Multi-degree-of-freedom linkage waist rehabilitation mechanism

Abstract

The multi-degree-of-freedom linkage waist rehabilitation mechanism comprises a main body frame and an outer frame body, a seat plate is arranged at the top of the main body frame, an avoiding space is formed in the middle of the outer frame body, and a first push rod module, a second push rod module and a third push rod module are sequentially arranged on the inner wall of the rear end; the first push rod module, the second push rod module and the third push rod module each comprise a first transverse moving assembly, two first longitudinal moving assemblies, two first electric push rod assemblies and a first binding mechanism, the first transverse moving assemblies are connected with the outer frame body, the first longitudinal moving assemblies are arranged at the output ends of the first transverse moving assemblies, and the first electric push rod assemblies are arranged at the output ends of the first longitudinal moving assemblies. And a first universal adjusting piece is arranged at the front end and is connected with the first binding mechanism. By means of the multi-push-rod module and the universal adjusting part, various rehabilitation actions are achieved, requirements of different patients are met, a flexible rehabilitation scheme is provided, the movement direction is accurately controlled, waist muscles are effectively stretched and relaxed, safety and comfort are improved, installation and adjustment are convenient through modular design, and the applicability and the popularization rate are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation equipment, and in particular to a multi-degree-of-freedom linkage waist rehabilitation mechanism. Background Art

[0002] With the rapid progress of society, people's work and lifestyles have changed significantly, which has led to a sharp increase in the incidence of lumbar diseases, and this trend is gradually spreading to young people. Maintaining the same sitting posture or incorrect standing posture for a long time often causes the waist muscles to become stiff and strained, thus causing various back pain problems. According to the principles of sports rehabilitation, targeted rehabilitation training for the waist can not only help relieve the neuralgia and muscle strain of the waist, but also effectively improve the individual's motor function.

[0003] At present, the design of waist rehabilitation robots has encountered several key challenges, including the conflict between design complexity and wearing comfort, the difficulty of balancing stability and flexibility, the limitations of the power system and drive device, and the integration of dynamics and ergonomics. These problems limit the adaptability, comfort and therapeutic effect of the robot, and also lead to its narrow scope of application, insufficient degrees of freedom and flexibility. Summary of the invention

[0004] The present invention aims to at least solve the technical problems existing in the prior art. To this end, the present invention proposes a multi-degree-of-freedom linkage waist rehabilitation mechanism, which is equipped with a plurality of push rod modules and universal adjustment parts by introducing a design combining a main frame and an outer frame, so as to achieve a highly flexible rehabilitation training purpose, while ensuring the comfort of the equipment.

[0005] According to some embodiments of the present invention, a multi-degree-of-freedom linkage lumbar rehabilitation mechanism includes a main frame and an outer frame, a seat plate is provided on the top of the main frame, the outer frame is arranged at the outer periphery of the end of the main frame, an avoidance space is provided in the middle of the outer frame, and the avoidance space is located at the top of the seat plate, and a first push rod module, a second push rod module and a third push rod module are arranged on the inner wall of the rear end of the outer frame from top to bottom, the first push rod module, the second push rod module and the third push rod module each include a first transverse movement component, two first longitudinal movement components, two first electric push rod assemblies and a first restraining mechanism, the first transverse movement component is connected to the outer frame, the two first longitudinal movement components are both arranged at the output end of the first transverse movement component, the first electric push rod assemblies are one by one arranged at the output end of the first longitudinal movement component, the front end of the first electric push rod assembly is provided with a first universal adjustment component, and the two first universal adjustment components are respectively connected to the two sides of the rear end of the first restraining mechanism.

[0006] A multi-degree-of-freedom linkage waist rehabilitation mechanism according to some embodiments of the present invention has at least the following beneficial effects:

[0007] The present invention adopts a design that combines a main frame and an outer frame, and is equipped with multiple push rod modules and universal adjustment parts, so that the device can realize a variety of rehabilitation movements, adapt to the specific needs of different patients, and provide a highly flexible rehabilitation training program. The first transverse movement component, the first longitudinal movement component and the first electric push rod component in the device cooperate with each other to accurately control the movement in all directions, ensuring effective stretching and relaxation of the waist muscles. At the same time, the application of the universal adjustment part enables the device to better fit the natural movement laws of the human body, further improving the safety and comfort of use, and the modular design of each part of the mechanism makes the installation and adjustment process simpler and faster, thereby improving the applicability and popularity of the device.

