Multi-dimensional bedside rehabilitation training system

Abstract

The utility model discloses a multidimensional bedside rehabilitation training system which comprises a main device, a mechanical arm and a training assembly, the mechanical arm comprises a big arm and a small arm, one end of the big arm is installed on the main device, the big arm is driven by a first joint to rotate around a J1 axis and driven by a second joint to rotate around a J2 axis, one end of the small arm is rotationally connected with the other end of the big arm, and the training assembly is installed on the main device. The training assembly comprises a connecting assembly and a supporting plate, the supporting plate comprises at least one of a hand supporting plate, a leg supporting plate and an ankle supporting plate, and the connecting assembly is installed at the other end of the forearm, driven by the fourth joint to rotate around the J4 axis and driven by the fifth joint to rotate around the J5 axis; the supporting plate is detachably installed on the connecting assembly in the using state, and only one of the hand supporting plate, the leg supporting plate and the ankle supporting plate is installed on the connecting assembly when the supporting plate is used every time. The multi-dimensional rehabilitation training device is simpler in structure and low in cost, rehabilitation training can be carried out on more parts of a patient, and multi-dimensional training can be carried out through the multi-dimensional rehabilitation training device.

Description

Technical Field

[0001] The utility model relates to a multi-dimensional bedside rehabilitation training system, belonging to the technical field of medical equipment. Background Art

[0002] With the increasing aging of the population and the increase in the number of patients with chronic diseases, the demand for bedside rehabilitation training equipment will continue to increase. Especially in the context of China's accelerated aging population, bedside rehabilitation training equipment can meet the rehabilitation needs of the elderly and patients with chronic diseases, and the market potential is huge. The development of bedside rehabilitation training equipment in China is relatively rich and diversified. There are various types of bedside rehabilitation training equipment on the market, including physical therapy equipment, functional beds, rehabilitation training equipment, etc., covering a range of different rehabilitation needs. Existing bedside upper and lower limb rehabilitation training equipment has a small training range and low degree of freedom. It can only perform single-plane training and cannot perform three-dimensional training. The training method is relatively simple. The existing bedside upper and lower limb rehabilitation device uses a six-axis robotic arm as the main function implementation body, which can achieve multi-dimensional training and rehabilitation training needs for different training parts. However, due to the use of a six-axis robotic arm as the main function implementation body, the existing bedside upper and lower limb rehabilitation device has a relatively complex structure and high cost. In addition, it can only perform rehabilitation training for the upper and lower limbs, but cannot perform corresponding rehabilitation training for the ankle joint, and its function is limited. Summary of the Invention

[0003] The purpose of this utility model is to provide a multi-dimensional bedside rehabilitation training system to solve the technical defects of the existing bedside upper and lower limb rehabilitation devices that use a six-axis robotic arm as the main body to implement the function, have a complex structure, high cost and cannot perform rehabilitation training on the ankle joint.

[0004] To solve the above problems, the technical solution adopted by the present invention is: a multi-dimensional bedside rehabilitation training system, including a main device, a robotic arm and a training component, the robotic arm includes an upper arm and a lower arm, one end of the upper arm is installed on the main device, driven by the first joint to rotate about the J1 axis and driven by the second joint to rotate about the J2 axis, wherein the J1 axis is along the horizontal direction, the J2 axis is perpendicular to the J1 axis, one end of the lower arm is rotatably connected to the other end of the upper arm, and driven by the third joint to rotate about the J3 axis, and the J3 axis is parallel to the J2 axis, the training component includes a connecting component and a support plate, the support plate includes at least one of a hand support plate, a leg support plate and an ankle support plate, the connecting component is installed on the other end of the lower arm, driven by the fourth joint to rotate about the J4 axis and driven by the fifth joint to rotate about the J5 axis, wherein the J4 axis is parallel to the J3 axis, and the J5 axis is perpendicular to the J4 axis, the support plate is detachably installed on the connecting component when in use, and only one of the hand support plate, leg support plate and ankle support plate is installed on the connecting component each time it is used. The robotic arm in the present invention is a five-axis structure. Compared with the existing technology, the structure of the robotic arm in the present invention is simple, which makes the overall structure of the present invention simpler and reduces the manufacturing cost of the present invention. The support plate in the present invention includes at least one of a hand support plate, a leg support plate and an ankle support plate. By replacing different support plates, rehabilitation training can be performed on the patient's upper limbs, lower limbs and ankle joints respectively. Compared with the existing technology, the present invention can perform rehabilitation training on more parts of the patient.

[0005] As a further improvement of the present invention, a base is mounted on the main device, a first joint is mounted on the base, a second joint is mounted on the first joint, one end of the upper arm is mounted on the second joint, a third joint is mounted on the other end of the upper arm, one end of the lower arm is connected to the other end of the upper arm using a curved pipe, a fourth joint is mounted on the other end of the lower arm, a fifth joint is mounted on the fourth joint, and a connecting assembly is mounted on the fifth joint. The provision of a base in the present invention facilitates the rotational installation of the robotic arm and the main device.

[0006] As a further improvement of the present invention, one of the hand support plate, leg support plate and ankle support plate is detachably connected to the connecting assembly by a quick-insert assembly when in use. The quick-insert assembly includes a mounting shaft and a connecting seat. The mounting shaft can be quickly inserted into or pulled out from the connecting seat. A mounting shaft is fixed on each of the hand support plate, leg support plate and ankle support plate. The connecting seat is fixed on the connecting assembly. A center through hole A is provided on the connecting seat. A limit plate is slidably provided on the connecting seat. The limit plate can slide along the radial direction of the center through hole A. A center through hole B is provided on the limit plate. An annular limit groove is provided on the mounting shaft. The mounting shaft is inserted into the center through hole B through the center through hole A. The limit plate slides so that the edge of the center through hole B cooperates with the limit groove to prevent the mounting shaft from moving relative to the connecting seat. When the limit plate moves to a state where the center line of the center through hole B coincides with the center line of the mounting shaft, the mounting shaft can be pulled out from the connecting seat. The utility model uses a quick-insert component to facilitate the detachable connection of the hand support plate, leg support plate and ankle support plate with the connecting component during use, thereby facilitating the replacement of the hand support plate, leg support plate or ankle support plate according to the actual need for rehabilitation training.

