CN211067806U

CN211067806U - Waist rehabilitation robot

Info

Publication number: CN211067806U
Application number: CN201921396841.3U
Authority: CN
Inventors: 秦涛; 邱金星; 朱定见; 孟欣; 刘佩军; 刘艳阳
Original assignee: Hubei University of Arts and Science
Current assignee: Hubei University of Arts and Science
Priority date: 2019-08-27
Filing date: 2019-08-27
Publication date: 2020-07-24
Anticipated expiration: 2029-08-27

Abstract

The utility model discloses a waist rehabilitation robot, which comprises a base, a cushion and a back cushion, wherein the cushion and the back cushion are arranged above the base, a slide way which slides along the X direction is arranged below the cushion, a cushion electric cylinder is also arranged between the slide way and the base, the upper end of the cushion electric cylinder is connected to the slide way through a ball pair, and the other end of the cushion electric cylinder is hinged on the base; the lower surface of the slideway is also provided with a hinged sleeve along the X direction, the hinged sleeve is sleeved at the upper end of the bracket, the lower end of the bracket is hinged with a bracket connecting plate, and the bracket connecting plate is fixedly connected with the base; the hinged sleeve is connected with the sliding groove, the bracket is connected with the crank, the non-central position of the crank is connected with the sliding groove through a pin shaft, the central position of the crank is connected with a power mechanism for driving the crank to rotate, and the crank is also connected with the height adjusting assembly; the back cushion is provided with a rotating seat, the rotating seat can be rotatably connected to the back cushion base around a Y axis, and a back cushion locking device used for locking the rotating seat is further arranged between the rotating seat and the back cushion base. The utility model discloses a can carry out the recovered motion of a plurality of directions and angle to patient's waist.

Description

Waist rehabilitation robot

Technical Field

The utility model relates to a recovered robot technical field, concretely relates to waist recovered robot.

Background

Recovered robot is one of the medical instrument that emerges in recent years, and waist recovered robot just belongs to one of the recovered robot more commonly used, and during the use, patient's upper part of the body and buttock are fixed respectively on two different seatpads, and relative movement is carried out to patient's buttock and waist through the relative movement realization to two seatpads, reaches passive purpose of taking exercise then.

The waist directly determines the using effect of the hip in the rehabilitation process relative to the movement range (movement amplitude) and the movement freedom of the waist, and patients with different statures and different rehabilitation stages have different requirements on the rehabilitation robot, so that the waist rehabilitation robot with multiple movement directions and multiple movement amplitudes is designed, and the waist rehabilitation robot has important significance for improving the universality and the rehabilitation effect of the rehabilitation robot.

SUMMERY OF THE UTILITY MODEL

For solving the not enough among the prior art, the utility model provides a recovered robot of waist has solved the lower technical problem of the recovered degree of freedom of recovered robot of waist among the prior art.

In order to realize the above object, the utility model adopts the following technical scheme:

a waist rehabilitation robot is characterized in that: the electric cushion comprises a base, and a cushion and a back cushion which are arranged above the base, wherein a slide way which slides along the X direction is arranged below the cushion, a cushion electric cylinder is also arranged between the slide way and the base, the upper end of the cushion electric cylinder is connected to the slide way through a ball pair, and the other end of the cushion electric cylinder is hinged to the base;

the lower surface of the slideway is also provided with a hinged sleeve along the X direction, the hinged sleeve is sleeved at the upper end of the bracket, the lower end of the bracket is hinged with a bracket connecting plate, and the bracket connecting plate is fixedly connected with the base;

the hinge sleeve is connected with the sliding groove, the support is connected with the crank, the non-central position of the crank is connected with the sliding groove through a pin shaft, the central position of the crank is connected with a power mechanism for driving the crank to rotate, and the crank is further connected with the height adjusting assembly;

the back cushion is provided with a rotating seat, the rotating seat can be rotatably connected to the back cushion base around a Y axis, and a back cushion locking device used for locking the rotating seat is further arranged between the rotating seat and the back cushion base.

