Rehabilitation robot capable of assisting standing and walking

Abstract

The utility model provides a rehabilitation robot capable of assisting standing and walking, which comprises an underframe, two cushions which are independently arranged side by side, a backrest assembly, an electric push rod for switching the backrest assembly between a sitting posture height and a standing posture height, a servo electric cylinder capable of driving the cushions to alternately move, a connecting rod and an armrest mechanism, each seat cushion is correspondingly connected with one servo electric cylinder, and the front end of each seat cushion is connected with one shank swinging part through one knee joint motor. Due to the sitting posture state and the standing posture state, a user can be helped to use and fix through assistance of one person, corresponding training can be carried out, the number of auxiliary persons needed for wearing and using can be effectively reduced, and great convenience is brought to use.

Description

Technical Field

[0001] The utility model relates to the field of walking-assisting robots, in particular to a rehabilitation robot which can assist standing and walking. Background Art

[0002] A lower limb rehabilitation robot is a robotic device used to assist in lower limb rehabilitation training. It interacts with the patient's lower limbs to provide targeted rehabilitation training, help restore motor function, improve muscle strength and coordination, and promote the patient's rehabilitation process. A lower limb rehabilitation robot is usually composed of a mechanical structure, a sensor, a motion control system, and computer software. Its mechanical structure can be adjusted according to the patient's physical characteristics and exercise needs, so that the patient can train in a comfortable and safe environment. Sensors are used to monitor the patient's movement status, such as joint angles and muscle activity, to adjust training parameters in real time. The motion control system is responsible for executing the specified movement pattern and providing the necessary support force to help the patient complete the movement. The lower limb rehabilitation robot is an advanced rehabilitation device that can provide accurate, personalized, and interesting lower limb rehabilitation training to help patients restore motor function and improve their quality of life.

[0003] However, the lower limb rehabilitation robot in the prior art adopts a standing posture. Since the user is a patient with difficulty walking, when using the lower limb rehabilitation robot for training in a standing state, multiple people are needed to assist and fix the user (patient) to the lower limb rehabilitation robot. After the training is completed, multiple people are needed to unfix the user from the lower limb rehabilitation robot and transfer the user to the desired position. It can be seen that the lower limb rehabilitation robot in Swiss technology is very troublesome to wear and use. Utility Model Content

[0004] The utility model provides a rehabilitation robot capable of assisting standing and walking, so as to solve at least one of the above technical problems.

[0005] To solve the above problems, as one aspect of the utility model, a rehabilitation robot capable of assisting standing and walking is provided, comprising: a base frame, two seat cushions arranged side by side and independently, a backrest assembly, an electric push rod for switching the backrest assembly between a sitting height and a standing height, a servo electric cylinder capable of driving the seat cushions to alternately move, a connecting rod and an armrest mechanism, each of the seat cushions being connected to a corresponding servo electric cylinder, the seat cushion being connected to a knee joint motor bracket, a knee joint motor being mounted on the knee joint motor bracket, and a calf swinging part being mounted on the output end of the knee joint motor; the lower end of the electric push rod and the lower end of the connecting rod are both pivotally connected to the base frame, the upper end of the electric push rod and the upper end of the connecting rod are both pivotally connected to the rear end of the armrest mechanism; the lower end of the backrest assembly is connected to the rear end of the armrest mechanism, the first end of the servo electric cylinder is pivotally connected to the seat cushion, the second end of the servo electric cylinder is movably connected to the armrest mechanism, and the base frame is provided with walking wheels for walking.

[0006] Preferably, a knee strap is provided at one end of the seat cushion away from the backrest assembly.

[0007] Preferably, an ankle strap is provided at the lower end of the calf swinging part.

[0008] Preferably, a swing arm is provided on the side of the seat cushion, and a first connecting column for rotationally connecting to the armrest mechanism is provided at the upper end of the swing arm.

[0009] Preferably, a second connecting column for rotationally connecting to the servo electric cylinder is provided at the upper end of the swing arm.

[0010] Preferably, an arc-shaped groove is provided on the armrest mechanism, and the second connecting column is arranged in the arc-shaped groove.

[0011] Preferably, a weight-reducing suspension belt is provided on the top of the backrest assembly via a suspension arm.

[0012] Preferably, a waist strap is provided on the backrest assembly.

