A cantilevered rehabilitation robot weight relief system

Abstract

The application discloses a rehabilitation robot weight reduction system with an upward cantilever, and belongs to the technical field of medical equipment, which comprises a tension adjustment driving assembly, a tension adjustment assembly and a cantilever mechanism. The tension adjustment assembly comprises a structural shell, a sliding rail, two bearing plates and two or more than two tension springs. The sliding rail is vertically installed on an inner wall of the structural shell. Two sliding blocks are slidably connected on the sliding rail. The two bearing plates are one-to-one correspondingly installed on the two sliding blocks. The tension spring is installed between the two bearing plates. The tension adjustment driving assembly is used for driving the bearing plate at the top to move in the vertical direction and locking the position of the bearing plate at the top. The cantilever mechanism is connected with the bearing plate at the bottom. The cantilever mechanism of the weight reduction system is connected with the waist and hip of the patient through a bandage, so as to provide elastic support for the patient and realize weight reduction. The application can realize weight reduction of the lower limbs of the patient, identify the movement intention of the patient, and enable the patient to move freely in an open space.

Description

Technical Field

[0001] This invention belongs to the field of medical equipment technology, specifically relating to a weight reduction system for a rehabilitation robot with an upward cantilever arm. Background Technology

[0002] Hemiplegia is mainly characterized by paralysis of one side of the upper and lower limbs, and may be accompanied by symptoms such as hemisensory disturbances, aphasia, agnosia, apraxia, and visual field defects. According to statistics from 2007, 19.8% of my country's population was over 55 years old, making rehabilitation and training for the elderly and hemiplegic patients a current focus.

[0003] While the human body possesses a certain capacity for self-recovery after injury, without timely medication or functional training, some functions may fail to return to their original level. Traditional manual rehabilitation methods involve therapists repeatedly assisting and correcting leg postures during weight-bearing gait training for patients with lower limb dysfunction. This approach is inefficient, costly, and labor-intensive for therapists. Furthermore, the effectiveness of rehabilitation training is highly dependent on the therapist's skill level, making widespread application difficult. Existing rehabilitation robots are primarily fixed-location systems, resulting in high equipment costs. Patients undergo passive training in a fixed location, failing to experience a realistic sense of walking. This leads to poor patient comfort, limited autonomy, and strong application limitations.

[0004] Typical lower limb rehabilitation robots consist of a weight-reduction system and a square tube frame. The weight-reduction system generally comprises a motor, a winding reel, a spring, and a steel wire rope. The motor drives the winding reel to wind the steel wire rope, pulling the spring to extend, thus achieving weight reduction. However, most weight-reduction systems are integrated with the frame and have limited functionality, only able to suspend the person in a fixed position. For weight reduction, precise control of the weight reduction value is difficult or impossible to achieve at a high level. Furthermore, the steel wire rope's end fixing point is prone to loosening after prolonged use, posing a safety hazard. Many weight-reduction systems incorporate a lever-like structure for greater patient comfort, but this also places higher demands on the spring's elasticity coefficient and the motor's torque. Therefore, existing weight-reduction systems require further improvement. To meet the needs of mobile rehabilitation robots, functions such as assisted standing, patient movement intention recognition, and height adjustment should be added. Summary of the Invention

[0005] In view of this, the present invention provides a rehabilitation robot weight reduction system with an upward cantilever, which can reduce the weight of the patient's lower limbs as needed and recognize the patient's movement intention, allowing the patient to move freely in an open space.

[0006] This invention is achieved through the following technical solution:

[0007] A weight reduction system for a rehabilitation robot with an upward cantilever, characterized in that it includes: a tension adjustment drive component, a tension adjustment component, and a cantilever mechanism;

[0008] The tension adjustment assembly includes: a structural housing, slide rail b, two load-bearing plates, and two or more tension springs;

[0009] The outer shell of the structure is mounted on the gantry of the rehabilitation robot, and the slide rail b is vertically mounted on the inner wall of one side of the outer shell, which is called surface a; two sliders b are slidably connected on the slide rail b.

