Prone rehabilitation robot

Abstract

The invention discloses a prone position rehabilitation robot. A leg supporting seat and a multi-axis mechanical arm are assembled through a quick-release separable structure, a foot supporting seat is hinged to the leg supporting seat, a foot support and the foot supporting seat are assembled through the quick-release separable structure, and the leg support and the leg supporting seat are assembled through the quick-release separable structure. The mode that the rehabilitation device adapts to the feet is adopted, that is, the foot support and the leg support are bound to the lower limbs of a user at the most comfortable angle in advance, then the foot support and the leg support are simply, conveniently and rapidly inserted into the foot supporting base and the leg supporting base, and then the leg supporting base and the multi-axis mechanical arm are connected in an inserted mode; the foot support and the leg support in a separated state are worn under the condition that the position and posture of the hemiplegic lower limb of a patient are comfortable and convenient, the difficulty and pain of the patient can be greatly relieved, the whole structure can be rapidly assembled and separated, the structural stability is good, and use is convenient.

Description

Technical Field

[0001] The invention relates to a lying rehabilitation robot. Background Art

[0002] Frequent safety accidents in daily life have led to an increasing proportion of patients with lower limb disabilities and hemiplegia. For patients with lower limb muscle function decline and hemiplegia, using lower limb rehabilitation robots to drive hemiplegic patients or disabled people to perform rehabilitation exercises can effectively help restore their lower limb movement ability. Existing rehabilitation robots directly fix the patient's lower limbs on the rehabilitation machine, and the "feet adapt to the rehabilitation device". In the process of directly fixing the patient's lower limbs on the machine, it will increase the difficulty of binding and the patient's pain. Summary of the invention

[0003] The present invention provides a lying rehabilitation robot in order to solve the problems existing in the above-mentioned prior art.

[0004] The technical solutions adopted in the present invention are: A prone rehabilitation robot comprises a multi-axis mechanical arm, a foot support seat, a leg support seat, a foot rest and a leg rest, wherein the leg support seat and the multi-axis mechanical arm are assembled with a quick-detachable structure, the foot support seat and the leg support seat are hinged to each other, the foot rest and the foot support seat are assembled with a quick-detachable structure, and the leg rest and the leg support seat are assembled with a quick-detachable structure.

[0005] Furthermore, the quick-release detachable structure between the leg support seat and the multi-axis robotic arm includes: a connecting sleeve, a connecting shaft and a spring sheet, the spring sheet is connected to the connecting shaft, the connecting shaft and the connecting sleeve are plugged into each other, and a limiting hole is provided in the radial direction of the connecting sleeve, one end of the spring sheet extends into the limiting hole to realize axial positioning of the connecting sleeve and the connecting shaft.

[0006] Furthermore, an elastic pin is provided in the limiting hole, and the elastic pin is pressed down to make the spring sheet disengage from the limiting hole, thereby releasing the axial positioning between the connecting sleeve and the connecting shaft.

[0007] Furthermore, the connecting shaft includes a spline shaft portion and an optical shaft portion, a buffer spring is sleeved on the optical shaft portion, a slot is axially provided on the optical shaft portion, and a spring sheet is fixed in the slot.

[0008] Furthermore, a spline sleeve is fixed in the connecting sleeve, and the spline shaft and the spline sleeve are plugged into each other.

[0009] Furthermore, the quick-release detachable structure between the foot rest and the foot support seat, and between the leg rest and the leg support seat includes: a first cone block, a second cone block, a mounting sleeve, a mounting shaft and a locking block. The mounting sleeve is fixed to the foot support seat and the leg support seat, the mounting shaft is inserted into the mounting sleeve, the first cone block and the second cone block are both sleeved on the mounting shaft, and rotating the mounting shaft can drive the first cone block and the second cone block to rotate synchronously, the first cone block and the second cone block are inserted into each other, and the large end face of the first cone block is arranged facing the large end face of the second cone block, the two locking blocks are symmetrically and elastically supported on the mounting sleeve, and the locking blocks are in contact with the cone surface of the second cone block.

