阅读说明：本技术 一种全向移动康复设备及其使用方法 (Omnidirectional mobile rehabilitation equipment and use method thereof ) 是由 王天 于 2021-09-06 设计创作，主要内容包括：本发明涉及康复设备技术领域,具体是一种全向移动康复设备及其使用方法,包括移动壳体,所述移动壳体上端面中心部位设置有升降机构,移动壳体的内部设置有万向移动机构；所述升降机构包括升降座,升降座的外部套设有环形的升降座固定套,所述升降座固定套固定在移动壳体上端面中心开设的通孔内,升降座固定套的下方设置有紧固弹簧,紧固弹簧套设在升降座的外部；所述升降座包括升降座主体,所述升降座主体的下方开设有螺纹,本发明体积比较小,方便携带和收纳的工作,同时该装置设置有可拆卸的手部训练机构和足部训练机构,这样能够灵活的进行使用,该装置能够全向进行移动,能够带动上、下肢体进行全向的移动训练,提高康复训练的效果。(The invention relates to the technical field of rehabilitation equipment, in particular to omnidirectional mobile rehabilitation equipment and a using method thereof, wherein the omnidirectional mobile rehabilitation equipment comprises a mobile shell, wherein a lifting mechanism is arranged at the center of the upper end surface of the mobile shell, and a universal moving mechanism is arranged in the mobile shell; the lifting mechanism comprises a lifting seat, an annular lifting seat fixing sleeve is sleeved outside the lifting seat, the lifting seat fixing sleeve is fixed in a through hole formed in the center of the upper end face of the movable shell, a fastening spring is arranged below the lifting seat fixing sleeve, and the fastening spring is sleeved outside the lifting seat; the lifting seat comprises a lifting seat main body, and threads are arranged below the lifting seat main body.)

1. An omnidirectional mobile rehabilitation device, characterized in that: the device comprises a movable shell (1), wherein a lifting mechanism is arranged at the central part of the upper end surface of the movable shell (1), and a universal moving mechanism is arranged in the movable shell (1);

the lifting mechanism comprises a lifting seat (4), an annular lifting seat fixing sleeve (5) is sleeved outside the lifting seat (4), the lifting seat fixing sleeve (5) is fixed in a through hole formed in the center of the upper end face of the movable shell (1), a fastening spring (6) is arranged below the lifting seat fixing sleeve (5), and the fastening spring (6) is sleeved outside the lifting seat (4);

the lifting seat (4) comprises a lifting seat body (401), the lower portion of the lifting seat body (401) is provided with threads, an external threaded hole (402) is formed in the upper end of the lifting seat body (401), a strip-shaped positioning groove (403) is formed in the outer wall of the lifting seat body (401), an air guide channel (404) communicated with the internal portion of the external threaded hole (402) is formed in the lifting seat body (401), a lifting rotating shaft (13) is arranged in the threaded hole in the lower portion of the lifting seat body (401), and the extending end of the lifting rotating shaft (13) from the threaded hole in the lower portion of the lifting seat body (401) is connected with a lifting motor (11).

2. The omni-directional mobile rehabilitation device according to claim 1, wherein: the universal moving mechanism comprises a driving mechanism (7) and a rolling mechanism (10); the driving mechanism (7) comprises an outer fixed barrel (704), a built-in rotating barrel (703) is rotatably arranged inside the outer fixed barrel (704), two motor fixing plates (701) are fixed at the upper end of the outer fixed barrel (704), a steering motor (702) is fixed between the two motor fixing plates (701), a rotating shaft of the steering motor (702) is connected with the central part of the upper end of the built-in rotating barrel (703), a driving motor (705) is arranged inside the built-in rotating barrel (703), the driving motor (705) adopts a double-head motor, two extending ends of the driving motor (705) are both fixed with a transmission belt (706) through a guide theory, a transmission wheel (707) is arranged on the inner side of the transmission belt (706), a linkage shaft (709) is installed at the center of the transmission wheel (707), a pressing wheel (708) is arranged at the central part of the linkage shaft (709), and an annular groove is formed in the outer ring of the pressing wheel (708), anti-slip strips (710) are uniformly distributed in a groove of the outer ring of the pressing wheel (708);

the rolling mechanism (10) comprises a rolling theory fixing seat (1001), a through hole is formed in the center of the rolling theory fixing seat (1001), a rolling ball (1002) is arranged in the through hole in the center of the rolling theory fixing seat (1001), one end of the rolling ball (1002) is attached to a groove in the outer ring of the pressing wheel (708), at least three groups of rolling mechanisms (10) are arranged, and the rolling mechanisms (10) are distributed below the movable shell (1) in a triangular shape.

3. The omni-directional mobile rehabilitation device according to claim 1, wherein: the air pump (3) is arranged inside the movable shell (1), the air outlet end of the air pump (3) is connected with the air guide tube (2), and the other end of the air guide tube (2) is communicated with the air guide channel (404).

4. The omni-directional mobile rehabilitation device according to claim 1, wherein: the inner side of the lifting seat fixing sleeve (5) is provided with a rectangular lifting seat limiting block (12), and the external shape of the lifting seat limiting block (12) is matched with the internal shape of the positioning groove (403).

