CN108938330A - Multifunctional shoulder joint rehabilitation training medical robot - Google Patents
Multifunctional shoulder joint rehabilitation training medical robot Download PDFInfo
- Publication number
- CN108938330A CN108938330A CN201810837879.3A CN201810837879A CN108938330A CN 108938330 A CN108938330 A CN 108938330A CN 201810837879 A CN201810837879 A CN 201810837879A CN 108938330 A CN108938330 A CN 108938330A
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- shaft part
- shoulder joint
- scissor arms
- rotating box
- electric pushrod
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- 238000012549 training Methods 0.000 title claims abstract description 125
- 210000000323 shoulder joint Anatomy 0.000 title claims abstract description 70
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 210000000707 wrist Anatomy 0.000 claims description 19
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 14
- 230000005611 electricity Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 17
- 238000011084 recovery Methods 0.000 description 11
- 230000005540 biological transmission Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 238000010009 beating Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 210000003205 muscle Anatomy 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000035876 healing Effects 0.000 description 3
- 210000005036 nerve Anatomy 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 235000013399 edible fruits Nutrition 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 229910001018 Cast iron Inorganic materials 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007472 neurodevelopment Effects 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
- A61H1/0281—Shoulder
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/02—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters
- A63B21/055—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters extension element type
- A63B21/0552—Elastic ropes or bands
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1245—Primarily by articulating the shoulder joint
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
- A61H2205/062—Shoulders
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Biophysics (AREA)
- Rehabilitation Tools (AREA)
Abstract
Disclose a kind of Multifunctional shoulder joint rehabilitation training medical robot, comprising: base assembly；Luffing mechanism, including height adjustment electric pushrod, body cradle and pitching electric pushrod；Rotating box, two support arms of the open side of body cradle are rotationally connected with respectively on the rotating box two sides relative to each other；Drive shaft, including the first shaft part and the second shaft part, the first shaft part are rotatably arranged on rotating box, and the second end of the second shaft part is slidably inserted in the first end of the first shaft part；Training institution, including the scissor pair being set on the second shaft part, pusher and bidirectional electric push rod, scissor pair includes two scissor arms, two respective first ends of scissor arms are respectively equipped with sliding slot, bidirectional electric push rod is fixed on the second shaft part, and the end of two telescopic rods of bidirectional electric push rod screws respectively can be inserted into or be detached from the threaded of sliding slot, pusher be set between two shaft parts for turn up and down.The robot is applied widely, and training effect is good, improves Patient Experience.
Description
Technical field
The present invention relates to intelligent rehabilitation technical field of medical equipment, more particularly, to a kind of Multifunctional shoulder joint rehabilitation
Training medical robot.
Background technique
Rehabilitation training is an important means of medical science of recovery therapy, mainly restores patient's suffering limb by this method of training
Normal self-care function, makes the rehabilitation of handicapped person's physiology and psychology as far as possible with trained method, reaches therapeutic effect.With
The development of social progress and medicine, rehabilitation engineering receive universal attention.In current method of rehabilitation, health is moved
Refreshment white silk is one of effective method.Upper limb is important bodily fuctions' unit of people's production and living, and upper limb disorder, especially
It is that the dysfunction of shoulder joint takes place frequently, since shoulder joint carries the movement of entire human body arm, so that shoulder joint is for people
Movable and its important, and the quick recovery of the multiple Shoulder joint of modern society of body, needs by related recovery training appliance for recovery
It could effectively carry out.
Existing shoulder joint rehabilitation trainer structure function is more single, so that the selection of training mode and training method
On more single, can not be according to different patients the case where, and the different rehabilitation stages suitably train so that existing
Training aids trains smaller scope of application, and undertrained comprehensive, training effect is not good enough, and intelligence degree is not high, affects trouble
The usage experience of person.
Summary of the invention
In view of this, there is a variety of training modes and training form, energy the purpose of the present invention is to provide applied widely
It is enough to the comprehensive rehabilitation training of the carry out such as the muscle of shoulder joint and nerve, thus greatly improve healing and training shoulder joint level and
Effect, and the Multifunctional shoulder joint rehabilitation training medical robot of Patient Experience is substantially increased, to solve to deposit in the prior art
The problem of.
