Back connection device for lower limb rehabilitation robot

Abstract

The present invention proposes a back connection device for a lower limb rehabilitation robot, comprising a bottom structure connected to the lower limb rehabilitation robot, an intermediate structure arranged in the bottom structure and movable up and down, a connection structure installed on the intermediate structure, and an upper backrest structure and a lower backrest structure with adjustable extension length arranged on the connection structure away from the bottom structure, a lead screw is vertically arranged in the middle of the bottom structure, a worm gear pair is arranged on the top of the lead screw, and the first worm gear is coaxial with the lead screw, the worm is perpendicular to the lead screw and a first hand wheel is arranged at both ends, a moving block matching the lead screw is sleeved on the lead screw, and the intermediate structure is fixedly connected to the moving block. The present invention solves the problems of inflexible up and down and left and right adjustment of the left and right leg fixing mechanism of the lower limb rehabilitation robot and inconvenient adjustment of the supporting position of the backrest structure.

Description

Technical Field

[0001] The invention relates to the technical field of rehabilitation robot equipment, and in particular to a back connection device for a lower limb rehabilitation robot. Background Art

[0002] According to statistics, only 3% to 10% of patients with disabling neurological diseases such as stroke, spinal cord injury, trauma, Guillain-Barre, etc. can recover to walk 50 meters independently three years later. For many patients who are temporarily unable to walk due to various reasons, recovering walking is their first wish and an important part of rehabilitation medicine research. Weight loss walking training is a new rehabilitation treatment technology for lower limb dysfunction and improving walking ability. It started in foreign countries in the 1980s and has been widely used and developed in China in the past decade. It is also one of the hot spots in rehabilitation medicine research in recent years.

[0003] The exoskeleton lower limb rehabilitation robot with weight loss walking training as the core came into being based on the concept of weight loss walking training. The back connection device of the lower limb rehabilitation robot undertakes the leg and back support structure of the weight loss console and the human exoskeleton. The left and right legs of the robot are fixed by the left leg fixing mechanism and the right leg fixing mechanism in the back connection device, and the connection device is connected to the main structure of the lower limb rehabilitation robot through the bottom frame structure.

[0004] After the leg structure of the existing lower limb rehabilitation robot is connected to the robot body frame, on the one hand, it is inconvenient to adjust the distance between the left and right legs of the leg exoskeleton, and it cannot flexibly adapt to the skeletal structure of the legs and clamping and movement of patients with different body shapes; on the other hand, it is not possible to conveniently, quickly and in real time realize the lifting and lowering adjustment of the height of the robot leg fixed structure. In addition, the patient's body comfort during rehabilitation treatment is also greatly related to the position of the backrest structure. If the backrest structure is too protruding, it will form forward pressure on the patient's back. If the backrest structure is too concave, it is not conducive to leg walking training. Therefore, it is extremely important to reasonably meet the comfort and convenience of patient training in the structure of the back connection device.

[0005] The Chinese patent application "CN201810224100.0 A human body size safety matching device for lower limb rehabilitation robots" mentions the design of using a handwheel, a worm gear reducer and a screw to transmit the movement and power of the handwheel shaft and the screw in two staggered directions, and can quickly adjust the suspension system so that the mechanism fits the person's buttocks, making it convenient for the rehabilitation doctor to operate; the backrest position matching device is realized to achieve the adjustment of the backrest in the front and back and up and down directions, but it lacks the adjustment of the left leg fixing mechanism and the right leg fixing mechanism as well as the height of the backrest structure. When in use, it cannot flexibly adapt to the wearing needs of rehabilitation patients of different heights. Each time it is used, the height of the entire rehabilitation robot needs to be adjusted to adapt to the patient's height and body shape, which is inconvenient to use. In addition, the mechanism for adjusting the distance between the left and right legs lacks guidance and stability, and the problem of looseness and dislocation of the mechanism is prone to occur during adjustment or movement of the rehabilitation robot. Summary of the invention

[0006] In order to solve the problems in the prior art that the left and right leg fixing mechanisms of lower limb rehabilitation robots are not flexible in adjusting up and down and left and right, and the supporting position of the backrest structure is inconvenient to adjust, the present invention proposes a back connection device for a lower limb rehabilitation robot.