[0013] In the above technical solution, the utility model has two states, sitting and standing. It can be used as an electric wheelchair in the sitting state. Therefore, only one person is needed to help the user use and fix the wheelchair, so that corresponding training can be carried out. This can effectively reduce the number of assistants required for wearing and using the wheelchair, and bring great convenience to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The three-dimensional image of the utility model in a sitting position is schematically shown. Figure 1 ;

[0015] Figure 2The three-dimensional image of the utility model in a sitting position is schematically shown. Figure 2 ;

[0016] Figure 3 The three-dimensional image of the utility model in a standing position is schematically shown. Figure 1 ;

[0017] Figure 4 The three-dimensional image of the utility model in a standing position is schematically shown. Figure 2 ;

[0018] Figure 5 The utility model is schematically shown in the decomposition of the standing posture Figure 1 ;

[0019] Figure 6 The structure diagram of the seat cushion, swing arm, knee strap, calf swing part and ankle strap is schematically shown;

[0020] Figure 7 The utility model is schematically shown in the decomposition of the standing posture Figure 2 .

[0021] The reference numerals in the figure are: base frame 1; seat cushion 2; backrest assembly 3; electric push rod 4; servo cylinder 5; connecting rod 6; armrest mechanism 7; knee strap 8; swing arm 9; first connecting column 10; second connecting column 11; arc groove 12; suspension arm 13; weight-reducing suspension belt 14; walking wheel 15; battery 16; knee joint motor 17; calf swing part 18; ankle joint strap 19; knee joint motor bracket 20; waist strap 21. DETAILED DESCRIPTION

[0022] The following is a detailed description of the embodiments of the present invention, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0023] As one aspect of the utility model, a rehabilitation robot that can assist standing and walking is provided, which can be used for simulated walking training, comprising: a base frame 1, two seat cushions 2 arranged side by side and independently, a backrest assembly 3, an electric push rod 4 for switching the backrest assembly 3 between a sitting height and a standing height, a servo electric cylinder 5 that can drive the seat cushion 2 to alternately move, a connecting rod 6 and an armrest mechanism 7, each of the seat cushions 2 is connected to a corresponding servo electric cylinder 5, the seat cushion 2 is connected to a knee joint motor bracket 20, and the knee joint motor bracket A knee joint motor 17 is installed on the frame 20, and a calf swing part 18 is installed at the output end of the knee joint motor (17); the lower end of the electric push rod 4 and the lower end of the connecting rod 6 are both pivotally connected to the base frame 1, and the upper end of the electric push rod 4 and the upper end of the connecting rod 6 are both pivotally connected to the rear end of the armrest mechanism 7; the lower end of the backrest assembly 3 is connected to the rear end of the armrest mechanism 7, the first end of the servo electric cylinder 5 is pivotally connected to the seat cushion 2, and the second end of the servo electric cylinder 5 is movably connected to the armrest mechanism 7. Preferably, a walking wheel 15 for walking is provided on the base frame 1. The battery 16 is used to supply power to the driving mechanism of the walking wheel 15 to realize walking under electric drive. Preferably, a waist strap 21 is provided on the backrest assembly 3 to fix the user's waist through the waist strap 21, which is convenient for changing between sitting and standing positions, and also convenient for maintaining and stabilizing the user's standing position.

[0024] Preferably, a knee strap 8 is provided at one end of the seat cushion 2 away from the backrest assembly 3, and / or an ankle strap 19 is provided at the lower end of the calf swinging portion 18. When assisting standing, the knee strap 8 is worn on the user's legs so that the user's thigh part is connected to the corresponding seat cushion 2, so that when the seat cushion 2 swings, the corresponding thigh part is driven to be lifted or lowered. Further, when worn, the ankle strap 19 can be tied to the user's ankle joint.

[0025] When it is needed, the utility model can be transported to the required location in the form of an electric wheelchair. When used as an electric wheelchair, the two seat cushions 2 are placed side by side in a horizontal state for the user to sit on and use the knee straps 8 to connect and fix the thigh knees to the two seat cushions 2 respectively, the ankle straps 19 are connected and fixed to the calf swing part 18, and the weight-reducing suspension belt 14 and waist strap 21 are put on. When training is required, the electric push rod 4 is extended to make the backrest assembly 3 and the armrest mechanism 7 rise from the height of the sitting position to the height of the standing position, and the weight-reducing suspension belt 14 is used to rise synchronously to assist the user to change from a sitting position to a standing position. In this process, the servo electric cylinder 5 contracts to rotate the corresponding seat cushion 2 to a vertical state to adapt to the standing position. Then, by fixing the knee strap 8 to the thigh, the two servo electric cylinders 5 drive the corresponding seat cushion 2 to swing alternately in turn to realize the left and right thigh movements, and by fixing the ankle strap 19 to the calf swing part 18, the knee joint motor 17 drives the calf swing part 18 to realize the left and right calf movements, so that in the assisted standing state, the movement of the walking wheel 15 is combined with the servo electric cylinder 5 to drive the seat cushion 2 and the knee joint motor 17 to drive the calf swing part 18 to realize lower limb walking rehabilitation training.