[0010] Two support plates are installed on the two sliders b in a one-to-one correspondence;

[0011] The tension spring is installed between the two support plates;

[0012] The tension adjustment drive assembly is used to drive the top support plate to move vertically and to lock the position of the top support plate.

[0013] The cantilever mechanism is connected to the bottom support plate;

[0014] The cantilever mechanism of the weight reduction system is connected to the patient's waist and hips via straps. As the patient walks, the cantilever mechanism drives the bottom support plate to move downward along the slide rail b, and the tension spring is stretched downward to provide elastic support for the patient and achieve weight reduction.

[0015] Furthermore, the weight reduction system further includes a height adjustment component and a height adjustment drive component;

[0016] The height adjustment assembly includes: a slider c and a slide rail c;

[0017] The slide rail c has two mounting plates at both ends; the slider c is slidably connected to the slide rail c.

[0018] The height adjustment drive assembly includes: a drive motor b, a lead screw nut b, and a lead screw b;

[0019] The two ends of the lead screw b are respectively mounted on the two mounting plates of the slide rail c via bearings; the lead screw nut b is detachably mounted on the slider c; the lead screw b and the lead screw nut b on the slider c are threaded together, and the slider b moves up and down along the slide rail c under the drive of the lead screw b; the lead screw b is driven to rotate by a drive motor.

[0020] The other side of the structural housing of the tension adjustment component is mounted on the slider c of the height adjustment component.

[0021] Furthermore, the cantilever mechanism comprises: a cantilever assembly and a cantilever connecting block, wherein the cantilever assembly is mounted on the bottom support plate via the cantilever connecting block;

[0022] The cantilever assembly includes: a bent pipe, a cantilever slide rail, a cantilever slider, and a lifting ring a;

[0023] The bend is composed of rod a and rod b; rod b is vertically mounted on the cantilever connecting block, and rod a is obliquely mounted on rod b.

[0024] The cantilever slide rail is horizontally installed on rod a, and a cantilever slider is slidably connected to the cantilever slide rail. The cantilever slider reciprocates along the cantilever slide rail.

[0025] The lifting ring a is installed at the bottom of the cantilever slider; the strap is installed on the lifting ring a.

[0026] Furthermore, the cantilever mechanism further includes: a slider a and a slide rail a;

[0027] The slide rail a is vertically installed on the outer side wall of surface a, and the slider a is slidably connected to the slide rail a;

[0028] The cantilever connecting block is fixedly connected to the slider a.

[0029] Furthermore, the feature is that a rectangular through hole of the same size is machined on both sides of the slide rail b on surface a;

[0030] The bottom support plate is integrally formed from a rectangular plate and a U-shaped plate; the U-shaped plate of the bottom support plate passes through the through holes on both sides of the slide rail b on surface a; the through hole a is located at the bottom plate of the bottom support plate;

[0031] The cantilever connecting block is installed on the U-shaped plate with rectangular through holes on both sides of the bottom bearing plate extending out of the slide rail b.

[0032] Furthermore, the cantilever assembly also includes: a displacement sensor;

[0033] The displacement sensor is mounted on the cantilever slide rail and is used to measure the distance between the displacement sensor and the cantilever slider; the distance between the displacement sensor and the cantilever slider is used to determine the patient's intention to move.

[0034] Furthermore, the tension adjustment assembly also includes: a tension sensor;

[0035] The tension sensor is installed between a tension spring and the bottom support plate to measure the tension generated by a single tension spring; the remaining tension springs are fitted with protrusions located below the bottom support plate to ensure that each tension spring has the same extension length.

[0036] Furthermore, the tension adjustment drive assembly includes: a drive motor a, a lead screw nut a, and a lead screw a;

[0037] The lead screw nut a is mounted on the top bearing plate, and a through hole a is machined on the bottom bearing plate. The through hole a is coaxial with the lead screw nut a.

[0038] The lead screw a passes through the mounting hole c and the through hole a in sequence. The two ends of the lead screw a are respectively mounted on the top and bottom surfaces of the structural housing via bearings. The lead screw nut a is threadedly engaged with the lead screw a.

