Anti-pinch mechanism for lower limb rehabilitation robot

Abstract

The lower limb rehabilitation robot comprises a pelvis mechanism and handrails arranged on the two sides of the pelvis mechanism, the pelvis mechanism comprises a shell and two extending cantilevers, the two sides of the shell are provided with two installation openings, and the two installation openings are connected with the shell. One ends of the two extending cantilevers respectively extend into the shell through the two mounting ports, the two extending cantilevers operably move away from each other or close to each other, and the anti-pinch mechanism comprises two inner side baffles and two outer side baffles; the two inner side baffles are connected with the sides, close to each other, of the two extending cantilevers correspondingly, the inner walls, close to each other, of the two mounting openings extend inwards to form first sliding grooves correspondingly, and the other ends of the two inner side baffles are slidably arranged in the two first sliding grooves correspondingly. According to the utility model, only the internal structure of the shell is prevented from being exposed outside, the overall beauty of equipment is improved, the phenomenon that hands are clamped at the mounting port is also avoided, and the use safety is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to an anti-pinch hand mechanism for a lower limb rehabilitation robot. Background Art

[0002] General requirements for basic safety and essential performance of medical electrical equipment (GB9706.1-2020) sets general basic safety requirements for the capture area of ​​the equipment. The standard requires that the capture area should meet one or more of the following requirements: specified clearance or specified safety distance or specified protective devices and other risk control measures or specified continuous operation.

[0003] Lower limb rehabilitation equipment that uses pelvic weight loss as a means of weight loss must inevitably be accompanied by safety issues in the capture area during the design process because it is necessary to ensure that the freedom of pelvic movement can meet the needs of patients. Based on the requirements of the new standard, it is necessary to carry out a safety design of the capture area to prevent the risk of pinching hands during the operation of the equipment. In the past, when designing products, the exposed area of ​​the activity area was often expanded to ensure that the distance between the operator and the capture area was at a safe distance. This method seriously reduced the aesthetics of the product. Summary of the invention

[0004] In view of the above problems existing in the existing lower limb rehabilitation equipment, the present invention aims to provide a hand-pinching prevention mechanism for a lower limb rehabilitation robot which has high aesthetics and high safety.

[0005] The specific technical solutions are as follows:

[0006] A hand-pinch prevention mechanism for a lower limb rehabilitation robot, the lower limb rehabilitation robot comprising a pelvic mechanism and handrails arranged on both sides of the pelvic mechanism, the pelvic mechanism comprising a shell and two extended cantilevers, the two sides of the shell having two mounting openings, one end of the two extended cantilevers respectively extending into the shell through the two mounting openings, and the two extended cantilevers can be operated to move away from or towards each other, the hand-pinch prevention mechanism comprising:

[0007] Two inner baffles, the two inner baffles are respectively connected to the mutually adjacent sides of the two extended cantilevers, the inner walls of the two mounting openings adjacent to each other are both provided with first slide grooves extending inwardly, and the other ends of the two inner baffles are respectively slidably arranged in the two first slide grooves;

[0008] Two outer baffles are made of flexible materials, one end of the two outer baffles is respectively connected to the side of the two extended cantilevers that are away from each other, and the inner walls of the two mounting openings that are away from each other have a second slide groove with an arc-shaped structure extending outward; the other ends of the two outer baffles are respectively slidably arranged in the two second slide grooves.

[0009] As a further improvement and optimization of this solution, the outer baffle is a plastic plate.

[0010] As a further improvement and optimization of the present solution, the installation opening is a rectangular structure, and the widths of the inner baffle plate and the outer baffle plate both match the width of the installation opening.

[0011] As a further improvement and optimization of the present solution, when the two extended cantilevers move away from each other and move to a maximum distance, there is a gap between the two extended cantilevers and the handrail.

[0012] As a further improvement and optimization of the present solution, the shell includes a mounting base plate and two shielding shells, the two shielding shells are detachably provided on both sides of the mounting base plate, and the two mounting ports are respectively provided on the two shielding shells.

[0013] As a further improvement and optimization of the present solution, the shielding shell and the mounting base plate are fixed with screws.

[0014] As a further improvement and optimization of the present solution, the shell is internally rotatably connected with a bidirectional screw, which has two thread segments with opposite thread directions. The two protruding cantilevers are respectively threadedly mounted on the two thread segments. When the bidirectional screw rotates, the two protruding cantilevers move toward or away from each other.

[0015] As a further improvement and optimization of the present solution, a driving mechanism is installed on the shell, and the driving mechanism is transmission-connected to the bidirectional screw for driving the bidirectional screw to rotate so as to make the two extended cantilevers move toward or away from each other.

