CN213431476U - Miniature single-spring rehabilitation robot - Google Patents
Miniature single-spring rehabilitation robot Download PDFInfo
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- CN213431476U CN213431476U CN202020118286.4U CN202020118286U CN213431476U CN 213431476 U CN213431476 U CN 213431476U CN 202020118286 U CN202020118286 U CN 202020118286U CN 213431476 U CN213431476 U CN 213431476U
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- spring
- force arm
- clamping plate
- connecting plate
- optical axis
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- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 238000013016 damping Methods 0.000 claims abstract description 16
- 230000003287 optical effect Effects 0.000 claims description 38
- 239000000725 suspension Substances 0.000 claims description 22
- 230000006835 compression Effects 0.000 claims description 14
- 238000007906 compression Methods 0.000 claims description 14
- 239000013585 weight reducing agent Substances 0.000 claims description 11
- 238000005452 bending Methods 0.000 claims description 7
- 230000009467 reduction Effects 0.000 claims description 6
- 239000003638 chemical reducing agent Substances 0.000 abstract description 6
- 230000033001 locomotion Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 206010019468 Hemiplegia Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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Abstract
The utility model discloses a miniature single spring rehabilitation robot subtracts heavy mechanism, multi freedom mobile device and suspends sliding damping mechanism in midair by single spring and constitutes, the utility model discloses utilize L type worm gear speed reducer to replace the hoist engine, guarantee to subtract on the basis that the heavy ware subtracts the heavy function, greatly reduced subtract the volume of heavy ware, adopt single spring to accomplish to subtract and subtract heavy, avoided the friction and the deformation that unnecessary structure produced, and sliding damping mechanism adopts two pressure springs can make rehabilitation robot suspend sliding damping mechanism in midair and keep at the meso position, can make toward the meso position reply after the mechanism atress.
Description
Technical Field
The utility model relates to a recovered robotechnology field, concretely relates to miniature single spring recovered robert people.
Background
The weight reduction mechanism of the traditional rehabilitation robot relies on the spring boxes of the double-side double springs to reduce the weight, and has the following main defects: the double-force-arm mechanism is large in size, heavy in structure, multiple in parts, high in installation difficulty, high in machining process requirement, high in difficulty and not beneficial to machining and manufacturing; because the spring and the bearing structure are not on the same plane, the weight-reducing spring box can generate large moment, can cause the deformation of the original structure, and because of the deformation, the side plate and the sliding mechanism generate friction to influence the spring transformation; due to the fact that the number of the parts is large, the failure rate is improved, and problem finding is difficult.
The weight reducing arm of the traditional rehabilitation robot is connected with the linear sliding rail, in the reciprocating motion process of the weight reducing arm, the steel cable is pulled to generate transverse component force, and in the past, the linear sliding rail is deformed, so that the sliding block is badly moved to generate unsmooth movement.
The robot suspension sliding damping mechanism has many and complex parts, high processing cost and inconvenient maintenance. The bolt on the suspension connecting plate has low strength. The shoulder-mounted wheelchair cannot be adjusted in a circumferential swinging mode according to the position change of the shoulders in the walking process of a person, only has the freedom degree of forward and backward movement, is poor in comfort and strong in limitation, and can cause certain influence on the rehabilitation effect of a patient.
SUMMERY OF THE UTILITY MODEL
Not enough to above-mentioned prior art, the to-be-solved technical problem of the utility model is to provide a miniature single spring rehabilitation robot, improved the travelling comfort of patient in recovered process, improved the recovered effect of patient.