[0007] A back connection device for a lower limb rehabilitation robot comprises a bottom structure connected to the lower limb rehabilitation robot, an intermediate structure arranged in the bottom structure and movable up and down, a connection structure installed on the intermediate structure, and an upper backrest structure and a lower backrest structure with adjustable extension length arranged on the connection structure away from the bottom structure side, a lead screw is vertically arranged in the middle of the bottom structure, a worm gear pair is arranged on the top of the lead screw, a first worm gear is coaxial with the lead screw, the worm is perpendicular to the lead screw and first hand wheels are arranged at both ends, a moving block matching the lead screw is fitted on the lead screw, and the intermediate structure is fixedly connected to the moving block.

[0008] Furthermore, the upper and lower ends of the lead screw are rotatably connected to the underlying structure through bearings, and guide rods parallel to the lead screw are provided on both sides of the lead screw, and the motion block passes through the guide rods and is slidably connected to the guide rods.

[0009] Furthermore, the intermediate structure includes a panel fixedly connected to the moving block, a slider mechanism arranged on the left and right sides of the panel, and a pull block arranged on the top of the panel. Two first guide rails are vertically arranged in the bottom structure, and the slider mechanism is slidably connected to the first guide rails.

[0010] Furthermore, pulleys are provided at the top and back of the bottom structure, and a counterweight rope is provided through the pulleys passing through the back and top of the bottom structure in sequence, and the counterweight rope is connected to the pull block.

[0011] Further, the connection structure includes a frame fixedly connected to the intermediate structure, a first adjusting rod with a thread is horizontally mounted on the upper part of the frame, the first adjusting rod is rotatably connected to the frame and second hand wheels are arranged at both ends of the first adjusting rod, a left leg fixing mechanism and a right leg fixing mechanism threadedly connected to the first adjusting rod are arranged below the first adjusting rod, the left leg fixing mechanism and the right leg fixing mechanism are slidably connected to a second guide rail arranged in the frame, and the threads on the left and right sides of the first adjusting rod are rotated in opposite directions;

[0012] The top of the frame is provided with a vertical pole upward, the upper backrest structure is installed on the pole, the bottom of the frame is provided with a lower backrest adjustment assembly connected with the lower backrest structure, the lower backrest adjustment assembly includes a second adjustment rod which is horizontal and rotatably connected to the frame, an adjustment box which is sleeved on the second adjustment rod and fixedly connected to the frame, a second worm gear which forms a worm gear pair with the second adjustment rod and a vertical gear which is coaxial with the second worm gear are arranged in the adjustment box, a lower backrest structure mounting hole is opened at the gear, and third hand wheels are arranged at both ends of the second adjustment rod.

[0013] Furthermore, the upper backrest structure includes an upper backrest plate, a first fixing rod vertically arranged behind the upper backrest plate, a connecting block in which the extension length of the first fixing rod can be adjusted, an upper backrest structure mounting hole arranged on the connecting block and matching the vertical rod, and a fixed locking block structure respectively arranged at the fixing position of the first fixing rod and the connecting block and at the fixing position of the vertical rod and the connecting block.

[0014] Furthermore, a sticky net is arranged in the middle of the upper backrest plate and strap rings are arranged around the upper backrest plate.

[0015] Furthermore, the lower backrest structure includes a second fixing rod with a threaded side surface arranged in the lower backrest structure mounting hole and a lower backrest plate connected to the second fixing rod, and the threaded side surface of the second fixing rod is meshed with the gear.

[0016] Furthermore, a sticky net is provided in the middle of the lower backrest plate, and a positioning rod is provided on the lower backrest plate parallel to the second fixing rod. The positioning rod is equal in length to the second fixing rod and is inserted into the adjustment box.

