CN211535228U - Power-assisted robot with rehabilitation training function - Google Patents
Power-assisted robot with rehabilitation training function Download PDFInfo
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- CN211535228U CN211535228U CN202020034143.5U CN202020034143U CN211535228U CN 211535228 U CN211535228 U CN 211535228U CN 202020034143 U CN202020034143 U CN 202020034143U CN 211535228 U CN211535228 U CN 211535228U
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Abstract
The utility model provides a take helping hand robot of recovered training function for solve among the prior art can't carry out the problem of recovered training by oneself on the wheelchair. The utility model provides a take helping hand robot of recovered training function, include: the wheelchair comprises a wheelchair body and a first support arm, wherein one end of the first support arm is fixed on the wheelchair body; the upper end of the second support arm is connected to the other end of the first support arm through a rotary joint, and the lower end of the second support arm is provided with a pedal; the rotary joint comprises a support shaft and an output wheel, one end of the support shaft is rotatably connected with the first support arm, the other end of the support shaft is rotatably fixed with the second support arm, the output wheel is sleeved on the support shaft and matched with the support shaft through a key, and the axial length of the shaft key is smaller than the circumferential length of the key groove; the power-assisted robot with the rehabilitation training function further comprises a driving assembly, and the driving assembly is used for driving the output wheel to rotate. Can realize the autonomous training of patients.
Description
Technical Field
The utility model relates to the field of medical equipment, especially, relate to a take helping hand robot of rehabilitation training function.
Background
Under the condition of key or ligament injury of a patient, the joint of the patient is difficult to bend by oneself, and a certain posture is kept still all the time in the treatment process of a hospital, the patient is fixed in a certain posture by plaster and the like for a long time and is still, the patient can not walk by oneself in a short time after taking off the plaster, the patient needs to be assisted by external force, the method commonly adopted at present is to support the patient to walk by medical personnel, or the patient leans on walking sticks and other modes to realize gradual recovery of the patient, the autonomous control of the joint of the patient can not be realized in the prior art, and the recovery effect is not good.
The existing wheelchair is only used as a walking tool, when a patient needs to perform rehabilitation training, the patient needs to be pushed to a corresponding rehabilitation room to perform joint rehabilitation training, the burden of medical staff is increased, and the patient cannot perform rehabilitation training by himself or herself, so that the rehabilitation effect is influenced.
Disclosure of Invention
In view of the above shortcoming of prior art, the utility model aims to provide a take helping hand robot of rehabilitation training function for solve among the prior art can't carry out the problem of rehabilitation training by oneself on the wheelchair.
In order to realize above-mentioned purpose and other relevant purposes, the utility model provides a take helping hand robot of rehabilitation training function, include:
a wheelchair is provided with a plurality of wheels,
one end of the first support arm is fixed on the wheelchair;
the upper end of the second support arm is connected to the other end of the first support arm through a rotary joint, and the lower end of the second support arm is provided with a pedal;
the rotary joint comprises a support shaft and an output wheel, one end of the support shaft is rotatably connected with the first support arm, the other end of the support shaft is rotatably fixed with the second support arm, the output wheel is sleeved on the support shaft and matched with the support shaft through a key, and the axial length of the shaft key is smaller than the circumferential length of the key groove;
the power-assisted robot with the rehabilitation training function further comprises a driving assembly, and the driving assembly is used for driving the output wheel to rotate.
Optionally, the support shaft is rotatably mounted on the first support arm through a bearing.
Optionally, the power-assisted robot with the rehabilitation training function further comprises a flexible wearable sensor, and the flexible wearable sensor is used for detecting the action state of the knee joint.
Optionally, a binding band is arranged on the second support arm, and the binding band is used for binding the lower leg and the second support arm.
Optionally, the left side and the right side of the wheelchair are provided with the first support arm, the second support arm and the driving assembly.
Optionally, the position of the pedal on the second arm is height-adjustable.
Optionally, the wheelchair includes a body, a mobile power supply, a first motor and tires, the mobile power supply and the first motor are both installed on the body, and one first motor corresponds to one tire.