[0016] Compared with the prior art, the above technical solution has the following positive effects:

[0017] (1) In the present invention, when the two extended cantilevers of the pelvic mechanism move toward or away from each other, the two inner baffles and the two outer baffles follow the movement of the two extended cantilevers and shield the two mounting openings to avoid hollow areas between the extended cantilevers and the mounting openings. This not only prevents the internal structure of the shell from being exposed to the outside, thereby improving the overall appearance of the device, but also prevents fingers from being pinched at the mounting openings, thereby improving safety in use.

[0018] (2) In the utility model, when the two extended cantilevers move away from each other, the two outer baffles use their own flexibility to retract into two second slide grooves with arc-shaped structures respectively. By using flexible materials for the outer baffles and arc-shaped structures for the second slide grooves, the overall length of the shell is reduced.

[0019] (3) In the present invention, when the two extended cantilevers move away from each other and move to the maximum distance, there is a gap between the two extended cantilevers and the handrail to avoid pinching of hands. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of a pelvic mechanism and an armrest of an anti-pinch mechanism for a lower limb rehabilitation robot according to the utility model;

[0021] Figure 2 This is a schematic structural diagram of a hand-pinching prevention mechanism for a lower limb rehabilitation robot according to the utility model, in which two extended cantilevers are at maximum distance;

[0022] Figure 3 This is a schematic diagram of the structure of a hand-pinching prevention mechanism for a lower limb rehabilitation robot in the utility model when two extended cantilevers are at a minimum distance;

[0023] Figure 4 This is a cross-sectional view of a hand-pinch prevention mechanism for a lower limb rehabilitation robot according to the utility model;

[0024] In the accompanying drawings: 1. armrest; 2. pelvic mechanism; 3. inner baffle; 4. outer baffle; 21. shell; 22. extended cantilever; 23. bidirectional screw; 24. driving mechanism; 211. mounting base plate; 212. shielding shell; 2121. mounting port; 2122. first slide groove; 2123. second slide groove. DETAILED DESCRIPTION

[0025] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] In the description of the present invention, it should be noted that if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, if the terms "first", "second", "third" appear, they are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0027] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] Figure 1 This is a schematic diagram of the structure of a pelvic mechanism and an armrest of an anti-pinch mechanism for a lower limb rehabilitation robot according to the utility model. Figure 2 This is a schematic diagram of the structure of the anti-pinch mechanism of the lower limb rehabilitation robot in the state of maximum distance between two extended cantilevers. Figure 3 This is a schematic diagram of the structure of the anti-pinch mechanism for the lower limb rehabilitation robot in the state of minimum distance between two extended cantilevers. Figure 4 This is a cross-sectional view of a hand-pinch prevention mechanism for a lower limb rehabilitation robot according to the utility model. Figure 1-4 As shown, a preferred embodiment of an anti-pinch mechanism for a lower limb rehabilitation robot is shown, the lower limb rehabilitation robot includes a pelvic mechanism 2 and handrails 1 arranged on both sides of the pelvic mechanism 2, the pelvic mechanism 2 includes a shell 21 and two extended cantilevers 22, the shell 21 has two mounting openings 2121 on both sides, one end of the two extended cantilevers 22 extends into the shell 21 through the two mounting openings 2121, and the two extended cantilevers 22 can be operated to move away from or approach each other, the anti-pinch mechanism includes two inner baffles 3 and two outer baffles 4, the two inner baffles 3 are respectively The two outer baffles 4 are made of flexible material, and one end of the two outer baffles 4 is respectively connected to the side of the two protruding cantilevers 22 that are away from each other. The inner walls of the two mounting openings 2121 that are away from each other have a first slide groove 2122 extending inwardly. The other ends of the two inner baffles 3 are respectively slidably arranged in the two first slide grooves 2122. The two outer baffles 4 are made of flexible material, and one end of the two outer baffles 4 is respectively connected to the side of the two protruding cantilevers 22 that are away from each other. The inner walls of the two mounting openings 2121 that are away from each other have a second slide groove 2123 with an arc-shaped structure extending outwardly. The other ends of the two outer baffles 4 are respectively slidably arranged in the two second slide grooves 2123.

[0029] In the present embodiment, when the two extended cantilevers 22 of the pelvic mechanism 2 move toward or away from each other, the two inner baffles 3 and the two outer baffles 4 move with the two extended cantilevers 22 and block the two mounting openings 2121 to avoid the formation of hollow areas between the extended cantilevers 22 and the mounting openings 2121. This not only prevents the internal structure of the shell 21 from being exposed to the outside, thereby improving the overall appearance of the equipment, but also avoids pinching of hands at the mounting openings 2121, thereby improving safety in use.

[0030] In this embodiment, when the two extended cantilevers 22 move away from each other, the two outer baffles 4 use their own flexibility to shrink into two arc-shaped second slide grooves 2123 respectively. By using flexible materials for the outer baffles 4 and arc-shaped structures for the second slide grooves 2123, the overall length of the shell 21 is reduced.

