CN212601806U - Wearable robot for assisting human waist torsion - Google Patents

Abstract

The utility model provides a wearable robot for assisting human waist torsion, which comprises a waist backboard, the two ends of the waist back plate are symmetrically provided with waist fixing plates which are composed of a first arc-shaped body and a second arc-shaped body, a first extending part is welded at one end of the first arc-shaped body, a first gear rack is welded at the top of one end of the first extending part, one end of the second arc-shaped body is welded with a second extending part, one end of the second extending part is welded with a second gear rack, a rotating mechanism is arranged in the waist back plate and comprises a positive and negative motor, the output end of the positive and negative motor is connected with a first bevel gear, one side of the first bevel gear is connected with a second bevel gear in a meshing manner, the center of one side of the second bevel gear is connected with a rotating shaft, and one end of the rotating shaft is connected with a threaded rod. The utility model discloses a slewing mechanism drives first arc body and second arc body and removes to can realize waist width control.

Description

Wearable robot for assisting human waist torsion

Technical Field

The utility model relates to a medical robot equipment technical field mainly relates to a wearable robot for assisting human waist to twist reverse.

Background

More and more sick or unexpected recovered patients need to do rehabilitation exercise, some patients who are injured at the waist and cannot rotate need medical instruments to do rehabilitation exercise and assist twisting, and some medical instruments are urgently needed to help them recover more quickly. The waist rehabilitation training robot is based on the rehabilitation medicine theory and the man-machine cooperation robot principle, and through one set of waist torsion state control system controlled by computer, the patient simulates the waist torsion of normal person to do rehabilitation training motion, exercises the muscle of waist, recovers the control ability of nervous system to the waist torsion energy, and recovers the waist torsion. The waist width adjustment mechanism of the existing waist rehabilitation training robot mostly adopts a split type structure, namely the left side and the right side are respectively adjusted, after the adjustment is finished, rigid components such as screws and nuts are utilized for fastening, and the adjustment process is relatively complex. Therefore, a wearable robot convenient to adjust and used for assisting human waist torsion needs to be developed.

SUMMERY OF THE UTILITY MODEL

The utility model mainly provides a wearable robot for assisting human waist torsion for solve the technical problem who proposes among the above-mentioned background art.

The utility model provides a technical scheme that above-mentioned technical problem adopted does:

a wearable robot for assisting human waist torsion comprises a waist back plate, waist fixing plates are symmetrically arranged at two ends of the waist back plate and consist of a first arc-shaped body and a second arc-shaped body, a first extending portion is welded at one end of the first arc-shaped body, a first gear strip is welded at the top of one end, away from the first arc-shaped body, of the first extending portion, a second gear strip is welded at one end, close to the first arc-shaped body, of the second arc-shaped body, and a second gear strip is welded at the bottom of one end, away from the second arc-shaped body, of the second extending portion;

be equipped with slewing mechanism in the waist backplate, slewing mechanism is including setting up the waist backplate outside is the positive and negative motor of level setting, the output of positive and negative motor extends to waist backplate in-connection has first bevel gear, first bevel gear is kept away from one side meshing of positive and negative motor is connected with second bevel gear, one side center department of second bevel gear rotates and is connected with the rotation axis, the one end of rotation axis is rotated and is connected with the threaded rod, the threaded rod with second rack and first gear rack meshing are connected.

Preferably, the diameter size of the second bevel gear is smaller than the space size between the second gear rack and the first gear rack.

Preferably, the second gear rack and the first gear rack are arranged opposite to each other.

Preferably, the top of first arc body and second arc body all is provided with the cylinder that is perpendicular setting, two the output of cylinder all is connected with the telescopic link, two the handrail has all been welded on the top of telescopic link.

Preferably, the bottom of the first arc-shaped body and the bottom of the second arc-shaped body are both connected with first connecting plates, and the inner sides of the first connecting plates are symmetrically connected with first fixing parts.

Preferably, two the bottom inboard of first connecting plate all is equipped with the second connecting plate, and two the bottom outside of first connecting plate all is provided with the driving motor who is the level setting, two driving motor's output all runs through two in proper order through the pivot first connecting plate and second connecting plate are to rotate the connection.

Preferably, the inner sides of the two second connecting plates are symmetrically connected with second fixing parts.

Preferably, the bottom ends of the two second connecting plates are connected with foot pedals, the two foot pedals are internally provided with inner chambers, the inner top walls of the two inner chambers are connected with a plurality of first cushion pads at equal intervals, the bottom end of each first cushion pad is connected with a buffer spring, and the bottom end of each buffer spring is connected with a second cushion pad.

