the top of the exoskeleton frame (1) is fixedly connected to a sling (2), and the outer sides of the exoskeleton frame (1) are also fixedly connected to handrails (3), and the bottom of the exoskeleton frame (1) is equipped with running wheels (4) and universal wheels (5), wherein the running wheels (4) and universal wheels (5) are arranged relative to each other, and the running wheels (4) and universal wheels (5) are each provided with two groups, and the bottom sides of the exoskeleton frame (1) are also fixedly connected to mounting frames (6), and the outer sides of the mounting frames (6) are rotatably connected to anti-fall wheels (7), and the outer side of the exoskeleton frame (1) is also provided with a counting component.

2. The intelligent rehabilitation transfer robot with a mileage counter according to claim 1, characterized in that: The counting assembly comprises a photoelectric sensor (11) arranged outside the walking wheel (4), a control unit installed on the exoskeleton frame (1) and the photoelectric sensor (11), the outside of the exoskeleton frame (1) is connected to a fixing cylinder (8), a plug rod (10) is detachably connected to the fixing cylinder (8), the outside of the plug rod (10) is fixedly connected to a mounting plate (9), the photoelectric sensor (11) is fixedly connected to the mounting plate (9), the photoelectric sensor (11) is electrically connected to the controller unit, and the outside of the walking wheel (4) is fixedly connected to a reflective sticker (12).

3. The intelligent rehabilitation transfer robot with a mileage counter according to claim 2, characterized in that: The control unit comprises a control module, a power supply module and a display screen (18).

4. The intelligent rehabilitation transfer robot with a mileage counter according to claim 2, characterized in that: A section of the insertion rod (10) is fixedly connected to an iron block (17), a socket (14) is provided in the fixing cylinder (8), and a magnet (16) is fixedly connected to the bottom of the socket (14).

5. The intelligent rehabilitation transfer robot with a mileage counter according to claim 4, characterized in that: A limiting sleeve (15) is fixedly connected inside the insertion hole (14), and the limiting sleeve (15) is sleeved on the outside of the insertion rod (10).

6. The intelligent rehabilitation transfer robot with a mileage counter according to claim 2, characterized in that: The end of the fixing cylinder (8) is fixedly connected to a stud (13), and the stud (13) is threadedly connected to the exoskeleton frame (1).

7. The intelligent rehabilitation transfer robot with a mileage counter according to claim 2, characterized in that: The insertion rod (10) is a rectangular parallelepiped structure.

Images