CN214713341U - Weight reduction system for rehabilitation robot and rehabilitation robot with same - Google Patents

Abstract

The utility model discloses a subtract heavy system and have its recovered robot for recovered robot. A weight loss system for a rehabilitation robot comprising: a bracket extending in an up-down direction; the driving device is arranged at the lower part of the bracket and comprises an output shaft, a winding wheel is fixed on the output shaft, and a rope is wound on the winding wheel; the spring device is arranged above the driving device and comprises a fixed plate, a movable plate and at least one spring, the fixed plate is arranged on the bracket, the movable plate is positioned above the fixed plate and can move up and down relative to the fixed plate, and the spring is connected between the fixed plate and the movable plate; the pulley device comprises a first pulley, at least one second pulley and a third pulley, the first pulley and the third pulley are arranged on the support and located above the spring device, the second pulley is arranged on the moving plate, and the free end of the rope sequentially bypasses the first pulley, the second pulley and the third pulley. According to the utility model discloses a subtract heavy system focus low for rehabilitation robot, the overall height is low, and is small.

Description

Weight reduction system for rehabilitation robot and rehabilitation robot with same

Technical Field

The utility model belongs to the technical field of the recovered robot technique and specifically relates to a subtract heavy system and have its recovered robot for recovered robot is related to.

Background

In the related art, the rehabilitation robot, especially a weight reduction system thereof, has a large volume, a high center of gravity and a high total height, so that the rehabilitation robot is not easy to transport and is inconvenient to get in and out of a door. In order to make the rehabilitation robot convenient to transport and to get in and out of the door, the rehabilitation robot needs to be disassembled, however, it takes time and labor cost.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. To this end, an object of the present invention is to provide a weight reduction system for a rehabilitation robot, which has a low center of gravity, a low total height, and a small volume, thereby facilitating transportation and getting in and out of a room.

Another object of the present invention is to provide a rehabilitation robot having the above weight reduction system for a rehabilitation robot.

According to the utility model discloses a subtract heavy system for recovered robot of first aspect embodiment includes: a bracket extending in an up-down direction; the driving device is arranged at the lower part of the bracket and comprises an output shaft, a reel is fixed on the output shaft, and a rope is wound on the reel; the spring device is arranged above the driving device and comprises a fixed plate, a movable plate and at least one spring, the fixed plate is arranged on the bracket, the movable plate is positioned above the fixed plate and can move up and down relative to the fixed plate, and the spring is connected between the fixed plate and the movable plate; pulley means, pulley means includes first pulley, at least one second pulley and third pulley, first pulley with the third pulley is all established just be located on the support spring assembly's top, the second pulley is established on the movable plate, the free end of rope is walked around in proper order first pulley the second pulley with the third pulley.

According to the utility model discloses a subtract heavy system for rehabilitation robot makes drive arrangement be located the lower part of support through setting up for whole focus that subtracts heavy system is low, the overall height is little, when subtracting heavy system and being applied to rehabilitation robot, can make whole rehabilitation robot's transportation convenient, has reduced dismantlement work load, and has reduced labour cost. Moreover, by arranging the driving device comprising the output shaft and fixing the winding wheel wound with the rope on the output shaft, the weight reduction system can realize quantitative weight reduction, thereby meeting different rehabilitation stages of patients. In addition, through setting up and making the spring assembly including above-mentioned fixed plate, movable plate and at least one spring, the weight reduction system can be according to the focus change of patient and do the follow-up motion, makes patient's recovered effectual.

According to some embodiments of the invention, the drive arrangement comprises: the driving motor is horizontally arranged; the speed reducer is connected with the driving motor and arranged on the lower portion of the support, the speed reducer is provided with the output shaft, the output shaft extends horizontally, and the output shaft is perpendicular to the extending direction of the driving motor.

According to some embodiments of the invention, a tension sensor is provided on a portion of the rope between the reel and the first pulley.

According to the utility model discloses a some embodiments, spring detachably connects the fixed plate with between the movable plate, wherein, be formed with a plurality of first mounting holes that horizontal interval set up on the fixed plate, be formed with a plurality of second mounting holes that horizontal interval set up on the movable plate, it is a plurality of second mounting hole and a plurality of one-to-one about the first mounting hole, the both ends of spring cooperate respectively corresponding first mounting hole with in the second mounting hole.

