Multifunctional upper limb rehabilitation robot

Abstract

The utility model provides a multifunctional upper limb rehabilitation robot which comprises a framework, an upper limb assembly and a display assembly. The upper limb assembly comprises a hand support and is used for driving upper limbs to perform rehabilitation training, and the display assembly is used for displaying rehabilitation training information; the upper limb assembly is arranged between the display assembly and the framework, and the bottom end of the upper limb assembly is connected with a sleeve; the top end of the framework is connected with a supporting column. The sleeve is rotationally connected with the supporting column; when the sleeve, the upper limb assembly and the display assembly jointly rotate around the supporting column to a first angle, the hand support moves along a first plane; when the sleeve, the upper limb assembly and the display assembly jointly rotate around the supporting column to a second angle, the hand support moves along a second plane. The robot is used for meeting the upper limb movement requirements of a patient at different angles.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of rehabilitation training, especially to a multifunctional upper limb rehabilitation robot. BACKGROUND

[0002] In the rehabilitation treatment of cerebral apoplexy, the rehabilitation training robot can assist the patient to move instead of the therapist, and reduce the working intensity of the therapist. With the help of the rehabilitation training robot, the patient can simulate the movement posture in life and carry out strength and speed training.

[0003] At present, the upper limb movement angle of the rehabilitation training robot is fixed in a plane, and long-term training can easily lead to the stiff action of the patient, which is difficult to adapt to the upper limb movement demand of different angles, and is not conducive to the rapid recovery of the patient. Therefore, a new type of multifunctional upper limb rehabilitation robot is needed to improve the above problems. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a multifunctional upper limb rehabilitation robot, which is used for meeting the upper limb movement demand of different angles of the patient.

[0005] In the first aspect, the utility model provides a multifunctional upper limb rehabilitation robot, which comprises a framework, an upper limb assembly and a display assembly, the upper limb assembly comprises a hand support and is used for driving the upper limb to carry out rehabilitation training, the display assembly is used for displaying rehabilitation training information, the upper limb assembly is arranged between the display assembly and the framework, the bottom end of the upper limb assembly is connected with a sleeve, the top end of the framework is connected with a support column, the sleeve is rotationally connected with the support column, when the sleeve, the upper limb assembly and the display assembly jointly rotate to the first angle around the support column, the hand support moves along the first plane, and when the sleeve, the upper limb assembly and the display assembly jointly rotate to the second angle around the support column, the hand support moves along the second plane.

[0006] The device has the beneficial effects that the upper limb assembly is used for upper limb rehabilitation training, and the display assembly is used for displaying rehabilitation training information, the upper limb assembly is arranged between the display assembly and the framework, the bottom end of the upper limb assembly is connected with a sleeve, the top end of the framework is connected with a support column, the sleeve is rotationally connected with the support column, when the sleeve is stressed, the display assembly and the upper limb assembly jointly rotate around the support column along with the sleeve, and after the upper limb assembly rotates, the patient can carry out upper limb movement of different angles, which is conducive to the rapid recovery of the patient.

[0007] Optionally, the upper limb assembly further comprises an upper limb rotating shaft, a gripping part, and a quick release button and a spring connected with each other; the bottom of the quick release button and the spring is arranged in the gripping part; the upper limb rotating shaft is provided with a first recess, and the bottom of the quick release button is provided with a second recess; when the spring is in an extension state, the quick release button slides along the first recess; when the spring is in a compression state, the upper limb rotating shaft slides along the second recess.

[0008] Optionally, the upper limb assembly further comprises a shaft sleeve, and the shaft sleeve is arranged outside the support column; the shaft sleeve is provided with a positioning member; the outer side of the support column is provided with a plurality of grooves; when the positioning member enters the groove, the shaft sleeve is relatively fixed with the support column; when the positioning member exits the groove, the shaft sleeve can rotate relative to the support column.

[0009] Optionally, one side of the shaft sleeve is connected with a cover plate; the cover plate is relatively fixed with the sleeve; the cover plate is provided with a first limiting screw; the support column is provided with a first limiting groove; the first limiting screw is arranged in the first limiting groove, and is used for limiting the rotation angle of the cover plate relative to the support column.

[0010] Optionally, the display assembly comprises a screen mounting shaft; the screen mounting shaft is movably connected with the sleeve; the screen mounting shaft is provided with a buckle hole; the sleeve is provided with a wave bead screw, and the ball of the wave bead screw can be matched with the buckle hole.

