CN113181000B - Waist multi-degree-of-freedom mechanism of lower limb rehabilitation robot and lower limb rehabilitation robot - Google Patents
Waist multi-degree-of-freedom mechanism of lower limb rehabilitation robot and lower limb rehabilitation robot Download PDFInfo
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- CN113181000B CN113181000B CN202110421925.3A CN202110421925A CN113181000B CN 113181000 B CN113181000 B CN 113181000B CN 202110421925 A CN202110421925 A CN 202110421925A CN 113181000 B CN113181000 B CN 113181000B
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 90
- 230000007246 mechanism Effects 0.000 title claims abstract description 83
- 210000003414 extremity Anatomy 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 8
- 230000033001 locomotion Effects 0.000 description 12
- 238000009434 installation Methods 0.000 description 11
- 230000008859 change Effects 0.000 description 8
- 230000009286 beneficial effect Effects 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004064 dysfunction Effects 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 210000003041 ligament Anatomy 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
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Abstract
The invention discloses a waist multi-degree-of-freedom mechanism of a lower limb rehabilitation robot and the lower limb rehabilitation robot. The waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot comprises a bearing seat, a mounting part, a moving part and a backrest part, wherein the bearing seat is defined to have an up-down direction and a left-right direction perpendicular to the up-down direction; the mounting piece is rotatably arranged on the bearing seat, and the rotating axis of the mounting piece is parallel to the left and right directions of the bearing seat; the moving piece is slidably arranged on the mounting piece, and the sliding direction of the moving piece is parallel to the left and right directions of the bearing seat; the backrest part can be rotatably arranged on the moving part, and the rotation axis of the backrest part is parallel to the up-down direction of the bearing seat. The technical scheme of the invention can improve the rehabilitation training effect of the lower limb rehabilitation robot.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a waist multi-degree-of-freedom mechanism of a lower limb rehabilitation robot and the lower limb rehabilitation robot applying the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot.
Background
The deterioration of human body functions such as bone, ligament toughness, joint movement and the like with the increase of age easily causes limb movement dysfunction such as the reduction of muscle strength, walking speed, balance ability and the like of old people. At present, the treatment for limb movement dysfunction mainly assists a patient to perform corresponding rehabilitation training through a lower limb rehabilitation robot, so that the limb movement ability of the patient can be improved and recovered. However, the back board for abutting against the waist of the patient in the lower limb rehabilitation robot in the related art is generally fixed in a limited manner, so that the degree of freedom of the back board is low. Therefore, when the lower limb rehabilitation robot carries out rehabilitation training, the backrest plate cannot adapt to the movement posture change of the waist of a patient and easily damages the waist of the patient, and the rehabilitation training effect of the lower limb rehabilitation robot is reduced.
Disclosure of Invention
The invention mainly aims to provide a waist multi-degree-of-freedom mechanism of a lower limb rehabilitation robot, which aims to adapt to the movement posture change of the waist of a patient, avoid the damage to the waist of the patient and improve the rehabilitation training effect of the lower limb rehabilitation robot.
In order to achieve the purpose, the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot provided by the invention comprises:
the bearing seat is defined to have an up-down direction and a left-right direction perpendicular to the up-down direction;
the mounting piece is rotatably arranged on the bearing seat, and the rotating axis of the mounting piece is parallel to the left and right directions of the bearing seat;
the moving piece is slidably arranged on the mounting piece, and the sliding direction of the moving piece is parallel to the left and right directions of the bearing seat; and
the backrest part is rotatably arranged on the moving part, and the rotating axis of the backrest part is parallel to the up-down direction of the bearing seat.
In an embodiment of the present invention, the backrest and the moving member are both plate-shaped structures, a connecting plate is disposed on a surface of the backrest facing the moving member, and the connecting plate extends along a direction facing the moving member;
the surface of the moving piece facing the backrest piece is provided with a first connecting lug, and the first connecting lug is rotatably connected to one end, close to the moving piece, of the connecting plate.
In an embodiment of the present invention, the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot further includes at least two buffer mechanisms, wherein the two buffer mechanisms are respectively located at the left and right sides of the connecting plate, and the buffer mechanisms include:
the connecting arm is defined to be provided with two opposite ends, and one end of the connecting arm is rotatably connected to the surface, facing the moving piece, of the backrest piece;
the sliding seat is slidably arranged on the surface, facing the backrest piece, of the moving piece along the left-right direction and is further rotatably connected with one end, far away from the backrest piece, of the connecting arm; and
the first elastic piece is arranged on the surface of the moving piece facing the backrest piece and connected with the moving piece and the sliding seat.
In an embodiment of the invention, a first guide rod is further disposed on a surface of the moving member facing the backrest member, the first guide rod extends along a sliding direction of the sliding seat, the sliding seat and the first elastic piece are both sleeved on the first guide rod, and the sliding seat can slide relative to the first guide rod;
and/or a fixed seat is further arranged on the surface, facing the moving piece, of the backrest piece, and one end, close to the backrest piece, of the connecting arm is rotatably connected to the fixed seat.
