Lifting adjusting mechanism for rehabilitation robot

Abstract

The utility model discloses a lifting adjusting mechanism for a rehabilitation robot, which belongs to the technical field of medical instruments and comprises a lifting component arranged on a control cabinet and a rotating component arranged on a main support, the rotating component can drive the main support to rotate and provide a human body inclination angle of-10 degrees to 120 degrees, and the lifting component is arranged on the main support. The body induction balance training device is suitable for body induction balance training of a hemiplegic patient in the earlier stage, the lifting assembly is provided with a vertically-lifting sliding plate, and the sliding plate is fixedly connected with the rotating assembly through a connecting pipe. The overturning position and the height position of a patient on the training robot can be adjusted in real time and precisely controlled, the patient can achieve rehabilitation training at different angles without going up and down from the training robot, favorable conditions are provided for providing different rehabilitation training for the patient, and the rehabilitation treatment requirements of different patients are met. The backrest and the leg mechanism at the horizontal position can be lowered enough through the lifting assembly, and nursing personnel can conveniently move the soft paralysis patient to the rehabilitation robot.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical equipment and relates to a lifting and lowering regulating mechanism used for a rehabilitation robot. Background Art

[0002] The lower limb rehabilitation training robot is mainly aimed at patients with motor dysfunction in the lower limbs. Its main function is to help patients with motor dysfunction in the lower limbs complete various motor function rehabilitation training processes. The Chinese patent with the authorization announcement number CN 105769506 B provides a lower limb rehabilitation robot, which uses a support rod to provide patients with rehabilitation training at a certain tilt angle. Each training needs to adjust the angle in advance, which is inconvenient to operate. When multiple trainings are carried out, the rehabilitation robot cannot be adjusted in real time. The patient needs to get down many times and wait for the adjustment to be in place before going up for treatment, which is very inconvenient. At the same time, when a flaccid patient is bedridden due to a stroke, his proprioception will disappear or diminish, making it very inconvenient to get on and off the equipment. In addition, the existing equipment only provides a limited tilt angle for the bed, and it is impossible for the patient to switch between -10° and 120°, which is not conducive to the early proprioception training of hemiplegic patients.

[0003] Therefore, it is necessary to improve the prior art to overcome the defects in the prior art. Utility Model Content

[0004] The utility model aims to provide a lifting and adjusting mechanism for a rehabilitation robot, which can adjust the up and down and angular position of the robot in real time to meet the rehabilitation treatment needs of different patients.

[0005] The purpose of the utility model is achieved through the following technical solutions:

[0006] A lifting and adjusting mechanism for a rehabilitation robot, 1. It includes a lifting component arranged on a control cabinet and a rotating component arranged on a main bracket, wherein the rotating component can drive the main bracket to rotate and provide a human body tilt angle of -10°~120°, and the lifting component has a vertically lifting sliding plate, and the sliding plate and the rotating component are fixedly connected by a connecting pipe.

[0007] Furthermore, the rotating assembly includes a rotating motor, a driving shaft of which is connected to a reducer; the rotating assembly includes a fixed plate fixed on a main bracket, a positioning plate is provided on the fixed plate, and an output end of the reducer is fixedly connected to the positioning plate.

[0008] Furthermore, the housing of the reducer is fixed to the connecting tube by bolts, and the rotating motor is arranged in the connecting tube.

[0009] Furthermore, a mounting base plate is provided on the connecting tube, a mounting hole is provided on the connecting tube on one side of the mounting base plate, a positioning plate is provided in the mounting hole, one end of the positioning plate is fixed on the rotating motor, and the other end of the positioning plate is exposed outside the connecting tube.

[0010] Furthermore, a limiting groove is provided on the fixed plate, two limiting blocks are provided in the limiting groove, a stopper is provided on the mounting base plate, one end of the stopper is inserted into the limiting groove, and the sliding trajectory of the stopper is limited within the limited range of the two limiting blocks.

