CN212466522U - Back connecting device for lower limb rehabilitation robot - Google Patents

Abstract

The utility model provides a back connecting device for recovered robot of low limbs, include even substructure that is connected with the recovered robot of low limbs, set up in substructure and the intermediate structure that can reciprocate, install the connection structure on the intermediate structure and set up on connection structure and keep away from substructure one side go up back structure and back structure down with adjustable the extension length, the vertical lead screw that is provided with in substructure middle part the lead screw top is provided with the vice and wherein first worm wheel coaxial with the lead screw of worm wheel worm, worm and lead screw are perpendicular and its both ends are provided with first hand wheel, registrate on the lead screw with lead screw assorted motion piece, intermediate structure and motion piece fixed connection. The utility model solves the problems that the left and right leg fixing mechanisms of the lower limb rehabilitation robot are not flexible in up-and-down and left-and-right adjustment and the supporting position of the backrest structure is inconvenient to adjust.

Description

Back connecting device for lower limb rehabilitation robot

Technical Field

The utility model relates to a recovered robot equipment technical field, concretely relates to back connecting device for recovered robot of low limbs.

Background

Statistically, patients with disabling neurological disorders who recover 50m of independent walking 3 years after stroke, spinal cord injury, trauma, Guillain-Barre, etc. are only 3% to 10%. For many patients who temporarily fail to walk for various reasons, recovery from walking is the first desire and an important part of the research of rehabilitation medicine. The weight-reducing walking training is a new rehabilitation treatment technology aiming at the lower limb dysfunction and improving the walking ability. Beginning in the eighties of the last century abroad, the medicine is widely applied and developed in China in recent decades and is one of the hot spots of rehabilitation medicine research in recent years.

The exoskeleton type lower limb rehabilitation robot with the weight-losing walking training as the core takes place on the basis of the weight-losing walking training concept, wherein a back connecting device of the lower limb rehabilitation robot bears a weight-losing console and leg and back supporting structures of human exoskeleton, left and right legs of the robot are fixed through a left leg fixing mechanism and a right leg fixing mechanism in the back connecting device, and the connecting device is connected with a body structure of the lower limb rehabilitation robot through a bottom frame structure.

The existing lower limb rehabilitation robot is connected with a robot body frame through a leg structure, on one hand, the distance between the left leg and the right leg of a leg exoskeleton is inconvenient to adjust, the robot cannot flexibly adapt to the actions of skeleton structures, clamping movement and the like of legs of patients with different body shapes, on the other hand, the lifting adjustment of the height of a leg fixing structure of the robot cannot be realized conveniently, quickly and in real time, in addition, the body state comfort degree of the patients during rehabilitation treatment and the position of a backrest structure also have a great relationship, if the backrest structure is too prominent, the forward compression is formed on the backs of the patients, if the backrest structure is too sunken, the walking training of the legs is not facilitated, and therefore, the comfort degree of the training of the patients is reasonably met on the structure of a back connecting device, and the convenience degree is very.

The Chinese patent application CN201810224100.0, a human body size safety matching device for a lower limb rehabilitation robot, mentions that the design of a hand wheel, a worm gear reducer and a screw rod is adopted to transmit the motion and power of the hand wheel shaft and the screw rod in two staggered directions, so that a suspension system can be quickly adjusted, the mechanism is attached to the hip of a person, and the operation of a rehabilitation doctor is facilitated; realized back position matching device and realized the back around and the regulation of two upper and lower directions, but it lacks the regulation to left leg fixed establishment and right leg fixed establishment and back structure height, can not adapt to the recovered patient's of different heights wearing demand in a flexible way when using, the height that needs to adjust whole recovered robot when using at every turn adapts to patient's height bodily form, it is inconvenient to use, and it lacks direction and stability to control the mechanism of leg interval regulation, it is the problem of the not hard up dislocation of mechanism to be easily produced in regulation or recovered robot motion.

Disclosure of Invention

In order to solve the problem that the leg fixing mechanism is inflexible to adjust up and down and to control, the backrest structure supporting position is inconvenient to adjust about the lower limbs rehabilitation robot among the prior art, the utility model provides a back connecting device for lower limbs rehabilitation robot.