5. The omni-directional mobile rehabilitation device according to claim 2, wherein: the two transmission wheels (707) are symmetrically distributed about the center line of the pressing wheel (708), and the two transmission wheels (707) correspond to the positions of transmission belts (706) on two sides of a driving motor (705).

6. The omni-directional mobile rehabilitation device according to claim 1, wherein: the lifting seat (4) is in threaded connection with a hand training mechanism (8) through an external threaded hole (402), the hand training mechanism (8) comprises an upper fixed seat (802), a training air bag (803) is connected below the upper fixed seat (802), a lower fixed seat (808) is connected below the training air bag (803), a threaded hole is formed above the upper fixed seat (802), a hollow air guide rod (801) is arranged in the threaded hole above the upper fixed seat (802), air outlet holes (806) are uniformly formed in the outer portion of the air guide rod (801), an air guide rod stirring sheet (804) is fixed at one end of the air guide rod (801), a cavity is formed at the lower end of the lower fixed seat (808), a threaded rod supporting spring (810) is arranged in the cavity at the lower end of the lower fixed seat (808), and an installation threaded rod (805) is arranged at the center of the threaded rod supporting spring (810), one end of the mounting threaded rod (805) penetrates out of a cavity at the lower end of the lower fixing seat (808), an annular rotating sheet (807) is fixed outside the mounting threaded rod (805), external threads of the mounting threaded rod (805) are matched with internal threads of the external threaded hole (402), and an air bag connecting hole (809) communicated with the interior of the training air bag (803) is formed in the upper end of the lower fixing seat (808).

7. The omni-directional mobile rehabilitation device according to claim 6, wherein: the lifting seat (4) is connected with a foot training mechanism (9) through an external threaded hole (402), the foot training mechanism (9) comprises a foot fixing shell (901), the upper part of the foot fixing shell (901) is in an open shape, a foot access board (902) is clamped inside the foot fixing shell (901), the outer wall of the foot access board (902) is provided with an air guide hole (903), a foot fixing shell mounting seat (905) matched with the external threaded hole (402) is arranged below the foot fixing shell (901), one side of the foot fixing shell (901) is provided with a through hole, and a smoking material storage box (904) is arranged in the through hole in the side surface of the foot fixing shell (901); smoked material bin (904) is including storage box main part (9042), and fixed lid (9041) have been set up to the top of storage box main part (9042), and the inside of storage box main part (9042) is provided with smoked material and places box (9043), the through-hole has all been seted up to the outer wall of storage box main part (9042) and fixed lid (9041), foot fixed shell mount pad (905) inside is the cavity form, and the one end and the inside of storage box main part (9042) of foot fixed shell mount pad (905) are linked together.

8. The omni-directional mobile rehabilitation device according to claim 7, wherein: the foot fixing shell mounting seat (905) comprises a connecting corrugated pipe (9051), one end of the connecting corrugated pipe (9051) is fixed to the bottom of the foot fixing shell (901), the other end of the connecting corrugated pipe (9051) is connected with a rotating sleeve (9055), the lower end of the rotating sleeve (9055) is fixed with a connecting threaded seat (9053), the connecting threaded seat (9053) is matched with an external threaded hole (402), a movable assembly (9056) is arranged inside the rotating sleeve (9055), a driving motor (9052) is connected above the movable assembly (9056), an inner movable pipe (9054) is fixed to the outer portion of the driving motor (9052), a spring is sleeved on the outer portion of the inner movable pipe (9054), and one end of the inner movable pipe (9054) is fixed to the lower end of the foot fixing shell (901);

the movable assembly (9056) comprises a rotating plate (90561) and a top ring (90562), the rotating plate (90561) is connected with a rotating shaft of the driving motor (9052), a through hole is formed in the outer portion of the rotating plate (90561), a groove matched with the top ring (90562) is formed in the outer portion of the rotating plate (90561), and the top ring (90562) is fixed to the inner side of the rotating sleeve (9055).

9. A method of using an omni-directional mobile rehabilitation device, adapted for use with an omni-directional mobile rehabilitation device according to any of claims 1-8, characterized by: comprises the following steps

S1: the hand training mechanism (8) is arranged in an external threaded hole (402) of the lifting seat (4);

s2: the palm of the patient holds the training air bag (803) to perform the training of the recovery in the aspects of pressing and steering;

s3: the movable housing (1) moves in various directions through a universal moving mechanism, and exercises the upper limbs of the patient in various directions.

10. The use method of the omni-directional mobile rehabilitation device according to claim 9, wherein: also comprises the following steps:

s1: a foot fixing shell mounting seat (905) of the foot training mechanism (9) is arranged in an external threaded hole (402) of the lifting seat (4);

s2: the patient puts the affected foot in the foot training mechanism (9) to carry out ankle joint rehabilitation training;

s3: the movable shell (1) moves in all directions through the universal moving mechanism to drive the lower limbs of the patient to perform rehabilitation training.

Technical Field

The invention relates to the technical field of rehabilitation equipment, in particular to omnidirectional mobile rehabilitation equipment and a using method thereof.