In an embodiment of the present invention, a surface of the moving member, which faces away from the backrest member, is provided with a guide rail, and the guide rail extends along a moving direction of the moving member;
the mounting part is of a plate-shaped structure, a sliding block is arranged on the surface, facing the moving part, of the mounting part, and the sliding block is connected to the guide rail in a sliding mode.
In an embodiment of the present invention, at least two limiting blocks are further disposed on a surface of the moving member away from the backrest member, wherein the two limiting blocks are respectively located at two opposite ends of the guide rail and can abut against and limit a moving stroke of the moving member.
In an embodiment of the invention, the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot further includes a second elastic member, and the second elastic member is connected to the moving member and the mounting member.
In an embodiment of the invention, a limiting seat is further arranged on the surface of the moving member departing from the backrest member, an avoidance hole is arranged at a position of the mounting member corresponding to the limiting seat, and the limiting seat penetrates through the avoidance hole;
the installed part deviates from the surface of moving member still is equipped with the supporting seat, the supporting seat with by it wears out to dodge the hole spacing seat is relative setting, the second elastic component connect in the supporting seat with spacing seat.
In an embodiment of the invention, a second guide rod is further disposed on a surface of the mounting member away from the moving member, the second guide rod extends along a moving direction of the moving member and penetrates through the supporting seat and the limiting seat, and the second elastic member is sleeved on the second guide rod.
In an embodiment of the invention, the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot further includes a connecting rod, one end of the connecting rod is rotatably connected to the surface of the mounting part, which is far away from the moving part, and the other end of the connecting rod is rotatably connected to the surface of the bearing seat, which faces the mounting part.
In an embodiment of the invention, the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot further includes a third elastic member, and the third elastic member is connected to the connecting rod and the bearing seat.
In an embodiment of the present invention, the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot further includes a telescopic assembly, and the telescopic assembly includes:
one end of the sleeve is rotatably connected to the connecting rod; and
the sliding rod, the one end of slide bar rotate connect in bear the weight of the seat, the other end slidable inserts and locates in the sleeve, the third elastic component cover is located the sleeve with the slide bar, just the relative both ends of third elastic component connect respectively in the sleeve with the slide bar.
In an embodiment of the present invention, the carrying seat includes:
a frame; and
the bearing plate is arranged on the rack in a sliding mode along the up-down direction and can be limited and fixed relative to the rack, and the mounting part is rotatably arranged on the bearing plate.
In an embodiment of the invention, the rack is provided with a driving member, the driving member is connected with a screw rod, the screw rod extends along a sliding direction of the bearing plate, the bearing plate is provided with a sliding seat, and the sliding seat is slidably sleeved on the screw rod.
The invention also provides a lower limb rehabilitation robot, which comprises a waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot, wherein the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot comprises a bearing seat, a mounting part, a moving part and a backrest part, and the bearing seat is defined to have an up-down direction and a left-right direction perpendicular to the up-down direction; the mounting piece is rotatably arranged on the bearing seat, and the rotating axis of the mounting piece is parallel to the left and right directions of the bearing seat; the moving piece is slidably arranged on the mounting piece, and the sliding direction of the moving piece is parallel to the left and right directions of the bearing seat; the backrest part is rotatably arranged on the moving part, and the rotating axis of the backrest part is parallel to the up-down direction of the bearing seat.
When the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot is applied to the lower limb rehabilitation robot, the waist multi-degree-of-freedom mechanism is abutted against the waist of a patient through the backrest piece. Because the backrest part is rotatably arranged on the moving part, and the rotating axis of the backrest part is parallel to the vertical direction of the bearing seat, the backrest part has the freedom degree of rotating around the vertical direction. The movable piece is arranged on the mounting piece in a sliding mode, and the sliding direction of the movable piece is parallel to the left and right directions of the bearing seat, so that the backrest piece further has the freedom degree of sliding in the left and right directions. The installation piece is rotatably arranged on the bearing seat, and the rotation axis of the installation piece is parallel to the left and right directions of the bearing seat, so that the backrest piece further has the freedom degree of rotating around the left and right directions. That is, the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot in the scheme has three degrees of freedom of rotation around the vertical direction, sliding in the horizontal direction and rotating around the horizontal direction, and compared with the prior art that the backrest of the lower limb rehabilitation robot is limited and fixed to enable the degree of freedom to be lower, the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot in the scheme has higher degree of freedom and can better adapt to the change of the motion posture of the waist of a patient. Therefore, the waist pose change during gait training of the patient is more approximate to the waist pose change during walking of a normal person, the waist of the patient is prevented from being damaged due to insufficient freedom of the backrest piece, and the rehabilitation training effect of the lower limb rehabilitation robot is improved.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic view of a waist multi-degree-of-freedom mechanism of a lower limb rehabilitation robot according to an embodiment of the present invention;
fig. 2 is another view schematic diagram of the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot in fig. 1;
FIG. 3 is a partial structural view of a waist multi-degree of freedom mechanism of the lower limb rehabilitation robot of FIG. 1;
FIG. 4 is another partial structural view of the waist multi-degree of freedom mechanism of the lower limb rehabilitation robot shown in FIG. 1;
fig. 5 is another partial structural view of the waist multiple degree of freedom mechanism of the lower limb rehabilitation robot in fig. 1;
FIG. 6 is a cross-sectional view of the telescoping assembly of the waist multi-degree of freedom mechanism of the lower limb rehabilitation robot of FIG. 1;
fig. 7 is still another partial configuration diagram of the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot in fig. 1.