As an alternative of the present invention, the waist rehabilitation robot is characterized in that: the power mechanism comprises a speed reducer and a motor connected with the speed reducer, a waist-shaped hole is formed in the side part of the support, and a power output shaft of the speed reducer penetrates through the waist-shaped hole to be connected to the crank;

the height adjusting assembly comprises two sliding rod seats and a sliding rod, the sliding rod seats are vertically connected between the two sliding rod seats, the speed reducer is slidably connected to the sliding rod, an adjusting screw rod is further arranged between the speed reducer and the sliding rod seats, the adjusting screw rod is connected to the sliding rod seats through threads, and the end portion of the adjusting screw rod is rotatably connected to the speed reducer.

As an alternative of the present invention, the waist rehabilitation robot is characterized in that: and a rolling bearing is further arranged on the outer surface of the pin shaft.

As an alternative of the present invention, the waist rehabilitation robot is characterized in that: the upper surface of base still is equipped with X to the slide, X is connected in the lower extreme of back of the body pad base to the slide.

As an alternative of the present invention, the waist rehabilitation robot is characterized in that: the back cushion is characterized in that a headrest is further arranged at one end of the back cushion, the headrest is hinged to the back cushion, and a headrest electric cylinder used for driving the headrest to rotate relative to the back cushion is further arranged between the headrest and the back cushion.

As an alternative of the present invention, the waist rehabilitation robot is characterized in that: the headrest connecting end of the back cushion is also provided with two shoulder limits used for connecting the shoulders of a user, and the shoulder limits are connected to the back cushion through a shoulder limit telescopic rod.

As an alternative of the present invention, the waist rehabilitation robot is characterized in that: the side baffles are further arranged on two sides of the back cushion and connected to the inserting grooves through the inserting rods, and the inserting grooves are formed in the lower surface of the back cushion.

As an alternative of the present invention, the waist rehabilitation robot is characterized in that: the lower surface of cushion still is equipped with the bandage connecting hole, the bandage is connected to the bandage connecting hole.

As an alternative of the present invention, the waist rehabilitation robot is characterized in that: but back of the body pad locking device includes that sliding connection dies slide, footboard and the resilient means in the locking of back of the body pad base, the footboard is used for driving the locking slide and slides along back of the body pad base, the roating seat is equipped with the gear, resilient means is used for driving the gear that the roating seat is connected to the locking slide.

As an alternative of the present invention, the waist rehabilitation robot is characterized in that: and Z-axis turntables are also arranged among the support connecting plate, the cushion electric cylinder and the base.

The utility model discloses the beneficial effect who reaches:

the utility model discloses a cushion has four degrees of freedom in space range, and the back of the body pad has two degrees of freedom in the space to combine the controlling means among the prior art can realize the linkage of a plurality of degrees of freedom of above-mentioned cushion, back of the body pad.

The utility model discloses a can carry out the rehabilitation motion of a plurality of directions and angle to patient's waist, cooperate the controlling means among the prior art, can realize the multiaxis linkage, the back of the body pad can switch between prone position and position of sitting as required. To the torsion motion range that waist rehabilitation is comparatively commonly used, the adjustment to its range can be realized to the high adjusting part of accessible.

The patient can be positioned and fixed by the shoulder limiting part, the binding belt connecting holes and the two side baffles, so that the hip of the patient can be tightly attached to the cushion, and the use requirements of patients with different body types can be met.

Drawings

FIG. 1 is a front view of the overall structure of the present invention;

FIG. 2 is an enlarged view of a portion of FIG. 1;

figure 3 is a cross-sectional view a-a of figure 2 according to the present invention;

fig. 4 is a partial enlarged view of fig. 1 b according to the present invention;

the meaning of the reference numerals: 1-a base; 2-cushion; 3-backing up; 4-headrest; 5-a bracket; 6-a chute; 7-a crank; 8-a speed reducer; 9-a height adjustment assembly; 10-a back pad base; 11-leveling presser feet; 12-a bracket connection plate; a 13-X direction sliding plate; 14-Z axis turntable; 21-a slide way; 211-hinge sleeve; 22-cushion electric cylinder; 23-strap attachment holes; 31-a rotating base; 32-shoulder limiting; 321-shoulder position limiting telescopic rods; 33-side baffle; 34-a slot; 41-headrest electric cylinder; 51-kidney shaped holes; 71-a pin shaft; 711-rolling bearing; 81-motor; 91-a slide bar; 92-a slide bar seat; 93-adjusting screw; 101-locking the slide plate; 102-tension spring; 103-pedal.

