CN113143684A

Movatterモバイル変換

Info

Publication number: CN113143684A
Application number: CN202110385016.9A
Authority: CN
Inventors: 张海峰; 赵绍晴; 张海燕; 秦帅
Original assignee: Shandong Haitian Intelligent Engineering Co ltd
Current assignee: Shandong Haitian Intelligent Engineering Co ltd
Priority date: 2021-04-09
Filing date: 2021-04-09
Publication date: 2021-07-23

Abstract

Description

Upper limb rehabilitation robot

Technical Field

The invention relates to the technical field of medical robots, in particular to an upper limb rehabilitation robot.

Background

The upper limb dysfunction or the upper limb defect are easily caused by stroke, serious brain trauma or other nervous system diseases, and in recent years, the traditional method cannot meet the rehabilitation requirements of a plurality of patients due to the increase of upper limb hemiplegia patients caused by cerebrovascular diseases such as stroke and the like. It has become a trend to use robots to assist patients with hemiplegia to perform rehabilitation training instead of physical therapists by combining the robot technology with rehabilitation medicine. However, the existing upper limb rehabilitation robot cannot well detect the joint movement position and data of the patient, and cannot be convenient for a physical therapist to know the rehabilitation condition of the patient.

Disclosure of Invention

The invention provides an upper limb rehabilitation robot aiming at the problems in the prior art, which is realized by the following technical scheme:

the utility model provides an upper limbs rehabilitation robot, including the supporting component who plays the supporting role, be used for adjusting the upper arm adjusting part of upper arm, be used for adjusting the forearm adjusting part of forearm and be used for adjusting the palm wrist adjusting part at palm wrist position, upper arm adjusting part rotates with the supporting component to be connected, forearm adjusting part rotates with upper arm adjusting part to be connected, palm wrist adjusting part rotates with forearm adjusting part, upper arm adjusting part, forearm adjusting part and palm wrist adjusting part electricity are connected with the computer.

The invention is further configured to: the supporting component comprises a supporting seat, a telescopic rod, a track and an upper limb rod, the lower end face of the supporting seat is rotatably connected with universal wheels, the telescopic rod comprises a fixed rod and a moving rod, the fixed rod is fixedly connected to the upper end face of the supporting seat, the moving rod is connected with the fixed rod in a sliding manner, a threaded hole is formed in the upper end of the fixed rod, a bolt is connected with the upper end of the fixed rod in a threaded manner, the moving rod is fixed to the fixed rod through a bolt, the track is fixedly connected to the upper end face of the moving rod, a sliding block is connected to the track in a sliding manner, a bolt is connected to the side wall of the sliding block in a threaded manner, the sliding block is fixedly arranged on the track through a bolt, one end of the upper limb rod is fixedly connected with the sliding block, and the other end of the upper limb rod is rotatably connected with the upper limb adjusting component.

The invention is further configured to: the upper arm adjusting assembly comprises a shoulder supporting rod, a shoulder rotating sensor, an upper arm support, an upper arm supporting rod, an upper arm connecting plate, an upper arm bandage, an upper arm weight reducing sensor, an upper arm swinging sensor and a first shaft supporting rod, the shoulder supporting rod is horizontally arranged, one end of the shoulder supporting rod is rotatably connected with the upper arm supporting rod, the other end of the shoulder supporting rod is rotatably connected with one end of the upper arm support, the upper arm support is vertically arranged, the upper arm supporting rod is horizontally arranged, one end of the upper arm supporting rod is rotatably connected with the lower end of the upper arm support, the upper arm connecting plate is hinged with the other end of the upper arm supporting rod, the upper arm weight reducing sensor is fixedly connected onto the upper arm supporting rod, the upper arm bandage is fixedly connected onto the upper arm connecting plate, the first shaft supporting rod is L-shaped, the upper end of the first shaft supporting rod is hinged with a sliding rod, the sliding rod is connected with the upper arm supporting rod in a sliding mode, one end of the first shaft supporting rod, which protrudes out of the upper arm supporting rod, is hinged with the first shaft supporting rod, the utility model discloses a shoulder swing sensor, including shoulder branch, shoulder rotation sensor, upper arm swing sensor, pivot and first axle branch, shoulder rotation sensor fixed connection is in the one end that shoulder branch is close to the upper arm support, shoulder rotation sensor's pivot and the pivot fixed connection of upper arm support, upper arm swing sensor fixed connection is on the lateral wall of first axle branch, the pivot of upper arm swing sensor and the articulated shaft fixed connection of first axle branch and slide rod, shoulder rotation sensor and upper arm swing sensor are connected with the computer electricity.