According to the utility model discloses a some embodiments, be equipped with the slide rail that extends along upper and lower direction on the support, be equipped with the slider on the movable plate, the movably cooperation of slider is in on the slide rail.

According to some embodiments of the present invention, the weight reduction system for a rehabilitation robot further comprises: the two travel switches are respectively positioned at two ends of the slide rail; and the two stop blocks are respectively arranged at the two ends of the slide rail so as to prevent the slide block from being separated from the end part of the slide rail.

According to some embodiments of the present invention, the pulley device further comprises a fourth pulley, the fourth pulley is provided on the bracket, the central axis of the fourth pulley is parallel to the central axis of the third pulley and is located on the same horizontal plane, and the free end of the rope is passed around the fourth pulley after the third pulley.

According to some embodiments of the utility model, a subtract heavy system for rehabilitation robot further includes the roof, the roof includes connecting portion, first installation department and second installation department, connecting portion connect the top of support, first installation department with the second installation department is all connected the neighbouring of connecting portion spring assembly's one end, just first installation department with the free end of second installation department separates each other and extends to surpass the support towards a side surface of spring assembly, first pulley is established on the first installation department, the third pulley is established on the second installation department.

According to some embodiments of the utility model, be formed with the through-hole that link up on the reel, the other end of rope passes through it is fixed through the line knot behind the through-hole.

According to the utility model discloses rehabilitation robot of second aspect embodiment, include according to the utility model discloses a subtract heavy system for rehabilitation robot of above-mentioned first aspect embodiment.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a partial schematic view of a weight loss system for a rehabilitation robot according to an embodiment of the present invention.

Fig. 2 is a schematic view of a spring device of the weight reduction system for a rehabilitation robot shown in fig. 1.

Reference numerals:

a weight loss system 100;

a drive device 1; a drive motor 11; a speed reducer 12; a first shield cover 13;

a reel 2; a through hole 21; a rope 3; a free end 31;

a spring means 4; a fixed plate 41; a first mounting hole 411; a mounting ring 412;

a moving plate 42; a second mounting hole 421; a slider 422; a spring 43; a hook portion 431;

a pulley device 5; a first pulley 51; a second pulley 52; a third pulley 53; a fourth pulley 54;

a tension sensor 6; a slide rail 7; a stopper 8; a second shutter 9;

a top plate 10; a connecting portion 101; a first mounting portion 102; a second mounting portion 103.

Detailed Description

Embodiments of the present invention are described in detail below, and the embodiments described with reference to the drawings are exemplary.

A weight loss system 100 for a rehabilitation robot according to an embodiment of the first aspect of the present invention is described below with reference to fig. 1 to 2.

As shown in fig. 1, a weight reduction system 100 for a rehabilitation robot according to an embodiment of the present invention may include a bracket (not shown), a driving device 1, a spring device 4, and a pulley device 5.

Specifically, the support extends in the up-down direction, for example, the support may extend in a direction perpendicular to the horizontal plane, providing a supporting or fixing function for other components of the weight reduction system 100 for the rehabilitation robot, such as the driving device 1 and the like.

Referring to fig. 1, the driving device 1 is disposed at the lower portion of the bracket, and since the driving device 1 has a large specific gravity in the entire weight reduction system 100, disposing the driving device 1 at the lower portion of the bracket can reduce the height of the center of gravity and the total height of the entire weight reduction system 100, and when the weight reduction system 100 is applied to a rehabilitation robot, the entire rehabilitation robot can be conveniently transported and conveniently get in and out of a door.

The drive device 1 includes an output shaft (not shown) to which a reel 2 is fixed, the reel 2 being wound with a rope 3. The drive device 1 may be used to power the operation of the weight reduction system 100. Specifically, when the driving device 1 is operated, the output shaft thereof rotates and the reels 2 on the output shaft are rotated together, so that the ropes 3 on the reels 2 can be wound in or out of the reels 2.

As shown in fig. 1-2, the spring device 4 may be disposed above the driving device 1, and the spring device 4 may include a fixed plate 41, a moving plate 42, and at least one spring 43. The fixed plate 41 is provided on the stand, the moving plate 42 is located above the fixed plate 41 and is movable up and down with respect to the fixed plate 41, and the spring 43 is connected between the fixed plate 41 and the moving plate 42. At this time, the upper end of the spring 43 is connected to the moving plate 42, and the lower end of the spring 43 is connected to the fixed plate 41. Since the spring 43 has an elastic force, when the moving plate 42 moves upward or downward, the upper end of the spring 43 also moves upward or downward accordingly.

