ADL rehabilitation training robot

Abstract

The utility model relates to the technical field of rehabilitation training robot, disclose ADL rehabilitation training robot, including the fixed frame, the fixed frame side wall fixedly connected with mechanical arm, pneumatic clamp jaw bottom setting fixed component, the fixed component includes a plurality of clamping plates, a plurality of clamping plates fixedly connected in the pneumatic clamp jaw bottom, each clamping plate side wall all is provided with side platform, the clamping plate with the side platform side wall all fixedly connected with a plurality of fixed parts, a plurality of fixed parts between rotatory connection have rotary table, each side platform side wall all rotatory connection have a plurality of rubber roller, the spring is provided between the side platform with the clamping plate. In the utility model, through a plurality of rotary table in fixed part inside rotation and change inclination angle, then through spring promotes side platform to make it keep in the appropriate position, and guarantee the activity space through a plurality of rubber roller, thereby reduce the discomfort or harm caused by the improper force exertion, improve the comfort and safety of training.

Description

Technical Field

[0001] This utility model relates to the field of rehabilitation training robot technology, and in particular to ADL rehabilitation training robot. Background Technology

[0002] ADL (Activities of Daily Living) refers to basic activities individuals perform in daily life, such as dressing, eating, and washing. The purpose of ADL training is to help patients restore or improve these basic living abilities. In the field of rehabilitation, ADL training robots can assist patients in functional training by simulating daily activities, thereby improving their physical function and ability to live independently. Rehabilitation training robots can be personalized according to the patient's rehabilitation progress, providing continuous training support to help patients gradually regain self-care abilities and improve their quality of life.

[0003] Traditional rehabilitation training robots typically consist of a power system, a sensing system, a control system, and a feedback system. The power system provides the necessary force and movement; the sensing system monitors the patient's movement status and physiological feedback in real time; the control system makes real-time adjustments based on sensor input to ensure the safety and effectiveness of the training process; and the feedback system provides necessary guidance and prompts to the patient to help them adjust their posture. Through the coordinated operation of these systems, traditional rehabilitation training robots can precisely control movement trajectory and training intensity to meet the rehabilitation needs of different patients.

[0004] Traditional rehabilitation training robots, due to their rigid design, lack flexibility when holding the human body, making it difficult to adapt to the different shapes and movement requirements of various parts of the body. Their fixed gripping method prevents flexible adjustments based on individual patient differences, restricting natural movement and thus affecting training effectiveness. The rigid structure cannot provide sufficient comfort and safety, especially during prolonged or high-intensity training, causing discomfort or muscle fatigue, thereby impacting the patient's rehabilitation progress. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides an ADL rehabilitation training robot, which aims to improve the problem that traditional rehabilitation training robots cause discomfort or muscle fatigue during long-term or high-intensity training, thereby affecting the patient's rehabilitation progress.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: an ADL rehabilitation training robot, including a fixed frame, a mechanical arm fixedly connected to the side wall of the fixed frame, a pneumatic gripper provided on the side wall of the mechanical arm, and a fixing component provided at the bottom of the pneumatic gripper;

[0007] The fixing assembly includes multiple clamping plates, which are fixedly connected to the bottom of the pneumatic gripper. Each clamping plate has a side platform on its side wall. Multiple fixing members are fixedly connected to the clamping plate and the side platform side wall. A rotating frame is rotatably connected between the multiple fixing members. Multiple rubber rollers are rotatably connected to the side platform side wall. A spring is provided between the side platform and the clamping plate. One end of the spring is fixedly connected to the side wall of the clamping plate, and the other end of the spring is fixedly connected to the side platform side wall. An adjustment assembly is provided on the side wall of the fixing frame.

[0008] Furthermore, the adjustment assembly includes a back plate and a seat plate, the back plate being fixedly connected to the side wall of the fixed frame, and the seat plate being disposed on the side wall of the back plate.

[0009] Furthermore, the back panel sidewall is fixedly connected to multiple side frames, and each side frame has a vertical groove inside.

[0010] Furthermore, the back plate sidewall is fixedly connected to multiple fixed platforms one, and the back plate sidewall is fixedly connected to multiple fixed platforms two.

[0011] Furthermore, a motor is fixedly connected to the side wall of the back plate, and a sprocket is fixedly connected to the output end of the motor.

[0012] Furthermore, the sprocket is rotatably connected to the bottom of the fixed platform, and each fixed platform has a sprocket rotatably connected to its bottom.

[0013] Furthermore, a chain is meshed with the outer wall of the sprocket, and a lead screw is rotatably connected inside each of the fixed platforms.

[0014] Furthermore, each lead screw has a slider threadedly connected to its outer wall, the slider is slidably connected inside the side frame, the slider side wall is fixedly connected to a support, and the upper surface of the support is fixedly connected to a seat plate.