[0010] Furthermore, the surface of the locking block facing the conical surface of the second cone block is an inclined surface, and the side surface opposite to the inclined surface is a vertical surface.

[0011] Furthermore, two symmetrically arranged slots are provided on the large end surface of the second cone block. After the second cone block is assembled with the mounting shaft, the slots are arranged along the moving direction of the locking block.

[0012] Furthermore, the installation shaft is provided with a first limiting step and a second limiting step, and the first cone block and the second cone block are placed between the first limiting step and the second limiting step.

[0013] Furthermore, the foot support seat and the leg support seat are both U-shaped seat structures, a positioning groove is provided on the middle surface of the foot support seat, a dovetail slide groove is provided on the middle surface of the leg support seat, a step surface is provided in the dovetail slide groove, a positioning boss adapted to the positioning groove is provided on the bottom surface of the foot rest, and a dovetail platform adapted to the dovetail slide groove is provided on the leg rest.

[0014] The present invention has the following beneficial effects: The present application adopts the method of "using rehabilitation devices to adapt to feet", that is, the footrests and legrests are tied to the user's lower limbs at the most comfortable angle in advance, and then the footrests and legrests are simply and quickly "inserted" into the foot support seat and the leg support seat, and then the leg support seat and the multi-axis robotic arm are plugged into each other. The separated footrests and legrests are worn when the patient's hemiplegic lower limbs are in a comfortable and convenient position and posture, which can greatly reduce the patient's difficulties and pain. The entire structure can be quickly assembled and separated, has good structural stability, and is easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a structural diagram of the present invention.

[0016] Figure 2 It is an exploded view of the assembly of the connecting sleeve, the connecting shaft and the spring piece of the present invention.

[0017] Figure 3 It is an assembly cross-sectional view of the connecting sleeve, the connecting shaft and the spring piece of the present invention.

[0018] Figure 4This is the assembly drawing of the foot support and the leg support.

[0019] Figure 5 It is an assembly drawing of the first cone block, the second cone block, the mounting sleeve, the mounting shaft and the locking block.

[0020] Figure 6 This is the structural diagram of the second cone block.

[0021] Figure 7 The figure is a schematic diagram of the loading and unloading actions of the footrest or legrest. DETAILED DESCRIPTION

[0022] The present invention will be further described below in conjunction with the accompanying drawings.

[0023] like Figure 1 The present invention provides a supine rehabilitation robot, comprising a multi-axis mechanical arm 1, a foot support seat 2, a leg support seat 3, a foot rest 4 and a leg rest 5. The leg support seat 3 and the multi-axis mechanical arm 1 are assembled with a quick-detachable structure, the foot support seat 2 and the leg support seat 3 are hinged to each other, the foot rest 4 and the foot support seat 2 are assembled with a quick-detachable structure, and the leg rest 5 and the leg support seat 3 are assembled with a quick-detachable structure.

[0024] The foot support seat 2 and the leg support seat 3 are both U-shaped seat structures. The two side edges of the foot support seat 2 and the two side edges of the leg support seat 3 are hinged to each other through butterfly bolts. When it is necessary to adjust the angle between the foot support seat 2 and the leg support seat 3, the butterfly bolts are manually loosened to adjust the angle between the foot support seat 2 and the leg support seat 3, and then the butterfly bolts are tightened. The use of butterfly bolts greatly facilitates operation.

[0025] like Figure 2 and Figure 3 The quick-release detachable structure between the leg support seat 3 and the multi-axis robot arm 1 includes: a connecting sleeve 61, a connecting shaft 62 and a spring piece 63. The spring piece 63 is connected to the connecting shaft 62. The connecting shaft 62 and the connecting sleeve 61 are plugged into each other. A limiting hole is provided in the radial direction of the connecting sleeve 61. One end of the spring piece 63 extends into the limiting hole to realize the axial positioning of the connecting sleeve 61 and the connecting shaft 62.