Background

The rehabilitation equipment is mainly equipment for helping patients to perform passive exercise and daily activities and promoting rehabilitation. The multifunctional rehabilitation device is mainly made of stainless steel, iron, plastic and wood, required parts are manufactured through production processes such as machining, welding and injection molding, and finally, a plurality of or hundreds of parts are assembled into the rehabilitation device, so that the design trend is intelligentized, the rehabilitation device can meet the requirement of passive activities of the upper limb and the lower limb of a patient in daily life, the regular electric turnover nursing bed can meet the requirement of daily turnover, and the electric wheelchair can meet the requirements of walking, standing and the like.

In the prior art, the following problems exist:

(1) the existing limb rehabilitation equipment is large in size, not easy to store and portable, can not carry out omnidirectional movement and exercise in the vertical direction, is complex to operate when the upper and lower limb rehabilitation functions are switched, and can not meet the use requirements of patients at any time and any place.

(2) When the existing limb rehabilitation equipment is used, the rehabilitation training of multiple parts of the upper and lower limbs cannot be carried out, the function is single, and the limb rehabilitation equipment is very inconvenient to use.

Disclosure of Invention

The invention aims to provide an omnidirectional mobile rehabilitation device and a using method thereof, so as to solve the problems in the background technology.

The technical scheme of the invention is as follows: an omnidirectional mobile rehabilitation device comprises a mobile shell, wherein a lifting mechanism is arranged at the center of the upper end surface of the mobile shell, and a universal moving mechanism is arranged inside the mobile shell;

the lifting mechanism comprises a lifting seat, an annular lifting seat fixing sleeve is sleeved outside the lifting seat, the lifting seat fixing sleeve is fixed in a through hole formed in the center of the upper end face of the movable shell, a fastening spring is arranged below the lifting seat fixing sleeve, and the fastening spring is sleeved outside the lifting seat;

the lifting seat comprises a lifting seat main body, wherein the lower part of the lifting seat main body is provided with threads, the upper end of the lifting seat main body is provided with an external threaded hole, the outer wall of the lifting seat main body is provided with a strip-shaped positioning groove, the inside of the lifting seat main body is provided with an air guide channel communicated with the inside of the external threaded hole, a lifting rotating shaft is arranged in the threaded hole below the lifting seat main body, and the end of the lifting rotating shaft extending out of the threaded hole below the lifting seat main body is connected with a lifting motor.

Preferably, the universal moving mechanism comprises a driving mechanism and a rolling mechanism; the driving mechanism comprises an external fixing barrel, a built-in rotating barrel is rotatably arranged in the external fixing barrel, two motor fixing plates are fixed at the upper end of the external fixing barrel, a steering motor is fixed between the two motor fixing plates, a rotating shaft of the steering motor is connected with the central part of the upper end of the built-in rotating barrel, a driving motor is arranged in the built-in rotating barrel, the driving motor adopts a double-end motor, two extending ends of the driving motor are both fixed with a driving belt through a guide theory, a driving wheel is arranged on the inner side of the driving belt, a linkage shaft is arranged at the center of the driving wheel, a pressing wheel is arranged at the central part of the linkage shaft, an annular groove is formed in the outer ring of the pressing wheel, and anti-slip strips are uniformly distributed in the groove in the outer ring of the pressing wheel;

the rolling mechanism comprises a rolling theory fixing seat, a through hole is formed in the center of the rolling theory fixing seat, a rolling bead is arranged in the through hole in the center of the rolling theory fixing seat, one end of the rolling bead is attached to a groove in the outer ring of the pinch roller, at least three groups of rolling mechanisms are arranged, and the rolling mechanisms are distributed below the movable shell in a triangular shape.

Preferably, an air pump is arranged inside the movable shell, an air outlet end of the air pump is connected with an air guide tube, and the other end of the air guide tube is communicated with the air guide channel.

Preferably, the inner side of the lifting seat fixing sleeve is provided with a rectangular lifting seat limiting block, and the external shape of the lifting seat limiting block is matched with the internal shape of the positioning groove.

Preferably, the number of the driving wheels is two, the two driving wheels are symmetrically distributed about the center line of the pressing wheel, and the two driving wheels correspond to the positions of the driving belts on the two sides of the driving motor.

Preferably, the lifting seat is in threaded connection with a hand training mechanism through an external threaded hole, the hand training mechanism comprises an upper fixed seat, a training air bag is connected below the upper fixed seat, a lower fixed seat is connected below the training air bag, a threaded hole is formed above the upper fixed seat, a hollow air guide rod is arranged in the threaded hole above the upper fixed seat, air outlet holes are uniformly formed in the outer part of the air guide rod, an air guide rod stirring sheet is fixed at one end of the air guide rod, a cavity is formed at the lower end of the lower fixed seat, a threaded rod supporting spring is arranged in the cavity at the lower end of the lower fixed seat, an installation threaded rod is arranged in the center of the threaded rod supporting spring, one end of the installation threaded rod penetrates out of the cavity at the lower end of the lower fixed seat, an annular rotating sheet is fixed on the outer part of the installation threaded rod, and external threads of the installation threaded rod are matched with internal threads of the external threaded hole, and the upper end of the lower fixed seat is provided with an air bag connecting hole communicated with the interior of the training air bag.