[0039] The output shaft of the drive motor a is connected to the upper end of the lead screw a, and is used to drive the rotation of the lead screw a.

[0040] Furthermore, one end of the tension spring is mounted on the top support plate via a lifting ring b, and the other end of the tension spring is mounted on the bottom support plate via a lifting ring b.

[0041] The lifting rings b mounted on the bottom support plate are parallel to each other, and the lifting rings b mounted on the top support plate are also parallel to each other; each of the lifting rings b is fastened by a nut.

[0042] Beneficial effects:

[0043] (1) The present invention provides a weight reduction system for a cantilevered rehabilitation robot, comprising: a tension adjustment drive assembly, a tension adjustment assembly, and a cantilever assembly; the weight reduction system is small in size, light in weight, and simple in working principle, allowing patients to move freely in open areas to perform lower limb rehabilitation training, making rehabilitation training more comfortable for patients and giving them a certain degree of autonomy, thereby improving the rehabilitation training effect; traditional weight reduction systems apply force through a lever-like structure, while the weight reduction system of the present invention transmits force directly to the cantilever assembly through the bottom bearing plate, which can avoid the problem of requiring a large spring force due to a short lever arm, and can improve the service life of the spring; the tension spring not only provides weight reduction force, but also adjusts to a certain extent with the change of the body's center of gravity when the patient walks, playing a certain buffering role, thereby providing greater comfort; the weight reduction system uses a slide rail guide, and compared with the previous weight reduction system that uses a dual optical axis for guidance, the weight reduction system of the present invention is small in size and light in weight, making the rehabilitation robot easy to move.

[0044] (2) The weight reduction system of the rehabilitation robot with an upward cantilever of the present invention also includes a height adjustment component and a height adjustment drive component; the height adjustment component can adjust the overall height of the tension adjustment drive component, the tension adjustment component, the cantilever component, i.e. the cantilever connecting block, so that the weight reduction system can be applied to patients of different heights and increase the applicable height range.

[0045] (3) In the present invention, a weight reduction system for a rehabilitation robot with an upward cantilever is provided. The slider a is slidably connected to the slide rail a, and the cantilever connecting block is fixedly connected to the slider a. The cantilever connecting block is also fixedly connected to the bottom bearing plate and the slider a, so that the cantilever connecting block can move up and down along the slide rail a more stably, thereby improving the stability of the weight reduction mechanism.

[0046] (4) The present invention provides a weight reduction system for a rehabilitation robot with an upward cantilever arm. The cantilever arm assembly also includes a displacement sensor. The displacement sensor can measure the distance between the cantilever arm slider and the displacement sensor, and can determine the patient's intention to move. Then, according to the intention to move, the moving system at the bottom of the gantry arm drives the gantry arm to move with the patient, thereby achieving the effect of assisting rehabilitation.

[0047] (5) The present invention provides a weight reduction system for an upward cantilever rehabilitation robot, wherein a tension sensor is installed between a tension spring and a bottom support plate, and can measure the tension generated by a single tension spring; the tension length of each tension spring is kept consistent, and the weight reduction value can be quantitatively adjusted by the tension generated by a single tension spring.

[0048] (6) The weight reduction system of the rehabilitation robot with an upward cantilever of the present invention uses a sliding screw in the tension adjustment drive component, which can adjust the spring force of the tension spring so that the tension of the tension spring can match the lower limb strength of different patients; since the driving force of the screw is very small and can be self-locked by utilizing the characteristics of the screw after reaching the designated position, there is no need to equip components such as worm gear reducers, making the overall size of the weight reduction system smaller, the weight lighter, the movement more convenient, and the motor loss reduced.

