CN211560957U - Length-adjustable structure and lower limb rehabilitation robot - Google Patents
Length-adjustable structure and lower limb rehabilitation robot Download PDFInfo
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- CN211560957U CN211560957U CN201922078186.3U CN201922078186U CN211560957U CN 211560957 U CN211560957 U CN 211560957U CN 201922078186 U CN201922078186 U CN 201922078186U CN 211560957 U CN211560957 U CN 211560957U
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Abstract
The utility model discloses a length adjustable structure and recovered robot of low limbs, wherein length adjustable structure includes dead lever, guide arm, regulation pole, the fixed cover of first fixed cover, second, bearing, screw rod cover, nut and screw rod, and dead lever one end is located to the guide arm, adjusts the pole cover and establishes outside the guide arm, adjusts the pole through the cooperation of nut and screw rod and can be reciprocating motion on the guide arm, the utility model discloses a length adjustable structure has simple structure, convenient to use, uses laborsaving beneficial effect.
Description
Technical Field
The utility model relates to a medical treatment is with recovered robot technical field, concretely relates to length-adjustable structure and recovered robot of low limbs.
Background
The lower limb rehabilitation robot is an auxiliary rehabilitation therapy automation device which assists a patient with lower limb motor dysfunction to complete rehabilitation training contents required clinically and can provide feedback information for the patient and a therapist, so that the affected limb gradually recovers lost motor functions.
The Chinese utility model patent (grant publication No. CN 20381526U) discloses a wearable adjustable lower limb rehabilitation training robot device, which can be used for lower limb rehabilitation training of patients with nerve injury or limb injury, and also can be used for physical training of healthy old people. The length-adjustable mechanism in this patent is complicated in structure, quick adjustment is not convenient for.
In view of this, this utility model is especially proposed.
SUMMERY OF THE UTILITY MODEL
To exist not enough among the prior art, the utility model provides a length adjustable structure has simple structure, convenient to use, uses laborsaving beneficial effect, can accomplish length adjustment fast, based on this the utility model also provides a rehabilitation robot, the regulation of thigh pole and shank pole length among the rehabilitation robot can be accomplished fast to patient oneself or medical personnel.
The technical scheme of the utility model is realized like this:
the utility model provides a length-adjustable structure, including the dead lever, the guide arm, adjust the pole, first fixed cover, the fixed cover of second, a bearing, the screw rod cover, nut and screw rod, dead lever one end is located to the guide arm, it establishes outside the guide arm to adjust the pole cover, it can be reciprocating motion on the guide arm to adjust the pole, first fixed cover is installed on the dead lever, the fixed cover of second is installed on adjusting the pole, the bearing is installed in the fixed cover of second, screw rod cover one end is passed through interference fit and is installed in the inner circle of bearing, the other end is towards the fixed cover of second, the nut is installed outside the fixed one end of screw rod cover towards the second, be equipped with the internal thread in the screw rod cover, the screw rod passes.
The utility model provides a recovered robot of low limbs, includes thigh pole and shank pole, thigh pole and shank pole do the utility model provides a length adjustable structure.
Furthermore, the upper side and the lower side of the thigh rod are respectively provided with a bandage plate extending towards one side of the base frame, and one side of the two bandage plates close to the base frame is provided with a long-strip-shaped hole.
Furthermore, the upper side and the lower side of the shank rod are respectively provided with a bandage plate extending towards one side of the underframe, and one side of the two bandage plates close to the underframe is provided with a long-strip-shaped hole.
The utility model has the advantages that:
(1) the utility model discloses a length-adjustable structure, swivel nut during the use, nut drive screw rod are rotatory and be axial motion, and the screw rod drives the regulation pole and is axial motion on the guide arm, accomplishes length adjustment, makes the rotation of nut more laborsaving under the effect of bearing.
(2) The utility model discloses a recovered robot of low limbs, thigh pole and shank pole are used for driving patient's thigh and shank motion respectively, combine beneficial effect (1), and the regulation of thigh pole and shank pole length can be accomplished fast through swivel nut to patient oneself or medical personnel.
Drawings
Fig. 1 is an overall structural view of a rehabilitation robot;
FIG. 2 is a block diagram of the left support panel and left lower limb support structure;
FIG. 3 is a schematic view of the hip joint opening and closing;
FIG. 4 is a schematic view of thigh lever lift/drop;
FIG. 5 is a schematic view of the calf rod being raised/lowered;
FIG. 6 is a preferred block diagram of the thigh bar and shank bar;
FIG. 7 is a schematic view of a length adjustable structure;
FIG. 8 is a preferred block diagram of the seat;
fig. 9 is a schematic diagram of seat pitch.