[0011] Furthermore, an angle sensor for sensing the deflection angle of the main bracket is arranged on the fixing plate.

[0012] Furthermore, the lifting assembly includes a screw assembly arranged in a control cabinet and a sliding plate arranged outside the control cabinet, the control cabinet is provided with an opening, the screw assembly and the sliding plate are located on both sides of the opening; the nut of the screw assembly is fixed on the sliding plate through a connector; the driving source of the screw assembly is a motor. By hiding the screw assembly and its driving source in the control cabinet, the occupied space of the whole machine can be effectively reduced and the overall aesthetics can be improved.

[0013] Furthermore, a pair of vertically distributed linear slide rails are arranged on both sides of the opening, and the sliding plate is slidably arranged on the two linear slide rails through a slider.

[0014] Furthermore, a drag chain is arranged on the outside of the control cabinet, and the drag chain is connected to the sliding plate.

[0015] Furthermore, a vertical motor is arranged inside the control cabinet, and synchronous pulleys are arranged on the upper end of the screw rod assembly and the driving shaft of the vertical motor, and the two synchronous pulleys are connected by a synchronous belt.

[0016] The above technical solution has the following beneficial effects:

[0017] 1. It can adjust and accurately control the flipping position and height position of the patient on the training robot in real time. The patient can achieve rehabilitation training at various angles without getting off the training robot, providing favorable conditions for different rehabilitation training for the patient and meeting the rehabilitation treatment needs of different patients.

[0018] 2. The backrest and leg mechanism can be lowered low enough to facilitate caregivers to move the patient to the rehabilitation robot.

[0019] 3. By adjusting the angle of the main support and its connected backrest and leg mechanism, the patient can switch from lying flat to vertical 90°, achieving proprioceptive balance rehabilitation, which is helpful for training and rehabilitation of proprioception. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the implementation of the utility model or the technical solution in the prior art, the following is a brief introduction to the drawings required for the implementation or the prior art description. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0021] The structures, proportions, sizes, etc. illustrated in this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with the technology. They are not used to limit the conditions under which the present invention can be implemented, and therefore have no substantial technical significance. Any structural modification, change in proportion or adjustment of size shall still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0022] Figure 1 This is a schematic diagram of the first state structure of the whole machine provided by the utility model.

[0023] Figure 2 This is a schematic structural diagram of the area where the lifting assembly provided by the utility model is located.

[0024] Figure 3 This is a schematic structural diagram of the area where the rotating assembly provided by the utility model is located.

[0025] Figure 4 This is a front view schematic diagram of the area where the rotating assembly and the connecting pipe provided by the utility model are located.

[0026] Figure 5 for Figure 4 Cross-sectional view along AA direction.

[0027] In the figure: 1-control cabinet; 2-lifting assembly; 21-screw assembly; 22-vertical motor; 23-synchronous belt; 24-linear slide rail; 25-sliding plate; 26-drag chain; 3-rotation assembly; 31-rotation motor; 32-fixed plate; 33-reducer; 34, 35-positioning plate; 36-mounting base plate; 37-stop block; 38, 39-limit block; 4-connecting pipe; 41, 42-mounting hole; 5-training robot; 51-main bracket; 52-backrest. DETAILED DESCRIPTION

[0028] The specific implementation methods of the present invention are further described below in conjunction with the accompanying drawings. It should be noted that the description of these implementation methods is used to help understand the present invention, but does not constitute a limitation of the present invention. In addition, the technical features involved in each implementation method of the present invention described below can be combined with each other as long as they do not conflict with each other. Example

[0029] See also Figure 1-Figure 5 As shown, a lifting and adjusting mechanism for a rehabilitation robot includes a lifting component 2 and a rotating component 3. The lifting component 2 is arranged on a control cabinet 1. The rotating component 3 is connected to a main support 51 on a training robot 5 (also known as a walking robot). The training robot 5 has a leg mechanism for placing the patient's legs. Driven by the rotating component 3, the main support 51 causes the backrest 52 on the training robot to flip upward from a vertical state, and can provide a human body inclination angle of -10°~120°. The lifting component 2 and the rotating component 3 are connected by a connecting pipe 4, so that the lifting component 2 can drive the rotating component 3 and the main support 51 connected thereto to move up and down as a whole.