The reference numbers illustrate:
the implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that all directional indicators (such as up, down, left, right, front, back \8230;) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a waist multi-degree-of-freedom mechanism of a lower limb rehabilitation robot.
Referring to fig. 1, fig. 2 and fig. 3, in an embodiment of the present invention, the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot includes a bearing seat 10, a mounting part 20, a moving part 30 and a backrest 40; wherein, the bearing seat 10 is defined to have an up-down direction and a left-right direction perpendicular to the up-down direction; the mounting member 20 is rotatably disposed on the carrier 10, and the rotation axis of the mounting member 20 is parallel to the left and right directions of the carrier 10; the moving member 30 is slidably disposed on the mounting member 20, and the sliding direction of the moving member 30 is parallel to the left and right direction of the carriage 10; the backrest 40 is rotatably disposed on the moving member 30, and the rotation axis of the backrest 40 is parallel to the vertical direction of the carriage 10.
In an embodiment of the present invention, the carriage 10 can be used to fix the mounting member 20 and simultaneously support the moving member 30 and the backrest 40. In order to enhance the supporting strength of the carrying seat 10, the carrying seat 10 may be made of a metal material. Of course, the present application is not limited thereto, and in other embodiments, the material of the supporting base 10 may also be a plastic material with a certain strength. The shape of the carrier 10 can be substantially rectangular or circular in a vertical plane, so that the carrier 10 has a regular shape and is easy to manufacture. The mounting member 20 is adapted to be pivotally connected to the carrier 10 to provide a degree of freedom for pivoting the carrier 10 in a left-right direction. The mounting member 20 may be a plate-shaped structure, so that the structure is simple and the corresponding connection structure is convenient to set, and the mass of the mounting member 20 is relatively light, thereby being beneficial to reducing the overall mass of the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot. Of course, the present application is not limited thereto, and in other embodiments, the mounting member 20 may be an elongated block structure or other shape structure. The displacement member 30 may be adapted to be slidably coupled to the mounting member 20 to provide a degree of freedom for sliding movement in a left-right direction. The moving member 30 may be a plate-shaped structure, so that the structure is simple and a corresponding connection structure is convenient to set, and the mass of the moving member 30 is relatively light, thereby being beneficial to reducing the overall mass of the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot. Of course, the moving member 30 may also be a bar-shaped structure or other shape structure, and the present application does not limit the specific shape of the moving member 30. The backrest 40 may be adapted to be pivotally connected to the moveable member 30 to provide a degree of freedom of rotation in an up-and-down direction. Meanwhile, the backrest 40 can be used for abutting against the waist of the patient so as to realize the contact between the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot and the patient. The backrest 40 may be a plate-shaped structure, so that a structure for connecting with the moving member 30 is disposed on the backrest 40, and the mass of the backrest 40 is relatively light, which is beneficial to reducing the overall mass of the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot. Further, for a safer contact between the backrest 40 and the patient's waist, the surface of the backrest 40 intended to abut against the patient's waist may be provided with a soft pad 41, so as to abut against the patient's waist by means of the soft pad 41 having a certain elasticity. In order to make the soft cushion 41 fit better with the waist of the patient, the surface of the soft cushion 41 facing away from the backrest 40 may be concave arc-shaped so as to wrap the waist of the patient.
When the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot in the technical scheme is applied to the lower limb rehabilitation robot, the waist multi-degree-of-freedom mechanism is abutted with the waist of a patient through the backrest piece 40. Since the backrest 40 is rotatably disposed on the moving member 30, and the rotation axis of the backrest 40 is parallel to the up-down direction of the carriage 10, the backrest 40 has a degree of freedom of rotation around the up-down direction. The moving member 30 is slidably disposed on the mounting member 20, and the sliding direction of the moving member 30 is parallel to the left and right direction of the carriage 10, so that the backrest 40 further has a degree of freedom to slide in the left and right direction. The mounting member 20 is rotatably disposed on the carrier 10, and the rotation axis of the mounting member 20 is parallel to the left and right directions of the carrier 10, so that the backrest 40 further has a degree of freedom for rotating around the left and right directions. That is, the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot in the scheme has three degrees of freedom of rotation around the up-down direction, sliding in the parallel left-right direction and rotation around the left-right direction, and compared with the back rest piece 40 of the lower limb rehabilitation robot in the prior art, the back rest piece is limited and fixed, so that the degree of freedom is lower. Therefore, the waist pose change during gait training of the patient is more approximate to the waist pose change during walking of a normal person, the waist of the patient is prevented from being damaged due to insufficient freedom of the backrest piece 40, and the rehabilitation training effect of the lower limb rehabilitation robot is improved.
