Rehabilitation robot single arm weight reducer

Abstract

The invention discloses a single-arm weight reducer for a rehabilitation robot, comprising a Y-shaped arm, an arm splint, a linear guide device, a worm gear reduction motor, and a spring box, wherein the arm splint is composed of an upper splint and a lower splint, the upper splint is connected to the lower splint, and the Y-shaped arm is installed in the arm splint. The invention can independently reduce the weight of one side of the hemiplegia according to the conditions of different hemiplegia patients, meet the needs of different patients, and improve the rehabilitation effect.

Description

Technical Field

[0001] The invention relates to the technical field of rehabilitation robots, and in particular to a single-arm weight reducer for a rehabilitation robot. Background Art

[0002] The traditional way of weight reduction for rehabilitation robots is to use a winch to pull the weight reduction arm, causing the spring to deform and generate pressure to reduce weight. The winch weight reducer is large in size, the overall structure is cumbersome and complicated, and it is inconvenient to install. The left and right weight reduction arms of the winch weight reducer have the same weight reduction value and the accuracy of the weight reduction value is relatively low. It cannot independently reduce the weight of the left and right weight reduction arms according to the actual situation of the hemiplegic patient. It has no targeted application and will have a certain impact on the patient's rehabilitation effect. Summary of the invention

[0003] In view of the problems that the winch weight reducer mechanism is complicated and bulky, and the left and right weight reducing arms of the rehabilitation robot cannot be independently reduced in weight, the purpose of the present invention is to provide a single-arm weight reducer for a rehabilitation robot. The present invention replaces the winch with a small worm gear reduction motor, and installs them on the left and right independent passive single-arm weight reducers respectively. The worm gear reduction motor can independently control the weight reduction value of the left and right weight reducing arms of the rehabilitation robot according to the type of hemiplegia of the patient, so as to adapt to the conditions of different patients and improve the rehabilitation effect. The present invention adopts a modular sheet metal design method, and when a part is damaged, the corresponding module can be replaced to reduce maintenance time. The possibility of subsequent development of the present invention is increased.

[0004] The technical solution adopted by the present invention is:

[0005] A single-arm weight reducer for a rehabilitation robot comprises a Y-shaped arm, an arm splint, a linear guide device, a worm gear reduction motor, and a spring box, wherein the arm splint is composed of an upper splint and a lower splint, the upper splint is connected to the lower splint, and the Y-shaped arm is installed in the arm splint; the linear guide device is installed on the arm splint, the linear guide device is provided with a lead screw, a slider is provided on the lead screw, the lead screw is connected to the output shaft of the worm gear reduction motor, the worm gear reduction motor drives the lead screw to rotate and then drives the slider to move on the lead screw; the spring box is composed of an upper spring plate and a lower spring plate, the upper spring plate is connected to the lower spring plate, and the upper spring plate is connected to the lower spring plate by a spring The box connecting plate is connected to the slider, the spring box connecting plate is fixedly connected to the slider, a flange bearing A is installed on the upper spring plate, the spring box connecting plate is fixedly connected to the flange of the flange bearing A, a flange shaft A is connected inside the flange bearing A, and the other end of the flange shaft A is connected to the upper clamping plate and the Y-shaped force arm; a flange bearing B is installed on the lower spring plate, a flange shaft B is connected inside the flange bearing B, the flange shaft B is connected to the Y-shaped force arm through a flange plate, and is connected to the lower clamping plate through a deep groove ball bearing through the Y-shaped force arm, the flange shaft B is inserted into the deep groove ball bearing, and the outer edge of the deep groove ball bearing is fixed on the lower clamping plate.

[0006] Preferably, the worm gear reduction motor is installed on a linear guide device or a lever arm clamp, one end of the lead screw is connected to a bevel gear A, the output shaft of the worm gear reduction motor is connected to a bevel gear B, and the bevel gear A is meshed with the bevel gear B.