[0011] Optionally, the screen mounting shaft is provided with a second limiting groove, and the sleeve is provided with a second limiting screw; one end of the second limiting screw is arranged in the second limiting groove, and is used for limiting the rotation angle of the screen mounting shaft relative to the sleeve.

[0012] Optionally, the sleeve is further connected with a locking screw, one side of the locking screw abuts against the wave bead screw, and the locking screw is used for locking the wave bead screw.

[0013] Optionally, the wave bead screw further comprises an elastic member and a screw body; the screw body is screw-connected with the sleeve; the elastic member and the ball are both arranged in the screw body, one end of the elastic member abuts against the screw body, and the other end of the elastic member abuts against the ball; when the screen mounting shaft rotates to a preset angle, the elastic member is stretched, and the ball is pressed into the buckle hole; when the screen mounting shaft rotates away from the preset angle, the elastic member is forced to compress, and the screen mounting shaft presses the ball into the screw body.

[0014] Optionally, the display assembly comprises a resistance rotating shaft and a screen shell; a first movable part of the resistance rotating shaft is fixed with the screen mounting shaft; a second movable part of the resistance rotating shaft is fixed with the screen shell; the first movable part is movably connected with the second movable part; when the first movable part rotates relative to the second movable part, the pitch angle of the screen shell relative to the screen mounting shaft changes.

[0015] Optionally, the hand support is a straight hand support or a tray hand support; the tray hand support comprises a base and a handle; the base is provided with a plurality of first connecting parts, and the handle is provided with a second connecting part; when the second connecting part is connected with different first connecting parts, the grip direction of the handle is different; the base or the handle is provided with a locking part for relatively fixing the first connecting part and the second connecting part; the base is connected with a movable part on the framework, and the hand support can move relative to the framework.

[0016] Optionally, the bottom side of the framework is provided with a supporting leg; when the supporting leg is away from the ground, the wheel is used for supporting the robot to move on the ground.

[0017] Optionally, the bottom side of the framework is provided with a plurality of wheels; when the supporting leg is away from the ground, the wheel is used for supporting the robot to move on the ground.

[0018] Optionally, the shaft sleeve is connected with a handle; the handle is used for providing a force point when moving the robot or rotating the shaft sleeve; when the robot is moved, the handle is stressed to drive the robot to move; when the shaft sleeve is rotated, the handle is stressed to drive the shaft sleeve, the display assembly and the upper limb assembly to rotate around the supporting column. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 A partial structure schematic view of an upper limb rehabilitation robot provided by the present application is shown in the figure;

[0020] Figure 2 A partial structure schematic view of an upper limb rehabilitation robot provided by the present application is shown in the figure;

[0021] Figure 3 A mounting structure schematic view of a framework and a shaft sleeve of an upper limb rehabilitation robot provided by the present application is shown in the figure;

[0022] Figure 4 A mounting structure schematic view of a handle and a quick release button provided by the present application is shown in the figure;

[0023] Figure 5 A mounting structure schematic view of a tray hand support provided by the present application is shown in the figure;

[0024] Figure 6 A sectional view schematic diagram of a supporting column and a shaft sleeve is provided for the utility model;

[0025] Figure 7 A three-dimensional structure schematic diagram of a supporting column and a first limiting screw is provided for the utility model;

[0026] Figure 8 A structure schematic diagram of a second limiting groove provided on a screen mounting shaft is provided for the utility model;

[0027] Figure 9 An explosion view of a wave bead screw provided in a sleeve is provided for the utility model;

[0028] Figure 10 A sectional view schematic diagram of a wave bead screw is provided for the utility model;

[0029] Figure 11 An installation structure schematic diagram of a screen mounting shaft and a screen shell is provided for the utility model.