[0007] As a further improvement of the present invention, the hand support plate includes a hand support plate body and a gripping handle. The mounting shaft and the gripping handle are arranged at the same end of the hand support plate body, and the mounting shaft and the gripping handle are respectively located on either side of the hand support plate body. The hand support plate body in the present invention is used to support the forearm, while the gripping handle is used for the patient to grasp during rehabilitation training. The mounting shaft and the gripping handle located on either side of the hand support plate body do not interfere with the fixation of the patient's forearm during use.

[0008] As a further improvement to the present invention, one end of the gripping handle is rotatably connected to the hand support body, and the gripping handle is provided with at least two first straps and at least one second strap. The first strap is used to secure the patient's forearm to the hand support body, and the second strap is used to secure the back of the patient's hand to the gripping handle. The provision of the first and second straps in the present invention can secure the patient's forearm and hand during upper limb rehabilitation training, preventing the patient's forearm from falling off the hand support body during rehabilitation training.

[0009] As a further improvement of the present invention, the leg support plate includes a leg support plate and a foot support plate, a mounting shaft is provided on the leg support plate, one end of the foot support plate is connected to one end of the leg support plate for fixing the mounting shaft, and the foot support plate and the mounting shaft are respectively located on either side of the leg support plate. The leg support plate in the present invention is used to fix the patient's calf when in use, and the foot support plate is used to fix the patient's foot when in use, ensuring that the angle between the foot and the calf remains unchanged during lower limb rehabilitation training.

[0010] As a further improvement of the present invention, the ankle splint includes an ankle splint body, a mounting shaft fixed at one end of one side of the ankle splint body, and both side edges of the ankle splint body and one end edge for fixing the mounting shaft extending toward a side away from the mounting shaft to form a limiting flange. The limiting flange on the ankle splint body for fixing one end of the mounting shaft is used to support the patient's heel when in use, and the limiting flanges on both sides of the ankle splint body are used to limit the patient's foot to the left and right when in use. The present invention supports and limits the foot by forming the limiting flanges on the edges of the ankle splint body, thereby facilitating the fixation of the patient's foot during use.

[0011] As a further improvement of the present invention, at least one third strap is provided on the ankle support body, and the third strap is used to tie the patient's instep to fix the patient's foot to the ankle support when in use. The present invention provides a third strap to tie the patient's foot, effectively preventing the patient's foot from falling off the ankle support when in use.

[0012] As a further improvement to the present invention, a fabric fastener is fixed to the side of the ankle support body away from the mounting axis. The fastener is used to fold over the patient's instep to wrap the patient's foot when in use. The fabric fastener provided in the present invention not only facilitates the fixation of the patient's foot, but also effectively reduces the discomfort caused by the third strap on the patient's foot.

[0013] As a further improvement to the present invention, the main device includes a chassis and an electrical cabinet. Four rollers are provided at the bottom of the chassis for movement. The electrical cabinet is mounted on the chassis, and one end of the boom is rotatably mounted on the top of the electrical cabinet. The chassis in the present invention is used to support the present invention, and the rollers provided on the chassis facilitate movement of the present invention to a desired location as needed.

[0014] As a further improvement of the present invention, four foot cups are provided on the chassis, and the foot cups can move up and down relative to the chassis. The chassis is provided with a rotating shaft, and a pedal is provided on the rotating shaft. Stepping on the pedal is used to rotate the rotating shaft, and the rotation of the rotating shaft is used to press the foot cups downward. In the use state, the foot cups move downward to support the chassis to prevent the chassis from moving. The present invention is provided with foot cups, and by stepping on the pedals, the rotating shaft rotates, and the rotating shaft presses the foot cups downward. In the use state, the foot cups support the present invention upward, which can effectively prevent the present invention from moving during use. When the foot cups move upward, the present invention is supported by rollers, and the present invention can be easily moved.

[0015] As a further improvement of the present invention, a first cam and a second cam are provided at both ends of the rotating shaft, wherein the first cam cooperates with the top of the foot cup located at both ends of the rotating shaft, and the second cam is rotatably connected to a connecting rod, and a third cam and a fourth cam are rotatably provided on both sides of the end of the chassis away from the rotating shaft, wherein the third cam and the fourth cam share the same rotating shaft, wherein the third cam is rotatably connected to the end of the connecting rod away from the second cam, and the fourth cam cooperates with the two foot cups away from the rotating shaft, and the top of each foot cup is connected to the chassis with an elastic element, and the pedal drives the rotating shaft to rotate, and the rotating shaft drives the first cam and the second cam to rotate, and the second cam drives the third cam and the fourth cam to rotate through the connecting rod, and the first cam and the fourth cam push the foot cup downward while pulling the elastic element to stretch and deform, and the pedal drives the rotating shaft to rotate in the opposite direction, driving the first cam, the second cam, the third cam and the fourth cam to rotate in the opposite direction, and the elastic element contracts to pull the foot cup upward. The utility model adopts the method of rotating a cam to press the foot cup downwards, so that the foot cup moves downwards. Due to the arrangement of an elastic element, the foot cup stretches and deforms when it moves downwards, and when the elastic element contracts, the foot cup is pulled upwards, so that the foot cup moves upwards and resets.

[0016] As a further improvement of the present invention, an armrest is provided on the connecting assembly for the therapist to drag the mechanical arm to move when in use. The present invention is provided with an armrest, and when in use, the therapist can hold the armrest and drag the mechanical arm to move, thereby determining the range of motion of the patient's rehabilitation.

[0017] In summary, the beneficial effects of the present invention are: compared with the existing technology, the structure of the present invention is simpler, the cost is low, and rehabilitation training can be performed on more parts of the patient. The present invention can perform multi-dimensional training, has a large range of motion, and a high degree of freedom. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional structural diagram of the utility model.

[0019] Figure 2 It is a three-dimensional structural schematic diagram of the utility model from another angle.

[0020] Figure 3 It is a schematic diagram of the three-dimensional structure of the mechanical arm in the present utility model.

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure of the chassis in the utility model.

[0022] Figure 5 It is a schematic diagram of the three-dimensional structure of the driving foot cup lifting in the utility model.

[0023] Figure 6 It is a structural schematic diagram of the utility model in which the foot cup is extended.

[0024] Figure 7 It is a structural schematic diagram of the utility model in which the foot cup and the cam are separated.