[0007] Preferably, an upper optical axis fixing piece is connected to the inner side of the upper spring plate, and a lower optical axis fixing piece is connected to the inner side of the lower spring plate. The upper optical axis fixing piece and the lower optical axis fixing piece are connected together by being sleeved on the optical axis.

[0008] Preferably, the upper clamping plate and the lower clamping plate are connected by triangular pads or strip pads.

[0009] The beneficial effects of the present invention are:

[0010] 1. The present invention adopts modular design, which increases the adjustability and flexibility compared with the past, and is convenient for disassembly and maintenance. The structure is more stable and adjustable, and the cost of purchasing and processing parts is low when the strength meets the requirements.

[0011] 2. The present invention adopts a small worm gear reducer instead of a winch for weight reduction adjustment. Compared with the winch weight reducer, the single-arm weight reducer is small and light in size, easy to install, and can more accurately adjust the change in spring length. By utilizing independent left and right worm gear reducers, the left and right weight reduction arms of the rehabilitation robot can be reduced in weight by different amounts respectively, thereby realizing the function of different weight reduction amounts for the left and right weight reduction arms of the rehabilitation robot which cannot be achieved by the winch weight reducer.

[0012] 3. The weight reduction process of the single-arm weight reducer of the present invention is smoother, which avoids the jamming phenomenon during the weight reduction process of the winch weight reducer and increases the rehabilitation training effect.

[0013] 4. The present invention can independently reduce the weight of one side of the hemiplegia according to the conditions of different hemiplegic patients, meet the needs of different patients, and improve the rehabilitation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 Shown is a schematic diagram of the structure of a single-arm weight reducer for a rehabilitation robot;

[0015] Figure 2-3 Shown is a partial structural schematic diagram of a single-arm weight reducer for a rehabilitation robot;

[0016] Figure 4 Shown is the installation diagram of the single-arm weight reducer of the rehabilitation robot. DETAILED DESCRIPTION

[0017] In order to explain the technical content, structural features, achieved objectives and effects of the technical solution in detail, the following is a detailed description in conjunction with specific embodiments and accompanying drawings.

[0018] See also Figure 1-2, this embodiment provides a single-arm weight reducer for a rehabilitation robot, including a Y-shaped arm 1, an arm splint 2, a linear guide device 3, a worm gear reduction motor 4, and a spring box 5. The arm splint 2 is composed of an upper splint 21 and a lower splint 22, the upper splint 21 is connected to the lower splint 22, and the Y-shaped arm 1 is installed in the arm splint 2; the linear guide device 3 is installed on the arm splint 2, the linear guide device 3 is provided with a screw rod 31, and a slider 32 is provided on the screw rod 31. The screw rod 31 is connected to the output shaft of the worm gear reduction motor 4 (as long as it can transmit power), and the worm gear reduction motor 4 drives the screw rod 31 to rotate and then drives the slider 32 to move on the screw rod 31; the spring box 5 is composed of an upper spring plate 51 and a lower spring plate 52, the upper spring plate 51 is connected to the lower spring plate 52, and the upper spring plate 51 is connected to the lower spring plate 52 by a spring The box connecting plate 6 is connected to the slider 32, one end of the spring box connecting plate 6 is fixedly connected to the slider 32, a flange bearing A511 is installed on the upper spring plate 51, the other end of the spring box connecting plate 6 is fixedly connected to the flange of the flange bearing A511, a flange shaft A512 is connected inside the flange bearing A511, the other end of the flange shaft A512 is connected to the upper clamping plate 21 and the Y-shaped lever arm 1; a flange bearing B521 is installed on the lower spring plate 52, a flange shaft B522 is connected inside the flange bearing B521, the flange shaft B522 is connected to the Y-shaped lever arm 1 through a flange plate 523, and passes through the Y-shaped lever arm 1 to be connected to the lower clamping plate 22 through a deep groove ball bearing 524, the flange shaft B522 is inserted into the deep groove ball bearing 524, and the outer edge of the deep groove ball bearing 524 is fixed on the lower clamping plate 22.