Detailed Description

The present invention will be further described with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

As shown in fig. 1 to 3: the embodiment discloses a waist rehabilitation robot: including base 1 and set up cushion 2, the back of the body pad 3 in base 1 top, 2 below of cushion are equipped with along X to gliding slide 21, still are equipped with cushion electric cylinder 22 between slide 21 and the base 1, and cushion electric cylinder 22 upper end is connected in slide 21 through the ball is vice, and the other end articulates in base 1. A plurality of leveling presser feet 11 for leveling are arranged below the base 1.

The lower surface of the slideway 21 is also provided with an X-direction hinged sleeve 211 (the axis is parallel to the X direction), the hinged sleeve 211 is sleeved at the upper end of the support 5, the lower end of the support 5 is hinged with the support connecting plate 12, and the support connecting plate 12 is fixedly connected to the base 1. And a Z-axis turntable 14 is also arranged between the support connecting plate 12, the cushion electric cylinder 22 and the base 1. The rotation of the seat cushion 2 can be realized by the Z-axis turntable 14, and the Z-axis turntable 14 belongs to the prior art.

The hinged sleeve 211 is connected with the chute 6, the support 5 is connected with the crank 7, the non-central position of the crank 7 is connected with the chute 6 through the pin shaft 71, the central position of the crank 7 is connected with a power mechanism for driving the crank 7 to rotate, the power mechanism comprises a speed reducer 8 and a motor 81 connected with the speed reducer 8, the side part of the support 5 is provided with a kidney-shaped hole 51, and a power output shaft of the speed reducer 8 penetrates through the kidney-shaped hole 51 to be connected with the crank 7. In order to reduce the friction between the pin 71 and the chute 6, a rolling bearing 711 is preferably further provided on the outer surface of the pin 71 to convert the sliding friction into rolling friction.

The crank 7 is also connected to a height adjustment assembly 9; the back pad 3 is provided with a rotary seat 31, the rotary seat 31 is rotatably connected to the back pad base 10, the rotation axis of the rotary seat 31 is the Y axis, and the height of the two ends of the back pad 3 can be adjusted by rotating the rotary seat 31.

Specifically, the height adjustment assembly 9 of the present embodiment includes two slide rod seats 92 disposed up and down and a slide rod 91 vertically connected between the two slide rod seats 92, and the number of the slide rods 91 is not less than two. The speed reducer 8 is slidably connected to the sliding rod 91, an adjusting screw 93 is further arranged between the speed reducer 8 and the sliding rod seat 92, the adjusting screw 93 is connected to the sliding rod seat 92 through threads, and the end portion of the adjusting screw 93 is rotatably connected to the speed reducer 8. By rotating the adjusting screw 93, the adjustment of the height of the crank 7 and thus the adjustment of the maximum angle of inclination of the seat cushion 2 (the direction of inclination about the hinge sleeve 211) can be achieved. For ease of operation, it is preferred that the height adjustment assembly 9 be located on the side adjacent the back pad 3 to facilitate patient access to the adjustment handle on the adjustment screw 93.

The upper surface of the base 1 is also provided with an X-direction sliding plate 13, and the X-direction sliding plate 13 is connected with the lower end of the back cushion base 10. The X-slide 13 of the present embodiment is prior art.

The one end of back pad 3 still is equipped with headrest 4, and headrest 4 articulates in back pad 3, still is equipped with the electronic jar 41 of headrest that is used for driving headrest 4 rotatory for back pad 3 between headrest 4 and the back pad 3. The adjustment of the angle between the headrest 4 and the back cushion 3 can be realized through the stretching of the electric headrest cylinder 41, the neck of a rehabilitee can be at a comfortable angle through the positioning of the electric headrest cylinder 41, and the periodic stretching of the electric headrest cylinder 41 can be controlled through a certain control device, so that the neck rehabilitation of the rehabilitee is realized.