[0025] Figure 8 It is a three-dimensional structural schematic diagram of the hand tray in the utility model.

[0026] Figure 9 It is a three-dimensional structural schematic diagram of the leg support plate in the utility model.

[0027] Figure 10 It is a schematic diagram of the three-dimensional structure of the ankle support plate of the present invention.

[0028] Figure 11 It is a three-dimensional structural diagram of the training component in the present invention (equipped with a leg support plate).

[0029] Figure 12 It is a schematic diagram of the three-dimensional structure of the utility model used for upper limb rehabilitation training.

[0030] Figure 13 It is a schematic diagram of the three-dimensional structure of the utility model used for lower limb rehabilitation training.

[0031] Figure 14 It is a schematic diagram of the three-dimensional structure of the utility model used for ankle joint rehabilitation training.

[0032] Figure 15 It is a three-dimensional exploded schematic diagram of the quick-connect assembly in the utility model.

[0033] Among them: 1. Main device; 2. Robotic arm; 3. Training component; 4. Upper arm; 5. Lower arm; 6. First joint; 7. Second joint; 8. Third joint; 9. Connecting component; 10. Hand support plate; 11. Leg support plate; 12. Ankle support plate; 13. Fourth joint; 14. Fifth joint; 15. Base; 16. Bend pipe; 17. Mounting shaft; 18. Connecting seat; 19. Hand support plate body; 20. Grasping handle; 21. First cable tie; 22. Second cable tie; 23. Leg support plate; 24. Foot support plate; 25. Ankle support plate body; 26. Limit 1. Flange; 27. Third cable tie; 28. Fixing piece; 29. ​​Chassis; 30. Electrical cabinet; 31. Roller; 32. Pedal; 33. Foot cup; 34. Rotating shaft; 35. First cam; 36. Second cam; 37. Connecting rod; 38. Third cam; 39. Fourth cam; 40. Elastic element; 41. Armrest; 42. Handle support table; 43. Support beam; 44. Connecting plate; 45. Center through hole A; 46. Limiting plate; 47. Center through hole B; 48. Limiting slot; 49. Sliding slot; 50. Push plate; 51. Button. DETAILED DESCRIPTION

[0034] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0035] like Figure 1 、 Figure 2 and Figure 3 The multi-dimensional bedside rehabilitation training system shown includes a main device 1, a robotic arm 2 and a training component 3. The robotic arm 2 includes an upper arm 4 and a lower arm 5. The upper arm 4 is rotationally connected to the main device 1, and the lower arm 5 is rotationally connected to the upper arm 4. The training component 3 is installed on the lower arm 4.

[0036] like Figure 1 、 Figure 2 、 Figure 3 and Figure 11 As shown, one end of the upper arm 4 in the present invention is installed on the main device 1, and is driven by the first joint 6 installed on the main device 1 to rotate about the J1 axis and by the second joint 7 installed on the first joint 6 to rotate about the J2 axis, wherein the J1 axis is in the horizontal direction and the J2 axis is perpendicular to the J1 axis. One end of the forearm 5 is rotatably connected to the other end of the upper arm 4 and is driven by the third joint 8 installed on the upper arm 4 to rotate about the J3 axis, and the J3 axis is parallel to the J2 axis. The training component 3 in the present invention includes a connecting component 9 and a support plate, and the support plate includes a hand support plate 10, a leg support plate 11 and an ankle support plate 12. The connecting component 9 is installed on the other end of the forearm 5 and is driven by the fourth joint 13 installed on the forearm 5. The hand support plate 10 is installed on the connecting component 9 when the hand is used, and the leg support plate 11 is installed on the connecting component 9 at each time of use. When the upper limbs are subjected to rehabilitation training, the hand support plate 10 is installed on the connecting component 9. When the lower limbs are subjected to rehabilitation training, the hand support plate 10 is removed from the connecting component 9 and the leg support plate 11 is installed on the connecting component 9. When the ankle joint is subjected to rehabilitation training, the ankle support plate 12 is installed on the connecting component 9.

[0037] like Figure 3As shown, a base 15 is mounted on the main device 1 in the present invention. The base 15 is detachably mounted on the main device 1 using multiple bolts. The first joint 6 is mounted on the base 15, the second joint 7 is mounted on the first joint 6, one end of the upper arm 4 is mounted on the second joint 7, the third joint 8 is mounted on the other end of the upper arm 4, one end of the lower arm 5 is connected to the other end of the upper arm 4 using a bend 16, the fourth joint 13 is mounted on the other end of the lower arm 5, the fifth joint 14 is mounted on the fourth joint 13, and the connecting assembly 9 is mounted on the fifth joint 14. The first joint 6, the second joint 7, the third joint 8, the fourth joint 13 and the fifth joint 14 in the present invention have the same structure and are all prior art. They all include a connecting tube and a robot joint motor. The robot joint motor is mounted on the connecting tube, and its specific structure is not described in detail in this utility model.