[0030] Reference numerals in the drawing:

[0031] 1, sleeve; 2, wave bead screw; 21, screw body; 22, spring; 23, ball; 3, locking screw; 4, first limiting screw; 5, screen mounting shaft; 51, extension; 52, resistance rotating shaft; 53, screen shell; 54, screen panel; 55, fixing screw; 56, limiting hole; 57, first movable part; 58, second movable part; 6, shaft sleeve; 7, positioning piece; 8, cover plate; 9, second limiting screw; 10, supporting column; 11, first limiting groove; 12, buckle hole; 13, groove; 14, second limiting groove; 15, framework; 151, sliding rod; 152, third limiting screw; 153, supporting part; 16, wheel; 17, supporting leg; 18, handle; 191, hand rest; 192, upper limb framework; 100, display assembly; 301, first plane; 302, second plane; 311, first recess; 321, second recess; 32, quick release button; 33, spring; 34, upper limb rotating shaft; 35, bolt; 41, tray; 42, connecting part; 43, base; 24, first screw; 25, second screw; 26, gripping part; 27, first mounting hole; 28, second mounting hole; 29, handle. DETAILED DESCRIPTION

[0032] For the purpose, technical scheme and advantages of the utility model, the following will combine the drawings of the utility model, make clear, complete description to the technical scheme in the utility model embodiment, obviously, the described embodiment is a part of embodiment of the utility model, instead of all embodiments. Based on the embodiment in the utility model, all other embodiments obtained by the ordinary skill in the art without making creative labor belong to the scope of protection of the utility model. Unless otherwise defined, the technical terms or scientific terms used here should be the usual meaning understood by the person skilled in the art to which the utility model belongs. The "including" and similar words used in this paper mean that the elements or objects before the word cover the elements or objects listed after the word and its equivalent, and other elements or objects are not excluded.

[0033] For the problems of prior art, such as Figures 1-3 As shown in the utility model provides a kind of multifunctional upper limb rehabilitation robot, comprising: skeleton 15, upper limb assembly and display component 100;The upper limb assembly includes hand support 191, for driving upper limb to carry out rehabilitation training, it is worth mentioning that the hand support 191 can also be used to provide the load when patient movement, i.e. the upper limb of patient drives the hand support 191 movement.The display component 100 is used to display rehabilitation training information;The upper limb assembly is located at the top side of the skeleton 15, the display component 100 is located at the top side of the upper limb assembly.The bottom end of the upper limb assembly is connected with sleeve 1;The top end of the skeleton 15 is connected with support column 10;The sleeve 1 is rotatably connected with the support column 10;When the sleeve 1, upper limb assembly and display component 100 are rotatable to first angle around the support column 10, the hand support 191 moves along first plane 301;When the sleeve 1, upper limb assembly and display component 100 are rotatable to second angle around the support column 10, the hand support 191 moves along second plane 302.

[0034] Specifically, as shown in Figure 1 、 3 And 4, hand support 191 is provided as straight hand support, and the straight hand support is rotatably connected to the upper limb skeleton 192 of the upper limb assembly by hand support crank.

[0035] In some other specific embodiments, as Figure 2 、 3 And Figure 5As shown, the hand support 191 is provided as a tray hand support. The tray hand support comprises a base 43 and a gripping portion 26; the top side of the base 43 is provided with a tray 41 for supporting the arm; the base 43 is provided with a first mounting hole 27 and a second mounting hole 28, and the gripping portion 26 is provided with a handle 29. When the handle 29 is connected to the first mounting hole 27 and the second mounting hole 28 respectively, the gripping direction of the gripping portion 26 is different; the base 43 is provided with a first screw 24 and a second screw 25, the first screw 24 is used to fix the handle 29 relative to the first mounting hole 27, and the second screw 25 is used to fix the handle 29 relative to the second mounting hole 28. One side of the base 43 is provided with a connecting portion 42, which is rotatably connected to the upper limb skeleton 192 of the upper limb assembly by a hand support crank. As an example, the base 43 is provided with a connecting portion, which is rotatably connected to the hand support crank, and the hand support crank is connected to the upper limb skeleton 192.

[0036] In some examples, when the handle 29 is connected to the first mounting hole 27, the gripping direction of the gripping portion 26 is in a first direction, and when the handle 29 is connected to the second mounting hole 28, the gripping direction of the gripping portion 26 is in a second direction; the first direction is perpendicular to the second direction.

[0037] In another specific embodiment, the base 43 is provided with a first protrusion and a second protrusion, and the handle is provided with a recess for matching the first protrusion and / or the second protrusion to achieve the installation of the handle. When the recess is connected to the first protrusion, the gripping portion is in the first direction; when the recess is connected to the second protrusion, the gripping portion is in the second direction.

