CN212789594U

CN212789594U - Motion platform structure of ankle rehabilitation robot

Info

Publication number: CN212789594U
Application number: CN202021895476.3U
Authority: CN
Inventors: 刘亚鸽
Original assignee: Zhengzhou Central Hospital
Current assignee: Zhengzhou Central Hospital
Priority date: 2020-09-03
Filing date: 2020-09-03
Publication date: 2021-03-26
Anticipated expiration: 2030-09-03

Abstract

The utility model discloses a motion platform structure of an ankle rehabilitation robot, which comprises a rehabilitation motion platform and a robot mounting pillar, the robot mounting pillar is vertically arranged on the outer wall of the upper end of the rear side of the rehabilitation exercise platform, an inner embedded groove is arranged in the upper half section of the rehabilitation exercise platform at the front side of the robot mounting pillar, a running belt is arranged in the inner embedded groove, by adding a movement range limiting means to the parallel upper side of the movement platform of the ankle rehabilitation robot, the range of motion limiting device can cooperate with the rehabilitation robot to limit the motion behavior of the patient who performs ankle rehabilitation on the rehabilitation motion platform, so that the rehabilitation patient can only walk in the specified area on the rehabilitation exercise platform for rehabilitation exercise, the movement range limiting device can also prevent the excessive waste of physical strength caused by the overlarge movement range of a patient who moves and walks on the rehabilitation movement platform.

Description

Motion platform structure of ankle rehabilitation robot

Technical Field

The utility model belongs to the technical field of recovered robot is relevant, concretely relates to ankle recovered robot's motion platform structure.

Background

As an important branch of medical robots, the rehabilitation robot has been a research focus in the international robot field through various fields such as rehabilitation medicine, biomechanics, mechanics, electronics, materials science, computer science, and robotics, and has been widely applied to rehabilitation care, prosthetic limbs, and rehabilitation therapy, which not only promotes the development of rehabilitation medicine, but also induces the development of new technologies and new theories in the related fields, and the rehabilitation robot technology is a research field dedicated to understanding and enhancing rehabilitation by applying robot devices, including the development of robot devices tailored to assist different sensorimotor functions, the development of various solutions for assistive therapy training, and the evaluation of sensorimotor performance of patients, and here, robots are mainly used as therapeutic aids, not as aids, and patients often tolerate rehabilitation with robots well and have been found to be an effective aid for therapy for patients with dyskinesias.

The existing motion platform technology of the ankle rehabilitation robot has the following problems: the motion platform of the existing ankle rehabilitation robot is used, firstly, the rehabilitation robot is required to be installed on a corresponding installation position of the platform, then a patient can stand on a running belt on the rehabilitation motion platform through the auxiliary feet of the rehabilitation robot to perform walking motion, although the rehabilitation robot can maintain the patient to move in a certain area on the rehabilitation motion platform, the rehabilitation robot main body is limited in behavior limitation of the patient in order to assist the patient in ankle rehabilitation, so that the patient can easily cause the body to topple and exceed the motion range when the rehabilitation motion amount and the motion amplitude on the platform are large, the rehabilitation speed of the patient can be influenced, and the physical consumption of the patient can be increased once the motion range of the patient is increased, so that the rehabilitation motion time of the patient can be greatly reduced, and the rehabilitation speed of the patient can be slowed down.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a recovered robot of ankle motion platform structure, although the recovered robot that proposes in solving above-mentioned background art can maintain the patient and move in a certain region on recovered motion platform, but recovered robot main part is in order to assist the patient to carry out the recovered action restriction of so its of ankle be limited, so all can cause the health to empty and exceed the motion range easily when the patient is recovered the amount of exercise and motion range on the platform is great, and in case patient's motion range increase then can increase its physical demands, so then great reduction patient's recovered motion time, thereby slow down the problem of its recovered speed.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides a motion platform structure of recovered robot of ankle, includes recovered motion platform and robot installation pillar, the vertical installation of robot installation pillar is on recovered motion platform rear side upper end outer wall, the first section inside of recovered motion platform of robot installation pillar front side is provided with interior caulking groove, interior caulking groove inside is provided with the area of running, all be provided with hand rail guard, two on the recovered motion platform left and right sides upper end outer wall be provided with motion range limiting device between the hand rail guard, motion range limiting device's rear side both ends are connected respectively on the both ends outer wall of controlling of robot installation pillar, the inside installation screw that is provided with of robot installation pillar front end outer wall, the top of robot installation pillar is provided with the robot installation gallows that stretches out to the preceding level.