Referring to fig. 1, fig. 3 and fig. 5, in an embodiment of the present invention, the backrest 40 and the moving member 30 are both plate-shaped structures, a connecting plate 43 is disposed on a surface of the backrest 40 facing the moving member 30, and the connecting plate 43 extends along a direction facing the moving member 30; the surface of the moving member 30 facing the backrest 40 is provided with a first connecting lug 31, and the first connecting lug 31 is rotatably connected to one end of the connecting plate 43 close to the moving member 30.
It can be understood that the backrest 40 and the moving member 30 are rotatably connected through the connecting plate 43 and the first connecting lug 31, so that the possibility that the strength of the self structures of the backrest 40 and the moving member 30 is affected by the rotating connecting structure between the backrest 40 and the moving member 30 is reduced, and the normal and stable use of the backrest 40 and the moving member 30 is guaranteed. Meanwhile, a certain distance is formed between the backrest 40 and the moving part 30, so that a certain rotating space can be better provided for the backrest 40, and the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot can rotate in a certain range in the vertical direction. Of course, the present application is not limited thereto, and in other embodiments, the backrest 40 and the moving member 30 may be directly connected through the shaft and the shaft hole.
Referring to fig. 1 and fig. 3, in an embodiment of the present invention, the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot further includes at least two buffer mechanisms 50, wherein the two buffer mechanisms 50 are respectively located at the left and right sides of the connecting plate 43, and each buffer mechanism 50 includes a connecting arm 51, a sliding seat 53 and a first elastic member 55, which define that the connecting arm 51 has two ends that are oppositely disposed, and one end of the connecting arm 51 is rotatably connected to a surface of the backrest 40 facing the moving member 30; the sliding seat 53 is slidably arranged on the surface of the moving member 30 facing the backrest 40 along the left-right direction, and the sliding seat 53 is also rotatably connected with one end of the connecting arm 51 far away from the backrest 40; the first elastic member 55 is disposed on a surface of the moving member 30 facing the backrest 40 and is connected to the moving member 30 and the sliding seat 53.
It can be understood that when the backrest 40 rotates relative to the moving member 30, the connecting arm 51 of the damping mechanism 50 can be carried along with it, and the sliding seat 53 is driven to slide. Because the first elastic element 55 is arranged between the sliding seat 53 and the moving element 30, the first elastic element 55 can limit and buffer the sliding of the sliding seat 53, namely, an elastic force opposite to the sliding direction of the sliding seat 53 is generated to drive the sliding seat 53 to reset to the initial position, and further, the automatic resetting of the backrest 40 after the rotation is realized. Meanwhile, the impact between the backrest 40 and the moving member 30 is reduced by the buffer mechanism 50, so that the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot is protected to a certain extent. In addition, the cushioning mechanism 50 is provided to further enhance the connection strength between the backrest 40 and the movable member 30, thereby improving the stability of the connection of the backrest 40.
Referring to fig. 3 and fig. 5, in an embodiment of the invention, a first guide rod 33 is further disposed on a surface of the moving member 30 facing the backrest 40, the first guide rod 33 extends along a sliding direction of the sliding seat 53, the sliding seat 53 and the first elastic piece are both sleeved on the first guide rod 33, and the sliding seat 53 can slide relative to the first guide rod 33.
It can be understood that the first guide rod 33 can guide the sliding seat 53 and the first elastic element 55, that is, the sliding seat 53 can only slide along a predetermined direction, so as to improve the sliding stability of the sliding seat 53, and the elastic force exerted by the first elastic element 55 on the sliding seat 53 is parallel to the sliding direction of the sliding seat 53, so as to stably cushion and restore the backrest 40. Moreover, the first guide rod 33 is also provided to make the installation of the first elastic member 55 simpler, i.e. the first elastic member 55 is directly sleeved on the first guide rod 33. The first elastic member 55 may be a spring, which has the advantages of high elasticity and low cost, so that the first elastic member 55 has relatively high elasticity and the manufacturing cost is reduced. Of course, the present application is not limited thereto, and in other embodiments, the first elastic member 55 may also be a plastic member with elasticity. In addition, in order to facilitate the installation of the first guide rod 33, the surface of the moving member 30 facing the backrest 40 may be provided with two installation seats 34, the two installation seats 34 are oppositely arranged, and two ends of the first guide rod 33 may be respectively inserted into the two installation seats 34. At this time, an end of the first elastic member 55 away from the sliding seat 53 is connected to one of the two mounting seats 34. In addition, the present invention is not limited to this, and in another embodiment, an L-shaped rod is provided between the first guide rods 33. In this case, one end of the first guide rod 33 may be connected to the moving member 30, and the other end may sequentially pass through the first elastic member 55 and the sliding seat 53.
Referring to fig. 3 and 5, in an embodiment of the present invention, a fixing seat 45 is further disposed on a surface of the backrest 40 facing the moving member 30, and one end of the connecting arm 51 close to the backrest 40 is rotatably connected to the fixing seat 45.
It can be understood that the backrest 40 is rotatably connected with the connecting arm 51 through the fixing seat 45, so that the possibility that the rotating connection structure between the fixing seat and the connecting arm affects the strength of the structure of the backrest 40 is reduced, and the normal and stable use of the backrest 40 is further ensured. Of course, the present application is not limited thereto, and in other embodiments, the rotating arm and the backrest 40 may be directly connected through the rotating shaft and the shaft hole.
