Rehabilitation training robot

Abstract

The utility model relates to a rehabilitation training robot which comprises a mounting frame, two multi-connecting-rod mechanisms arranged on the mounting frame and used for driving legs to walk, and a supporting plate arranged at the bottom of the multi-connecting-rod mechanisms and used for placing feet, the number of the multi-connecting-rod mechanisms is two, and the multi-connecting-rod mechanisms are used for driving the two legs to walk respectively. Each multi-connecting-rod mechanism is independently provided with a motor used for driving the multi-connecting-rod mechanism to move. The two motors are used for driving the two multi-connecting-rod mechanisms to move and driving hip joints and knee joints of a user to move respectively, rehabilitation training is achieved, the two motors operate independently, when operation is suspended, the supporting plate can be adjusted to be in a flush state, a person can go up and down conveniently, and meanwhile the person feels more comfortable when having a rest midway during use.

Description

Technical Field

[0001] The utility model belongs to rehabilitation equipment, in particular to a rehabilitation training robot. Background Art

[0002] Patients with central nervous system damage and musculoskeletal diseases are unable to move normally, and in severe cases need to stay in bed for a long time and lose the ability to take care of themselves, causing great physical and psychological torture for patients and their caregivers, and low quality of life. It is difficult for paralyzed patients to move for physical examinations and daily life, and they need to be moved or supported manually, which is very labor-intensive and can easily cause discomfort to paralyzed patients. If patients can recover their mobility to a certain extent, it will not only help improve the quality of life of the patients themselves, but also reduce the overall burden on their families and society. To achieve this goal, both mild and severe patients need to undergo rehabilitation exercises in a timely manner, otherwise serious complications will occur, reducing their quality of life.

[0003] Most of the existing rehabilitation trainers adopt a four-motor form, that is, motors are set at the hip and knee joints of both legs for driving. For example, the Chinese utility model patent with publication number CN219517019U discloses a mobile platform-type lower limb exoskeleton mechanical leg. Another example is the Chinese invention patent with publication number CN110236875A, which discloses a mobile lower limb exoskeleton rehabilitation robot and its control system. Both adopt a four-motor design. Due to the high cost of motors, the cost of the entire product is very high, which is difficult for ordinary families to afford.

[0004] Some products use a single motor plus a multi-link structure, that is, a single motor is set at the waist position, and the single motor is used to drive two sets of multi-link structures, which act on the two legs respectively, and the multi-link structure is used to drive the knee joint. In order to be able to complete walking-like movements, the two sets of multi-link structures use asynchronous movement. This causes a problem. When the device is not in use, the position where the feet are placed is in a front and back state, which makes it difficult for the patient to stand on it. At the same time, when resting in the middle, the front and back state of the feet is not comfortable enough. Utility Model Content

[0005] The technical problem to be solved by the utility model is to provide a rehabilitation training robot which adopts a dual-motor drive mode. When the device is in a paused state, both feet can be in a level position, making it convenient for people to get on and off and more comfortable when resting.

[0006] The technical solution adopted by the utility model is:

[0007] A rehabilitation training robot comprises a mounting frame, a multi-link mechanism arranged on the mounting frame for driving legs to walk, and a support plate arranged at the bottom of the multi-link mechanism for placing feet. The multi-link mechanism has two parts, each of which is used to drive two legs to walk, and a motor for driving the multi-link mechanism to move is separately installed on each multi-link mechanism.

[0008] Furthermore, the multi-link mechanism includes a fixed plate located at the top, a first link whose upper end is rotatably connected to the fixed plate by a rotating shaft, a second link whose upper end is connected to the lower end of the first link by a rotating shaft, a third link whose one end is connected to the middle part of the first link by a rotating shaft, and a driving rod connected to the other end of the third link by a rotating shaft, the driving rod is transmission-connected to the motor, and the support plate is fixedly arranged at the lower end of the second link and is located on the inner side of the second link.

[0009] Furthermore, the multi-link mechanism also includes a fourth link, one end of which is connected to the middle portion of the third link via a rotating shaft, and the other end of which is connected to the middle portion of the second link via a rotating shaft.