Preferably, the motion range limiting device includes the fixed cover B of the fixed cover A, U type of restriction connecting rod, locking bolt, U type, sponge protection pad and semicircle confinement ring, the fixed cover A of U type and the fixed cover B opening of U type are symmetrical connection respectively relatively on the robot mounting pillar is close to both ends outer wall about the downside, the horizontal inside of the fixed cover A of U type and the fixed cover B of U type all runs through there is the restriction connecting rod, all through locking bolted connection between the fixed cover A of U type and the fixed cover B of U type and two restriction connecting rods.

Preferably, the front ends of the two limiting connecting rods are connected with semicircular limiting rings with backward openings, and sponge protecting pads are connected to the inner walls of the circumferences of the semicircular limiting rings and the inner walls of the front half sections of the two limiting connecting rods.

Preferably, the outer wall of the bottom of the rehabilitation exercise platform is further provided with an anti-slip pad, the outer wall of the lower end of the anti-slip pad is further provided with an inward-concave anti-slip groove, and the anti-slip pad is connected with the rehabilitation exercise platform through an adhesive and screws.

Preferably, the inside of running area is provided with six transmission shafts that the equidistance was arranged from front to back, and six both ends all are connected with recovered motion platform through fixing bearing about the transmission shaft, the upper end outer wall of running area keeps the parallel and level with recovered motion platform's upper end outer wall.

Preferably, the robot mounting strut is fixedly connected with the rehabilitation motion platform through welding, the robot mounting strut and the rehabilitation motion platform are in a right-angle state, and the robot mounting strut is connected with the robot mounting hanger at the top end through bolts.

Preferably, the height of the hand guard rail is one point two meters, and the front corner and the rear corner of the upper end of the hand guard rail are both processed by arc-shaped cambered surfaces.

Preferably, after the locking bolt is unscrewed, the two limiting connecting rods can independently move back and forth in the openings of the U-shaped fixing sleeve A and the U-shaped fixing sleeve B, and the outer walls of the outer sides of the two limiting connecting rods are not in contact with the two hand guard rails.

Compared with the prior art, the utility model provides a recovered robot's of ankle motion platform structure possesses following beneficial effect:

1. the utility model adds a novel motion range limiting device on the parallel upper side of the motion platform of the ankle rehabilitation robot, and the two ends of the rear side of the motion range limiting device are fixed on the robot mounting strut through a U-shaped fixing sleeve, the novel motion range limiting device can be cooperated with a rehabilitation robot to limit the motion behaviors of a patient who performs ankle rehabilitation on the rehabilitation motion platform, so that the rehabilitation patient can only walk in the specified area on the rehabilitation exercise platform for rehabilitation exercise, the motion range limiting device can also prevent the excessive waste of physical strength caused by the overlarge motion range of the patient who moves and walks on the rehabilitation motion platform, and the protection function can be achieved outside the lower limbs of the patient, so that the use safety and the stability of the motion platform of the whole ankle rehabilitation robot are improved.

