Anti-shaking trundle structure and rehabilitation robot

Abstract

The utility model relates to the technical field of rehabilitation robots, in particular to an anti-shaking trundle structure and a rehabilitation robot, which comprises a base, at least one trundle and foot cup component is arranged at the bottom of the base; the shell comprises a barrel and a blocking cover, the blocking cover is arranged at an opening in the upper end of the barrel, a through hole is formed in the blocking cover, the shell is arranged at the top of the base, a groove is formed in the top face of the base, and the size of the groove is gradually increased from bottom to top; the anti-shake piece comprises a connecting part, a baffle and a sliding rod which are sequentially arranged from top to bottom, the baffle is located in the shell and located below the blocking cover, and the size of the baffle is larger than that of the penetrating hole; the bottom of the sliding rod is of a spherical surface structure, and the bottom of the sliding rod is located in the groove and makes contact with the inner wall of the groove. The connecting part passes through the through hole. For the anti-shake aspect, the cost is reduced or restrained, the attractiveness is not affected, and the anti-shake effect can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of rehabilitation robots, in particular to an anti-shake caster structure and a rehabilitation robot. Background Art

[0002] Compared with traditional rehabilitation robots, robots that add active training of patients can achieve personalized rehabilitation, which is beneficial to the effect and accuracy of rehabilitation training. However, during the active training of patients, the size and direction of the force applied by the patient to the robot change all the time. Slight changes will cause the robot to self-compensate, and it is easy to shake during the compensation process, affecting the flexibility of the training.

[0003] Currently, most manufacturers have adopted the approach of significantly increasing the weight of the equipment to enhance the overall strength of the equipment frame; or extending the equipment's fixed legs significantly beyond the equipment body to ensure the robot's stability.

[0004] Disadvantages of existing technology:

[0005] Increasing the weight will affect the convenience of moving the equipment, and also increase labor costs and material costs; the solution of extending the legs out of the equipment will affect the appearance of the equipment, and the shock absorption effect is not obvious. Utility Model Content

[0006] The purpose of the utility model is to provide an anti-shake caster structure, which can be installed on the bottom of a rehabilitation robot, thereby reducing or suppressing the cost, not affecting the aesthetics, and being able to improve the effect of suppressing the shake.

[0007] Another object of the utility model is to provide a rehabilitation robot, which reduces or suppresses the cost in terms of anti-shake, does not affect the aesthetics, and can improve the effect of suppressing shake.

[0008] The technical solution of the utility model is achieved in this way:

[0009] An anti-vibration caster structure, comprising:

[0010] A base, wherein at least one caster foot cup assembly is arranged at the bottom of the base;

[0011] A shell, the shell comprising a cylinder and a stop cover, the stop cover is arranged at the upper end opening of the cylinder, the stop cover is provided with a through hole, the shell is arranged on the top of the base, and the top surface of the base is provided with a groove, and the size of the groove gradually increases from bottom to top;

[0012] The anti-shake component includes a connecting portion, a baffle and a sliding rod which are arranged in sequence from top to bottom, the baffle is located in the shell and under the baffle cover, and the size of the baffle is larger than the size of the through hole; the bottom of the sliding rod is a spherical structure, the bottom of the sliding rod is located in the groove and contacts with the inner wall of the groove; the connecting portion is penetrated through the through hole.

[0013] Furthermore, the barrel is a cylinder, the blocking cover is annular, the through-hole is a circular hole, the baffle is a circular plate, and the diameter of the baffle is greater than the diameter of the through-hole.

[0014] Furthermore, a limiting groove is provided on the blocking cover and at the bottom of the through hole, and at least the upper portion of the baffle is located in the limiting groove.

[0015] Furthermore, the horizontal width of the limiting groove is L1, and the horizontal width of the baffle is L2, satisfying: L1-L2=4 to 6 mm.

[0016] Furthermore, the horizontal spacing between the baffle and the limiting groove is equal at all locations, and satisfies L1-L2=5mm.

[0017] Furthermore, the inner wall surface of the groove is an arc surface structure.