In the figure: 1-underframe, 2-left support plate, 3-right support plate, 4-left lower limb auxiliary motion structure, 5-right lower limb auxiliary motion structure, 6-first mounting rack, 7-ball, 8-hip joint driving cylinder, 9-first connecting rod, 10-second connecting rod, 11-third connecting rod, 12-vertical rod, 13-thigh rod, 14-thigh rod driving cylinder, 15-shank rod, 16-shank rod driving cylinder, 17-ankle joint auxiliary motion structure, 18-angle steel, 19-fourth connecting rod, 20-second mounting rack, 21-fixing rod, 22-guide rod, 23-adjusting rod, 24-first fixing sleeve, 25-second fixing sleeve, 26-bearing, 27-screw sleeve, 28-nuts, 29-screws, 30-bandage plates, 31-elongated holes, 32-seat cushions, 33-connecting plates, 34-back cushions, 35-back cushion driving cylinders, 36-connecting frames and 37-handrails.
Detailed Description
In order to make the technical solutions of the present invention better understood, the following description of the technical solutions of the present invention with reference to the accompanying drawings of the present invention is made clearly and completely, and other similar embodiments obtained by a person of ordinary skill in the art without any creative effort based on the embodiments in the present application shall fall within the protection scope of the present application.
The first embodiment is as follows:
as shown in fig. 1, a lower limb rehabilitation robot, including chassis 1, left support plate 2, right support plate 3, left lower limb auxiliary motion structure 4, right lower limb auxiliary motion structure 5 and seat, the left support plate 2 and right support plate 3 are located the chassis 1 left and right sides respectively, left lower limb auxiliary motion structure 4 and right lower limb auxiliary motion structure 5 are located respectively and are stretched out chassis 1 front side on left support plate 2 and right support plate 3, left lower limb auxiliary motion structure 4 and right lower limb auxiliary motion structure 5 are used for fixed patient's left lower limb and right lower limb respectively towards one side of chassis 1, the seat is located on chassis 1.
When the robot is used, a patient sits on the seat, then the left lower limb and the right lower limb are respectively fixed on the left lower limb auxiliary motion structure 4 and the right lower limb auxiliary motion structure 5, the left lower limb auxiliary motion structure 4 and the right lower limb auxiliary motion structure 5 drive the lower limbs of the patient to complete one or more actions of hip joint opening/closing, thigh lifting/falling, shank lifting/falling or ankle joint three-degree-of-freedom rotation, and then lower limb rehabilitation training is completed.
The left lower limb auxiliary motion structure 4 and the right lower limb auxiliary motion structure 5 are respectively arranged on the left support plate 2 and the right support plate 3, the left lower limb auxiliary motion structure 4 and the right lower limb auxiliary motion structure 5 are bilaterally symmetrical, and specific structures are explained below by taking the left support plate 2 and the left lower limb auxiliary structure as an example.
As shown in fig. 2, the left support plate 2 is installed on the left side of the bottom frame 1, and is horizontally arranged, the first installation frame 6 is arranged on the left support plate 2, the left lower limb auxiliary structure is arranged on the first installation frame 6, a ball 7 is inlaid at the bottom of the first installation frame 6, the ball 7 is used for supporting the first installation support, the ball 7 enables the friction force between the first support and the left support plate 2 when the first support and the left support plate 2 move relatively to be rolling friction force, therefore, under the action of the ball 7, the first installation frame 6 can move on the support plate under the action of small external force, and further, the left lower limb auxiliary structure is driven to move.
As shown in fig. 2 to 3, the robot of this embodiment further includes a connecting portion and a hip joint driving cylinder 8, the connecting portion is disposed on one side of the left support plate 2 facing the bottom frame 1 and horizontally disposed, the connecting portion includes a first connecting rod 9, a second connecting rod 10 and a third connecting rod 11, which are integrally formed, one end of the first connecting rod 9 is mounted with the first mounting frame 6, the other end of the first connecting rod 9 is connected with the second connecting rod 10, the other end of the second connecting rod 10 is connected with the third connecting rod 11, the first connecting rod 9 and the third connecting rod 11 are parallel to each other, the first connecting rod 9 is longer than the third connecting rod 11, the joint of the second connecting rod 10 and the third connecting rod 11 is mounted in the bottom frame 1 through a bearing, so that the connecting portion can rotate on the bottom frame 1 with the bearing as a center under the action of external force, the hip joint driving cylinder 8 is disposed on one side, is hinged with the underframe 1 to form a kinematic pair, and a piston rod of the hip joint driving cylinder 8 is hinged with one end of the third connecting rod 11 far away from the second connecting rod 10 to form a revolute pair.
