CN216455927U

CN216455927U - Length adjusting device with self-locking capability

Info

Publication number: CN216455927U
Application number: CN202120396060.5U
Authority: CN
Inventors: 柳锴; 何杰; 李金华; 熊蔡华; 孙容磊
Original assignee: Hubei Yingtebo Intelligent Machine Co ltd
Current assignee: Hubei Yingtebo Intelligent Machine Co ltd
Priority date: 2021-02-23
Filing date: 2021-02-23
Publication date: 2022-05-10
Anticipated expiration: 2031-02-23

Abstract

The utility model relates to the technical field of rehabilitation medical equipment, in particular to a length adjusting device with self-locking capacity, which comprises an adjusting handle, a length adjusting and self-locking mechanism and a fixed base, wherein the adjusting handle is arranged on the fixed base; the adjusting handle is fixed on the length adjusting and self-locking mechanism and used for controlling unlocking and locking of the length adjusting and self-locking mechanism, and the fixed base is used for fixing the length adjusting and self-locking mechanism. The utility model can be widely used for adjusting the shoulder width of the upper limb double-arm rehabilitation robot, can realize continuous stepless symmetrical length adjustment, has self-locking capability, ensures that the rehabilitation robot can adapt to the shoulder width of different patients, improves the applicability of the rehabilitation robot to different patients, and ensures the effective performance of rehabilitation training.

Description

Length adjusting device with self-locking capability

Technical Field

The utility model relates to the technical field of rehabilitation medical equipment, in particular to a length adjusting device with self-locking capability.

Background

The rehabilitation robot is used as a medical rehabilitation training device and can assist patients with limb movement function damage caused by diseases or accidents to carry out rehabilitation training. Compared with a rehabilitation therapist for assisting a patient to perform rehabilitation training in a one-to-one mode, the rehabilitation robot has the advantages of being rich in action modes, high in action repetition precision, accurate and controllable in action and the like.

According to the different participation degrees of limbs, the rehabilitation training of the upper limb is divided into unilateral training and bilateral training. During the early rehabilitation treatment process of the bilateral training, the subjective participation degree of the rehabilitation training of a patient can be improved in a mode that the healthy side drives the affected side, and the treatment effect is further enhanced; in the middle and later period rehabilitation treatment process, the coordinated movement ability of the two arms can be trained in a mode of linkage of the two arms, so that the patient can recover the self-care ability of life in the early period. Generally, under the guidance and supervision of a physical therapist, the dual-arm rehabilitation robot can effectively assist a patient to complete bilateral rehabilitation training. In the use process, the distance between the shoulder joints of the double-arm rehabilitation robot needs to be matched with the shoulder width of a patient, the center of the shoulder joint of the mechanical arm needs to be aligned with the center of the shoulder joint of the patient, and otherwise the comfort of the rehabilitation training of the patient is influenced and even the patient is injured. In order to adapt to patients with different body sizes, improve the adaptability of the rehabilitation robot and effectively assist the rehabilitation of the patients, the width between the shoulders of the double-arm exoskeleton rehabilitation robot needs to be continuously and steplessly adjusted symmetrically, and the shoulder joints can be locked by adjusting the width to a proper length so as to keep the distance between the shoulder joints of the two mechanical arms unchanged. To this end, we propose a length adjustment device with self-locking capability.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a length adjusting device with self-locking capability, which is used for adjusting the distance between shoulder joints of a double-arm rehabilitation robot of an upper limb so as to adapt to the shoulder widths of different patients.

In order to achieve the purpose, the utility model provides the following technical scheme: a length adjusting device with self-locking capability comprises an adjusting handle, a length adjusting and self-locking mechanism and a fixed base; the adjusting handle is fixed on the length adjusting and self-locking mechanism and used for controlling unlocking and locking of the length adjusting and self-locking mechanism, and the fixed base is used for fixing the length adjusting and self-locking mechanism;

the length adjusting and self-locking mechanism comprises an upper moving block, a worm, a linear guide rail limiting block, a vertical transmission shaft, a worm wheel, a lower moving block, a gear, a horizontal transmission shaft, a rack, a linear guide rail and a sliding block;

the adjusting handle is fixed at the upper end of the vertical transmission shaft through a set screw, the adjusting handle and the vertical transmission shaft can coaxially rotate, and the worm gear is coaxially fixed on the horizontal transmission shaft and is mutually meshed with the worm gear;

the gear is coaxially fixed on the horizontal transmission shaft and is meshed with the upper rack and the lower rack, the upper rack and the lower rack are parallel to each other and are installed along the horizontal direction, the front surfaces of the upper rack and the lower rack are provided with installation holes along the horizontal direction and are respectively used for installing the upper moving block and the lower moving block, and the front surfaces of the upper slider and the lower slider are respectively provided with installation holes and are respectively used for being fixed on the rear surfaces of the upper moving block and the lower moving block;

two upper and lower sliders are installed respectively on the front surface of two upper and lower linear guide, linear guide is symmetrical about horizontal drive shaft from top to bottom and is fixed in rear fixed plate medial surface by the linear guide stopper, left side mounting panel and right side mounting panel medial surface coincide with two upper and lower linear guide's both ends about respectively, the guide stopper is located two upper and lower linear guide's both ends about respectively, is the symmetric distribution.