[0018] Furthermore, the inner wall surface of the groove is a spherical structure, and the inner wall surface of the groove matches the bottom of the sliding rod.

[0019] Furthermore, it also includes a lubricant, which is arranged in the groove and is used for lubrication between the sliding rod and the groove.

[0020] Furthermore, the lubricant is lubricating oil.

[0021] Furthermore, it also includes a spring, which is sleeved on the sliding rod, and the upper and lower ends of the spring are respectively in contact with the baffle and the base.

[0022] A rehabilitation robot comprises a robot body and the anti-shake caster structure. A plurality of the anti-shake caster structures are arranged at the bottom of the robot body, and the anti-shake caster structures are connected to the robot body through the connecting part.

[0023] Compared with the prior art, the beneficial effects of the utility model are:

[0024] The anti-shake caster assembly designed in the present application can be installed at the bottom of the rehabilitation robot (or other equipment) through the connecting part. During the active training of the rehabilitation robot, if the rehabilitation robot shakes horizontally, it will drive the slide bar to move horizontally in the shell, and at the same time, the bottom of the slide bar slides in the groove to achieve horizontal adjustment, offsetting the shaking caused by the robot's own compensation. Therefore, when the anti-shake caster structure is installed at the bottom of the rehabilitation robot, the anti-shake caster structure can achieve short-distance adjustment in the horizontal direction to offset the shaking caused by the robot's own compensation. The structural design of the anti-shake caster structure not only reduces or suppresses the cost, but also does not affect the aesthetics, and can improve the effect of suppressing shaking. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 This is an axonometric diagram of the anti-shake caster structure of the utility model;

[0027] Figure 2 For this utility model Figure 1 A longitudinal section view of

[0028] Figure 3 It is a longitudinal section view of the housing of the utility model;

[0029] Figure 4 It is a longitudinal section view of the base of the utility model;

[0030] Figure 5 It is a structural schematic diagram of the rehabilitation robot of the present utility model.

[0031] In the figure:

[0032] 1-anti-shake component; 101-connecting part; 102-baffle; 103-sliding rod;

[0033] 2-shell; 201-cylinder; 202-blocking cover; 203-perforation; 204-limiting groove;

[0034] 3-spring; 4-base; 401-groove; 402-card slot;

[0035] 5- caster foot cup assembly; 501- foot cup; 502- caster;

[0036] 6-second screw; 7-first screw; 8-robot body. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Generally, the components of the embodiments of the utility model described and shown in the drawings here can be arranged and designed in various different configurations.

[0038] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention to be protected, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0039] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0040] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, or the orientation or position relationship in which the utility model product is usually placed when in use, which is only for the convenience of describing the utility model 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 operated in a specific orientation, and therefore cannot be understood as a limitation on the present utility model. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0041] In addition, the terms "horizontal", "vertical", "overhanging" and the like do not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0042] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" 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.

[0043] In conjunction with the accompanying drawings, some embodiments of the present invention are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0044] Example 1

[0045] The design principle of the anti-shake caster structure of the present application is: through experiments, it was found that the shaking of the rehabilitation robot is mainly caused by the uncertain and fragmented forces generated during the patient's active training, and the force sensor of the rehabilitation robot is relatively sensitive, which will always compensate, resulting in the rehabilitation robot and the equipment body constantly applying forces in all directions, causing it to shake itself, and the horizontal force is most likely to cause shaking.

[0046] Based on this, refer to Figure 1-Figure 4 This embodiment provides an anti-vibration caster structure, including:

[0047] A base 4, at least one caster foot cup assembly 5 is arranged at the bottom of the base 4;

[0048] The shell 2 comprises a cylinder 201 and a stopper 202. The stopper 202 is disposed at the upper opening of the cylinder 201. The stopper 202 is provided with a through hole 203. The shell 2 is disposed on the top of the base 4. The top surface of the base 4 is provided with a groove 401. The inner wall surface of the groove 401 is an arc surface structure, and the size of the groove 401 gradually increases from bottom to top.

