Brake mechanism and bedside rehabilitation robot

Abstract

The utility model provides a brake mechanism and a bedside rehabilitation robot, and relates to the technical field of rehabilitation robots, the brake mechanism provided by the utility model comprises a support frame, a driving mechanism, a front rod group, a rear rod group, a transmission assembly and a plurality of brake feet; the brake foot comprises a fixing seat, an elastic piece and a brake assembly, the fixing seat is installed on the supporting frame, the brake assembly is in sliding fit with the fixing seat in the vertical direction, the bottom end of the brake assembly is provided with a brake face, and the elastic piece is arranged between the fixing seat and the brake assembly; the front rod set and the rear rod set are both rotationally connected with the supporting frame, the driving mechanism is connected with the rear rod set, and the transmission assembly is connected between the front rod set and the rear rod set. The two ends of the front rod set and the two ends of the rear rod set are fixedly connected with cams, and the cams and the brake assemblies are arranged in a one-to-one correspondence mode. The brake mechanism provided by the utility model has the advantages that a medical worker can conveniently brake the bedside rehabilitation robot, the brake is more stable and smoother, and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of rehabilitation robots, in particular to a braking mechanism and a bedside rehabilitation robot. Background Art

[0002] In existing rehabilitation robots, universal wheels with a foot braking function are usually arranged at the bottom of the robot for easy movement of the robot. When the bedside rehabilitation robot is in use, the base needs to be inserted under the bed to reduce the occupied space of the bedside rehabilitation robot, which makes it inconvenient for medical staff to brake the universal wheels that have extended under the bed. Moreover, the universal wheels are in a line contact manner with the ground, and the contact area with the ground is small, so the braking is not stable enough.

[0003] In addition, in existing rehabilitation robots, the power of the actuator is transmitted to the output end by a rope drive method, which makes the rope have potential risks such as loosening and breaking. Existing rehabilitation robots cannot quickly identify whether the rope is in a normal working state.

[0004] Therefore, there is an urgent need for a braking mechanism and a bedside rehabilitation robot that can solve at least one of the above technical problems. Summary of the Utility Model

[0005] The purpose of the utility model is to provide a braking mechanism and a bedside rehabilitation robot, which have the advantages of being convenient for medical staff to brake the bedside rehabilitation robot, more stable braking, and smoother braking.

[0006] To achieve the above purpose, the utility model provides the following technical solutions:

[0007] In a first aspect, the utility model provides a braking mechanism, including a support frame, a driving mechanism, a front rod group, a rear rod group, a transmission component, and a plurality of braking feet;

[0008] The braking foot includes a fixed seat, an elastic member, and a braking component. The fixed seat is installed on the support frame. The braking component is slidably matched with the fixed seat in the vertical direction. The bottom end of the braking component has a braking surface. The elastic member is arranged between the fixed seat and the braking component;

[0009] Both the front rod group and the rear rod group are rotatably connected to the support frame. The driving mechanism is connected to the rear rod group to drive the rear rod group to rotate relative to the support frame. The transmission component is connected between the front rod group and the rear rod group to make the front rod group rotate synchronously with the rear rod group;

[0010] Both ends of the front rod group and both ends of the rear rod group are fixedly connected with cams, and each of the cams is arranged corresponding to each of the brake assemblies, so as to drive the brake assemblies to move downward against the elastic force of the elastic members under the drive of the front rod group and the rear rod group.

[0011] Further, the driving mechanism includes a telescopic actuator and a parking pressure plate. Two ends of the telescopic actuator are respectively rotationally connected with the support frame and the parking pressure plate, and the parking pressure plate is fixedly connected with the rear rod group.

[0012] Further, the rear rod group includes a rear rotating link and a rear rotating shaft. The rear rotating link is fixedly connected with the parking pressure plate, and both ends of the rear rotating link are fixedly connected with the rear rotating shafts. Each of the rear rotating shafts is connected with one of the cams;

[0013] The front rod group includes a front rotating link and a front rotating shaft. Both ends of the front rotating link are fixedly connected with the front rotating shafts, and each of the front rotating shafts is connected with one of the cams;

[0014] The transmission assembly is connected between the rear rotating link and the front rotating link.

