Leg adjusting mechanism for rehabilitation robot

Abstract

The leg adjusting mechanism for the rehabilitation robot comprises a longitudinal moving assembly arranged on a main support, and the longitudinal moving assembly is provided with a first bearing frame and pushes the first bearing frame to move in the Y-axis direction; the first bearing frame is provided with a transverse moving assembly, and the transverse moving assembly is provided with a second bearing frame and pushes the second bearing frame to move in the X-axis direction. And the second bearing frame is fixedly connected with the hip joint seat of the bionic leg. By adjusting the positions of the bionic legs, the legs and the back face of the patient and the positions between the two legs are located in a comfortable interval, the rehabilitation training efficiency of the patient can be improved, and the use requirements of different patients are met. Servo motors and torsion sensors are applied to the ankle joint, the knee joint and the hip joint, more stretching postures can be provided for a patient, accurate values of stress conditions of all the joints are obtained, rehabilitation of different muscle groups and joints is met, and diagnosis and analysis of doctors are facilitated.

Description

Technical Field

[0001] The utility model belongs to the technical field of medical equipment and relates to a leg adjustment 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. The support and positioning of the patient's legs are simply bound by thigh straps and calf straps, and the feet are positioned by sole straps. Although the patient's legs can be bound, the patient's training comfort is insufficient. At the same time, the differences in body shape between different patients cause some patients to have discomfort in their hips, which cannot meet the needs of different patients. At the same time, some existing lower limb stretching devices are not equipped with joint motors and torque sensors, and cannot perform more stretching exercises, nor can they obtain force data at each joint, and cannot meet rehabilitation needs.

[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 leg adjustment mechanism for a rehabilitation robot, which can adapt to the needs of different patients by adjusting the bionic back position.

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

[0006] A leg adjustment mechanism for a rehabilitation robot comprises a longitudinal moving component arranged on a main support, the longitudinal moving component is provided with a first bearing frame and pushes the first bearing frame to move along the Y-axis direction; the first bearing frame is provided with a transverse moving component, the transverse moving component is provided with a second bearing frame and pushes the second bearing frame to move along the X-axis direction; the second bearing frame is fixedly connected to the hip joint seat of the bionic leg.

[0007] Further, the longitudinal movement assembly includes a longitudinal motor arranged on the main bracket 1, and the longitudinal motor is transmission-connected to the first screw assembly through a pulley assembly; the nut of the first screw assembly is fixedly connected to the first carrier frame through a connecting piece; a first linear slide rail is arranged on the main bracket, and the first carrier frame is slidingly arranged on the first linear slide rail through a slider.

[0008] Furthermore, the pulley assembly includes a pulley A arranged on the longitudinal motor and a pulley B arranged on the screw of the first screw assembly, and the pulley A is connected to the pulley B through a synchronous belt.

[0009] Further, the transverse movement assembly includes a transverse motor arranged on the first carrier frame, and the transverse motor is transmission-connected to the second screw assembly through a pulley assembly; the nut of the second screw assembly is fixedly connected to the second carrier frame through a connecting member; a second linear slide rail is arranged on the first carrier frame, and the second carrier frame is slidingly arranged on the second linear slide rail through a slider.

[0010] Furthermore, the pulley assembly includes a pulley C arranged on the driving shaft of the transverse motor and a pulley D arranged on the screw of the second screw assembly, and the pulley C and the pulley D are connected by a synchronous belt.

[0011] Furthermore, the first carrier frame has a bent structure, and the transverse motor is arranged at the bent portion of the first carrier frame; the second linear slide rail and the second screw assembly are arranged on the outer side of the first carrier frame, and the pulley assembly connected to the transverse motor and the second screw assembly is located on the outer side of the first carrier frame.

[0012] Further, the bionic leg includes a hip joint seat arranged at the hip joint, a knee joint seat arranged at the knee joint and an ankle joint seat arranged at the ankle joint, a first depth adjustment mechanism for adjusting the length according to the patient's thigh is arranged between the hip joint seat and the knee joint seat, and a second depth adjustment mechanism for adjusting the length according to the patient's calf is arranged between the knee joint seat and the ankle joint seat; torque sensors and joint modules are arranged at the hip joint, knee joint and ankle joint, and the above-mentioned joint module adopts a servo motor as a driving source.