[0017] Furthermore, upper and lower limit structures are provided on the sides of the bottom structure.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] The back connection device for a lower limb rehabilitation robot of the present invention realizes the position adjustment of the intermediate structure connected with the motion block and the connection structure in the up-down direction through the arrangement of the lead screw, the first worm gear, the worm, the first hand wheel and the motion block in the bottom structure, wherein the first hand wheel is rotated to make the worm rotate the lead screw through the first worm gear, thereby realizing the up-down position adjustment of the motion block on the lead screw, that is, realizing the up-down position adjustment of the left leg fixing mechanism and the right leg fixing mechanism arranged on the connection structure, so as to adapt to the height position of the body and legs of the rehabilitation patient;

[0020] By setting the first adjusting rod in the connecting structure and the left leg fixing mechanism and the right leg fixing mechanism threadedly connected thereto, the left leg fixing mechanism and the right leg fixing mechanism can be adjusted in the left and right directions to adapt to the leg spacing of the rehabilitation patient, wherein the first adjusting rod is rotated by rotating the second hand wheel, and the left leg fixing mechanism and the right leg fixing mechanism move in the direction of moving away from each other or approaching each other, and the adjustment process is flexible and convenient and can be adjusted in real time;

[0021] By setting the fixed locking block structure at the fixing point between the first fixing rod and the connecting block and at the fixing point between the vertical rod and the connecting block, the height of the upper backrest structure on the vertical rod can be adjusted, and the extension length of the upper backrest structure in the direction of the first fixing rod can be adjusted;

[0022] By disposing the second adjusting rod, the adjusting box and the second fixing rod extending into the mounting holes of the upper and lower backrest structures of the adjusting box, the extension length of the lower backrest structure in the direction of the second fixing rod can be adjusted. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The present invention is a schematic diagram of the overall structure of a back connection device for a lower limb rehabilitation robot.

[0024] Figure 2 It is a side schematic diagram of the overall structure of a back connection device for a lower limb rehabilitation robot of the present invention.

[0025] Figure 3 The diagram is a schematic diagram of the exploded structure of a back connection device for a lower limb rehabilitation robot according to the present invention.

[0026] Figure 4 It is a schematic diagram of the underlying structure of a back connection device for a lower limb rehabilitation robot of the present invention.

[0027] Figure 5 It is a schematic diagram of the intermediate structure of a back connection device for a lower limb rehabilitation robot of the present invention.

[0028] Figure 6 The present invention is a schematic diagram of the connection structure of a back connection device for a lower limb rehabilitation robot.

[0029] Figure 7This is a schematic diagram of the upper backrest structure of a back connection device for a lower limb rehabilitation robot of the present invention. Figure 1 .

[0030] Figure 8 This is a schematic diagram of the upper backrest structure of a back connection device for a lower limb rehabilitation robot of the present invention. Figure 2 .

[0031] Fig. 9 The present invention is a schematic diagram of a lower backrest structure of a back connection device for a lower limb rehabilitation robot.

[0032] Fig.10 It is a schematic diagram of the structure of the interior of an adjustment box and a second adjustment rod of a back connection device for a lower limb rehabilitation robot of the present invention.

[0033] The accompanying drawings are numerals: 1 is a lead screw, 2 is a first hand wheel, 3 is a motion block, 4 is a guide rod, 5 is a panel, 6 is a slider mechanism, 7 is a pull block, 8 is a first guide rail, 9 is a frame, 10 is a first adjusting rod, 11 is a second hand wheel, 12 is a left leg fixing mechanism, 13 is a right leg fixing mechanism, 14 is a second guide rail, 15 is a vertical rod, 16 is a second adjusting rod, 17 is an adjusting box, 18 is a lower backrest structure mounting hole, 19 is an upper backrest plate, 20 is a first fixing rod, 21 is a connecting block, 22 is an upper backrest structure mounting hole, 23 is a fixed locking block structure, 24 is a second fixing rod, 25 is a lower backrest plate, 26 is a second worm gear, 27 is a sticky net, 28 is a strap ring, 29 is a positioning rod, 30 is an upper and lower limit structure, 31 is a third hand wheel, 32 is a first worm gear, 33 is a worm, 34 is a pulley, 35 is a counterweight rope, and 36 is a gear. DETAILED DESCRIPTION

[0034] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments:

[0035] like Figures 1 to 10 As shown, a back connection device for a lower limb rehabilitation robot includes a bottom structure connected to the lower limb rehabilitation robot, an intermediate structure arranged in the bottom structure and movable up and down, a connecting structure installed on the intermediate structure, and an upper backrest structure and a lower backrest structure with adjustable extension length arranged on the connecting structure away from the bottom structure side, a lead screw 1 is vertically arranged in the middle of the bottom structure, a worm gear pair is arranged on the top of the lead screw 1 and a first worm gear 32 is coaxial with the lead screw 1, a worm gear 33 is perpendicular to the lead screw 1 and a first hand wheel 2 is arranged at both ends, a moving block 3 matching the lead screw 1 is sleeved on the lead screw 1, and the intermediate structure is fixedly connected to the moving block 3.