[0015] Further, the transmission assembly includes a front connecting member, a rear connecting member and a brake link. The front connecting member is fixedly connected with the front rotating shaft, the rear connecting member is fixedly connected with the rear rotating shaft, and the brake link is rotationally connected between the front connecting member and the rear connecting member.

[0016] Further, first silent bushings are respectively arranged between both ends of the brake link and the front connecting member and the rear connecting member.

[0017] Further, the brake assembly includes an elastic pad, a fastener, a top foot, a second silent bushing and a brake pad;

[0018] The elastic pad is connected to the top of the top foot through the fastener;

[0019] The second silent bushing is sleeved outside the top foot, and the second silent bushing is slidably matched with the fixed seat in the vertical direction;

[0020] Both ends of the elastic member are clamped between the fixed seat and the top foot;

[0021] One end of the brake pad extends into the top foot and is connected with the top foot, and the other end extends out of the top foot to the bottom end of the top foot and abuts against the bottom surface of the fixed seat under the action of the elastic member. The bottom surface of the brake pad is the braking surface.

[0022] In a second aspect, the present utility model further provides a bedside rehabilitation robot, which includes a cable drive mechanism and the braking mechanism described in the above solution, and the cable drive mechanism is connected to the support frame.

[0023] Further, the cable drive mechanism includes a rotational actuator, a cable winding wheel, a cable body, a cable drive wheel, and a mounting seat;

[0024] The mounting seat is mounted on the support frame, both the cable winding wheel and the cable drive wheel are rotatably connected to the mounting seat, and a detection structure for detecting the rotation angle of the cable drive wheel is installed between the mounting seat and the cable drive wheel;

[0025] The rotational actuator is mounted on the support frame and connected to the cable winding wheel, and the rotational actuator is used to drive the cable winding wheel to rotate relative to the mounting seat;

[0026] The cable body is wound between the cable winding wheel and the cable drive wheel, and the cable body is used to transmit the power of the cable winding wheel to the cable drive wheel.

[0027] Further, the cable winding wheel has a cable groove for accommodating a single cable body, an included angle exists between the extending direction of the cable groove and the circumferential direction of the cable winding wheel, and the extending direction of the cable body when extending from the cable drive wheel and winding into the cable groove is consistent with the extending direction of the cable groove.

[0028] Further, the cable drive wheel is provided with a cable inlet, one end of the cable body connected to the cable drive wheel is connected to a clamping seat inside the cable drive wheel through the cable inlet, the clamping seat has a first channel for clamping the cable body, and an annular groove for increasing the friction between the cable body and the clamping seat is recessed in the first channel.

[0029] When the above braking mechanism works, the drive mechanism drives the rear rod group to rotate relative to the support frame. Driven by the transmission component, the front rod group rotates synchronously with the rear rod group. Since cams are fixedly connected to both ends of the front rod group and both ends of the rear rod group, each cam drives the braking component to push downward out of the fixed seat against the elastic force of the elastic component under the drive of the front rod group and the rear rod group, and the braking surface contacts the ground to lift the entire device to achieve the purpose of braking. When releasing the brake, each cam rotates in the reverse direction under the drive of the front rod group and the rear rod group, and the braking component returns to its original position under the action of the elastic component, so that the braking component no longer jacks up the entire device, and the universal wheels of the device land to achieve the purpose of releasing the brake.

[0030] The braking mechanism and the bedside rehabilitation robot provided by the present utility model can produce the following beneficial effects:

[0031] 1. The braking mechanism provided by the present utility model does not require the user to step on the foot to achieve braking, and is not restricted by the position of the universal wheels during braking, which is convenient for medical staff to brake the bedside rehabilitation robot;

[0032] 2. When braking, it is compacted by the braking surface and the ground, which is a contact method between planes, rather than the line contact method between the universal wheel and the ground when braking, making the braking more stable.