[0010] Furthermore, a knee top plate is provided on the second connecting rod, and the knee top plate is fixed to one end of the L-shaped connecting rod. An adjustment sleeve is provided on the second connecting rod, and a locking plate is provided in the adjustment sleeve. The other end of the connecting rod is installed in the adjustment sleeve, and the locking plate is tightly fitted and locked to the connecting rod by bolts. An arc-shaped baffle is provided at the rear end of the support plate.

[0011] Furthermore, a side cushion is provided on the inner side of the fixing plate, and a front cushion is provided on the front side of the middle position between the two side cushions.

[0012] Furthermore, the fixed plate is installed on the guardrail mounting plate through a slide rail, the motor is fixedly installed on the guardrail mounting plate, a horizontal lead screw is provided on the guardrail mounting plate, and the two fixed plates are cooperated with the horizontal lead screw through a lead screw nut; the thread rotation directions of the two lead screw nuts are opposite or the threaded part of the horizontal lead screw is divided into two left and right sections and the thread rotation directions of the two sections are opposite.

[0013] Furthermore, a vertical lifting screw is provided on the mounting frame, and the guardrail mounting plate is connected to the lifting screw via a screw nut.

[0014] Furthermore, the mounting frame includes a base, armrests arranged on the left and right sides of the base, and a vertical frame arranged on the front side of the base. The multi-link mechanism is installed on the vertical frame. A rotatable lifting rod is provided on the inner side of the armrest, and a lifting cushion is installed between the two lifting rods.

[0015] Furthermore, a central axis is provided on the armrest, the lower end of the lifting rod is fixedly mounted on the central axis, a swing arm is also fixedly mounted on the central axis, an electric push rod is provided on the base, and the piston rod of the electric push rod is connected to the end of the swing arm through a rotating shaft.

[0016] The positive effects of the utility model are:

[0017] The utility model uses two motors to drive two multi-link mechanisms to move, drive the user's hip and knee joints to move, and achieve rehabilitation training. The two motors run separately. When the two motors are suspended, the support plate can be adjusted to a flush state, which is convenient for people to get on and off, and more comfortable when taking a break during use. Compared with the existing four-motor structure, the use of two motors is reduced, and the overall cost is greatly reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the utility model;

[0019] Figure 2 This is a schematic diagram of the structure of the multi-link mechanism of the utility model;

[0020] Figure 3 It is a schematic diagram of the structure of the lifting cushion of the utility model. DETAILED DESCRIPTION

[0021] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined purpose of the utility model, the specific implementation method, structure, characteristics and effects of the present invention are described in detail below in combination with the accompanying drawings and preferred embodiments.

[0022] As attached Figure 1-3 As shown, the utility model discloses a rehabilitation training robot, including a mounting frame, a multi-link mechanism arranged on the mounting frame for driving the legs to walk, and a support plate 4 arranged at the bottom of the multi-link mechanism for placing the feet. The multi-link mechanism is provided with two groups, and a support plate 7 is installed at the bottom of each multi-link mechanism. Each multi-link mechanism is driven by a separate motor 7, that is, the number of motors 7 is two.

[0023] Specifically, the multi-link mechanism includes a fixed plate 15, a first link 11, a second link 12, a third link 9 and a fourth link 10. The fixed plate 15 is located at the top. The upper end of the first link 11 is connected to the fixed plate 15 through a rotating shaft. The upper end of the second link 12 is connected to the lower end of the first link 11 through a rotating shaft. One end of the third link 9 is connected to the middle of the first link 11, and the other end of the third link 9 is connected to the motor 7 through the driving rod 8. The support plate 4 is fixedly installed at the inner position of the lower end of the second link 12. One end of the four-link 10 is connected to the middle of the third link 9 through a rotating shaft, and the other end is connected to the middle of the second link 12 through a rotating shaft. The operation of the motor 7 causes the driving rod 8 to drive the multi-link mechanism to operate, so that each connection point of the multi-link mechanism moves, thereby driving the hip joint and knee joint to move, and achieving the purpose of rehabilitation.

[0024] Preferably, the lengths of the first connecting rod 11, the second connecting rod 12 and the fourth connecting rod 10 are adjustable to meet the needs of users of different heights.