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

one is as follows: the utility model discloses mainly through starting positive and negative motor work, make positive and negative motor rotatory through pivot drive first bevel gear, first bevel gear meshing drives second bevel gear rotatory, thereby make second bevel gear drive the threaded rod through the rotation axis and rotate, because second rack and first rack set up mutually opposedly, thereby make the threaded rod drive second rack and first rack and move, second rack and first rack drive second extension and first extension and move, can adjust waist width, the adjustment process is relatively simple and convenient, thereby can be applicable to the patient user of different waist widths, improve the universality that the equipment used;

the second step is as follows: the waist twisting training of a patient can be effectively assisted through the function of the handrail, the cylinder drives the telescopic rod to move by starting the cylinder to work, the telescopic rod drives the handrail to move up and down, so that the handrail is convenient to use by the patients with different heights by adjusting the height of the handrail, the application range is wide, and the effect of fixing the big leg and the small leg of the patient can be effectively realized through the effect of the first fixing part and the second fixing part, so that the use stability of equipment is improved, and the danger that the legs of the patient are not stably supported and are inclined and fallen down when the patient uses the handrail is prevented;

and thirdly: through the design of a plurality of first blotters, buffer spring and second blotter, can effectually play buffering cushioning effect to make patient's step receive the collision back when removing, can effectual reduction provide effectual guarantee to the injury of step to patient's foot.

The present invention will be explained in detail with reference to the drawings and specific embodiments.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a schematic structural view of the waist fixing plate of the present invention;

fig. 3 is a schematic view of the rotating mechanism of the present invention;

fig. 4 is a cross-sectional view of the footrest of the present invention.

Reference numerals: 1. a lumbar back panel; 2. a rotating mechanism; 21. a positive and negative motor; 22. a first bevel gear; 23. a second bevel gear; 24. a rotating shaft; 25. a threaded rod; 3. a waist fixing plate; 31. a first arcuate body; 32. a first extension portion; 33. a first gear rack; 34. a second arcuate body; 35. a second extension portion; 36. a second gear rack; 4. a cylinder; 41. a telescopic rod; 42. a handrail; 5. a first connecting plate; 51. a first fixed part; 52. a drive motor; 6. a foot pedal; 61. an inner chamber; 62. a first cushion pad; 63. a buffer spring; 64. a second cushion pad; 7. a second connecting plate; 71. a second fixed part.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully with reference to the accompanying drawings, in which several embodiments of the present invention are shown, but the present invention can be implemented in different forms, and is not limited to the embodiments described in the text, but rather, these embodiments are provided to make the disclosure of the present invention more thorough and comprehensive.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may be present, and when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present, as the terms "vertical", "horizontal", "left", "right" and the like are used herein for descriptive purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, and the use of the term knowledge in the specification of the present invention is for the purpose of describing particular embodiments and is not intended to limit the present invention, and the term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1-4, a wearable robot for assisting human waist torsion includes a waist back plate 1, waist fixing plates 3 are symmetrically disposed at two ends of the waist back plate 1, each waist fixing plate 3 is composed of a first arc-shaped body 31 and a second arc-shaped body 34, a first extending portion 32 is welded at one end of each first arc-shaped body 31, a first gear strip 33 is welded at the top of one end, away from the first arc-shaped body 31, of each first extending portion 32, a second extending portion 35 is welded at one end, close to the first arc-shaped body 31, of each second arc-shaped body 34, a second gear strip 36 is welded at the bottom of one end, away from the second arc-shaped body 34, of each second extending portion 35, the second gear strips 36 and the first gear strips 33 are oppositely arranged, a rotating mechanism 2 is disposed in the waist back plate 1, the rotating mechanism 2 includes a positive and negative motor 21 which is disposed outside the back plate 1 in a horizontal manner, the output end of the positive and negative motor 21 extends to a first bevel gear 22 is connected in the waist back plate 1, one side of the first bevel gear 22 far away from the positive and negative motor 21 is meshed with a second bevel gear 23, the center of one side of the second bevel gear 23 is rotatably connected with a rotating shaft 24, one end of the rotating shaft 24 is rotatably connected with a threaded rod 25, the threaded rod 25 is meshed with a second gear rack 36 and a first gear rack 33, and the diameter size of the second bevel gear 23 is smaller than the space size between the second gear rack 36 and the first gear rack 33.

Referring to fig. 1, the top ends of the first arc-shaped body 31 and the second arc-shaped body 34 are respectively provided with a vertically arranged cylinder 4, the output ends of the two cylinders 4 are respectively connected with a telescopic rod 41, and the top ends of the two telescopic rods 41 are respectively welded with a handrail 42. In this embodiment, through handrail 42's design, can assist the patient effectively to carry out the waist and twist reverse the training, through starting 4 work of cylinder for 4 drive telescopic link 41 movements of cylinder, telescopic link 41 drives handrail 42 and carries out elevating movement, thereby through the height of adjusting handrail 42, are convenient for be applicable to the patient of different heights and use, and application scope is wide.

Referring to fig. 1 again, the bottom ends of the first arc-shaped body 31 and the second arc-shaped body 34 are connected with first connecting plates 5, the inner sides of the two first connecting plates 5 are symmetrically connected with first fixing portions 51, the inner sides of the bottom ends of the two first connecting plates 5 are provided with second connecting plates 7, the outer sides of the bottom ends of the two first connecting plates 5 are provided with driving motors 52 which are horizontally arranged, the output ends of the two driving motors 52 sequentially penetrate through the two first connecting plates 5 and the second connecting plates 7 through rotating shafts to be rotatably connected, and the inner sides of the two second connecting plates 7 are symmetrically connected with second fixing portions 71. In the present embodiment, the first fixing portion 51 and the second fixing portion 71 are designed to effectively fix the upper and lower legs of the patient, thereby improving the stability of the device in use.