A kind of Multifunctional shoulder joint rehabilitation training medical robot is provided according to the present invention, comprising:
Base assembly；
Luffing mechanism, including height adjustment electric pushrod, body cradle and pitching electric pushrod, the height adjustment is electronic to be pushed away
The outer cylinder tail end of bar is fixed in the base assembly, and the body cradle is U-shaped structure, the height adjustment electric pushrod
The end of telescopic rod is fixedly connected with the body cradle, and the outer cylinder tail end of the pitching electric pushrod is rotationally connected with the bottom
On seat assembly；
Rotating box, is rectangular parallelepiped structure, and two support arms of the open side of the body cradle are rotationally connected with this turn respectively
In the first side and second side of dynamic case, the first side and second side are oppositely arranged, the pitching electric pushrod
The end of telescopic rod is rotationally connected on the bottom wall of the rotating box；
Drive shaft, including the first shaft part and the second shaft part, first shaft part are rotatably arranged on the rotating box, institute
The first end for stating the first shaft part exposes the third side of the rotating box, and the second end of first shaft part exposes the rotating box
The 4th side, the third side and the 4th side is oppositely arranged and parallel to each other, the first side, third side,
Two side faces and the 4th side are successively adjacent and enclose and be set as openning shape structure, and the second end of second shaft part is slidably inserted in institute
In the first end for stating the first shaft part；
Training institution, including scissor is secondary, pusher and bidirectional electric push rod, the scissor pair include first be used cooperatively
Scissor arms and the second scissor arms, first scissor arms and the second scissor arms are rotatably set to second shaft part through sharing shaft
First end end on, be respectively equipped with sliding slot in first scissor arms and the respective first end of the second scissor arms, it is described double
The second end of second shaft part, the end of two telescopic rods of the bidirectional electric push rod are fixed on to the outer cylinder of electric pushrod
On be respectively equipped with threaded hole, screwed threaded on each threaded hole, each threaded turn up and down, to be inserted into
In corresponding sliding slot or it is detached from sliding slot, one end of the pusher is connected on the end face of the first end of first shaft part,
The other end is connected on the end face of the first end of second shaft part, and the pusher drives second shaft part relatively described the
One shaft part reciprocatingly slides,
Respectively second end is equipped with wrist fixing sleeve for first scissor arms and the second scissor arms, and the wrist fixing sleeve can
Rotation is set in corresponding scissor arms.
Preferably, the height adjustment electric pushrod is adjusted for the whole height of the rotating box, and the pitching is electronic
Push rod is used to adjust the pitch angle of the rotating box.
Preferably, the body cradle is equipped with connecting rod, and one end of the connecting rod is connect with the body cradle, the other end
It is equipped with attaching nut, the body cradle connects through the end of the attaching nut and the telescopic rod of the height adjustment electric pushrod
It connects.
Preferably, the roof of the rotating box is equipped with camera, for acquiring the image information of patient's training.
Preferably, the pusher is selected as electric pushrod, and the end face of the first shaft part first end is equipped with the first connection
The end face of plate, the first end of second shaft part is equipped with the second connecting plate,
The tail end of the outer cylinder of the electric pushrod is connected on first shaft part through the first connecting plate, which stretches
The second connecting plate of end of contracting bar is connected on second shaft part.
It preferably, further include the driving motor being installed on the 4th side wall of the rotating box, and driving clutch,
The driving motor is sequentially connected through the second end of the driving clutch and first shaft part, wherein described
The power output shaft of driving motor is connect with the power input shaft of the driving clutch, the power output of the driving clutch
Axis is connect with the second end of the drive shaft.
Preferably, mounting bracket is fixed on the 4th side wall of the rotating box, the driving motor is through installation branch
Frame is fixed on the rotating box.
Preferably, first scissor arms and the second scissor arms are respectively connected with elastic component, the elastic component in second end
Both ends be connected in first scissor arms and the second scissor arms.
Preferably, the elastic component is selected as stretch cord, and the both ends of the stretch cord are quick-detachable respectively to be connected to institute
It states in the first scissor arms and the second scissor arms.
Preferably, the threaded rod includes the body of rod and screws handwheel, and the body of rod includes axially from first end direction
The threaded portion and polished rod portion that second end is set gradually, the handwheel that screws are set on the end of the threaded portion,
Wherein, the threaded portion is for screwing the threaded rod in the screw thread of the corresponding telescopic rod of the bidirectional electric push rod
In hole, the polished rod portion is for being inserted into corresponding scissor arms sliding slot.
The utility model has the advantages that
Multifunctional shoulder joint rehabilitation training medical robot in the present invention can carry out a variety of moulds to patient as needed
The training of formula and form, patient can select patient's sitting and lying formula training mode and the vertical training mode of patient according to different training requirements
Both of which, and selection carry out passive exercise or active training, a variety of training actions can be made in training, thus to trouble
Person carries out the comprehensive training of a variety of training methods.The recovery exercising robot is applied widely, and intelligence degree is high, can be right
The comprehensive rehabilitation training of the carry out such as muscle and nerve of shoulder joint, to greatly improve the level and effect of healing and training shoulder joint
Fruit, and substantially increase Patient Experience.
Detailed description of the invention
By referring to the drawings to the description of the embodiment of the present invention, above-mentioned and other purposes of the invention, feature and
Advantage will be apparent from.
Fig. 1-2 shows Multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention with different view
Schematic perspective view.
Fig. 3 shows the top view of Multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention.
Fig. 4 shows the portion the A structural schematic diagram in Fig. 1.
Fig. 5 shows the portion the B structural schematic diagram in Fig. 2.
Fig. 6-7 shows Multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention with different view
Base assembly schematic perspective view.
Fig. 8 shows the vertical of the body cradle of Multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention
Body structural schematic diagram.
Fig. 9-10 shows Multifunctional shoulder joint rehabilitation training medical machine according to an embodiment of the present invention with different view
The schematic perspective view of the mounting bracket of people.