The fixed base comprises a U-shaped fixed plate, a left side sealing appearance, a left side mounting plate, a rear side fixed plate, a right side sealing appearance, a right side mounting plate and a bearing fixed block; mounting holes are reserved in the upper side plate and the lower side plate of the U-shaped fixing plate and used for mounting bearing fixing blocks, the upper side plate and the lower side plate of the U-shaped fixing plate are fixed on the rear side fixing plate, mounting holes are reserved in the inner sides of the left mounting plate and the right mounting plate and used for mounting the bearing fixing blocks, the left mounting plate and the right mounting plate are respectively fixed on the left side and the right side of the rear side fixing plate, and the left side sealing appearance and the right side sealing appearance are symmetrically fixed on the left side and the right side of the U-shaped fixing plate.

Preferably, the upper end and the lower end of the vertical transmission shaft are coaxially mounted with the deep groove ball bearings respectively, the bearing fixing block is provided with a mounting hole, and the upper deep groove ball bearing and the lower deep groove ball bearing are coaxially fixed in the bearing fixing block.

Preferably, the front end and the rear end of the horizontal transmission shaft are coaxially mounted with the deep groove ball bearings, and the deep groove ball bearings at the front end and the rear end are coaxially fixed in the bearing fixing block.

Compared with the prior art, the utility model has the following beneficial effects:

the length adjusting device has the advantages of being simple in structure, convenient to operate, large in length adjusting range and reliable in performance, being capable of being used as a special length adjusting module to be used for adjusting the shoulder width of the upper limb double-arm exoskeleton rehabilitation robot or other mechanical devices needing to adjust the length, improving applicability of the upper limb double-arm exoskeleton rehabilitation robot to different patients and improving utilization rate of the robot.

Drawings

FIG. 1 is a schematic view of a front integral axial structure of the length adjustment device with self-locking capability according to the present invention;

FIG. 2 is a schematic view of a rear view of an overall axial structure of the length adjustment device with self-locking capability according to the present invention;

fig. 3 is a schematic view of the internal structure after hiding the left side sealing appearance, the right side sealing appearance and the U-shaped fixing plate.

In the figure: 1. an adjusting handle; 2. a length adjustment and self-locking mechanism; 201. moving the block upwards; 202. a worm; 203. a deep groove ball bearing; 204. a linear guide rail limiting block; 205. a vertical drive shaft; 206. a worm gear; 207. a lower moving block; 208. a gear; 209. a horizontal transmission shaft; 210. a rack; 211. a linear guide rail; 212. a slider; 3. a fixed base; 301. a U-shaped fixing plate; 302. left side seal appearance; 303. A left mounting plate; 304. a rear side fixing plate; 305. right side seal appearance; 306. a right mounting plate; 307. bearing fixed block.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, the present application provides a length adjustment device with self-locking capability, which comprises an adjustment handle 1, a length adjustment and self-locking mechanism 2, and a fixed base 3. The adjusting handle 1 is fixed on the length adjusting and self-locking mechanism 2 and used for controlling the length adjusting and self-locking mechanism 2, and the fixed base 3 is used for fixing the length adjusting and self-locking mechanism 2.

As shown in fig. 2, the fixed base 3 includes a U-shaped fixed plate 301, a left side sealing appearance 302, a left side mounting plate 303, a rear side fixed plate 304, a right side sealing appearance 305, a right side mounting plate 306, and a bearing fixing block 307; mounting holes are reserved in the upper side plate and the lower side plate of the U-shaped fixing plate 301 and used for mounting a bearing fixing block 307, the upper side plate and the lower side plate of the U-shaped fixing plate 301 are fixed on the rear fixing plate 304, mounting holes are reserved in the inner sides of the left mounting plate 303 and the right mounting plate 306 and used for mounting the bearing fixing block 307, the left mounting plate 303 and the right mounting plate 306 are respectively fixed on the left side and the right side of the rear fixing plate 304, and the left sealing appearance 302 and the right sealing appearance 305 are symmetrically fixed on the left side and the right side of the U-shaped fixing plate 301.