[0015] This utility model has the following beneficial effects:

[0016] 1. In this utility model, multiple rotating frames first rotate inside the fixed part and change the tilt angle. Then, the side platform is pushed by a spring to keep it in a suitable position, and multiple rubber rollers ensure the activity space, thereby reducing discomfort or injury caused by inappropriate force application and improving the comfort and safety of training.

[0017] 2. In this utility model, the synchronous connection of the chain enables multiple sprockets to rotate synchronously at the bottom of the fixed platform one, and drives multiple lead screws at the top of the platform to rotate inside the fixed platform two. At this time, multiple sliders can slide vertically inside the side frame under force to change the vertical height of the seat board, which can adapt to the height needs of different patients and optimize the user experience. Attached Figure Description

[0018] Figure 1 This is a perspective view of the ADL rehabilitation training robot proposed in this utility model;

[0019] Figure 2 This is a schematic diagram of the clamping structure of the ADL rehabilitation training robot proposed in this utility model;

[0020] Figure 3 This is a schematic diagram of the side frame structure of the ADL rehabilitation training robot proposed in this utility model.

[0021] Legend:

[0022] 1. Fixed frame; 2. Robotic arm; 3. Pneumatic gripper; 4. Clamping plate; 5. Side platform; 6. Fixture; 7. Rotating frame; 8. Spring; 9. Rubber roller; 10. Back plate; 11. Side frame; 12. Vertical groove; 13. Motor; 14. Sprocket; 15. Fixed platform one; 16. Fixed platform two; 17. Lead screw; 18. Slider; 19. Support platform; 20. Seat plate; 21. Chain. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] Reference Figures 1-2This utility model provides an embodiment of an ADL rehabilitation training robot, including a fixed frame 1. A robotic arm 2 is fixedly connected to the side wall of the fixed frame 1. The robotic arm 2 can be adjusted in position and angle as needed for precise operation and control. A pneumatic gripper 3 is provided on the side wall of the robotic arm 2, and a fixing component is provided at the bottom of the pneumatic gripper 3. The fixing component includes multiple clamping plates 4, which are fixedly connected to the bottom of the pneumatic gripper 3. The clamping plates 4 can perform flexible clamping actions under the push of the pneumatic gripper 3. Each clamping plate 4 has a side platform 5 on its side wall, which provides stable support and ensures a more uniform contact surface between the clamping plate 4 and the human body. Multiple fixing parts 6 are fixedly connected to the side walls of the clamping plates 4 and the side platforms 5. A rotating frame 7 is rotatably connected between the clamping plate 4 and the side platform 5. The rotation of the rotating frame 7 can adjust the angle between the clamping plate 4 and the side platform 5 to ensure a more precise fixation position for the human body. Each side platform 5 has multiple rubber rollers 9 rotatably connected to its side wall. The function of the rubber rollers 9 is to reduce the friction between the clamping plate 4 and the human body, provide better comfort, and ensure that the clamping process will not cause discomfort to the body. A spring 8 is provided between the side platform 5 and the clamping plate 4. One end of the spring 8 is fixedly connected to the side wall of the clamping plate 4, and the other end of the spring 8 is fixedly connected to the side wall of the side platform 5. The spring 8 can provide appropriate elasticity between the clamping plate 4 and the side platform 5 to ensure that they are not too stiff when fixed, while reducing the discomfort caused by excessive clamping. The side wall of the fixing frame 1 is provided with an adjustment component.

[0025] Specifically, when assisted fixation of a limb is required, the pneumatic gripper 3 clamps multiple plates 4 towards the center for stable fixation. When multiple rubber rollers 9 contact the body, they distribute pressure evenly, avoiding excessive pressure from a single contact point and reducing discomfort. Simultaneously, the contact of the rubber rollers 9 causes the side platform 5 to be subjected to force, pushing multiple rotating frames 7 to rotate within the fixation component 6 and adjust their tilt angle. This allows for adjustment of the fixation angle according to the patient's limb condition and needs, preventing overly stiff or unnatural fixation. The spring 8 plays a role in maintaining a stable position, pushing the side platform 5 to remain in the appropriate position, ensuring the limb is comfortably and safely fixed. Furthermore, the presence of multiple rubber rollers 9 ensures limb movement space, improving training comfort and preventing friction injuries or other discomfort caused by improper fixation, maximizing the safety and effectiveness of training. This flexible clamping design effectively reduces injuries caused by inappropriate force application, providing patients with a more comfortable and safe rehabilitation training experience.