[0038] As Figure 6 As shown in some embodiments, the upper limb assembly 200 further comprises a shaft sleeve 6, which is arranged outside the support column 10. The skeleton 15 comprises a slide rod 151 and a support portion 153; the support portion 153 is arranged in a triangular ring shape, and the slide rod 151 is arranged in the support portion 153 and is in sliding connection with the support portion 153. The top end of the slide rod 151 is fixedly connected with the shaft sleeve 6. In this embodiment, the height of the upper limb assembly is adjusted by sliding the slide rod 151 in the support portion 153 to meet the rehabilitation training needs of patients of different heights.

[0039] As an example, the skeleton 15 is made of at least one of rectangular pipe, round pipe and sheet metal by welding, which is convenient to reduce the weight of the rehabilitation robot system and is also conducive to saving manufacturing cost.

[0040] It is worth mentioning that the upper limb assembly is used for upper limb rehabilitation training, and the display assembly 100 is used for displaying rehabilitation training information. The upper limb assembly is arranged between the display assembly 100 and the skeleton 15, and the bottom end of the upper limb assembly is connected with the sleeve 1. The top end of the skeleton 15 is connected with the support column 10. The sleeve 1 is rotationally connected with the support column 10. When the sleeve 1 is stressed, the display assembly 100 and the upper limb assembly are both rotated around the support column 10 together with the sleeve 1. After the upper limb assembly is rotated around the support column 10, the patient can perform upper limb movement at different angles, which is beneficial to the rapid recovery of the patient.

[0041] As shown in Figure 4 In some embodiments, the upper limb assembly further comprises an upper limb rotating shaft 34, a gripping part 26, and a quick release button 32 and a spring 33 connected with each other. The bottom of the spring 33 and the quick release button 32 is arranged in the gripping part 26. The upper limb rotating shaft 34 is provided with a first recess 311, and the bottom of the quick release button 32 is provided with a second recess 321. When the spring 33 is in an extended state, the quick release button 32 can slide along the first recess 311. When the spring 33 is in a compressed state, the upper limb rotating shaft 34 can slide along the second recess 321. In this embodiment, the gripping part 26 is removed from the upper limb rotating shaft 34 by pressing the quick release button 32, and the gripping part 26 is locked to the upper limb rotating shaft 34 by the rebound of the quick release button 32, which facilitates quick disassembly.

[0042] In some embodiments, the gripping part 26 comprises an inner core and an outer sleeve, the hardness of the inner core is greater than that of the outer sleeve, and the outer sleeve is sleeved on the outer side of the inner core. In some examples, the inner core is arranged as a metal piece for providing stable support, and the outer sleeve is arranged as a foam cylinder to enhance the comfort of gripping.

[0043] Specifically, the bottom end of the spring 33 is fixedly connected with the gripping part 26. The top end of the spring 33 is fixedly connected with the bottom end of the quick release button 32. The outer contour of the quick release button 32 and the upper limb rotating shaft 34 is cylindrically arranged. The first recess 311 is annularly arranged on the side of the upper limb rotating shaft 34. The second recess 321 is annularly arranged on the side of the quick release button 32. In some specific embodiments, the top end of the spring 33 has a constant pitch, and the top end of the spring 33 is screw-connected with the bottom of the quick release button 32. In some other specific embodiments, the second recess 321 can be helically arranged on the outside of the quick release button 32. In some other specific embodiments, the second recess 321 can be cylindrically arranged, and the axial direction of the cylindrical groove is parallel to the upper limb rotating shaft 34.

[0044] Please refer to Figure 4, and the bolt 35 is in sliding connection with the head of the gripping part 26, and the tail of the bolt 35 is in screw connection with the bottom of the quick release button 32, when the tail of the bolt 35 is screwed into the quick release button 32, the spring 33 is compressed, and when the tail of the bolt 35 is screwed out of the quick release button 32, the spring 33 is stretched. In this embodiment, the position of the quick release button 32 in the stretched state of the spring 33 is adjusted by the screwing amount of the bolt 35, so as to ensure that the gripping part 26 is locked on the upper limb rotating shaft 34 when the spring 33 is stretched.

[0045] Specifically, the spring 33 is sleeved outside the bolt 35, when the spring 33 is stretched, the quick release button 32 is lifted, and the head of the bolt 35 is clamped at the bottom of the gripping part 26, when the spring 33 is stressed, the bolt 35 falls with the quick release button 32.

