CN114366568B - Bed-based comprehensive function rehabilitation robot - Google Patents

Bed-based comprehensive function rehabilitation robot Download PDF

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Publication number
CN114366568B
CN114366568B CN202210101655.2A CN202210101655A CN114366568B CN 114366568 B CN114366568 B CN 114366568B CN 202210101655 A CN202210101655 A CN 202210101655A CN 114366568 B CN114366568 B CN 114366568B
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CN
China
Prior art keywords
massage
bed
electric push
push rod
connecting rod
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Active
Application number
CN202210101655.2A
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Chinese (zh)
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CN114366568A (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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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
    • A61H1/0237—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 gripper assembly, an upper limb movement exoskeleton assembly and a lower limb movement exoskeleton assembly, wherein the massage gripper assembly is arranged on the bedstead and 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 gripper; the novel bed-based comprehensive functional rehabilitation robot can enable bedridden disabled or apoplectic hemiplegic patients and the like to be easily transferred from a wheelchair to a rehabilitation training robot for multifunctional rehabilitation training and health care massage; when the multifunctional rehabilitation massage wheelchair is used, autonomous control or remote control can be independently transferred from the wheelchair to the bed surface of the rehabilitation robot to perform multifunctional rehabilitation training and health care massage on limbs and bodies, and the multifunctional rehabilitation massage wheelchair can be independently or remotely controlled to return to the wheelchair after the multifunctional rehabilitation massage wheelchair is completed; therefore, the novel rehabilitation training device is convenient for rehabilitation training of patients, greatly improves the rehabilitation training efficiency and saves a great deal of manual labor.