[0030] The lifting and adjusting mechanism can adjust the angles of the main support and the backrest and leg mechanisms connected thereto, allowing the patient to switch between lying flat and vertical 90°, thereby achieving proprioceptive balance rehabilitation, which is helpful for training and rehabilitation of proprioception.

[0031] Specifically, the lifting assembly 2 includes a screw assembly 21 arranged on the inner side of the control cabinet 1. The screw assembly 21 is vertically distributed and directly purchased from the market, and is a finished product of the prior art. A vertical motor 22 is arranged on the inner side of the control cabinet 1. The vertical motor 22 adopts a servo motor. A synchronous pulley is installed on the upper end of the screw assembly 21 and the driving shaft of the vertical motor 22. A synchronous belt 23 is used for transmission between the two synchronous pulleys. An opening is arranged on the control cabinet on one side of the screw assembly 21, and a pair of linear slide rails 24 are arranged on both sides of the opening. The two linear slide rails 24 are arranged on the outer side of the control cabinet 1 and are distributed in parallel. The sliding plate 25 is slidably arranged on the two linear slide rails through a slider; the nut of the screw assembly 21 is fixed to the sliding plate through a connector.

[0032] Preferably, a drag chain 26 is provided outside the control cabinet 1 , and the drag chain 26 is connected to the sliding plate 25 to assist the sliding plate 25 to move up and down stably.

[0033] Through the above structural design, the lifting assembly 2 is integrated into the control cabinet 1, which can effectively reduce the overall space occupied by the whole machine (lower limb rehabilitation training robot). At the same time, one end of the connecting pipe 4 is fixed on the sliding plate 25, and the other end is fixedly connected to the main bracket 51. The vertical motor 22 is controlled to rotate clockwise or counterclockwise to adjust the upper and lower heights of the training robot 5, so that the training robot 5 can be grounded or suspended.

[0034] A control unit including a controller is placed in the control cabinet 1, and the control unit is electrically connected to the execution components of the training robot; a power supply unit is arranged in the control cabinet, and the power supply unit is connected to the mains and supplies power to the execution components on the lifting and adjusting mechanism, thereby enabling the training robot to be adjusted to a predetermined tilt angle and position.

[0035] A display panel, control buttons and a keyboard connected to the control unit are arranged on the outside of the control cabinet 1, and the operator can use them as a basis to set parameters and control training for the whole machine (lower limb rehabilitation training robot).

[0036] The rotating assembly 3 includes a rotating motor 31 disposed in and fixed to the connecting tube 4, a fixing plate 32 fixed to the main bracket 51, a positioning plate disposed on the fixing plate 32, a driving shaft of the rotating motor 31 connected to a reducer 33, and an output end of the reducer 33 fixedly connected to the positioning plate. The housing of the reducer 33 is fixed to the connecting tube 4 by bolts.

[0037] Specifically, the connection tube 4 has two mounting holes 41, 42, and two positioning plates 34, 35 are detachably mounted on the rotating motor 31. The positioning plates 34, 35 are bent structures, and one end thereof is exposed outside the connection tube 4 through the corresponding mounting holes 41, 42. A mounting base plate 36 is fixedly arranged outside the connection tube 4, and the exposed end of the positioning plate 35 is fixed to the mounting base plate 36.