Figure 11-12 shows Multifunctional shoulder joint rehabilitation training medical machine according to an embodiment of the present invention with different view
The schematic perspective view of the rotating box of people.
Figure 13-14 shows Multifunctional shoulder joint rehabilitation training medical machine according to an embodiment of the present invention with different view
The schematic perspective view of first shaft part of the drive shaft of people.
Figure 15-16 shows Multifunctional shoulder joint rehabilitation training medical machine according to an embodiment of the present invention with different view
The schematic perspective view of second shaft part of the drive shaft of people.
Figure 17-18 shows Multifunctional shoulder joint rehabilitation training medical machine according to an embodiment of the present invention with different view
The schematic perspective view of first scissor arms of the drive shaft of people.
Figure 19-20 shows Multifunctional shoulder joint rehabilitation training medical machine according to an embodiment of the present invention with different view
The schematic perspective view of second scissor arms of the drive shaft of people.
Figure 21 shows the first connection of Multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention
The schematic perspective view of plate.
Figure 22 shows the second connection of Multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention
The schematic perspective view of plate.
Figure 23-24 shows Multifunctional shoulder joint rehabilitation training medical machine according to an embodiment of the present invention with different view
The schematic perspective view of the bidirectional electric push rod of people.
Figure 25 shows the threaded rod of Multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention
Schematic perspective view.
Figure 26 shows the arm fixation of Multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention
The schematic perspective view of set.
Figure 27 shows the control system of Multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention
Schematic diagram.
In figure: base assembly 1, pedestal 11, support component 12, expansion bend 121, adjustable support leg 122, height adjustment electricity
Dynamic push rod 21, body cradle 22, pitching electric pushrod 23, it is rotating box 3, camera 31, perforation axis hole 32, mounting bracket 33, hinged
Plate 34, the first shaft part 41, sliding eye 411, boss portion 412, the second shaft part 42, traveller portion 421, planar portions 422, training institution 5,
First scissor arms 51, driving bar portion 501, sliding slot 5011, connection bar portion 502, execute bar portion 503, pat bar second scissor arms 52
Portion 504, cushion 505, bidirectional electric push rod 53, push-and-pull motor 531, share shaft 54, wrist fixing sleeve 55, supporting bracket 551,
Binding strip 552, threaded 57, threaded portion 571, polished rod portion 572, screws handle 573, the connection of pusher 58, first at elastic component 56
Plate 581, the second connecting plate 582, driving motor 63, driving clutch 64, the first encoder 71, second encoder 72, processor
74, wireless data transmission module 75, wireless data receipt modules 76, exterior terminal 100.
Specific embodiment
The various embodiments that the present invention will be described in more detail that hereinafter reference will be made to the drawings.In various figures, identical element
It is indicated using same or similar appended drawing reference.For the sake of clarity, the various pieces in attached drawing are not necessarily to scale.
As shown in Fig. 1 to Figure 27, the present invention provides a kind of Multifunctional shoulder joint rehabilitation training medical robot, pedestal 11,
Luffing mechanism, rotating box 3, drive shaft and training institution 5.Drive shaft is rotatably arranged on rotating box 3, and luffing mechanism is set to bottom
On seat 11, it is used to support rotating box 3, and whole height adjustment and pitch angle adjusting are made to rotating box 3.Training institution 5 is set to
In drive shaft, for carrying out the training of various modes and form to patient.
With reference to Fig. 6 and Fig. 7, in order to increase stability when robot operation, the main part of pedestal 11 can be by cast iron
The bigger material of isodensity is made, and certainly, can also increase the weight of pedestal 11 by way of clump weight is arranged.Pedestal 11
Multiple universal wheels are equipped with, the universal wheel is the universal wheel with latch functions, in this way, may make the recovery exercising robot
It is easy to remove.Further, in order to increase the stability of pedestal 11, support component 12 is equipped on four end faces of pedestal 11,
Each support component 12 includes expansion bend 121 and adjustable support leg 122.Pedestal 11 and support component 12 form 11 assembly of pedestal
1.Each expansion bend 121 is horizontally disposed, and outer cylinder is fixed on 11 end face of pedestal, and adjustable support leg 122 is vertically arranged and revolves
It twists on the end of the telescopic rod of expansion bend 121, and can upper and lower turn.The robot is before use, by four support components 12
Expansion bend 121 stretches out, and 122 backspin of adjustable support leg is formed support construction to pedestal 11, to guarantee that the robot transports
Stability when row.
Luffing mechanism, including height adjustment electric pushrod 21, body cradle 22 and pitching electric pushrod 23, the height adjustment
The outer cylinder tail end of electric pushrod 21 is fixed on 11 assembly 1 of pedestal, and the body cradle 22 is U-shaped structure, the height
The end for adjusting the telescopic rod of electric pushrod 21 is fixedly connected with the body cradle 22, the outer cylinder tail of the pitching electric pushrod 23
End is rotationally connected on 11 assembly 1 of pedestal.The height adjustment electric pushrod 21 is for the whole high of the rotating box 3
Degree is adjusted, and the pitching electric pushrod 23 is used to adjust the pitch angle of the rotating box 3.The body cradle 22 is equipped with connection
Bar, one end of the connecting rod are connect with the body cradle 22, and the other end is equipped with attaching nut, described in the body cradle 22 warp
Attaching nut connect with the end of the telescopic rod of the height adjustment electric pushrod 21.
