Auxiliary mechanism for rehabilitation robot

Abstract

The utility model discloses an auxiliary mechanism for a rehabilitation robot, which belongs to the technical field of rehabilitation robots and comprises a traction device, the traction device comprises a horizontal transmission component arranged on a main support, and the horizontal transmission component is provided with a pair of traction sleeves for winding traction ropes. A support extending to the position above the backrest is arranged on the main support, pulley assemblies corresponding to the traction sleeves are arranged on the support, and the traction ropes are connected with straps on the body of a patient through the corresponding pulley assemblies. The stress condition of the legs and the feet of the patient is improved by providing upward traction force for the patient, the pressure value of the soles of the feet can be adjusted according to the rehabilitation condition of the patient, and then the rehabilitation robot can conduct rehabilitation training step by step.

Description

Technical Field

[0001] The utility model belongs to the technical field of rehabilitation robots and relates to an auxiliary mechanism used on a rehabilitation robot for improving the force condition of the legs. Background Art

[0002] The lower limb rehabilitation training robot is mainly aimed at patients with motor dysfunction in the lower limbs, and 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 that uses adjustments between the upper lying board and the lower lying board to adapt to different types of patients. When the patient lies on the lying board, the lower limb rehabilitation robot simply uses straps to fix the patient. Affected by the patient's own gravity, most of the patient's force will be concentrated on the legs and feet that need rehabilitation training. Due to the different health conditions of different patients, the difficulty of rehabilitation training for some patients will increase, making it impossible for them to carry out rehabilitation training step by step.

[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 an auxiliary mechanism for a rehabilitation robot, which can meet the rehabilitation training needs of different patients by improving the stress conditions of the patient's legs and feet.

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

[0006] An auxiliary mechanism for a rehabilitation robot includes a traction device, wherein the traction device includes a horizontal transmission assembly arranged at the upper end of a main support, the horizontal transmission assembly has a pair of traction sleeves for winding traction ropes, the main support is provided with a bracket extending above a backrest, the bracket is provided with a pulley assembly corresponding to the traction sleeve, and the traction rope is connected to a shoulder strap on a patient through the corresponding pulley assembly.

[0007] Further, the horizontal transmission assembly includes a horizontal transmission shaft, both ends of which are fixed to the main support through bearing seats; a pair of traction sleeves are symmetrically arranged on the horizontal transmission shaft; a traction motor is arranged on the main support, and the traction motor is connected to the horizontal transmission shaft through a pulley assembly.

[0008] Furthermore, the pulley assembly includes a pulley A arranged on the traction motor and a pulley B arranged on the horizontal transmission shaft, and the pulley A and the pulley B are connected by a synchronous belt.

[0009] Furthermore, the main support is provided with a guide member corresponding to the traction sleeve, and the guide member has a guide groove for limiting the position of the traction rope.

[0010] Furthermore, the pulley assembly includes a pulley seat arranged on a bracket, and a pulley is pivotally arranged on the pulley seat.

[0011] Furthermore, the main support and the support are provided with a protective cover covering the horizontal transmission assembly, the guide member, and the pulley assembly, and the protective cover below the pulley has an opening for the traction rope to pass through.

[0012] Furthermore, a baffle is provided on the front of the main support, and the two sides of the baffle are fixed to the main support through support rods. The cooperation between the baffle and the support rod also plays a role in limiting the patient's position. At the same time, when the backrest is vertically distributed, the above-mentioned baffle is horizontally distributed, and daily necessities can be placed for the convenience of patients.

[0013] Furthermore, a backrest is arranged on the front of the main support, a slot is arranged at the backrest, a plunger spring indexing pin is arranged in the slot, and the upper end of the plunger spring indexing pin protrudes to the outside of the backrest.

[0014] Furthermore, the slot is provided with parallel slide rails and a clamp, the clamp has a plurality of positioning holes for inserting one end of a plunger spring indexing pin; a slide plate is slidably provided on the slide rail, and the plunger spring indexing pin is fixedly provided on the slide plate.

[0015] The above structural design can adjust the height of the plunger spring indexing pin to adapt it to different types of patients. When the patient lies on the backrest, the plunger spring indexing pin contacts and triggers the plunger spring indexing pin, which can be used as a start switch for the rehabilitation robot.

