A lifting and weight-reducing mechanism for a rehabilitation robot

Abstract

The present invention discloses a lifting and weight-reducing mechanism for a rehabilitation robot, which consists of a single-arm weight reducer, a multi-degree-of-freedom moving device and a suspended sliding damping mechanism. The present invention utilizes an L-shaped worm gear reducer to replace a winch, thereby greatly reducing the volume of the weight reducer while ensuring the weight-reducing function of the weight reducer. The sliding damping mechanism utilizes two compression springs to keep the suspended sliding damping mechanism of the rehabilitation robot in a neutral position, and the mechanism can return to the neutral position after being subjected to force.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation robots, and in particular to a lifting and weight-reducing mechanism of 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.

[0003] The traditional rehabilitation robot's weight-reducing arm is connected to a linear slide rail. During the reciprocating motion of the weight-reducing arm, the steel cable is pulled to produce a lateral force. Over time, this will cause the linear slide rail to deform, resulting in poor movement of the slider and jamming. Due to the limitations of the winch's weight-reduction method, the weight-reduction values ​​of the left and right weight-reducing arms of the rehabilitation robot can only be controlled to be consistent. When the slider gets stuck, the left and right weight-reducing arms are subjected to uneven force, which will affect the winch and reduce its service life.

[0004] The robot suspension sliding damping mechanism has many and complex parts, high processing costs, and inconvenient maintenance. The bolts on the suspension connecting plate are weak. It cannot be adjusted to swing in the circumference according to the change in the position of the shoulder during walking. It only has the freedom of forward and backward movement, which brings poor comfort and strong limitations to patients, and will have a certain impact on the patient's rehabilitation effect. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is to provide a lifting and weight-reducing mechanism for a rehabilitation robot, which improves the comfort of patients during the rehabilitation process and enhances the rehabilitation effect of patients.

[0006] The specific technical solution adopted by the present invention is:

[0007] A lifting and weight-reducing mechanism for a rehabilitation robot, comprising a single-arm weight reducer, a multi-degree-of-freedom moving device and a suspension sliding damping mechanism, wherein:

[0008] The single-arm weight reducer includes a Y-shaped arm, an arm clamp, a linear guide device, a worm gear reduction motor, and a spring box. The arm clamp consists of an upper clamp and a lower clamp, the upper clamp is connected to the lower clamp, and the Y-shaped arm is installed in the arm clamp; the linear guide device is installed on the arm clamp, and the linear guide device is provided with a lead screw, and a slider A is provided on the lead screw. The lead screw is connected to the output shaft of the worm gear reduction motor, and the worm gear reduction motor drives the lead screw to rotate and then drives the slider A 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, and the upper spring plate is connected to the spring box through the spring box. The connecting plate is connected to the slider A, the spring box connecting plate is fixedly connected to the slider A, 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 lever 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 lever arm through a flange plate, and passes through the Y-shaped lever arm to be connected to the lower clamping plate through a deep groove ball bearing, the flange shaft B is inserted into the deep groove ball bearing, and the outer edge of the deep groove ball bearing is fixed to the lower clamping plate;

[0009] The multi-degree-of-freedom mobile device comprises a linear slide rail, the linear slide rail is provided with a longitudinal slider, the longitudinal slider is slidably connected to the linear slide rail; the longitudinal slider is connected to an L-shaped connecting plate, the upper and lower sides of the L-shaped connecting plate are respectively connected to transverse slide rails, the transverse slide rail is provided with a transverse slider, the transverse slider is slidably connected to the transverse slide rail, and the upper and lower transverse sliders are connected to a steering connecting plate; the steering connecting plate is connected to a Y-shaped force arm;

[0010] The sliding damping mechanism includes an optical axis, a slider B, a connecting force arm, and a suspension connecting plate. The connecting force arm is installed at one end of the optical axis; the slider B is installed on the optical axis, and compression springs A and compression springs B are respectively installed on the optical axis on both sides of the slider, and a nut is installed at the other end of the optical axis to limit the compression spring B; the suspension connecting plate is connected to the slider B, and two hook bolts are symmetrically installed on the left and right below the suspension connecting plate; the connecting force arm is connected to the L-shaped connecting plate.

[0011] 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.

[0012] 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.

[0013] Preferably, the upper clamping plate and the lower clamping plate are connected by triangular pads or strip pads.

[0014] Preferably, the multi-degree-of-freedom mobile device also includes an optical axis and an optical axis connector. The steering connecting plate and the Y-shaped force arm are respectively sleeved on the optical axis, and the two ends of the optical axis are nested on the optical axis connector. The two optical axis connectors are respectively connected to the steering connecting plate by bolts to connect the steering connecting plate and the Y-shaped force arm together.