[0033] 3. As a power source, the driving mechanism makes the entire braking process smoother compared to the medical staff directly applying force to the braking foot, avoiding a large impact when the universal wheel lands due to the medical staff's difficulty in controlling the magnitude of the applied force.

[0034] 4. The action of the driving mechanism can simultaneously brake multiple braking feet, saving operation time and operation space.

[0035] The bedside rehabilitation robot provided in the second aspect of the present utility model has the braking mechanism provided in the first aspect of the present utility model, and thus has all the beneficial effects of the braking mechanism provided in the first aspect of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0037] Figure 1 It is a three-dimensional structure schematic diagram of a bedside rehabilitation robot provided in an embodiment of the present utility model from the first perspective;

[0038] Figure 2 It is Figure 1 a partial enlarged schematic diagram of point A of ;

[0039] Figure 3 It is a partial cross-sectional view of a bedside rehabilitation robot provided in an embodiment of the present utility model;

[0040] Figure 4 It is Figure 3 a partial enlarged schematic diagram of point B of ;

[0041] Figure 5 It is Figure 3 a partial enlarged schematic diagram of point C of ;

[0042] Figure 6 It is a three-dimensional structure schematic diagram of a bedside rehabilitation robot provided in an embodiment of the present utility model from the second perspective;

[0043] Figure 7 It is Figure 6 a partial enlarged schematic diagram of point D of ;

[0044] Figure 8 Side view of a bedside rehabilitation robot provided by an embodiment of the present utility model;

[0045] Figure 9 It is Figure 8 Partial enlarged schematic view at position E of ;

[0046] Figure 10 Three-dimensional structure schematic view of a bedside rehabilitation robot provided by an embodiment of the present utility model from the third perspective;

[0047] Figure 11 It is Figure 10 Partial enlarged schematic view at position F of ;

[0048] Figure 12 Top view of a bedside rehabilitation robot provided by an embodiment of the present utility model;

[0049] Figure 13 It is Figure 12 Cross-sectional view taken along line G-G of ;

[0050] Figure 14 It is Figure 13 Partial enlarged schematic view at position H of .

[0051] Icon: 1 - Support frame; 11 - Base; 111 - Opening; 12 - Outer support frame; 13 - Inner support frame; 131 - Third silent bushing; 132 - Fourth silent bushing; 2 - Driving mechanism; 21 - Telescopic actuator; 22 - Parking pressure plate; 3 - Front rod group; 4 - Rear rod group; 41 - Rear rotating link; 42 - Rear rotating shaft; 5 - Transmission component; 51 - Front connecting piece; 52 - Rear connecting piece; 53 - Brake link; 54 - First silent bushing; 6 - Brake foot; 61 - Fixed seat; 62 - Elastic member; 63 - Brake assembly; 631 - Elastic pad; 632 - Fastening member; 633 - Top foot; 634 - Second silent bushing; 635 - Brake pad; 6351 - Brake surface; 6352 - Vibration damping pad; 7 - Cam; 8 - Cable drive mechanism; 81 - Rotating actuator; 82 - Cable winding wheel; 821 - Cable groove; 83 - Cable body; 84 - Cable drive wheel; 841 - Cable inlet; 842 - Clamping seat; 8421 - Ring groove; 843 - Second channel; 85 - Mounting seat; 9 - Detection structure; 91 - Encoder; 92 - Encoder magnet; 93 - Encoder fixing plate. Detailed implementation manners

[0052] Next, the technical solutions of the present utility model will be described clearly and completely with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0053] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation to the present utility model. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0054] In the description of the present utility model, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0055] The following will describe in detail the specific embodiments of the present utility model with reference to the drawings. It should be understood that the specific embodiments described herein are only for the purpose of illustrating and explaining the present utility model and are not used to limit the present utility model.