With reference to Figure 11 and Figure 12, rotating box 3 is rectangular parallelepiped structure, and two support arms of the open side of the body cradle 22 are distinguished
It is rotationally connected in the first side and second side of the rotating box 3, the first side and second side are oppositely arranged, and are turned
The bottom wall of dynamic case 3 is equipped with articulated slab 34, and it is hinged that the end of the telescopic rod of the pitching electric pushrod 23 is rotationally connected with this
On plate 34.Wherein, body cradle 22 is arranged close to the 4th side wall of rotating box 3, and the third side wall that articulated slab 34 is abutted against rotating box 3 is set
It sets.Perforation axis hole 32 is offered on rotating box 33, perforation axis hole 32 is through hole, the third of the 32 autorotation case 3 of perforation axis hole
Side is penetrated through to the 4th side.The both ends of perforation axis hole 32 are separately installed with bearing, form bearing pair, the first shaft part of drive shaft
41 are supported in the bearing to upper and rotatable to case 3 is relatively rotated through the bearing.The roof of the rotating box 3 is equipped with camera shooting
First 31, for acquiring the image information of patient's training, and acquired image signal is transmitted to exterior terminal 100.
Drive shaft, including the first shaft part 41 and the second shaft part 42, first shaft part 41 are rotatably arranged in the rotation
On case 3, the first end of first shaft part 41 exposes the third side of the rotating box 3, the second end of first shaft part 41
Expose the 4th side of the rotating box 3, the third side and the 4th side are oppositely arranged and parallel to each other, first side
Successively adjacent enclose is set as openning shape structure for face, third side, second side and the 4th side, the second end of second shaft part 42
It is slidably inserted in the first end of first shaft part 41.
Training institution 5, including scissor is secondary, pusher 58 and bidirectional electric push rod 53, the scissor pair include being used cooperatively
The first scissor arms 51 and the second scissor arms 52, first scissor arms 51 and the second scissor arms 52 can be rotated through sharing shaft 54
On the end of the first end of second shaft part 42, first scissor arms 51 and the respective first end of the second scissor arms 52
On be respectively equipped with sliding slot 5011, the outer cylinder of the bidirectional electric push rod 53 is fixed on the second end of second shaft part 42, described
It is respectively equipped with threaded hole on the end of two telescopic rods of bidirectional electric push rod 53, has screwed threaded on each threaded hole
57, each about 57 turn of threaded, to be inserted into corresponding sliding slot 5011 or be detached from sliding slot 5011.The promotion
One end of device 58 is connected on the end face of the first end of first shaft part 41, and the other end is connected to the of second shaft part 42
On the end face of one end, the pusher 58 drives relatively described first shaft part 41 of second shaft part 42 to reciprocatingly slide.
In the embodiment, the pusher 58 is selected as electric pushrod, and the tail end of the outer cylinder of the electric pushrod is through the first connection
Plate 581 is connected on the end face of 41 first end of the first shaft part, the second connecting plate of end of the telescopic rod of the electric pushrod
582 are connected on the end face of the first end of second shaft part 42.First scissor arms 51 and the second scissor arms 52 respective
Two ends are equipped with wrist fixing sleeve 55, and the wrist fixing sleeve 55 is rotatably set in corresponding scissor arms.Threaded 57 is together
It is arranged in parallel with shaft 54.
With reference to Figure 17 to Figure 20, specifically, the first scissor arms 51 and the second scissor arms 52 substantially symmetrical structure.Two are cut
Yoke respectively includes driving bar portion 501, connection bar portion 502 and execution bar portion 503 each other in same plane, the connection
The connection with the driving bar portion 501 and execution bar portion 503 respectively of the both ends of bar portion 502, the driving bar portion 501 and execution bar
Portion 503 is set parallel to each other.The sliding slot 5011 is set in the driving bar portion 501, and along the length of the driving bar portion 501
Direction is spent to extend.Wherein, it is described execute bar portion 503 end on be additionally provided with pat bar portion 504, the beating bar portion 504 for pair
The shoulder joint of patient carries out beating massage, and described one end for patting bar portion 504 is connected in the execution bar portion 503, the other end
The relatively described execution bar portion 503 is bent, the relatively described driving bar portion 501 of the beating bar portion 504, connection bar portion 502 and execution
Common plane inclination predetermined angle setting where bar portion 503.The sliding slot 5011 is set in the driving bar portion 501, and edge
It is described driving bar portion 501 length direction extend.