The head rest 4 connecting end of the back cushion 3 is also provided with two shoulder position limiters 32 for connecting the shoulders of the user, and the shoulder position limiters 32 are connected to the back cushion 3 through shoulder position limiting telescopic rods 321. There is the passageway that is used for through the neck between two shoulder spacing 32 to the spacing telescopic link 321 of shoulder can stretch out and draw back and lock for back of the body pad 3, can satisfy different height patients' user demand like this, avoids simultaneously at recovered in-process, and the patient upper part of the body slides to the direction of headrest 4.

In order to support the side of the upper body of the user and prevent the user from rolling over or slipping off the back pad 3, side guards 33 are further disposed on both sides of the back pad 3, the side guards 33 are connected to slots 34 through insertion rods, and the slots 34 are disposed on the lower surface of the back pad 3. The insertion groove 34 is provided with a positioning means such as a jack screw or the like for locking the width between the two side fences 33. In actual use, the side guards 33 may also support the patient's underarm.

The lower surface of the seat cushion 2 is further provided with a strap attaching hole 23, and the strap attaching hole 23 is attached with a strap for wrapping the thighs or the crotch of the user for attaching the buttocks to the seat cushion 2.

A back cushion locking device for locking the rotating seat 31 is further arranged between the rotating seat 31 and the back cushion base 10.

Specifically, with reference to fig. 1 and 4: the back cushion locking device comprises a locking sliding plate 101, a pedal 103 and an elastic device, wherein the locking sliding plate 101 is slidably connected to the back cushion base 10, the pedal 103 is used for driving the locking sliding plate 101 to slide along the back cushion base 10, the rotating seat 31 is provided with a gear, and the elastic device is used for driving the locking sliding plate 101 to be connected with the gear of the rotating seat 31. Under the natural state, the end of the locking slide plate 101 is pressed against the gear of the rotary seat 31 under the driving of the elastic device, so that the rotary seat 31 can not rotate, when the angle of the back cushion 3 needs to be adjusted, the pedal 103 is stepped on by feet, so that the locking slide plate 101 is separated from the gear of the rotary seat 31, and after the adjustment is completed, the pedal 103 is released, so that the locking slide plate 101 can lock the rotary seat 31 again. The switching between the sitting posture and the lying posture of the patient can be realized by adjusting the angle of the back cushion 3.

Specifically, the elastic device is a tension spring 102, one end of the tension spring 102 is connected with the back cushion base 10, the other end of the tension spring is connected with a pedal 103, and the pedal 103 is connected with the dead lock sliding plate 101 through a kidney-shaped hole.

During the use, cushion electric cylinder 22's flexible can realize that cushion 2 uses the Y axle to rotate as the axle center, and the slope of spout 6 can be realized in the rotation of crank 7, realizes then that cushion 2 uses the X axle to do the rotation of certain angle as the axle center, and the slip of slide 21 can realize that the X axle slides, and the rotation of Z axle carousel 14 can realize that cushion 2 uses the Z axle to rotate as the axle center. As is understood from the above analysis, the seat cushion 2 has four degrees of freedom (including 3 degrees of freedom in rotation and one degree of freedom in translation in the X direction) in a spatial range.

The back cushion 3 can rotate (need manual adjustment) with the Y axis as the center, and under the effect of X to slide 13, the back cushion 3 can be at X to translation, and the back cushion 3 has two degrees of freedom in space to combine the controlling means among the prior art can realize the linkage of above-mentioned cushion 2, a plurality of degrees of freedom of back cushion 3.

The utility model discloses a can carry out the rehabilitation motion of a plurality of directions and angle to patient's waist, cooperate the controlling means among the prior art, can realize the multiaxis linkage, back of the body pad 3 can switch between prone position and position of sitting as required. For the torsion motion range which is commonly used for waist rehabilitation, the amplitude can be adjusted through the height adjusting component 9.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be considered as the protection scope of the present invention.