[0025] The two motors 7 can be operated independently to adjust the positions of the corresponding support plates 4 respectively. When the two support plates 4 are not used, the two support plates 4 can be adjusted to a flush position to facilitate users to get on and off, and it is more comfortable to stand and rest on the support plates 4.

[0026] As a further improvement of the utility model, a knee top plate 6 is provided on the second connecting rod 12, and the knee top plate 6 is located at the inner side of the multi-connection mechanism. The knee top plate 6 is fixed to one end of the L-shaped connecting rod 14, and an adjustment sleeve 13 is provided on the second connecting rod 12. A locking plate is provided in the adjustment sleeve 13, and the other end of the connecting rod 14 is installed in the adjustment sleeve 13, and the locking plate and the connecting rod 14 are tightly fitted and locked by bolts. An oblong hole is provided on the connecting rod 14, and the bolt passes through the oblong holes on the adjustment sleeve 13 and the connecting rod 14 from the outside and is connected to the locking plate. The adjustment bolt adjusts the tightness of the locking plate, and an arc-shaped baffle plate 5 is provided at the rear side end of the support plate 4. The knee top plate 6 located in the front is used to limit the knee position, and the baffle plate 5 located at the back of the foot is used to limit the foot position, which can ensure the user's stable walking and prevent accidental falling. After adopting the limiting structure of the utility model, it is not necessary to tie up the user, and thrombosis during tying is avoided. At the same time, a side cushion 16 is installed on the inner side of the fixing plate 15 , and a front cushion 17 is provided on the front side of the middle position between the two side cushions 16 , which can also play a limiting role.

[0027] The mounting frame includes a base 1, handrails 2 arranged on the left and right sides of the base 1, and a vertical frame 3 arranged on the front side of the base 1. A guardrail mounting plate 19 is provided on the vertical frame 3. A fixed plate 15 is installed on the guardrail mounting plate 19 through a horizontal slide rail. The motor 7 is fixedly installed on the guardrail mounting plate 19. A horizontal lead screw 18 is provided on the guardrail mounting plate 19. Both fixed plates 15 cooperate with the horizontal lead screw 18 through a lead screw nut. When the horizontal lead screw 18 is rotated, the two fixed plates 15 move inward or outward at the same time. In order to realize this movement form, the thread rotation direction of the two lead screw nuts can be opposite, or the thread of the horizontal lead screw 18 can be divided into two left and right parts, and the thread directions of the two parts are opposite. This structural form is widely reflected in the prior art and will not be repeated here.

[0028] A vertical slide rail is provided on the vertical frame 3, a guardrail mounting plate 19 is mounted on the vertical slide rail, a vertical lifting screw is provided on the vertical frame 3, a screw nut matching the lifting screw is mounted on the guardrail mounting plate 19, and by adjusting the lifting screw, the overall height of the multi-link mechanism can be adjusted to make it suitable for different groups of people. The front cushion 17 can be mounted on the vertical frame 3 or on the guardrail mounting plate 19.

[0029] A rotatable lifting rod 21 is provided on the inner side of the armrests 2 on both sides, and a lifting cushion 23 is provided between the two lifting rods 21. A central axis is provided on the armrest 2, and the lower end of the lifting rod 21 is fixedly mounted on the central axis. A swing arm 22 is also fixedly mounted on the central axis. An electric push rod 20 is provided on the base 1, and the piston rod of the electric push rod 20 is connected to the end of the swing arm 22 through a rotating shaft. The lifting cushion 23 is installed on the lifting rod 21 through a quick release lock. When in use, the lifting cushion 23 is first placed under the user's buttocks, the lifting rod 21 is deflected to a lower position, and the lifting cushion 23 is connected to the lifting rod 21. The user's foot is placed on the support plate 4, and the lifting rod 21 is deflected to lift the lifting cushion 23, driving the user to gradually stand up. When in use, the lifting rod 21 is always in a high position, and the lifting cushion 23 can play a protective role to prevent accidental falling. The lifting cushion 23 works together with the knee top plate 6 and the baffle plate 5 to ensure safety in use, and there is no need to additionally tie up the user during use.