In the embodiment, pusher 58 and bidirectional electric push rod 53 are located at the opposite sides of the second shaft part 42, pat
Bar portion 504 is directed away from the direction bending of pusher 58.Wherein, beating bar portion 504 and the angle α executed between bar portion 503 are
120 ° -155 °, it is selected as 150 ° herein.Further, the bottom for patting bar portion 504 is equipped with cushion 505, which can
It is made of such as medical grade rubber material, for realizing the shoulder joint flexible contact with patient.Wrist fixing sleeve 55, which is set to, pats bar
In portion 504.
Further, it is separately connected in the execution bar portion 503 of first scissor arms 51 and the second scissor arms 52 flexible
Part 56, the both ends of the elastic component 56 are connected in first scissor arms 51 and the second scissor arms 52.The elastic component 56
For stretch cord, for providing load force when patient's active training.Distinguish quick-detachable connection in the both ends of the stretch cord
In in first scissor arms 51 and the second scissor arms 52, specific quick release connection type can be to snap connection, can also
For hook connection.
With reference to Figure 25, the threaded rod includes the body of rod and screws handwheel, and the body of rod includes axially from first end court
The threaded portion 571 and polished rod portion 572 set gradually to second end screws handle 573 on the end of threaded portion 571, wherein
The threaded portion 571 is used to screw the threaded rod in the threaded hole of the corresponding telescopic rod of the bidirectional electric push rod 53, institute
Polished rod portion 572 is stated for being inserted into the sliding slot 5011 of corresponding scissor arms.
Further, which further includes the driving motor 63 being installed on the rotating box 3, and is driven
Dynamic clutch 64.The driving motor 63 is sequentially connected through the second end of the driving clutch 64 and first shaft part 41,
Wherein, the power output shaft of the driving motor 63 with it is described driving clutch 64 power input shaft connect, it is described drive from
The power output shaft of clutch 64 is connect with the second end of first shaft part 41.It is fixed on 4th side wall of the rotating box 3
Mounting bracket 33, the driving motor 63 are fixed on the 4th side wall of the rotating box 33 through the mounting bracket 33.The reality
It applies in example, connects between the power output shaft of the driving motor 63 and the power input shaft of the driving clutch 64 through shaft coupling
It connects, is connected between the power output shaft of the driving clutch 64 and the second end of first shaft part 41 through shaft coupling.Driving
Clutch 64 is specifically selected as electromagnetic clutch, and driving motor 63 is chosen as the servo motor or stepping electricity of included deceleration mechanism
Machine.
With reference to figures 13 to Figure 16, in the embodiment, circular sliding is offered on the end face of the first end of the first shaft part 41
Hole 411, second end are equipped with boss portion 412, and the boss portion 412 is used to limit and be exposed to the third side of the rotating box 3
Face.The second end of second shaft part 42 is equipped with traveller portion 421, and first end is equipped with planar portions 422, traveller portion 421 and sliding eye
411 geomery matches, and is slidably inserted in sliding eye 411, and planar portions 422 are for fixing bidirectional electric push rod
53.Wherein, the shared shaft 54 of the first scissor arms 51 and the second scissor arms 52 is set to the end head of plane, bidirectional electric push rod 53
Outer cylinder be fixed in planar portions 422 through its fixing seat, and be located at and share between shaft 54 and the second sidewall of rotating box 3.It is double
It is specifically chosen as bidirectional electric push rod 53 to electric pushrod 53, is stretched so that two telescopic rod can be synchronized towards two sides
Out.
In the embodiment, along the extending direction of connection bar portion 502, the distance that shaft 54 arrives driving bar portion 501 is shared, with
It is 1:1.5-1:3.5 that shaft 54, which is shared, to the ratio between the distance between bar portion 503 is executed, such as is selected as 1:2, so that training airplane
When the bidirectional electric push rod 53 of structure 5 is within the scope of compared with little trick, two biggish movable amplitudes of scissor arms can be realized, realization is cut
The quick response of yoke, and make the structure of the recovery exercising robot more compact.
With reference to Figure 26, wrist fixing sleeve 55 includes supporting bracket 551 and binding strip 552,551 semicircular configurations of supporting bracket,
One end of binding strip 552 is connected on an end of support end, and the other end of binding strip 552 is equipped with the son patch of velcro,
The other end of supporting bracket 551 is equipped with the female patch of velcro, realizes the bondage to patients wrist portion by the cooperation of primary and secondary patch.
Supporting bracket 551 can be made of medical grade plastic materials, medical grade rubber material is equipped in inner ring, for realizing the flexibility with wrist portion
Contact.With its opposite periphery wall that is open equipped with shaft on supporting bracket 551, which is rotatably plugged in corresponding scissor arms
On the lateral surface for patting bar portion 504, and the shaft coaxial arrangement of two supporting brackets 551, the shaft of the supporting bracket 551 with two
The shared shaft 54 of scissor arms is arranged substantially perpendicular to each other.