[0049] (7) In the weight reduction system of the rehabilitation robot with an upward cantilever of the present invention, one end of the tension spring is installed on the top support plate through the lifting ring b, and the other end of the tension spring is installed on the bottom support plate through the lifting ring b; the lifting ring is fastened by the nut, which can ensure that the direction of the lifting ring b on the bottom support plate is always parallel and the direction of the lifting ring b on the top support plate is always parallel, which can prevent the lifting ring b18 from applying torsion to the tension spring 19, and at the same time make the installation of the tension spring more convenient. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of the structure of a rehabilitation robot;

[0051] Figure 2 This is a diagram showing the main components of the weight reduction system of the present invention;

[0052] Figure 3 This is a schematic diagram of the tension adjustment component structure of the present invention;

[0053] Figure 4This is a schematic diagram of the height adjustment component and height adjustment drive component of the present invention;

[0054] Among them, 1-height adjustment component, 2-tension adjustment drive component, 3-tension adjustment component, 4-cantilever component, 5-height adjustment drive component, 6-cantilever connecting block, 7-slide rail a, 8-drive motor a, 9-coupling a, 10-structural housing, 11-lead screw a, 12-displacement sensor, 13-cantilever slide rail, 14-cantilever slider, 15-lifting ring a, 16-bend, 17-bearing plate, 17-1 top bearing plate, 17-2 bottom bearing plate, 18-lifting ring b, 19-tension spring, 20-slide rail b, 21-tension sensor, 22-drive motor b, 23-coupling b, 24-lead screw b, 25-slider c, 26-slide rail c, 27-control box, 28-weight reduction system, 29-handrail, 30-gantry frame, 31-moving system. Detailed Implementation

[0055] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0056] This embodiment provides a weight reduction system for an upwardly cantilevered rehabilitation robot, which is installed on a rehabilitation robot to reduce the load on the patient's legs during rehabilitation training;

[0057] like Figure 1 As shown, the rehabilitation robot includes: a control box 27, a gantry frame 30, two weight reduction systems 28, two handrails 29, and a mobility system 31;

[0058] The gantry frame 30 consists of an inverted U-shaped frame and two crossbars; the U-shaped frame consists of a crossbeam and two columns; each of the two columns has several mounting holes, and two weight-reducing systems 28 are fixed to the mounting holes on the two columns by screws; the installation position of the weight-reducing system 28 can be adjusted according to the position of the mounting holes; the two crossbars are respectively installed at the bottom of the two columns; the two moving systems 31 are respectively installed at the bottom of the two crossbars, allowing the patient to move freely in open spaces; two handrails 29 are respectively installed at the front end of the two crossbars for the patient to grip; the height of the two handrails 29 can be adjusted according to the patient's height; the control box 27 is located at the top of the crossbeam; the control box 27 is electrically connected to the weight-reducing system 28 and the moving system 31; the operation of the weight-reducing system 28 and the moving system 31 is controlled by the control box 27;

[0059] like Figure 2 As shown, the weight reduction system 28 includes: a height adjustment component 1, a height adjustment drive component 5, and a weight reduction box;

[0060] like Figure 4As shown, the height adjustment component 1 includes: a slider c25 and a slide rail c26; each end of the slide rail c26 is equipped with a mounting plate; the slider c25 and the slide rail c26 are slidably connected, and the slide rail c26 guides the slider c25; in this embodiment, the slide rail c26 is a side slide rail, because the side slide rail can bear heavier objects and can provide stable support and guidance, so that the slider c25 can remain stable during the sliding process;

[0061] The height adjustment drive assembly 5 includes: a drive motor b22, a coupling b23, a lead screw nut b, and a lead screw b24; both ends of the lead screw b24 are respectively mounted on two mounting plates of the slide rail c26 via bearings; the lead screw nut b is detachably mounted on the slider c25; the lead screw b24 and the lead screw nut b on the slider c25 are threadedly engaged, and the slider c25 moves up and down along the slide rail c26 under the drive of the lead screw b24; the output shaft of the drive motor b22 is connected to one end of the lead screw b24 via the coupling b23, and is used to drive the rotation of the lead screw b24; in this embodiment, the lead screw b24 is a sliding lead screw;

[0062] The weight reduction box is installed on the slider c25 of the height adjustment component 1. The weight reduction box includes: tension adjustment drive component 2, tension adjustment component 3, cantilever mechanism, height adjustment drive component 5 and cantilever connecting block 6.