[0008] According to some embodiments of the present invention, a multi-degree-of-freedom linkage lumbar rehabilitation mechanism is provided with two first mounting plates at the top end of the rear side of the outer frame, each of the first mounting plates is provided with a first rope-collecting device, each of the output ends of the first rope-collecting device is provided with a first pull rope, and first rail wheels are provided on both sides of the top inner wall of the outer frame, the first pull ropes are passed through the first rail wheels one by one, and the first pull ropes are connected one by one to the first electric push rod assembly of the first push rod module.

[0009] According to some embodiments of the present invention, a multi-degree-of-freedom linkage lumbar rehabilitation mechanism is provided, and a tilting frame is provided in the middle of both sides of the outer frame, and the two tilting frames are respectively located on both sides of the second push rod module, and a second mounting plate is provided on the outer side of the tilting frame, and a second rope collecting device is provided on the second mounting plate, and a second pull rope is provided at the output end of the second rope collecting device, and a plurality of second rail wheels are provided on the top of the tilting frame, and the second pull rope is passed through the second rail wheel, and the second pull rope is connected to the first electric push rod assembly of the second push rod module.

[0010] According to some embodiments of the present invention, a multi-degree-of-freedom linkage lumbar rehabilitation mechanism is provided with a third mounting plate at the bottom of both sides of the outer frame, a third rope-collecting device is provided on the third mounting plate, a third pull rope is provided at the output end of the third rope-collecting device, cross beams are provided on both sides of the inner wall of the outer frame, a connecting frame is provided at the bottom of the inclined frame in the vertical direction, a third rail wheel is provided at the bottom of the connecting frame and the bottom of the cross beam, the second pull rope is sequentially passed through the two second rail wheels, and the second pull rope is connected to the first electric push rod assembly of the second push rod module.

[0011] According to some embodiments of the present invention, a multi-degree-of-freedom linkage lumbar rehabilitation mechanism, the first longitudinal movement component includes a first connecting plate and a first linear drive mechanism, the two first connecting plates are arranged at the output end of the transverse movement component, the two first linear drive mechanisms are respectively arranged at the front ends of the two first connecting plates, the first linear drive mechanism is arranged along the vertical direction, and the two first electric push rod assemblies are respectively arranged at the output ends of the two first linear drive mechanisms.

[0012] According to some embodiments of the present invention, a multi-degree-of-freedom linkage lumbar rehabilitation mechanism, the first lateral movement component includes a second connecting plate, a first drive motor, a first screw rod and a first screw rod moving block, the second connecting plate is arranged on the inner wall of the outer frame, the first drive motor is arranged on the second connecting plate, the output end of the first drive motor is connected to the first screw rod, the first screw rod moving block is screwed to the first screw rod, and the rear end of the first connecting plate is connected to the front end of the first screw rod moving block.

[0013] According to some embodiments of the present invention, a multi-degree-of-freedom linkage lumbar rehabilitation mechanism is provided, a first guide rail is horizontally arranged on the second connecting plate, a first slider is arranged at the rear end of the first screw rod moving block, the first slider is slidably connected to the first guide rail, a third connecting plate is arranged on the inner wall of the outer frame, the third connecting plate and the second connecting plate are arranged side by side, first side plates are arranged at both ends of the third connecting plate, a first light rod is arranged between the two first side plates, a first light rod moving block is arranged at the rear end of the first connecting plate, and the first light rod is passed through the first light rod moving block.

[0014] According to some embodiments of the present invention, a multi-degree-of-freedom linkage lumbar rehabilitation mechanism, the first linear drive mechanism includes a second drive motor, a second screw and a second screw moving block, the second drive motor is arranged at the top of the first connecting plate, the second screw is arranged at the output end of the second drive motor, the second screw moving block is screwed with the second screw, and the first electric push rod assembly is arranged at the front end of the second screw moving block.

[0015] According to some embodiments of the present invention, a multi-degree-of-freedom linkage lumbar rehabilitation mechanism is provided, a third guide rail is provided on the first connecting plate, a third slider is provided at the rear end of the second screw rod moving block, the third slider is slidably connected to the third guide rail, a third screw rod moving block is screwed on the second screw rod, a first support rod is provided at the front end of the third screw rod moving block, the first support rod is connected to the first electric push rod assembly, a third slider is provided at the rear end of the third screw rod moving block, and the third slider is slidably connected to the third guide rail.