The utility model discloses the concrete technical scheme who takes is:
a miniature single-spring rehabilitation robot comprises a single-spring weight reduction mechanism, a multi-degree-of-freedom moving device and a suspension sliding damping mechanism, wherein:
the single-spring weight reduction mechanism comprises a force arm clamping plate, a triangular force arm, a spring, a linear slide rail device and a worm gear speed reduction motor, wherein the force arm clamping plate consists of an upper clamping plate and a lower clamping plate, the upper clamping plate is connected with the lower clamping plate, and the triangular force arm is arranged in the force arm clamping plate; the linear slide rail device is installed on the force arm clamping plate, a lead screw and a convex slide block are arranged on the linear slide rail device, the convex slide block is respectively connected with the lead screw and the linear slide rail, the lead screw is connected with an output shaft of the worm and gear speed reducing motor, the worm and gear speed reducing motor drives the lead screw to rotate so as to drive the convex slide block to move on the linear slide rail, two hanging rings are symmetrically arranged below the convex slide block, and the hanging rings are connected with one end of the spring; the other ends of the two springs are respectively connected with the end B of the triangular force arm through holes in the upper clamping plate and the lower clamping plate, and the end A is connected with the upper clamping plate and the lower clamping plate through bearings;
the multi-degree-of-freedom moving device comprises a linear slide rail, wherein the linear slide rail is provided with a longitudinal slide block, and the longitudinal slide block is connected with the linear slide rail in a sliding manner; the longitudinal sliding block is connected with an L-shaped connecting plate, the upper side and the lower side of the L-shaped connecting plate are respectively connected with a transverse sliding rail, a transverse sliding block is arranged on the transverse sliding rail and is connected with the transverse sliding rail in a sliding manner, and the upper transverse sliding block and the lower transverse sliding block are connected with a steering connecting plate; the steering connecting plate is connected with the C end of the triangular force arm;
the sliding damping mechanism comprises an optical axis, a sliding block, a connecting force arm and a suspension connecting plate, wherein the connecting force arm is arranged at one end of the optical axis; the sliding block is arranged on the optical axis, a compression spring A and a compression spring B are respectively arranged on the optical axes at two sides of the sliding block, and a nut is arranged at the other end of the optical axis to limit the compression spring B; the suspension connecting plate is connected with the sliding block, and two hook bolts are symmetrically arranged on the left and right sides below the suspension connecting plate; the connecting force arm is connected with the L-shaped connecting plate.
Preferably, the worm gear reduction motor is installed on the linear guide rail device or the arm of force splint, one end of the screw rod is connected with a bevel gear A, an output shaft of the worm gear reduction motor is connected with a bevel gear B, and the bevel gear A is meshed with the bevel gear B.
Preferably, the inner side of the upper spring plate is connected with an upper optical axis fixing piece, the inner side of the lower spring plate is connected with a lower optical axis fixing piece, and the upper optical axis fixing piece and the lower optical axis fixing piece are connected together on an optical axis in a sleeved mode.
Preferably, the upper clamping plate and the lower clamping plate are connected through a triangular cushion block and a strip-shaped cushion block.
Preferably, the multi-degree-of-freedom moving device further comprises an optical axis and an optical axis connector, the ends C of the steering connecting plate and the triangular force arm are respectively sleeved on the optical axis, the two ends of the optical axis are embedded on the optical axis connector, and the two optical axis connectors are respectively connected with the steering connecting plate through bolts to connect the steering connecting plate and the triangular force arm together.
More preferably, a cushion block is arranged between the transverse sliding block and the steering connecting plate, the transverse sliding block, the cushion block and the steering connecting plate are connected through bolts, and the triangular force arm is installed on the inner side of the steering connecting plate.
Preferably, the connecting moment arm is a bending pipe.
Preferably, the number of the sliding blocks is one or more.
Preferably, the suspension connection plate is bolted to the slider.
Preferably, two ends of the compression spring A are respectively welded with the connecting force arm and the sliding block, and two ends of the compression spring B are respectively welded with the connecting force arm and the nut.
The utility model has the advantages that:
1. the utility model discloses will raise the machine and replace into small-size worm gear motor to install respectively about independent passive single spring subtract heavy mechanism on, worm gear motor can subtract the heavy value of subtracting of heavy arm about independent control rehabilitation robot according to the hemiplegia type of disease, can independently subtract heavy to hemiplegia one side according to different hemiplegia patients 'the condition, adapts to different patients' demand, improves recovered effect. The utility model discloses both sides adopt single spring to accomplish to subtract heavy, have avoided the friction and the deformation that unnecessary structure produced, triangle arm of force plate simple structure can realize the transmission of power simultaneously and the control of the spring rotatory at the fixed point to the output power.
2. The utility model discloses improve the linear slide rail structure originally, increase the degree of freedom of X direction (horizontal) and offset the horizontal force that the cable wire pull-up produced. The transverse deformation of the linear guide rail is reduced, so that the movement of the slide block in the Z direction (the combination of the transverse slide block and the longitudinal slide block) is smoother, and the weight reduction precision of the weight reducer is improved. And the motion coupling mode in two directions makes the motion of slider become smooth, has improved the travelling comfort of losing weight.