[0015] More preferably, a pad is provided between the transverse slider and the steering connecting plate, the transverse slider, the pad and the steering connecting plate are connected by bolts, and the Y-shaped lever arm is installed on the inner side of the steering connecting plate.

[0016] Preferably, the connecting arm is a bent tube.

[0017] Preferably, the number of the sliders B is one or more.

[0018] Preferably, the suspension connecting plate is bolted to the sliding block.

[0019] Preferably, the two ends of the compression spring A are respectively welded to the connecting force arm and the slider, and the two ends of the compression spring B are respectively welded to the connecting force arm and the nut.

[0020] The beneficial effects of the present invention are:

[0021] 1. The present invention replaces the winch with a small worm gear reduction motor, and installs it on 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 reduction arms of the rehabilitation robot according to the type of hemiplegia of the patient. According to the conditions of different hemiplegic patients, the weight of the hemiplegic side can be reduced independently to meet the needs of different patients and improve the rehabilitation effect.

[0022] 2. The present invention improves the original linear guide rail structure and increases the degree of freedom in the X direction (lateral direction) to offset the lateral force generated by the upward pull of the steel cable. The lateral deformation of the linear guide rail is reduced, so that the movement of the slider in the Z direction (the combination of the lateral slider and the longitudinal slider) is smoother, and the weight loss accuracy of the weight reducer is improved. The motion coupling mode in the two directions makes the movement of the slider smoother, which improves the comfort of weight loss.

[0023] 3. The present invention optimizes the suspension sliding damping mechanism, increases the freedom of the mechanism, and allows the mechanism to slide forward and backward and rotate circumferentially. When the human body walks, the rehabilitation robot and the human body have a follower, rather than fixing the patient on the suspension module. This can reduce the patient's discomfort during rehabilitation training, improve the rehabilitation effect, and make the patient's rehabilitation exercise more comfortable. Using the modular design concept, each structure can be added, subtracted or replaced. When a part is damaged, the corresponding module can be replaced to reduce maintenance time. The possibility of subsequent development of this design is increased.

[0024] 4. The present invention utilizes an L-shaped worm gear reducer to replace a winch, thereby greatly reducing the volume of the weight reducer while ensuring the weight reducing function of the weight reducer.

[0025] 5. The square tube bending method of the present invention has an easy-to-control bending degree and high precision.

[0026] 6. The sliding damping mechanism of the present invention uses two compression springs to keep the suspension sliding damping mechanism of the rehabilitation robot in the middle position, and the mechanism can return to the middle position after being subjected to force. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 Shown is a schematic diagram of the structure of the lifting and weight-reducing mechanism of the rehabilitation robot;

[0028] Figure 2 Shown is a schematic diagram of the structure of a single-arm weight reducer;

[0029] Figure 3-4 It is a partial structural schematic diagram of a single-arm weight reducer;

[0030] Figure 5 It is shown as a schematic diagram of the structure of a multi-degree-of-freedom mobile device;

[0031] Figure 6 Display as Figure 5 Left view of

[0032] Figure 7 It is a partial structural schematic diagram of a multi-degree-of-freedom mobile device;

[0033] Figure 8 Shown is a schematic diagram of the structure of an L-shaped connecting plate;

[0034] Fig. 9 Shown is a schematic diagram of the structure of a suspended sliding damping mechanism. DETAILED DESCRIPTION

[0035] 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.

[0036] See also Figure 1This embodiment provides a rehabilitation robot lifting and weight reduction mechanism, which is composed of a single-arm weight reducer 1, a multi-degree-of-freedom mobile device 2 and a suspension sliding damping mechanism 3, which is installed on the rehabilitation robot frame by bolts, wherein:

[0037] See also Figure 2-3 The single-arm weight reducer includes a Y-shaped arm 11, an arm clamp 12, a linear guide device 13, a worm gear reduction motor 14, and a spring box 15. The arm clamp 12 is composed of an upper clamp 121 and a lower clamp 122. The upper clamp 121 is connected to the lower clamp 122. The Y-shaped arm 11 is installed in the arm clamp 12. Please refer to Figure 4 The upper clamping plate and the lower clamping plate are connected by a triangular pad 17 and a strip pad 18; the linear guide device 13 is installed on the arm clamping plate 12, and the linear guide device 13 is provided with a screw rod 131, and a slider A132 is provided on the screw rod 131. The screw rod 131 is connected to the output shaft of the worm gear reduction motor 14 (it can achieve power transmission), and the worm gear reduction motor 14 drives the screw rod 131 to rotate and then drives the slider A132 to move on the screw rod 131; the spring box 15 is composed of an upper spring plate 151 and a lower spring plate 152, and the upper spring plate 151 is connected to the lower spring plate 152, and the upper spring plate 151 is connected to the slider A132 through the spring box connecting plate 16 The spring box connecting plate 16 is connected with the slider A132 at one end, and a flange bearing A1511 is installed on the upper spring plate 151. The other end of the spring box connecting plate 16 is fixedly connected to the flange of the flange bearing A1511. A flange shaft A1512 is connected inside the flange bearing A1511. The other end of the flange shaft A1512 is connected to the upper clamping plate 121 and the Y-shaped lever arm 11; a flange bearing B1521 is installed on the lower spring plate 152. A flange shaft B1522 is connected inside the flange bearing B1521. The flange shaft B1522 is connected to the Y-shaped lever arm 11 through a flange plate 1523, and passes through the Y-shaped lever arm 11 to be connected to the lower clamping plate 122 through a deep groove ball bearing 1524. The flange shaft B1522 is inserted into the deep groove ball bearing 1524, and the outer edge of the deep groove ball bearing 1524 is fixed on the lower clamping plate 122.