[0013] Further, the first depth adjustment mechanism includes a hip joint connecting block, one end of which is arranged in a hip joint seat, a joint module for driving the hip joint connecting block to swing is arranged at the hip joint seat, and a thigh placement rack for placing the patient's thigh is arranged on the hip joint connecting block 611; a first adjustment component for adjusting the distance between the hip joint seat and the knee joint seat is arranged on the hip joint connecting block.

[0014] Further, the second depth adjustment mechanism includes a knee joint connecting block, one end of which is arranged in a knee joint seat, a joint module for driving the knee joint connecting block to swing is arranged at the knee joint seat, a calf placing rack for placing the patient's calf is arranged on the knee joint connecting block; and a second adjustment component for adjusting the distance between the knee joint seat and the ankle joint seat is arranged on the knee joint connecting block.

[0015] Furthermore, the first adjustment component and the second adjustment component structure both include an inner sleeve and an outer sleeve, one end of the inner sleeve is embedded in the outer sleeve, a screw rod is arranged in the outer sleeve, the nut on the screw rod is fixed to the inner sleeve through a connector, and the screw rod is fixed to the outer sleeve through a bearing seat; one end of the screw rod is exposed to the outside of the outer sleeve and a slave pulley is arranged on it, a main pulley is arranged on the driving shaft of the adjustment motor, and the main pulley and the slave pulley are connected through a synchronous belt.

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

[0017] 1. By adjusting the position of the bionic leg, the patient's legs, back and between the two legs are placed in a comfortable range, which helps to improve the efficiency of the patient's rehabilitation training and meet the needs of different patients.

[0018] 2. Through the three servo motor designs of the ankle joint, knee joint and hip joint, more stretching postures can be provided to patients to meet the rehabilitation needs of different muscle groups and joints.

[0019] 3. By installing high-precision torque sensors at each joint, accurate values ​​can be provided for the stress conditions of each joint, which is helpful for doctors to analyze and adjust rehabilitation prescriptions. 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 structural diagram of the first state of the main support, leg adjustment mechanism and bionic leg provided by the utility model.

[0023] Figure 2 This is a schematic diagram of the second state structure of the main support, leg adjustment mechanism and bionic leg provided by the utility model.

[0024] Figure 3This is a schematic structural diagram of the third state of the main support, leg adjustment mechanism and bionic leg provided by the utility model.

[0025] Figure 4 for Figure 3 A magnified schematic diagram of area A in the middle.

[0026] Figure 5 for Figure 3 A magnified schematic diagram of area B.

[0027] Figure 6 for Figure 2 Enlarged schematic diagram of area C in the middle.

[0028] Figure 7 This is a schematic structural diagram of the first adjustment component and the second adjustment component provided by the utility model.

[0029] In the figure: 1-main support; 11-backrest; 2-lateral movement component; 21-lateral motor; 22-second screw assembly; 23-second linear slide; 3-longitudinal movement component; 31-longitudinal motor; 32-first screw assembly; 33-first linear slide; 4-first bearing frame; 5-second bearing frame; 6-bionic leg; 61-hip joint seat; 62-knee joint seat; 63-ankle joint seat; 611-hip joint connecting block; 612, 622, 631-joint module; 613-thigh unloading rack; 621-knee joint connecting block; 623-calf unloading rack; 624-adjusting rod; 632-bottom drive plate; 633-sole plate; 641-inner sleeve; 642-outer sleeve; 643-nut; 644-screw; 645-adjusting motor. DETAILED DESCRIPTION

[0030] 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.

[0031] Example

[0032] See also Figure 1-Figure 6As shown, a leg adjustment mechanism for a rehabilitation robot is arranged below a main support 1, and includes a lateral moving component 2 and a longitudinal moving component 3. The longitudinal moving component 3 is arranged on the main support 1, and a first carrier 4 is arranged on the longitudinal moving component 3, and the first carrier 4 moves along the Y-axis direction driven by the longitudinal moving component 3. The lateral moving component 2 is arranged on the first carrier 4, and the second carrier 5 is arranged on the lateral moving component 2, and the second carrier 5 moves along the X-axis direction driven by the lateral moving component 2. The hip joint seat 61 on the bionic leg 6 is fixedly mounted on the second carrier 5, so that the bionic leg 6 can follow the lateral moving component 2 and the longitudinal moving component 3 to move along the X-axis and Y-axis directions.