The invention is further configured to: the upper arm supporting rod comprises a first supporting rod and a second supporting rod which are arranged in parallel, the first supporting rod is located above the second supporting rod, the upper arm connecting plate is arranged in two parallel, two ends of the upper arm connecting plate are hinged to the first supporting rod and the second supporting rod respectively, the upper arm is fixedly connected to the first supporting rod in a weight reducing mode, the free end of the upper arm in the weight reducing mode is fixedly connected with the second supporting rod, the sliding rod comprises a first sliding rod and a second sliding rod, the first sliding rod is connected with the first supporting rod in a sliding mode, the second sliding rod is connected with the second supporting rod in a sliding mode, the first supporting rod is hinged to one end, protruding out of the first supporting rod, of the first sliding rod and the second sliding rod, and the rotating shaft of the upper arm swing sensor is fixedly connected with the hinged shafts of the first supporting rod and the second sliding rod.

The invention is further configured to: forearm adjusting part includes that second shaft branch, forearm rotate sensor, forearm swing sensor, forearm subtract heavy, slide rail, slider and forearm bandage, the second shaft branch is the L type, second shaft branch one end rotates with first shaft branch to be connected, the forearm subtracts heavy one end and second shaft branch is articulated, the forearm subtracts heavy free end and second shaft branch up end fixed connection, forearm swing sensor fixed connection is on the lateral wall of second shaft branch, the pivot of forearm swing sensor and the pivot fixed connection of second shaft branch, the forearm subtracts the pivot of heavy pivot and the pivot fixed connection of forearm swing sensor, slide rail fixed connection subtracts heavy up end in the forearm, the slider slides with the slider and is connected, forearm bandage fixed connection is on the slider, forearm swing sensor, slide rail, and the forearm is fixed to be connected, The forearm swing sensor is electrically connected to the computer.

The invention is further configured to: palm wrist adjustment assembly includes fixing base, swing seat, wrist swing sensor and palm grip sensor, fixing base and slider fixed connection, swing seat rotates with the fixing base to be connected, wrist swing sensor fixed connection is in the lower terminal surface of fixing base, wrist swing sensor's pivot and swing seat's pivot fixed connection, palm grip sensor fixed connection is in the up end of wobbling, wrist swing sensor, palm grip sensor are connected with the computer electricity.

The invention is further configured to: the fixing seat comprises a first connecting plate and a second connecting plate, the second connecting plate is provided with an adjusting groove, the first connecting plate is provided with a threaded hole, the first connecting plate and the second connecting plate are fixedly connected through a bolt, and the bolt penetrates through the adjusting groove.

In conclusion, the beneficial technical effects of the invention are as follows:

upper arm adjusting part, forearm adjusting part and palm wrist adjusting part carry out the rehabilitation training to patient's upper limbs, detect the position of patient joint motion and with the data feedback that detects to the computer, the recovered therapist is convenient for know patient's recovered condition through the computer.

Drawings

Fig. 1 is a first schematic view for showing the overall structure of the present embodiment;

FIG. 2 is an enlarged partial schematic view of portion A of FIG. 1;

fig. 3 is a second schematic view for showing the overall structure of the present embodiment;

FIG. 4 is an enlarged partial schematic view of portion B of FIG. 3;

FIG. 5 is an enlarged partial schematic view of portion C of FIG. 3;

fig. 6 is a bottom view for showing the entire structure of the present embodiment;

FIG. 7 is an enlarged partial schematic view of portion D of FIG. 6;

fig. 8 is a first object diagram for illustrating the present embodiment;

fig. 9 is a second actual view for illustrating the present embodiment.