[0016] According to some embodiments of the present invention, a multi-degree-of-freedom linkage lumbar rehabilitation mechanism is provided with side push rod assemblies on the inner walls on both sides of the outer frame, and the side push rod assemblies include a second transverse movement assembly, two second longitudinal movement assemblies, two second electric push rod assemblies and a second restraining mechanism. The second transverse movement assembly is connected to the outer frame, and the two second longitudinal movement assemblies are arranged at the output end of the second transverse movement assembly. The second electric push rod assemblies are arranged one by one at the output end of the second longitudinal movement assembly. The front end of the second electric push rod assembly is provided with a second universal adjustment member, and the two second universal adjustment members are respectively connected to the two sides of the rear end of the second restraining mechanism, and the second electric push rod assembly.

[0017] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0019] Figure 1 The structure of the embodiment of the present invention is shown in FIG. Figure 1 .

[0020] Figure 2 The structure of the embodiment of the present invention is shown in FIG. Figure 2 .

[0021] Figure 3 Schematic diagram of the structure of the outer frame of an embodiment of the present invention.

[0022] Figure 4 It is a schematic structural diagram of the first push rod module, the second push rod module or the third push rod module according to an embodiment of the present invention.

[0023] Figure 5 Schematic diagram of the structure of a side push rod assembly according to an embodiment of the present invention.

[0024] Figure numerals: 1, main frame, 2, outer frame, 3, seat plate, 4, avoidance space, 5, first push rod module, 6, second push rod module, 7, third push rod module, 8, first transverse movement assembly, 9, first longitudinal movement assembly, 10, first electric push rod assembly, 11, first restraining mechanism, 12, first universal adjustment member, 13, first mounting plate, 14, first rope collection device, 15, first pull rope, 16, first rail wheel, 17, tilt frame, 18, second mounting plate, 19, second rope collection device, 20, second pull rope, 21, second rail wheel, 2 2. The third mounting plate, 23. The third rope collecting device, 24. The third pull rope, 25. The crossbeam, 26. The connecting frame, 27. The third rail wheel, 28. The rotating drive device, 29. The rope collecting disc, 30. The first connecting plate, 31. The first linear drive mechanism, 32. The second connecting plate, 33. The first drive motor, 34. The first screw rod, 35. The first screw rod moving block, 36. The first guide rail, 37. The first slider, 38. The third connecting plate, 39. The first side plate, 40. The first light rod, 41. The first light rod moving block, 42. The second guide rail, 43. The first Second slider, 44, second drive motor, 45, second screw rod, 46, second screw rod moving block, 47, third screw rod moving block, 48, first support rod, 49, third slider, 50, third guide rail, 51, first fixed block, 52, first reinforcement rod, 53, side push rod assembly, 54, second transverse movement assembly, 55, second longitudinal movement assembly, 56, second electric push rod assembly, 57, second restraining mechanism, 58, second universal adjustment member, 59, fourth connecting plate, 60, second linear drive mechanism, 61, fifth connecting plate, 62, third drive motor Machine, 63, the third screw rod, 64, the fourth screw rod moving block, 65, the fourth guide rail, 66, the fourth slider, 67, the sixth connecting plate, 68, the second side plate, 69, the second light rod, 70, the second light rod moving block, 71, the fifth guide rail, 72, the fifth slider, 73, the fourth driving motor, 74, the fourth screw rod, 75, the fifth screw rod moving block, 76, the sixth guide rail, 77, the sixth slider, 78, the sixth screw rod moving block, 79, the second support rod, 80, the second fixed block, 81, the second reinforcement rod, 82, the telescopic adjustment member, 83, the stopper. DETAILED DESCRIPTION

[0025] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0026] In the description of the present invention, it should be understood that the descriptions involving orientations, such as up, down, left, right, front, back, etc., and the orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the modules or components referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0027] In the description of the present invention, if there is a description of first and second, it is only for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0028] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0029] like Figure 1-Figure 5 As shown, an embodiment of the present invention provides a multi-degree-of-freedom linkage lumbar rehabilitation mechanism.