[0056] An embodiment of the first aspect of the present utility model is to provide a braking mechanism, as Figures 1 to 5 shown, including a support frame 1, a driving mechanism 2, a front rod group 3, a rear rod group 4, a transmission assembly 5, and a plurality of braking feet 6;

[0057] The braking foot 6 includes a fixed seat 61, an elastic member 62, and a braking assembly 63. The fixed seat 61 is installed on the support frame 1. The braking assembly 63 is slidably engaged with the fixed seat 61 in the vertical direction. The bottom end of the braking assembly 63 has a braking surface 6351. The elastic member 62 is disposed between the fixed seat 61 and the braking assembly 63;

[0058] Both the front rod group 3 and the rear rod group 4 are rotatably connected to the support frame 1. The driving mechanism 2 is connected to the rear rod group 4 to drive the rear rod group 4 to rotate relative to the support frame 1. The transmission assembly 5 is connected between the front rod group 3 and the rear rod group 4 to enable the front rod group 3 to rotate synchronously with the rear rod group 4;

[0059] Both ends of the front rod group 3 and both ends of the rear rod group 4 are fixedly connected with cams 7. Each cam 7 is arranged corresponding to each braking assembly 63 to push the braking assembly 63 to move downward against the elastic force of the elastic member 62 under the drive of the front rod group 3 and the rear rod group 4.

[0060] When braking is required, asFigure 2 As shown, the driving mechanism 2 drives the rear rod group 4 to rotate relative to the support frame 1. For example Figure 4 and Figure 5 As shown, driven by the transmission assembly 5, the front rod group 3 rotates synchronously with the rear rod group 4. Since cams 7 are fixedly connected to both ends of the front rod group 3 and both ends of the rear rod group 4, each cam 7 pushes the corresponding brake assembly 63 downward to extend out of the fixed seat 61 against the elastic force of the elastic member 62 under the drive of the front rod group 3 and the rear rod group 4. The brake surface 6351 contacts the ground, and the whole device is lifted to achieve the purpose of braking.

[0061] When braking needs to be released, each cam 7 rotates in the reverse direction under the drive of the front rod group 3 and the rear rod group 4, and the brake assembly 63 returns to its original position under the action of the elastic member 62, so that the brake assembly 63 no longer jacks up the whole device, and the universal wheels of the device land to achieve the purpose of releasing the brake.

[0062] The existing braking mechanism requires medical staff to step on the brake with their feet, which requires a standing space for medical staff behind the device, and is not friendly to narrow wards. The braking mechanism provided by the above embodiment does not require medical staff to step on the brake with their feet, and is not restricted by the position of the universal wheels during braking, facilitating the medical staff to brake the bedside rehabilitation robot.

[0063] Secondly, when braking, it is compacted with the ground through the brake surface 6351, which is a plane-to-plane contact method, rather than the line contact method between the universal wheel and the ground during braking. The friction surface is larger and the braking is more stable.

[0064] Thirdly, the above braking mechanism is different from the existing foot-operated brake. The disadvantage of foot-operated braking is that the whole process is manually controlled, and a large force is required for the brake assembly 63 to lift the device in an instant, which is difficult for people to control, resulting in large impacts and noises when the device is jacked up. For another example, when releasing the brake, unstable force control will cause the universal wheels to suddenly land, and the heavy device will hit the ground. In the braking mechanism provided by the above embodiment, the whole braking process is to stably drive the front rod group 3 and the rear rod group 4 to rotate through the driving mechanism 2, realize the stable rotation of the cam 7, and the cam 7 presses down the brake assembly 63 to jack up the device; the contour of the cam 7 is linear, and the speed of the driving mechanism 2 can also be configured to be uniform, making the whole braking process linear and gentle.

[0065] Finally, the action of the driving mechanism 2 can brake multiple brake feet 6 at the same time, without the need to brake each universal wheel separately, saving operation time and operation space.

[0066] It should be noted that any structure capable of driving the rear rod group 4 to rotate relative to the support frame 1 can be the drive mechanism 2 mentioned in the above embodiments. For example, the drive mechanism 2 is a rotating motor, or the drive mechanism 2 includes a combination of a linear motion structure and a transmission structure, and the transmission structure can convert linear motion into rotational motion.