The utility model provides a back connecting device for recovered robot of low limbs, includes even substructure that is connected with the recovered robot of low limbs, sets up the intermediate structure that just can reciprocate in the substructure, installs the connection structure on the intermediate structure and sets up the back structure and back structure down on the adjustable length of stretching out that keeps away from substructure one side on connection structure, the vertical lead screw that is provided with in substructure middle part the lead screw top is provided with worm gear pair and wherein first worm wheel coaxial with the lead screw, the worm is provided with first hand wheel with lead screw perpendicular and its both ends, the cover on the lead screw have with lead screw assorted motion piece, intermediate structure and motion piece fixed connection.

Furthermore, the upper end and the lower end of the screw rod are rotatably connected with the bottom layer structure through bearings, guide rods parallel to the screw rod are arranged on two sides of the screw rod, and the motion block penetrates through the guide rods and is in sliding connection with the guide rods.

Furthermore, the middle structure comprises a panel fixedly connected with the moving block, sliding block mechanisms arranged on the left side and the right side of the panel and a pulling block arranged on the top of the panel, two first guide rails are vertically arranged in the bottom structure, and the sliding block mechanisms are connected with the first guide rails in a sliding mode.

Further, substructure top and back all are provided with the pulley, and the pulley that passes substructure back and top in proper order is provided with the counter weight rope, the counter weight rope with draw the piece and be connected.

Furthermore, the connecting structure comprises a frame fixedly connected with the middle structure, a first adjusting rod provided with threads is transversely erected at the upper part of the frame, the first adjusting rod is rotatably connected with the frame, second hand wheels are arranged at two ends of the first adjusting rod, a left leg fixing mechanism and a right leg fixing mechanism which are in threaded connection with the first adjusting rod are arranged below the first adjusting rod, the left leg fixing mechanism and the right leg fixing mechanism are in sliding connection with a second guide rail arranged in the frame, and the thread rotating directions of the left side and the right side of the first adjusting rod are opposite;

the utility model discloses a frame, including frame, last back structure, frame bottom, frame, back regulation box, back structure mounting hole, back regulation box both ends are provided with the third hand wheel, the frame top is provided with vertical ascending pole setting, go up back structure mounting in the pole setting, the frame bottom is provided with the back regulation subassembly down that is connected with back structure, back regulation subassembly includes horizontal and rotate the second regulation pole of being connected with the frame, registrate on the second regulation pole and with frame fixed connection's regulation box down, be provided with in the regulation box and adjust the second and form vice second worm wheel of worm gear and with the second worm wheel coaxial with the second, back structure mounting.

Further, go up the back structure and include last back board, set up perpendicularly in the first dead lever of last back board rear, adjustable first dead lever stretches out length's connecting block in it, set up on the connecting block and with pole setting assorted last back structure mounting hole and set up the fixed locking piece structure in first dead lever and connecting block fixed department and pole setting and connecting block fixed department respectively.

Furthermore, the middle part of the upper back board is provided with a sticky net and the periphery of the upper back board is provided with a strap ring.

Furthermore, the lower backrest structure comprises a second fixed rod arranged in the lower backrest structure mounting hole and provided with threads on the side surface and a lower backrest plate connected with the second fixed rod, and the second fixed rod is provided with a threaded side surface which is meshed with the gear.

Furthermore, the middle part of the lower back board is provided with a sticky net, the lower back board parallel to the second fixed rod is provided with a positioning rod, and the positioning rod is as long as the second fixed rod and is inserted into the adjusting box.