[0030] A multi-degree-of-freedom linkage waist rehabilitation mechanism, including a main frame 1 and an outer frame 2, a seat plate 3 is arranged on the top of the main frame 1, the outer frame 2 is arranged on the outer periphery of the end of the main frame 1, a clearance space 4 is arranged in the middle of the outer frame 2, and the clearance space 4 is located on the top of the seat plate 3, and a first push rod module 5, a second push rod module 6 and a third push rod module 7 are arranged on the inner wall of the rear end of the outer frame 2 from top to bottom, and the first push rod module 5, the second push rod module 6 and the third push rod module 7 all include A first transverse movement component 8, two first longitudinal movement components 9, two first electric push rod components 10 and a first restraining mechanism 11, the first transverse movement component 8 is connected to the outer frame 2, the two first longitudinal movement components 9 are both arranged at the output end of the first transverse movement component 8, the first electric push rod components 10 are arranged one by one at the output end of the first longitudinal movement component 9, the front end of the first electric push rod component 10 is provided with a first universal adjustment component 12, and the two first universal adjustment components 12 are respectively connected to the two sides of the rear end of the first restraining mechanism 11.

[0031] The present invention adopts a design that combines a main frame 1 and an outer frame 2, and is equipped with a plurality of push rod modules and universal adjustment parts, so that the device can realize a variety of rehabilitation movements, adapt to the specific needs of different patients, and provide a highly flexible rehabilitation training program. The first transverse movement component 8, the first longitudinal movement component 9 and the first electric push rod component 10 in the device cooperate with each other to accurately control the movement in all directions, ensuring effective stretching and relaxation of the waist muscles. At the same time, the application of the first universal adjustment part 12 enables the device to better fit the natural movement laws of the human body, further improving the safety and comfort of use. In addition, the modular design of each part of the mechanism makes the installation and adjustment process simpler and faster, and improves the applicability and popularity of the equipment.

[0032] A multi-degree-of-freedom linkage lumbar rehabilitation mechanism described in this embodiment has two first mounting plates 13 disposed at the top end of the rear side of the outer frame 2, each of the first mounting plates 13 is provided with a first rope-collecting device 14, each of the output ends of the first rope-collecting device 14 is provided with a first pull rope 15, and first rail wheels 16 are disposed on both sides of the top inner wall of the outer frame 2, each of the first pull ropes 15 is passed through the first rail wheels 16, and each of the first pull ropes 15 is connected to the first electric push rod assembly 10 of the first push rod module 5.

[0033] The present embodiment describes a multi-degree-of-freedom linkage lumbar rehabilitation mechanism, wherein a tilting frame 17 is provided in the middle of both sides of the outer frame 2, and the two tilting frames 17 are respectively located on both sides of the second push rod module 6, and a second mounting plate 18 is provided on the outer side of the tilting frame 17, and a second rope collecting device 19 is provided on the second mounting plate 18, and a second pull rope 20 is provided at the output end of the second rope collecting device 19, and a plurality of second rail wheels 21 are provided on the top of the tilting frame 17, and the second pull rope 20 is passed through the second rail wheel 21, and the second pull rope 20 is connected to the first electric push rod assembly 10 of the second push rod module 6.

[0034] The present embodiment describes a multi-degree-of-freedom linkage lumbar rehabilitation mechanism, wherein third mounting plates 22 are provided at the bottom of both sides of the outer frame 2, third rope-collecting devices 23 are provided on the third mounting plates 22, third pull ropes 24 are provided at the output ends of the third rope-collecting devices 23, cross beams 25 are provided on both sides of the inner wall of the outer frame 2, connecting frames 26 are provided at the bottom of the tilting frame 17 in the vertical direction, third rail wheels 27 are provided at the bottom of the connecting frame 26 and the bottom of the cross beam 25, the second pull rope 20 is sequentially passed through the two second rail wheels 21, and the second pull rope 20 is connected to the first electric push rod assembly 10 of the second push rod module 6.

[0035] It can be understood that since the first electric push rod assembly 10 has a certain weight, it is very susceptible to the influence of gravity and has a long working stroke. The use of the first pull rope 15, the second pull rope 20 and the third pull rope 24 can provide an upward pulling force to the first electric push rod assembly 10, which can offset the influence of gravity and improve the overall stability of the first electric push rod assembly 10 during operation.

[0036] In some embodiments, the first rope collecting device 14, the second rope collecting device 19 and the third rope collecting device 23 are all provided with a rotating drive device 28 and a rope collecting drum 29 to drive the first pull rope 15, the second pull rope 20 and the third pull rope 24 to be collected and released respectively.

[0037] Specifically, since the first push rod module 5, the second push rod module 6 and the third push rod module 7 are arranged in sequence from top to bottom, the present invention only arranges the first pull rope 15 at the top of the first electric push rod assembly 10, that is, the first pull rope 15 passes through the top of the inner wall of the outer frame 2, and the second pull rope 20 and the third pull rope 24 are extended from both sides to connect and position with the first electric push rod assembly 10, which will not interfere with the lateral and longitudinal displacement of the second push rod module 6 and the third push rod module 7.