[0038] Through the above-mentioned structural design, the rotating motor 31 is hidden in the connecting tube 4 and fixedly connected to the connecting tube 4, so as to reasonably realize the spatial layout and improve the overall aesthetics of the rotating assembly. In this embodiment, the inclination angle of the main bracket 51 is -10°~120°, in order to limit the rotation angle of the rotating assembly 3. Specifically, a limiting groove is provided on the fixed disk 32, and two limiting blocks 38 and 39 are provided in the limiting groove; a stopper 37 is fixedly provided on the connecting tube or the rotating motor, and one end of the stopper 37 is inserted into the limiting groove. When in use, the sliding trajectory of the stopper 37 is limited within the limiting groove defined by the two limiting blocks 38 and 39. At the same time, in order to better control the deflection angle, an angle sensor for sensing the deflection angle of the main bracket 51 is provided on the fixed disk 32. The above-mentioned vertical motor, rotary motor and angle sensor are all electrically connected to the control unit. On-site personnel can directly obtain the flipping angle of the training robot by observing the display panel, and can adjust and accurately control the flipping position and height position of the patient on the training robot in real time. The patient does not need to get off the training robot to achieve rehabilitation training at a variety of different angles, which provides favorable conditions for providing patients with different rehabilitation training and meets the rehabilitation treatment needs of different patients.

[0039] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions and variations of these embodiments are made without departing from the principles and spirit of the present invention, and still fall within the scope of protection of the present invention.

Claims

1. A lifting and adjusting mechanism for a rehabilitation robot, characterized in that: It includes a lifting component arranged on a control cabinet and a rotating component arranged on a main bracket. The rotating component can drive the main bracket to rotate and provide a human body inclination angle of -10°~120°. The lifting component is provided with a vertically lifting sliding plate. The sliding plate and the rotating component are fixedly connected by a connecting pipe.

2. The lifting and lowering adjustment mechanism according to claim 1, characterized in that: The rotating assembly includes a rotating motor, a driving shaft of which is connected to a reducer; the rotating assembly includes a fixed disk fixed on a main bracket, a positioning disk is provided on the fixed disk, and an output end of the reducer is fixedly connected to the positioning disk.

3. The lifting and lowering adjustment mechanism according to claim 2, characterized in that: The housing of the reducer is fixed on the connecting pipe by bolts, and the rotating motor is arranged in the connecting pipe.

4. The lifting and lowering adjustment mechanism according to claim 3, characterized in that: The connecting tube is provided with a mounting base plate, and a mounting hole is provided on the connecting tube on one side of the mounting base plate. A positioning plate is provided in the mounting hole, one end of the positioning plate is fixed on the rotating motor, and the other end of the positioning plate is exposed outside the connecting tube.

5. The lifting and lowering adjustment mechanism according to claim 4, characterized in that: The fixed disk is provided with a limiting groove, in which two limiting blocks are provided, and the mounting base plate is provided with a stopper, one end of which is inserted into the limiting groove, and the sliding track of the stopper is limited within the limited range of the two limiting blocks.

6. The lifting and lowering adjustment mechanism according to claim 5, characterized in that: An angle sensor for sensing the deflection angle of the main bracket is arranged on the fixing plate.

7. The lifting and lowering adjustment mechanism according to claim 1, characterized in that: The lifting assembly includes a screw assembly arranged in a control cabinet and a sliding plate arranged outside the control cabinet. An opening is arranged on the control cabinet, and the screw assembly and the sliding plate are located on the inner and outer sides of the opening; the nut of the screw assembly is fixed on the sliding plate through a connecting piece; the driving source of the screw assembly is a motor.

8. The lifting and lowering adjustment mechanism according to claim 7, characterized in that: A pair of vertically distributed linear slide rails are arranged on both sides of the opening, and the sliding plate is slidably arranged on the two linear slide rails through a sliding block.

9. The lifting and lowering adjustment mechanism according to claim 8, characterized in that: A drag chain is arranged outside the control cabinet, and the drag chain is connected to the sliding plate.

10. The lifting and lowering adjustment mechanism according to claim 7, characterized in that: A vertical motor is arranged inside the control cabinet, and synchronous pulleys are arranged on the upper end of the screw rod assembly and the driving shaft of the vertical motor, and the two synchronous pulleys are connected by a synchronous belt.

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