Reference numerals: 100. a support assembly; 101. a supporting seat; 102. a telescopic rod; 103. a track; 104. An upper limb rod; 105. a universal wheel; 106. fixing the rod; 107. a travel bar; 108. a sliding block; 200. An upper arm adjustment assembly; 201. a shoulder strut; 202. a shoulder rotation sensor; 203. an upper arm support; 204. an upper arm strut; 205. an upper arm connecting plate; 206. an upper arm strap; 207. weight reduction of the upper arm; 208. An upper arm swing sensor; 209. a first shaft strut; 210. a slide bar; 211. a first support bar; 212. A second support bar; 213. a first slide bar; 214. a second slide bar; 300. a forearm adjustment assembly; 301. A second shaft strut; 302. a forearm rotation sensor; 303. a forearm swing sensor; 304. the front arm is lightened; 305. a slide rail; 306. a slider; 307. a forearm strap; 400. a palm and wrist adjustment assembly; 401. A fixed seat; 402. a swing seat; 403. a wrist swing sensor; 404. a palm grip sensor; 405. a first connecting plate; 406. a second connecting plate; 407. and (4) adjusting the groove.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Examples

Supportingcomponent 100 includes supportingseat 101,telescopic link 102,track 103 andupper limbs pole 104, terminal surface rotates under supportingseat 101 and is connected withuniversal wheel 105,telescopic link 102 includesdead lever 106 andmovable rod 107,dead lever 106 fixed connection is in the up end of supportingseat 101,movable rod 107 slides withdead lever 106 and is connected, threaded hole and threaded connection have the bolt to be seted up to the upper end ofdead lever 106,movable rod 107 passes through the bolt and is fixed withdead lever 106, track 103 fixed connection is in the up end ofmovable rod 107, it is connected with slidingblock 108 to slide on thetrack 103, threaded connection has the bolt on sliding block 108's the lateral wall, sliding block 108 passes through the bolt fastening ontrack 103,upper limbs pole 104 one end and slidingblock 108 fixed connection, its other end and upperarms adjusting component 200 rotate and are connected. Thesupport assembly 100 supports the upperarm adjustment assembly 200, theforearm adjustment assembly 300 and thewrist adjustment assembly 400 and adjusts the height of the device according to the height of the patient's seat, facilitating the use of the patient.

The upper arm adjusting assembly 200 comprises a shoulder supporting rod 201, a shoulder rotating sensor 202, an upper arm support 203, an upper arm supporting rod 204, an upper arm connecting plate 205, an upper arm binding band 206, an upper arm weight reducing rod 207, an upper arm swinging sensor 208 and a first shaft supporting rod 209, wherein the shoulder supporting rod 201 is horizontally arranged, one end of the shoulder supporting rod 201 is fixedly connected with the upper arm rod 104, the other end of the shoulder supporting rod is rotatably connected with one end of the upper arm support 203, the upper arm support 203 is vertically arranged, the upper arm supporting rod 204 is horizontally arranged, one end of the upper arm supporting rod 204 is rotatably connected with the lower end of the upper arm support 203, the upper arm connecting plate 205 is hinged with the other end of the upper arm supporting rod 204, the upper arm weight reducing rod 207 is fixedly connected with the upper arm supporting rod 204, the upper arm binding band 206 is fixedly connected with the upper arm connecting plate 205, the first shaft supporting rod 209 is L-shaped, the upper end of the first shaft supporting rod 209 is hinged with the upper end of the sliding rod 210, the upper arm supporting rod 210 is connected with the sliding rod 204 in a sliding way, the shoulder rotation sensor 202 is fixedly connected to one end of the shoulder support rod 201 close to the upper arm support 203, a rotating shaft of the shoulder rotation sensor 202 is fixedly connected with a rotating shaft of the upper arm support 203, the upper arm swing sensor 208 is fixedly connected to the side wall of the first shaft support rod 209, a rotating shaft of the upper arm swing sensor 208 is fixedly connected with a hinged shaft of the first shaft support rod 209 and the sliding rod 210, and the shoulder rotation sensor 202 and the upper arm swing sensor 208 are electrically connected with a computer. Theupper arm strut 204 comprises afirst strut 211 and a second strut 212, thefirst strut 211 and the second strut 212 are arranged in parallel, thefirst strut 211 is located above the second strut 212, the upperarm connecting plate 205 is provided with two parallel upper arm connecting plates, two ends of the upperarm connecting plate 205 are respectively hinged with thefirst strut 211 and the second strut 212, the upper armweight reducing plate 207 is fixedly connected to thefirst strut 211, the free end of the upper armweight reducing plate 207 is fixedly connected with the second strut 212, the sliding rod 210 comprises a first slidingrod 213 and a second slidingrod 214, the first slidingrod 213 is connected with thefirst strut 211 in a sliding manner, the second slidingrod 214 is connected with the second strut 212 in a sliding manner, thefirst shaft strut 209 is hinged with one end, protruding out of thefirst strut 211, of the first slidingrod 213 and the second slidingrod 214, and the rotating shaft of theswing sensor 208 is fixedly connected with the hinged shafts of thefirst shaft strut 209 and the second slidingrod 214. Theupper arm bandage 206 is used for binding the upper arm of the patient, the upperarm weight loss 207 is used for overcoming the gravity condition of the upperarm support rod 204, the upperarm connecting plate 205, theupper arm bandage 206, the upperarm swing sensor 208, thefirst support rod 209 and theforearm adjusting assembly 300, so that the upperarm support rod 204 is kept in a horizontal state in a normal state, theshoulder rotation sensor 202 is used for detecting the shoulder rotation condition of the patient and feeding back the detection data to the computer, the upperarm swing sensor 208 is used for detecting the swing condition of the upper arm of the patient and feeding back the detection data to the computer, and a physical therapist can conveniently know the upper arm rehabilitation training condition of the patient.