[0031] Furthermore, as a preferred embodiment, the outer baffle plate 4 is a plastic plate.

[0032] Preferably, the outer baffle 4 is a flexible ABS plastic plate.

[0033] Furthermore, as a preferred embodiment, in order to improve the shielding effect of the inner baffle plate 3 and the outer baffle plate 4 on the installation opening 2121, the installation opening 2121 is a rectangular structure, and the widths of the inner baffle plate 3 and the outer baffle plate 4 match the width of the installation opening 2121.

[0034] Furthermore, as a preferred embodiment, when the two extended cantilevers 22 move away from each other and move to the maximum distance, there is a gap between the two extended cantilevers 22 and the handrail 1 to avoid pinching of hands.

[0035] Further, as a preferred embodiment, the shell 21 includes a mounting base plate 211 and two shielding shells 212 , the two shielding shells 212 are detachably provided on both sides of the mounting base plate 211 , and the two mounting openings 2121 are respectively provided on the two shielding shells 212 .

[0036] Furthermore, as a preferred embodiment, the shielding housing 212 and the mounting base plate 211 are fixed with screws.

[0037] Furthermore, as a preferred embodiment, the shell 21 is internally rotatably connected with a bidirectional screw 23, which has two thread segments with opposite thread directions, and the two protruding cantilevers 22 are respectively threadedly mounted on the two thread segments. When the bidirectional screw 23 rotates, the two protruding cantilevers 22 move toward or away from each other.

[0038] Furthermore, as a preferred embodiment, a driving mechanism 24 is installed on the housing 21, and the driving mechanism 24 is transmission-connected to the bidirectional screw 23 for driving the bidirectional screw 23 to rotate so that the two extended cantilevers 22 move toward or away from each other.

[0039] Preferably, the driving mechanism 24 is driven by a motor.

[0040] The above description is only a preferred embodiment of the present invention, and does not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A hand-pinching prevention mechanism for a lower limb rehabilitation robot, the lower limb rehabilitation robot comprising a pelvic mechanism and handrails arranged on both sides of the pelvic mechanism, the pelvic mechanism comprising a shell and two extending cantilevers, the two sides of the shell having two mounting openings, one end of the two extending cantilevers respectively extending into the shell through the two mounting openings, and the two extending cantilevers can be operated to move away from or towards each other, characterized in that: The anti-pinch mechanism comprises: Two inner baffles, the two inner baffles are respectively connected to the mutually adjacent sides of the two extended cantilevers, the inner walls of the two mounting openings adjacent to each other are both provided with first slide grooves extending inwardly, and the other ends of the two inner baffles are respectively slidably arranged in the two first slide grooves; Two outer baffles are made of flexible materials, one end of the two outer baffles is respectively connected to the side of the two extended cantilevers that are away from each other, and the inner walls of the two mounting openings that are away from each other have a second slide groove with an arc-shaped structure extending outward; the other ends of the two outer baffles are respectively slidably arranged in the two second slide grooves.

2. The anti-pinch mechanism for a lower limb rehabilitation robot according to claim 1, characterized in that: The outer baffle is a plastic plate.

3. The anti-pinch mechanism for a lower limb rehabilitation robot according to claim 1, characterized in that: The installation opening is a rectangular structure, and the widths of the inner baffle plate and the outer baffle plate both match the width of the installation opening.

4. The anti-pinch mechanism for a lower limb rehabilitation robot according to claim 3, characterized in that: When the two extended cantilevers move away from each other and move to a maximum distance, there is a gap between the two extended cantilevers and the handrail.

5. The anti-pinch mechanism for a lower limb rehabilitation robot according to claim 3, characterized in that: The shell comprises a mounting base plate and two shielding shells, the two shielding shells are detachably provided on two sides of the mounting base plate, and the two mounting openings are respectively provided on the two shielding shells.

6. The anti-pinch mechanism for a lower limb rehabilitation robot according to claim 5, characterized in that: The shielding shell and the mounting base plate are fixed with screws.

7. The anti-pinch mechanism for a lower limb rehabilitation robot according to claim 3, characterized in that: The shell is internally rotatably connected with a bidirectional screw, which has two threaded sections with opposite thread directions. The two extended cantilevers are respectively threadedly mounted on the two threaded sections. When the bidirectional screw rotates, the two extended cantilevers move toward or away from each other.

8. The anti-pinch mechanism for a lower limb rehabilitation robot according to claim 7, characterized in that: A driving mechanism is installed on the shell, and the driving mechanism is transmission-connected with the bidirectional screw rod and is used to drive the bidirectional screw rod to rotate so as to make the two extended cantilevers move towards or away from each other.

Images