Optionally, the driving assembly includes a second motor, a driving wheel and a driving wheel, the second motor is mounted on the body, the second motor drives the driving wheel to rotate, the driving wheel and the driving wheel are matched through a transmission member, and the driving wheel and the output wheel are matched through a transmission member.
Optionally, the transmission member is a belt, a chain or a toothed belt.
Optionally, the system further comprises a physiological index monitoring device and a wireless communication module, wherein the wireless communication module is used for sending data of the physiological index monitoring device.
As described above, the utility model discloses a take helping hand robot of rehabilitation training function has following beneficial effect at least:
through the cooperation of revolute joint and drive assembly for it can carry out the helping hand to patient's knee joint motion, through the cooperation of axle key structure, and the circumference length of keyway is greater than the circumference length of axle key, makes the patient can be crooked by oneself in the certain limit, avoids revolute joint to let the patient keep a posture motionless for a long time when not starting.
Drawings
Fig. 1 shows a schematic view of the power-assisted robot with rehabilitation training function according to the present invention.
Fig. 2 is a schematic view of the rotary joint of the present invention.
Fig. 3 is a schematic view showing the matching of the shaft key and the key groove of the present invention.
Detailed Description
The following description is provided for illustrative purposes, and other advantages and features of the present invention will become apparent to those skilled in the art from the following detailed description.
Please refer to fig. 1 to 3. It should be understood that the structure, ratio, size and the like shown in the drawings attached to the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by those skilled in the art, and are not used for limiting the limit conditions that the present invention can be implemented, so that the present invention has no technical essential meaning, and any structure modification, ratio relationship change or size adjustment should still fall within the scope that the technical content disclosed in the present invention can cover without affecting the function that the present invention can produce and the purpose that the present invention can achieve. Meanwhile, the terms such as "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for convenience of description, and are not intended to limit the scope of the present invention, and changes or adjustments of the relative relationship thereof may be made without substantial technical changes, and the present invention is also regarded as the scope of the present invention.
The following examples are for illustrative purposes only. The various embodiments may be combined, and are not limited to what is presented in the following single embodiment.
Referring to fig. 1 to 3, the present invention provides an embodiment of a power-assisted robot with rehabilitation training function, including: the wheelchair 1, the first arm 2, and the second arm 3 are not limited to the structure of the wheelchair 1 in the present embodiment, and may be of a hand-push type or an electric type, and one end of the first arm 2 is fixed to the wheelchair 1; the upper end of the second support arm 3 is connected to the other end of the first support arm 2 through a rotary joint 4, and the lower end of the second support arm 3 is provided with a pedal 31; the rotating joint 4 comprises a supporting shaft 41 and an output wheel 42, one end of the supporting shaft 41 is rotatably connected with the first support arm 2, the other end of the supporting shaft 41 is rotatably fixed with the second support arm 3, optionally, the supporting shaft 41 is rotatably mounted on the first support arm 2 through a bearing 411, the supporting shaft 41 and the second support arm 3 can be welded, or can be fixed by key connection and then inserting a limit pin 412 at the tail end. The output wheel 42 is sleeved on the support shaft 41 and is matched with the support shaft through a key, and the axial length of the shaft key 413 is smaller than the circumferential length of the key groove 414; the power-assisted robot with the rehabilitation training function further comprises a driving assembly 5, and the driving assembly 5 is used for driving the output wheel 42 to rotate. Through the cooperation of revolute joint 4 and drive assembly 5 for it can carry out the helping hand to patient's knee joint motion, through axle key 413 structural cooperation, and the circumference length of keyway 414 is greater than the circumference length of axle key 413, makes the patient can be crooked by oneself in the certain limit, avoids revolute joint 4 to let the patient keep a posture motionless for a long time when not starting.
In this embodiment, in order to facilitate better matching between the second support arm 2 and the leg of the patient, the second support arm 3 may be configured to be a bent structure, so that the second support arm 3 can exactly correspond to the leg of the patient, as shown in fig. 2.