[0038] In the present invention, one of the hand support plate 10, the leg support plate 11 and the ankle support plate 12 is detachably connected to the connecting component 9 by a quick plug component when in use. Figure 15 As shown, the quick-insert assembly in the present invention includes a mounting shaft 17 and a connecting seat 18. The mounting shaft 17 can be quickly inserted into the connecting seat 18 and fixed with the connecting seat 18, or quickly pulled out from the connecting seat 18. The present invention provides a central through hole A45 on the connecting seat 18, and a sliding groove 49 on the connecting seat 18. A limit plate 46 is slidingly arranged in the sliding groove 49. The limit plate 46 can slide radially along the central through hole A45. A central through hole B47 is provided on the limit plate 46. A push plate 50 is formed on the side of the limit plate 46 extending out of the connecting seat 18. The push plate is connected to a button 51 installed on the connecting seat 18. Pressing the button 51 can push the limit plate 46 to slide toward the inside of the connecting seat 18. When the button 51 is released, the button 51 rebounds, pushing the limit plate 46 to slide in the opposite direction. An annular limiting groove 48 is provided, and the installation shaft 17 is inserted into the center through hole B47 through the center through hole A45. The limiting plate 46 slides so that the edge of the center through hole B47 is stuck in the limiting groove 48 and cooperates with the limiting groove 48 to prevent the installation shaft 17 from moving relative to the connecting seat 18, thereby fixing the installation shaft 17 and the connecting seat 18. When the button 51 is pressed, the limiting plate 46 moves to a state where the center line of the center through hole B47 coincides with the center line of the installation shaft 17, and the installation shaft 17 can be pulled out from the connecting seat 18, thereby quickly disassembling the installation shaft 17 and the connecting seat 18. In the present utility model, a mounting shaft 17 is fixed on each of the hand support plate 10, the leg support plate 11 and the ankle support plate 12. The connecting seat 18 is fixed on the connecting assembly 9, and the mounting shafts 17 on the hand support plate 10, the leg support plate 11 and the ankle support plate 12 can all cooperate with the connecting seat 18 on the connecting assembly 9. Figure 8As shown, the hand support plate 10 in the present invention includes a hand support plate body 19 and a gripping handle 20, the mounting shaft 17 and the gripping handle 20 are arranged at the same end of the hand support plate body 19, and the mounting shaft 17 and the gripping handle 20 are respectively located on both sides of the hand support plate body 19. One end of the gripping handle 20 in the present invention is rotatably connected to the hand support plate body 19, and the present invention is fixed with a handle support truncated platform 42 at one end of the hand support plate body 19, and one end of the gripping handle 20 is rotatably connected to the handle support truncated platform 42 using a spherical hinge. The present invention is provided with at least two first straps 21 and at least one second strap 22 on the gripping handle 20, wherein the number of the first straps 21 is four, and the four first straps 21 are respectively fixed on both sides of the gripping handle 20 for holding the patient. The forearm is tied to the hand support plate body 19, the first strap 21 can be made of Velcro, or a belt buckle can be set on the first strap 21 on one side, and the first strap 21 on the other side can cooperate with the belt buckle to tie the patient's forearm. There are two second straps 22, one end of which is fixed to one end of the gripping handle 20, and one end of the other second strap 22 is fixed to the other end of the gripping handle 20. The two second straps 22 are used to tie the back of the patient's hand to the gripping handle 20.

[0039] like Figure 9 As shown, the leg rest plate 11 in the present invention includes a leg rest support plate 23 and a foot rest support plate 24, and the mounting shaft 17 is arranged on the leg rest support plate 23, and one end of the foot rest support plate 24 is rotatably connected to the one end of the leg rest support plate 23 for fixing the mounting shaft 17 by a rotating shaft, and the foot rest support plate 24 and the mounting shaft 17 are respectively located on both sides of the leg rest support plate 23. In the present invention, a fixing part is provided on the side of the rotational connection between the foot rest support plate 24 and the leg rest support plate 23 away from the leg rest support plate 23, which is used to fix the foot rest support plate 24 and the leg rest support plate 23 when they are adjusted to the desired angle, so as to prevent the leg rest support plate 24 from rotating relative to the leg rest support plate 23 when in use.

[0040] like Figure 10As shown, the ankle splint 12 of the present invention includes an ankle splint body 25, with a mounting shaft 17 fixed at one end of one side of the ankle splint body 25. The two side edges of the ankle splint body 25 and the edge of one end for fixing the mounting shaft 17 extend toward the side away from the mounting shaft 17 to form a limiting flange 26. The limiting flange 26 on the ankle splint body 25 for fixing one end of the mounting shaft 17 is used to support the patient's heel when in use, and the limiting flanges 26 on both sides of the ankle splint body 25 are used to limit the left and right positions of the patient's foot when in use. The present invention is provided with at least one third strap 27 on the ankle splint body 25. The third strap 27 is used to tie the patient's instep when in use to fix the patient's foot to the ankle splint 12. In the present invention, there are four third straps 27, which are fixed to both sides of the ankle splint body 25. A fabric fastener 28 is fixed to the ankle support body 25 on a side away from the mounting shaft 17. The fastener 28 can be glued to the ankle support body 25. The fastener 28 is used to fold over the patient's instep to wrap the patient's foot. When the present invention is in use, the fastener 28 is first used to wrap the patient's foot, and then the third strap 27 is used to tie the patient's foot.

[0041] like Figure 1 and Figure 2 As shown, the main equipment 1 in the present invention includes a chassis 29 and an electrical cabinet 30. The chassis 29 includes two parallel support beams 43 on the left and right and a connecting plate 44 with both ends fixedly connected to the support beams 43, so that the projection of the entire chassis 29 on the horizontal plane is H-shaped. Two rollers 31 are provided on the front and rear ends of the two support beams 43. The rollers 31 are used to move the chassis 29. The bottom end of the electrical cabinet 30 is detachably mounted on the connecting plate 44 of the chassis 29 by multiple bolts. The base 15 at one end of the arm 4 is detachably mounted on the top of the electrical cabinet 30 by bolts, so that the arm 4 is rotatably mounted on the top of the electrical cabinet 30. Electrical components such as power converters and control systems are installed in the electrical cabinet 30 in the present invention. The electrical components in the electrical cabinet 30 are all existing technologies and are not improvements of the present invention. A display, an emergency stop button, etc. are provided on the electrical cabinet 30. The electrical components themselves in the electrical cabinet 30 and the connection methods between them, as well as the connection methods between the control system and the robot joint motors are all existing technologies and are not described in detail in the present invention.

[0042] like Figures 4 to 7The bottom end of the support rod is fixedly connected to the support disc, and the top end of the support rod is fixedly connected to the limit disc, and the center lines of the support disc, the support rod and the limit disc coincide with each other. A rotating shaft 34 is provided between the two support beams 43 of the chassis 29, and the rotating shaft 34 is rotatably connected to the support beam 43. A pedal 32 is fixedly provided on the middle part of the rotating shaft 34. Stepping on the pedal 32 is used to rotate the rotating shaft 34, and the rotating shaft 34 is rotated to press the foot cup 33 downward. In use, the foot cup 33 moves downward to support the chassis 29, so that the roller 31 is in a suspended state to prevent the chassis 29 from moving. When the foot cup 33 moves upward to be higher than the lowest point of the roller 31, the roller 31 supports the chassis 29, and at this time, the chassis 29 can be pushed to move.