[0063] like Figure 3 As shown, the tension adjustment assembly 3 includes: a structural housing 10, a slide rail b20, two sliders b, two bearing plates 17, four or more lifting rings b18, two or more tension springs 19, and one or more tension sensors 21;

[0064] The outer shell 10 is a cuboid structure; the two opposite faces of the outer shell 10 are the top and bottom faces, and the four faces other than the top and bottom faces are the side faces of the outer shell 10; one side face of the outer shell 10 is fixedly connected to the slider c25; the top face of the outer shell 10 is machined with a mounting hole a, and the bottom face is machined with a mounting hole b, and the mounting hole a and mounting hole b are coaxial.

[0065] The slide rail b20 is vertically installed on the inner wall of another side of the structural housing 10, and this side is called surface a. On surface a, rectangular through holes of the same size are machined on both sides of the slide rail b20. Both sliders b are slidably connected to the slide rail b20. The two sliders b are arranged vertically, and from top to bottom, they are slider b1 and slider bII, respectively. The slide rail b20 serves as a guide for the two sliders b.

[0066] The two support plates 17 are located inside the structural shell 10, and are named as: top support plate 17-1 and bottom support plate 17-2; the top support plate 17-1 is fixedly connected to slider bI, and a mounting hole c is machined on the top support plate 17-1; the bottom support plate 17-2 is fixedly connected to slider bII; the bottom support plate 17-2 is integrally formed from a rectangular plate and a U-shaped plate, and the U-shaped plate of the bottom support plate 17-2 passes through the rectangular through holes on both sides of the slide rail b20 on surface a, and is fixedly connected to slider bII; a through hole a is machined on the rectangular plate of the bottom support plate 17-2, and the mounting hole c, through hole a and mounting hole a are coaxial;

[0067] One end of the tension spring 19 is mounted on the top support plate 17-1 via a lifting ring b18, and the other end of the tension spring 19 is mounted on the bottom support plate 17-2 via a lifting ring b18. The tension spring 19 is arranged vertically. The bottom support plate 17-2 is kept stationary by the tension spring 19. The tension spring 19 provides a certain elastic cushioning support to the patient, achieving weight reduction and cushioning effects.

[0068] The lifting rings b18 installed on the bottom support plate 17-2 are parallel to each other, and the lifting rings b18 installed on the top support plate 17-1 are also parallel to each other. This ensures that the two ends of the tension spring 19 are hooked onto the two ends of the lifting rings b18, while also preventing the lifting rings b18 from applying torsion to the tension spring 19. Each of the lifting rings b18 is fastened with a nut, and the direction of the lifting ring b18 can be controlled by fastening the nut.

[0069] In this embodiment, a tension sensor 12 is installed between a tension spring 19 and the bottom support plate 17-2 to measure the tension generated by a single tension spring 19; protrusions are installed between the remaining tension springs 19 and the bottom support plate 17-2 to ensure that the tension length of each tension spring 19 is consistent; the weight reduction value can be quantitatively adjusted according to the tension generated by a single tension spring 19.

[0070] The tension adjustment drive assembly 2 includes: a drive motor a8, a coupling a9, a lead screw nut a, and a lead screw a11; the lead screw nut a is detachably installed in the mounting hole c of the top support plate 17-1, and the lead screw nut a is coaxial with the mounting hole c; the lead screw a11 passes sequentially through the mounting hole c on the top support plate 17-1 and the through hole a on the bottom support plate 17-2, and the two ends of the lead screw a11 are respectively mounted on the mounting hole a and the mounting hole b of the structural housing 10 through bearings; the lead screw a11 is threadedly engaged with the lead screw nut a on the top support plate 17-1, and the top support plate 17-1, connected to the slider b1, moves up and down along the slide rail b20 under the drive of the lead screw a11; in this embodiment, the lead screw a11 is a sliding lead screw;

[0071] The axes of lead screw a11 and lead screw b24 are parallel. The parallel axes have lower technical requirements than the coaxial axes, making the processing and installation more convenient and simple.