Referring to fig. 1 to 3, the utility model provides an embodiment of a power-assisted robot with rehabilitation training function, the power-assisted robot with rehabilitation training function still includes flexible wearable sensor, flexible wearable sensor is used for detecting knee joint action state. A flexible wearable sensor ware for detecting articular bending state specifically can the lectotype be strain gauge sensor, specific sensor is prior art, this department is just as the application of sensor, strain gauge sensor bundles or pastes in joint department, when the crooked or unbend action of patient minor arc degree, strain gauge sensor is extrudeed crooked, strain gauge sensor produces the controller that electric signal transmission gives control drive assembly 5, controller control driving piece drive output wheel 42 rotates, output wheel 42 overcomes the clearance between shaft key 413 and keyway 414, then drive second support arm 3 and rotate, realize the motion of patient joint department and enlarge, thereby reach the effect of supplementary recovered.
In this embodiment, referring to fig. 2, a binding band 32 is disposed on the second support arm 3, and the binding band 32 is used for binding the lower leg and the second support arm 3. The arrangement of the strap 32 can make the relevance between the patient and the second arm 3 higher, and the strap 32 can be directly tied or can be implemented in a fastening manner or the like, and there are various implementations, which are not listed here.
In this embodiment, the first support arm 2, the second support arm 3 and the driving assembly 5 are disposed on the left and right sides of the wheelchair 1. Can realize matching two knee joints to the patient promptly for it can adapt to different patients, for example some patient left knee joints need the training, some patient right knee joints need the training.
In this embodiment, referring to fig. 1 and fig. 2, the position of the pedal 31 on the second arm 3 is adjustable. The position and height can be adjusted by arranging a plurality of through holes in the vertical direction of the second arm 3, the pedal 31 is fixed by the bolts 311, the bolts 311 pass through and are selected into the pedal 31 to realize fixation, and one pedal 31 can correspond to a plurality of bolts 311 for the structural reliability.
In this embodiment, referring to fig. 1, the wheelchair 1 includes a body 11, a mobile power supply 12, first motors 13 and tires 14, the mobile power supply 12 and the first motors 13 are both installed on the body 11, one first motor 13 corresponds to one tire 14, in fig. 1, a front wheel is a driving wheel, two tires 14 are both configured with one first motor 13 separately, the mobile power supply 12 may be a storage battery, and the mobile power supply 12 supplies power to the first motor 13 and may also supply power to other devices of the wheelchair that need power.
In this embodiment, referring to fig. 1, the driving assembly 5 includes a second motor 51, a driving wheel 52 and a transmission wheel 53, the second motor 51 is mounted on the body 11, the second motor 51 drives the driving wheel 52 to rotate, the driving wheel 52 and the transmission wheel 53 are engaged with each other through a transmission member 54, and the transmission wheel 53 and the output wheel 42 are engaged with each other through a transmission member 54. Optionally, the transmission member 54 is a belt, a chain or a toothed belt. Through the setting of flexible drive for it can set up second motor 51 in the below of seat, then transmits through flexible driving spare 54 in order to avoid the front wheel, and flexible drive's mode light in weight can subtract heavy for wheelchair 1 simultaneously, thereby reaches the effect that improves the continuation of the journey mileage of battery.
In this embodiment, the device further includes a physiological index monitoring device and a wireless communication module, where the wireless communication module is configured to send data of the physiological index monitoring device. Physiological index monitoring devices can be temperature sensor for example be used for detecting human body temperature, also can be the equipment that detects the rhythm of the heart, can select then according to the demand current device, wireless communication module receives the data of physiological index monitoring form and transmits family members or ward through wireless network to realize the control in order to deal with emergency, wireless communication module is prior art, how to realize wireless transmission is not the key point of this application, this application has only used wireless transmission's device here.