[0046] In some specific embodiments, the support part 153 is screw connected with a third limiting screw 152. When the third limiting screw 152 is screwed into the support part 153, the third limiting screw 152 abuts against the slide rod 151, so as to fix the slide rod 151 relative to the support part 153. When the third limiting screw 152 is screwed out of the support part 153, the third limiting screw 152 is separated from the slide rod 151, so as to enable the slide rod 151 to slide relative to the support part 153.

[0047] In some other specific embodiments, the bottom side of the framework 15 is provided with support feet 17, which are used to support and increase the friction between the robot and the ground. More specifically, the number of the support feet 17 is 4, which are distributed on the bottom end face of the framework 15. It is worth noting that the number of the support feet 17 can be any positive integer.

[0048] In some other specific embodiments, the bottom side of the framework 15 is provided with two wheels 16, which are used to carry the robot when the support feet 17 are away from the ground, so as to enable the robot to move on the ground. More specifically, the number of the wheels 16 can be any integer. In some other specific embodiments, when the ground is uneven, the height of each support foot 17 can be independently adjusted, so as to enable the robot to be stably placed.

[0049] In some other embodiments, the shaft sleeve 6 is connected with a handle 18, which is used to provide a force point when the robot is moved or the shaft sleeve 6 is rotated. When the robot is moved, the handle 18 is stressed to drive the robot to move, and when the shaft sleeve 6 is rotated, the handle 18 is stressed to drive the shaft sleeve 6, the display assembly 100 and the upper limb assembly to rotate around the support column 10.

[0050] It is worth noting that, for example, two wheels 16 are provided and distributed on one side of the robot. When moving the robot, the position of the handle 18 is changed by rotating the upper limb assembly, thereby changing the overall center of gravity of the robot. This embodiment facilitates tilting the robot, causing the support legs 17 to leave the ground while the wheels 16 remain in contact with the ground, thus enabling the robot to be moved.

[0051] like Figure 6 As shown, in some embodiments, the bushing 6 is provided with a positioning element 7 for fixing the support column 10 relative to the bushing 6. This embodiment can ensure that the bushing 6 is locked when its rotation range is any angle between 0° and 180°, keeping the upper limb assembly and screen assembly stable relative to the frame 15. In other embodiments, the support column 10 is set as the inner ring of the bearing, and the bushing 6 is set as the outer ring of the bearing.

[0052] Specifically, a cover plate 8 is connected to the top side of the bushing 6; the cover plate 8 is fixedly connected to the sleeve 1; a first limiting screw 4 is provided inside the cover plate 8; a first limiting groove 11 is provided in the support column 10; the first limiting screw 4 is located in the first limiting groove 11. For example, the first limiting groove 11 is arranged in a semi-circular annular groove shape to limit the rotation angle of the cover plate 8 relative to the support column 10 within the range of [0°, 180°].

[0053] In other specific embodiments, the cover plate 8 can be disposed on the bottom side of the bushing 6; the cover plate 8 and the sleeve 1 can be integrally formed. The first limiting groove 11 can be arranged in the shape of a fan-shaped groove at any angle, which can meet the different rotation angle requirements of the upper limb assembly.

[0054] like Figure 6 As shown, the outer side of the support column 10 is provided with several grooves 13; when the positioning member 7 enters the groove 13, the bushing 6 is fixed relative to the support column 10; when the positioning member 7 exits the groove 13, the bushing 6 can rotate relative to the support column 10.

[0055] Specifically, the positioning element 7 is configured as a positioning screw or a positioning pin. In other specific embodiments, the number of grooves 13 is two, and the two grooves 13 are symmetrically arranged about the axis of the support column 10. It is worth noting that the number of grooves 13 can be any positive integer, and they are arbitrarily distributed on the outer surface of the support column 10. For example, the grooves 13 are configured as V-grooves or cylindrical grooves.

[0056] like Figure 1 and Figure 7As shown, the display assembly 100 comprises a screen mounting shaft 5; the screen mounting shaft 5 is movably connected with the sleeve 1; the screen mounting shaft 5 is provided with a second limiting groove 14, and the sleeve 1 is provided with a second limiting screw 9; one end of the second limiting screw 9 is arranged in the second limiting groove 14, and is used for limiting the rotation angle of the screen mounting shaft 5 relative to the sleeve 1. Specifically, the screen mounting shaft 5 is arranged in a cylindrical shape, and the second limiting groove 14 is arranged in a semi-cylindrical shape. In other specific embodiments, the second limiting groove 14 can be arranged in a fan ring cylindrical shape.