[0038] The multi-degree-of-freedom linkage lumbar rehabilitation mechanism described in this embodiment, the first longitudinal movement component 9 includes a first connecting plate 30 and a first linear drive mechanism 31, the two first connecting plates 30 are both arranged at the output end of the first transverse movement component 8, the two first linear drive mechanisms 31 are respectively arranged at the front ends of the two first connecting plates 30, the first linear drive mechanisms 31 are arranged along the vertical direction, and the two first electric push rod assemblies 10 are respectively arranged at the output ends of the two first linear drive mechanisms 31. Specifically, the design of the first longitudinal movement component 9 realizes precise movement in the vertical direction, and can drive the first electric push rod assembly 10 to rise and fall, so as to adjust the position of each first electric push rod assembly 10 according to the patient's height and actual treatment needs, thereby improving the controllability of the system, enhancing the stability and durability of the overall structure, and being suitable for application scenarios requiring high-precision positioning.

[0039] The multi-degree-of-freedom linkage lumbar rehabilitation mechanism described in this embodiment, the first transverse movement component 8 includes a second connecting plate 32, a first drive motor 33, a first screw 34 and a first screw moving block 35, the second connecting plate 32 is arranged on the inner wall of the outer frame 2, the first drive motor 33 is arranged on the second connecting plate 32, the output end of the first drive motor 33 is connected to the first screw 34, the first screw moving block 35 is screwed to the first screw 34, and the rear end of the first connecting plate 30 is connected to the front end of the first screw moving block 35. Specifically, the design of the first transverse movement component 8 realizes precise movement in the horizontal direction, improves the controllability of the system, enhances the stability and durability of the overall structure, and is suitable for application scenarios requiring high-precision positioning.

[0040] The present embodiment describes a multi-degree-of-freedom linkage lumbar rehabilitation mechanism, wherein a first guide rail 36 is horizontally provided on the second connecting plate 32, a first slider 37 is provided at the rear end of the first screw rod moving block 35, the first slider 37 is slidably connected to the first guide rail 36, a third connecting plate 38 is provided on the inner wall of the outer frame 2, the third connecting plate 38 and the second connecting plate 32 are arranged side by side, first side plates 39 are provided at both ends of the third connecting plate 38, a first light rod 40 is provided between the two first side plates 39, a first light rod moving block 41 is provided at the rear end of the first connecting plate 30, and the first light rod 40 is passed through the first light rod moving block 41.

[0041] In some embodiments, a second guide rail 42 is horizontally disposed on the third connecting plate 38 , and a second slider 43 is disposed at the rear end of the first polished rod moving block 41 , and the second slider 43 is slidably connected to the second guide rail 42 .

[0042] Specifically, the arrangement of the first slider 37, the first guide rail 36, the first light rod 40, the first light rod moving block 41, the second slider 43 and the second guide rail 42 makes the movement process smoother, reduces friction and wear, and extends the service life of the equipment, while improving the response speed and accuracy of the system and ensuring the stability of the operation.

[0043] In the multi-degree-of-freedom linkage waist rehabilitation mechanism described in this embodiment, the first linear drive mechanism 31 includes a second drive motor 44, a second screw 45 and a second screw moving block 46. The second drive motor 44 is arranged at the top of the first connecting plate 30, the second screw 45 is arranged at the output end of the second drive motor 44, the second screw moving block 46 is screwed with the second screw 45, and the first electric push rod assembly 10 is arranged at the front end of the second screw moving block 46. Specifically, the design of the first linear drive mechanism 31 adopts the second drive motor 44, the second screw 45 and the second screw moving block 46, realizing precise movement in the vertical direction, which not only improves the carrying capacity of the system, but also enhances the adaptability to complex working environments, and is suitable for multi-angle operation requirements.