Referring to fig. 2, fig. 3 and fig. 4, in an embodiment of the present invention, a surface of the moving member 30 away from the backrest 40 is provided with a guide rail 35, and the guide rail 35 is extended along a moving direction of the moving member 30; the mounting member 20 has a plate-like structure, and a surface of the mounting member 20 facing the moving member 30 is provided with a slider 21, and the slider 21 is slidably coupled to the guide rail 35.
It can be understood that, the cooperation of guide rail 35 and slider 21 has realized the connection between moving member 30 and installed part 20 promptly, also has the guide effect to the slip of moving member 30, guarantees that moving member 30 can only carry out corresponding slip in left and right directions. Simultaneously, so set up, also reduced the connection structure between moving member 30 and the installed part 20 and caused the possibility of influence to intensity of both self to be favorable to guaranteeing the stability of the self intensity of moving member 30 and installed part 20. In order to improve the guiding effect and the connection stability of the moving member 30, at least two guide rails 35 may be disposed on the surface of the moving member 30 away from the backrest 40, and the at least two guide rails 35 are spaced apart along the width direction of the guide rails 35. In addition, the present invention is not limited to this, and in another embodiment, the moving member 30 may be provided with a slide groove extending in the moving direction of the moving member 30, and a part of the mounting member 20 may be slidably fitted in the slide groove.
Referring to fig. 4, in an embodiment of the present invention, at least two limiting blocks 37 are further disposed on a surface of the moving member 30 away from the backrest 40, wherein the two limiting blocks 37 are respectively located at two opposite ends of the guide rail 35 and can limit a moving stroke of the moving member 30 by abutting against the two limiting blocks 37.
It can be understood that the moving stroke of the moving part 30 in the left-right direction can be abutted and limited by the limiting block 37, so that the possibility of damage caused by the separation of the moving part 30 and the mounting part 20 in relative sliding is reduced, and the normal and stable work of the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot is guaranteed. Meanwhile, the limiting block 37 is mechanical limiting, so that the use safety is improved.
Referring to fig. 4, in an embodiment of the present invention, the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot further includes a second elastic member 60, and the second elastic member 60 is connected to the moving member 30 and the mounting member 20.
It can be understood that the second elastic member 60 is driven during the sliding process of the moving member 30, and then generates an elastic force opposite to the sliding direction of the moving member 30, and the elastic force drives the moving member 30 to return to the initial position, thereby achieving the automatic reset of the moving member 30. Meanwhile, the second elastic member 60 also reduces the impact between the moving member 30 and the mounting member 20, thereby protecting the multi-degree-of-freedom mechanism of the waist of the lower limb rehabilitation robot to a certain extent. The second elastic member 60 may be a spring, which has the advantages of high elasticity and low cost, so that the second elastic member 60 has relatively high elasticity and the manufacturing cost is reduced. Of course, the present application is not limited thereto, and in other embodiments, the second elastic member 60 may also be a plastic member with elasticity.
Referring to fig. 3 and 4, in an embodiment of the present invention, a limiting seat 39 is further disposed on a surface of the moving member 30 away from the backrest 40, an avoiding hole 23 is disposed at a position of the mounting member 20 corresponding to the limiting seat 39, and the limiting seat 39 passes through the avoiding hole 23; the surface that installed part 20 deviates from moving member 30 still is equipped with supporting seat 25, and supporting seat 25 is relative the setting with spacing seat 39 that is worn out by dodging hole 23, and second elastic component 60 connects in supporting seat 25 and spacing seat 39.
It can be understood that the mounting member 20 is provided with the avoiding hole 23 for the stopper 39 of the moving member 30 to pass through, so that the second elastic member 60 can be disposed to the middle region of the moving member 30 and the mounting member 20 without providing a large mounting space at the peripheral region of the moving member 30 for disposing the second elastic member 60. Therefore, the compactness of installation among the lower limb rehabilitation robots is improved, and the overall size of the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot is reduced. Of course, the present application is not limited thereto, and in other embodiments, the volume of the moving member 30 is set to be relatively large, and the volume of the mounting member 20 is set to be relatively small, and the second elastic member 60 is disposed on the periphery of the moving member 30.
Referring to fig. 3 and 4, in an embodiment of the invention, a second guide rod 27 is further disposed on a surface of the mounting member 20 away from the moving member 30, the second guide rod 27 extends along a moving direction of the moving member 30 and is disposed through the supporting seat 25 and the limiting seat 39, and the second elastic member 60 is sleeved on the second guide rod 27.