[0049] The anti-shake component 1 includes a connecting portion 101, a baffle 102 and a slide bar 103 arranged in sequence from top to bottom, the baffle 102 is located in the housing 2 and below the baffle cover 202, and the size of the baffle 102 is larger than the size of the through hole 203; the bottom of the slide bar 103 is a spherical structure, the bottom of the slide bar 103 is located in the groove 401 and contacts the inner wall of the groove 401; the connecting portion 101 is penetrated through the through hole 203;

[0050] The spring 3 is sleeved on the slide bar 103 , and the upper and lower ends of the spring 3 are in contact with the baffle 102 and the base 4 respectively.

[0051] In an optional implementation of this embodiment, the cylinder 201 of the housing 2 may be in a regular shape or an irregular shape. The cylinder 201 is preferably in a regular shape, such as a cylinder, a square cylinder or other polygonal cylinders.

[0052] Here, the cylinder 201 is specifically described using a cylinder:

[0053] When the cylinder body 201 is a cylinder, accordingly: the blocking cover 202 is annular, the through hole 203 is a circular hole, the baffle 102 is a circular plate, and the diameter of the baffle 102 is larger than the diameter of the through hole 203, so that the blocking cover 202 can produce a vertical blocking effect on the baffle 102, and the blocking effect is also the vertical limiting effect of the blocking cover 202 on the baffle 102.

[0054] When the anti-shake caster structure is installed at the bottom of a rehabilitation robot or other equipment, when the rehabilitation robot or other equipment shakes due to horizontal force, the slide bar 103 can move horizontally in the inner cavity of the shell 2. Specifically, the bottom of the slide bar 103 can slide in the groove 401, and the groove 401 also has a limiting effect on the bottom of the slide bar 103, so the bottom of the slide bar 103 moves a shorter distance in the groove 401. As for how to limit the upper part of the slide bar 103, there are several design schemes: Since the inner wall of the perforation 203 can have a horizontal limiting effect on the connecting part 101, the perforation 203 can be designed to limit the connecting part 101 horizontally. Indirectly, the perforation 203 on the cover 202 can also have a horizontal limiting effect on the upper part of the slide bar 103; or, a limit block or a limit ring can be set at the bottom of the cover 202. When the slide bar 103 When the upper part moves horizontally, it is blocked by a limit block or a limit ring to limit the upper part of the slide bar 103; alternatively, a circle of limit grooves 204 are provided on the baffle cover 202 and at the bottom of the through hole 203. Among the upper, middle and lower parts of the baffle plate 102, at least the upper part of the baffle plate 102 is located in the limit groove 204. When the upper part of the slide bar 103 moves horizontally, the upper part of the slide bar 103 is horizontally limited by the blocking effect of the limit groove 204.

[0055] In the above schemes, preferably, a circle of limiting grooves 204 are opened on the blocking cover 202 and located at the bottom of the through hole 203, and the upper part of the baffle plate 102 is located in the limiting groove 204, and there is a gap between the baffle plate 102 and the limiting groove 204 in both vertical and horizontal directions.

[0056] Since the baffle 102 is a circular plate, the limiting groove 204 is also designed as a circular groove. In the initial state, the central axis of the circular plate, the central axis of the circular groove, the central axis of the baffle 202 and the through hole 203, and the central axis of the slide bar 103 are all collinear.

[0057] The horizontal width of the limiting groove 204 is L1, and the horizontal width of the baffle 102 is L2, which satisfies: L1-L2=4 to 6 mm.

[0058] Preferably, since the horizontal spacing between the baffle 102 and the limiting groove 204 is equal, L1-L2=5mm is satisfied, and the spacing between the baffle 102 and the limiting groove 204 is 2.5mm. The 2.5mm gap between the sliding rod 103 and the limiting groove 204 ensures that the sliding rod 103 can move horizontally between the cover 202 and the base 4.

[0059] In a preferred embodiment of this embodiment, the inner wall surface of the groove 401 is a spherical structure, and the inner wall surface of the groove 401 matches the bottom of the slide bar 103. In this case, the groove 401 is a spherical groove, and the bottom structure of the slide bar 103 is a ball head structure. Then, the ball head at the bottom of the slide bar 103 is located in the spherical groove to achieve universal rotation.