[0044] The present embodiment describes a multi-degree-of-freedom linkage lumbar rehabilitation mechanism, wherein a third guide rail 50 is provided on the first connecting plate 30, a third screw moving block 47 is screwed onto the second screw rod 45, a first support rod 48 is provided at the front end of the third screw moving block 47, the first support rod 48 is connected to the first electric push rod assembly 10, a third slider 49 is provided at the rear end of the second screw moving block 46, the third slider 49 is slidably connected to the third guide rail 50, a first fixed block 51 is provided between the second screw moving block 46 and the first electric push rod assembly 10, a first reinforcement rod 52 is provided at the bottom of the first fixed block 51, and the first reinforcement rod 52 is connected to the first electric push rod assembly 10. Specifically, the design of the third screw moving block 47 increases the redundancy and stability of the system, and ensures the stable support of the first electric push rod assembly 10 at different heights through the connection between the first support rod 48 and the first electric push rod assembly 10; the design of the first fixed block 51 and the first reinforcement rod 52 enhances the connection strength between the second screw moving block 46 and the first electric push rod assembly 10, provides additional support and stability, improves the reliability and safety of the system, and extends the service life of the equipment.

[0045] The present embodiment describes a multi-degree-of-freedom linkage lumbar rehabilitation mechanism, wherein side push rod assemblies 53 are provided on the inner walls on both sides of the outer frame 2, and the side push rod assemblies 53 include a second transverse movement assembly 54, two second longitudinal movement assemblies 55, two second electric push rod assemblies 56 and a second restraining mechanism 57, the second transverse movement assembly 54 is connected to the outer frame 2, the two second longitudinal movement assemblies 55 are arranged at the output end of the second transverse movement assembly 54, the second electric push rod assemblies 56 are arranged one by one at the output end of the second longitudinal movement assembly 55, the front end of the second electric push rod assembly 56 is provided with a second universal adjustment member 58, the two second universal adjustment members 58 are respectively connected to the two sides of the rear end of the second restraining mechanism 57, and the second electric push rod assembly 56.

[0046] It can be understood that the overall volume of the side push rod assembly 53 is smaller than the first push rod module 5, the second push rod module 6 and the third push rod module 7. Its main function is to support the patient's hips or waist and assist the patient in lateral flexion and rotation.

[0047] In the multi-degree-of-freedom linkage lumbar rehabilitation mechanism described in this embodiment, the second longitudinal movement assembly 55 includes a fourth connecting plate 59 and a second linear drive mechanism 60. The two fourth connecting plates 59 are both arranged at the output end of the second transverse movement assembly 54. The two second linear drive mechanisms 60 are respectively arranged at the front ends of the two fourth connecting plates 59. The second linear drive mechanisms 60 are arranged along the vertical direction. The two second electric push rod assemblies 56 are respectively arranged at the output ends of the two second linear drive mechanisms 60. Specifically, the design of the second longitudinal movement assembly 55 realizes precise movement in the vertical direction, and can drive the second electric push rod assembly 56 to rise and fall, so as to adjust the position of each second electric push rod assembly 56 according to the patient's height and actual treatment needs, thereby improving the controllability of the system, enhancing the stability and durability of the overall structure, and being suitable for application scenarios requiring high-precision positioning.

[0048] The multi-degree-of-freedom linkage lumbar rehabilitation mechanism described in this embodiment, the second transverse movement assembly 54 includes a fifth connecting plate 61, a third drive motor 62, a third screw 63 and a fourth screw moving block 64, the fifth connecting plate 61 is arranged on the inner wall of the outer frame 2, the third drive motor 62 is arranged on the fifth connecting plate 61, the output end of the third drive motor 62 is connected to the third screw 63, the fourth screw moving block 64 is screwed to the third screw 63, and the rear end of the fifth connecting plate 61 is connected to the front end of the fourth screw moving block 64. Specifically, the design of the second transverse movement assembly 54 realizes precise movement in the horizontal direction, improves the controllability of the system, enhances the stability and durability of the overall structure, and is suitable for application scenarios requiring high-precision positioning.

[0049] The present embodiment describes a multi-degree-of-freedom linkage lumbar rehabilitation mechanism, wherein a fourth guide rail 65 is horizontally arranged on the fifth connecting plate 61, a fourth slider 66 is arranged at the rear end of the fourth screw rod moving block 64, the fourth slider 66 is slidably connected to the fourth guide rail 65, a sixth connecting plate 67 is arranged on the inner wall of the outer frame 2, the sixth connecting plate 67 is arranged side by side with the fifth connecting plate 61, second side plates 68 are arranged at both ends of the sixth connecting plate 67, a second light rod 69 is arranged between the two second side plates 68, a second light rod moving block 70 is arranged at the rear end of the fourth connecting plate 59, and the second light rod 69 is penetrated by the second light rod moving block 70.

[0050] In some embodiments, a fifth guide rail 71 is transversely disposed on the sixth connecting plate 67 , and a fifth sliding block 72 is disposed at the rear end of the second polished rod moving block 70 . The fifth sliding block 72 is slidably connected to the fifth guide rail 71 .