[0026] An elastic pin 64 is provided in the limiting hole. The elastic pin 64 includes a pin shaft and a spring. The spring sleeve is arranged on the pin shaft. Step surfaces for corresponding axial limiting of the spring and the pin shaft are provided in the limiting hole and on the pin shaft. The pin shaft is elastically assembled in the limiting hole by the spring. Under the action of the spring elastic force, the top end of the pin shaft extends out of the connecting sleeve 61, and the bottom end of the pin shaft is placed in the limiting hole.

[0027] After the connecting shaft 62 and the connecting sleeve 61 are plugged into each other, one end of the spring piece 63 extends into the limiting hole. When the limiting needs to be released, the elastic pin 64 is pressed down to make the spring piece 63 disengage from the limiting hole, thereby releasing the axial positioning between the connecting sleeve 61 and the connecting shaft 62.

[0028] In order to avoid self-rotation between the connecting shaft 62 and the connecting sleeve 61, a spline structure is used for assembly between the connecting shaft 62 and the connecting sleeve 61, specifically: the connecting shaft 62 includes a spline shaft portion 621 and an optical axis portion 622, the diameter of the optical axis portion 622 is smaller than the spline shaft portion 621, a spline sleeve 611 is fixed in the connecting sleeve 61, and the spline shaft portion 621 and the spline sleeve 611 are plugged into each other.

[0029] A slot is provided in the axial direction of the optical axis portion 622. The cross section of the spring piece 63 is rectangular. The spring piece 63 is fixed in the slot, and the slot can better limit the spring piece 63. A buffer spring 623 is sleeved on the optical axis portion 622. The buffer spring 623 is located on the right side of the spring piece 63. When the connecting shaft 62 and the connecting sleeve 61 are plugged into each other, the buffer spring 623 plays a buffering role. In order to better position and install the buffer spring 623, the buffer spring 623 is sleeved on the spring piece 63, and two limiting protrusions 631 are fixed on the spring piece 63 to axially position the buffer spring 623.

[0030] The leg support seat 3 and the multi-axis robot arm 1 have a detachable quick-release structure, which is extremely convenient for loading and unloading, and the assembly is stable. When disassembling, just press the elastic pin 64. When assembling, in order to facilitate the spring piece 63 to be accurately inserted into the limiting hole of the connecting sleeve 61 at one time, the connecting shaft 62 and the connecting sleeve 61 are marked with transfer indicator arrows. Just assemble according to the overlapping direction of the two arrows.

[0031] like Figures 4 to 6 The quick-release detachable structures between the foot rest 4 and the foot support seat 2, and between the leg rest 5 and the leg support seat 3 are the same, all of which include a first cone block 71, a second cone block 72, a mounting sleeve 73, a mounting shaft 74 and a locking block 75. The mounting sleeve 73 is fixed to the two side edges of the foot support seat 2 and the two side edges of the leg support seat 3, and the mounting shaft 74 is inserted into the mounting sleeve 73. The first cone block 71 and the second cone block 72 are both sleeved on the mounting shaft 74. The outer wall of the mounting shaft 74 is axially fixed with a convex key, and key grooves are provided on the inner walls of the first cone block 71 and the second cone block 72. Rotating the mounting shaft 74 can drive the first cone block 71 and the second cone block 72 to rotate synchronously, and the mounting shaft 74 can slide axially relative to the first cone block 71 and the second cone block 72.

[0032] A protrusion is provided on the large end surface of the first cone block 71, and a groove is provided on the large end surface of the second cone block 72. The protrusion and the groove are plugged into each other. After being plugged into each other, the large end surfaces of the two cone blocks fit each other, and the two locking blocks 75 are symmetrically elastically supported on the mounting sleeve 73, and the locking blocks 75 abut against the cone surface of the second cone block 72. Two symmetrically arranged slots 721 are provided on the large end surface of the second cone block 72, and the slots 721 are arranged along the moving direction of the locking blocks 75.

[0033] The surface of the locking block 75 facing the conical surface of the second conical block 72 is an inclined surface, and the side surface opposite to the inclined surface is a vertical surface.