[0038] See also Figure 5-6 The multi-degree-of-freedom mobile device includes a linear slide rail 21, the linear slide rail 21 is provided with a longitudinal slider 22, and the longitudinal slider 22 is slidably connected to the linear slide rail 21; the longitudinal slider 22 is connected to an L-shaped connecting plate 23 (structure as shown in FIG. Figure 8As shown in the figure, the upper and lower sides (sides) of the L-shaped connecting plate 23 are respectively connected to transverse slide rails 24, and the transverse slide rails 24 are provided with transverse sliders 25, which are slidably connected to the transverse slide rails 24, and the upper and lower transverse sliders 25 are respectively connected to the steering connecting plate 26 through pads 29, that is, a pad 29 is provided between the transverse slider 25 and the steering connecting plate 26, and the transverse slider 25, the pad 29, and the steering connecting plate 26 are connected by bolts; as shown in the figure, the upper and lower sides (sides) of the L-shaped connecting plate 23 are respectively connected to the transverse slide rails 24, and the transverse slide rails 24 are provided with transverse sliders 25, and the transverse sliders 25, the pads 29, and the steering connecting plate 26 are connected by bolts; Figure 1 As shown, the multi-degree-of-freedom mobile device is installed on the rehabilitation robot frame, and the steering connecting plate 26 is connected by an optical axis 27 and an optical axis connector 28 (structure as shown in FIG. Figure 7 The steering connecting plate 26 and the Y-shaped lever 11 are respectively sleeved on the optical axis 27, and both ends of the optical axis 27 are nested on the optical axis connector 28. The two optical axis connectors 28 are respectively connected to the steering connecting plate 26 by bolts, connecting the steering connecting plate and the Y-shaped lever 11 together, and the Y-shaped lever 11 is installed on the inner side of the steering connecting plate 26 (that is, between the steering connecting plate 26 and the L-shaped connecting plate 23); one side of the L-shaped connecting plate 23 is connected to the connecting lever 33 of the suspension sliding damping mechanism 3 (the back side connected to the longitudinal slider 22 is connected to the connecting lever 33 of the suspension sliding damping mechanism 3).

[0039] See also Fig. 9 The suspension sliding damping mechanism includes an optical axis 31, a slider B32, a connecting arm 33, and a suspension connecting plate 34. The connecting arm 33 is a bent tube. Compared with the previous method of bending a round tube, the bending degree is easy to control. It is installed at one end of the optical axis 31; the slider B32 is installed on the optical axis 31 (the number of sliders B32 can be 1 or more), and compression springs A35 and B36 are installed on both sides of the slider B32 (the multiple sliders B32 are the left and right sides of the sliders B32 on both sides) of the optical axis 1, respectively, and a nut 37 is installed at the other end of the optical axis 31 to limit the compression spring B36; the suspension connecting plate 34 is connected to the slider B32 by bolts, and two hook bolts are installed symmetrically (mirror symmetric) below the suspension connecting plate 34. The hook bolts are used to hang the weight loss suit on the suspension connecting plate 34. When in use, the suspension connecting plate 34 can be adjusted to swing around and move forward and backward according to the position change of the shoulder during walking.

[0040] As a preferred embodiment of the present invention, the worm gear reduction motor 14 is installed on the linear guide device 13 or the lever arm clamp 12, one end of the screw rod 131 is connected to the bevel gear A1311, the output shaft of the worm gear reduction motor 14 is connected to the bevel gear B141, and the bevel gear A1311 is meshed with the bevel gear B141.

[0041] As a preferred embodiment of the present invention, the upper optical axis fixing member 153 is connected to the inner side of the upper spring plate 151, and the lower optical axis fixing member 154 is connected to the inner side of the lower spring plate 152. The upper optical axis fixing member 153 and the lower optical axis fixing member 154 are connected together by being sleeved on the optical axis 55.

