CN114366568A - Bed-based comprehensive function rehabilitation robot - Google Patents

Bed-based comprehensive function rehabilitation robot Download PDF

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Publication number
CN114366568A
CN114366568A CN202210101655.2A CN202210101655A CN114366568A CN 114366568 A CN114366568 A CN 114366568A CN 202210101655 A CN202210101655 A CN 202210101655A CN 114366568 A CN114366568 A CN 114366568A
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CN
China
Prior art keywords
bed
electric push
push rod
rod
connecting rod
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Granted
Application number
CN202210101655.2A
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Chinese (zh)
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CN114366568B (en
Inventor
刘东光
胡明星
何恒华
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Guangzhou Roujiren Pension Industry Co ltd
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Guangzhou Roujiren Pension Industry Co ltd
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Priority to CN202210101655.2A priority Critical patent/CN114366568B/en
Publication of CN114366568A publication Critical patent/CN114366568A/en
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Publication of CN114366568B publication Critical patent/CN114366568B/en
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    • 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
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
    • A61G7/10—Devices for lifting patients or disabled persons, e.g. special adaptations of hoists thereto
    • A61G7/1025—Lateral movement of patients, e.g. horizontal transfer
    • 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
    • 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
    • A61H1/0277—Elbow
    • 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
    • A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
    • A61H7/007—Kneading
    • 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
    • A61H9/00—Pneumatic or hydraulic massage
    • A61H9/005—Pneumatic massage
    • A61H9/0078—Pneumatic massage with intermittent or alternately inflated bladders or cuffs
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
    • A63B22/04—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable multiple steps, i.e. more than one step per limb, e.g. steps mounted on endless loops, endless ladders
    • 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
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • A61H2201/0138—Support for the device incorporated in furniture
    • A61H2201/0142—Beds
    • 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
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • 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
    • A61H2201/50—Control means thereof
    • 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
    • A61H2205/04—Devices for specific parts of the body neck
    • 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
    • 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
    • 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
    • A61H2205/08—Trunk
    • A61H2205/081—Back
    • 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
    • A61H2205/08—Trunk
    • A61H2205/086—Buttocks
    • 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
    • A61H2205/10—Leg
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
    • Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Rehabilitation Therapy (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Dermatology (AREA)
  • Nursing (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a bed-based comprehensive function rehabilitation robot which comprises a bedstead, a massage hand grip component, an upper limb movement exoskeleton component and a lower limb movement exoskeleton component, wherein the bedstead is provided with the massage hand grip component, and the massage hand grip component comprises a suspension support frame, a longitudinal movement module, a sliding block, a mounting frame, a transverse movement module, a mounting block, a telescopic rod and an air bag type massage hand grip; the novel bed-based comprehensive function rehabilitation robot can easily transfer the disabled or apoplexy hemiparalysis patients and the like which can not get up to the rehabilitation training robot from the wheelchair to perform multifunctional rehabilitation training and health care massage; when in use, the multifunctional rehabilitation robot can be independently controlled or remotely controlled to be independently transferred from the wheelchair to the bed surface of the rehabilitation robot to carry out multifunctional rehabilitation training and health care massage on the limbs and the body, and can be independently or remotely controlled to return to the wheelchair after completion; therefore, this novel be convenient for patient's rehabilitation training, and improve rehabilitation training efficiency greatly to a large amount of artifical labours are saved.

Description

Bed-based comprehensive function rehabilitation robot
Technical Field
The invention relates to the technical field of medical rehabilitation auxiliary equipment, in particular to a bed-based comprehensive function rehabilitation robot.