[0051] Specifically, the arrangement of the fourth slider 66, the fourth guide rail 65, the second light rod 69, the second light rod moving block 70, the fifth slider 72 and the fifth guide rail 71 makes the movement process smoother, reduces friction and wear, and extends the service life of the equipment, while improving the response speed and accuracy of the system and ensuring the stability of the operation.

[0052] In the multi-degree-of-freedom linkage waist rehabilitation mechanism described in this embodiment, the second linear drive mechanism 60 includes a fourth drive motor 73, a fourth screw 74 and a fifth screw moving block 75, the fourth drive motor 73 is arranged on the top of the fourth connecting plate 59, the fourth screw 74 is arranged at the output end of the fourth drive motor 73, the fifth screw moving block 75 is screwed with the fourth screw 74, and the second electric push rod assembly 56 is arranged at the front end of the fifth screw moving block 75. Specifically, the above arrangement realizes precise movement in the vertical direction, which not only improves the carrying capacity of the system, but also enhances the adaptability to complex working environments, and is suitable for multi-angle operation requirements.

[0053] The multi-degree-of-freedom linkage lumbar rehabilitation mechanism described in this embodiment is characterized in that a sixth guide rail 76 is provided on the fourth connecting plate 59, a sixth slider 77 is provided at the rear end of the fifth screw rod moving block 75, and the sixth slider 77 is slidably connected to the sixth guide rail 76, a sixth screw rod moving block 78 is screwed on the fourth screw rod 74, a second support rod 79 is provided at the front end of the sixth screw rod moving block 78, and the second support rod 79 is connected to the second electric push rod assembly 56, a sixth slider 77 is provided at the rear end of the sixth screw rod moving block 78, and the sixth slider 77 is slidably connected to the sixth guide rail 76, a second fixed block 80 is provided between the fifth screw rod moving block 75 and the second electric push rod assembly 56, a second reinforcement rod 81 is provided at the bottom of the second fixed block 80, and the second reinforcement rod 81 is connected to the second electric push rod assembly 56. Specifically, since the overall weight of the second electric push rod assembly 56 is relatively small, there is no need to use a pull rope to support the second electric push rod assembly 56. By connecting the second support rod 79 and the second electric push rod assembly 56, the design of the second fixed block 80 and the second reinforcement rod 81 can ensure stable support of the second electric push rod assembly 56 at different heights, thereby improving the reliability and safety of the system and extending the service life of the equipment.

[0054] In the multi-degree-of-freedom linkage waist rehabilitation mechanism described in this embodiment, both sides of the first restraint mechanism 11 and both sides of the second restraint mechanism 57 are provided with telescopic adjustment members 82, and the front ends of the telescopic adjustment members 82 are provided with stoppers 83. Specifically, the two stoppers 83 are bent toward the middle at a certain angle to better act on the patient.

[0055] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A multi-degree-of-freedom linkage waist rehabilitation mechanism, characterized in that: The invention comprises a main frame and an outer frame, wherein a seat plate is arranged on the top of the main frame, the outer frame is arranged on the outer periphery of the end of the main frame, an avoidance space is arranged in the middle of the outer frame, and the avoidance space is located at the top of the seat plate, and a first push rod module, a second push rod module and a third push rod module are arranged on the inner wall of the rear end of the outer frame from top to bottom in sequence, the first push rod module, the second push rod module and the third push rod module all comprise a first transverse movement component, two first longitudinal movement components, two first electric push rod assemblies and a first restraining mechanism, the first transverse movement component is connected to the outer frame, the two first longitudinal movement components are both arranged at the output end of the first transverse movement component, the first electric push rod assemblies are one by one arranged at the output end of the first longitudinal movement component, the front end of the first electric push rod assembly is provided with a first universal adjustment component, and the two first universal adjustment components are respectively connected to the two sides of the rear end of the first restraining mechanism.

2. A multi-degree-of-freedom linkage waist rehabilitation mechanism according to claim 1, characterized in that: Two first mounting plates are arranged at the top end of the rear side of the outer frame, and first rope collecting devices are arranged on each of the first mounting plates. First pull ropes are arranged at the output ends of the first rope collecting devices, and first rail wheels are arranged on both sides of the top inner wall of the outer frame. The first pull ropes are passed through the first rail wheels one by one, and the first pull ropes are connected one by one to the first electric push rod components of the first push rod module.