It will be appreciated that the sliding movement of the moving member 30 can also be guided by the second guide rod 27, thereby further improving the stability of the mounting member 20 during sliding movement. Meanwhile, the second guide rod 27 is provided to make the installation of the second elastic member 60 simpler and more convenient, i.e. the second elastic member is directly sleeved on the second guide rod 27. Wherein, the mounting member 20 may be provided with two supporting seats 25, and the two supporting seats 25 are respectively located at two opposite sides of the limiting seat 39 in the left-right direction, so that two second elastic members 60 may be provided. At this time, the two second elastic members 60 are all sleeved on the second guide rod 27, and one second elastic member 60 is located between the limiting seat 39 and one supporting seat 25. Therefore, the two second elastic members 60 can respectively buffer and reset the moving member 30 during the sliding process to the left and the sliding process to the right, thereby being beneficial to improving the buffering and resetting effect on the moving member 30.
Referring to fig. 1 and fig. 2, in an embodiment of the present invention, the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot further includes a connecting rod 70, one end of the connecting rod 70 is rotatably connected to a surface of the mounting part 20 away from the moving part 30, and the other end is rotatably connected to a surface of the bearing seat 10 facing the mounting part 20.
It can be understood that the mounting member 20 and the carrying base 10 are indirectly connected through the connecting rod 70, so that a relatively long distance is provided therebetween, and a relatively large rotation space can be provided for the mounting member 20, the moving member 30 and the backrest member 40, thereby facilitating a wide range of rotation of the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot in the left-right direction. Wherein, in order to improve the stability of the connection between the moving member 30 and the carrying base 10, at least two connecting rods 70 may be provided to enhance the connection between the moving member 30 and the carrying base 10 through the connection of at least two connecting rods 70. In order to facilitate the connection between the connecting rod 70 and the moving member 30 and the carrying base 10, the opposite ends of the connecting rod 70 may be provided with second engaging lugs 71, and at this time, the positions of the moving member 30 and the carrying base 10 corresponding to the ends of the connecting rod 70 may be correspondingly provided with connecting seats 73, and the two connecting seats 73 are respectively rotatably connected to the two second engaging lugs 71.
Referring to fig. 1 and fig. 2, in an embodiment of the present invention, the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot further includes a third elastic member 80, and the third elastic member 80 is connected to the connecting rod 70 and the load bearing seat 10.
It can be understood that the third elastic member 80 can support the mechanisms such as the connecting rod 70, the mounting member 20, the moving member 30, and the backrest member 40, and reduce the load burden on the patient caused by the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot, thereby improving the convenience of using the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot. Meanwhile, the third elastic element 80 also plays a role in buffering the rotation of the mounting element 20, so that the mounting element 20 is automatically reset, and the impact between the mounting element 20 and the bearing seat 10 is reduced. Wherein, this third elastic component 80's quantity can be equipped with one, and at this moment, the quantity of connecting rod 70 can be equipped with three, two of them in three connecting rod 70 are the interval distribution in the left and right direction, and another connecting rod 70 is located and is the upper position in the middle of two connecting rods 70 that set up relatively, and the one end that third elastic component 80 keeps away from bearing seat 10 is connected in the connecting rod 70 that is located the centre to guarantee that mechanisms such as installed part 20 receive the even elasticity of third elastic component 80 in the left and right direction.
Referring to fig. 1 and fig. 6 in combination, in an embodiment of the present invention, the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot further includes a telescopic assembly 90, the telescopic assembly 90 includes a sleeve 91 and a sliding rod 93, one end of the sleeve 91 is rotatably connected to the connecting rod 70; one end of the sliding rod 93 is rotatably connected to the bearing seat 10, the other end of the sliding rod is slidably inserted into the sleeve 91, the sleeve 91 and the sliding rod 93 are sleeved with the third elastic member 80, and two opposite ends of the third elastic member 80 are respectively connected to the sleeve 91 and the sliding rod 93.
It can be understood that the sliding rod 93 of the telescopic assembly 90 slides in the sleeve 91 along the extending direction of the sleeve 91, and the third elastic element 80 is sleeved on the sleeve 91 and the sliding rod 93, so that the telescopic assembly 90 supports and guides the third elastic element 80. The possibility of the third elastic member 80 bending is reduced, thereby being beneficial to ensure that the third elastic member 80 exerts normal and stable elastic force on the connecting rod 70. To further reduce the possibility of misalignment between the sleeve 91 and the sliding rod 93 during relative sliding movement, the telescopic assembly 90 may further include a linear bearing 95, the linear bearing 95 being embedded in the sleeve 91, and the sliding rod 93 being inserted through the linear bearing 95. The linear bearing 95 can improve the stability of the sliding of the slide rod 93 in the sleeve 91 and reduce the contact area to reduce the wear during the sliding. And to facilitate the installation of the third elastic member 80, the end of the sleeve 91 away from the sliding rod 93 may be provided with an upper cover 911, and the end of the sliding rod 93 away from the sleeve 91 may be provided with a lower cover 931. At this time, the opposite ends of the third elastic member 80 may be mounted and restrained by abutting against the upper cap 911 and the lower cap 931, respectively. Of course, in other embodiments, it is also possible that the opposite ends of the third elastic element 80 are directly welded to the sleeve 91 and the sliding rod 93, respectively. Further, in order to facilitate the rotational connection between the sleeve 91 and the connecting rod 70, the sliding rod 93 and the carrying seat 10, the upper end cap 911 may be provided with an upper swivel base 9111, and the lower end cap may be provided with a lower swivel base 9311. At this moment, the connecting rod 70 can be equipped with the third engaging lug 75, bear the seat 10 and can be equipped with the fourth engaging lug 15, go up swivel mount 9111 and third engaging lug 75 and rotate the connection, down swivel mount 9311 and fourth engaging lug 15 rotate the connection, so can be so that need not to set up comparatively complicated connection structure on connecting rod 70, sleeve 91, slide bar 93 and bear seat 10, also guaranteed connecting rod 70, sleeve 91, slide bar 93 simultaneously and born the intensity of seat 10 self.