Furthermore, the lateral surface of the bottom layer structure is provided with an upper limiting structure and a lower limiting structure.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses a back connecting device for lower limb rehabilitation robot, through the setting of lead screw, first worm wheel, worm, first hand wheel and motion piece in the substructure, realized the up-and-down direction position control of the intermediate structure, connection structure connected with the motion piece, wherein rotate first hand wheel and make the worm pass through first worm wheel and make the lead screw rotate, and then realize the regulation of motion piece upper and lower position on the lead screw, namely realize the up-and-down position control of left leg fixed establishment and right leg fixed establishment that set up on connection structure, in order to adapt to the height position of recovered patient's health and shank;

the left leg fixing mechanism and the right leg fixing mechanism can be adjusted in the left-right direction through the arrangement of the first adjusting rod in the connecting structure and the left leg fixing mechanism and the right leg fixing mechanism which are in threaded connection with the first adjusting rod, so that the leg spacing of a rehabilitation patient can be adapted, wherein the first adjusting rod is rotated by rotating the second hand wheel, the left leg fixing mechanism and the right leg fixing mechanism move in the directions far away from or close to each other, the adjusting process is flexible and convenient, and the adjustment can be carried out in real time;

the height of the upper backrest structure on the upright rod can be adjusted, and the extending length of the upper backrest structure in the direction of the first fixing rod can be adjusted through the arrangement of the fixing positions of the first fixing rod and the connecting block and the fixing locking block structures at the fixing positions of the upright rod and the connecting block;

through the arrangement of the second fixing rod in the second adjusting rod, the adjusting box and the upper and lower backrest structure mounting holes extending into the adjusting box, the extending length of the lower backrest structure in the direction of the second fixing rod can be adjusted.

Drawings

Fig. 1 is a schematic view of the general structure of a back connection device for a lower limb rehabilitation robot of the present invention.

Fig. 2 is a side view of the general structure of the back connection device for the lower limb rehabilitation robot of the present invention.

Fig. 3 is an exploded schematic view of the back connection device for the lower limb rehabilitation robot of the present invention.

Fig. 4 is a schematic bottom structure diagram of the back connecting device for the lower limb rehabilitation robot of the present invention.

Fig. 5 is a middle structural schematic view of the back connecting device for the lower limb rehabilitation robot of the present invention.

Fig. 6 is a schematic view of a connection structure of the back connection device for the lower limb rehabilitation robot of the present invention.

Fig. 7 is a first structural view of the upper backrest of the back connecting device for the lower limb rehabilitation robot of the present invention.

Fig. 8 is a schematic structural view of an upper backrest of the back connecting device for the lower limb rehabilitation robot of the present invention.

Fig. 9 is a schematic view of the structure of the lower backrest of the back connection device for the lower limb rehabilitation robot of the present invention.

Fig. 10 is a schematic structural view of the inside of the adjusting box and the second adjusting rod of the back connecting device for the lower limb rehabilitation robot of the present invention.

The reference numbers are: the structure comprises a lead screw 1, a first hand wheel 2, a motion block 3, a guide rod 4, a panel 5, a slider mechanism 6, a pull block 7, a first guide rail 8, a frame 9, a first adjusting rod 10, a second hand wheel 11, a left leg fixing mechanism 12, a right leg fixing mechanism 13, a second guide rail 14, a vertical rod 15, a second adjusting rod 16, an adjusting box 17, a lower backrest structure mounting hole 18, an upper backrest plate 19, a first fixing rod 20, a connecting block 21, an upper backrest structure mounting hole 22, a fixing locking block structure 23, a second fixing rod 24, a lower backrest plate 25, a second worm wheel 26, a bonding net 27, a strap ring 28, a positioning rod 29, an upper and lower limiting structure 30, a third hand wheel 31, a first worm wheel 32, a worm 33, a worm, a pulley 34, a counterweight rope 35 and a gear 36.

Detailed Description

The invention will be further explained with reference to the following figures and specific examples:

as shown in fig. 1-10, a back connecting device for lower limb rehabilitation robot, includes the substructure that is connected even with lower limb rehabilitation robot, sets up in the substructure and the intermediate structure that can reciprocate, installs the connection structure on the intermediate structure and sets up on connection structure and keep away from adjustable last back structure and the back structure down of the length of stretching out of substructure one side, the substructure middle part is vertical be provided with lead screw 1 the 1 top of lead screw is provided with the worm gear and worm pair and wherein first worm wheel 32 is coaxial with lead screw 1, worm 33 is perpendicular with lead screw 1 and its both ends are provided with first wheel 2, the cover has been closed with lead screw 1 assorted motion piece 3 on the lead screw 1, intermediate structure and motion piece 3 fixed connection.