3. The utility model discloses optimize and suspend sliding damping mechanism in midair, increase the mechanism degree of freedom, make mechanism slip and circumferential direction around can, when the human body walks about, make recovered robot and human have a driven, rather than fix the patient in midair on the module. Therefore, the discomfort of the patient in the rehabilitation training can be reduced, the rehabilitation effect is improved, and the rehabilitation exercise of the patient is more comfortable. By utilizing the modularized design concept, each structure can be added, subtracted or replaced, and the corresponding module can be replaced when the part is damaged, so that the maintenance time is reduced. Increasing the possibility of subsequent development of the design.
4. The utility model discloses utilize L type worm gear speed reducer machine to replace the hoist engine, guarantee to subtract on the basis that the weight ware subtracts the heavy function, greatly reduced subtract the volume of weight ware.
5. The utility model discloses the side pipe of bending, the number of degrees of bending is easily mastered, and the precision is high.
6. The utility model discloses slide damping mechanism adopts two pressure springs can make recovered robot suspend in midair slide damping mechanism and keep at the meso position, can make after the mechanism atress and reply toward the meso position.
Drawings
Fig. 1 is a schematic structural diagram of a miniature single-spring rehabilitation robot;
FIG. 2 is a schematic structural view of a single spring weight reduction mechanism;
FIG. 3 is a front view of FIG. 2;
FIG. 4 is a schematic structural diagram of the linear slide rail device;
FIG. 5 is a schematic view of a triangular moment arm;
FIG. 6 is a schematic structural diagram of a multi-degree-of-freedom moving apparatus;
FIG. 7 is a left side view of FIG. 6;
FIG. 8 is a schematic view of a portion of a multi-degree-of-freedom moving apparatus;
FIG. 9 is a schematic structural view of an L-shaped connecting plate;
fig. 10 is a schematic view showing the structure of the suspension slide damper mechanism.
Detailed Description
To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Referring to fig. 1, the present embodiment provides a miniature single-spring rehabilitation robot, which is composed of a single-spring weight reduction mechanism 1, a multi-degree-of-freedom moving device 2 and a suspension sliding damping mechanism 3, and is mounted on a frame of the rehabilitation robot through bolts, wherein:
referring to fig. 2-3, the embodiment provides a single-spring weight reduction mechanism of a rehabilitation robot, which includes a force arm clamp 11, a triangular force arm 12, a spring 13, a linear guide rail device 14, and a worm gear speed reduction motor 15, wherein the force arm clamp 11 is composed of an upper clamp plate 111 and a lower clamp plate 112, the upper clamp plate 111 is connected with the lower clamp plate 112, and the triangular force arm 12 is installed in the force arm clamp 11; the linear slide rail device 14 is mounted on the force arm clamping plate 11, a fixing boss 141 is connected below the linear slide rail device 14, the fixing boss 141 is respectively connected with the upper clamping plate 111 and the lower clamping plate 112 through bolts, as shown in fig. 4, a screw rod 142 and a convex slider 143 are arranged on the linear slide rail device 14, the convex slider 143 is respectively connected with the screw rod 142 and the linear slide rail 144, the worm gear reducer motor 15 is mounted on the force arm clamping plate 11, the screw rod 142 is connected with an output shaft of the worm gear reducer motor 15, the worm gear reducer motor 15 drives the screw rod 142 to rotate so as to drive the convex slider 143 to move on the linear slide rail 144, two hanging rings 145 are symmetrically arranged below the convex slider 143, and the hanging rings 145 are connected with one end of the spring 13; as shown in fig. 5, the triangular force arm 12 includes an end a 121, an end B122, and an end C123, the other ends of the two springs 13 are respectively connected to the end B122 of the triangular force arm through the through holes of the upper clamp plate 111 and the lower clamp plate 112, the end a 121 is connected to the upper clamp plate 111 and the lower clamp plate 112 through bearings, that is, the end a is assembled on the bearing plate (the force arm clamp plate 11) through bearings to serve as a rotation center, the end B122 is connected to the lower end of the spring 13, and when the extension of the spring 13 is changed, the entire triangular force arm 12 is driven to rotate around the end.