[0030] The utility model adopts a dual-motor drive form, which has a lower manufacturing cost than the traditional four-motor form, and the dual motors can independently drive the multi-link mechanism to operate. When the user is not in use, the two support plates 4 can be adjusted to the lowest position, that is, the two support plates 4 are flush, which not only helps the user to get on and off, but also makes it more comfortable when resting in the middle. At the same time, the seat cushion 23, the knee top plate 6, the baffle 5, the side cushion 16, and the front cushion 17 are jointly limited without binding the user, thus avoiding the problem of thrombosis caused by binding.

[0031] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rehabilitation training robot, characterized in that It comprises a mounting frame, a multi-link mechanism arranged on the mounting frame for driving the legs to walk, and a support plate (4) arranged at the bottom of the multi-link mechanism for placing the feet, wherein the multi-link mechanism has two parts respectively for driving the two legs to walk, and a motor (7) for driving the multi-link mechanism to move is separately installed on each multi-link mechanism.

2. The rehabilitation training robot according to claim 1, characterized in that The multi-link mechanism comprises a fixed plate (15) located at the top, a first link (11) whose upper end is rotatably connected to the fixed plate (15) via a rotating shaft, a second link (12) whose upper end is connected to the lower end of the first link (11) via a rotating shaft, a third link (9) whose one end is connected to the middle part of the first link (11) via a rotating shaft, and a driving rod (8) whose other end is connected to the third link (9) via a rotating shaft, wherein the driving rod (8) is transmission-connected to the motor (7), and the support plate (4) is fixedly arranged at the lower end of the second link (12) and is located on the inner side of the second link (12).

3. The rehabilitation training robot according to claim 2, characterized in that The multi-link mechanism further comprises a fourth link (10), one end of the fourth link (10) being connected to the middle portion of the third link (9) via a rotating shaft, and the other end of the fourth link (10) being connected to the middle portion of the second link (12) via a rotating shaft.

4. The rehabilitation training robot according to claim 2, characterized in that A knee top plate (6) is provided on the second connecting rod (12), and the knee top plate (6) is fixed to one end of an L-shaped connecting rod (14). An adjustment sleeve (13) is provided on the second connecting rod (12), and a locking plate is provided in the adjustment sleeve (13). The other end of the connecting rod (14) is mounted in the adjustment sleeve (13), and the locking plate is tightly fitted and locked with the connecting rod (14) by bolts. An arc-shaped baffle plate (5) is provided at the rear end of the support plate (4).

5. The rehabilitation training robot according to claim 4, characterized in that A side cushion (16) is provided on the inner side of the fixing plate (15), and a front cushion (17) is provided on the front side of the middle position between the two side cushions (16).

6. The rehabilitation training robot according to claim 2, characterized in that The fixing plate (15) is mounted on the guardrail mounting plate (19) via a slide rail, the motor (7) is fixedly mounted on the guardrail mounting plate (19), a horizontal lead screw (18) is provided on the guardrail mounting plate (19), and the two fixing plates (15) are matched with the horizontal lead screw (18) via a lead screw nut; the thread rotation directions of the two lead screw nuts are opposite or the threaded portion of the horizontal lead screw (18) is divided into two left and right sections and the thread rotation directions of the two sections are opposite.

7. The rehabilitation training robot according to claim 6, characterized in that A vertical lifting screw is provided on the mounting frame, and the guardrail mounting plate (19) is connected to the lifting screw via a screw nut.

8. The rehabilitation training robot according to claim 1, characterized in that The mounting frame comprises a base (1), armrests (2) arranged on the left and right sides of the base (1), and a vertical frame (3) arranged on the front side of the base (1); the multi-link mechanism is mounted on the vertical frame (3); a rotatable lifting rod (21) is provided on the inner side of the armrest (2); and a lifting cushion (23) is installed between the two lifting rods (21).

9. The rehabilitation training robot according to claim 8, characterized in that A central axis is provided on the handrail (2), the lower end of a lifting rod (21) is fixedly mounted on the central axis, a swing arm (22) is also fixedly mounted on the central axis, an electric push rod (20) is provided on the base (1), and a piston rod of the electric push rod (20) is connected to the end of the swing arm (22) via a rotating shaft.

Images