[0043] like Figures 5 to 7 As shown, the utility model is fixedly provided with a first cam 35 and a second cam 36 at both ends of the rotating shaft 34, wherein the first cam 35 cooperates with the limiting discs on the top of the foot cup 33 at both ends of the rotating shaft 34, and the second cam 36 is rotatably connected to a connecting rod 37, and the connecting rod 37 is rotatably connected to the raised part of the second cam 36 by a rotating pin. A third cam 38 and a fourth cam 39 are rotatably provided on both sides of the support beam 43 of the chassis 29 away from the rotating shaft 34, wherein the third cam 38 and the fourth cam 39 share the same rotating shaft and are fixedly connected to the rotating shaft, wherein the raised part of the third cam 38 is rotatably connected to the end of the connecting rod 37 away from the second cam 36 by a rotating pin, and the fourth cam 39 cooperates with the limiting discs of the two foot cups 33 away from the rotating shaft 34, and the limiting disc on the top of each foot cup 33 is connected to the support beam 43 of the chassis 29 by an elastic element 40. The utility model is provided with a limiting fixed The support plate 32 is provided with a plurality of screws and a support beam 43 for detachably mounting the support plate. The limit fixing plate guides and limits the up and down movement of the foot cup 33. When the pedal 32 is stepped on, the rotating shaft 34 is driven to rotate. The rotating shaft 34 drives the first cam 35 and the second cam 36 to rotate. The second cam 36 drives the third cam 38 and the fourth cam 39 to rotate synchronously through the connecting rod 37. The first cam 35 and the fourth cam 39 push the foot cup 33 to move downward and pull the elastic element 40 to stretch and deform until the support disc contacts the ground and supports the chassis 29. When the pedal 32 drives the rotating shaft 34 to rotate in the opposite direction, the first cam 35, the second cam 36, the third cam 38 and the fourth cam 39 are driven to rotate in the opposite direction. The elastic element 40 contracts and pulls the foot cup 33 to move upward, so that the foot cup 33 is out of contact with the ground and the chassis 29 is supported by the roller 31. The elastic element 40 in the utility model is a spring.

[0044] like Figure 11 As shown, the connection assembly 9 in the present invention includes an L-shaped mounting plate, a connecting flange and an armrest 41. The connecting seat 18 is fixed on the horizontal part of the mounting plate, the connecting flange is fixed on the end of the vertical part of the mounting plate away from the horizontal part, the armrest 41 is fixedly connected to the connecting flange, and the armrest 41 and the mounting plate are respectively located on the upper and lower sides of the connecting flange. When in use, the connecting flange is detachably mounted on the fifth joint 14 using multiple screws, wherein the armrest 41 is used for the therapist to drag the robotic arm 2 to operate when in use. The first joint 6, the second joint 7, the third joint 8, the fourth joint 13 and the fifth joint 14 in the present invention can independently perform rotational motion. When the first joint 6, the second joint 7, the third joint 8, the fourth joint 13 and the fifth joint 14 rotate at different angles, the robot arm 2 can move along any trajectory within a certain space, thereby driving the training component 3 to move, thereby enabling the patient to perform rehabilitation training with a large range and high degree of freedom. The present invention is provided with a sensor on the horizontal part of the mounting plate for identifying the hand support plate 10, the leg support plate 11 and the ankle support plate 12. The sensor and the technology for identifying the hand support plate 10, the leg support plate 11 and the ankle support plate 12 are existing technologies and will not be described in detail in the present invention.

[0045] The utility model is used for a bedside rehabilitation training method, comprising the following steps:

[0046] Step 1: Select a training component 3 according to the part of the patient that needs rehabilitation training, and install the training component 3 on the robotic arm 2.

[0047] Step 2: The patient is positioned, and the patient's arms, legs, or feet are placed on the corresponding training components 3 and fixed.

[0048] Step 3: Set training parameters, where the training parameters include training dimension and training mode.

[0049] Step 4: Conduct rehabilitation training.

[0050] Step 5: The patient leaves the training position and removes the patient's arms, legs or feet from the training component 3 .

[0051] The following explains the comprehensive training of upper limbs, comprehensive training of lower limbs and ankle joint training respectively.

[0052] like Figure 12 As shown in the figure, the method of using the multi-dimensional bedside rehabilitation training system for upper limb rehabilitation training is:

[0053] Step 1: Select the hand support plate 10 as the training part, insert the mounting shaft 17 of the hand support plate 10 into the connecting seat 18 on the connecting component 9, and have the therapist move the multi-dimensional bedside rehabilitation training system to the bedside.

[0054] Step 2: The patient lies on the bed in a natural supine position. The therapist adjusts the robotic arm 2 so that the hand support 10 is close to the patient's arm, places the patient's arm on the hand support 10 and makes the patient's hand grasp the gripping handle 20. The patient's arm is tied to the hand support body 19 by the first tie 21, and the patient's hand is tied to the gripping handle 20 by the second tie 22.

[0055] Step 3: The therapist selects the training dimension and training mode based on the patient's rehabilitation progress and motor ability.

[0056] The training dimensions include one-dimensional axial movement, two-dimensional planar movement and three-dimensional spatial movement; among them, in one-dimensional axial movement, the patient's range of motion is limited to the sagittal axis, vertical axis or coronal axis; in two-dimensional planar movement, the patient's range of motion is limited to the sagittal plane, horizontal plane or coronal plane; in three-dimensional spatial movement, the patient's range of motion is three-dimensional space; when selecting one-dimensional axial movement or two-dimensional planar movement, the therapist can quantitatively set the appropriate zero point position according to the patient's rehabilitation process and exercise ability, and exercise based on the zero point position; when performing one-dimensional axial movement, two-dimensional planar movement or three-dimensional spatial movement, the therapist can still quantitatively set the appropriate range of motion according to the patient's rehabilitation process and exercise ability.