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
The disabled elderly suffer from disability due to physical dysfunction caused by diseases such as stroke, or from physical deterioration caused by advanced age, and in addition, patients suffering from stroke often suffer from hemiplegia to different extents; the rehabilitation training is helpful for functional reconstruction or compensation of the nervous system, so as to relieve the disability symptom or paralysis symptom and promote the improvement or rehabilitation of the disabled organism; therefore, rehabilitation training has become one of the main means for helping the recovery of disabled old people or stroke patients, such as global care institutions, hospitals and the like; however, the rehabilitation training devices used in the existing penmanship institutions or hospitals are single in function, and a plurality of devices are needed to meet the rehabilitation training requirements of a plurality of limbs existing simultaneously for disabled old people or stroke patients, so that the rehabilitation training devices are very inconvenient; or the device has multiple functions and huge volume, is only suitable for training old people with certain standing and walking abilities, is not suitable for rehabilitation training of bedridden old people, and is a favorable opportunity for obtaining good effects when most of disabled or stroke patients lose early rehabilitation training due to bedridden old people; therefore, a bed-based comprehensive function rehabilitation robot is needed in the present stage.
Disclosure of Invention
The invention aims to provide a bed comprehensive function rehabilitation robot which aims 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, which comprises a bedstead, massage tongs subassembly, upper limbs motion ectoskeleton subassembly and lower limbs motion ectoskeleton subassembly, install massage tongs subassembly on the bedstead, massage tongs subassembly includes the suspension support frame, vertical movement module, the slider, the mounting bracket, lateral movement module, the installation piece, telescopic link and gasbag formula massage tongs, fixedly mounted suspension support frame on the bedstead, install vertical movement module on the suspension support frame, be provided with the slider on the vertical movement module, fixedly connected with mounting bracket on the slider, install lateral movement module on the mounting bracket, install the installation piece on the lateral movement 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 the head rod, the second connecting rod, the connecting plate, the connecting axle, first electric putter, the second electric putter, third electric putter and fixed ring, the one side symmetry of bedstead has the head rod, and the other end and the rotation of head rod are connected with rotation through pivot, the other end and the rotation of head rod are connected with the second connecting rod, the wrist is installed to the second connecting rod, the second connecting rod is connected with the wrist, the first connecting rod is installed to the second connecting rod is connected with the first connecting rod, the wrist is installed to the second connecting rod is connected with the first connecting rod, the first connecting rod is connected with the wrist upper end of the second connecting rod, the output end of the third electric push rod is rotationally connected with the connecting shaft.
Further, walking wheels are arranged at the bottom end of the bedstead, and a massage mattress is arranged on the bedstead.
Further, the mounting seat of the first electric push rod is rotationally connected with the bedstead, and the output end of the first electric push rod is rotationally connected with the first connecting rod.
Further, a lower limb exercise exoskeleton assembly is arranged on the bedstead and comprises a telescopic suspension bracket, a power device, a reduction gearbox, a lower leg exoskeleton and a pedal lower leg supporting sleeve.
Further, a telescopic suspension bracket is arranged on the bedstead, a power device and a reduction box are respectively arranged on the telescopic suspension bracket, and the power device and the reduction box are linked through a rotating shaft.
Further, 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, the telescopic suspension bracket 61 is provided with a bracket turning device 66.
Compared with the prior art, the invention has the following beneficial effects: the novel bed-based comprehensive functional rehabilitation robot can enable bedridden disabled or apoplectic hemiplegic patients and the like to be easily transferred from a wheelchair to a rehabilitation training robot for multifunctional rehabilitation training and health care massage; when the multifunctional rehabilitation massage wheelchair is used, autonomous control or remote control can be independently transferred from the wheelchair to the bed surface of the rehabilitation robot to perform multifunctional rehabilitation training and health care massage on limbs and bodies, and the multifunctional rehabilitation massage wheelchair can be independently or remotely controlled to return to the wheelchair after the multifunctional rehabilitation massage wheelchair is completed; therefore, the novel popularization and application can not only provide convenience and opportunities for early rehabilitation training for tens of millions of bedridden patients, but also greatly improve the rehabilitation training efficiency and save a great deal of labor force of nursing workers or rehabilitation operators.
Drawings
FIGS. 1-2 are schematic perspective views of the overall structure of the present invention;
FIG. 3 is an enlarged view of the structure of the area A of FIG. 2 in accordance with the present invention;
FIG. 4 is an enlarged view of the structure of the area B of FIG. 2 in accordance with the present invention;
fig. 5 is a schematic structural view of the bracket turning device of the present invention.
In the figure: 1. a bed frame; 2. a walking wheel; 3. a massage mattress; 4. a massage gripper assembly; 5. an upper limb movement exoskeleton assembly; 6. a lower extremity locomotion exoskeleton assembly; 41. a hanging support frame; 42. longitudinally moving the module; 43. a slide block; 44. a mounting frame; 45. a lateral movement module; 46. a mounting block; 47. a telescopic rod; 48. air bag type massage grippers; 51. a first connecting rod; 52. a second connecting rod; 53. a connecting plate; 54. a connecting shaft; 55. a first electrical push rod; 56. a second electric push rod; 57. a third electric push rod; 58. a wrist securing ring; 61. a telescopic suspension bracket; 62. a power device; 63. a reduction gearbox; 64. a lower leg exoskeleton; 65. a pedal shank support sleeve; 66. and a bracket overturning device.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the 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 gripper assembly 4, an upper limb exercise exoskeleton assembly 5 and a lower limb exercise exoskeleton assembly 6, wherein the massage gripper assembly 4 is arranged on the bed frame 1.
Further, 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, wherein the suspension support frame 41 is fixedly installed on the bed frame 1, the longitudinal movement module 42 is installed on the suspension support frame 41, the sliding block 43 is arranged on the longitudinal movement module 42, the mounting frame 44 is fixedly connected with the sliding block 43, the transverse movement module 45 is installed on the mounting frame 44, the mounting block 46 is installed on the transverse movement module 45, the telescopic rod 47 is installed on the mounting block 46, and the air bag type massage gripper 48 is fixedly connected with the output end of the telescopic rod 47.
Further, the upper limb sports exoskeleton assembly 5 is installed on one side of the bedstead 1, the upper limb sports 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 bedstead 1, one end of the first connecting rod 51 is rotationally connected with the bedstead 1 through a rotating shaft, the other end of the first connecting rod 51 is rotationally connected with the second connecting rod 52, a wrist fixing ring 58 is installed on the second connecting rod 52, the first electric push rod 55 is installed on the bedstead 1, the connecting plate 53 is rotationally connected with the second connecting rod 52, a connecting shaft 54 is arranged on the connecting plate 53, the second electric push rod 56 is installed on the first connecting rod 51, an installation seat of the second electric push rod 56 is rotationally connected with the side wall of the first connecting rod 51, an output end of the second electric push rod 56 is rotationally connected with the connecting shaft 54, a third electric push rod 57 is installed on the second connecting rod 52, and an installation seat of the third electric push rod 57 is rotationally connected with the second connecting rod 52, and an output end of the third electric push rod 57 is rotationally connected with the output end of the third electric push rod 54.
Further, the bottom end of the bedstead 1 is provided with travelling wheels 2, and the bedstead 1 is provided with a massage mattress 3; the mounting seat of the first electric push rod 55 is rotationally connected with the bedstead 1, and the output end of the first electric push rod 55 is rotationally connected with the first connecting rod 51; the bed frame 1 is provided with a lower limb exercise exoskeleton assembly 6, and the lower limb exercise exoskeleton assembly 6 comprises a telescopic suspension bracket 61, a power device 62, a reduction gearbox 63, a lower leg exoskeleton 64 and a pedal lower leg supporting sleeve 65; the bed frame 1 is provided with a telescopic suspension bracket 61, the telescopic suspension bracket 61 is respectively provided with a power device 62 and a reduction gearbox 63, 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 a reduction gearbox 63, and a pedal shank support sleeve 65 is arranged on the power output end of the shank exoskeleton 64; the control box is arranged in the bedstead 1, the sensors are arranged on the air bag type massage handles 48, the wrist fixing rings 58 and the shank exoskeleton 64, the sensors are electrically connected with the control box, and the control of various active or passive rehabilitation exercises of the limbs can be completed through manual control, sound control or remote control matched with the control box during use. In addition, the telescopic suspension support 61 is provided with a support turning device 66 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 of a transportable bed structure, and a patient can be easily connected to the bed surface from a transportable wheelchair or a sliding stretcher for massage and limb rehabilitation training through transportation; the massage mattress 3 comprises more than four inflatable and deflatable air bags, and can massage the neck, back, waist, buttocks and other parts of a patient by the air bags; the patient or the rehabilitation engineer can use the handle and the remote controller to operate the air bag type massage gripper 48 to perform stepping positioning on each part of the four limbs to be massaged and store the parts into the system, then sequentially start the longitudinal movement module 42 and the transverse movement module 45 according to the positioning information to drive the air bag type massage gripper 48 to perform transverse and longitudinal movement, then start the telescopic rod 47 to drive the air bag type massage gripper 48 to move in the vertical direction, and further realize repeated and accurate holding type massage on the part to be massaged; when the upper limb rehabilitation training is needed, firstly, the wrist of a patient is fixed through the wrist fixing ring 58, and then the patient can perform active or passive training in modes of double elbow joint stretching, internal and external rotation, double shoulder joint stretching, internal contraction and external expansion and the like under the assistance of the upper limb movement exoskeleton assembly 5 through the cooperation of the first electric push rod 55, the second electric push rod 56 and the third electric push rod 57; when the lower limb rehabilitation training is needed, the telescopic suspension bracket 61 stretches out from the bed tail to the direction of the bed head during use, so that the feet of a lying patient can be put on the pedal shank support sleeve 65, and the active or passive flexion and extension exercise training of the knee joints and the hip joints of the two lower limbs can be performed through the cooperation operation of the control box, the remote control and the like.
Various corresponding changes can be made by those skilled in the art from the above technical solutions and concepts, and all such changes should be included within the scope of the invention as defined in the claims.