Figure 27 shows the control system of Multifunctional shoulder joint rehabilitation training medical robot according to an embodiment of the present invention
Schematic diagram.As shown in figure 27, which includes processor 74, wireless data transmission module 75, wireless data reception mould
Block 76, driving motor 63, height adjustment electric pushrod 21, pitching electric pushrod 23, driving clutch 64, push-and-pull motor 531, the
One encoder 71, camera 31 and second encoder 72.Processor 74, wireless data transmission module 75 and wireless data receive mould
Block 76 is set in rotating box 3, access hole can be opened up on rotating box 3, the maintenance for electric-controlled parts.In the embodiment, push-and-pull electricity
Machine 531 is the driving device of bidirectional electric push rod 53, and number is one, the driver which passes through its own
Structure is driven, and drives two telescopic rods flexible.First encoder 71 is installed on bidirectional electric push rod 53, for measuring push-and-pull electricity
The revolving speed of machine 531 and corner.Second encoder 72 is installed on driving motor 63, for measure driving motor 63 revolving speed and
Corner.Wireless data transmission module 75, wireless data receipt modules 76, driving motor 63, height adjustment electric pushrod 21, pitching
Electric pushrod 23, driving clutch 64, push-and-pull motor 531, the first encoder 71 and second encoder 72 respectively with processor 74
It is electrically connected, wireless data transmission module 75 and wireless data receipt modules 76 are electrically connected with exterior terminal 100 respectively, processing
Device 74 realizes wireless telecommunications through wireless data transmission module 75 and wireless data receipt modules 76 and exterior terminal 100.Outside this
Terminal 100 can be the communication apparatus of any achievable wireless telecommunications such as mobile phone and tablet computer.First encoder 71 connects
Revolving speed and angular signal from motor are received, and is transmitted to processor 74, processor 74 obtains stretching for electric pushrod after being computed
The displacement of contracting bar and speed signal.Second encoder 72 receives revolving speed and angular signal from driving motor 63, and is transmitted to
Processor 74, processor 74 obtain the revolving speed and rotational angle signal of driving motor 6363 after being computed.Processor 74, which receives, to be come
From the control instruction of exterior terminal 100, it is electronic to control driving motor 63, driving clutch 64, push-and-pull motor 531, height adjustment
Push rod 21 and pitching electric pushrod 23 make deliberate action, and processor 74 receives come from the first encoder simultaneously in action process
71 and the relevant parameter of second encoder 72 constantly adjusted after the received information of 74 pairs of processor institute make integrated treatment analysis,
Deliberate action is made according to the requirement of external control instruction.
In the embodiment, the APP of the recovery exercising robot can be installed in exterior terminal 100, and by operation APP come
Control recovery exercising robot movement.In the interface APP, by patient training posture be equipped with patient's sitting and lying formula training mode and
The vertical training mode both of which of patient is equipped with active training the mode option and passive exercise mode according to main passive exercise situation
Option, passive exercise the mode option divide into the swing of simple shear yoke, the rotation of double shear yoke, the swing of double shear yoke and shoulder joint beat again
Beat the options such as massage.Simple shear yoke swing option is for a scissor arms around shared shaft under the promotion of bidirectional electric push rod 53
54 swing, and it is that two scissor arms are locked that double shear yoke, which rotates option, and only drive shaft drives training structure unitary rotation, double shear fork
Arm swing option is that two scissor arms are swung under the promotion of bidirectional electric push rod 53 around shared shaft 54 respectively.Shoulder joint beat
Beat massage option be pusher 58 constantly it is overhanging it is interior it is over beat corresponding two shoulder joint, so that the blood of shoulder joint be promoted to follow
Ring promotes neurodevelopment, reduces shoulder joint Muscle tensility.In addition, the grade of rehabilitation training is additionally provided in the interface APP, according to trouble
The severity of person is set as multistage, such as sets gradually six grades to weak according to improving oneself for severity, i.e. primary rehabilitation is instructed
To practice to six grades of rehabilitation training options, the rehabilitation training of each rank corresponds to different 5 operating frequency of training institution and movement range,
To be adapted with patient profiles.Primary rehabilitation training option is the training option of lowermost level, this grade of option be suitable for almost without
The severe patient of active training ability.Patient selects to train training mode and training grade accordingly as needed.For example, for
Almost without the severe patient of active training ability, since its muscle can not independently make movement, needed at this time using passive exercise mould
Formula, and accordingly selection primary rehabilitation training option, carry out the training that situation is adaptable therewith to patient.External mobile terminal can
It is manipulated by support staff, such as medical staff, can also be manipulated certainly by sufferers themselves.It, can root about the specific setting of APP
It carries out according to needing, no longer repeats one by one herein.