[0026] Reference Figure 3The adjustment assembly includes a back plate 10 and a seat plate 20. The back plate 10 is fixedly connected to the side wall of the fixed frame 1, and the seat plate 20 is disposed on the side wall of the back plate 10. Multiple fixed platforms 16 are fixedly connected to the side wall of the back plate 10. A motor 13 is fixedly connected to the side wall of the back plate 10. A sprocket 14 is fixedly connected to the output end of the motor 13. The sprocket 14 is rotatably connected to the bottom of the fixed platform 15. A sprocket 14 is rotatably connected to the bottom of each fixed platform 15. A chain 21 is meshed with the outer wall of the sprocket 14. A lead screw 17 is rotatably connected inside each fixed platform 16. A slider 18 is threadedly connected to the outer wall of each lead screw 17. The slider 18 is slidably connected inside the side frame 11. A support platform 19 is fixedly connected to the side wall of the slider 18. The seat plate 20 is fixedly connected to the upper surface of the support platform 19.

[0027] Specifically, when the seat height needs to be adjusted, the starter motor 13 drives the sprocket 14 to rotate. The sprocket 14 rotates at the bottom of the fixed platform 15 through the synchronous connection of the chain 21. This rotational motion is transmitted to multiple lead screws 17 at the top, causing them to rotate inside the fixed platform 16. The rotation of the lead screws 17 causes multiple sliders 18 to be subjected to force, causing the sliders 18 to slide vertically inside the side frame 11, thereby changing the vertical height of the seat 20 to adapt to the height needs of different patients and ensure that the seat height can be adjusted according to the user's needs.

[0028] Working principle: When assisted fixation of human limbs is required, the pneumatic gripper 3 causes multiple clamps 4 to clamp inward. At this time, multiple rubber rollers 9 contact the human body, causing the side platform 5 to be stressed, which drives multiple rotating frames 7 to rotate inside the fixing part 6 and change the tilt angle. Then, the spring 8 pushes the side platform 5 to keep it in a suitable position, and the multiple rubber rollers 9 ensure the space for movement, thereby reducing discomfort or injury caused by inappropriate force application and improving the comfort and safety of training. When the seat height needs to be adjusted, the motor 13 drives the sprocket 14 to rotate. Through the synchronous connection of the chain 21, multiple sprockets 14 rotate synchronously at the bottom of the first fixing platform 15, and drive multiple lead screws 17 at the top of it to rotate inside the second fixing platform 16. At this time, multiple sliders 18 are stressed and can slide vertically inside the side frame 11 to change the vertical height of the seat 20, which can adapt to the height needs of different patients and optimize the user experience.

[0029] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An ADL rehabilitation training robot, including a frame (1), characterized in that: The fixed frame (1) has a mechanical arm (2) fixedly connected to its side wall. The mechanical arm (2) has a pneumatic gripper (3) on its side wall. The bottom of the pneumatic gripper (3) has a fixing component. The fixing assembly includes multiple clamping plates (4), which are fixedly connected to the bottom of the pneumatic gripper (3). Each clamping plate (4) has a side platform (5) on its side wall. Multiple fixing parts (6) are fixedly connected to the side wall of the clamping plate (4) and the side platform (5). A rotating frame (7) is rotatably connected between the multiple fixing parts (6). Multiple rubber rollers (9) are rotatably connected to the side wall of each side platform (5). A spring (8) is provided between the side platform (5) and the clamping plate (4). One end of the spring (8) is fixedly connected to the side wall of the clamping plate (4), and the other end of the spring (8) is fixedly connected to the side wall of the side platform (5). An adjustment assembly is provided on the side wall of the fixing frame (1).

2. The ADL rehabilitation training robot according to claim 1, characterized in that: The adjustment assembly includes a back plate (10) and a seat plate (20). The back plate (10) is fixedly connected to the side wall of the fixed frame (1), and the seat plate (20) is disposed on the side wall of the back plate (10).

3. The ADL rehabilitation training robot according to claim 2, characterized in that: The back plate (10) has multiple side frames (11) fixedly connected to its side wall, and each side frame (11) has a vertical groove (12) inside.

4. The ADL rehabilitation training robot according to claim 3, characterized in that: The back plate (10) has multiple fixed platforms (15) fixedly connected to its side wall, and multiple fixed platforms (16) fixedly connected to its side wall.

5. The ADL rehabilitation training robot according to claim 4, characterized in that: A motor (13) is fixedly connected to the side wall of the back plate (10), and a sprocket (14) is fixedly connected to the output end of the motor (13).

6. The ADL rehabilitation training robot according to claim 5, characterized in that: The sprocket (14) is rotatably connected to the bottom of the fixed platform (15), and each fixed platform (15) is rotatably connected to the bottom of the fixed platform (15).

7. The ADL rehabilitation training robot according to claim 6, characterized in that: The outer wall of the sprocket (14) is meshed with a chain (21), and each of the fixed platforms (16) is rotatably connected with a lead screw (17).

8. The ADL rehabilitation training robot according to claim 7, characterized in that: Each lead screw (17) has a slider (18) threadedly connected to its outer wall. The slider (18) is slidably connected inside the side frame (11). The side wall of the slider (18) is fixedly connected to a support (19). The upper surface of the support (19) is fixedly connected to the bottom of the seat plate (20).

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