Claims (7)

1. The utility model provides a bed-based comprehensive function rehabilitation robot, includes bedstead (1), massage tongs subassembly (4), upper limbs motion exoskeleton subassembly (5) and low limbs motion exoskeleton subassembly (6), a serial communication port, install massage tongs subassembly (4) on bedstead (1), massage tongs subassembly (4) are including suspension support frame (41), vertical removal module (42), slider (43), mounting bracket (44), lateral shifting module (45), installation piece (46), telescopic link (47) and airbag type massage tongs (48), fixedly mounted suspension support frame (41) on bedstead (1), install vertical removal module (42) on suspension support frame (41), be provided with slider (43) on vertical removal module (42), fixedly connected with mounting bracket (44) on slider (43), install lateral shifting module (45) on mounting bracket (44), install installation piece (46) on lateral shifting module (45), install telescopic link (47) on installation piece (46), the output fixedly connected with of telescopic link (47) massage tongs (48), one side of bedstead (1) installs vertical removal module (42), upper limbs motion exoskeleton subassembly (5) include connecting rod (51) The connecting rod comprises 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), wherein the first connecting rod (51) is symmetrically arranged on one side of the bedstead (1), one end of the first connecting rod (51) is rotationally connected with the bedstead (1) through a rotating shaft, the second connecting rod (52) is rotationally connected with the second connecting rod (52), the wrist fixing ring (58) is arranged on the second connecting rod (52), the first electric push rod (55) is arranged on the bedstead (1), the connecting plate (53) is rotationally connected with the connecting plate (53), the second electric push rod (56) is arranged on the first connecting rod (51), the mounting seat of the second electric push rod (56) is rotationally connected with the side wall of the first connecting rod (51), the output end of the second electric push rod (56) is rotationally connected with the connecting shaft (54), the third electric push rod (57) is arranged on the second connecting rod (52), and the mounting seat of the third electric push rod (57) is rotationally connected with the output end of the third electric push rod (54).
2. The bed-based comprehensive function rehabilitation robot according to claim 1, wherein the walking wheels (2) are arranged at the bottom end of the bed frame (1), and a massage mattress (3) is arranged on the bed frame (1).
3. The bed-based integrated functional 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. A bed-based integrated functional rehabilitation robot according to claim 3, wherein 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 unit (62), a reduction gearbox (63), a lower leg exoskeleton (64) and a pedal lower leg support sleeve (65).
5. The bed-based integrated functional rehabilitation robot according to claim 4, wherein a telescopic suspension bracket (61) is installed on the bed frame (1), a power unit (62) and a reduction gearbox (63) are respectively installed on the telescopic suspension bracket (61), and the power unit (62) and the reduction gearbox (63) are linked through a rotating shaft.
6. The bed-based comprehensive function rehabilitation robot according to claim 5, wherein the telescopic suspension bracket (61) is provided with a shank exoskeleton (64), a power input end of the shank exoskeleton (64) is connected with a reduction gearbox (63), and a pedal shank support sleeve (65) is arranged on a power output end of the shank exoskeleton (64).
7. The bed-based comprehensive function rehabilitation robot according to claim 6, wherein a support overturning device (66) is arranged 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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CN116115468B (en) * 2023-04-11 2023-07-04 山东海天智能工程有限公司 Signal amplification exercise device based on brain-computer interface

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