[0034] A first limiting step 741 and a second limiting step 742 are provided on the mounting shaft 74 , and the first cone block 71 and the second cone block 72 are disposed between the first limiting step 741 and the second limiting step 742 .

[0035] like Figure 7 In the initial state (i.e., when the foot support 4 or the leg support 5 is not assembled), the locking block 75 abuts against the conical surface of the second cone block 72, and the state is as follows Figure 7 Figure a in the figure. Both the footrest 4 and the legrest 5 are provided with assembly holes. After the footrest 4 is aligned with the installation position of the foot support seat 2, or the legrest 5 is aligned with the installation position of the leg support seat 3, that is, after the installation shaft 74 is aligned with the assembly hole, the installation shaft 74 is pushed to the right. After the first limiting step 741 on the installation shaft 74 contacts the first cone block 71, the first cone block 71 and the second cone block 72 are pushed to the right together. During the rightward movement, since the large end faces of the two cone blocks fit together and a slot 721 is provided on the large end face of the second cone block 72, when the slot 721 reaches the inclined surface of the locking block 75, since the locking block 75 is elastically supported on the installation sleeve 73, the locking block 75 will be elastically pressed down into the slot 721 and separate the first cone block 71 and the second cone block 72 (the state is as shown in FIG. 1 ). Figure 7 (Figure b in the figure).

[0036] When the state is the state of Figure b, the mounting shaft 74 is plugged into the assembly hole on the foot support 4 or the leg support 5. At this time, the foot support 4 is installed on the support seat 2, or the leg support 5 is installed on the quasi-leg support seat 3. When the state is the state of Figure b, the second cone block 72 abuts against the second limiting step 742, and the first cone block 71 abuts against the first limiting step 741.

[0037] When the footrest 4 or legrest 5 needs to be disassembled, the mounting shaft 74 is continuously pushed to the right (the assembly holes on the footrest 4 and the legrest 5 are deep enough so that there is room for the mounting shaft 74 to continue to move to the right in the assembly holes), and the first cone block 71 will lift the locking block 75 through the inclined surface of the locking block 75. When the second limiting step 742 abuts against the mounting sleeve 73, the locking block 75 elastically abuts against the conical surface of the first cone block 71, and the state is as follows: Figure 7 Then rotate the mounting shaft 74 90°, that is, make the slot 721 away from the locking block 75. At this time, as shown in the cross-sectional view of Figure c, the large end faces of the two cone blocks fit together without "gap". Then pull the mounting shaft 74 to the left and reverse it 90° to return to Figure 7 The state of Figure a in .

[0038] To facilitate position identification, two switch markings at 90° to each other are provided on the outer wall of the mounting sleeve 73 .

[0039] In order to accurately align the installation axis 74 with the assembly hole on the foot support 4 or the leg support 5, the present invention provides a positioning groove 21 on the middle surface of the foot support seat 2, a dovetail slide groove 31 on the middle surface of the leg support seat 3, a step surface is provided in the dovetail slide groove 31, a positioning boss adapted to the positioning groove 21 is provided on the bottom surface of the foot support 4, and a dovetail platform adapted to the dovetail slide groove 31 is provided on the leg support 5. Through the matching positioning of the concave and convex, after the foot support 4 or the leg support 5 falls into the corresponding positioning groove 21 or dovetail slide groove 31, the installation axis 74 is mechanically aligned with the assembly hole.

[0040] When the present invention is used, the foot support 4 and the leg support 5 can be tied to the user's lower limbs at the most comfortable angle in advance, and then the foot support 4 and the leg support 5 can be simply and quickly "inserted" into the foot support seat 2 and the leg support seat 3 to implement rehabilitation training, which can greatly reduce the patient's pain, inconvenience and difficulty. The entire structure can be quickly assembled and separated, has good structural stability, and is easy to use.

[0041] The above description is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements without departing from the principle of the present invention, and these improvements should also be regarded as within the protection scope of the present invention.