Preferably, the lifting seat is connected with a foot training mechanism through an external threaded hole, the foot training mechanism comprises a foot fixing shell, the upper part of the foot fixing shell is in an open shape, a foot access board is clamped in the foot fixing shell, an air guide hole is formed in the outer wall of the foot access board, a foot fixing shell mounting seat matched with the external threaded hole is arranged below the foot fixing shell, a through hole is formed in one side of the foot fixing shell, and a smoking material storage box is arranged in the through hole in the side face of the foot fixing shell; the material bin of smoking includes the holding box main part, and the fixed lid has been set up to the top of holding box main part, and the inside of holding box main part is provided with smoked material and places the box, the through-hole has all been seted up to the outer wall of holding box main part and fixed lid, the inside cavity form that is of foot fixed shell mount pad, and the one end of foot fixed shell mount pad is linked together with the holding box main part is inside.

Preferably, the foot fixing shell mounting seat comprises a connecting corrugated pipe, one end of the connecting corrugated pipe is fixed at the bottom of the foot fixing shell, the other end of the connecting corrugated pipe is connected with a rotating sleeve, a connecting threaded seat is fixed at the lower end of the rotating sleeve and is matched with an external threaded hole, a movable assembly is arranged inside the rotating sleeve, a driving motor is connected above the movable assembly, an inner movable pipe is fixed outside the driving motor, a spring is sleeved outside the inner movable pipe, and one end of the inner movable pipe is fixed at the lower end of the foot fixing shell;

the movable assembly comprises a rotating plate and a top ring, the rotating plate is connected with a rotating shaft of the driving motor, a through hole is formed in the outer portion of the rotating plate, a groove matched with the top ring is formed in the outer portion of the rotating plate, and the top ring is fixed on the inner side of the rotating sleeve.

A use method of an omnidirectional mobile rehabilitation device comprises the following steps:

s1: the hand training mechanism is arranged in an external threaded hole of the lifting seat;

s2: the palm of the patient holds the training air bag to perform the training of recovery in the aspects of pressing and steering;

s3: the movable housing is moved in various directions by a universal moving mechanism, and exercises are performed on the upper limbs of the patient in various directions.

Preferably, the use method of the omnidirectional mobile rehabilitation device further includes the following steps:

s1: a foot fixing shell mounting seat of the foot training mechanism is arranged in an external threaded hole of the lifting seat;

s2: the patient puts the affected foot in the foot training mechanism (9) to carry out ankle joint rehabilitation training;

s3: the movable shell (1) moves in all directions through the universal moving mechanism to drive the lower limbs of the patient to perform rehabilitation training.

Compared with the prior art, the omnidirectional mobile rehabilitation equipment provided by the invention has the following improvements and advantages:

the device is small in size and convenient to carry and store, meanwhile, the device is provided with the detachable hand training mechanism and the detachable foot training mechanism, so that the device can be flexibly used, and meanwhile, the device can be moved and lifted in an all-directional manner, so that the upper and lower limbs can be driven to perform all-directional movement training, and the rehabilitation training effect is improved;

the lower fixed seat in the hand training mechanism is movably connected with the mounting threaded rod, so that the wrist of the patient can be exercised, the training air bag of the device can act on the finger part of the patient, the finger part can be rehabilitated, and the device can move in all directions, so that the arm part of the patient can be rehabilitated.

Thirdly, the ankle joint rehabilitation device is provided with a foot training mechanism, ankle joint rehabilitation treatment can be carried out on feet, the ankle joint rehabilitation device can move in all directions, accordingly, rehabilitation training can be carried out on knee joints and hip joints, lifting adjustment can be carried out, and using effects are improved.

Drawings

The invention is further explained below with reference to the figures and examples:

FIG. 1 is a schematic perspective view of a hand training mechanism of the present invention;

FIG. 2 is a perspective view of the foot exercise mechanism of the present invention;

FIG. 3 is a schematic perspective view of the movable housing of the present invention;

FIG. 4 is a front view of the mobile housing of the present invention;

FIG. 5 is an enlarged schematic view of the invention at A in FIG. 1;

FIG. 6 is an enlarged view of the structure of FIG. 1 at B according to the present invention;

FIG. 7 is an enlarged view of the structure of FIG. 4 at C in accordance with the present invention;

FIG. 8 is a front view of the hand training mechanism of the present invention;

FIG. 9 is a cross-sectional view of the foot training mechanism of the present invention;

FIG. 10 is a top view of the puck of the present invention;

FIG. 11 is a schematic structural view of the main body of the lifting seat of the present invention;