[0067] In an alternative embodiment, as Figure 2 shown, the drive mechanism 2 includes a telescopic actuator 21 and a parking pressure plate 22. Both ends of the telescopic actuator 21 are rotatably connected to the support frame 1 and the parking pressure plate 22 respectively, and the parking pressure plate 22 is fixedly connected to the rear rod group 4 through connecting parts such as screws.

[0068] During use, the telescopic actuator 21 performs telescopic motion. Since both ends of the telescopic actuator 21 are rotatably connected to the support frame 1 and the parking pressure plate 22 respectively, the telescopic motion of the telescopic actuator 21 can cause the parking pressure plate 22 to drive the rear rod group 4 to rotate relative to the support frame 1.

[0069] In an alternative embodiment, the telescopic actuator 21 can be an electric push rod, a cylinder or a hydraulic cylinder.

[0070] In a preferred embodiment, the telescopic actuator 21 is an electric push rod.

[0071] In an alternative embodiment, as Figure 2 shown, the support frame 1 can include a base 11, an outer support frame 12 and an inner support frame 13. Both the front rod group 3 and the rear rod group 4 are rotatably connected to the base 11. The outer support frame 12 and the inner support frame 13 are both fixedly connected to the base 11. The outer support frame 12 is located outside the inner support frame 13, and the telescopic actuator 21 is hinged to the inner support frame 13.

[0072] At the hinge between the telescopic actuator 21 and the inner support frame 13, a third silent bushing 131 and a fourth silent bushing 132 are provided. The third silent bushing 131 is located between the side of the telescopic actuator 21 and the inner support frame 13, and the fourth silent bushing 132 is located between the hinge shaft hole of the telescopic actuator 21 and the inner support frame 13, which can reduce or even eliminate the noise when the telescopic actuator 21 rotates relative to the inner support frame 13.

[0073] Similarly, silent bushings are also provided at the hinge between the telescopic actuator 21 and the parking pressure plate 22. Specifically, silent bushings are also provided between the side of the telescopic actuator 21 and the parking pressure plate 22, and between the hinge shaft hole of the telescopic actuator 21 and the parking pressure plate 22, which can reduce or even eliminate the noise when the telescopic actuator 21 rotates relative to the parking pressure plate 22.

[0074] In an alternative embodiment, as Figure 2As shown, for facilitating the extension of the parking pressure plate 22 to the rear rod group 4 and fixing it to the rear rod group 4, an opening 111 for the parking pressure plate 22 to pass through is provided on the base 11.

[0075] In an alternative embodiment, as Figure 2 shown, the rear rod group 4 includes a rear rotating link 41 and a rear rotating shaft 42. The rear rotating link 41 is fixedly connected to the parking pressure plate 22 through connecting members such as screws. Both ends of the rear rotating link 41 are fixedly connected with rear rotating shafts 42 through connecting members such as screws. The rear rotating shaft 42 is rotatably connected to the support frame 1. Specifically, the rear rotating shaft 42 can be rotatably connected to the base 11. Each rear rotating shaft 42 is connected with a cam 7.

[0076] The above arrangement enables the parking pressure plate 22 to drive the two rear rotating shafts 42 to rotate relative to the support frame 1 simultaneously through the rear rotating link 41, thereby realizing the synchronous rotation of the cams 7 on both sides.

[0077] In an alternative embodiment, similar to the rear rod group 4, the front rod group 3 includes a front rotating link and a front rotating shaft. Both ends of the front rotating link are fixedly connected with front rotating shafts through connecting members such as screws. Each front rotating shaft is connected with a cam 7. The transmission assembly 5 is connected between the rear rotating link 41 and the front rotating link.

[0078] In the above front rod group 3, the front rotating link realizes synchronous rotation with the rear rotating link 41 through the transmission assembly 5, and the two front rotating shafts realize synchronous rotation through the front rotating link. Therefore, after the telescopic actuator 21 acts, it can drive the cams 7 on the front rotating shafts at both ends of the front rotating link and the cams 7 on the rear rotating shafts 42 at both ends of the rear rotating link 41 to rotate synchronously.