The forearm adjusting component 300 comprises a second shaft support rod 301, a forearm rotation sensor 302, a forearm swing sensor 303, a forearm weight reduction 304, a sliding rail 305, a sliding block 306 and a forearm strap 307, wherein the second shaft support rod 301 is L-shaped, one end of the second shaft support rod 301 is rotatably connected with the first shaft support rod 209, one end of the forearm weight reduction 304 is hinged with the second shaft support rod 301, the free end of the forearm weight reduction 304 is fixedly connected with the upper end of the second shaft support rod 301, the forearm swing sensor 303 is fixedly connected with the side wall of the lower end of the second shaft support rod 301, the rotating shaft of the forearm swing sensor 303 is fixedly connected with the rotating shaft of the second shaft support rod 301, the rotating shaft of the forearm weight reduction 304 is fixedly connected with the rotating shaft of the forearm swing sensor 303, the sliding rail 305 is fixedly connected with the upper end face of the forearm weight reduction 304, the sliding block 306 is connected with the sliding rail 305 in a sliding manner, the sliding block 306 is in a threaded connection with the sliding rail 305 through a bolt, the forearm strap 307 is fixedly connected to the slide block 306, and the forearm rotation sensor 302 and the forearm swing sensor 303 are electrically connected to the computer. Theforearm strap 307 is used for binding the forearm of the patient, theforearm weight loss 304 is used for overcoming the gravity condition of theforearm strap 307, theslide rail 305, theslide block 306 and the palmwrist adjusting assembly 400, so that theforearm weight loss 304 is kept horizontal in a normal state, theforearm rotation sensor 302 is used for detecting the rotation condition of the forearm of the patient and feeding back detection data to the computer, theforearm swing sensor 303 is used for detecting the swing condition of the forearm of the patient and feeding back the detection data to the computer, and a physical therapist can conveniently know the forearm rehabilitation training condition of the patient.