3. The multi-degree-of-freedom linkage waist rehabilitation mechanism according to claim 1, characterized in that: A tilting frame is provided in the middle of both sides of the outer frame, and the two tilting frames are respectively located on both sides of the second push rod module, and a second mounting plate is provided on the outer side of the tilting frame, and a second rope collecting device is provided on the second mounting plate, and a second pull rope is provided at the output end of the second rope collecting device, and a plurality of second rail wheels are provided on the top of the tilting frame, and the second pull rope is passed through the second rail wheel, and the second pull rope is connected to the first electric push rod assembly of the second push rod module.

4. The multi-degree-of-freedom linkage waist rehabilitation mechanism according to claim 3, characterized in that: A third mounting plate is provided at the bottom of both sides of the outer frame, a third rope collecting device is provided on the third mounting plate, a third pull rope is provided at the output end of the third rope collecting device, cross beams are provided at both sides of the inner wall of the outer frame, a connecting frame is provided at the bottom of the inclined frame in a vertical direction, a third rail wheel is provided at the bottom of the connecting frame and the bottom of the cross beam, the second pull rope is sequentially passed through the two second rail wheels, and the second pull rope is connected to the first electric push rod assembly of the second push rod module.

5. The multi-degree-of-freedom linkage waist rehabilitation mechanism according to claim 1, characterized in that: The first longitudinal movement component includes a first connecting plate and a first linear drive mechanism. The two first connecting plates are arranged at the output end of the transverse movement component. The two first linear drive mechanisms are respectively arranged at the front ends of the two first connecting plates. The first linear drive mechanism is arranged along the vertical direction. The two first electric push rod assemblies are respectively arranged at the output ends of the two first linear drive mechanisms.

6. The multi-degree-of-freedom linkage waist rehabilitation mechanism according to claim 5, characterized in that: The first transverse movement assembly includes a second connecting plate, a first driving motor, a first screw rod and a first screw rod moving block. The second connecting plate is arranged on the inner wall of the outer frame, the first driving motor is arranged on the second connecting plate, the output end of the first driving motor is connected to the first screw rod, the first screw rod moving block is screwed to the first screw rod, and the rear end of the first connecting plate is connected to the front end of the first screw rod moving block.

7. The multi-degree-of-freedom linkage waist rehabilitation mechanism according to claim 6, characterized in that: A first guide rail is horizontally arranged on the second connecting plate, a first slider is arranged at the rear end of the first screw rod moving block, the first slider is slidably connected to the first guide rail, a third connecting plate is arranged on the inner wall of the outer frame, the third connecting plate and the second connecting plate are arranged side by side, first side plates are arranged at both ends of the third connecting plate, a first light rod is arranged between the two first side plates, a first light rod moving block is arranged at the rear end of the first connecting plate, and the first light rod is penetrated through the first light rod moving block.

8. The multi-degree-of-freedom linkage waist rehabilitation mechanism according to claim 5, characterized in that: The first linear drive mechanism includes a second drive motor, a second screw and a second screw moving block, the second drive motor is arranged at the top of the first connecting plate, the second screw is arranged at the output end of the second drive motor, the second screw moving block is threadedly connected to the second screw, and the first electric push rod assembly is arranged at the front end of the second screw moving block.

9. The multi-degree-of-freedom linkage waist rehabilitation mechanism according to claim 8, characterized in that: A third guide rail is provided on the first connecting plate, a third slider is provided at the rear end of the second screw rod moving block, the third slider is slidably connected to the third guide rail, the third screw rod moving block is screwed on the second screw, a first support rod is provided at the front end of the third screw rod moving block, the first support rod is connected to the first electric push rod assembly, a third slider is provided at the rear end of the third screw rod moving block, the third slider is slidably connected to the third guide rail.

10. The multi-degree-of-freedom linkage waist rehabilitation mechanism according to claim 1, characterized in that: Side push rod assemblies are provided on the inner walls on both sides of the outer frame, and the side push rod assemblies include a second transverse movement assembly, two second longitudinal movement assemblies, two second electric push rod assemblies and a second restraining mechanism. The second transverse movement assembly is connected to the outer frame, and the two second longitudinal movement assemblies are arranged at the output end of the second transverse movement assembly. The second electric push rod assemblies are arranged one by one at the output end of the second longitudinal movement assembly. A second universal adjustment piece is provided at the front end of the second electric push rod assembly, and the two second universal adjustment pieces are respectively connected to the two sides of the rear end of the second restraining mechanism, and the second electric push rod assembly.

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