[0072] The output shaft of the drive motor a8 is connected to the upper end of the lead screw a11 via a coupling a9, and is used to drive the rotation of the lead screw a11;

[0073] The cantilever mechanism includes: a slide rail a7, a slider a, a cantilever connecting block 6, and a cantilever assembly 4;

[0074] The slide rail a7 is vertically installed on the outer side wall of surface a and is in the same position as the slide rail b; the slider a is slidably connected to the slide rail a7, and the slide rail a7 guides the slider a.

[0075] The cantilever connecting block 6 is installed on the U-shaped plate extending from the rectangular through holes on both sides of the slide rail b20 of the bottom bearing plate 17-2, and is also fixedly connected to the slider a;

[0076] The cantilever assembly 4 is mounted on the cantilever connecting block 6. The cantilever assembly 4 includes: a bend 16, a displacement sensor 12, a cantilever slide rail 13, a cantilever slider 14, and a lifting ring a15.

[0077] The bend 16 is composed of rod a and rod b; rod b is vertically mounted on the cantilever connecting block 6, and rod a is obliquely mounted on rod b; the bend 16 can reduce the distance between the two cantilever components 4, making it more comfortable for the patient to wear.

[0078] The cantilever slide rail 13 is horizontally mounted on rod a;

[0079] The cantilever slider 14 is slidably connected to the cantilever slide rail 13, and the cantilever slider 14 can reciprocate along the cantilever slide rail 13.

[0080] The lifting ring a15 is installed at the bottom of the cantilever slider 14 via a connector; the lifting ring a15 is equipped with a strap for the patient to wear; after the patient wears the strap, the cantilever slider 14 moves along the cantilever slide rail 13 as the patient moves.

[0081] The displacement sensor 12 is mounted on the cantilever slide rail 13 and is used to measure the distance between the displacement sensor 12 and the cantilever slider 14.

[0082] The height adjustment drive assembly and the height adjustment assembly's screw b, screw nut b, slider c25 and slide rail c26 can be replaced with a linear motor or gear rack mechanism or crank slider mechanism or piston mechanism to achieve height adjustment.

[0083] The pulling of the tension spring 19 in the height adjustment assembly can be replaced by the pulling of a rope.

[0084] Working principle:

[0085] In this embodiment, the weight reduction system is installed on the gantry 30 of the rehabilitation robot. When the patient uses it, the weight reduction system 28 reduces the patient's weight, and the gantry 30 moves with the patient, carrying the weight reduction system.

[0086] The cantilever assembly 4 is mounted on the slider a via the cantilever connecting block 6, which is in turn fixed to the bottom support plate 17-2. This allows the bottom support plate 17-2 to lift the cantilever assembly 4, meaning the bottom support plate 17-2 can directly apply an upward force to the cantilever assembly 4, causing the spring force of the tension spring 19 to act directly on the cantilever assembly 4. Specifically, the cantilever assembly 4 can move up and down along the slide rails a7 and b20 simultaneously via sliders a and b11. When the patient walks or stands, a downward force is applied to the cantilever assembly 4, causing it to move downward. As the cantilever assembly 4 moves downward, it drives the bottom support plate 17-2 to move downward. As the bottom support plate 17-2 moves downward, the tension spring 19 is stretched downward, generating a restoring force. This restoring force is transmitted to the cantilever assembly 4 through the bottom support plate 17-2, providing a certain degree of elastic cushioning support for the patient. Therefore, when the patient is walking, this can achieve the effects of weight reduction and cushioning.

[0087] The top support plate 17-1 of the tension adjustment assembly 3 moves up and down along the slide rail b20 as the lead screw a11 rotates; by adjusting the position of the top support plate 17-1, the stretchable length of the tension spring 19 can be adjusted, thereby changing the restoring force applied to the cantilever assembly 4, so that the tension of the tension spring 19 can match the lower limb strength of different patients.