The palm andwrist adjusting assembly 400 comprises a fixedseat 401, a swingingseat 402, awrist swinging sensor 403 and a palmgrip strength sensor 404, the fixedseat 401 is fixedly connected with a slidingblock 306, the swingingseat 402 is rotatably connected with the fixedseat 401, thewrist swinging sensor 403 is fixedly connected with the lower end face of the fixedseat 401, a rotating shaft of thewrist swinging sensor 403 is fixedly connected with a rotating shaft of the swingingseat 402, the palmgrip strength sensor 404 is fixedly connected with the upper end face of swinging, and thewrist swinging sensor 403 and the palmgrip strength sensor 404 are electrically connected with a computer. Thewrist swing sensor 403 is used for detecting the swing angle of the wrist and feeding back the detected data to the computer, and thepalm grip sensor 404 is used for detecting the size of the palm grip of the patient and feeding back the detected data to the computer, so that a physical therapist can know the condition of the palm part rehabilitation training of the patient conveniently. The fixingseat 401 includes a first connectingplate 405 and a second connectingplate 406, the second connectingplate 406 is provided with an adjustingslot 407, the first connectingplate 405 is provided with a threaded hole, the first connectingplate 405 and the second connectingplate 406 are fixedly connected through a bolt, and the bolt passes through the adjustingslot 407 to fix the second connectingplate 406. The fixing position between thefirst link plate 405 and thesecond link plate 406 is adjusted by theadjustment groove 407, and the distance between thepalm grip sensor 404 and theforearm strap 307 is adjusted, thereby adjusting according to the arm length of different patients.

The upper arm bandage and the forearm bandage are both made of magic tapes, one end of the upper arm bandage and the forearm bandage are hook surfaces of the magic tapes, and the other end of the upper arm bandage and the forearm bandage are hair surfaces of the magic tapes. The shoulder rotation sensor, the upper arm swing sensor, the forearm rotation sensor, the forearm swing sensor and the wrist swing sensor are all angle sensors and are WDG-AM34-360 in model number. The palm grip sensor is a ZS-100 grip sensor. The upper arm subtracts heavy and the forearm subtracts heavy all includes a fixed section of thick bamboo, spring and connection rope, and spring one end fixed connection is in the inner chamber of a fixed section of thick bamboo, connects the other end fixed connection of rope one end and spring, and the other end of connecting the rope is the free end.

Claims

2. The upper limb rehabilitation robot as claimed in claim 1, wherein the supporting assembly (100) comprises a supporting seat (101), a telescopic rod (102), a rail (103) and an upper limb rod (104), a universal wheel (105) is rotatably connected to the lower end surface of the supporting seat (101), the telescopic rod (102) comprises a fixed rod (106) and a movable rod (107), the fixed rod (106) is fixedly connected to the upper end surface of the supporting seat (101), the movable rod (107) is slidably connected with the fixed rod (106), the upper end of the fixed rod (106) is provided with a threaded hole and is in threaded connection with a bolt, the movable rod (107) is fixed with the fixed rod (106) through the bolt, the rail (103) is fixedly connected to the upper end surface of the movable rod (107), a sliding block (108) is slidably connected to the rail (103), and a bolt is in threaded connection with the side wall of the sliding block (108), the sliding block (108) is fixed on the track (103) through a bolt, one end of the upper limb rod (104) is fixedly connected with the sliding block (108), and the other end of the upper limb rod is rotatably connected with the upper arm adjusting component (200).

3. The upper limb rehabilitation robot according to claim 2, wherein the upper arm adjusting assembly (200) comprises a shoulder support rod (201), a shoulder rotation sensor (202), an upper arm support (203), an upper arm support rod (204), an upper arm connecting plate (205), an upper arm strap (206), an upper arm weight loss (207), an upper arm swing sensor (208) and a first shaft support rod (209), the shoulder support rod (201) is horizontally arranged, one end of the shoulder support rod (201) is rotatably connected with the upper arm support rod (104), the other end of the shoulder support rod is rotatably connected with one end of the upper arm support (203), the upper arm support rod (203) is vertically arranged, the upper arm support rod (204) is horizontally arranged, one end of the upper arm support rod (204) is rotatably connected with the lower end of the upper arm support rod (203), and the upper arm connecting plate (205) is hinged to the other end of the upper arm support rod (204), the upper arm subtracts heavy (207) fixed connection on upper arm branch (204), and the upper arm bandage (206) fixed connection of telling is on upper arm connecting plate (205), first axle branch (209) are L type and its upper end articulates there is slide bar (210), slide bar (210) and upper arm branch (204) slide and be connected, first axle branch (209) one end is articulated in the one end of upper arm branch (204) with slide bar (210) salient, shoulder rotation sensor (202) fixed connection is in the one end that shoulder branch (201) is close to upper arm support (203), the pivot of shoulder rotation sensor (202) and the pivot fixed connection of upper arm support (203), upper arm swing sensor (208) fixed connection is on the lateral wall of first axle branch (209), the pivot and the articulated shaft fixed connection of first axle branch (209) and slide bar (210) of upper arm swing sensor (208), the shoulder rotation sensor (202) and the upper arm swing sensor (208) are electrically connected to a computer.