Claims

1. A prone rehabilitation robot, characterized in that: The invention comprises a multi-axis mechanical arm (1), a foot support seat (2), a leg support seat (3), a foot rest (4) and a leg rest (5); the leg support seat (3) and the multi-axis mechanical arm (1) are assembled by adopting a quick-detachable structure; the foot support seat (2) and the leg support seat (3) are hinged to each other; the foot rest (4) and the foot support seat (2) are assembled by adopting a quick-detachable structure; and the leg rest (5) and the leg support seat (3) are assembled by adopting a quick-detachable structure.

2. The prone rehabilitation robot according to claim 1, characterized in that: The quick-detachable detachable structure between the leg support seat (3) and the multi-axis robot arm (1) comprises: a connecting sleeve (61), a connecting shaft (62) and a spring piece (63); the spring piece (63) is connected to the connecting shaft (62); the connecting shaft (62) and the connecting sleeve (61) are plugged into each other; a limiting hole is provided in the radial direction of the connecting sleeve (61); one end of the spring piece (63) extends into the limiting hole, thereby realizing axial positioning of the connecting sleeve (61) and the connecting shaft (62).

3. The prone rehabilitation robot according to claim 2, characterized in that: An elastic pin (64) is provided in the limiting hole, and the elastic pin (64) is pressed downward to cause the spring sheet (63) to disengage from the limiting hole, thereby releasing the axial positioning between the connecting sleeve (61) and the connecting shaft (62).

4. The prone rehabilitation robot according to claim 2, characterized in that: The connecting shaft (62) comprises a spline shaft portion (621) and an optical shaft portion (622); a buffer spring (623) is sleeved on the optical shaft portion (622); a slot is provided in the axial direction of the optical shaft portion (622); and a spring sheet (63) is fixed in the slot.

5. The prone rehabilitation robot according to claim 4, characterized in that: A spline sleeve (611) is fixed inside the connecting sleeve (61), and the spline shaft portion (621) and the spline sleeve (611) are plugged into each other.

6. The prone rehabilitation robot according to claim 1, characterized in that: The quick-detachable detachable structure between the foot support (4) and the foot support seat (2), and between the leg support (5) and the leg support seat (3) comprises: a first cone block (71), a second cone block (72), a mounting sleeve (73), a mounting shaft (74) and a locking block (75); the mounting sleeve (73) is fixed to the foot support seat (2) and the leg support seat (3); the mounting shaft (74) is inserted into the mounting sleeve (73); the first cone block (71) and the second cone block (72) are both sleeved on the mounting shaft (74); the mounting shaft (74) is rotated The first cone block (71) and the second cone block (72) can be driven to rotate synchronously. The first cone block (71) and the second cone block (72) are plugged into each other, and the large end surface of the first cone block faces the large end surface of the second cone block and is arranged in close contact. The large end surface of the second cone block (72) is provided with two symmetrically arranged slots (721), and the slots (721) are arranged along the moving direction of the locking block (75). The two locking blocks (75) are symmetrically elastically supported on the mounting sleeve (73), and the locking blocks (75) are in contact with the cone surface of the second cone block (72).

7. The prone rehabilitation robot according to claim 6, characterized in that: The surface of the locking block (75) facing the conical surface of the second conical block (72) is an inclined surface, and the side surface opposite to the inclined surface is a vertical surface.

8. The prone rehabilitation robot according to claim 6, characterized in that: The installation shaft (74) is provided with a first limiting step (741) and a second limiting step (742), and the first cone block (71) and the second cone block (72) are disposed between the first limiting step (741) and the second limiting step (742).

9. The prone rehabilitation robot according to claim 1, characterized in that: The foot support seat (2) and the leg support seat (3) are both U-shaped seat structures, a positioning groove (21) is provided on the middle surface of the foot support seat (2), a dovetail slide groove (31) is provided on the middle surface of the leg support seat (3), a step surface is provided in the dovetail slide groove (31), a positioning boss adapted to the positioning groove (21) is provided on the bottom surface of the foot support (4), and a dovetail platform adapted to the dovetail slide groove (31) is provided on the leg support (5).

Images