Referring to fig. 1 and fig. 2, in an embodiment of the invention, the bearing seat 10 includes a frame 11 and a bearing plate 13, the bearing plate 13 is slidably disposed on the frame 11 along an up-down direction and can be fixed and limited relative to the frame 11, and the mounting member 20 is rotatably disposed on the bearing plate 13.
It can be understood that the driving piece 111 drives the bearing plate 13 to lift, so that the height of the lower limb rehabilitation robot including the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot can be adjusted to adapt to patients with different heights, and the universality of the lower limb rehabilitation robot including the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot in use is improved. At this time, the end of the connecting rod 70 away from the mounting member 20 is rotatably connected to the bearing plate 13, and the end of the sliding rod 93 of the telescopic assembly 90 away from the sleeve 91 is also rotatably connected to the bearing plate 13, i.e. the bearing plate 13 is provided with the fourth engaging lug 15.
Referring to fig. 2 and fig. 7, in an embodiment of the invention, the frame 11 is provided with a driving member 111, the driving member 111 is connected to a lead screw 113, the lead screw 113 extends along a sliding direction of the bearing plate 13, the bearing plate 13 is provided with a sliding seat 131, and the sliding seat 131 is slidably sleeved on the lead screw 113.
It can be understood that the screw 113 transmission has the advantages of stability and reliability, thereby improving the stability of the bearing plate 13 in the lifting process. The driving member 111 may be a handwheel for manually controlling the lifting process of the bearing plate 13. Wherein, the driving member 111 is connected to the screw 113 through the transmission assembly 115, for example: the transmission assembly 115 may include a pulley set 117, in which the hand wheel is connected to a driving wheel of the pulley set 117, and the screw 113 may be connected to a driven wheel of the pulley set 117. Of course, the transmission assembly 115 may further include a bevel gear set 119, in which case, the handwheel is connected to a driving bevel gear of the bevel gear set 119, and a driving wheel of the belt pulley set 117 is connected to a driven bevel gear of the bevel gear set 119, so as to change the transmission direction and make the handwheel have an installation posture convenient for the medical staff to operate. It should be noted that the present application is not limited thereto, and in other embodiments, the driving element 111 may also be a motor.
The invention further provides a lower limb rehabilitation robot, which comprises a waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot, the specific structure of the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot refers to the embodiments, and the lower limb rehabilitation robot adopts all the technical schemes of all the embodiments, so that the lower limb rehabilitation robot at least has all the beneficial effects brought by the technical schemes of the embodiments, and the detailed description is omitted.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structural changes made by using the contents of the present specification and the drawings, or any other related technical fields, which are directly or indirectly applied to the present invention, are included in the scope of the present invention.
Claims (15)
1. The utility model provides a waist multi freedom mechanism of recovered robot of low limbs which characterized in that includes:
the bearing seat is defined to have an up-down direction and a left-right direction perpendicular to the up-down direction;
the mounting piece is rotatably arranged on the bearing seat, and the rotating axis of the mounting piece is parallel to the left and right directions of the bearing seat;
the moving piece is slidably arranged on the mounting piece, and the sliding direction of the moving piece is parallel to the left and right directions of the bearing seat; and
the backrest part is rotatably arranged on the moving part, and the rotation axis of the backrest part is parallel to the up-down direction of the bearing seat.
2. The lower limb rehabilitation robot waist multi-degree-of-freedom mechanism as claimed in claim 1, wherein the backrest and the moving member are each in a plate-like structure, and a connecting plate is provided on a surface of the backrest facing the moving member, the connecting plate extending in a direction facing the moving member;
the surface of the moving piece facing the backrest piece is provided with a first connecting lug, and the first connecting lug is rotatably connected to one end, close to the moving piece, of the connecting plate.
3. The lower limb rehabilitation robot waist multi-degree of freedom mechanism according to claim 2, wherein the lower limb rehabilitation robot waist multi-degree of freedom mechanism further comprises at least two buffer mechanisms, wherein the two buffer mechanisms are respectively located on the left side and the right side of the connecting plate, and the buffer mechanisms comprise:
the connecting arm is defined to be provided with two opposite ends, and one end of the connecting arm is rotatably connected to the surface, facing the moving piece, of the backrest piece;
the sliding seat is slidably arranged on the surface, facing the backrest piece, of the moving piece along the left-right direction and is further rotatably connected with one end, far away from the backrest piece, of the connecting arm; and
the first elastic piece is arranged on the surface of the moving piece facing the backrest piece and connected with the moving piece and the sliding seat.