The pulley device 5 comprises a first pulley 51, at least one second pulley 52 and a third pulley 53, the first pulley 51 and the third pulley 53 are both arranged on the support (at this time, the first pulley 51 and the third pulley 53 are both fixed pulleys) and are positioned above the spring device 4, the second pulley 52 is arranged on the moving plate 42 (at this time, the second pulley 52 is a movable pulley), and the free end 31 of the rope 3 sequentially passes around the first pulley 51, the second pulley 52 and the third pulley 53. Specifically, the free end 31 of the rope 3 first exits from the reel 2, then may travel vertically upwards to the first pulley 51 and around the first pulley 51, then downwards to the second pulley 52 and around at least one second pulley 52, then exits from the second pulley 52, then upwards to the third pulley 53 and around the third pulley 53, and finally exits downwards from the third pulley 53.

When the weight reduction system 100 is applied to a rehabilitation robot, the patient cannot stand by himself because the muscle strength of the lower limb of the patient is weak and is not enough to support the body weight of the patient, and the rehabilitation robot can assist the patient to stand. When the patient is to perform rehabilitation training on the rehabilitation robot, the free end 31 of the rope 3 may be connected to the patient to provide an upward pull to the patient. Specifically, when the drive device 1 is operated, the output shaft of the drive device 1 and the reel 2 thereon rotate in the same direction (e.g., clockwise in fig. 1), and the rope 3 makes a motion of winding around the reel 2, so that the free end 31 of the rope 3, which in turn passes around the first pulley 51, the second pulley 52, and the third pulley 53, moves upward, providing an upward pulling force to the patient. As the free end 31 of the cord 3 moves upwards, the patient in the initial position (e.g. on a chair) can be pulled upwards to the desired height at which he can stand. It will be appreciated that the weight-loss system 100 employs a combination of the drive 1 and the reel 2, which allows to quantitatively achieve different weight-loss values, according to the number of turns of the rope 3 wound into the reel 2, so as to satisfy different stages of rehabilitation of the patient.

After the patient is in the standing state, the tension of the rope 3 is maintained, so that the patient can be kept in the standing state and rehabilitation training can be performed. In the process of the rehabilitation training of the patient, for example, in the process of walking training of the patient, the gravity center of the patient can float up and down, the movable plate 42 can drive the spring 43 to move up and down relative to the fixed plate 41, and the rope 3 winds on the at least one second pulley 52 arranged on the movable plate 42, when the gravity center of the patient floats up and down, the free end 31 of the rope 3 connected with the patient can also follow the change of the gravity center of the patient to move along, so that the rehabilitation training of the patient can be carried out more smoothly, and the rehabilitation effect is better.

When the patient has completed the rehabilitation exercise, the output shaft of the drive means 1 can be rotated in the reverse direction (e.g. counter-clockwise in fig. 1) so that the rope 3 makes a winding movement out of the reel 2, the free end 31 of the rope 3 moving downwards, lowering the patient to the initial position (e.g. a chair).

According to the utility model discloses a subtract heavy system 100 for rehabilitation robot makes drive arrangement 1 be located the lower part of support through the setting for whole focus that subtracts heavy system 100 is low, the overall height is little, when subtracting heavy system 100 and being applied to rehabilitation robot, can make whole rehabilitation robot's transportation convenient, has reduced dismantlement work load, and has reduced labour cost. Moreover, by providing the driving device 1 including the output shaft on which the reel 2 wound with the rope 3 is fixed, the weight reduction system 100 can achieve a quantitative weight reduction, thereby satisfying different stages of rehabilitation of the patient. In addition, by providing the spring device 4 including the fixed plate 41, the moving plate 42 and the at least one spring 43, the weight reduction system 100 can follow the movement according to the change of the center of gravity of the patient, so that the rehabilitation effect of the patient is good.