[0079] In an alternative embodiment, as Figure 4 and Figure 5 shown, the transmission assembly 5 includes a front connecting member 51, a rear connecting member 52, and a brake link 53. The front connecting member 51 can be fixedly connected to the front rotating shaft through connecting members such as pins. The rear connecting member 52 can be fixedly connected to the rear rotating shaft 42 through connecting members such as pins. The brake link 53 is rotatably connected between the front connecting member 51 and the rear connecting member 52.

[0080] As Figure 4 shown, when the rear rotating shaft 42 rotates counterclockwise, it can drive the rear connecting member 52 to rotate synchronously. The rear connecting member 52 pushes the brake link 53 to the right. As Figure 5 shown, the brake link 53 pushes the front connecting member 51 to the right, forcing the front connecting member 51 to drive the front rotating shaft and the cam 7 on the front rotating shaft to rotate counterclockwise.

[0081] In an alternative embodiment, as Figure 4 and Figure 5As shown, a first silent bushing 54 is provided between the two ends of the brake connecting rod 53 and the front connecting member 51 and the rear connecting member 52 respectively.

[0082] The setting of the first silent bushing 54 can reduce or even eliminate the noise generated when the brake connecting rod 53 rotates relative to the front connecting member 51 and the rear connecting member 52.

[0083] In an alternative embodiment, as Figure 5 shown, the brake assembly 63 includes an elastic pad 631, a fastener 632, a top foot 633, a second silent bushing 634 and a brake pad 635, where:

[0084] The elastic pad 631 is connected to the top of the top foot 633 through the fastener 632, and the fastener 632 can be a screw or a pin;

[0085] The second silent bushing 634 is sleeved outside the top foot 633, and the second silent bushing 634 is slidably matched with the fixed seat 61 in the vertical direction;

[0086] Both ends of the elastic member 62 are clamped between the fixed seat 61 and the top foot 633. The elastic member 62 can be a helical spring, and the helical spring is sleeved outside the second silent bushing 634;

[0087] One end of the brake pad 635 extends into the top foot 633 and is fixedly connected to the top foot 633 by means of threading or interference fit, etc. The other end extends out of the top foot 633 to the bottom end of the top foot 633, and abuts against the bottom surface of the fixed seat 61 in the vertical direction under the action of the elastic member 62. The bottom surface of the brake pad 635 is the brake surface 6351.

[0088] Take Figure 5 as an example. When braking is required, the cam 7 rotates counterclockwise, pressing down the elastic pad 631 against the elastic force of the elastic member 62. Since the elastic pad 631 drives the top foot 633, the second silent bushing 634 and the brake pad 635 to move downward synchronously, the brake surface 6351 contacts the ground. When the braking state needs to be cancelled, the cam 7 rotates clockwise, and under the action of the elastic member 62, the top foot 633 moves upward until the brake pad 635 abuts against the bottom surface of the fixed seat 61.

[0089] In the above embodiment, since the elastic pad 631 has a certain elasticity, it can avoid rigid friction between the cam 7 and itself, playing a protective role for the cam 7; the second silent bushing 634 can reduce or even eliminate the noise generated when the top foot 633 slides relative to the fixed seat 61.

[0090] In an alternative embodiment, as Figure 5As shown, the bottom end of the brake pad 635 has a vibration damping pad 6352, and the material of the vibration damping pad 6352 can be silicone. Since multiple joint motors in the entire device are in motion, each joint will generate a certain vibration. Before the vibration damping pad 6352 is installed, the vibration sensation at the end of the robotic arm is large. After the vibration damping pad 6352 is provided, the vibration at the end can be effectively reduced or even avoided, and the device runs more smoothly. The bottom surface of the vibration damping pad 6352 is a brake surface 6351.