[0036] Specifically, the upper and lower ends of the lead screw 1 are rotatably connected to the underlying structure through bearings, and guide rods 4 parallel to the lead screw 1 are provided on both sides, and the moving block 3 passes through the guide rods 4 and is slidably connected thereto; the intermediate structure includes a panel 5 fixedly connected to the moving block 3, a slider mechanism 6 arranged on the left and right sides of the panel 5, and a pull block 7 arranged on the top of the panel 5, and two first guide rails 8 are vertically arranged in the underlying structure, and the slider mechanism 6 is slidably connected to the first guide rails 8; pulleys 34 are provided on the top and back of the underlying structure, and counterweight ropes 35 are provided on the pulleys 34 that pass through the back and top of the underlying structure in turn, and the counterweight ropes 35 are connected to the pull block 7; upper and lower limit structures 30 are provided on the sides of the underlying structure.

[0037] The connecting structure includes a frame 9 fixedly connected to the intermediate structure, a first adjusting rod 10 with threads is horizontally mounted on the upper part of the frame 9, the first adjusting rod 10 is rotatably connected to the frame 9 and second hand wheels 11 are arranged at both ends of the first adjusting rod 10, a left leg fixing mechanism 12 and a right leg fixing mechanism 13 threadedly connected to the first adjusting rod 10 are arranged below the first adjusting rod 10, the left leg fixing mechanism 12 and the right leg fixing mechanism 13 are slidably connected to a second guide rail 14 arranged in the frame 9, and the threads on the left and right sides of the first adjusting rod 10 are rotated in opposite directions;

[0038] A vertically upward upright rod 15 is provided at the top of the frame 9, and the upper backrest structure is installed on the upright rod 15. A lower backrest adjustment assembly connected to the lower backrest structure is provided at the bottom of the frame 9. The lower backrest adjustment assembly includes a second adjustment rod 16 which is horizontal and rotatably connected to the frame 9, and an adjustment box 17 which is sleeved on the second adjustment rod 16 and fixedly connected to the frame 9. A second worm gear 26 which forms a worm gear pair with the second adjustment rod 16 and a vertical gear 36 which is coaxial with the second worm gear 26 are provided in the adjustment box 17. A lower backrest structure mounting hole 18 is provided at the gear 36, and third hand wheels 31 are provided at both ends of the second adjustment rod 16.

[0039] The upper backrest structure includes an upper backrest plate 19, a first fixing rod 20 vertically arranged behind the upper backrest plate 19, a connecting block 21 in which the extension length of the first fixing rod 20 can be adjusted, an upper backrest structure mounting hole 22 arranged on the connecting block 21 and matching the vertical rod 15, and a fixed locking block structure 23 respectively arranged at the fixing position of the first fixing rod 20 and the connecting block 21 and at the fixing position of the vertical rod 15 and the connecting block 21.

[0040] A sticky net 27 is disposed in the middle of the upper backrest plate 19 and strap rings 28 are disposed around the upper backrest plate 19 .

[0041] The lower backrest structure includes a second fixing rod 24 with a threaded side surface disposed in the lower backrest structure mounting hole 18 and a lower backrest plate 25 connected to the second fixing rod 24 . The threaded side surface of the second fixing rod 24 meshes with the gear 36 .

[0042] A sticky net 27 is disposed in the middle of the lower backrest plate 25 , and a positioning rod 29 is disposed on the lower backrest plate 25 parallel to the second fixing rod 24 . The positioning rod 29 is equal in length to the second fixing rod 24 and is inserted into the adjustment box 17 .