According to some embodiments of the present invention, as shown in fig. 1, the driving device 1 includes a driving motor 11 and a speed reducer 12, and the speed reducer 12 is connected to the driving motor 11. So set up, drive arrangement 1's compact structure, small to practice thrift the space. Further, a speed reducer 12 is provided at a lower portion of the bracket, and the speed reducer 12 has the output shaft. The reel 2 is now placed in the lower part of the stand so that the speed at which the rope 3 is wound into or out of the reel 2 can be relatively slow and stable, and so the speed at which the free end 31 of the rope 3 moves up or down is relatively slow and stable, which can improve the safety and comfort of the patient when pulling up or lowering down. Further, referring to fig. 1, the driving motor 11 is horizontally disposed, the output shaft horizontally extends, and the output shaft is perpendicular to the extending direction of the driving motor 11. With such an arrangement, the spatial layout of the whole driving device 1 is reasonable, and the problem that the layout of other components of the rehabilitation robot is affected due to the overlarge size of the driving device 1 in one direction (for example, the extending direction of the driving motor 11 in the horizontal plane or the extending direction of the output shaft in the horizontal plane) can be avoided.

The driving device 1 may be connected to a microcontroller (not shown) through a Controller Area Network (CAN) bus, so that the microcontroller may control the driving device 1 to operate through the CAN bus.

In some optional embodiments of the present invention, the output shaft of the driving device 1 is in interference fit with the reel 2, so that the output shaft and the reel 2 can rotate synchronously, and the reel 2 can be prevented from shaking, thereby ensuring the working stability of the weight reduction system 100.

According to some embodiments of the invention, as shown in fig. 1, the free end of the output shaft has a first stop cap 13, the first stop cap 13 being located on the side of the reel 2 remote from the reducer 12 to prevent the reel 2 from coming out of the free end of the output shaft. So set up, can avoid reel 2 to drop at the course of operation especially long-time course of operation, guarantee that recovered robot can normally work, and can avoid causing the injury to patient or other people on every side, improve whole recovered robot's safety in utilization.

Alternatively, referring to fig. 1, the first shield cover 13 is an annular structure extending in the circumferential direction of the output shaft. The annular first blocking cover 13 has a regular structure and a simple manufacturing process. Of course, the present invention is not limited thereto, and the first blocking cover 13 may have other shapes, for example, the outer contour of the first blocking cover 13 is square (not shown) or the like.

Further alternatively, as shown in fig. 1, the first flap 13 has a smaller diameter than the reel 2, and so arranged, the first flap 13 can achieve prevention of the reel 2 from coming off the output shaft while saving material, so that cost can be saved.

According to some embodiments of the present invention, as shown in fig. 1, a tension sensor 6 is provided on a portion of the rope 3 between the reel 2 and the first pulley 51. With such an arrangement, on the one hand, the tension sensor 6 can measure the tension of the rope 3, and the tension of the rope 3 is prevented from exceeding the maximum value which can be borne by the tension sensor, so that the weight-loss system 100 is ensured to safely pull the patient to a required position; on the other hand, by providing the tension sensor 6 between the reel 2 and the first pulley 51, since the reel 2 is located at the lower portion of the bracket, and the section of the rope 3 between the reel 2 and the first pulley 51 is long, it is possible to ensure a sufficient stroke of the tension sensor 6, prevent a phenomenon that the patient is not yet pulled to a desired position and the tension sensor 6 has touched other parts, and prevent the tension sensor 6 from affecting smooth sliding of the rope 3 on the pulley device 5, ensuring safe operation of the entire rehabilitation robot.

Optionally, the tension sensor 6 is disposed adjacent to the first pulley 51. Thereby, it is possible to ensure that the tension sensor 6 has a sufficient downward movement stroke during pulling up of the patient, without easily touching the reel 2.

According to some alternative embodiments of the present invention, referring to fig. 1-2, the spring 43 is removably connected between the fixed plate 41 and the moving plate 42. At this time, the spring 43 is detachably connected to the fixed plate 41 and detachably connected to the moving plate 42. With the arrangement, the springs 43 with proper quantity can be arranged according to the tension of the rope 3 or the weight reduction amount of the patient required by the weight reduction system 100, so that the situation that the force borne by the springs 43 exceeds the bearing value due to too few springs 43 can be avoided, the springs 43 are prevented from being damaged, and the safety of the patient is ensured. Moreover, when the spring 43 is damaged, the spring 43 can be conveniently replaced, and the operation is simple and easy. Further, as shown in fig. 1-2, a plurality of first mounting holes 411 are formed on the fixed plate 41 at intervals, a plurality of second mounting holes 421 are formed on the moving plate 42 at intervals, the first mounting holes 411 and the second mounting holes 421 correspond to each other one by one, and two ends of the spring 43 are respectively fitted in the corresponding first mounting holes 411 and the corresponding second mounting holes 421. So set up, on the one hand, facilitate increasing and reducing the quantity of the spring 43; on the other hand, it can be ensured that the elastic force direction of the spring 43 is kept vertical during the operation of the weight reduction system 100 for the rehabilitation robot, so that the spring 43 is not twisted, and the work efficiency of the weight reduction system 100 for the rehabilitation robot is improved. In the description of the present invention, "a plurality" means two or more. It is understood that three first mounting holes 411 and three second mounting holes 421 are shown in fig. 1 for illustrative purposes, but it is obvious that a person of ordinary skill after reading the technical solution of the present application can understand that the solution is applied to two or more first mounting holes 411 and second mounting holes 421, and this also falls into the protection scope of the present invention.