2. The specific application mode of the motion range limiting device of the utility model is as follows, when the motion range of the rehabilitation patient is limited by adjusting the motion range limiting device to cooperate with the rehabilitation robot, firstly, the locking bolts on the U-shaped fixing sleeve A and the U-shaped fixing sleeve B need to be unscrewed, so that the two locking bolts lose the locking force of the limiting connecting rods penetrating through the U-shaped fixing sleeve A and the U-shaped fixing sleeve B, the two limiting connecting rods can respectively perform the front and back movable adjustment inside the U-shaped fixing sleeve A and the U-shaped fixing sleeve B, then the two limiting connecting rods are correspondingly adjusted forwards or backwards according to the motion range limiting device of the rehabilitation patient, so that the semicircular limiting rings connected with the front ends of the two limiting connecting rods are driven by the two limiting connecting rods to be adjusted to the corresponding positions, and then the two locking bolts are locked again, make two restriction connecting rods after having been adjusted drive the semicircle restriction ring and fix on the position that has been adjusted at present, like this when the patient carries out the recovered exercise of slow walking on recovered motion platform, in case the patient surpasss and then can be blockked by semicircle restriction ring and two restriction connecting rods by the range of motion that has been restricted, thereby guarantee that the patient can only rely on recovered motion platform to carry out ankle recovered motion in a safety range and take exercise, can assist the patient to resume the ankle more fast like this.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description, do not constitute a limitation of the invention, in which:

fig. 1 is the utility model provides a motion platform structure side-looking spatial structure schematic diagram of ankle rehabilitation robot.

Fig. 2 is the utility model provides a motion platform structure side-view plane structure sketch map of ankle rehabilitation robot.

Fig. 3 is a schematic diagram of a single three-dimensional structure of the motion range limiting device according to the present invention.

In the figure: 1. a rehabilitation exercise platform; 2. an embedded groove is formed; 3. a running belt; 4. a hand guard rail; 5. a range of motion limiting device; 6. a robot mounting strut; 7. mounting a screw hole; 8. a robot is provided with a hanging bracket; 9. a restraining connecting rod; 10. locking the bolt; 11. a U-shaped fixing sleeve A; 12. a U-shaped fixing sleeve B; 13. a sponge protection pad; 14. a semi-circular confinement ring.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-3, the present invention provides a technical solution: a motion platform structure of an ankle rehabilitation robot comprises a rehabilitation motion platform 1 and a robot installation pillar 6, wherein the robot installation pillar 6 is vertically installed on the outer wall of the upper end of the rear side of the rehabilitation motion platform 1, an anti-slip pad is also arranged on the outer wall of the bottom of the rehabilitation motion platform 1, an inward sunken anti-slip groove is also formed in the outer wall of the lower end of the anti-slip pad, the anti-slip pad is fixedly connected with the rehabilitation motion platform 1 through an adhesive and a screw, the anti-slip pad can increase the friction force with the ground, so that the motion platform of the whole ankle rehabilitation robot can be more firmly and stably placed on the ground for use, the motion platform of the ankle rehabilitation robot is prevented from displacing on the ground when in use, an inner embedded groove 2 is formed in the upper half section of the rehabilitation motion platform 1 on the front side of the robot installation pillar 6, and a running belt 3 is arranged in the inner embedded groove 2, the inside of running area 3 is provided with the transmission shaft that six equidistance were arranged from front to back, both ends all are through fixing bearing and recovered motion platform 1 fixed connection about six transmission shafts, and the upper end outer wall of running area 3 keeps the parallel and level with recovered motion platform 1's upper end outer wall, when the disease walked on running area 3, because this moment running area 3 was through six transmission shaft fixed mounting, so running area 3 can maintain the patient and carry out the recovered motion at a safe within range.

The outer walls of the upper ends of the left side and the right side of the rehabilitation motion platform 1 are respectively provided with a hand guard 4, a motion range limiting device 5 is arranged between the two hand guards 4, the two ends of the rear side of the motion range limiting device 5 are respectively connected to the outer walls of the left end and the right end of a robot mounting pillar 6, a mounting screw hole 7 is arranged in the outer wall of the front end of the robot mounting pillar 6, the top end of the robot mounting pillar 6 is provided with a robot mounting hanger 8 which horizontally extends forwards, the robot mounting pillar 6 and the rehabilitation motion platform 1 are fixedly connected through welding, the robot mounting pillar 6 and the rehabilitation motion platform 1 are in a right-angle state, the robot mounting pillar 6 and the robot mounting hanger 8 at the top end are fixedly connected through bolts, the height of the hand guard 4 is a bit of two meters, and the front corner and the rear corner of the upper end of, because when the patient is on the rehabilitation exercise platform 1 to help the ankle rehabilitation through walking, the patient affected by the ankle can easily have unstable gravity center when walking, so that the patient needs to put both hands on the two hand guard rails 4 respectively to maintain the gravity center when moving, and the patient can be ensured to keep a walking state for a long time and perform exercise recovery.