FIG. 12 is a schematic view of the movable assembly of the present invention;

description of reference numerals: 1. a movable shell, 2, an air duct, 3, an air pump, 4, a lifting seat, 401, a lifting seat body, 402, an external threaded hole, 403, a positioning groove, 404, an air guide channel, 5, a lifting seat fixing sleeve, 6, a fastening spring, 7, a driving mechanism, 701, a motor fixing plate, 702, a steering motor, 703, a built-in rotating barrel, 704, an external fixing barrel, 705, a driving motor, 706, a driving belt, 707, a driving wheel, 708, a pressing wheel, 709, a linkage shaft, 710, an anti-skid strip, 8, a hand training mechanism, 801, an air guide rod, 802, an upper fixing seat, 803, a training air bag, 804, an air guide rod stirring sheet, 805, an installation threaded rod, 806, an air outlet hole, 807, a rotating sheet, 808, a lower fixing seat, 809, an air bag connecting hole, 810, a threaded rod supporting spring, 9, a foot training mechanism, 901, a foot fixing shell, a foot lifting board, 903 and an air guide hole, 904. the smoking material storage box comprises a smoking material storage box body, 9041, a fixing cover, 9042, a storage box main body, 9043, a smoking material placing box, 905, a foot fixing shell mounting seat, 9051, a connecting corrugated pipe, 9052, a driving motor, 9053, a connecting threaded seat, 9054, an inner movable pipe, 9055, a rotating sleeve, 9056, a movable assembly, 90561, a rotating plate, 90562, a top ring, 10, a rolling mechanism, 1001, a rolling wheel fixing seat, 1002, a rolling ball, 11, a lifting motor, 12, a lifting seat limiting block, 13 and a lifting rotating shaft.

Detailed Description

The present invention is described in detail below, and technical solutions in the embodiments of the present invention are clearly and completely described, 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.

The invention provides an omnidirectional mobile rehabilitation device and a using method thereof through improvement, and the technical scheme of the invention is as follows:

as shown in fig. 1 to 11, an omnidirectional mobile rehabilitation device comprises a mobile housing 1, wherein a lifting mechanism is arranged at the center of the upper end surface of the mobile housing 1, and a universal moving mechanism is arranged inside the mobile housing 1;

the lifting mechanism comprises a lifting seat 4, an annular lifting seat fixing sleeve 5 is sleeved outside the lifting seat 4, the lifting seat fixing sleeve 5 is fixed in a through hole formed in the center of the upper end face of the movable shell 1, a fastening spring 6 is arranged below the lifting seat fixing sleeve 5, and the fastening spring 6 is sleeved outside the lifting seat 4;

the lifting seat 4 comprises a lifting seat main body 401, the lower portion of the lifting seat main body 401 is provided with threads, the upper end of the lifting seat main body 401 is provided with an external threaded hole 402, the outer wall of the lifting seat main body 401 is provided with a strip-shaped positioning groove 403, the inside of the lifting seat main body 401 is provided with an air guide channel 404 communicated with the inside of the external threaded hole 402, a lifting rotating shaft 13 is arranged in the threaded hole below the lifting seat main body 401, and the end of the lifting rotating shaft 13 extending out of the threaded hole below the lifting seat main body 401 is connected with a lifting motor 11.

The lifting motor 11 in the lifting mechanism can drive the lifting seat 4 to move up and down through the lifting rotating shaft 13, so that the lifting seat 4 can push the hand training mechanism 8 and the foot training mechanism 9 to move up and down, the positions of the hand training mechanism 8 and the foot training mechanism 9 can be controlled, meanwhile, the outer part of the lifting seat fixing sleeve 5 is sleeved with the fastening spring 6, the periphery of the lifting seat 4 can be limited through the fastening spring 6, the stress effect on the periphery of the lifting seat 4 is increased through the fastening spring 6, the moving stability of the lifting seat 4 is improved, the air guide channel 404 in the lifting seat main body 401 plays a role of air guide, air can be guided into the external threaded hole 402 through the air guide channel 404, the air can be guided into the hand training mechanism 8 and the foot training mechanism 9 through the external threaded hole 402, and the circulation of the air can be formed in the hand training mechanism 8 and the foot training mechanism 9, can be matched with the hand training mechanism 8 and the foot training mechanism 9 to carry out rehabilitation training.

The universal moving mechanism comprises a driving mechanism 7 and a rolling mechanism 10; the driving mechanism 7 comprises an outer fixed barrel 704, an inner rotary barrel 703 is rotatably arranged inside the outer fixed barrel 704, two motor fixing plates 701 are fixed at the upper end of the outer fixed barrel 704, a steering motor 702 is fixed between the two motor fixing plates 701, a rotating shaft of the steering motor 702 is connected with the central part of the upper end of the inner rotary barrel 703, a driving motor 705 is arranged inside the inner rotary barrel 703, the driving motor 705 adopts a double-head motor, a transmission belt 706 is fixed at two extending ends of the driving motor 705 through a guide theory, a transmission wheel 707 is arranged on the inner side of the transmission belt 706, a linkage shaft 709 is arranged at the center of the transmission wheel 707, a pressing wheel 708 is arranged at the central part of the linkage 709, an annular groove is formed in the outer ring of the pressing wheel 708, and anti-skid strips 710 are uniformly distributed in the groove in the outer ring of the pressing wheel 708;

the outer fixed barrel 704 in the driving mechanism 7 plays a role of fixing the inner rotary barrel 703, and the steering motor 702 between the two motor fixing plates 701 can drive the inner rotary barrel 703 to rotate, so that the inner rotary barrel 703 can drive the pressing wheel 708 to rotate, thus, the driving direction of the pressing wheel 708 is changed, and the pressing wheel 708 can drive the rolling ball 1002 to move in different directions, so as to change the moving direction of the device, so that the device can move omnidirectionally, meanwhile, the grooves on the outer ring of the pressing wheel 708 are internally provided with the anti-slip strips 710, the friction force in the grooves on the outer ring of the pressing wheel 708 is increased through the anti-slip strips 710, and the inner side of the anti-skid strip 710 is flush with the inner wall of the groove of the pressing wheel 708, so that the pressing wheel 708 is stable when rotating, thus, the pressing wheel 708 can stably drive the rolling ball 1002 to rotate, and the contact point of the rolling ball 1002 and the pressing wheel 708 is not easy to slide.