[0016] Furthermore, a pressure sensor is installed on the sole of the bionic leg. The pressure sensor senses the pressure value of the patient's sole, which cooperates with the upward traction rope to accurately improve the patient's foot force, so that the patient can gradually carry out rehabilitation training.

[0017] The above technical solution has the following beneficial effects: by providing an upward traction force to the patient, the force on the patient's legs and feet is improved, the patient can lose weight, and the weight loss threshold can be adjusted according to the patient's recovery condition, so that the rehabilitation robot can perform rehabilitation training step by step. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] 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.

[0019] 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.

[0020] Figure 1 This is a schematic diagram of the partial three-dimensional structure of the rehabilitation robot provided by the utility model.

[0021] Figure 2 This is a schematic diagram of a partial first state of the auxiliary mechanism on the main support provided by the utility model.

[0022] Figure 3 This is a schematic diagram of a partial second state of the auxiliary mechanism on the main support provided by the utility model.

[0023] In the figure: 1-main bracket; 11-bracket; 12-protective cover; 13-baffle; 14-backrest; 15, 16-opening; 21, 22-traction sleeve; 31, 32-pulley assembly; 4-horizontal transmission shaft; 5-traction motor; 61, 62-guide member; 71, 72-bionic leg; 8-sole plate; 91-slide plate; 92-plunger spring indexing pin; 93-slide rail; 94-clamp. DETAILED DESCRIPTION

[0024] 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

[0025] See also Figure 1-Figure 3As shown, an auxiliary mechanism for a rehabilitation robot includes a traction device, which is arranged at the upper end of a main frame 1 and includes a horizontal transmission assembly. The horizontal transmission assembly has a pair of traction sleeves 21 and 22 for winding traction ropes. A bracket 11 extending to the top of a backrest is arranged on the main frame 1, and pulley assemblies 31 and 32 corresponding to the traction sleeves 21 and 22 are arranged on the bracket 11. The corresponding traction ropes are connected to the shoulder straps on the patient through the corresponding pulley assemblies.

[0026] Specifically, the horizontal transmission assembly includes a horizontal transmission shaft 4, and both ends of the horizontal transmission shaft 4 are fixed to the main support 1 through bearing seats. The traction sleeves 21 and 22 are symmetrically arranged on the horizontal transmission shaft 4 and can rotate with the rotation of the horizontal transmission shaft 4. A traction motor 5 is arranged on the main support 1, and the traction motor 5 is connected to the horizontal transmission shaft 4 through a pulley assembly. The pulley assembly in this embodiment includes a pulley A arranged on the traction motor and a pulley B arranged on the horizontal transmission shaft, and the pulley A and the pulley B are connected by a synchronous belt.

[0027] In this embodiment, guide members 61 and 62 corresponding to the traction sleeves 21 and 22 are provided on the main support 1, and guide grooves for limiting the position of the traction rope are provided on the guide members 61 and 62. The traction rope is guided by the guide members 61 and 62 to improve the running stability of the traction rope.

[0028] In this embodiment, the pulley assemblies 31 and 32 have the same structure, and both include a pulley seat arranged on the bracket 11, and a pulley is pivotally arranged on the pulley seat. The pulley can rotate on the pulley seat to guide the traction rope to move.

[0029] In order to improve the overall aesthetics and privacy of the rehabilitation robot, a protective cover 12 covering the horizontal transmission assembly, guide member, and pulley assembly is provided on the main support 1 and the support 11. After the protective cover 12 is covered, the various components of the traction device cannot be directly seen from the outside, which plays a role in privacy protection. At the same time, the protective cover below the pulley has openings 15 and 16 for the traction rope to pass through.

[0030] When the patient undergoes rehabilitation training, the patient will wear a rehabilitation training suit with a shoulder strap. During training, the traction rope passes through the openings 15 and 16 and is fixed on the shoulder strap in advance, and then the traction rope is tightened to lift the patient upward, thereby reducing the weight of the patient, reducing the pressure on the patient's feet, and reducing the pressure on the joints and muscles. The weight reduction ratio can be set according to the patient's rehabilitation situation.

[0031] In this embodiment, a baffle 13 is arranged on the front of the main support 1, and both sides of the baffle 13 are fixed to the main support 1 through supporting rods. The placement state of the baffle 13 is perpendicular to the placement state of the backrest 14, that is, when the backrest 14 is arranged vertically, the baffle 13 is arranged horizontally. When in use, the baffle 13 can be used to place daily necessities for patients to use conveniently.