[0057] As shown in Figure 8 and Figure 9 , the screen mounting shaft 5 is provided with a buckle hole 12; the sleeve 1 is provided with a wave bead screw 2, and the ball 23 of the wave bead screw 2 can cooperate with the buckle hole 12. The sleeve 1 is also connected with a locking screw 3, one side of the locking screw 3 abuts against the wave bead screw 2, and is used for locking the wave bead screw 2. In this embodiment, when the ball 23 of the wave bead screw 2 is buckled into the buckle hole 12, the screen mounting shaft 5 can emit a vibration or prompt sound, reminding the user that the screen mounting shaft 5 has been rotated to the limit angle, so as to avoid damage of the screen mounting shaft 5 due to excessive force.

[0058] In other embodiments, the locking screw 3 and the wave bead screw 2 can be integrally arranged. It should be noted that the inner diameter of the buckle hole 12 is smaller than the diameter of the ball 23, and the depth of the buckle hole 12 is smaller than the radius of the ball 23, so as to prevent the ball 23 from sinking into the buckle hole 12, thereby preventing the screen mounting shaft 5 from rotating relative to the sleeve 1.

[0059] As shown in Figure 10 , specifically, the wave bead screw 2 further comprises an elastic member and a screw body 21; the screw body 21 is screw-connected with the sleeve 1; the elastic member and the ball 23 are arranged in the screw body 21, one end of the elastic member abuts against the screw body 21, and the other end of the elastic member abuts against the ball 23.

[0060] Specifically, when the screen mounting shaft 5 is rotated to a preset angle, the elastic member is stretched, and the ball 23 is pressed into the buckle hole 12; when the screen mounting shaft 5 is rotated away from the preset angle, the elastic member is compressed under force, and the screen mounting shaft 5 presses the ball 23 into the screw body 21. It should be noted that the elastic member provides rotation damping in the process of screen rotation, and the elastic member can be a spring 22, a spring 22 sheet or a rubber pad. The preset angle range is set as the self-rotation angle range of the screen mounting shaft 5, and the preset angle range is [0°, 180°] for example. By rotating the shaft sleeve 6 and the screen mounting shaft 5, the screen can be rotated by 360°.

[0061] As Figure 11 In some embodiments, the display assembly comprises a resistance pivot 52 and a screen housing 53, a first movable part 57 of the resistance pivot 52 is fixed with the screen mounting shaft 5, a second movable part 58 of the resistance pivot 52 is fixed with the screen housing 53, the first movable part 57 is movably connected with the second movable part 58, when the first movable part 57 rotates relative to the second movable part 58, the pitch angle of the screen housing 53 relative to the screen mounting shaft 5 changes.

[0062] Specifically, the first movable part 57 is arranged at the center of the resistance pivot 52, and the second movable part 58 is arranged at the two ends of the resistance pivot 52. The second movable part 58 is fixedly connected with the screen housing 53 through a fixing screw 55. The screen mounting shaft 5 is provided with an extension 51 on the side thereof. The extension 51 is fixedly connected with the first movable part 57. The screen housing 53 is provided with a limiting hole 56 on the side thereof facing the screen mounting shaft 5. The inner diameter of the limiting hole 56 is greater than the outer diameter of the extension 51. When the screen housing 53 is forced to rotate, the limiting hole 56 is used to abut against the extension 51, so as to limit the pitch angle of the screen housing 53.

[0063] In some other specific embodiments, the screen housing 53 is inlaid with a screen panel 54. In some other specific embodiments, the rotatable angle range of the screen panel 54 relative to the vertical plane is [0°, 30°].

[0064] Although the embodiments of the present application have been described in detail above, it is obvious to those skilled in the art that various modifications and changes can be made to the embodiments. However, it should be understood that such modifications and changes are within the scope and spirit of the present application as described in the claims. Moreover, the present application described herein can have other embodiments and can be implemented or realized in various ways.