Referring to fig. 6-7, the multi-degree-of-freedom moving device includes a linear slide rail 21, the linear slide rail 21 is provided with a longitudinal slide block 22, and the longitudinal slide block 22 is slidably connected with the linear slide rail 21; the longitudinal sliding block 22 is connected with an L-shaped connecting plate 23 (the structure is shown in fig. 9), the upper side and the lower side (the side) of the L-shaped connecting plate 23 are respectively connected with a transverse sliding rail 24, the transverse sliding rail 24 is provided with a transverse sliding block 25, the transverse sliding block 25 is connected with the transverse sliding rail 24 in a sliding manner, the upper transverse sliding block 25 and the lower transverse sliding block 25 are respectively connected with a steering connecting plate 26 through a cushion block 29, namely, the cushion block 29 is arranged between the transverse sliding block 25 and the steering connecting plate 26, and the transverse sliding block 25, the cushion block 29; as shown in fig. 1, the multi-degree-of-freedom moving device is installed on a rehabilitation robot frame, the steering connecting plate 26 is connected with a triangular moment arm C end 123 through an optical axis 27 and an optical axis connector 28 (the structure is shown in fig. 8), the steering connecting plate 26 and the triangular moment arm C end 123 are respectively sleeved on the optical axis 27, two ends of the optical axis 27 are nested on the optical axis connector 28, the two optical axis connectors 28 are respectively connected with the steering connecting plate 26 through bolts to connect the steering connecting plate and the triangular moment arm 12 together, and the triangular moment arm 12 is installed on the inner side of the steering connecting plate 26 (namely, between the steering connecting plate 26 and the L-shaped connecting plate 23; one surface of the L-shaped connecting plate 23 is connected with a connecting force arm 33 of the suspension sliding damping mechanism 3 (the back surface connected with the longitudinal slide block 22 is connected with the connecting force arm 33 of the suspension sliding damping mechanism 3).
Referring to fig. 10, the suspension sliding damping mechanism includes an optical axis 31, a slider 32, a connecting arm 33, and a suspension connecting plate 34, where the connecting arm 33 is a bending tube, and compared with the conventional bending method using a circular tube, the bending degree is easy to control, and the suspension sliding damping mechanism is installed at one end of the optical axis 31; the sliding blocks 32 are mounted on the optical axis 31 (the number of the sliding blocks 32 can be 1 or more), compression springs A35 and B36 are respectively mounted on the optical axis 1 on two sides of the sliding blocks 32 (the sliding blocks 32 are on the left side and the right side of the sliding blocks 32 on two sides), and nuts 37 are mounted at the other end of the optical axis 31 to limit the compression springs B36; the suspension connecting plate 34 is connected with the sliding block 32 through bolts, two hook bolts are symmetrically arranged on the left and right sides (in mirror symmetry) below the suspension connecting plate 34, and the hook bolts are used for hanging the weight reduction clothes on the suspension connecting plate 34. When in use, the suspension connecting plate 34 can perform circumferential swing adjustment and back-and-forth movement according to the position change of the shoulders in the walking process of a person.
As the preferred embodiment of the utility model, compression spring A35 both ends respectively with be connected arm of force 33, slider 32 welding, compression spring B36 both ends respectively with be connected arm of force 33, nut 37 welding. The stability is further improved.
Referring to fig. 1, the miniature single-spring rehabilitation robot is mounted on a rehabilitation robot frame through a bolt, when the miniature single-spring rehabilitation robot works, the convex slide block moves upwards along the screw rod, the extension amount of the spring is increased, the triangular force arm rotates around the end a, the end C moves upwards to drive the longitudinal slide block 22 to move upwards, and the weight reduction value is increased; the convex type slider moves downwards along the lead screw, the extension of the spring is reduced, the triangular moment arm plate rotates around the end A, the end C moves downwards to drive the longitudinal slider 22 to move downwards, and the weight reduction value is reduced.
Although the foregoing embodiments have been described, once they learn of the basic inventive concepts, those skilled in the art can make further changes and modifications to these embodiments, so that the above description is only an example of the present invention, and not intended to limit the scope of the present invention, and all changes in equivalent structures or equivalent processes using the contents of the specification and drawings, or directly or indirectly using other related technical fields, are also included in the scope of the present invention.