The recovery exercising robot can be realized the training of various modes and diversified forms, as specific training method side
Method can be adjusted as required.When patient is hemiplegia etc. and can not stand, or training finishes when loosening, and trouble can be used
Person's sitting and lying formula training mode, concretely patient is sitting posture to sitting posture, is faced or back to training institution 5；Specific horizontal posture can
To lie on the back and prostrate, when prostrate, which can carry out shoulder joint, pats massage and loosens, and when sitting and lying posture, can pass through height adjustment electric pushrod
21 and pitching electric pushrod 23 adjust the whole height and pitch angle of rotating box 3, to adapt to different heights and pose
Patient.Progress shoulder joint, which pats to massage to loosen, can first pass through bidirectional electric push rod 53 for the beating bar portion in two scissor arms
The distance between 504 adjustings are arrived the distance between two shoulder joint of patient and are matched, then by drive shaft turns to two shoulders
Joint carries out alternately patting massage, or pushes and pulls the secondary two pairs of two shoulder joint progress of entire scissor by pusher 58 while patting
Massage；When sitting and lying formula training mode, patient is sleeping to be lain at 3 lower section of rotating box and shoulder is at suitable position, luffing mechanism
Drive entire training institution 5 to bow towards patient and go to predetermined angle, to realize the rehabilitation training of patient, such as active training and
Passive exercise.When needing two shoulder joint to patient while carrying out passive exercise, pass through the selected passive instruction of exterior terminal 100
The double shear yoke practiced under mode rotates option, will be threaded in corresponding sliding slot 5011 under two threadeds 57, so that two be cut
Yoke locking, then by the difference bondage of two wrists of the right-hand man of patient in two wrist fixing sleeves 55, exterior terminal 100
Corresponding control instruction is sent, control driving clutch 64 is attracted so that driving motor 63 after processor 74 receives control instruction
It is sequentially connected with drive shaft, processor 74 controls the back rotation of coming that driving motor 63 drives drive shaft to make predetermined angle, drives whole
A training institution 5 rotates, and two scissor arms drive two arms to make steer direction disc type intersection respectively and swing, to realize to trouble
The intersection turn training of two shoulder joint of person；When needing the shoulder joint to patient to be respectively trained, can lead to a hand only
Wrist bondage is driven by drive shaft in corresponding wrist fixing sleeve 55 and curls up training for 360 ° to shoulder joint progress.When selection is double
When scissor arm swing option, two scissor arms are turned in horizontal plane, are locked two scissor arms by two threadeds 57, so
Afterwards by two wrist bondages in wrist fixing sleeve 55, two scissor arms carry out scissor movement in the horizontal plane, thus to shoulder joint
Section carries out receiving training in outer pendulum.When selecting simple shear yoke to swing option, patient is located at before training institution 5 and in face of training
Mechanism 5, control drive shaft drive two scissor arms to turn in vertical plane, are locked one, top scissor arms by threaded 57
It is fixed, then by shoulder joint wrist bondage to be trained in the arm fixation of a scissor arms on top covers, bidirectional electric push rod
53 drive shoulder joint to carry out preceding rotation training；Meanwhile when before patient is located at training institution 5 and back to training institution 5, by hand
Wrist bondage can carry out the back spin training of shoulder joint in the arm fixation set of a scissor arms of lower part at this time.
When using exterior terminal 100 select active training mode when, driving clutch 64 separate, by two threadeds 57 with
Two scissor arms separation, and two scissor arms are connected into upper elastic member 56, the active training of patient, such as two can be carried out at this time
The intersection turn training of outer pendulum and the interior steer direction disc type of receiving training and two shoulder joint of the shoulder joint under load force.
Patient's shoulder joint can be carried out as needed using the Multifunctional shoulder joint rehabilitation training medical robot a variety of
The training of mode and mode, no longer repeats one by one herein.
Multifunctional shoulder joint rehabilitation training medical robot in the present invention can carry out a variety of moulds to patient as needed
The training of formula and form, patient can select patient's sitting and lying formula training mode and the vertical training mode of patient according to different training requirements
Both of which, and selection carry out passive exercise or active training, a variety of training actions can be made in training, thus to trouble
Person carries out the comprehensive training of a variety of training methods.The recovery exercising robot is applied widely, and intelligence degree is high, can be right
The comprehensive rehabilitation training of the carry out such as muscle and nerve of shoulder joint, to greatly improve the level and effect of healing and training shoulder joint
Fruit, and substantially increase Patient Experience.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Finally, it should be noted that obviously, the above embodiment is merely an example for clearly illustrating the present invention, and simultaneously
The non-restriction to embodiment.For those of ordinary skill in the art, it can also do on the basis of the above description
Other various forms of variations or variation out.There is no necessity and possibility to exhaust all the enbodiments.And thus drawn
The obvious changes or variations that Shen goes out are still in the protection scope of this invention.