Specifically, the upper end and the lower end of the lead screw 1 are rotatably connected with the bottom layer structure through bearings, guide rods 4 parallel to the lead screw 1 are arranged on two sides of the lead screw 1, and the moving block 3 penetrates through the guide rods 4 and is in sliding connection with the guide rods 4; the middle structure comprises a panel 5 fixedly connected with the motion block 3, sliding block mechanisms 6 arranged on the left side and the right side of the panel 5 and a pulling block 7 arranged on the top of the panel 5, two first guide rails 8 are vertically arranged in the bottom layer structure, and the sliding block mechanisms 6 are connected with the first guide rails 8 in a sliding manner; pulleys 34 are arranged at the top end and the back of the bottom layer structure, a counterweight rope 35 is arranged by sequentially passing through the pulleys 34 at the back end and the top end of the bottom layer structure, and the counterweight rope 35 is connected with the pulling block 7; and an upper limiting structure and a lower limiting structure 30 are arranged on the side surface of the bottom layer structure.

The connecting structure comprises a frame 9 fixedly connected with the middle structure, a first adjusting rod 10 provided with threads is transversely erected at the upper part of the frame 9, the first adjusting rod 10 is rotatably connected with the frame 9, second hand wheels 11 are arranged at two ends of the first adjusting rod 10, a left leg fixing mechanism 12 and a right leg fixing mechanism 13 which are in threaded connection with the first adjusting rod 10 are arranged below the first adjusting rod 10, the left leg fixing mechanism 12 and the right leg fixing mechanism 13 are in sliding connection with a second guide rail 14 arranged in the frame 9, and the thread rotating directions of the left side and the right side of the first adjusting rod 10 are opposite;

the utility model discloses a frame 9, including frame 9, back structure, frame 9, horizontal regulation box 17, first worm wheel 26, second worm wheel 26, gear 36, back structure mounting hole 18 has down been seted up to regulation box 17, frame 9 top is provided with vertical ascending pole setting 15, go up back structure and install in pole setting 15, frame 9 bottom is provided with the back regulating assembly down of being connected with back structure down, back regulating assembly includes horizontal and with frame 9 rotation connection's second regulation pole 16, registrate on second regulation pole 16 and with frame 9 fixed connection's regulation box 17, be provided with in the regulation box 17 and form worm gear pair with second regulation pole 16 and with the coaxial vertical gear 36 of second worm wheel 26, back structure mounting hole 18 has down been seted up to gear 36 department, second regulation pole 16 both ends are provided with third hand wheel 31.

The upper backrest structure comprises an upper backrest plate 19, a first fixing rod 20 vertically arranged behind the upper backrest plate 19, a connecting block 21 capable of adjusting the extension length of the first fixing rod 20, an upper backrest structure mounting hole 22 arranged on the connecting block 21 and matched with the upright rod 15, and fixing locking block structures 23 respectively arranged at the fixing positions of the first fixing rod 20 and the connecting block 21 and the fixing positions of the upright rod 15 and the connecting block 21.

The middle part of the upper back board 19 is provided with a sticky net 27, and the periphery of the upper back board 19 is provided with a strap ring 28.

The lower backrest structure comprises a second fixing rod 24 which is arranged in the lower backrest structure mounting hole 18 and is provided with threads on the side surface, and a lower backrest plate 25 connected with the second fixing rod 24, wherein the second fixing rod 24 is provided with a thread on the side surface and is meshed with a gear 36.

The middle part of the lower back board 25 is provided with a sticky net 27, the lower back board 25 parallel to the second fixing rod 24 is provided with a positioning rod 29, and the positioning rod 29 has the same length as the second fixing rod 24 and is inserted into the adjusting box 17.