Alternatively, the plurality of first mounting holes 411 are uniformly spaced, and the plurality of second mounting holes 421 are correspondingly uniformly spaced. With such an arrangement, after selecting a proper number of springs 43 according to the pulling force to be borne by the rope 3 or the weight reduction amount required by the weight reduction system 100, the operator can relatively uniformly connect the springs 43 to the fixed plate 41 and the movable plate 42, so that the fixed plate 41 and the movable plate 42 are relatively uniformly stressed. For example, in the example of fig. 1 and 2, one of the two springs 43 is connected to the leftmost first mounting hole 411 and the leftmost second mounting hole 421, and the other of the two springs 43 is connected to the rightmost first mounting hole 411 and the rightmost second mounting hole 421, so that the entire fixed plate 41 is uniformly pulled by the two springs 43 and the entire moving plate 42 is uniformly pulled by the two springs 43.

Further, as shown in fig. 2, the first mounting hole 411 and the second mounting hole 421 are each provided with a mounting ring 412, and both ends of the spring 43 are each provided with a hook 431, and the hooks 431 are detachably engaged with the mounting rings 412 so that the spring 43 is detachably connected between the fixed plate 41 and the moving plate 42. With such an arrangement, the detachable connection of the spring 43 to the fixed plate 41 and the moving plate 42 is simple, and the operation efficiency of the operator can be improved.

Alternatively, the mounting ring 412 is detachable from the first and second mounting holes 411 and 421, and thus the number of the mounting rings 412 can be saved, thereby saving cost.

Optionally, the mounting ring 412 is an omega ring or a D-ring, or the like.

According to some embodiments of the present invention, referring to fig. 1, the support is provided with a slide rail 7 extending along the vertical direction, the moving plate 42 is provided with a slider 422, and the slider 422 is movably fitted on the slide rail 7. With such an arrangement, during the operation of the weight reduction system 100, for example, when the weight reduction system 100 pulls a patient upwards, or puts the patient downwards to an initial position, or when the patient performs a walking training, the moving plate 42 drives the slider 422 to correspondingly slide upwards or downwards on the slide rail 7, and the end of the spring 43 connected with the moving plate 42 correspondingly moves upwards or downwards, so that the moving plate 42 and the spring 43 stably move in the up-and-down direction without shaking easily, the operation of the whole weight reduction system 100 is ensured to be smooth, and the operation stability and the use safety of the whole rehabilitation robot are improved.

According to a further embodiment of the present invention, the weight reduction system 100 for a rehabilitation robot further comprises: two travel switches (not shown) respectively located at both ends of the slide rail 7; and/or two stoppers 8, wherein the two stoppers 8 are respectively disposed at two ends of the slide rail 7 to prevent the stoppers 422 from coming off from the ends of the slide rail 7. Specifically, the weight reduction system 100 for a rehabilitation robot may include only two stroke switches, and when the slider 422 slides up and down on the slide rail 7 and touches any one of the two stroke switches, the stroke switch is triggered, the slider 422 may stop sliding, and the slider 422 may also be prevented from coming out of the end of the slide rail 7. Or, the weight reduction system 100 for the rehabilitation robot may only include two stoppers 8, so as to prevent the slider 422 from coming off from any end of the slide rail 7 when the slider 422 slides up and down between the two ends of the slide rail 7, thereby improving the safety of the weight reduction system 100. Or both ends of the slide rail 7 are provided with a stop block 8 and a travel switch. Specifically, travel switch and stop block 8 are sequentially arranged at the upper end of the slide rail 7 from bottom to top, and travel switch and stop block 8 are sequentially arranged at the lower end of the slide rail 7 from top to bottom. When the sliding block 422 slides up to the upper end of the sliding rail 7, the sliding block 422 may first touch the travel switch, and if the travel switch is triggered, the sliding block 422 stops sliding. If the travel switch fails and cannot be triggered, the sliding block 422 can be stopped by the stop 8, so that the sliding block 422 can be effectively prevented from being pulled out from the end of the sliding rail 7. The case where the slider 422 slides downward is similar to the case where the slider 422 slides upward. Accordingly, the travel switch serves as a first level of security for preventing the slider 422 from coming off the slide rail 7, and the stopper 8 serves as a second level of security for preventing the slider 422 from coming off the slide rail 7. The double guarantee can further prevent the sliding block 422 from being separated from the sliding rail 7, thereby further ensuring the working safety of the rehabilitation robot.