The motion range limiting device 5 comprises a limiting connecting rod 9, a locking bolt 10, a U-shaped fixing sleeve A11, a U-shaped fixing sleeve B12, a sponge protection pad 13 and a semicircular limiting ring 14, the fixed cover A11 of U type and the fixed cover B12 opening of U type are symmetrical connection respectively relatively on robot mounting post 6 is close to both ends outer wall about the downside, the horizontal inside of the fixed cover A11 of U type and the fixed cover B12 of U type all runs through there is restriction connecting rod 9, all through locking bolt 10 fixed connection between the fixed cover A11 of U type and the fixed cover B12 of U type and two restriction connecting rods 9, the front end of two restriction connecting rods 9 is connected with semicircle restriction ring 14 that the opening is backward, be connected with sponge protection pad 13 on the semicircle restriction ring 14 circumference inner wall and on two restriction connecting rod 9 first half section inner walls, two restriction connecting rods 9 all can be solitary activity around the fixed cover A11 of U type and the fixed cover B12 opening of U type is inside after locking bolt 10 unscrews.

The outer side outer walls of the two limiting connecting rods 9 are not contacted with the two hand guard railings 4, when the movement range limiting device 5 is required to be adjusted to limit the movement range of a rehabilitation patient in cooperation with a rehabilitation robot, the locking bolts 10 on the U-shaped fixing sleeve A11 and the U-shaped fixing sleeve B12 are required to be unscrewed firstly, the two locking bolts 10 lose the locking force of the limiting connecting rods 9 penetrating through the U-shaped fixing sleeve A11 and the U-shaped fixing sleeve B12, so that the two limiting connecting rods 9 can be movably adjusted forwards and backwards in the U-shaped fixing sleeve A11 and the U-shaped fixing sleeve B12 respectively, then the two limiting connecting rods 9 are adjusted forwards or backwards correspondingly according to the movement limiting range of the rehabilitation patient by the movement range limiting device 5, so that the two limiting connecting rods 9 drive the semicircular limiting rings 14 connected with the front ends thereof to be adjusted to corresponding positions, then two locking bolts 10 are locked again, so that the two adjusted limiting connecting rods 9 drive the semicircular limiting ring 14 to be fixed at the current adjusted position, when the patient slowly walks on the rehabilitation exercise platform 1 for rehabilitation exercise, once the patient exceeds the limited movement range, the patient can be blocked by the semicircular limiting ring 14 and the two limiting connecting rods 9, and the patient can only rely on the rehabilitation exercise platform 1 to perform ankle rehabilitation exercise within a safety range.

The utility model discloses a theory of operation and use flow: after the utility model is installed, when the motion platform of the ankle rehabilitation robot is assembled and used, firstly, the rehabilitation motion platform 1 with the robot installation pillar 6 and the robot installation hanger 8 is required to be placed on the ground to be exercised and used, then the motion robot for assisting a patient to carry out ankle rehabilitation is installed and fixed on the robot installation pillar 6 and the robot installation hanger 8 according to the installation requirement, then when the user needs to carry out ankle rehabilitation motion through the motion platform of the ankle rehabilitation robot, the patient needs to wear the rehabilitation robot which is already installed at the moment, after the rehabilitation robot is worn, the feet of the patient need to be flatly stepped on the running belt 3, then the patient needs to keep the original position state in the running belt 3 to walk slowly through the assistance of the rehabilitation robot and the feet of the rehabilitation robot, thereby achieving the purpose of recovering the ankle through the motion, and the parallel upside at this ankle rehabilitation robot's motion platform increases has a neotype motion range limiting device 5, and the rear side both ends of motion range limiting device 5 then fix on robot installation pillar 6 through the fixed cover of U type, and this neotype motion range limiting device 5 can cooperate each other and carry out the motion action restriction to the patient that carries out ankle rehabilitation on rehabilitation motion platform 1 with rehabilitation robot, make rehabilitation patient only can carry out the recovered motion of walking in the region that has stipulated on rehabilitation motion platform 1, this motion range limiting device 5 also can prevent to move the too big and cause physical waste too much of patient's motion range of walking on rehabilitation motion platform 1 simultaneously.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that 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 in the appended claims and their equivalents.