As shown in fig. 3, when the piston rod of the hip joint driving cylinder 8 retracts/extends, the connecting portion is driven to rotate to the right/left, the first connecting rod 9 drives the first mounting bracket 6 to rotate to the right/left, and the first mounting bracket 6 drives the left lower limb auxiliary motion structure 4 to rotate to the right/left, so as to complete the rehabilitation training of opening/closing the hip joint of the left lower limb.
As shown in fig. 2, the left lower limb auxiliary motion structure 4 includes a vertical rod 12, a thigh rod 13, a thigh rod drive cylinder 14, a shank rod 15, a shank rod drive cylinder 16, and an ankle joint auxiliary motion structure 17 (the ankle joint auxiliary motion structure 17 is shown in fig. 1).
As shown in fig. 2 and 4, the vertical rod 12 is installed on the front side of the first mounting frame 6, where the front side of the first mounting frame 6 and the front side of the base frame 1 are on the same side, the thigh rod 13 is installed above the vertical rod 12, one end of the thigh rod 13 close to the base frame 1 is a hip joint end of the thigh rod 13, the other end is a knee joint end of the thigh rod 13, the hip joint end of the thigh rod 13 is hinged to the top end of the vertical rod 12 to form a revolute pair, the thigh rod driving cylinder 14 is hinged to the rear side of the first mounting frame 6 to form a revolute pair, one side of the hip joint end of the thigh rod 13 facing the base frame 1 is installed with an angle steel 18, the other side of the angle steel 18 is installed with a fourth connecting rod 19 parallel to the thigh rod 13, and the other end of the fourth connecting rod 19 faces the rear side. When the piston rod of the thigh rod driving cylinder 14 extends/retracts, the thigh rod 13 is driven by the fourth connecting rod 19 and the angle steel 18 to fall/lift with the top end of the vertical rod 12 as a fulcrum, and then rehabilitation training of thigh lifting/falling of the left lower limb is completed.
As shown in fig. 2 and 5, the shank rod 15 is an angular rod, wherein the angular rod has a size in the range of 135 ° ± 25 °, in this embodiment, the angular rod has a size of 135 °, the upper end of the shank rod 15 is the knee joint end of the shank rod 15, the other end is the ankle joint end of the shank rod 15, the corner of the shank rod 15 is hinged to the knee joint end of the thigh rod 13 to form a revolute pair, the upper side of the thigh rod 13 is provided with a second mounting bracket 20, the upper side of the second mounting bracket 20 is parallel to the thigh rod 13, the shank rod driving cylinder 16 is hinged to the upper side of the second mounting bracket 20 to form a revolute pair, and the piston rod of the shank rod driving cylinder 16 is hinged to the knee joint. When the piston member of the shank rod driving cylinder 16 is extended/retracted, the shank rod 15 is driven to fall/rise, and the rehabilitation training of the falling/rising of the shank of the left lower limb is completed.
As shown in fig. 1, the ankle joint auxiliary motion structure 17 is installed at one side of the ankle joint end of the shank 15 facing the inside of the underframe 1, the ankle joint auxiliary motion structure 17 is a six-degree-of-freedom robot structure based on a Stewart platform, and the six-degree-of-freedom robot structure based on the Stewart platform belongs to the prior art and is not described again here.
As shown in fig. 6 to 7, in the present embodiment, the thigh rod 13 and the shank rod 15 are preferably adjustable in length, and each of them includes a fixing rod 21, a guide rod 22, an adjusting rod 23, a first fixing sleeve 24, a second fixing sleeve 25, a bearing 26, a screw sleeve 27, a nut 28 and a screw 29. The guide rod 22 is installed at one end of the fixed rod 21, the adjusting rod 23 is sleeved outside the guide rod 22, the adjusting rod 23 can reciprocate on the guide rod 22, the length of the fixed rod 21, the length of the adjusting rod 23 and the length between the fixed rod and the adjusting rod form the length of the thigh rod 13/shank rod 15, and the adjusting rod 23 reciprocates on the guide rod 22 to realize the length adjustment of the thigh rod 13/shank rod 15. The first fixing sleeve 24 is mounted on the fixing rod 21, the second fixing sleeve 25 is mounted on the adjusting rod 23, the bearing 26 is mounted in the second fixing sleeve 25, namely, the outer ring of the bearing 26 is mounted with the first fixing sleeve 24, one end of the screw sleeve 27 is mounted in the inner ring of the bearing 26 through interference fit, the other end faces the second fixing sleeve 25, the nut 28 is mounted outside one end of the screw sleeve 27 facing the second fixing sleeve 25, internal threads are formed in the screw sleeve 27, the screw 29 penetrates through one end from the screw sleeve 27 and is mounted on the second fixing sleeve 25, and the internal threads of the screw sleeve 27 and the external threads of the screw 29 form a screw pair. When the nut 28 is rotated, the screw 29 reciprocates in the screw housing 27, and the adjusting rod 23 is driven to reciprocate on the guide rod 22, thereby adjusting the lengths of the thigh rod 13 and the shank rod 15.