As shown in fig. 3, the length adjusting and self-locking mechanism 2 includes an upper moving block 201, a worm 202, a deep groove ball bearing 203, a linear guide rail limiting block 204, a vertical transmission shaft 205, a worm gear 206, a lower moving block 207, a gear 208, a horizontal transmission shaft 209, a rack 210, a linear guide rail 211, and a slider 212. An adjusting handle 1 is fixed at the upper end of a vertical transmission shaft 205 through a set screw, the adjusting handle 1 and the vertical transmission shaft 205 can coaxially rotate, the upper end and the lower end of the vertical transmission shaft 205 are respectively coaxially installed with a deep groove ball bearing 203, the bearing fixing block 307 is provided with an installation hole, the upper deep groove ball bearing 203 and the lower deep groove ball bearing 203 can be coaxially fixed in the bearing fixing block 307, a worm gear 206 is coaxially fixed on a horizontal transmission shaft 209 and is mutually meshed with the worm gear 206, the front end and the rear end of the horizontal transmission shaft 209 are coaxially installed with the deep groove ball bearing 203, the front end and the rear end of the deep groove ball bearing 203 are coaxially fixed in the bearing fixing block 307, a gear 208 is coaxially fixed on the horizontal transmission shaft 209 and is mutually meshed with an upper rack 210 and a lower rack 210, the upper rack 210 and the lower rack 210 are mutually parallel and are installed along the horizontal direction, the front surfaces of the upper rack 210 and the lower rack 210 are respectively provided with installation holes for installing an upper moving block 201 and a lower moving block 207, the front surfaces of the upper slider 212 and the lower slider are respectively provided with installation holes, the upper and lower sliding blocks 212 are respectively fixed on the rear surfaces of the upper moving block 201 and the lower moving block 207, the upper and lower sliding blocks 212 are respectively installed on the front surfaces of the upper and lower linear guide rails 211, the linear guide rails 211 are vertically symmetrically arranged about the horizontal transmission shaft 209 and are fixed on the inner side surfaces of the rear fixing plates 304 by the linear guide rail limiting blocks 204, the inner side surfaces of the left mounting plate 303 and the right mounting plate 306 are respectively coincided with the left and right ends of the upper and lower linear guide rails 211, and the guide rail limiting blocks are respectively located at the left and right ends of the upper and lower linear guide rails 211 and are symmetrically distributed.

The working principle is as follows:

when the length needs to be increased, the adjustment handle 1 is rotated in a direction such that the worm 202 drives the worm wheel 206 to rotate clockwise. The vertical transmission shaft 205 and the worm 202 are driven to coaxially rotate by continuously rotating the adjusting handle 1 in the same direction, the worm 202 and the worm wheel 206 are meshed with each other, the worm wheel 206 rotates clockwise and drives the horizontal transmission shaft 209 and the gear 208 to coaxially rotate, the gear 208 is meshed with the upper rack 210 and the lower rack 210 and respectively drives the upper rack 210 and the upper moving block 201 to horizontally move rightwards along the upper linear guide rail 211, the lower rack 210 and the lower moving block 207 to horizontally move leftwards along the lower linear guide rail 211, so that the distance between the left end and the right end of the upper moving block 201 and the lower moving block 207 is gradually and symmetrically increased, when the distance is increased to a proper position, the adjusting handle 1 is stopped to stop moving the upper moving block 201 and the lower moving block 207, and at the moment, no relative motion between the worm wheel 206 and the worm 202 is in a self-locking state.

Similarly, when the length needs to be reduced, the rotation direction of the adjustment handle 1 should be such that the worm 202 drives the worm wheel 206 to rotate counterclockwise. The vertical transmission shaft 205 and the worm 202 are driven to coaxially rotate by continuously rotating the adjusting handle 1, the worm 202 and the worm wheel 206 are meshed with each other, the worm wheel 206 rotates anticlockwise and drives the horizontal transmission shaft 209 and the gear 208 to coaxially rotate, the gear 208 is meshed with the upper rack 210 and the lower rack 210 and respectively drives the upper rack 210 and the upper moving block 201 to horizontally move leftwards along the upper linear guide rail 211, the lower rack 210 and the lower moving block 207 to horizontally move rightwards along the lower linear guide rail 211, the distance between the left end and the right end of the upper moving block 201 and the lower moving block 207 is gradually and symmetrically reduced, when the distance is reduced to a proper position, the adjusting handle 1 is stopped to rotate, the upper moving block 201 and the lower moving block 207 are stopped to move, and at the moment, no relative motion between the worm wheel 206 and the worm 202 is in a self-locking state.

In the technical scheme, the automatic adjusting device can realize continuous, stepless and symmetrical length adjusting functions, has self-locking capacity, does not need an additional locking device, has the characteristics of simple structure, convenience in operation, large length adjusting range and reliable performance, can be used as a special length adjusting module for an adjusting device for the shoulder width of the upper limb double-arm exoskeleton rehabilitation robot or other mechanical devices needing to adjust the length, can improve the applicability of the upper limb double-arm exoskeleton rehabilitation robot to different patients, and improves the utilization rate of the robot.