[0060] In order to increase the sliding between the bottom of the slide bar 103 and the inner wall of the groove 401, a lubricant may be provided in the groove 401 to lubricate the slide bar 103 and the groove 401 and reduce friction.

[0061] The lubricant can be lubricating oil, such as butter. In addition, the component material can also be changed to achieve lubrication therebetween, for example, a nylon component is embedded in the contact portion between the bottom of the slide bar 103 and the base 4 to improve the lubrication effect.

[0062] The caster and foot cup assembly 5 includes a foot cup 501 and a caster 502. The foot cup 501 can adjust the vertical height and provide support, and the caster 502 can drive the device to move. The caster and foot cup assembly 5 can use a set of foot cup 501 and caster 502 assemblies, or a separate foot cup 501 combined with a caster 502. When the device is working, the foot cup 501 is lowered to ensure the overall stability. The device is adjusted horizontally in the shell 2 through the slide bar 103 to offset the jitter caused by the robot's own compensation. When the device is transferred, the foot cup 501 is raised, the caster 502 is on the ground, and the device can move freely.

[0063] Preferably, the cylinder 201 and the blocking cover 202 are an integrally formed structure.

[0064] Specifically, the top surface of the base 4 is also provided with a circular slot 402, and the cylinder 201 can be clamped in the circular slot 402. Then, the housing 2 and the base 4 are connected and fixed by a plurality of first screws 7. The top of the caster foot cup assembly 5 is connected and fixed to the base 4 by a plurality of second screws 6.

[0065] The spring 3 can be a compression spring 3, which can reduce the pressure of the slide bar 103 on the base 4 (especially when the slide bar 103 moves horizontally, the upper part of the slide bar 103 tilts and squeezes the spring 3), thereby reducing the friction of horizontal movement. The elasticity of the spring 3 can also be adjusted to offset the vertical jitter.

[0066] Only one caster foot assembly 5 may be provided at the bottom of the base 4 . When two or more caster foot assemblies 5 are provided at the bottom of the base 4 , all caster foot assemblies 5 are evenly distributed around the central axis of the cylinder 201 .

[0067] The connecting part 101 adopts a screw rod, which is threadedly connected to the bottom of the rehabilitation robot through the screw rod; or, the connecting part 101 adopts a rod body, the rod body passes through the through hole 203 of the baffle cover 202 and extends above the baffle cover 202, and a flat plate is arranged on the top of the rod body, the flat plate is installed on the bottom of the rehabilitation robot to achieve flat plate installation, and the flat plate and the bottom of the rehabilitation robot are bolted and fixed by multiple bolts.

[0068] Example 2

[0069] The cylinder 201 in this embodiment is a square cylinder, that is, the horizontal cross section of the cylinder 201 is square. Accordingly, the blocking cover 202 is a square plate, the through hole 203 is a round hole or a square hole, and the baffle 102 is designed as a round plate or a square plate; wherein, when the baffle 102 is designed as a round plate, the limiting groove 204 is designed as a round groove (consistent with the embodiment 1); when the baffle 102 is designed as a square plate, the limiting groove 204 is designed as a square groove, which still satisfies L1-L2=4 to 6mm. Accordingly, a square clamping groove 402 is provided on the top surface of the base 4, so that the bottom of the cylinder 201 is correspondingly clamped in the square clamping groove 402.

[0070] Example 3

[0071] Reference Figure 5 This embodiment provides a rehabilitation robot, including a robot body 8, and also includes the anti-shake caster structure. A plurality of the anti-shake caster structures are arranged at the bottom of the robot body 8, and the anti-shake caster structure is connected to the robot body 8 through the connecting part 101.

[0072] In this embodiment, four anti-shake caster structures are arranged at the bottom of the robot body 8 and are distributed at the four corners.