[0088] In addition, the weight reduction system 28 adjusts the height of the tension adjustment component 3 through the height adjustment component 1; the tension adjustment component 3 is connected to the slider c25, and the slider c25 moves up and down along the slide rail c26 as the lead screw b24 rotates, so that the tension adjustment component 3 can be adapted to patients of different heights; the height adjustment component 1 cooperates with the cantilever component 4 (by attaching it to the patient's body with a strap) to pull the patient from a sitting position to a standing position, and can pull the patient to different heights according to the patient's height;

[0089] Because the cantilever slider 14 of the cantilever assembly 4 is connected to the patient's hip and waist via the hanging ring a15, there is a displacement difference between the left and right shoulders as the patient walks or rotates; the displacement of the left and right shoulders causes the cantilever slider 14 to move. By measuring the displacement difference between the left and right cantilever sliders 14 (caused by the different forces exerted by the patient on the left and right cantilever assemblies 4 when turning), the patient's intention to move can be determined. Then, the bottom moving system 31 drives the gantry 30 to move with the patient, thereby achieving the effect of assisting rehabilitation; specifically, when the patient is in During walking, there is a displacement difference between the distance between the left cantilever slider 14 and the displacement sensor 12 and the distance between the right cantilever slider 14. When the displacement difference is within a certain threshold, it can be determined that the patient will walk straight. When the displacement of the left cantilever slider 14 is greater than the displacement of the right cantilever slider, it can be determined that the patient will turn right. When the displacement of the right cantilever slider 14 is greater than the displacement of the left cantilever slider, it can be determined that the patient will turn left. Therefore, by measuring the displacement of the left and right cantilever sliders 14, the patient's intention to walk can be determined.

[0090] Since the top support plate 17-1 and the bottom support plate 17-2 are mounted on the slide rail b20, the guiding effect of the slide rail b20 can prevent the tension spring 19 from shaking randomly during the contraction process.

[0091] The weight reduction system adopts a modular design and can be separated from the gantry, without too many restrictions on the site of use. Since the weight reduction function is not limited by the gantry, it can be installed on gantry with different functions as needed. In addition to gantry, the weight reduction system can also be installed on a simple steel pipe frame, which can reduce costs and increase the applicability of the weight reduction system.

[0092] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A weight reduction system for a rehabilitation robot with an upward cantilever arm, characterized in that, include: Tension adjustment drive assembly (2), tension adjustment assembly (3) and cantilever mechanism; The tension adjustment assembly (3) includes: a structural housing (10), a slide rail b (20), two bearing plates (17) and two or more tension springs (19); The structural shell (10) is installed on the gantry of the rehabilitation robot, and the slide rail (20) is vertically installed on the inner wall of one side of the structural shell (10), with the inner wall being surface a; two sliders b are slidably connected on the slide rail (20); Two support plates (17) are installed on two sliders b in a one-to-one correspondence; The tension spring (19) is installed between the two bearing plates (17); The tension adjustment drive assembly (2) is used to drive the top support plate (17) to move vertically and to lock the position of the top support plate (17); The cantilever mechanism is connected to the bottom support plate (17); The cantilever mechanism of the weight reduction system is connected to the patient's waist and hips via straps. As the patient walks, the cantilever mechanism drives the bottom support plate (17) to move downward along the slide rail b (20), and the tension spring (19) is stretched downward to provide elastic support for the patient and achieve weight reduction.

2. The weight reduction system for a cantilevered rehabilitation robot as described in claim 1, characterized in that, The weight reduction system also includes a height adjustment component (1) and a height adjustment drive component (5). The height adjustment component (1) includes: a slider c (25) and a slide rail c (26); The slide rail c (26) has two mounting plates at both ends; the slider c (25) is slidably connected to the slide rail c (26); The height adjustment drive assembly (5) includes: a drive motor b (22), a lead screw nut b, and a lead screw b (24); The two ends of the lead screw b (24) are respectively mounted on the two mounting plates of the slide rail c (26) via bearings; the lead screw nut b is detachably mounted on the slider c (25); the lead screw b (24) and the lead screw nut b on the slider c (25) are threadedly engaged, and the slider c (25) moves up and down along the slide rail c (26) under the drive of the lead screw b (24); the lead screw b (24) is driven to rotate by the drive motor b (22); The other side of the structural housing (10) of the tension adjustment assembly (3) is mounted on the slider c (25) of the height adjustment assembly (1).