[0043] When in use, the lower limb rehabilitation robot is connected to the robot body by the bottom structure in the back connection device, and the weight rope 35 passing through the pulley 34 is connected to the suspension mechanism to form a lower limb rehabilitation robot. The back connection device is mainly used to adjust the positions of the left leg fixing mechanism 12, the right leg fixing mechanism 13, the upper backrest structure and the lower backrest structure, so that the positions of each structure are adapted to the bone structure of the rehabilitation patient. The specific adjustment process is as follows:

[0044] By setting the lead screw 1, the first worm gear 32, the worm 33, the first hand wheel 2 and the moving block 3 in the underlying structure, the position adjustment of the intermediate structure and the connecting structure connected to the moving block 3 in the up and down directions is realized. The first hand wheel 2 is rotated to make the worm 33 drive the first worm gear 32 to rotate and make the lead screw 1 rotate. The moving block 3 moves up and down on the lead screw 1. The moving block 3 drives the intermediate structure and the connecting structure thereon to move up and down. The direction of the up and down movement driven by the moving block 3 is guided and stabilized by the coordinated sliding of the first guide rail 8 and the slider mechanism 6 in the intermediate structure and the underlying structure, so that the connecting structure can realize adjustable movement in the up and down directions, that is, the up and down position adjustment of the left leg fixing mechanism 12 and the right leg fixing mechanism 13 arranged on the connecting structure is realized to adapt to the height position of the body and legs of the rehabilitation patient.

[0045] By setting the first adjusting rod 10 in the connecting structure and the left leg fixing mechanism 12 and the right leg fixing mechanism 13 threadedly connected thereto, the left leg fixing mechanism 12 and the right leg fixing mechanism 13 can be adjusted in the left and right directions to adapt to the leg spacing of the rehabilitation patient, wherein the first adjusting rod 10 is rotated by rotating the second hand wheel 11. Since the threads on the left and right sides of the first adjusting rod 10 rotate in opposite directions, the left leg fixing mechanism 12 and the right leg fixing mechanism 13 move in the direction of moving away from or approaching each other, thereby realizing the adjustment of the spacing between the left leg fixing mechanism 12 and the right leg fixing mechanism 13. The adjustment process is flexible, convenient and can be adjusted in real time.

[0046] The length of the upper backrest structure extending out is adjusted by adjusting the length of the first fixing rod 20 extending into the connecting block 21, and the height of the connecting block 21 on the vertical rod 15 is adjusted to adjust the position of the upper backrest structure in the height direction. The connecting block 21 is fixed to the first fixing rod 20 and the vertical rod 15 by a fixed locking block structure 23; the third hand wheel 31 is rotated to rotate the second adjusting rod 16, the second worm gear 26 forming a worm gear pair with the second adjusting rod 16 rotates, the gear 36 coaxial with the second worm gear 26 rotates, and the second fixing rod 2 rotates in meshing engagement with the gear, thereby adjusting the length of the second fixing rod 24 extending into the lower backrest structure mounting hole 18 in the adjusting box 17, so that the extending length of the lower backrest structure in the direction of the second fixing rod 24 can be adjusted.

[0047] The embodiments described above are only preferred embodiments of the present invention and are not intended to limit the scope of implementation of the present invention. Therefore, any equivalent changes or modifications made according to the structures, features and principles described in the patent scope of the present invention should be included in the scope of the patent application of the present invention.