When specifically using, the lower limbs rehabilitation robot is connected with this body of robot with the underlying structure in the back connecting device, and the counter weight rope 35 that passes pulley 34 links to each other with suspending the mechanism in midair, constitutes the lower limbs rehabilitation robot, and back connecting device mainly is used for adjusting left leg fixed establishment 12, right leg fixed establishment 13, go up the position of back structure and back structure down, makes the position of each structure and recovered patient's skeleton structure suit, and its specific accommodation process is:

the position adjustment of the middle structure connected with the motion block 3 and the position adjustment of the connecting structure in the vertical direction are realized by arranging the screw rod 1, the first worm wheel 32, the worm 33, the first hand wheel 2 and the motion block 3 in the bottom layer structure, the screw rod 1 is rotated by rotating the first hand wheel 2 to enable the worm 33 to drive the first worm wheel 32 to rotate, the motion block 3 moves on the screw rod 1 in the vertical direction, the motion block 3 drives the middle structure and the connecting structure on the middle structure to move vertically, the vertical movement direction driven by the motion block 3 is guided and stabilized by combining the matching sliding of the first guide rail 8 and the slide block mechanism 6 in the middle structure and the bottom layer structure, and the adjustable movement of the connecting structure in the vertical direction is realized, namely, the up-and-down position adjustment of the left leg fixing mechanism 12 and the right leg fixing mechanism 13 arranged on the connecting structure is realized so as to adapt to the height positions of the body and the legs of the rehabilitation patient.

Through the arrangement of the first adjusting rod 10 in the connecting structure and the left leg fixing mechanism 12 and the right leg fixing mechanism 13 which are in threaded connection with the first adjusting rod, the left leg fixing mechanism 12 and the right leg fixing mechanism 13 can be adjusted in the left-right direction, so that the leg spacing of a rehabilitation patient is adapted, wherein the first adjusting rod 10 is rotated by rotating the second hand wheel 11, the threads on the left side and the right side of the first adjusting rod 10 are opposite in rotating direction, and the left leg fixing mechanism 12 and the right leg fixing mechanism 13 move in the directions which are far away from or close to each other, so that the adjustment of the spacing between the left leg fixing mechanism 12 and the right leg fixing mechanism 13 is realized, and the adjusting process is flexible, convenient and can be adjusted in real time.

The length of the first fixing rod 20 extending into the connecting block 21 is adjusted to adjust the extending length of the upper backrest structure, the height of the connecting block 21 on the upright rod 15 is adjusted to adjust the position of the upper backrest structure in the height direction, and the connecting block 21, the first fixing rod 20 and the upright rod 15 are fixed through the fixing and locking block structure 23; the third hand wheel 31 is rotated to rotate the second adjusting rod 16, the second worm wheel 26 forming a worm-and-gear pair with the second adjusting rod 16 rotates, the gear 36 coaxial with the second worm wheel 26 rotates, the second fixing rod 2 is meshed with the gear to rotate, and then the length of the second fixing rod 24 extending into the mounting hole 18 of the lower backrest structure in the adjusting box 17 is adjusted, so that the extending length of the lower backrest structure in the direction of the second fixing rod 24 is adjustable.

The above-mentioned embodiments are merely preferred embodiments of the present invention, and not intended to limit the scope of the present invention, so that equivalent changes or modifications made by the structure, features and principles of the present invention should be included in the claims of the present invention.

Claims (10)

1. The utility model provides a back connecting device for recovered robot of low limbs, its characterized in that includes even substructure that is connected with the recovered robot of low limbs, sets up in substructure and the intermediate structure that can reciprocate, installs the connection structure on the intermediate structure and sets up on connection structure and keep away from adjustable last back structure of length of extending of substructure one side and back structure down, the vertical lead screw (1) that is provided with in substructure middle part lead screw (1) top is provided with worm gear pair and wherein first worm wheel (32) coaxial with lead screw (1), worm (33) and lead screw (1) are perpendicular and its both ends are provided with first hand wheel (2), the cover has on lead screw (1) with lead screw (1) assorted motion piece (3), intermediate structure and motion piece (3) fixed connection.

2. The back connecting device for the lower limb rehabilitation robot as claimed in claim 1, wherein the upper end and the lower end of the screw rod (1) are rotatably connected with the bottom layer structure through bearings, guide rods (4) parallel to the screw rod (1) are arranged on both sides of the screw rod (1), and the moving block (3) penetrates through the guide rods (4) and is slidably connected with the guide rods.