3. The weight reduction system for a cantilevered rehabilitation robot as described in claim 1, characterized in that, The cantilever mechanism includes: a cantilever assembly (4) and a cantilever connecting block (6), wherein the cantilever assembly (4) is mounted on the bottom bearing plate (17) via the cantilever connecting block (6); The cantilever assembly (4) includes: a bend (16), a cantilever slide rail (13), a cantilever slider (14), and a lifting ring a (15). The bend (16) is composed of rod a and rod b; rod b is vertically installed on the cantilever connecting block (6), and rod a is inclinedly installed on rod b; The cantilever slide rail (13) is horizontally installed on rod a, and a cantilever slider (14) is slidably connected on the cantilever slide rail (13). The cantilever slider (14) reciprocates along the cantilever slide rail (13). The lifting ring a (15) is installed at the bottom of the cantilever slider (14); the strap is installed on the lifting ring a (15).

4. The weight reduction system for a cantilevered rehabilitation robot as described in claim 3, characterized in that, The cantilever mechanism also includes: slider a and slide rail a (7); The slide rail a (7) is vertically installed on the outer side wall of surface a, and the slider a is slidably connected to the slide rail a (7); The cantilever connecting block (6) is fixedly connected to the slider a.

5. The weight reduction system for an upwardly cantilevered rehabilitation robot as described in claim 4, characterized in that, On the surface a, a rectangular through hole of the same size is machined on both sides of the slide rail b (20); The bottom support plate (17) is integrally formed from a rectangular plate and a U-shaped plate; the U-shaped plate of the bottom support plate (17) passes through the through holes on both sides of the slide rail b (20) on surface a; the through hole a is located at the bottom plate of the bottom support plate (17); The cantilever connecting block (6) is installed on the U-shaped plate with rectangular through holes on both sides of the slide rail b (20) on the bottom bearing plate (17).

6. The weight reduction system for an upwardly cantilevered rehabilitation robot as described in claim 4, characterized in that, The cantilever assembly (4) also includes: a displacement sensor (12); The displacement sensor (12) is mounted on the cantilever slide rail (13) and is used to measure the distance between the displacement sensor (12) and the cantilever slider (14); the distance between the displacement sensor (12) and the cantilever slider (14) is used to determine the patient's intention to move.

7. The weight reduction system for a cantilevered rehabilitation robot as described in claim 1, characterized in that, The tension adjustment assembly (3) further includes: a tension sensor (21); The tension sensor (21) is installed between a tension spring (19) and the bottom support plate (17) to measure the tension generated by a single tension spring (19); the remaining tension springs (19) are fitted with protrusions between themselves and the bottom support plate (17), the protrusions being located below the remaining tension springs (19), the protrusions being used to keep the tension length of each tension spring (19) consistent.

8. The weight reduction system for a cantilevered rehabilitation robot as described in claim 1, characterized in that, The tension adjustment drive assembly (2) includes: a drive motor a (8), a lead screw nut a, and a lead screw a (11). The lead screw nut a is mounted on the top bearing plate (17), and the bottom bearing plate (17) has a through hole a, which is coaxial with the lead screw nut a; The lead screw a (11) passes through the mounting hole c and the through hole a in sequence. The two ends of the lead screw a (11) are respectively mounted on the top and bottom surfaces of the structural housing (10) through bearings; the lead screw nut a is threadedly engaged with the lead screw a (11); The output shaft of the drive motor a (8) is connected to the upper end of the lead screw a (11) and is used to drive the rotation of the lead screw a (11).

9. A weight reduction system for a cantilevered rehabilitation robot as described in any one of claims 1-8, characterized in that, One end of the tension spring (19) is mounted on the top support plate (17) via a lifting ring b (18), and the other end of the tension spring (19) is mounted on the bottom support plate (17) via a lifting ring b (18). A plurality of lifting rings b (18) mounted on the bottom support plate (17) are parallel to each other, and a plurality of lifting rings b (18) mounted on the top support plate (17) are parallel to each other; each of the lifting rings b (18) is fastened by a nut.

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