[0042] As a preferred embodiment of the present invention, both ends of the compression spring A35 are respectively welded to the connecting arm 33 and the slider B32, and both ends of the compression spring B36 are respectively welded to the connecting arm 33 and the nut 37, thereby further improving stability.

[0043] See also Figure 1 The lifting and weight reduction mechanism of the rehabilitation robot is installed on the rehabilitation robot frame by bolts. The movement of the worm gear reduction motor pulls the slider A132 to move forward and backward. The forward and backward movement of the slider A132 drives the spring box 5 to move in an arc, and then drives the Y-type force arm 11 to move. The Y-type force arm 11 drives the longitudinal slider 22 to slide up and down along the linear slide rail 21, and then drives the suspension sliding damping mechanism 3 to move up and down, thereby achieving the effect of changing the weight reduction value.

Claims

1. A lifting and weight-reducing mechanism for a rehabilitation robot, characterized in that: It consists of a single-arm weight reducer, a multi-degree-of-freedom mobile device and a suspended sliding damping mechanism, among which: The single-arm weight reducer includes a Y-shaped arm, an arm clamp, a linear guide device, a worm gear reduction motor, and a spring box. The arm clamp consists of an upper clamp and a lower clamp, the upper clamp is connected to the lower clamp, and the Y-shaped arm is installed in the arm clamp; the linear guide device is installed on the arm clamp, and the linear guide device is provided with a lead screw, and a slider A is provided on the lead screw. The lead screw is connected to the output shaft of the worm gear reduction motor, and the worm gear reduction motor drives the lead screw to rotate and then drives the slider A 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, and the upper spring plate is connected to the spring box through the spring box. The connecting plate is connected to the slider A, the spring box connecting plate is fixedly connected to the slider A, 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 lever 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 lever arm through a flange plate, and passes through the Y-shaped lever arm to be connected to the lower clamping plate through a deep groove ball bearing, the flange shaft B is inserted into the deep groove ball bearing, and the outer edge of the deep groove ball bearing is fixed to the lower clamping plate; The multi-degree-of-freedom mobile device comprises a linear slide rail, the linear slide rail is provided with a longitudinal slider, the longitudinal slider is slidably connected to the linear slide rail; the longitudinal slider is connected to an L-shaped connecting plate, the upper and lower sides of the L-shaped connecting plate are respectively connected to transverse slide rails, the transverse slide rail is provided with a transverse slider, the transverse slider is slidably connected to the transverse slide rail, and the upper and lower transverse sliders are connected to a steering connecting plate; the steering connecting plate is connected to a Y-shaped force arm; The sliding damping mechanism includes an optical axis, a slider B, a connecting force arm, and a suspension connecting plate. The connecting force arm is installed at one end of the optical axis; the slider B is installed on the optical axis, and compression springs A and compression springs B are respectively installed on the optical axis on both sides of the slider, and a nut is installed at the other end of the optical axis to limit the compression spring B; the suspension connecting plate is connected to the slider B, and two hook bolts are symmetrically installed on the left and right below the suspension connecting plate; the connecting force arm is connected to the L-shaped connecting plate.

2. According to claim 1, a rehabilitation robot lifting and weight reduction mechanism is characterized in that: The worm gear reduction motor is installed on a linear guide device or a force 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.

3. The lifting and weight-reducing mechanism of a rehabilitation robot according to claim 1, characterized in that: 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.

4. The lifting and weight-reducing mechanism of 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.

5. The lifting and weight-reducing mechanism of a rehabilitation robot according to claim 1, characterized in that: The multi-degree-of-freedom mobile device also includes an optical axis and an optical axis connector. A steering connecting plate and a Y-shaped force arm are respectively sleeved on the optical axis. Both ends of the optical axis are nested on the optical axis connector. The two optical axis connectors are respectively connected to the steering connecting plate by bolts to connect the steering connecting plate and the Y-shaped force arm together.

6. A rehabilitation robot lifting and weight reduction mechanism according to claim 5, characterized in that: A cushion block is arranged between the transverse slider and the steering connecting plate. The transverse slider, the cushion block and the steering connecting plate are connected by bolts. The Y-shaped force arm is installed on the inner side of the steering connecting plate.

7. The lifting and weight-reducing mechanism of a rehabilitation robot according to claim 1, characterized in that: The connecting force arm is a bent tube.

8. The lifting and weight-reducing mechanism of a rehabilitation robot according to claim 1, characterized in that: The number of the sliders B is one or more.

9. The lifting and weight-reducing mechanism of a rehabilitation robot according to claim 1, characterized in that: The suspension connecting plate is bolted to the sliding block.

10. The lifting and weight-reducing mechanism of a rehabilitation robot according to claim 1, characterized in that: The two ends of the compression spring A are respectively welded to the connecting force arm and the slider, and the two ends of the compression spring B are respectively welded to the connecting force arm and the nut.

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