3. The back connecting device for the lower limb rehabilitation robot as claimed in claim 1, wherein the intermediate structure comprises a panel (5) fixedly connected with the moving block (3), slider mechanisms (6) arranged on the left side and the right side of the panel (5) and a pulling block (7) arranged on the top of the panel (5), two first guide rails (8) are vertically arranged in the bottom structure, and the slider mechanisms (6) are slidably connected with the first guide rails (8).

4. The back connecting device for the lower limb rehabilitation robot as claimed in claim 3, wherein the pulley (34) is arranged at the top end and the back part of the substructure, the counterweight rope (35) is arranged through the pulley (34) at the back end and the top end of the substructure in sequence, and the counterweight rope (35) is connected with the pulling block (7).

5. The back connecting device for the lower limb rehabilitation robot as claimed in claim 1, wherein the connecting structure comprises a frame (9) fixedly connected with the middle structure, a first adjusting rod (10) provided with threads is transversely erected on the upper portion of the frame (9), the first adjusting rod (10) is rotatably connected with the frame (9), second hand wheels (11) are arranged at two ends of the first adjusting rod (10), a left leg fixing mechanism (12) and a right leg fixing mechanism (13) which are in threaded connection with the first adjusting rod (10) are arranged below the first adjusting rod (10), the left leg fixing mechanism (12) and the right leg fixing mechanism (13) are in sliding connection with a second guide rail (14) arranged in the frame (9), and the threads on the left side and the right side of the first adjusting rod (10) are oppositely screwed;

the improved backrest structure is characterized in that a vertical upward upright rod (15) is arranged at the top end of the frame (9), the upper backrest structure is installed on the upright rod (15), a lower backrest adjusting assembly connected with the lower backrest structure is arranged at the bottom end of the frame (9), the lower backrest adjusting assembly comprises a second adjusting rod (16) which is transverse and is rotatably connected with the frame (9), an adjusting box (17) which is sleeved on the second adjusting rod (16) and is fixedly connected with the frame (9), a second worm wheel (26) which forms a worm-gear pair with the second adjusting rod (16) and a vertical gear (36) which is coaxial with the second worm wheel (26) are arranged in the adjusting box (17), a lower backrest structure installing hole (18) is formed in the position of the gear (36), and third hand wheels (31) are arranged at two ends of the second adjusting rod (16).

6. The back connection device for the lower limb rehabilitation robot as claimed in claim 5, wherein the upper backrest structure comprises an upper backrest plate (19), a first fixing rod (20) vertically arranged behind the upper backrest plate (19), a connecting block (21) capable of adjusting the length of the first fixing rod (20) extending out of the upper backrest plate, an upper backrest structure mounting hole (22) arranged on the connecting block (21) and matched with the upright rod (15), and a fixing locking block structure (23) respectively arranged at the fixing position of the first fixing rod (20) and the connecting block (21) and the fixing position of the upright rod (15) and the connecting block (21).

7. The back connecting device for the lower limb rehabilitation robot as claimed in claim 6, wherein the upper back rest plate (19) is provided with a sticky net (27) in the middle and a strap ring (28) around the upper back rest plate (19).

8. The back connecting device for the lower limb rehabilitation robot as claimed in claim 5, wherein the lower back structure comprises a second fixing rod (24) provided in the lower back structure mounting hole (18) and having a screw thread on a side surface, and a lower back plate (25) connected to the second fixing rod (24), wherein the second fixing rod (24) has a screw thread on a side surface engaged with the gear (36).

9. The back connecting device for the lower limb rehabilitation robot as claimed in claim 8, wherein the lower back plate (25) is provided with an adhesive net (27) at the middle part thereof, and a positioning rod (29) is provided on the lower back plate (25) parallel to the second fixing rod (24), wherein the positioning rod (29) is as long as the second fixing rod (24) and is inserted into the regulating box (17).

10. The back connecting device for the lower limb rehabilitation robot as claimed in claim 1, wherein the lower limiting structure (30) is provided at the side of the bottom structure.

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