Background
Disabled elderly are disabled due to physical dysfunction caused by diseases such as stroke, or due to physical function deterioration caused by elderly, and patients with stroke are mostly hemiplegic to different degrees; the rehabilitation training is helpful for the functional reconstruction or compensation of the nervous system, relieves the disability symptoms or paralysis symptoms, and promotes the improvement or rehabilitation of the disability body; therefore, rehabilitation training has become one of the main means for helping disabled elderly or apoplexy patients to recover in global old-age institutions, hospitals and the like; however, the rehabilitation training instrument used in the current old-aged care institutions or hospitals or the like has single function, needs a plurality of instruments to meet the requirements of the disabled old people or the patients with the stroke on the rehabilitation training of a plurality of limbs, and is very inconvenient; or the device has multiple functions and large volume, is only suitable for the training of the old with certain standing and walking abilities and is not suitable for the rehabilitation training of the old who is bedridden, so that most of the disabled or middle-wind patients lose the favorable opportunity of obtaining good effect due to the loss of early rehabilitation training caused by the bedridden patients; therefore, a bed-based comprehensive function rehabilitation robot is needed in the present stage.
Disclosure of Invention
The invention aims to provide a bed-based comprehensive function rehabilitation robot to solve the problems in the background technology.
In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides a bed-based comprehensive function rehabilitation robot, including bedstead, massage tongs subassembly, upper limbs motion ectoskeleton subassembly and low limbs motion ectoskeleton subassembly, install massage tongs subassembly on the bedstead, massage tongs subassembly includes the underslung support frame, the longitudinal movement module, the slider, the mounting bracket, the lateral shifting module, the installation piece, telescopic link and gasbag formula massage tongs, fixed mounting has the underslung support frame on the bedstead, install the longitudinal movement module on the underslung support frame, be provided with the slider on the longitudinal movement module, fixedly connected with mounting bracket on the slider, install the lateral shifting module on the mounting bracket, install the installation piece on the lateral shifting module, install the telescopic link on the installation piece, the output fixedly connected with gasbag formula massage tongs of telescopic link, upper limbs motion ectoskeleton subassembly is installed to one side of bedstead, upper limbs motion ectoskeleton subassembly includes head rod, the upper limbs motion ectoskeleton subassembly, A second connecting rod, a connecting plate, a connecting shaft, a first electric push rod, a second electric push rod, a third electric push rod and a wrist fixing ring, wherein the first connecting rod is symmetrically arranged at one side of the bedstead, and one end of the first connecting rod is rotatably connected with the bedstead through a rotating shaft, the other end of the first connecting rod is rotatably connected with a second connecting rod, a wrist fixing ring is installed on the second connecting rod, a first electric push rod is installed on the bedstead, the second connecting rod is rotatably connected with a connecting plate, a connecting shaft is arranged on the connecting plate, a second electric push rod is installed on the first connecting rod, a mounting seat of the second electric push rod is rotatably connected with the side wall of the first connecting rod, the output end of the second electric push rod is rotatably connected with the connecting shaft, a third electric push rod is installed on the second connecting rod, the mounting seat of the third electric push rod is rotatably connected with the second connecting rod, and the output end of the third electric push rod is rotatably connected with the connecting shaft.
Furthermore, the bottom end of the bedstead is provided with walking wheels, and the bedstead is provided with a massage mattress.
Furthermore, the mounting seat of the first electric push rod is rotatably connected with the bed frame, and the output end of the first electric push rod is rotatably connected with the first connecting rod.
Furthermore, a lower limb movement exoskeleton assembly is arranged on the bed frame and comprises a telescopic suspension bracket, a power device, a reduction box, a shank exoskeleton and a pedal shank support sleeve.
Furthermore, a telescopic suspension support is mounted on the bed frame, a power device and a reduction gearbox are respectively mounted on the telescopic suspension support, and the power device is linked with the reduction gearbox through a rotating shaft.
Furthermore, the telescopic suspension bracket is provided with a shank exoskeleton, the power input end of the shank exoskeleton is connected with the reduction gearbox, and the power output end of the shank exoskeleton is provided with a pedal shank support sleeve.
Further, a support turning device 66 is arranged on the telescopic suspension support 61.