According to some embodiments of the present invention, pulley arrangement 5 further comprises a fourth pulley 54, fourth pulley 54 is provided on the support, the central axis of fourth pulley 54 is parallel to the central axis of third pulley 53 and is located in the same horizontal plane, and free end 31 of rope 3 passes around fourth pulley 54 after passing around third pulley 53. The first pulley 51, the third pulley 53 and the fourth pulley 54 arranged in this way are arranged on the bracket, so that the pulley device 5 has low work loss and high efficiency.

Alternatively, there are two second pulleys 52, two second pulleys 52 are horizontally disposed at intervals, and the two second pulleys 52 are vertically opposite to the first pulley 51 and the third pulley 53. At this point the free ends 31 of the ropes 3 run upwards and over the first pulley 51, then turn 180 ° downwards to one second pulley 52, are led out via the one second pulley 52 turning 90 °, then to the other second pulley 52, are led out upwards via the other second pulley 52 turning 90 °, then to the third pulley 53 and are led out horizontally via the third pulley 53, finally to the fourth pulley 54 and are led out vertically downwards after turning 90 ° via the fourth pulley 54. With the arrangement, the layout of the rope 3 wound on the whole pulley device 5 is clear, the work loss of the whole pulley device 5 is further reduced, and the work efficiency is further improved.

According to some embodiments of the present invention, referring to fig. 1, the weight reduction system 100 for a rehabilitation robot further includes at least one second cover 9, the second cover 9 being provided on at least one of the first pulley 51, the second pulley 52, and the third pulley 53, the second cover 9 covering at least a part of a circumferential direction of the at least one of the first pulley 51, the second pulley 52, and the third pulley 53. With this arrangement, the rope 3 wound around at least one of the first pulley 51, the second pulley 52, and the third pulley 53 can be prevented from coming off the at least one pulley, and injury to a patient performing rehabilitation training on the rehabilitation robot can be prevented.

Further, as shown in fig. 1, there are a plurality of second covers 9, and the plurality of second covers 9 are provided on the first pulley 51, the second pulley 52, the third pulley 53, and the fourth pulley 54, respectively. With this arrangement, the rope 3 is further prevented from coming off any one of the first pulley 51, the second pulley 52, the third pulley 53, and the fourth pulley 54, and the safety of the rehabilitation robot in use is further improved.

According to some embodiments of the present invention, referring to fig. 1, the weight reduction system 100 for a rehabilitation robot further includes a top plate 10, the top plate 10 includes a connecting portion 101, a first mounting portion 102 and a second mounting portion 103, the connecting portion 101 is connected to the top of the bracket, the first mounting portion 102 and the second mounting portion 103 are both connected to one end of the connecting portion 101 adjacent to the spring device 4, free ends of the first mounting portion 102 and the second mounting portion 103 are spaced apart from each other and extend to a side surface facing the spring device 4 beyond the bracket, the first pulley 51 is disposed on the first mounting portion 102, and the third pulley 53 is disposed on the second mounting portion 103. So set up, can make the removal of rope 3 more smooth and easy, avoid rope 3 touching the support at the removal in-process.

Optionally, the top plate 10 may be Y-shaped, and the top plate 10 is hollow, light and low in cost.

According to some embodiments of the present invention, the reel 2 is formed with a through hole 21, and the other end of the rope 3 is fixed by a wire clip after passing through the through hole 21. So set up, can guarantee that rope 3 is around establishing on reel 2 firmly, prevent that rope 3 from the unexpected dropout of reel 2, guarantee the operational safety of system 100 that subtracts to weigh.