The rolling mechanism 10 comprises a rolling theory fixing seat 1001, a through hole is formed in the center of the rolling theory fixing seat 1001, a rolling ball 1002 is arranged in the through hole in the center of the rolling theory fixing seat 1001, one end of the rolling ball 1002 is attached to a groove in the outer ring of the pressing wheel 708, at least three groups of rolling mechanisms 10 are arranged, and the rolling mechanisms 10 are distributed below the movable shell 1 in a triangular shape.

Roll theory fixing base 1001 and play the effect of fixed roll ball 1002, make roll ball 1002 be in the below of removing casing 1, and the upper end of roll ball 1002 can block in the inboard of pinch roller 708, can drive roll ball 1002 through pinch roller 708 and roll, roll ball 1002 can drive the device and remove when rolling, roll ball 1002 simultaneously and can carry out the removal of omnidirectional, make the device can carry out the removal of omnidirectional, increase the removal effect of the device.

An air pump 3 is arranged inside the movable shell 1, an air outlet end of the air pump 3 is connected with an air guide tube 2, and the other end of the air guide tube 2 is communicated with the air guide channel 404.

The air pump 3 inside the movable shell 1 plays a role of pressurizing air, so that air can enter the air guide channel 404 through the air guide tube 2, the air can be guided into the hand training mechanism 8 and the foot training mechanism 9 through the air guide channel 404, and the air can be matched with the hand training mechanism 8 and the foot training mechanism 9 to perform rehabilitation training.

The lifting seat limiting block 12 with a rectangular shape is arranged on the inner side of the lifting seat fixing sleeve 5, the external shape of the lifting seat limiting block 12 is matched with the internal shape of the positioning groove 403, the moving path of the lifting seat 4 is limited by the lifting seat limiting block 12, the lifting seat 4 is prevented from rotating, and the lifting seat 4 can only move up and down.

Two driving wheels 707 are provided, the two driving wheels 707 are symmetrically distributed about the center line of the pressing wheel 708, and the two driving wheels 707 correspond to the positions of the belts 706 on both sides of the driving motor 705.

The two driving wheels 707 can be matched with a driving belt 706 connected with a driving motor 705 of the double-head motor, and the two driving wheels 707 drive the linkage shaft 709 and the pressing wheel 708 to rotate, so that the stability of the rotation of the pressing wheel 708 is improved.

The first embodiment is as follows:

an omnidirectional mobile rehabilitation device comprises a mobile shell 1, wherein a lifting mechanism is arranged at the center of the upper end surface of the mobile shell 1, and a universal moving mechanism is arranged inside the mobile shell 1;

the lifting mechanism comprises a lifting seat 4, an annular lifting seat fixing sleeve 5 is sleeved outside the lifting seat 4, the lifting seat fixing sleeve 5 is fixed in a through hole formed in the center of the upper end face of the movable shell 1, a fastening spring 6 is arranged below the lifting seat fixing sleeve 5, and the fastening spring 6 is sleeved outside the lifting seat 4;

the lifting seat 4 comprises a lifting seat main body 401, the lower portion of the lifting seat main body 401 is provided with threads, the upper end of the lifting seat main body 401 is provided with an external threaded hole 402, the outer wall of the lifting seat main body 401 is provided with a strip-shaped positioning groove 403, the inside of the lifting seat main body 401 is provided with an air guide channel 404 communicated with the inside of the external threaded hole 402, a lifting rotating shaft 13 is arranged in the threaded hole below the lifting seat main body 401, and the end of the lifting rotating shaft 13 extending out of the threaded hole below the lifting seat main body 401 is connected with a lifting motor 11.

The lifting seat 4 is in threaded connection with a hand training mechanism 8 through an external threaded hole 402, the hand training mechanism 8 comprises an upper fixed seat 802, a training air bag 803 is connected below the upper fixed seat 802, a lower fixed seat 808 is connected below the training air bag 803, a threaded hole is formed above the upper fixed seat 802, a hollow air guide rod 801 is arranged in the threaded hole above the upper fixed seat 802, air outlet holes 806 are uniformly formed in the outer portion of the air guide rod 801, an air guide rod stirring sheet 804 is fixed at one end of the air guide rod 801, a cavity is formed at the lower end of the lower fixed seat 808, a threaded rod supporting spring 810 is arranged in the cavity at the lower end of the lower fixed seat 808, a mounting threaded rod 805 is arranged in the center of the threaded rod supporting spring 810, one end of the mounting threaded rod 805 penetrates out of the cavity at the lower end of the lower fixed seat 808, an annular rotating sheet 807 is fixed on the outer portion of the mounting threaded rod 805, external threads of the mounting threaded rod 805 are matched with internal threads of the external threaded hole 402, the upper end of the lower fixing seat 808 is provided with an air bag connecting hole 809 communicated with the interior of the training air bag 803.