Claims (10)
1. The utility model provides a recovered robot of miniature single spring which characterized in that, subtracts heavy mechanism, multi freedom mobile device and suspends in midair and slide damping mechanism by single spring and constitute, wherein:
the single-spring weight reduction mechanism comprises a force arm clamping plate, a triangular force arm, a spring, a linear slide rail device and a worm gear speed reduction motor, wherein the force arm clamping plate consists of an upper clamping plate and a lower clamping plate, the upper clamping plate is connected with the lower clamping plate, and the triangular force arm is arranged in the force arm clamping plate; the linear slide rail device is installed on the force arm clamping plate, a lead screw and a convex slide block are arranged on the linear slide rail device, the convex slide block is respectively connected with the lead screw and the linear slide rail, the lead screw is connected with an output shaft of the worm and gear speed reducing motor, the worm and gear speed reducing motor drives the lead screw to rotate so as to drive the convex slide block to move on the linear slide rail, two hanging rings are symmetrically arranged below the convex slide block, and the hanging rings are connected with one end of the spring; the other ends of the two springs are respectively connected with the end B of the triangular force arm through holes in the upper clamping plate and the lower clamping plate, and the end A is connected with the upper clamping plate and the lower clamping plate through bearings;
the multi-degree-of-freedom moving device comprises a linear slide rail, wherein the linear slide rail is provided with a longitudinal slide block, and the longitudinal slide block is connected with the linear slide rail in a sliding manner; the longitudinal sliding block is connected with an L-shaped connecting plate, the upper side and the lower side of the L-shaped connecting plate are respectively connected with a transverse sliding rail, a transverse sliding block is arranged on the transverse sliding rail and is connected with the transverse sliding rail in a sliding manner, and the upper transverse sliding block and the lower transverse sliding block are connected with a steering connecting plate; the steering connecting plate is connected with the C end of the triangular force arm;
the sliding damping mechanism comprises an optical axis, a sliding block, a connecting force arm and a suspension connecting plate, wherein the connecting force arm is arranged at one end of the optical axis; the sliding block is arranged on the optical axis, a compression spring A and a compression spring B are respectively arranged on the optical axes at two sides of the sliding block, and a nut is arranged at the other end of the optical axis to limit the compression spring B; the suspension connecting plate is connected with the sliding block, and two hook bolts are symmetrically arranged on the left and right sides below the suspension connecting plate; the connecting force arm is connected with the L-shaped connecting plate.
2. The miniature single-spring rehabilitation robot according to claim 1, wherein the worm gear and worm reduction motor is mounted on the arm clamping plate.
3. The miniature single-spring rehabilitation robot according to claim 1, wherein a fixing boss is connected below the linear slide rail, and the fixing boss is respectively connected with the upper clamping plate and the lower clamping plate through bolts.
4. The miniature single-spring rehabilitation robot according to claim 1, wherein the upper splint and the lower splint are connected through a triangular cushion block and a strip-shaped cushion block.
5. The miniature single-spring rehabilitation robot according to claim 1, wherein the multi-degree-of-freedom moving device further comprises an optical axis and optical axis connectors, the ends C of the steering connecting plate and the triangular force arm are respectively sleeved on the optical axis, the two ends of the optical axis are nested on the optical axis connectors, and the two optical axis connectors are respectively connected with the steering connecting plate through bolts to connect the steering connecting plate and the triangular force arm together.
6. The miniature single-spring rehabilitation robot according to claim 5, wherein a cushion block is arranged between the transverse sliding block and the steering connecting plate, the transverse sliding block, the cushion block and the steering connecting plate are connected through bolts, and the C end of the triangular force arm is arranged on the inner side of the steering connecting plate.
7. The miniature single-spring rehabilitation robot according to claim 1, wherein the connecting force arm is a bending pipe.
8. The miniature single spring rehabilitation robot according to claim 1, wherein the number of said sliding blocks is one or more.
9. The miniature single spring rehabilitation robot according to claim 1, wherein said suspension connection plate is bolted to said slider.
10. The miniature single-spring rehabilitation robot according to claim 1, wherein two ends of the compression spring A are respectively welded with the connecting arm and the sliding block, and two ends of the compression spring B are respectively welded with the connecting arm and the nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020118286.4U CN213431476U (en) | 2020-01-19 | 2020-01-19 | Miniature single-spring rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020118286.4U CN213431476U (en) | 2020-01-19 | 2020-01-19 | Miniature single-spring rehabilitation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213431476U true CN213431476U (en) | 2021-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020118286.4U Expired - Fee Related CN213431476U (en) | 2020-01-19 | 2020-01-19 | Miniature single-spring rehabilitation robot |
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| Country | Link |
|---|---|
| CN (1) | CN213431476U (en) |
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2020
- 2020-01-19 CN CN202020118286.4U patent/CN213431476U/en not_active Expired - Fee Related
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