Claims

1. A multifunctional upper limb rehabilitation robot, characterized in that, The application relates to a skeleton, an upper limb assembly and a display assembly; the upper limb assembly comprises a hand support for driving the upper limb to conduct rehabilitation training, and the display assembly is used for displaying rehabilitation training information. The upper limb assembly is arranged between the display assembly and the skeleton, the bottom end of the upper limb assembly is connected with a sleeve, the top end of the skeleton is connected with a supporting column, and the sleeve is rotationally connected with the supporting column. When the sleeve, the upper limb assembly and the display assembly jointly rotate around the supporting column to a first angle, the hand support moves along a first plane. When the sleeve, the upper limb assembly and the display assembly jointly rotate around the supporting column to a second angle, the hand support moves along a second plane. The upper limb assembly further comprises an upper limb rotating shaft, a gripping part and a quick release button and a spring which are connected with each other; the bottom of the spring and the quick release button is arranged in the gripping part; the upper limb rotating shaft is provided with a first recess, and the bottom of the quick release button is provided with a second recess; when the spring is in an extension state, the quick release button slides along the first recess; when the spring is in a compression state, the upper limb rotating shaft slides along the second recess.

2. The robot of claim 1, wherein, The upper limb assembly further comprises a shaft sleeve which is arranged outside the supporting column; the shaft sleeve is provided with a positioning member; the outer side of the supporting column is provided with a plurality of grooves.

3. The robot of claim 1, wherein, When the positioning member enters the groove, the shaft sleeve is relatively fixed with the supporting column. When the positioning member exits the groove, the shaft sleeve can rotate relative to the supporting column. One side of the shaft sleeve is connected with a cover plate; the cover plate is relatively fixed with the sleeve; the cover plate is provided with a first limiting screw.

4. The robot of claim 3, wherein, The supporting column is provided with a first limiting groove; the first limiting screw is arranged in the first limiting groove and is used for limiting the rotation angle of the cover plate relative to the supporting column. The display assembly comprises a screen mounting shaft; the screen mounting shaft is movably connected with the sleeve; 5. The robot according to any of claims 1-4, characterized in that, The screen mounting shaft is provided with a buckle hole; the sleeve is provided with a wave bead screw, and the ball of the wave bead screw can be matched with the buckle hole. The screen mounting shaft is provided with a second limiting groove, and the sleeve is provided with a second limiting screw; 6. The robot of claim 5, wherein, One end of the second limiting screw is arranged in the second limiting groove and is used for limiting the rotation angle of the screen mounting shaft relative to the sleeve. The sleeve is further connected with a locking screw, one side of the locking screw is abutted with the wave bead screw, and the wave bead screw is locked.

7. The robot of claim 5, wherein, The wave bead screw further comprises an elastic member and a screw body; the screw body is screw-connected with the sleeve; the elastic member and the ball are arranged in the screw body, one end of the elastic member is abutted with the screw body, and the other end of the elastic member is abutted with the ball; 8. The robot of claim 5, wherein, When the screen mounting shaft rotates to a preset angle, the elastic member is stretched, and the ball is pressed into the buckle hole; When the screen mounting shaft rotates to deviate from the preset angle, the elastic member is forced to compress, and the screen mounting shaft presses the ball into the screw body. ​ 9. The robot of claim 7, wherein, The display assembly comprises a resistance rotating shaft and a screen shell; a first movable part of the resistance rotating shaft is fixed with the screen mounting shaft; a second movable part of the resistance rotating shaft is fixed with the screen shell; the first movable part is movably connected with the second movable part; When the first movable part rotates relative to the second movable part, the pitch angle of the screen shell relative to the screen mounting shaft changes.

10. The robot according to any of claims 1-4, characterized in that, The hand support is a straight hand support or a tray hand support, the tray hand support comprises a base and a handle; the base is provided with a plurality of first connecting parts, and the handle is provided with a second connecting part; when the second connecting part is connected with different first connecting parts, the grip direction of the handle is different; the base or the handle is provided with a locking part for relatively fixing the first connecting part and the second connecting part; the base is connected with a movable part on the framework, and the hand support can move relative to the framework.

11. The robot of claim 3, wherein, The shaft sleeve is connected with a handle; the handle is used for providing a force receiving point when the robot is moved or the shaft sleeve is rotated; When the robot is moved, the handle is forced to move the robot; When the shaft sleeve is rotated, the handle is forced to rotate the shaft sleeve, the display assembly and the upper limb assembly around the support column.

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