Compared with the prior art, the invention has the following beneficial effects: the novel bed-based comprehensive function rehabilitation robot can easily transfer the disabled or apoplexy hemiparalysis patients and the like which can not get up to the rehabilitation training robot from the wheelchair to perform multifunctional rehabilitation training and health care massage; when in use, the multifunctional rehabilitation robot can be independently controlled or remotely controlled to be independently transferred from the wheelchair to the bed surface of the rehabilitation robot to carry out multifunctional rehabilitation training and health care massage on the limbs and the body, and can be independently or remotely controlled to return to the wheelchair after completion; therefore, the novel popularization and application can provide convenience and opportunity for tens of millions of bedridden patients to carry out early rehabilitation training, can greatly improve the rehabilitation training efficiency, and saves a large amount of labor of nursing staff or rehabilitation teachers.
Drawings
FIGS. 1-2 are schematic views of the overall structure of the present invention;
FIG. 3 is an enlarged view of the structure of the area A in FIG. 2 according to the present invention;
FIG. 4 is an enlarged view of the structure of the area B in FIG. 2 according to the present invention;
fig. 5 is a schematic structural view of the stent overturning device of the invention.
In the figure: 1. a bed frame; 2. a traveling wheel; 3. a massage mattress; 4. a massage hand grip assembly; 5. an upper extremity kinematic exoskeleton assembly; 6. a lower extremity kinematic exoskeleton assembly; 41. hanging a support frame; 42. a longitudinal moving module; 43. a slider; 44. a mounting frame; 45. a transverse moving module; 46. mounting blocks; 47. a telescopic rod; 48. an air bag type massage gripper; 51. a first connecting rod; 52. a second connecting rod; 53. a connecting plate; 54. a connecting shaft; 55. a first electric push rod; 56. a second electric push rod; 57. a third electric push rod; 58. a wrist fixing ring; 61. a telescopic suspension bracket; 62. a power device; 63. a reduction gearbox; 64. a calf exoskeleton; 65. a pedal shank support sleeve; 66. support turning device.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: a bed-based comprehensive function rehabilitation robot comprises a bed frame 1, a massage hand grip component 4, an upper limb movement exoskeleton component 5 and a lower limb movement exoskeleton component 6, wherein the bed frame 1 is provided with the massage hand grip component 4.
Further, massage tongs subassembly 4 includes suspended support frame 41, longitudinal movement module 42, slider 43, mounting bracket 44, lateral shifting module 45, installation piece 46, telescopic link 47 and air bag formula massage tongs 48, fixed mounting has suspended support frame 41 on the bedstead 1, install longitudinal movement module 42 on the suspended support frame 41, be provided with slider 43 on the longitudinal movement module 42, fixedly connected with mounting bracket 44 on the slider 43, install lateral shifting module 45 on the mounting bracket 44, install installation piece 46 on the lateral shifting module 45, install telescopic link 47 on the installation piece 46, the output fixedly connected with air bag formula massage tongs 48 of telescopic link 47.
Further, an upper limb movement exoskeleton assembly 5 is installed on one side of the bed frame 1, the upper limb movement exoskeleton assembly 5 comprises a first connecting rod 51, a second connecting rod 52, a connecting plate 53, a connecting shaft 54, a first electric push rod 55, a second electric push rod 56, a third electric push rod 57 and a wrist fixing ring 58, the first connecting rod 51 is symmetrically installed on one side of the bed frame 1, one end of the first connecting rod 51 is rotatably connected with the bed frame 1 through a rotating shaft, the second connecting rod 52 is rotatably connected with the other end of the first connecting rod 51, the wrist fixing ring 58 is installed on the second connecting rod 52, the first electric push rod 55 is installed on the bed frame 1, the connecting plate 53 is rotatably connected on the second connecting rod 52, the connecting shaft 54 is arranged on the connecting plate 53, the second electric push rod 56 is installed on the first connecting rod 51, a mounting seat of the second electric push rod 56 is rotatably connected with a side wall of the first connecting rod 51, and an output end of the second electric push rod 56 is rotatably connected with the connecting rod 54, the second connecting rod 52 is provided with a third electric push rod 57, the mounting seat of the third electric push rod 57 is rotatably connected with the second connecting rod 52, and the output end of the third electric push rod 57 is rotatably connected with the connecting shaft 54.