To sum up, the utility model discloses a cooperation of revolute joint 4 and drive assembly 5 for it can carry out the helping hand to patient's knee joint motion, through axle key 413 structure cooperation, and the circumference length of keyway 414 is greater than the circumference length of axle key 413, makes the patient can be crooked by oneself in the certain limit, avoids revolute joint 4 to let the patient keep a posture motionless for a long time when not starting. Therefore, the utility model effectively overcomes various defects in the prior art and has high industrial utilization value.
The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. The utility model provides a take helping hand robot of rehabilitation training function which characterized in that includes:
a wheelchair is provided with a plurality of wheels,
one end of the first support arm is fixed on the wheelchair;
the upper end of the second support arm is connected to the other end of the first support arm through a rotary joint, and the lower end of the second support arm is provided with a pedal;
the rotary joint comprises a support shaft and an output wheel, one end of the support shaft is rotatably connected with the first support arm, the other end of the support shaft is rotatably fixed with the second support arm, the output wheel is sleeved on the support shaft and matched with the support shaft through a key, and the axial length of the shaft key is smaller than the circumferential length of the key groove;
the power-assisted robot with the rehabilitation training function further comprises a driving assembly, and the driving assembly is used for driving the output wheel to rotate.
2. The power-assisted robot with rehabilitation training function of claim 1, wherein: the supporting shaft is rotatably arranged on the first supporting arm through a bearing.
3. The power-assisted robot with rehabilitation training function of claim 1, wherein: take helping hand robot of rehabilitation training function still includes flexible wearable sensor, flexible wearable sensor is used for detecting knee joint action state.
4. The power-assisted robot with rehabilitation training function of claim 1, wherein: and the second support arm is provided with a binding band which is used for binding the lower leg with the second support arm.
5. The power-assisted robot with rehabilitation training function of claim 1, wherein: the left side and the right side of the wheelchair are provided with the first support arm, the second support arm and the driving assembly.
6. The power-assisted robot with rehabilitation training function of claim 1, wherein: the position of the pedal on the second support arm is adjustable in height.
7. The power-assisted robot with rehabilitation training function of claim 1, wherein: the wheelchair comprises a body, a mobile power supply, a first motor and tires, wherein the mobile power supply and the first motor are installed on the body, and one of the first motor corresponds to one of the tires.
8. The power-assisted robot with rehabilitation training function of claim 7, wherein: the driving assembly comprises a second motor, a driving wheel and a driving wheel, the second motor is mounted on the body and drives the driving wheel to rotate, the driving wheel is matched with the driving wheel through a transmission piece, and the driving wheel is matched with the output wheel through a transmission piece.
9. The power-assisted robot with rehabilitation training function of claim 8, wherein: the transmission part is a belt, a chain or a toothed belt.
10. The power-assisted robot with rehabilitation training function of claim 3, wherein: the physiological index monitoring device further comprises a physiological index monitoring device and a wireless communication module, wherein the wireless communication module is used for sending data of the physiological index monitoring device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020034143.5U CN211535228U (en) | 2020-01-08 | 2020-01-08 | Power-assisted robot with rehabilitation training function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020034143.5U CN211535228U (en) | 2020-01-08 | 2020-01-08 | Power-assisted robot with rehabilitation training function |
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| Publication Number | Publication Date |
|---|---|
| CN211535228U true CN211535228U (en) | 2020-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020034143.5U Active CN211535228U (en) | 2020-01-08 | 2020-01-08 | Power-assisted robot with rehabilitation training function |
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|---|---|
| CN (1) | CN211535228U (en) |
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- 2020-01-08 CN CN202020034143.5U patent/CN211535228U/en active Active
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Effective date of registration: 20230426 Address after: Room 416, Jilin Innovation Enterprise Talent Incubator, Science and Technology Department Research Park, No. 1244 Qianjin Street, Chaoyang District, Changchun City, Jilin Province, 130012 Patentee after: Changchun Hengli Photoelectric Technology Co.,Ltd. Address before: 130052, 3050 triumph Road, Jilin, Changchun Patentee before: JILIN TEACHERS' INSTITUTE OF ENGINEERING & TECHNOLOGY |
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