[0057] The training modes include passive mode, assisted mode, active mode and resistance mode to choose from; in the passive mode, the multi-dimensional bedside rehabilitation training system drives the patient to perform rehabilitation training. In this mode, the multi-dimensional bedside rehabilitation training system drives the patient's upper limbs to move to the target position through the recorded training trajectory, and the patient cannot drive the multi-dimensional bedside rehabilitation training system to move toward the non-target point. In this mode, after the patient is in place, the therapist first drags the patient's upper limbs to move by dragging the armrest 41 for demonstration, and the multi-dimensional bedside rehabilitation training system records the training trajectory, and then the multi-dimensional bedside rehabilitation training system drives the patient's upper limbs to move along the recorded training trajectory; in the assisted mode, the multi-dimensional bedside rehabilitation training system assists the patient in rehabilitation training. In this mode, the multi-dimensional bedside rehabilitation training system provides auxiliary force to offset the gravity of the patient's upper limbs, and when the patient cannot independently move When the upper limbs move to the target position, the multi-dimensional bedside rehabilitation training system provides auxiliary force in the direction of the target position according to the set contraction speed. In this mode, after the patient is in position, the therapist first drags the patient's upper limbs to move by dragging the armrest 41 for teaching. The multi-dimensional bedside rehabilitation training system defines the target position based on the movement of dragging the patient's upper limbs. The multi-dimensional bedside rehabilitation training system assists the patient's upper limbs to move between the zero position and the target position; in the active mode, the patient drives the multi-dimensional bedside rehabilitation training system for rehabilitation training. In this mode, the multi-dimensional bedside rehabilitation training system provides auxiliary force to offset the gravity of the patient's upper limbs; in the impedance mode, the patient drives the multi-dimensional bedside rehabilitation training system for rehabilitation training. In this mode, the multi-dimensional bedside rehabilitation training system provides auxiliary force to offset the gravity of the patient's upper limbs, and provides reverse resistance in the direction of movement.

[0058] Step 4: The patient undergoes upper limb rehabilitation training. When the patient undergoes the first rehabilitation training, the gravity compensation setting value needs to be adjusted to offset the gravity of the patient's upper limbs. During the rehabilitation training, when the patient's movement speed exceeds the set range, the control system of the multi-dimensional bedside rehabilitation training system will control the robot joint motor to generate adaptive resistance opposite to the direction of movement, thereby protecting the patient from sports injuries. During the rehabilitation training, when it is detected that the patient's output is greater than the set spasm value, the control system will slowly stop in the direction of the spasm force, thereby protecting the patient from sports injuries. During the passive rehabilitation training, the control system can choose to record trajectory information with timeline information, which can fully reproduce the therapist's slow, fast, and pause techniques during the dragging teaching process. During the passive rehabilitation training, the therapist can choose to save this trajectory information for the rapid deployment of the patient's next rehabilitation treatment.

[0059] Step 5: The patient leaves the position and removes the patient's arm from the arm rest 10. The multi-dimensional bedside rehabilitation training system generates a training report based on the patient's movement during the training process, and the therapist helps the patient leave the multi-dimensional bedside rehabilitation training system.

[0060] like Figure 13 As shown, the method of using the multi-dimensional bedside rehabilitation training system for lower limb rehabilitation training is:

[0061] Step 1: Select the leg support 11 as the training part, insert the mounting shaft 17 of the leg support 11 into the connecting seat 18 on the connecting component 9, and have the therapist move the multi-dimensional bedside rehabilitation training system to the bedside.

[0062] Step 2: The patient lies on the bed in a natural supine position. The therapist adjusts the robotic arm 2 so that the leg rest 11 is close to the patient's calf, places the patient's calf on the leg support plate 23 of the leg rest 11, adjusts the foot support plate 24 to fit the sole of the patient's foot, and then uses a cable tie to tie the patient's calf to the leg rest 11 and the patient's foot to the foot support plate 24.

[0063] Step 3: The therapist selects the training dimension and training mode based on the patient's rehabilitation progress and motor ability.

[0064] The training dimensions include one-dimensional axial movement, two-dimensional planar movement and three-dimensional spatial movement; among them, in one-dimensional axial movement, the patient's range of motion is limited to the sagittal axis, vertical axis or coronal axis; in two-dimensional planar movement, the patient's range of motion is limited to the sagittal plane, horizontal plane or coronal plane; in three-dimensional spatial movement, the patient's range of motion is three-dimensional space; when selecting one-dimensional axial movement or two-dimensional planar movement, the therapist can quantitatively set the appropriate zero point position according to the patient's rehabilitation process and exercise ability, and exercise based on the zero point position; when performing one-dimensional axial movement, two-dimensional planar movement or three-dimensional spatial movement, the therapist can still quantitatively set the appropriate range of motion according to the patient's rehabilitation process and exercise ability.

[0065] The training modes include passive mode, assisted mode, active mode and resistance mode to choose from; in the passive mode, the multi-dimensional bedside rehabilitation training system drives the patient to perform rehabilitation training. In this mode, the multi-dimensional bedside rehabilitation training system drives the patient's lower limbs to move to the target position through the recorded training trajectory, and the patient cannot drive the multi-dimensional bedside rehabilitation training system to move toward the non-target point. In this mode, after the patient is in place, the therapist first drags the patient's lower limbs to move by dragging the armrest 41 for demonstration, and the multi-dimensional bedside rehabilitation training system records the training trajectory, and then the multi-dimensional bedside rehabilitation training system drives the patient's lower limbs to move along the recorded training trajectory; in the assisted mode, the multi-dimensional bedside rehabilitation training system assists the patient in rehabilitation training. In this mode, the multi-dimensional bedside rehabilitation training system provides auxiliary force to offset the gravity of the patient's lower limbs, and when the patient cannot independently move When the lower limbs move to the target position, the multi-dimensional bedside rehabilitation training system provides auxiliary force in the direction of the target position according to the set contraction speed. In this mode, after the patient is in position, the therapist first drags the patient's lower limbs to move by dragging the armrest 41 for teaching. The multi-dimensional bedside rehabilitation training system defines the target position based on the movement of dragging the patient's lower limbs. The multi-dimensional bedside rehabilitation training system assists the patient's lower limbs to move between the zero position and the target position; in the active mode, the patient drives the multi-dimensional bedside rehabilitation training system for rehabilitation training. In this mode, the multi-dimensional bedside rehabilitation training system provides auxiliary force to offset the gravity of the patient's lower limbs; in the impedance mode, the patient drives the multi-dimensional bedside rehabilitation training system for rehabilitation training. In this mode, the multi-dimensional bedside rehabilitation training system provides auxiliary force to offset the gravity of the patient's lower limbs, and provides reverse resistance in the direction of movement.