[0032] The area defined by the baffle 13 and the supporting rods on both sides is for patients to use, and plays a role in limiting the position of the patients, thereby preventing the patients from falling off the rehabilitation robot.

[0033] The backrest 14 is arranged on the front of the main support 1, and a slot is arranged at the center of the backrest 14, and a plunger spring indexing pin 92 is arranged in the slot, and the upper end of the plunger spring indexing pin 92 protrudes to the outside of the backrest 14. When the patient lies on the backrest, the plunger spring indexing pin is contacted and triggered, and can be used as a start switch of the rehabilitation robot.

[0034] In this embodiment, the position of the plunger spring indexing pin 92 can be adjusted in the slot to accommodate different types of patients. Specifically, the slot is provided with parallel slide rails 93 and a clamp 94, and the clamp 94 has a plurality of positioning holes for inserting one end of the plunger spring indexing pin 92. The slide plate 91 is slidably arranged on the slide rail 93 through a slider, and the plunger spring indexing pin 92 is fixedly mounted on the slide plate 91.

[0035] When in use, according to the height of the patient, the height position of the slide plate 91 is adjusted, and after it is in place, the plunger spring indexing pin 92 is inserted into the corresponding positioning hole to position the slide plate 91. At this time, the position of the plunger spring indexing pin 92 is fixed.

[0036] The rehabilitation robot has bionic legs 71 and 72, and the bionic legs 71 and 72 have foot soles 8 for the patient to step on. In this embodiment, a pressure sensor is provided on the foot sole to sense the force of the patient stepping on the foot sole 8. When in use, the pressure sensor is used in conjunction with the traction device to accurately improve the patient's foot force, so that the patient can perform rehabilitation training step by step, thereby improving the overall rehabilitation effect.

[0037] The auxiliary mechanism disclosed in this embodiment is a component of the entire rehabilitation robot and shares the control cabinet of the entire machine. A control unit including a controller is placed in the control cabinet, and the control unit is electrically connected to the actuator on the auxiliary mechanism; a power supply unit is provided in the control cabinet, and the power supply unit is connected to the mains and supplies power to the actuator on the auxiliary mechanism, and adjusts the traction force in real time according to the patient's rehabilitation status.

[0038] 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. An auxiliary mechanism for a rehabilitation robot, characterized in that: The traction device comprises a horizontal transmission assembly arranged on a main support, the horizontal transmission assembly comprises a horizontal transmission shaft, both ends of the horizontal transmission shaft are fixed to the main support through bearing seats; a pair of traction sleeves are symmetrically arranged on the horizontal transmission shaft; a traction motor is arranged on the main support, and the traction motor is connected to the horizontal transmission shaft through a pulley assembly; a pair of traction sleeves for winding traction ropes are provided on the horizontal transmission assembly, a bracket extending to the top of the backrest is provided on the main support, a pulley assembly corresponding to the traction sleeve is provided on the bracket, and the traction rope is connected to the shoulder strap on the patient through the corresponding pulley assembly.

2. The auxiliary mechanism according to claim 1, characterized in that: The pulley assembly comprises a pulley A arranged on a traction motor and a pulley B arranged on a horizontal transmission shaft, and the pulley A and the pulley B are connected by a synchronous belt.

3. The auxiliary mechanism according to claim 1, characterized in that: The main support is provided with a guide piece corresponding to the traction sleeve, and the guide piece is provided with a guide groove for limiting the position of the traction rope.

4. The auxiliary mechanism according to claim 3, characterized in that: The pulley assembly comprises a pulley seat arranged on a bracket, and a pulley is pivotally arranged on the pulley seat.

5. The auxiliary mechanism according to claim 4, characterized in that: The main support and the support are provided with a protective cover covering the horizontal transmission assembly, the guide member and the pulley assembly, and the protective cover below the pulley is provided with an opening for the traction rope to pass through.

6. The auxiliary mechanism according to claim 1, characterized in that: A baffle is arranged on the front of the main bracket, and two sides of the baffle are fixed on the main bracket through supporting rods.

7. The auxiliary mechanism according to claim 1, characterized in that: Pressure sensors are provided on the soles of the bionic legs.

Images