[0091] In an alternative embodiment, as Figure 5 shown, for the convenience of installing the second silent bushing 634, the second silent bushing 634 is clamped between the top foot 633 and the brake pad 635 in the vertical direction to achieve the limit of the second silent bushing 634 in the vertical direction.

[0092] In an alternative embodiment, the fixed seat 61 is provided with a through hole, and the second silent bushing 634 can pass through the through hole and is slidably engaged with the through hole in the vertical direction.

[0093] In an alternative embodiment, most of the structures of the transmission assembly 5 and the brake foot 6 are hidden in the square tube of the base 11, and the drive mechanism 2 can be hidden in the housing surrounded by the outer side of the outer support frame 12. The front rod group 3, the rear rod group 4, etc. are located at the bottom of the device, and the moving parts are not exposed, making it more concise, more beautiful, and safer.

[0094] In an alternative embodiment, after the cam 7 drives the brake assembly 63 to be pushed out, the brake assembly 63 only lifts the device by about 5 mm, which is easy to meet the relatively low space under the hospital bed, and is suitable for the situation where there is a washbasin stand under the hospital bed in the ward.

[0095] An embodiment of the second aspect of the present invention is to provide a bedside rehabilitation robot. The bedside rehabilitation robot provided by the embodiment of the second aspect of the present invention includes a cable drive mechanism 8 and the above-mentioned brake mechanism, and the cable drive mechanism 8 is connected to the support frame 1.

[0096] The bedside rehabilitation robot provided by the second aspect of the present invention has the brake mechanism provided by the embodiment of the first aspect of the present invention, and thus has all the beneficial effects of the brake mechanism provided by the embodiment of the first aspect of the present invention.

[0097] In an alternative embodiment, as Figures 6 to 9 shown, the cable drive mechanism 8 includes a rotational actuator 81, a rope winding wheel 82, a rope body 83, a cable drive wheel 84, and a mounting seat 85, wherein:

[0098] The mounting seat 85 can be fixedly installed on the support frame 1 through connecting members such as screws. Both the rope winding wheel 82 and the cable drive wheel 84 are rotatably connected to the mounting seat 85, and a detection structure 9 for detecting the rotation angle of the cable drive wheel 84 is installed between the mounting seat 85 and the cable drive wheel 84;

[0099] The rotary actuator 81 is installed on the support frame 1 and connected to the rope winding wheel 82. The rotary actuator 81 can be a motor;

[0100] The rope body 83 is wound between the rope winding wheel 82 and the rope driving wheel 84.

[0101] During use, the rotary actuator 81 drives the rope winding wheel 82 to rotate relative to the mounting base 85, and the rope body 83 can transmit the power of the rope winding wheel 82 to the rope driving wheel 84, thereby driving the rope driving wheel 84 to rotate.

[0102] In the existing rope driving mechanism, there is an adjusting screw for adjusting the tightness of the rope body 83. The tightness of the steel wire rope between the rope driving wheel 84 and the rope winding wheel 82 is adjusted through the adjusting screw. In order to avoid problems with the rope drive, the common preventive measure is to adjust the adjusting screw once every six months or once after obvious abnormalities are seen, and the adjusting screw is adjusted according to a certain torque; however, this method is not intelligent. For example, within six months, if the rope body 83 already shows signs of loosening or even breaking, but the external manifestations are not obvious and the user does not notice, the rope body 83 is very likely to suddenly break during use, causing injury to the patient.

[0103] Since the rotation of the rope driving wheel 84 is completely driven by the rope body 83, if there are signs of loosening and breaking of the rope body 83, it will definitely be reflected in the rotation angle accuracy of the rope driving wheel 84. In the above embodiment, the detection structure 9 can identify the rotation angle of the rope driving wheel 84, so as to identify whether there is a problem with the state of the rope body 83.

[0104] In an alternative embodiment, as Figure 10 and Figure 11 shown, the detection structure 9 includes an encoder 91, an encoder magnet 92, and an encoder fixing plate 93. The encoder magnet 92 is installed on the rope driving wheel 84, and the encoder magnet 92 rotates together with the rope driving wheel 84. The encoder 91 is installed on the encoder fixing plate 93, and the encoder fixing plate 93 is installed on the mounting base 85, thereby realizing the detection structure 9 to identify the rotation angle of the rope driving wheel 84.