The lower fixing seat 808 can be fixed in the external threaded hole 402 of the lifting seat 4 through the mounting threaded rod 805, the external threaded hole 402 can lead air into the mounting threaded rod 805, the mounting threaded rod 805 leads the air into the training air bag 803 through the air bag connecting hole 809, thus supplementing air to the interior of the training air bag 803, when a patient performs hand training, the patient holds the training air bag 803 with the hand, the training air bag 803 can be squeezed by the fingers by pressing the fingers holding the training air bag 803, the redundant air in the training air bag 803 is led out through the air outlet hole 806 above the air guide rod 801, when the training air bag 803 is loosened by the fingers, the air is led into the training air bag 803 by the mounting threaded rod 805, so that the training air bag 803 can be restored to the original shape, and when the air guide rod 801 extends out of the upper fixing seat 802 to a greater length, the more the air outlets 806 exposed out of the outer wall of the air guide rod 801 are, the more the pressure resistance of the training air bag 803 is controlled by the number of the exposed air outlets 806, so that the pressure training of different stages of the finger part of the patient can be realized, and the rehabilitation training effect is improved.

A use method of an omnidirectional mobile rehabilitation device comprises the following steps;

s1: the hand training mechanism 8 is arranged in the external threaded hole 402 of the lifting seat 4;

s2: the palm of the patient holds the training air bag 803 to perform the training of recovery in terms of pressing and steering;

s3: the movable housing 1 moves in various directions by a universal movement mechanism, and exercises the upper limbs of the patient in various directions.

Example two:

an omnidirectional mobile rehabilitation device comprises a mobile shell 1, wherein a lifting mechanism is arranged at the center of the upper end surface of the mobile shell 1, and a universal moving mechanism is arranged inside the mobile shell 1;

the lifting mechanism comprises a lifting seat 4, an annular lifting seat fixing sleeve 5 is sleeved outside the lifting seat 4, the lifting seat fixing sleeve 5 is fixed in a through hole formed in the center of the upper end face of the movable shell 1, a fastening spring 6 is arranged below the lifting seat fixing sleeve 5, and the fastening spring 6 is sleeved outside the lifting seat 4;

the lifting seat 4 comprises a lifting seat main body 401, the lower portion of the lifting seat main body 401 is provided with threads, the upper end of the lifting seat main body 401 is provided with an external threaded hole 402, the outer wall of the lifting seat main body 401 is provided with a strip-shaped positioning groove 403, the inside of the lifting seat main body 401 is provided with an air guide channel 404 communicated with the inside of the external threaded hole 402, a lifting rotating shaft 13 is arranged in the threaded hole below the lifting seat main body 401, and the end of the lifting rotating shaft 13 extending out of the threaded hole below the lifting seat main body 401 is connected with a lifting motor 11.

The lifting seat 4 is connected with a foot training mechanism 9 through an external threaded hole 402, the foot training mechanism 9 comprises a foot fixing shell 901, the upper part of the foot fixing shell 901 is in an open shape, a foot access board 902 is clamped inside the foot fixing shell 901, an air guide hole 903 is formed in the outer wall of the foot access board 902, a foot fixing shell mounting seat 905 matched with the external threaded hole 402 is arranged below the foot fixing shell 901, a through hole is formed in one side of the foot fixing shell 901, and a smoking material storage box 904 is arranged in the through hole in the side surface of the foot fixing shell 901; the smoking material storage box 904 comprises a storage box main body 9042, a fixing cover 9041 is arranged above the storage box main body 9042, a smoking material placing box 9043 is arranged inside the storage box main body 9042, through holes are formed in the outer walls of the storage box main body 9042 and the fixing cover 9041, the inside of the foot fixing shell mounting seat 905 is hollow, and one end of the foot fixing shell mounting seat 905 is communicated with the inside of the storage box main body 9042.

The foot fixing shell mounting seat 905 comprises a connecting corrugated pipe 9051, one end of the connecting corrugated pipe 9051 is fixed to the bottom of the foot fixing shell 901, the other end of the connecting corrugated pipe 9051 is connected with a rotating sleeve 9055, a connecting threaded seat 9053 is fixed to the lower end of the rotating sleeve 9055 and matched with the external threaded hole 402, a movable assembly 9056 is arranged inside the rotating sleeve 9055, a driving motor 9052 is connected above the movable assembly 9056, an inner movable pipe 9054 is fixed to the outer portion of the driving motor 9052, a spring is sleeved on the outer portion of the inner movable pipe 9054, and one end of the inner movable pipe 9054 is fixed to the lower end of the foot fixing shell 901;

the connecting threaded seat 9053 at the lower end of the rotating sleeve 9055 can be fixed in the external threaded hole 402, the rotating sleeve 9055 can form flexible connection through the inner movable tube 9054, the driving motor 9052 on the inner side of the inner movable tube 9054 can drive the movable assembly 9056 to rotate, the angle of the foot fixing shell 901 is changed through the movable assembly 9056, and therefore rehabilitation training of ankle joint steering can be conducted on the foot erected above the foot fixing shell 901.