[0026] Due to the adoption of the above technical solution, the utility model has two states: sitting and standing. When in use, the user is first supported to the wheelchair in the sitting state, then the user is fixed, and then the utility model is changed from the sitting state to the standing state. After use, it is changed back to the sitting state, the fixation is released and the user is transferred to the desired position.

[0027] In the above technical solution, since the utility model has two states, sitting and standing, only one person is needed to help the user use and fix it, so that corresponding training can be carried out, which can effectively reduce the number of assistants required for wearing and using, and bring great convenience to use.

[0028] Preferably, a swing arm 9 is provided on the side of the seat cushion 2, and a first connecting column 10 for rotationally connecting with the armrest mechanism 7 is provided at the upper end of the swing arm 9. Preferably, a second connecting column 11 for rotationally connecting with the servo electric cylinder 5 is provided at the upper end of the swing arm 9.

[0029] Preferably, an arc-shaped groove 12 is formed on the armrest mechanism 7 , and the second connecting column 11 is disposed in the arc-shaped groove 12 .

[0030] Preferably, a weight-reducing suspension belt 14 is provided on the top of the backrest assembly 3 through a suspension arm 13. When in use, the user wears the weight-reducing suspension belt 14, so that a part of the body weight can be carried by the weight-reducing suspension belt 14, so as to achieve the effect of adjusting the exercise load during exercise, so as to adapt to users with different physical conditions to assist in standing training.

[0031] 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. A rehabilitation robot that can assist standing and walking, characterized in that: include: A base frame (1), two seat cushions (2) arranged side by side and independently, a backrest assembly (3), an electric push rod (4) for switching the backrest assembly (3) between a sitting height and a standing height, a servo electric cylinder (5) capable of driving the seat cushion (2) to alternately move, a connecting rod (6) and an armrest mechanism (7), each of the seat cushions (2) being connected to a corresponding servo electric cylinder (5), the seat cushion (2) being connected to a knee joint motor bracket (20), a knee joint motor (17) being mounted on the knee joint motor bracket (20), and an output end of the knee joint motor (17) being mounted The lower end of the electric push rod (4) and the lower end of the connecting rod (6) are both pivotally connected to the base frame (1), and the upper end of the electric push rod (4) and the upper end of the connecting rod (6) are both pivotally connected to the rear end of the armrest mechanism (7); the lower end of the backrest assembly (3) is connected to the rear end of the armrest mechanism (7), the first end of the servo electric cylinder (5) is pivotally connected to the seat cushion (2), and the second end of the servo electric cylinder (5) is movably connected to the armrest mechanism (7); the base frame (1) is provided with walking wheels (15) for walking.

2. The rehabilitation robot capable of assisting standing and walking according to claim 1, characterized in that: A knee strap (8) is provided at one end of the seat cushion (2) away from the backrest assembly (3).

3. The rehabilitation robot capable of assisting standing and walking according to claim 1, characterized in that: The lower end of the calf swinging part (18) is provided with an ankle joint strap (19).

4. The rehabilitation robot capable of assisting standing and walking according to claim 1, characterized in that: A swing arm (9) is provided on the side of the seat cushion (2), and a first connecting column (10) for rotationally connecting to the armrest mechanism (7) is provided at the upper end of the swing arm (9).

5. The rehabilitation robot capable of assisting standing and walking according to claim 4, characterized in that: The upper end of the swing arm (9) is provided with a second connecting column (11) for rotationally connecting with the servo electric cylinder (5).

6. The rehabilitation robot capable of assisting standing and walking according to claim 5, characterized in that: The armrest mechanism (7) is provided with an arc-shaped groove (12), and the second connecting column (11) is arranged in the arc-shaped groove (12).

7. The rehabilitation robot capable of assisting standing and walking according to claim 1, characterized in that: A weight-reducing suspension belt (14) is provided on the top of the backrest assembly (3) via a suspension arm (13).

8. The rehabilitation robot capable of assisting standing and walking according to claim 1, characterized in that: The backrest assembly (3) is provided with a waist strap (21).

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