Claims (10)
1. a kind of Multifunctional shoulder joint rehabilitation training medical robot characterized by comprising
Base assembly；
Luffing mechanism, including height adjustment electric pushrod, body cradle and pitching electric pushrod, the height adjustment electric pushrod
Outer cylinder tail end is fixed in the base assembly, and the body cradle is U-shaped structure, and the height adjustment electric pushrod stretches
The end of bar is fixedly connected with the body cradle, and it is total that the outer cylinder tail end of the pitching electric pushrod is rotationally connected with the pedestal
Cheng Shang；
Rotating box, is rectangular parallelepiped structure, and two support arms of the open side of the body cradle are rotationally connected with the rotating box respectively
First side and second side on, the first side and second side are oppositely arranged, the pitching electric pushrod it is flexible
The end of bar is rotationally connected on the bottom wall of the rotating box；
Drive shaft, including the first shaft part and the second shaft part, first shaft part are rotatably arranged on the rotating box, and described
The first end of one shaft part exposes the third side of the rotating box, and the second end of first shaft part exposes the of the rotating box
Four sides, the third side and the 4th side are oppositely arranged and parallel to each other, the first side, third side, second side
Face and the 4th side are successively adjacent and enclose and be set as openning shape structure, and the second end of second shaft part is slidably inserted in described
In the first end of one shaft part；
Training institution, including scissor is secondary, pusher and bidirectional electric push rod, the scissor pair include the first scissor being used cooperatively
Arm and the second scissor arms, first scissor arms and the second scissor arms be rotatably set to second shaft part through sharing shaft the
On the end of one end, sliding slot, the two-way electricity are respectively equipped in first scissor arms and the respective first end of the second scissor arms
The outer cylinder of dynamic push rod is fixed on the second end of second shaft part, divides on the end of two telescopic rods of the bidirectional electric push rod
Not She You threaded hole, threaded, each threaded turn up and down, to be inserted into correspondence have been screwed on each threaded hole
Sliding slot in or be detached from sliding slot, one end of the pusher is connected on the end face of the first end of first shaft part, another
On the end face for holding the first end for being connected to second shaft part, the pusher drives the relatively described first axle of the second shaft part
Section reciprocatingly slides,
Respectively second end is equipped with wrist fixing sleeve for first scissor arms and the second scissor arms, and the wrist fixing sleeve can be rotated
In corresponding scissor arms.
2. Multifunctional shoulder joint rehabilitation training medical robot according to claim 1, which is characterized in that the height tune
Whole height of the section electric push rod for the rotating box is adjusted, and the pitching electric pushrod is for adjusting bowing for the rotating box
Elevation angle degree.
3. Multifunctional shoulder joint rehabilitation training medical robot according to claim 1, which is characterized in that the body cradle
It is equipped with connecting rod, one end of the connecting rod is connect with the body cradle, and the other end is equipped with attaching nut, the body cradle
It is connect through the attaching nut with the end of the telescopic rod of the height adjustment electric pushrod.
4. Multifunctional shoulder joint rehabilitation training medical robot according to claim 1, which is characterized in that the rotating box
Roof be equipped with camera, for acquire patient training image information.
5. Multifunctional shoulder joint rehabilitation training medical robot according to claim 1, which is characterized in that the pusher
It is selected as electric pushrod, the end face of the first shaft part first end is equipped with the first connecting plate, the first end of second shaft part
End face is equipped with the second connecting plate,
The tail end of the outer cylinder of the electric pushrod is connected on first shaft part through the first connecting plate, the telescopic rod of the electric pushrod
The second connecting plate of end be connected on second shaft part.
6. Multifunctional shoulder joint rehabilitation training medical robot according to claim 1, which is characterized in that further include installation
Driving motor on the 4th side wall of the rotating box, and driving clutch,
The driving motor is sequentially connected through the second end of the driving clutch and first shaft part, wherein the driving
The power output shaft of motor with it is described driving clutch power input shaft connect, it is described driving clutch power output shaft and
The second end of the drive shaft connects.
7. Multifunctional shoulder joint rehabilitation training medical robot according to claim 6, which is characterized in that the rotating box
The 4th side wall on be fixed with mounting bracket, the driving motor is fixed on the rotating box through the mounting bracket.
8. Multifunctional shoulder joint rehabilitation training medical robot according to claim 1, which is characterized in that described first cuts
Yoke and the second scissor arms are respectively connected with elastic component in second end, and the both ends of the elastic component are connected to described first and cut
On yoke and the second scissor arms.
9. Multifunctional shoulder joint rehabilitation training medical robot according to claim 8, which is characterized in that the elastic component
It is selected as stretch cord, the both ends of the stretch cord are quick-detachable respectively to be connected to first scissor arms and the second scissor arms
On.
10. -9 described in any item Multifunctional shoulder joint rehabilitation training medical robots according to claim 1, which is characterized in that
The threaded rod includes the body of rod and screws handwheel, and the body of rod includes axially setting gradually from first end towards second end
Threaded portion and polished rod portion, the handwheel that screws are set on the end of the threaded portion,
Wherein, the threaded portion is for screwing the threaded rod in the threaded hole of the corresponding telescopic rod of the bidirectional electric push rod
Interior, the polished rod portion is for being inserted into corresponding scissor arms sliding slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810837879.3A CN108938330B (en) | 2018-07-26 | 2018-07-26 | Multifunctional shoulder joint rehabilitation training medical robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810837879.3A CN108938330B (en) | 2018-07-26 | 2018-07-26 | Multifunctional shoulder joint rehabilitation training medical robot |
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| CN108938330B CN108938330B (en) | 2020-10-02 |
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| CN109875720A (en) * | 2019-04-01 | 2019-06-14 | 环山集团股份有限公司 | One broad sow massages semen deposition folder |
| CN113827444A (en) * | 2021-09-30 | 2021-12-24 | 重庆三峡医药高等专科学校 | Finger training device |
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| Publication number | Publication date |
|---|---|
| CN108938330B (en) | 2020-10-02 |
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