Referring to fig. 4, the bottom ends of the two second connecting plates 7 are connected to pedals 6, inner chambers 61 are disposed in the two pedals 6, a plurality of first cushions 62 are connected to the inner top walls of the two inner chambers 61 at equal intervals, the bottom end of each first cushion 62 is connected to a buffer spring 63, and the bottom end of each buffer spring 63 is connected to a second cushion 64. In this embodiment, through the design of a plurality of first blotters 62, buffer spring 63 and second blotter 64, can effectually play buffering cushioning effect to make patient's step receive the collision back when removing, can effectual reduction provide effectual guarantee to patient's foot to the injury of step.

The utility model discloses a concrete operation as follows:

when the utility model is needed, when the size is needed to be adjusted, the positive and negative motor 21 is firstly started to work, the positive and negative motor 21 drives the first bevel gear 22 to rotate through the rotating shaft, the first bevel gear 22 is meshed to drive the second bevel gear 23 to rotate, then the second bevel gear 23 drives the threaded rod 25 to rotate through the rotating shaft 24, the threaded rod 25 rotates to drive the second gear rack 36 and the first gear rack 33 to move, the second gear rack 36 and the first gear rack 33 drive the second extending part 35 and the first extending part 32 to move, and the waist width can be adjusted;

when the height needs to be adjusted, only the cylinder 4 needs to be started to work, the cylinder 4 drives the telescopic rod 41 to move, the telescopic rod 41 drives the handrail 42 to move up and down, and the height of the handrail 42 can be adjusted.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents, and thus the embodiments of the invention are intended only as illustrative examples of the invention and no limitation of the invention is intended whatsoever to be construed by the embodiments of the invention.

Claims (8)

1. The utility model provides a wearable robot for assisting human waist is twistd reverse, including waist backplate (1), its characterized in that: waist fixing plates (3) are symmetrically arranged at two ends of the waist back plate (1), each waist fixing plate (3) is composed of a first arc-shaped body (31) and a second arc-shaped body (34), a first extending portion (32) is welded at one end of each first arc-shaped body (31), a first gear strip (33) is welded at the top of one end, away from the first arc-shaped body (31), of each first extending portion (32), a second extending portion (35) is welded at one end, close to the first arc-shaped body (31), of each second arc-shaped body (34), and a second gear strip (36) is welded at the bottom of one end, away from the second arc-shaped body (34), of each second extending portion (35);

be equipped with slewing mechanism (2) in waist backplate (1), slewing mechanism (2) are including setting up positive and negative motor (21) that the level set up are in waist backplate (1) outside, the output of positive and negative motor (21) extends to waist backplate (1) in-connection has first bevel gear (22), first bevel gear (22) are kept away from one side meshing of positive and negative motor (21) is connected with second bevel gear (23), one side center department of second bevel gear (23) rotates and is connected with rotation axis (24), the one end rotation of rotation axis (24) is connected with threaded rod (25), threaded rod (25) with second rack (36) and first rack (33) meshing are connected.

2. A wearable robot for assisting human waist torsion according to claim 1, characterized in that: the diameter of the second bevel gear (23) is smaller than the distance between the second gear rack (36) and the first gear rack (33).

3. A wearable robot for assisting human waist torsion according to claim 1, characterized in that: the second gear rack (36) and the first gear rack (33) are arranged opposite to each other.

4. A wearable robot for assisting human waist torsion according to claim 1, characterized in that: the top of first arc body (31) and second arc body (34) all is provided with cylinder (4) that are perpendicular setting, two the output of cylinder (4) all is connected with telescopic link (41), two handrail (42) have all been welded on the top of telescopic link (41).

5. A wearable robot for assisting human waist torsion according to claim 1, characterized in that: the bottom of the first arc-shaped body (31) and the bottom of the second arc-shaped body (34) are both connected with first connecting plates (5), and the inner sides of the first connecting plates (5) are both symmetrically connected with first fixing parts (51).

6. A wearable robot for assisting human waist torsion according to claim 5, characterized in that: two the bottom inboard of first connecting plate (5) all is equipped with second connecting plate (7), and two the bottom outside of first connecting plate (5) all is provided with driving motor (52) that are the level setting, two driving motor (52)'s output all runs through two in proper order through the pivot first connecting plate (5) and second connecting plate (7) are to rotate the connection.

7. A wearable robot for assisting human waist torsion according to claim 6, characterized in that: the inner sides of the two second connecting plates (7) are symmetrically connected with second fixing parts (71).

8. A wearable robot for assisting human waist torsion according to claim 7, characterized in that: the bottom of the second connecting plate (7) is connected with pedal plates (6), the inner chambers (61) are arranged in the pedal plates (6), the inner top wall of the inner chambers (61) is connected with a plurality of first cushion pads (62) at equal intervals, the bottom of each first cushion pad (62) is connected with a buffer spring (63), and the bottom of each buffer spring (63) is connected with a second cushion pad (64).

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