[0066] Step 4: The patient performs lower limb rehabilitation training. During the first rehabilitation training session, the patient enters the teaching mode with their legs straight. The controller system generates a mapping between the robot's end position and the patient's knee and hip joint angles based on the relative positions of the robot coordinate system and the patient's coordinate system at this time. Based on the patient's knee and hip joint angles, the controller system provides auxiliary force to offset the weight of the patient's lower limb during exercise. During the rehabilitation training process, if the therapist's dragging speed or the patient's lower limb movement speed exceeds the set range, the control system will control the robot joint motor to generate adaptive resistance in the opposite direction of movement, thereby protecting the patient from sports injuries. During the rehabilitation training process, if the patient's force output is detected to be greater than the set spasm value, the control system will slowly stop in the direction of the spasm force, thereby protecting the patient from sports injuries. During passive rehabilitation training, the control system can optionally record trajectory information with timeline information, fully replicating the therapist's slow, fast, and pause techniques during the teaching process. During passive rehabilitation training, the therapist can choose to save this trajectory information for rapid deployment of the patient's next rehabilitation treatment.

[0067] Step 5: The patient leaves the position and removes the patient's lower limbs from the leg support 11. The multi-dimensional bedside rehabilitation training system generates a training report based on the patient's movement during the training process, and the therapist helps the patient leave the multi-dimensional bedside rehabilitation training system.

[0068] like Figure 14 As shown, the method of using the multi-dimensional bedside rehabilitation training system for ankle rehabilitation training is:

[0069] Step 1: Select the ankle support plate 12 as the training part, insert the mounting shaft 17 of the ankle support plate 12 into the connecting seat 18 on the connecting component 9, and have the therapist move the multi-dimensional bedside rehabilitation training system to the bedside.

[0070] Step 2: The patient lies on the bed in a natural supine position. The therapist adjusts the robotic arm 2 so that the ankle support 12 is close to the patient's ankle joint, places the patient's foot on the ankle support body 25, and supports the patient's heel by the limiting flange 26 at one end of the ankle support body 25 for fixing the mounting shaft 17. The patient's foot is wrapped with a fixing part 28, and then the patient's foot is tied to the ankle support 12 with a third tie 27.

[0071] In step 3, the therapist selects the training mode based on the patient's rehabilitation progress and motor ability.

[0072] The training modes include passive mode, assisted mode, active mode and resistance mode to choose from; in the passive mode, the patient is led by the multi-dimensional bedside rehabilitation training system to conduct rehabilitation training, among which the passive mode includes stretching training and teaching training. In the stretching training mode, the therapist calibrates the patient's maximum training range, and the multi-dimensional bedside rehabilitation training system drives the patient to move to the target position through trajectory planning. The patient cannot drive the equipment to move toward non-target points. In the teaching training mode, the therapist drags the patient's ankle joint through the dragging teaching method and records the training trajectory. The multi-dimensional bedside rehabilitation training system drives the patient's ankle joint to move to the target position through the recorded training trajectory. The patient cannot drive the equipment to non-target points. Directional movement; in the assist mode, the multi-dimensional bedside rehabilitation training system assists the patient in rehabilitation training. In this mode, when the patient is unable to move the ankle joint to the target position independently, the multi-dimensional bedside rehabilitation training system provides auxiliary force in the direction of the target position according to the set contraction speed. In this mode, the therapist can drag the patient's ankle joint and define the target position through the dragging teaching method; in the active mode, the patient drives the multi-dimensional bedside rehabilitation training system for rehabilitation training. In this mode, the multi-dimensional bedside rehabilitation training system does not provide power; in the impedance mode, the patient drives the multi-dimensional bedside rehabilitation training system for rehabilitation training. In this mode, the multi-dimensional bedside rehabilitation training system provides reverse resistance in the direction of movement.

[0073] Step 4: The patient performs lower limb rehabilitation training. When the therapist's dragging speed or the patient's movement speed exceeds the set range, the control system will generate adaptive resistance in the opposite direction of movement to protect the patient from sports injuries. During the rehabilitation training, when it is detected that the patient's output is greater than the set spasm value, the control system will slowly stop in the direction of the spasm force to protect the patient from sports injuries. During the teaching training, the control system can choose to record trajectory information with timeline information, and can fully reproduce the therapist's slow, fast, and pause techniques during the dragging teaching process. During the teaching training, the therapist can choose to save the trajectory information for the patient's next rapid deployment of rehabilitation treatment.

[0074] Step 5: The patient leaves the position and removes the patient's foot from the ankle support body 25. The multi-dimensional bedside rehabilitation training system generates a training report based on the patient's movement during the training process, and the therapist helps the patient leave the multi-dimensional bedside rehabilitation training system.

[0075] Any portion of the above description not specifically described herein is prior art or can be implemented using prior art. Furthermore, the specific implementation examples described in this utility model are merely preferred implementation examples of this utility model and are not intended to limit the scope of this utility model. In other words, any equivalent variations and modifications made within the scope of this utility model should be considered within the technical scope of this utility model.

Claims

1. Multi-dimensional bedside rehabilitation training system, characterized by: The invention comprises a main device (1), a robotic arm (2) and a training component (3), wherein the robotic arm (2) comprises an upper arm (4) and a lower arm (5), one end of the upper arm (4) is mounted on the main device (1), and is driven by a first joint (6) to rotate about a J1 axis and by a second joint (7) to rotate about a J2 axis, wherein the J1 axis is in a horizontal direction and the J2 axis is perpendicular to the J1 axis, one end of the lower arm (5) is rotatably connected to the other end of the upper arm (4), and is driven by a third joint (8) to rotate about a J3 axis, wherein the J3 axis is parallel to the J2 axis, and the training component (3) comprises a connecting component (9) and a support plate, the support plate including at least one of a hand support plate (10), a leg support plate (11) and an ankle support plate (12); a connecting assembly (9) is mounted on the other end of the forearm (5), driven by the fourth joint (13) to rotate about the J4 axis and driven by the fifth joint (14) to rotate about the J5 axis, wherein the J4 axis is parallel to the J3 axis and the J5 axis is perpendicular to the J4 axis; the support plate is detachably mounted on the connecting assembly (9) in a use state, and only one of the hand support plate (10), the leg support plate (11) and the ankle support plate (12) is mounted on the connecting assembly (9) each time it is used.