Optionally, the rope 3 is a steel wire rope. The steel wire rope has high strength, light dead weight and stable work, and is not easy to be broken off suddenly, so the work is reliable.

Alternatively, the thread passing buckle is a claw buckle, which can stably fix the rope 3 to the reel 2.

A rehabilitation robot (not shown) according to an embodiment of the second aspect of the present invention may include a weight loss system 100 for a rehabilitation robot according to an embodiment of the first aspect of the present invention.

From this, according to the utility model discloses rehabilitation robot, through losing heavy system 100 including, rehabilitation robot's focus height and overall height all obtain reducing, and the transportation is convenient and the business turn over door is convenient.

Alternatively, the rehabilitation robot may include two weight-reducing systems 100, with a beam fixedly connected at the top of the legs of the two weight-reducing systems 100. So set up, rehabilitation robot's work efficiency is high, and makes the patient further improve at the comfort of the in-process of being pulled upwards.

Other constructions and operations of the weight loss system 100 for a rehabilitation robot according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "radial", "circumferential", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

In the description herein, references to the description of the terms "some embodiments," "examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. A weight loss system for a rehabilitation robot, comprising:

a bracket extending in an up-down direction;

the driving device is arranged at the lower part of the bracket and comprises an output shaft, a reel is fixed on the output shaft, and a rope is wound on the reel;

the spring device is arranged above the driving device and comprises a fixed plate, a movable plate and at least one spring, the fixed plate is arranged on the bracket, the movable plate is positioned above the fixed plate and can move up and down relative to the fixed plate, and the spring is connected between the fixed plate and the movable plate;

pulley means, pulley means includes first pulley, at least one second pulley and third pulley, first pulley with the third pulley is all established just be located on the support spring assembly's top, the second pulley is established on the movable plate, the free end of rope is walked around in proper order first pulley the second pulley with the third pulley.

2. The weight loss system for a rehabilitation robot according to claim 1, wherein said driving means includes:

the driving motor is horizontally arranged;

the speed reducer is connected with the driving motor and arranged on the lower portion of the support, the speed reducer is provided with the output shaft, the output shaft extends horizontally, and the output shaft is perpendicular to the extending direction of the driving motor.

3. The weight loss system for a rehabilitation robot according to claim 1, wherein a portion of said rope between said reel and said first pulley is provided with a tension sensor.

4. The weight reduction system for a rehabilitation robot according to claim 1, wherein the spring is detachably connected between the fixed plate and the movable plate, wherein a plurality of first mounting holes are formed in the fixed plate at intervals, a plurality of second mounting holes are formed in the movable plate at intervals, the plurality of second mounting holes and the plurality of first mounting holes are in one-to-one correspondence in a vertical direction, and two ends of the spring are respectively fitted in the corresponding first mounting holes and the second mounting holes.

5. The weight reduction system for a rehabilitation robot according to claim 1, wherein a slide rail extending in an up-down direction is provided on the bracket, and a slider is provided on the moving plate, the slider being movably fitted on the slide rail.

6. The weight loss system for a rehabilitation robot of claim 5, further comprising:

the two travel switches are respectively positioned at two ends of the slide rail; and/or

And the two stop blocks are respectively arranged at the two ends of the slide rail to prevent the slide block from being separated from the end part of the slide rail.

7. The weight loss system for a rehabilitation robot according to any one of claims 1-6, wherein said pulley device further comprises:

the fourth pulley is arranged on the support, the central axis of the fourth pulley is parallel to the central axis of the third pulley and is located in the same horizontal plane, and the free end of the rope bypasses the fourth pulley after the third pulley.

8. The weight loss system for a rehabilitation robot according to any one of claims 1-6, further comprising:

the roof, the roof includes connecting portion, first installation department and second installation department, connecting portion connect the top of support, first installation department with the second installation department is all connected the neighbouring of connecting portion spring assembly's one end, just first installation department with the free end of second installation department separates each other and extends to surpass the support towards spring assembly's a side surface, first pulley is established on the first installation department, the third pulley is established on the second installation department.

9. The weight loss system for a rehabilitation robot according to any one of claims 1-6, wherein a through hole is formed in the reel, and the other end of the rope is fixed by a thread passing buckle after passing through the through hole.

10. A rehabilitation robot characterized by comprising the weight reduction system for a rehabilitation robot according to any one of claims 1-9.

Images