[0019] As a preferred embodiment of the present invention, the worm gear reduction motor 4 is installed on the linear guide device 3 or the lever arm clamp 2, one end of the screw rod 31 is connected to the bevel gear A311, the output shaft of the worm gear reduction motor 4 is connected to the bevel gear B41, and the bevel gear A311 is meshed with the bevel gear B41.

[0020] As a preferred embodiment of the present invention, the upper optical axis fixing part 53 is connected to the inner side of the upper spring plate 51, and the lower optical axis fixing part 54 is connected to the inner side of the lower spring plate 52. The upper optical axis fixing part 53 and the lower optical axis fixing part 54 are connected together by being sleeved on the optical axis 55.

[0021] As a preferred embodiment of the present invention, please refer to Figure 3 The upper splint and the lower splint are connected by a triangular pad 7 and a strip pad 8.

[0022] See also Figure 4The single-arm weight reducer of the rehabilitation robot is installed on the frame of the rehabilitation robot. The Y-type arm 1 is connected to the weight reduction arm through a connecting device. The movement of the worm gear reduction motor pulls the slider 32 to move forward and backward. The forward and backward movement of the slider 32 drives the spring box 5 to move in an arc, and then drives the Y-type arm 1 to move, thereby achieving the effect of changing the weight reduction value.

[0023] Although the above embodiments have been described, once those skilled in the art know the basic creative concepts, they can make additional changes and modifications to these embodiments. Therefore, the above description is only an embodiment of the present invention and does not limit the patent protection scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A single-arm weight reducer for a rehabilitation robot, characterized in that: It includes a Y-shaped force arm, a force arm clamp, a linear guide device, a worm gear reduction motor, and a spring box, wherein the force arm clamp consists of an upper clamp and a lower clamp, the upper clamp is connected to the lower clamp, and the Y-shaped force arm is installed in the force arm clamp; the linear guide device is installed on the force arm clamp, the linear guide device is provided with a lead screw, a slider is provided on the lead screw, the lead screw is connected to the output shaft of the worm gear reduction motor, the worm gear reduction motor drives the lead screw to rotate and then drives the slider to move on the lead screw; the spring box consists of an upper spring plate and a lower spring plate, the upper spring plate is connected to the lower spring plate, the upper spring plate is connected to the slider through a spring box connecting plate, the spring box connecting plate is fixedly connected to the slider, a flange side bearing A is installed on the upper spring plate, the spring box connecting plate is fixedly connected to the flange side of the flange side bearing A, and the flange side shaft A flange shaft A is connected inside the bearing A, and the other end of the flange shaft A is connected to the upper clamping plate and the Y-shaped force arm; a flange side bearing B is installed on the lower spring plate, and a flange shaft B is connected inside the flange side bearing B. The flange shaft B is connected to the Y-shaped force arm through a flange plate, and passes through the Y-shaped force arm to be connected to the lower clamping plate through a deep groove ball bearing. The flange shaft B is sleeved into the deep groove ball bearing, and the outer edge of the deep groove ball bearing is fixed on the lower clamping plate; the worm gear reduction motor is installed on the linear guide device or the force arm clamp, one end of the screw is connected to a bevel gear A, and the output shaft of the worm gear reduction motor is connected to a bevel gear B, and the bevel gear A is meshed with the bevel gear B; the inner side of the upper spring plate is connected to an upper optical axis fixing piece, and the inner side of the lower spring plate is connected to a lower optical axis fixing piece, and the upper optical axis fixing piece and the lower optical axis fixing piece are connected together by being sleeved on the optical axis.

2. The single-arm weight reducer for a rehabilitation robot according to claim 1, characterized in that: The upper clamping plate and the lower clamping plate are connected via a triangular pad and a strip pad.

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