4. The lower limb rehabilitation robot waist multi-degree-of-freedom mechanism as claimed in claim 3, wherein a first guide rod is further provided on a surface of the moving member facing the backrest member, the first guide rod extends along a sliding direction of the sliding seat, the sliding seat and the first elastic spring are both sleeved on the first guide rod, and the sliding seat is slidable relative to the first guide rod;
and/or a fixed seat is further arranged on the surface, facing the moving piece, of the backrest piece, and one end, close to the backrest piece, of the connecting arm is rotatably connected to the fixed seat.
5. The lower limb rehabilitation robot waist multi-degree-of-freedom mechanism as recited in claim 2, wherein a guide rail is provided on a surface of the moving member facing away from the backrest member, the guide rail extending in a moving direction of the moving member;
the mounting part is of a plate-shaped structure, a sliding block is arranged on the surface, facing the moving part, of the mounting part, and the sliding block is connected to the guide rail in a sliding mode.
6. The lower limb rehabilitation robot waist multi-degree-of-freedom mechanism according to claim 5, wherein at least two limiting blocks are further arranged on the surface of the moving member away from the backrest member, wherein the two limiting blocks are respectively arranged at two opposite ends of the guide rail and can abut against and limit the moving stroke of the moving member.
7. The lower limb rehabilitation robot waist multi-degree of freedom mechanism of claim 5, further comprising a second elastic member connected to the moving member and the mounting member.
8. The lower limb rehabilitation robot waist multi-degree-of-freedom mechanism according to claim 7, wherein a limiting seat is further arranged on the surface of the moving member away from the backrest member, an avoidance hole is formed in the mounting member at a position corresponding to the limiting seat, and the limiting seat penetrates through the avoidance hole;
the installed part deviates from the surface of moving member still is equipped with the supporting seat, the supporting seat with by it wears out to dodge the hole spacing seat is relative the setting, the second elastic component connect in the supporting seat with spacing seat.
9. The lower limb rehabilitation robot waist multi-degree-of-freedom mechanism according to claim 8, wherein a second guide rod is further disposed on a surface of the mounting member facing away from the moving member, the second guide rod extends along a moving direction of the moving member and is disposed through the supporting seat and the limiting seat, and the second elastic member is disposed on the second guide rod in a sleeved manner.
10. The waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot as claimed in claim 5, further comprising a connecting rod, wherein one end of the connecting rod is rotatably connected to a surface of the mounting member facing away from the moving member, and the other end of the connecting rod is rotatably connected to a surface of the carrying seat facing the mounting member.
11. The lower limb rehabilitation robot waist multi-degree of freedom mechanism of claim 10, further comprising a third elastic member connected to the connecting rod and the carrier.
12. The lower limb rehabilitation robot waist multi-degree-of-freedom mechanism according to claim 11, wherein the lower limb rehabilitation robot waist multi-degree-of-freedom mechanism further comprises a telescopic assembly, the telescopic assembly comprising:
one end of the sleeve is rotatably connected to the connecting rod; and
the sliding rod, the one end of slide bar rotate connect in bear the weight of the seat, the other end slidable inserts and locates in the sleeve, the third elastic component cover is located the sleeve with the slide bar, just the relative both ends of third elastic component connect respectively in the sleeve with the slide bar.
13. The lower limb rehabilitation robot waist multi-degree of freedom mechanism according to any one of claims 1 to 12, wherein the carrier comprises:
a frame; and
the bearing plate is arranged on the rack in a sliding mode along the up-down direction and can be limited and fixed relative to the rack, and the mounting part is rotatably arranged on the bearing plate.
14. The lower limb rehabilitation robot mechanism with multiple degrees of freedom at the waist as claimed in claim 13, wherein the frame is provided with a driving member, the driving member is connected with a lead screw, the lead screw extends along the sliding direction of the bearing plate, the bearing plate is provided with a sliding seat, and the sliding seat is slidably sleeved on the lead screw.
15. A lower limb rehabilitation robot comprising the waist multi-degree-of-freedom mechanism of the lower limb rehabilitation robot according to any one of claims 1 to 14.
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| CN202110421925.3A CN113181000B (en) | 2021-04-15 | 2021-04-15 | Waist multi-degree-of-freedom mechanism of lower limb rehabilitation robot and lower limb rehabilitation robot |
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| CN202110421925.3A CN113181000B (en) | 2021-04-15 | 2021-04-15 | Waist multi-degree-of-freedom mechanism of lower limb rehabilitation robot and lower limb rehabilitation robot |
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| CN113181000B true CN113181000B (en) | 2023-02-28 |
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| CN113181000A (en) | 2021-07-30 |
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Address after: Room 305, Building 4, Shandong Surveying, Mapping and Geographical Information Industry Base, No. 8999, Taoyuan Street, High-tech Zone, Weifang City, Shandong Province, 261061 Patentee after: Beige (Weifang) Intelligent Technology Co.,Ltd. Address before: Room 1006-02, high tech building, north of Yuqing East Street, Yuqing community, Xincheng street, Weifang High tech Zone, Weifang City, Shandong Province, 261000 Patentee before: Beihang gol (Weifang) intelligent robot Co.,Ltd. |