[0073] The beneficial effects of the technical solution of the utility model are:

[0074] The anti-shake caster structure designed in the present application can be installed at the bottom of the rehabilitation robot (or other equipment) through the connection part 101. During the active training of the rehabilitation robot, if the rehabilitation robot shakes horizontally, it will drive the slide bar 103 to move horizontally in the shell 2, and at the same time, the bottom of the slide bar 103 slides in the groove 401 to achieve horizontal adjustment and offset the shaking caused by the robot's own compensation. Therefore, when the anti-shake caster structure is installed at the bottom of the rehabilitation robot, the anti-shake caster structure can achieve short-distance adjustment in the horizontal direction to offset the shaking caused by the robot's own compensation. The structural design of the anti-shake caster structure not only reduces or suppresses costs, but also does not affect the aesthetics, and can improve the effect of suppressing shaking.

[0075] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

[0076] In addition, those skilled in the art will appreciate that, although some embodiments herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present invention and form different embodiments. For example, in the above claims, any one of the claimed embodiments may be used in any combination. The information disclosed in this background technology section is intended only to deepen the understanding of the overall background technology of the present invention and should not be regarded as an admission or in any form of implication that the information constitutes prior art known to those skilled in the art.

[0077] Although 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 appended claims and their equivalents.

[0078] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. An anti-vibration caster structure, characterized in that: include: A base (4), at least one caster foot cup assembly (5) being arranged at the bottom of the base (4); A shell (2), the shell (2) comprising a cylinder (201) and a blocking cover (202), the blocking cover (202) being arranged at the upper opening of the cylinder (201), the blocking cover (202) being provided with a through hole (203), the shell (2) being arranged on the top of the base (4), and the top surface of the base (4) being provided with a groove (401), the size of the groove (401) gradually increasing from bottom to top; An anti-shake component (1), the anti-shake component (1) comprises a connecting portion (101), a baffle (102) and a sliding rod (103) which are arranged in sequence from top to bottom, the baffle (102) is located inside the shell (2) and below the baffle cover (202), the size of the baffle (102) is larger than the size of the through hole (203); the bottom of the sliding rod (103) is a spherical structure, the bottom of the sliding rod (103) is located in the groove (401) and contacts the inner wall of the groove (401); the connecting portion (101) is penetrated by the through hole (203).

2. The anti-vibration caster structure according to claim 1, characterized in that: The cylinder (201) is a cylinder, the blocking cover (202) is annular, the through hole (203) is a circular hole, the baffle (102) is a circular plate, and the diameter of the baffle (102) is greater than the diameter of the through hole (203).

3. The anti-vibration caster structure according to claim 1, characterized in that: A limiting groove (204) is provided on the blocking cover (202) and at the bottom of the through hole (203), and at least the upper part of the blocking plate (102) is located in the limiting groove (204).

4. The anti-vibration caster structure according to claim 3, characterized in that: The horizontal width of the limiting groove (204) is L1, and the horizontal width of the baffle (102) is L2, satisfying: L1-L2=4 to 6 mm.

5. The anti-vibration caster structure according to claim 4, characterized in that: The horizontal spacings between the baffle (102) and the limiting groove (204) are equal at all locations and satisfy L1-L2=5 mm.

6. The anti-vibration caster structure according to claim 1, characterized in that: The inner wall surface of the groove (401) is an arc surface structure.

7. The anti-vibration caster structure according to claim 6, characterized in that: The inner wall surface of the groove (401) is a spherical structure, and the inner wall surface of the groove (401) matches the bottom of the sliding rod (103).

8. The anti-vibration caster structure according to claim 1, characterized in that: It also includes a lubricant, which is arranged in the groove (401) and is used for lubrication between the sliding rod (103) and the groove (401).

9. The anti-vibration caster structure according to claim 1, characterized in that: It also includes a spring (3), which is sleeved on the slide bar (103), and the upper and lower ends of the spring (3) are in contact with the baffle (102) and the base (4) respectively.

10. A rehabilitation robot, comprising a robot body (8), characterized in that: It also includes the anti-shake caster structure described in any one of claims 1 to 9, and a plurality of the anti-shake caster structures are arranged at the bottom of the robot body (8), and the anti-shake caster structure is connected to the robot body (8) through the connecting part (101).

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