Claims

1. A waist rehabilitation robot is characterized in that: the electric cushion comprises a base (1), and a cushion (2) and a back cushion (3) which are arranged above the base (1), wherein a slide way (21) which slides along the X direction is arranged below the cushion (2), a cushion electric cylinder (22) is arranged between the slide way (21) and the base (1), the upper end of the cushion electric cylinder (22) is connected to the slide way (21) through a ball pair, and the other end of the cushion electric cylinder is hinged to the base (1);

the lower surface of the slide way (21) is also provided with a hinged sleeve (211) along the X direction, the hinged sleeve (211) is sleeved at the upper end of the support (5), the lower end of the support (5) is hinged to a support connecting plate (12), and the support connecting plate (12) is fixedly connected to the base (1);

the hinged sleeve (211) is connected with the sliding groove (6), the support (5) is connected with the crank (7), the non-central position of the crank (7) is connected with the sliding groove (6) through a pin shaft (71), the central position of the crank (7) is connected with a power mechanism for driving the crank (7) to rotate, and the crank (7) is further connected with the height adjusting assembly (9);

the back cushion (3) is provided with a rotating seat (31), the rotating seat (31) can be rotatably connected to the back cushion base (10) around a Y axis, and a back cushion locking device used for locking the rotating seat (31) is further arranged between the rotating seat (31) and the back cushion base (10).

2. The waist rehabilitation robot according to claim 1, wherein: the power mechanism comprises a speed reducer (8) and a motor (81) connected to the speed reducer (8), a waist-shaped hole (51) is formed in the side portion of the support (5), and a power output shaft of the speed reducer (8) penetrates through the waist-shaped hole (51) to be connected to the crank (7);

height adjusting subassembly (9) include two slide bar seats (92) that set up from top to bottom and vertically connect slide bar (91) between two slide bar seats (92), but speed reducer (8) sliding connection is in slide bar (91), still be equipped with adjusting screw (93) between speed reducer (8) and slide bar seat (92), adjusting screw (93) pass through threaded connection in slide bar seat (92), and adjusting screw (93)'s tip rotatable coupling is in speed reducer (8).

3. The waist rehabilitation robot according to claim 1 or 2, wherein: the outer surface of the pin shaft (71) is also provided with a rolling bearing (711).

4. The waist rehabilitation robot according to claim 1, wherein: the upper surface of base (1) still is equipped with X to slide (13), X is connected in the lower extreme of back of the body pad base (10) to slide (13).

5. The waist rehabilitation robot according to claim 1, wherein: the back cushion is characterized in that a headrest (4) is further arranged at one end of the back cushion (3), the headrest (4) is hinged to the back cushion (3), and an electric headrest cylinder (41) used for driving the headrest (4) to rotate relative to the back cushion (3) is further arranged between the headrest (4) and the back cushion (3).

6. The waist rehabilitation robot according to claim 1, wherein: the headrest (4) connecting end of the back cushion (3) is also provided with two shoulder limits (32) for connecting the shoulders of a user, and the shoulder limits (32) are connected to the back cushion (3) through shoulder limit telescopic rods (321).

7. The waist rehabilitation robot according to claim 1 or 6, wherein: the two sides of the back cushion (3) are also provided with side baffles (33), the side baffles (33) are connected to the slots (34) through the inserted rods, and the slots (34) are arranged on the lower surface of the back cushion (3).

8. The waist rehabilitation robot according to claim 1, wherein: the lower surface of cushion (2) still is equipped with bandage connecting hole (23), the bandage is connected in bandage connecting hole (23).

9. The waist rehabilitation robot according to claim 1, wherein: but back cushion locking device is including sliding connection in the dead slide of lock (101), footboard (103) and the resilient means of back cushion base (10), footboard (103) are used for driving dead slide of lock (101) along back cushion base (10) slip, roating seat (31) are equipped with the gear, resilient means is used for driving the gear that dead slide of lock (101) connection roating seat (31).

10. The waist rehabilitation robot according to claim 1, wherein: and Z-axis turntables (14) are arranged among the support connecting plate (12), the cushion electric cylinder (22) and the base (1).