The movable assembly 9056 comprises a rotating plate 90561 and a top ring 90562, the rotating plate 90561 is connected with a rotating shaft of the driving motor 9052, a through hole is formed in the outer portion of the rotating plate 90561, a groove matched with the protrusion above the top ring 90562 is formed in the outer portion of the rotating plate 90561, and the top ring 90562 is fixed to the inner side of the rotating sleeve 9055.

The below recess of rotor plate 90561 can block on the arch of top ring 90562 top, and rotor plate 90561 is when rotating like this, and the arch can be with rotor plate 90561 jack-up in top ring 90562 top, can change rotor plate 90561 angle like this, makes the fixed shell mount pad 905 of foot take place fixed angle slope, can assist the ankle joint rehabilitation training of carrying on to the foot like this.

The inside foot access board 902 of the fixed shell 901 of foot plays the effect of supporting patient's foot, external screw hole 402 can be with the air introduction to the fixed shell mount pad 905 of foot simultaneously, the fixed shell mount pad 905 of foot is again with the air introduction to the fixed shell 901 of foot in, smoke the material and place the champignon material that box 9043 can store the ignition in addition, the gas of champignon material burning can flow the position of air guide hole 903 along with the space like this, can lead to patient's foot with the gas of champignon material burning through air guide hole 903, carry out the rehabilitation of foot.

A use method of an omnidirectional mobile rehabilitation device comprises the following steps:

and S1, arranging the foot fixing shell mounting seat 905 of the foot training mechanism 9 in the external threaded hole 402 of the lifting seat 4.

S2: the patient puts the affected foot in the foot training mechanism 9 to carry out ankle joint rehabilitation training;

s3: the movable shell 1 moves in all directions through the universal moving mechanism to drive the lower limbs of the patient to perform rehabilitation training.

The working principle is as follows: firstly, the device is arranged at a proper place, then in the using process, if the upper limb needs to be rehabilitated, the air guide rod toggle piece 804 is rotated to rotate the air guide rod 801 out of the upper fixing seat 802, so that the air outlet holes 806 on the outer wall of the air guide rod 801 are exposed in proper quantity, then the hand training mechanism 8 is arranged above the lifting seat 4, then the hands of the patient are held outside the training air bag 803, then the fingers press the outside of the training air bag 803, the air in the training air bag 803 can be discharged through the air outlet holes 806 exposed by the air guide rod 801, then the hands release the training air bag 803, the air pump 3 can send the air into the air guide channel 404 through the air guide tube 2, the air guide channel 404 then sends the air into the mounting threaded rod 805, the mounting threaded rod can lead the air into the training air bag 803 through the air bag 809 connecting hole, so that the training air bag 803 is restored to the original shape, this enables the training airbag 803 to perform repeated exercises;

meanwhile, the training air bag 803 can drive the lower fixed seat 808 to change the inclination angle, the lower fixed seat 808 and the installation threaded rod 805 can form a movable connection through a threaded rod supporting spring 810, so that the installation threaded rod 805 and the lower fixed seat 808 can perform bending work, the wrist position can be trained, the installation threaded rod 805 can be driven to rotate by the rotating sheet 807 alone, the installation threaded rod 805 can be fixed in the external threaded hole 402 alone, the steering motor 702 can drive the built-in rotating barrel 703 to rotate, the built-in rotating barrel 703 can drive the linkage shaft 709 and the pressing wheel 708 to rotate, so that the driving direction of the pressing wheel 708 can be changed, the driving motor 705 can drive the linkage shaft 709 to rotate through the driving belt 706 and the driving wheel 707, the linkage shaft 709 drives the pressing wheel 708 to rotate, and the pressing wheel 708 can drive the rolling ball 1002 to roll, thus, the device can roll along the rotating direction of the pressing wheel 708, so that the device can move in all directions to train the rehabilitation of the arm parts of the upper limbs;

when the rehabilitation training work of the feet is needed, the foot training mechanism 9 is arranged above the lifting seat 4, the feet on the affected side of a patient are placed in the foot training mechanism 9, the driving motor 9052 on the inner side of the inner movable tube 9054 can drive the movable assembly 9056 to rotate, the angle of the foot fixing shell 901 is changed through the movable assembly 9056, and therefore the rehabilitation training of ankle joint steering can be carried out on the feet erected above the foot fixing shell 901;

meanwhile, a lifting motor 11 in the lifting mechanism can drive a lifting seat 4 to move up and down through a lifting rotating shaft 13, so that the lifting seat 4 can push a foot training mechanism 9 to move up and down, and the rehabilitation training of knee joints and hip joints of a patient is realized;

light and place the champignon material in the box 9043 is placed to the champignon material, then insert the material storage box 904 of smoking and establish inside the fixed shell 901 of foot, later the fixed shell mount pad 905 of foot can be with the leading-in to the fixed shell 901 of foot of the gas that air pump 3 produced when using in, later leading-in air flow rate is comparatively fast, makes the air of champignon material burning can spout the foot through air guide 903, carries out the work of supplementary physiotherapy to the foot.

The previous description is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.