Further, the bottom end of the bedstead 1 is provided with a walking wheel 2, and the bedstead 1 is provided with a massage mattress 3; the mounting seat of the first electric push rod 55 is rotatably connected with the bedstead 1, and the output end of the first electric push rod 55 is rotatably connected with the first connecting rod 51; a lower limb movement exoskeleton assembly 6 is arranged on the bedstead 1, and the lower limb movement exoskeleton assembly 6 comprises a telescopic suspension bracket 61, a power device 62, a reduction box 63, a shank exoskeleton 64 and a pedal shank support sleeve 65; a telescopic suspension bracket 61 is arranged on the bedstead 1, a power device 62 and a reduction gearbox 63 are respectively arranged on the telescopic suspension bracket 61, and the power device 62 and the reduction gearbox 63 are linked through a rotating shaft; the telescopic suspension bracket 61 is provided with a shank exoskeleton 64, the power input end of the shank exoskeleton 64 is connected with the reduction box 63, and the power output end of the shank exoskeleton 64 is provided with a pedal shank support sleeve 65; a control box is arranged in the bedstead 1, sensors are arranged on the air bag type massage hand grip 48, the wrist fixing ring 58 and the shank exoskeleton 64, the sensors are electrically connected with the control box, and the control box can be matched with the control box through manual control, sound control or remote control to complete the control of multiple active or passive rehabilitation exercise training of four limbs when in use. Furthermore, a support tilting device 66 is provided on the telescopic suspension support 61, by means of which the telescopic suspension support can be made horizontal or vertical.
Furthermore, when the bed-based comprehensive function rehabilitation robot is used, the bed surface is a conveying type bed structure, and a patient can be easily connected to the bed surface from a conveying type wheelchair or a sliding type stretcher vehicle through a conveying type bed for massage and limb rehabilitation training; the massage mattress 3 comprises more than four inflatable and deflatable air bags and can carry out air bag massage on the neck, back, waist, hip and other parts of the patient; the handle is used by a patient or a rehabilitation teacher, the remote controller operates the air bag type massage gripper 48, the parts of four limbs needing to be massaged are firstly subjected to point stepping positioning and stored in the system, then the longitudinal moving module 42 and the transverse moving module 45 are sequentially started according to positioning information, the air bag type massage gripper 48 is driven to transversely and longitudinally move, the telescopic rod 47 is started, the air bag type massage gripper 48 is driven to move in the vertical direction, and further the repeated and accurate gripping type massage on the parts needing to be massaged is realized; when upper limb rehabilitation training is required, firstly, the wrist of a patient is fixed through the wrist fixing ring 58, and then active or passive training in modes of elbow joint flexion, internal and external rotation, shoulder joint flexion, adduction and abduction and the like can be performed by the aid of the upper limb movement exoskeleton assembly 5 through the matching of the first electric push rod 55, the second electric push rod 56 and the third electric push rod 57; when lower limb rehabilitation training is required, the telescopic suspension bracket 61 extends out from the bed tail to the direction of the bed head when in use, so that the feet of a lying patient can be put on the pedal shank support sleeve 65, and active or passive flexion and extension exercise training of the knee joints and hip joints of the lower limbs can be carried out through the matching operation of a control box, remote control and the like.
Various modifications may be made by those skilled in the art based on the above teachings and concepts, and all such modifications are intended to be included within the scope of the present invention as defined in the appended claims.