2. The multi-dimensional bedside rehabilitation training system according to claim 1, characterized in that: A base (15) is installed on the main device (1), a first joint (6) is installed on the base (15), a second joint (7) is installed on the first joint (6), one end of the upper arm (4) is installed on the second joint (7), a third joint (8) is installed on the other end of the upper arm (4), one end of the lower arm (5) is connected to the other end of the upper arm (4) by a bent pipe (16), a fourth joint (13) is installed on the other end of the lower arm (5), a fifth joint (14) is installed on the fourth joint (13), and a connecting component (9) is installed on the fifth joint (14).

3. The multi-dimensional bedside rehabilitation training system according to claim 1, characterized in that: One of the hand support plate (10), the leg support plate (11) and the ankle support plate (12) is detachably connected to the connecting assembly (9) by a quick plug assembly in the use state. The quick plug assembly includes a mounting shaft (17) and a connecting seat (18). The mounting shaft (17) can be quickly inserted into or pulled out of the connecting seat (18). The hand support plate (10), the leg support plate (11) and the ankle support plate (12) are each fixed with a mounting shaft (17). The connecting seat (18) is fixed to the connecting assembly (9). A central through hole A (45) is opened on the connecting seat (18). A limit plate (46) is slidably provided on the connecting seat (18). The limit plate (46) ) can slide along the radial direction of the center through hole A (45), a center through hole B (47) is opened on the limiting plate (46), and an annular limiting groove (48) is opened on the installation shaft (17). The installation shaft (17) is inserted into the center through hole B (47) through the center through hole A (45). The limiting plate (46) slides to make the edge of the center through hole B (47) cooperate with the limiting groove (48) to prevent the installation shaft (17) from moving relative to the connecting seat (18). When the limiting plate (46) moves to a state where the center line of the center through hole B (47) coincides with the center line of the installation shaft (17), the installation shaft (17) can be pulled out from the connecting seat (18).

4. The multi-dimensional bedside rehabilitation training system according to claim 3, characterized in that: The hand support plate (10) comprises a hand support plate body (19) and a gripping handle (20), wherein the mounting shaft (17) and the gripping handle (20) are arranged at the same end of the hand support plate body (19), and the mounting shaft (17) and the gripping handle (20) are respectively located on both sides of the hand support plate body (19).

5. The multi-dimensional bedside rehabilitation training system according to claim 4, characterized in that: One end of the gripping handle (20) is rotatably connected to the hand support plate body (19), and at least two first straps (21) and at least one second strap (22) are provided on the gripping handle (20). The first strap (21) is used to tie the patient's forearm to the hand support plate body (19), and the second strap (22) is used to tie the back of the patient's hand to the gripping handle (20).

6. The multi-dimensional bedside rehabilitation training system according to claim 3, characterized in that: The leg support plate (11) comprises a leg support plate (23) and a foot support plate (24), a mounting shaft (17) is provided on the leg support plate (23), one end of the foot support plate (24) is connected to one end of the leg support plate (23) for fixing the mounting shaft (17), and the foot support plate (24) and the mounting shaft (17) are respectively located on both sides of the leg support plate (23).

7. The multi-dimensional bedside rehabilitation training system according to claim 3, characterized in that: The ankle support plate (12) comprises an ankle support plate body (25), a mounting shaft (17) is fixed at one end of one side of the ankle support plate body (25), and both side edges of the ankle support plate body (25) and one end edge for fixing the mounting shaft (17) extend toward a side away from the mounting shaft (17) to form a limiting flange (26), the limiting flange (26) on the ankle support plate body (25) for fixing one end of the mounting shaft (17) is used to support the patient's heel when in use, and the limiting flanges (26) on both sides of the ankle support plate body (25) are used to limit the patient's foot to the left and right when in use; at least one third strap (27) is provided on the ankle support plate body (25), and the third strap (27) is used to tie the patient's instep when in use to fix the patient's foot on the ankle support plate (12); a fixing piece (28) made of fabric is fixed on the side of the ankle support plate body (25) away from the mounting shaft (17), and the fixing piece (28) is used to fold toward the patient's instep to wrap the patient's foot when in use.

8. The multi-dimensional bedside rehabilitation training system according to claim 1, characterized in that: The main device (1) includes a chassis (29) and an electrical cabinet (30). Four rollers (31) are provided at the bottom of the chassis (29) for moving the chassis (29). The electrical cabinet (30) is mounted on the chassis (29). One end of the arm (4) is rotatably mounted on the top of the electrical cabinet (30).

9. The multi-dimensional bedside rehabilitation training system according to claim 8, characterized in that: Four foot cups (33) are provided on the chassis (29), and the foot cups (33) can move up and down relative to the chassis (29). A rotating shaft (34) is provided on the chassis (29), and a pedal (32) is provided on the rotating shaft (34). Stepping on the pedal (32) is used to rotate the rotating shaft (34), and the rotating shaft (34) is rotated to press the foot cups (33) downward. In the use state, the foot cups (33) move downward to support the chassis (29) to prevent the chassis (29) from moving.

10. The multi-dimensional bedside rehabilitation training system according to claim 9, characterized in that: A first cam (35) and a second cam (36) are provided at both ends of the rotating shaft (34), wherein the first cam (35) cooperates with the top of the foot cup (33) located at both ends of the rotating shaft (34), and the second cam (36) is rotatably connected to a connecting rod (37). A third cam (38) and a fourth cam (39) are rotatably provided on both sides of the end of the chassis (29) away from the rotating shaft (34), wherein the third cam (38) and the fourth cam (39) share the same rotating shaft, wherein the third cam (38) is rotatably connected to the end of the connecting rod (37) away from the second cam (36), and the fourth cam (39) cooperates with the two foot cups (33) away from the rotating shaft (34), and the top of each foot cup (33) Each elastic element (40) is connected to the chassis (29), the pedal (32) drives the rotating shaft (34) to rotate, the rotating shaft (34) drives the first cam (35) and the second cam (36) to rotate, the second cam (36) drives the third cam (38) and the fourth cam (39) to rotate through the connecting rod (37), the first cam (35) and the fourth cam (39) push the foot cup (33) to move downward and pull the elastic element (40) to stretch and deform, the pedal (32) drives the rotating shaft (34) to rotate in the opposite direction, drives the first cam (35), the second cam (36), the third cam (38) and the fourth cam (39) to rotate in the opposite direction, and the elastic element (40) contracts to pull the foot cup (33) to move upward.

Images