Claims

1. The utility model provides a recovered robot's of ankle motion platform structure, includes recovered motion platform (1) and robot installation pillar (6), its characterized in that: the robot mounting strut (6) is vertically arranged on the outer wall of the upper end of the rear side of the rehabilitation exercise platform (1), an inner embedded groove (2) is arranged in the upper half section of the rehabilitation exercise platform (1) at the front side of the robot mounting strut (6), a running belt (3) is arranged in the inner embedded groove (2), the outer walls of the upper ends of the left side and the right side of the rehabilitation exercise platform (1) are respectively provided with a hand guard rail (4), a motion range limiting device (5) is arranged between the two hand guard rails (4), the two ends of the rear side of the motion range limiting device (5) are respectively connected to the outer walls of the left end and the right end of the robot mounting strut (6), the outer wall of the front end of the robot mounting strut (6) is internally provided with a mounting screw hole (7), and a robot mounting hanger (8) horizontally extending forwards is arranged at the top end of the robot mounting strut (6).

2. The structure of a moving platform of an ankle rehabilitation robot according to claim 1, wherein: the motion range limiting device (5) comprises a limiting connecting rod (9), a locking bolt (10), a U-shaped fixing sleeve A (11), a U-shaped fixing sleeve B (12), a sponge protection pad (13) and a semicircular limiting ring (14), the openings of the U-shaped fixing sleeve A (11) and the U-shaped fixing sleeve B (12) are symmetrically connected to the outer wall of the left end and the right end of the robot installation pillar (6) close to the lower side relatively, the limiting connecting rod (9) is penetrated through the transverse inner parts of the U-shaped fixing sleeve A (11) and the U-shaped fixing sleeve B (12), and the U-shaped fixing sleeve A (11) and the U-shaped fixing sleeve B (12) are connected with the two limiting connecting rods (9) through the locking bolt (10).

3. The structure of a moving platform of an ankle rehabilitation robot according to claim 2, wherein: the front end of two restriction connecting rod (9) is connected with semicircle confinement ring (14) that the opening is backward, be connected with sponge protection pad (13) on semicircle confinement ring (14) circumference inner wall and on two restriction connecting rod (9) first half section inner walls.

4. The structure of a moving platform of an ankle rehabilitation robot according to claim 1, wherein: the rehabilitation exercise platform is characterized in that an anti-slip mat is further arranged on the outer wall of the bottom of the rehabilitation exercise platform (1), an inward-concave anti-slip groove is further formed in the outer wall of the lower end of the anti-slip mat, and the anti-slip mat is connected with the rehabilitation exercise platform (1) through an adhesive and screws.

5. The structure of a moving platform of an ankle rehabilitation robot according to claim 1, wherein: the inside of running area (3) is provided with the transmission shaft that six equidistance were arranged from front to back, six both ends all are connected with recovered motion platform (1) through fixing bearing about the transmission shaft, the upper end outer wall of running area (3) and the upper end outer wall of recovered motion platform (1) keep the parallel and level.

6. The structure of a moving platform of an ankle rehabilitation robot according to claim 1, wherein: the robot mounting support column (6) is fixedly connected with the rehabilitation motion platform (1) through welding, a right-angle state is formed between the robot mounting support column (6) and the rehabilitation motion platform (1), and the robot mounting support column (6) is connected with a robot mounting hanger (8) on the top end through bolts.