Claims

1. A back connection device for a lower limb rehabilitation robot, characterized in that: The invention comprises a bottom structure connected to a lower limb rehabilitation robot, an intermediate structure arranged in the bottom structure and movable up and down, a connecting structure installed on the intermediate structure, and an upper backrest structure and a lower backrest structure arranged on the connecting structure away from the bottom structure and having an adjustable extension length, wherein a lead screw (1) is vertically arranged in the middle of the bottom structure, a worm gear pair is arranged at the top of the lead screw (1), wherein a first worm gear (32) is coaxial with the lead screw (1), a worm gear (33) is perpendicular to the lead screw (1) and first hand wheels (2) are arranged at both ends, a moving block (3) matching the lead screw (1) is sleeved on the lead screw (1), and the intermediate structure is fixedly connected to the moving block (3); The connection structure comprises a frame (9) fixedly connected to the intermediate structure, a first adjusting rod (10) with a thread is horizontally mounted on the upper part of the frame (9), the first adjusting rod (10) is rotatably connected to the frame (9), and second hand wheels (11) are arranged at both ends of the first adjusting rod (10), a left leg fixing mechanism (12) and a right leg fixing mechanism (13) threadedly connected to the first adjusting rod (10) are arranged below the first adjusting rod (10), the left leg fixing mechanism (12) and the right leg fixing mechanism (13) are slidably connected to a second guide rail (14) arranged in the frame (9), and the threads on the left and right sides of the first adjusting rod (10) are in opposite directions; The top of the frame (9) is provided with a vertically upward upright rod (15), the upper backrest structure is mounted on the upright rod (15), the bottom of the frame (9) is provided with a lower backrest adjustment assembly connected to the lower backrest structure, the lower backrest adjustment assembly comprises a second adjustment rod (16) which is transverse and rotatably connected to the frame (9), an adjustment box (17) which is sleeved on the second adjustment rod (16) and fixedly connected to the frame (9), the adjustment box (17) is provided with a second worm gear (26) which forms a worm gear pair with the second adjustment rod (16) and a vertical gear (36) which is coaxial with the second worm gear (26), the gear (36) is provided with a lower backrest structure mounting hole (18), and third hand wheels (31) are provided at both ends of the second adjustment rod (16); The intermediate structure comprises a panel (5) fixedly connected to the moving block (3), a slider mechanism (6) arranged on the left and right sides of the panel (5), and a pull block (7) arranged on the top of the panel (5); two first guide rails (8) are vertically arranged in the bottom structure, and the slider mechanism (6) is slidably connected to the first guide rails (8); The top and back of the bottom structure are both provided with pulleys (34), and a counterweight rope (35) is provided through the pulleys (34) at the back and top of the bottom structure in sequence, and the counterweight rope (35) is connected to the pull block (7); The lower limb rehabilitation robot is connected to the robot body by the bottom layer structure in the back connection device, and the counterweight rope (35) passing through the pulley (34) is connected to the suspension mechanism to form the lower limb rehabilitation robot.

2. The back connection device for a lower limb rehabilitation robot according to claim 1, characterized in that: The upper and lower ends of the lead screw (1) are rotatably connected to the underlying structure via bearings, and guide rods (4) parallel to the lead screw (1) are provided on both sides thereof, and the moving block (3) passes through the guide rods (4) and is slidably connected thereto.

3. The back connection device for a lower limb rehabilitation robot according to claim 1, characterized in that: The upper backrest structure comprises an upper backrest plate (19), a first fixing rod (20) vertically arranged behind the upper backrest plate (19), a connecting block (21) in which the extension length of the first fixing rod (20) can be adjusted, an upper backrest structure mounting hole (22) arranged on the connecting block (21) and matching the vertical rod (15), and a fixing lock block structure (23) respectively arranged at the fixing point of the first fixing rod (20) and the connecting block (21) and at the fixing point of the vertical rod (15) and the connecting block (21).

4. The back connection device for a lower limb rehabilitation robot according to claim 3, characterized in that: A sticky net (27) is provided in the middle of the upper backrest plate (19), and strap rings (28) are provided around the upper backrest plate (19).

5. The back connection device for a lower limb rehabilitation robot according to claim 1, characterized in that: The lower backrest structure comprises a second fixing rod (24) with a threaded side surface arranged in a lower backrest structure mounting hole (18) and a lower backrest plate (25) connected to the second fixing rod (24); the threaded side surface of the second fixing rod (24) meshes with a gear (36).

6. The back connection device for a lower limb rehabilitation robot according to claim 5, characterized in that: A sticky net (27) is provided in the middle of the lower backrest plate (25), and a positioning rod (29) is provided on the lower backrest plate (25) parallel to the second fixing rod (24). The positioning rod (29) is equal in length to the second fixing rod (24) and is inserted into the adjustment box (17).

7. The back connection device for a lower limb rehabilitation robot according to claim 1, characterized in that: Upper and lower limit structures (30) are arranged on the side of the bottom structure.

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