As shown in fig. 6, in the preferred embodiment, two bandage plates 30 extending towards one side of the base frame 1 are respectively installed on the upper and lower sides of the thigh rod 13, and one side of the two bandage plates 30 close to the base frame 1 is provided with a strip-shaped hole 31, when in use, a bandage is fixed by passing through the strip-shaped holes 31 of the two bandage plates 30, and the thigh of the patient is fixed by the bandage.
As shown in fig. 6, in the preferred embodiment, two bandage plates 30 extending towards one side of the base frame 1 are respectively installed on the upper and lower sides of the lower leg rod 15, and one side of the two bandage plates 30 close to the base frame 1 is provided with a strip-shaped hole 31, when in use, a bandage is fixed by passing through the strip-shaped holes 31 of the two bandage plates 30, and the lower leg of the patient is fixed by the bandage.
As shown in fig. 8 to 9, in the preferred embodiment, the seat is a seat with a pitch function, the seat includes a seat cushion 32, a connecting plate 33, a back cushion 34 and a back cushion driving cylinder 35, wherein the seat cushion 32 is fixed, the back cushion 34 has a pitch function, the seat cushion 32 is mounted on the base frame 1, the connecting plate 33 is an angle plate, the angle of the angle plate is 135 ° ± 25 °, the angle of the angle plate is 135 ° in the present embodiment, the corner of the connecting plate 33 is hinged to the rear side of the seat cushion 32 to form a rotation pair, the rear side of the seat cushion 32 and the rear side of the base frame 1 are in the same direction, the connecting frame 36 is mounted on the upper end of the connecting plate 33 facing the seat cushion 32, the back cushion 34 is mounted on the connecting frame 36, the armrests 37 are mounted on the left and right sides of the back cushion 34, the back cushion driving cylinder 35 is hinged to the base frame 1 to form a, the piston rod of the back cushion driving cylinder 35 is hinged with the lower end of the connecting plate 33 to form a revolute pair, and when the piston rod of the seat driving cylinder retracts/extends, the connecting plate 33 drives the back cushion 34 to act, so that the back cushion 34 can be pitched.
It should be noted that, in the present embodiment, if there is no special explanation, the installation can be completed by using screws or welding, so that the two installed together are fixed together and cannot move relatively.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (4)
1. The utility model provides a length-adjustable structure, a serial communication port, including the dead lever, the guide arm, adjust the pole, first fixed cover, the fixed cover of second, a bearing, the screw rod cover, nut and screw rod, dead lever one end is located to the guide arm, it establishes outside the guide arm to adjust the pole cover, it can be reciprocating motion to adjust the pole on the guide arm, first fixed cover is installed on the dead lever, the fixed cover of second is installed on adjusting the pole, the bearing is installed in the fixed cover of second, screw rod cover one end is passed through interference fit and is installed in the inner circle of bearing, the other end is towards the fixed cover of second, the nut is installed outside the one end of the fixed cover of screw rod cover towards the second, be equipped with the internal thread in the screw rod cover.
2. A lower limb rehabilitation robot comprising a thigh bar and a shank bar, characterized in that the thigh bar and the shank bar are the length-adjustable structure according to claim 1.
3. The lower limb rehabilitation robot according to claim 2, wherein the upper and lower sides of the thigh bar are respectively provided with a bandage extending toward one side of the base frame, and one side of the two bandages adjacent to the base frame is provided with a long strip-shaped hole.
4. The lower limb rehabilitation robot of claim 2, wherein the upper and lower sides of the shank rod are respectively provided with a bandage extending towards one side of the base frame, and one side of the two bandages close to the base frame is provided with a long strip-shaped hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922078186.3U CN211560957U (en) | 2019-11-27 | 2019-11-27 | Length-adjustable structure and lower limb rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922078186.3U CN211560957U (en) | 2019-11-27 | 2019-11-27 | Length-adjustable structure and lower limb rehabilitation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211560957U true CN211560957U (en) | 2020-09-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922078186.3U Active CN211560957U (en) | 2019-11-27 | 2019-11-27 | Length-adjustable structure and lower limb rehabilitation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211560957U (en) |
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2019
- 2019-11-27 CN CN201922078186.3U patent/CN211560957U/en active Active
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