4. The upper limb rehabilitation robot according to claim 3, wherein the upper arm strut (204) comprises a first strut (211) and a second strut (212), the first strut (211) and the second strut (212) are arranged in parallel, the first strut (211) is positioned above the second strut (212), the upper arm connecting plate (205) is arranged in parallel, two ends of the upper arm connecting plate (205) are respectively hinged with the first strut (211) and the second strut (212), the upper arm weight reducing body (207) is fixedly connected to the first strut (211), the free end of the upper arm weight reducing body (207) is fixedly connected with the second strut (212), the sliding rod (210) comprises a first sliding rod (213) and a second sliding rod (214), the first sliding rod (213) is connected with the first strut (211) in a sliding manner, and the second sliding rod (214) is connected with the second strut (212) in a sliding manner, the first shaft support rod (209) is hinged with one end of the first sliding rod (213) and one end of the second sliding rod (214) protruding out of the first support rod (211), and a rotating shaft of the upper arm swing sensor (208) is fixedly connected with a hinged shaft of the first shaft support rod (209) and the hinged shaft of the second sliding rod (214).

5. The upper limb rehabilitation robot according to claim 4, wherein the forearm adjusting assembly (300) comprises a second shaft support rod (301), a forearm rotation sensor (302), a forearm swing sensor (303), a forearm weight loss (304), a slide rail (305), a slide block (306) and a forearm strap (307), the second shaft support rod (301) is L-shaped, one end of the second shaft support rod (301) is rotatably connected with the first shaft support rod (209), one end of the forearm weight loss (304) is hinged with the second shaft support rod (301), the free end of the forearm weight loss (304) is fixedly connected with the upper end face of the second shaft support rod (301), the forearm swing sensor (303) is fixedly connected with the side wall of the second shaft support rod (301), the rotating shaft of the forearm swing sensor (303) is fixedly connected with the rotating shaft of the second shaft support rod (301), the rotating shaft of the forearm weight loss (304) is fixedly connected with the rotating shaft of the forearm swing sensor (303), the sliding rail (305) is fixedly connected to the upper end face of a forearm weight reduction (304), the sliding block (306) is connected with the sliding block (306) in a sliding mode, the forearm binding band (307) is fixedly connected to the sliding block (306), and the forearm rotating sensor (302) and the forearm swinging sensor (303) are electrically connected with a computer.

6. The upper limb rehabilitation robot according to claim 5, wherein the palm and wrist adjusting assembly (400) comprises a fixed seat (401), a swinging seat (402), a wrist swinging sensor (403) and a palm grip strength sensor (404), the fixed seat (401) is fixedly connected with a sliding block (306), the swinging seat (402) is rotatably connected with the fixed seat (401), the wrist swinging sensor (403) is fixedly connected with the lower end face of the fixed seat (401), a rotating shaft of the wrist swinging sensor is fixedly connected with a rotating shaft of the swinging seat (402), the palm grip strength sensor (404) is fixedly connected with the upper end face of swinging, and the wrist swinging sensor (403) and the palm grip strength sensor (404) are electrically connected with a computer.

7. The upper limb rehabilitation robot according to claim 6, wherein the fixing seat (401) comprises a first connecting plate (405) and a second connecting plate (406), the second connecting plate (406) is provided with an adjusting groove (407), the first connecting plate (405) is provided with a threaded hole, the first connecting plate (405) and the second connecting plate (406) are fixedly connected through a bolt, and the bolt penetrates through the adjusting groove (407).