[0033] The rehabilitation robot has two bionic legs, each of which is driven by a leg adjustment mechanism to adjust the position of the patient's left leg and right leg. When the patient's back rests against the backrest 11 on the main support 1, the position of the bionic leg 6 is adjusted so that the patient's legs and back, as well as the space between the two legs, are in a comfortable range, which helps to improve the patient's rehabilitation training efficiency.

[0034] Specifically, the longitudinal moving assembly 3 includes a longitudinal motor 31 (using a servo motor) arranged on the main support 1, and the longitudinal motor 31 is connected to the first screw assembly 32 through a pulley assembly to drive the first screw assembly 32 (the first screw assembly uses a screw nut pair, which can be directly purchased from the market). The above-mentioned pulley assembly includes a pulley A arranged on the longitudinal motor 31 and a pulley B arranged on the screw of the first screw assembly 32, and the pulley A is connected to the pulley B through a synchronous belt. The nut of the first screw assembly 32 is fixedly connected to the first support frame 4 through a connector. At the same time, two first linear slide rails 33 are arranged on the main support 1, and the first support frame 4 is slidably arranged on the two first linear slide rails 33 through a slider, so that the first support frame 4 can move stably.

[0035] The transverse moving assembly 2 includes a transverse motor 21 (using a servo motor) arranged on the first carrier frame 4. The transverse motor 21 is connected to the second screw assembly 22 through a pulley assembly to drive the second screw assembly 22 (the second screw assembly uses a screw nut pair, which can be directly purchased from the market). The above-mentioned pulley assembly includes a pulley C arranged on the transverse motor 21 and a pulley D arranged on the screw of the second screw assembly 22. The pulley C and the pulley D are connected by a synchronous belt. The nut of the second screw assembly 22 is fixedly connected to the second carrier frame 5 through a connector. At the same time, two second linear slide rails 23 are arranged on the first carrier frame 4. The second carrier frame 5 is slidably arranged on the two second linear slide rails 23 through a slider, so that the second carrier frame 5 can move stably.

[0036] In this embodiment, the first carrier frame 4 is a bent structure, the transverse motor 21 is arranged at the bent portion of the first carrier frame 4, the second linear slide rail 23 and the second screw assembly 22 are arranged on the outer side of the first carrier frame 4, and the pulley assembly connecting the transverse motor 21 and the second screw assembly 22 is located on the outer side of the first carrier frame 4. By designing the first carrier frame 4 as a bent structure, the transverse moving assembly 2 is well integrated into both sides of the first carrier frame 4, the intensiveness of the transverse moving assembly 2 and the longitudinal moving assembly 3 is improved, and the occupied space of the leg adjustment mechanism is reduced.

[0037] By adjusting the height and offset position of the hip joint seat 61 through the lateral moving component 2 and the longitudinal moving component 3, the bionic leg 6 and the backrest 11 are placed in proper positions, thereby improving the comfort of the patient's rehabilitation training.

[0038] The bionic leg 6 in this embodiment has three joints: a hip joint, a knee joint, and an ankle joint, including a hip joint seat 61 at the hip joint, a knee joint seat 62 at the knee joint, and an ankle joint seat 63 at the ankle joint. A first depth adjustment mechanism is provided between the hip joint seat 61 and the knee joint seat 62 according to the length of the patient's thigh, and a second depth adjustment mechanism is provided between the knee joint seat 62 and the ankle joint seat 63 according to the length of the patient's calf.

[0039] The first depth adjustment mechanism includes a hip joint connection block 611, one end of which is disposed in the hip joint seat 61, a joint module 612 for driving the hip joint connection block 611 to swing is disposed at the hip joint seat 61, and a thigh placing rack 613 for placing the patient's thigh is disposed on the hip joint connection block 611. A first adjustment component is also disposed on the hip joint connection block 611, one end of which is connected to the knee joint seat 62. The first adjustment component can adjust its own length to meet the requirements of different thigh lengths of patients.