Claims (7)

1. A bed-based comprehensive function rehabilitation robot comprises a bed frame (1), a massage gripper assembly (4), an upper limb movement exoskeleton assembly (5) and a lower limb movement exoskeleton assembly (6), and is characterized in that the bed frame (1) is provided with the massage gripper assembly (4), the massage gripper assembly (4) comprises a suspension support frame (41), a longitudinal movement module (42), a sliding block (43), a mounting frame (44), a transverse movement module (45), a mounting block (46), a telescopic rod (47) and an air bag type massage gripper (48), the bed frame (1) is fixedly provided with the suspension support frame (41), the suspension support frame (41) is provided with the longitudinal movement module (42), the longitudinal movement module (42) is provided with the sliding block (43), the sliding block (43) is fixedly connected with the mounting frame (44), and the mounting frame (44) is provided with the transverse movement module (45), the horizontal moving module (45) is provided with a mounting block (46), the mounting block (46) is provided with a telescopic rod (47), the output end of the telescopic rod (47) is fixedly connected with an air bag type massage gripper (48), one side of the bedstead (1) is provided with an upper limb movement exoskeleton component (5), the upper limb movement exoskeleton component (5) comprises a first connecting rod (51), a second connecting rod (52), a connecting plate (53), a connecting shaft (54), a first electric push rod (55), a second electric push rod (56), a third electric push rod (57) and a wrist fixing ring (58), one side of the bedstead (1) is symmetrically provided with the first connecting rod (51), one end of the first connecting rod (51) is rotatably connected with the bedstead (1) through a rotating shaft, the other end of the first connecting rod (51) is rotatably connected with the second connecting rod (52), the wrist fixing ring (58) is arranged on the second connecting rod (52), install first electric push rod (55) on bedstead (1), it is connected with connecting plate (53) to rotate on second connecting rod (52), be provided with connecting axle (54) on connecting plate (53), install second electric push rod (56) on head rod (51), the mount pad of second electric push rod (56) rotates with the lateral wall of head rod (51) to be connected, the output and connecting axle (54) of second electric push rod (56) rotate to be connected, install third electric push rod (57) on second connecting rod (52), the mount pad of third electric push rod (57) rotates with second connecting rod (52) to be connected, the output and connecting axle (54) of third electric push rod (57) rotate to be connected.
2. The bed-based multifunctional rehabilitation robot according to claim 1, characterized in that the bottom end of the bed frame (1) is provided with the walking wheels (2), and the bed frame (1) is provided with the massage mattress (3).
3. The bed-based multifunctional rehabilitation robot according to claim 1, wherein the mounting seat of the first electric push rod (55) is rotatably connected with the bed frame (1), and the output end of the first electric push rod (55) is rotatably connected with the first connecting rod (51).
4. The bed-based comprehensive functional rehabilitation robot according to claim 3, characterized in that the bed frame (1) is provided with a lower limb movement exoskeleton assembly (6), and the lower limb movement exoskeleton assembly (6) comprises a telescopic suspension bracket (61), a power device (62), a reduction box (63), a lower leg exoskeleton (64) and a pedal lower leg support sleeve (65).
5. The bed-based comprehensive function rehabilitation robot according to claim 4, characterized in that the bed frame (1) is provided with a telescopic suspension bracket (61), the telescopic suspension bracket (61) is provided with a power device (62) and a reduction gearbox (63) respectively, and the power device (62) and the reduction gearbox (63) are linked through a rotating shaft.
6. The bed-based comprehensive function rehabilitation robot according to claim 5, characterized in that the telescopic suspension bracket (61) is provided with a lower leg exoskeleton (64), the power input end of the lower leg exoskeleton (64) is connected with a reduction gearbox (63), and the power output end of the lower leg exoskeleton (64) is provided with a pedal lower leg support sleeve (65).
7. The bed-based multifunctional rehabilitation robot according to claim 6, characterized in that a support overturning device (66) is provided on the telescopic suspension support (61).
CN202210101655.2A 2022-01-27 2022-01-27 Bed-based comprehensive function rehabilitation robot Active CN114366568B (en)

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