The length adjusting and self-locking mechanism 2 adopts the engagement of the upper and lower racks 210 and the gear 208, the adjusting handle 1 can rotate continuously at any angle to drive the worm 202 to rotate continuously at any angle and further drive the worm wheel 206 to rotate continuously at any angle, the gear 208 can rotate coaxially with the worm wheel 206 at any angle and further drive the upper and lower racks 210 to move symmetrically at any distance continuously in the horizontal direction, thereby driving the moving block to move symmetrically at any distance continuously and further realize the continuous and stepless symmetric adjustment of the length between the upper moving block 201 and the lower moving block 207, the rotating directions of the adjusting handle 1 are different, the length increase or decrease can be realized, and the lengths of the moving block and the upper and lower racks 210 can be increased to increase the length adjusting range of the device under the permission of the structural strength, when the adjustment is finished, the worm 202 is self-locked relative to the worm wheel 206, thereby enabling the gear 208 and the racks 210 to move relatively, the self-locking of the device is realized.

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 utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A length adjustment device that possesses auto-lock ability which characterized in that: comprises an adjusting handle (1), a length adjusting and self-locking mechanism (2) and a fixed base (3); the adjusting handle (1) is fixed on the length adjusting and self-locking mechanism (2) and used for controlling unlocking and locking of the length adjusting and self-locking mechanism (2), and the fixed base (3) is used for fixing the length adjusting and self-locking mechanism (2);

the length adjusting and self-locking mechanism (2) comprises an upper moving block (201), a worm (202), a linear guide rail limiting block (204), a vertical transmission shaft (205), a worm wheel (206), a lower moving block (207), a gear (208), a horizontal transmission shaft (209), a rack (210), a linear guide rail (211) and a sliding block (212);

the fixed base (3) comprises a U-shaped fixed plate (301), a left side sealing appearance (302), a left side mounting plate (303), a rear side fixed plate (304), a right side sealing appearance (305), a right side mounting plate (306) and a bearing fixed block (307);

the adjusting handle (1) is fixed at the upper end of the vertical transmission shaft (205) through a set screw, the adjusting handle (1) and the vertical transmission shaft (205) can coaxially rotate, and the worm wheel (206) is coaxially fixed on the horizontal transmission shaft (209) and is meshed with the worm wheel (206);

the gear (208) is coaxially fixed on a horizontal transmission shaft (209) and is meshed with an upper rack (210) and a lower rack (210), the upper rack (210) and the lower rack (210) are parallel to each other and are installed along the horizontal direction, mounting holes are formed in the front surfaces of the upper rack (210) and the lower rack (210) along the horizontal direction and are used for mounting an upper moving block (201) and a lower moving block (207) respectively, and mounting holes are formed in the front surfaces of an upper sliding block (212) and a lower sliding block (212) and are used for being fixed on the rear surfaces of the upper moving block (201) and the lower moving block (207) respectively;

the upper and lower sliding blocks (212) are respectively arranged on the front surfaces of the upper and lower linear guide rails (211), the linear guide rails (211) are vertically symmetrically arranged relative to the horizontal transmission shaft (209) and are fixed on the inner side surface of the rear fixing plate (304) by linear guide rail limiting blocks (204), the inner side surfaces of the left mounting plate (303) and the right mounting plate (306) are respectively superposed with the left end and the right end of the upper and lower linear guide rails (211), and the guide rail limiting blocks are respectively positioned at the left end and the right end of the upper and lower linear guide rails (211) and are symmetrically distributed;

the mounting hole is left to curb plate about U type fixed plate (301) for installation bearing fixed block (307), curb plate is fixed in rear side fixed plate (304) about U type fixed plate (301), the mounting hole is left to left side mounting panel (303) and right side mounting panel (306) inboard for installation bearing fixed block (307), left side mounting panel (303) and right side mounting panel (306) are fixed in rear side fixed plate (304) left and right sides respectively, left side sealed outward appearance (302) and right side sealed outward appearance (305) symmetry are fixed in U type fixed plate (301) left and right sides.

2. A length adjustment device with self-locking capability according to claim 1, characterized in that: the upper end and the lower end of the vertical transmission shaft (205) are coaxially mounted with the deep groove ball bearings (203) respectively, the bearing fixing block (307) is provided with a mounting hole, and the upper deep groove ball bearing (203) and the lower deep groove ball bearing (203) are coaxially fixed in the bearing fixing block (307).

3. A length adjustment device with self-locking capability according to claim 1, characterized in that: the front end and the rear end of the horizontal transmission shaft (209) are coaxially installed with the deep groove ball bearings (203), and the deep groove ball bearings (203) at the front end and the rear end are coaxially fixed in the bearing fixing block (307).