[0040] The thigh material rack 613 in this embodiment is made of metal and has a certain rigidity. After the patient's thigh is placed on it, the thigh material rack 613 will not be deformed and the support is stable.

[0041] The second depth adjustment mechanism includes a knee joint connection block 621, one end of which is disposed in the knee joint seat 62, a joint module 622 for driving the knee joint connection block 621 to swing is disposed at the knee joint seat 62, and a calf placing rack 623 for placing the patient's calf is disposed on the knee joint connection block 621. A second adjustment component is also disposed on the knee joint connection block 621, one end of which is connected to the ankle joint seat 63. The second adjustment component can adjust its own length to meet the needs of patients with different calf lengths.

[0042] In this embodiment, the calf material rack 623 is provided with an adjustment rod 624 on the knee joint connection block 621, and the calf material rack 623 is slidably arranged on the adjustment rod 624, so that the position of the calf material rack 623 can be adjusted. The calf material rack 623 is also made of metal and has a certain rigidity. After the patient's calf is placed on it, the calf material rack 623 will not be deformed and the support is stable.

[0043] The ankle joint seat 63 is provided with a joint module 631, and a bottom driving plate 632 is provided in the ankle joint seat 63. The joint module 631 drives the bottom driving plate 632 to swing. A foot sole 633 is installed on the bottom driving plate 632 for the patient to step on.

[0044] In this embodiment, the first adjustment component and the second adjustment component have the same structure. Figure 7 As shown, it includes an inner sleeve 641 and an outer sleeve 642, and one end of the inner sleeve 641 is embedded in the outer sleeve 642. A screw rod 644 is arranged in the outer sleeve 642, and a nut 643 is arranged on the screw rod. The nut 643 is fixed to the inner sleeve 641 through a connector, and the screw rod 644 is fixed to the outer sleeve 642 through a bearing seat. One end of the screw rod 644 is exposed outside the outer sleeve 642 and a slave pulley is arranged on it. A main pulley is arranged on the driving shaft of the adjusting motor 645, and the main pulley is connected to the slave pulley through a synchronous belt.

[0045] The motor 645 can adjust the relative position between the inner sleeve 641 and the outer sleeve 642 through the above structure, thereby achieving length adjustment. When it is the first adjustment component, one end of the corresponding inner sleeve is fixed on the knee joint seat 62, and the outer sleeve and the adjustment motor are fixed on the hip joint connection block 611. When it is the second adjustment component, one end of the corresponding inner sleeve is fixed on the ankle joint seat 63, and the outer sleeve and the adjustment motor are fixed on the knee joint connection block 621.

[0046] The joint module model used in this embodiment is CRA-RI100, which has a motor inside and can be purchased directly from the market. Torque sensors and joint modules are also provided at the hip joint, knee joint, and ankle joint (the joint module uses a servo motor as a driving source).

[0047] The servo motor design at the ankle, knee and hip joints can achieve more movements and better rehabilitation of joints and muscle groups. For example, the three-joint motor can be used to stretch the feet after standing, so that the heels are as close to the buttocks as possible, the knee joints are stretched to the maximum curvature, and the quadriceps are exercised to the maximum extent.

[0048] By installing high-precision sensors at each joint, the stress conditions at each joint can be accurately sensed, helping doctors better analyze and adjust rehabilitation prescriptions.

[0049] By obtaining the force conditions at the three joints, the patient's limb position and movement can be accurately monitored, thereby providing feedback and assistance synchronized with the patient's own movement, effectively improving the coordination of the patient's rehabilitation exercises.

[0050] The leg adjustment mechanism in this embodiment is connected to the control cabinet of the whole machine. A control unit including a controller is placed in the control cabinet. The control unit is electrically connected to the actuator on the leg adjustment mechanism. A power supply unit is provided in the control cabinet. The power supply unit is connected to the mains and supplies power to the actuator on the leg adjustment mechanism, thereby enabling the bionic leg on the rehabilitation robot to adjust the patient to a comfortable position.

[0051] The utility model can adjust the length of the equipment at the thigh and calf according to the patient's condition and adjust the position of the bionic leg 6 through the leg adjustment mechanism, so that the patient's legs, back and between the two legs are in a comfortable range, which helps to improve the patient's rehabilitation training efficiency.

[0052] 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 leg adjustment mechanism for a rehabilitation robot, characterized in that: It comprises a longitudinal moving assembly arranged on the main support, wherein the longitudinal moving assembly is provided with a first carrier and pushes the first carrier to move along the Y-axis direction; The first carrier is provided with a lateral movement assembly, the lateral movement assembly includes a lateral motor, the lateral motor is connected to the second screw assembly through a pulley assembly, and drives the second carrier to move along the X-axis direction; The second bearing frame is fixedly connected to the hip joint seat of the bionic leg; The hip joint, knee joint and ankle joint of the bionic leg are all provided with servo motors and torque sensors.

2. The leg adjustment mechanism according to claim 1, characterized in that: The longitudinal moving assembly includes a longitudinal motor arranged on the main bracket, and the longitudinal motor is transmission-connected to the first screw assembly through a pulley assembly; the nut of the first screw assembly is fixedly connected to the first supporting frame through a connecting piece; a first linear slide rail is arranged on the main bracket, and the first supporting frame is slidingly arranged on the first linear slide rail through a slider.

3. The leg adjustment mechanism according to claim 2, characterized in that: The pulley assembly comprises a pulley A arranged on the longitudinal motor and a pulley B arranged on the screw of the first screw assembly, and the pulley A is connected to the pulley B through a synchronous belt.

4. The leg adjustment mechanism according to claim 1, characterized in that: The transverse motor is arranged on the first supporting frame, and the nut of the second screw rod assembly is fixedly connected to the second supporting frame through a connecting piece; a second linear slide rail is arranged on the first supporting frame, and the second supporting frame is slidably arranged on the second linear slide rail through a slider.

5. The leg adjustment mechanism according to claim 4, characterized in that: The pulley assembly includes a pulley C arranged on the driving shaft of the transverse motor and a pulley D arranged on the screw of the second screw assembly. The pulley C is connected to the pulley D through a synchronous belt.

6. The leg adjustment mechanism according to claim 4, characterized in that: The first carrier frame is a bent structure, and the transverse motor is arranged at the bent part of the first carrier frame; the second linear slide rail and the second screw rod assembly are arranged on the outer side of the first carrier frame, and the pulley assembly connected to the transverse motor and the second screw rod assembly is located on the outer side of the first carrier frame.

7. The leg adjustment mechanism according to claim 1, characterized in that: The bionic leg includes a hip joint seat arranged at the hip joint, a knee joint seat arranged at the knee joint and an ankle joint seat arranged at the ankle joint. A first depth adjustment mechanism is arranged between the hip joint seat and the knee joint seat according to the length of the patient's thigh, and a second depth adjustment mechanism is arranged between the knee joint seat and the ankle joint seat according to the length of the patient's calf.

8. The leg adjustment mechanism according to claim 7, characterized in that: The first depth adjustment mechanism includes a hip joint connecting block, one end of which is arranged in a hip joint seat, a joint module for driving the hip joint connecting block to swing is arranged at the hip joint seat, a thigh placement rack for placing the patient's thigh is arranged on the hip joint connecting block; and a first adjustment component for adjusting the distance between the hip joint seat and the knee joint seat is arranged on the hip joint connecting block.

9. The leg adjustment mechanism according to claim 8, characterized in that: The second depth adjustment mechanism includes a knee joint connecting block, one end of which is arranged in a knee joint seat, a joint module for driving the knee joint connecting block to swing is arranged at the knee joint seat, a calf placing rack for placing the patient's calf is arranged on the knee joint connecting block; and a second adjustment component for adjusting the distance between the knee joint seat and the ankle joint seat is arranged on the knee joint connecting block.

10. The leg adjustment mechanism according to claim 9, characterized in that: The first adjustment component and the second adjustment component structure both include an inner sleeve and an outer sleeve, one end of the inner sleeve is embedded in the outer sleeve, a screw rod is arranged in the outer sleeve, the nut on the screw rod is fixed to the inner sleeve through a connector, and the screw rod is fixed to the outer sleeve through a bearing seat; one end of the screw rod is exposed to the outside of the outer sleeve and a slave pulley is arranged on it, a main pulley is arranged on the driving shaft of the adjustment motor, and the main pulley and the slave pulley are connected through a synchronous belt.

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