[0105] In an alternative embodiment, the rope body 83 can adopt an existing alloy steel wire rope, which has friction resistance, corrosion resistance, high temperature resistance, and anti-fatigue performance. In this way, the rope body 83 is not easily damaged by friction with the contacting components during the movement process, and the service life of the rope body 83 is improved.

[0106] In an alternative embodiment, the rope body 83 can adopt a 6*19 wire rope structure. That is to say, the rope body 83 is composed of 6 steel strands, and each steel strand has 19 steel wires. In this way, the rope body 83 is softer and has better toughness, and can be used better at the corners.

[0107] In an alternative embodiment, as Figure 9As shown in the figure, the rope winding wheel 82 has a rope groove 821 for accommodating a single rope body 83. There is an included angle θ between the extending direction of the rope groove 821 and the circumferential direction of the rope winding wheel 82. When the rope body 83 extends out from the rope driving wheel 84 and winds into the rope groove 821, the extending direction of the rope body 83 is consistent with the extending direction of the rope groove 821, so as to prevent the rope body 83 from winding out of the rope groove 821 where it is located during the rotation of the rope winding wheel 82, reduce the friction between the rope body 83 and the rope winding wheel 82, and extend the service life of the rope body 83.

[0108] In an alternative embodiment, as Figures 12 to 14 shown, the rope driving wheel 84 is provided with a rope inlet 841. One end of the rope body 83 connected to the rope driving wheel 84 is connected to a clamping seat 842 inside the rope driving wheel 84 through the rope inlet 841. The clamping seat 842 has a first channel for clamping the rope body 83, and an annular groove 8421 for increasing the friction between the rope body 83 and the clamping seat 842 is recessed in the first channel.

[0109] The above arrangement can reduce the contact area between the rope body 83 and the first channel, and thus help to increase the friction between the rope body 83 and the first channel, and reduce the loosening phenomenon of the rope body 83.

[0110] Among them, the clamping seat 842 can be formed by buckling and connecting two seat bodies. A first channel is formed between the two seat bodies. Both seat bodies are slidably matched with the rope driving wheel 84, and one of the seat bodies is threadedly connected to an adjusting screw on the rope driving wheel 84.

[0111] In an alternative embodiment, as Figure 14 shown, the rope inlet 841 has a chamfer with a bending radius of R, and R is much larger than the minimum bending radius of the rope body 83, so as to prevent the rope body 83 from being excessively bent when entering the rope inlet 841.

[0112] Specifically, the rope driving wheel 84 has a second channel 843, and one end of the second channel 843 is the rope inlet 841.

[0113] In an alternative embodiment, as Figure 14 shown, after the rope body 83 is tightened by the clamping seat 842, the extending direction of the rope body 83 in the clamping seat 842 is consistent with the extending direction of the second channel 843, reducing the wear between the rope body 83 and the second channel 843, and helping to improve the service life of the rope body 83.

[0114] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A brake mechanism, characterized in that: It comprises a support frame (1), a driving mechanism (2), a front rod group (3), a rear rod group (4), a transmission component (5) and a plurality of brake feet (6); The brake foot (6) comprises a fixing seat (61), an elastic member (62) and a brake assembly (63); the fixing seat (61) is mounted on the support frame (1); the brake assembly (63) is slidably matched with the fixing seat (61) in a vertical direction; the bottom end of the brake assembly (63) has a brake surface (6351); the elastic member (62) is arranged between the fixing seat (61) and the brake assembly (63); The front rod group (3) and the rear rod group (4) are both rotatably connected to the support frame (1); the driving mechanism (2) is connected to the rear rod group (4) to drive the rear rod group (4) to rotate relative to the support frame (1); the transmission assembly (5) is connected between the front rod group (3) and the rear rod group (4) to enable the front rod group (3) to rotate synchronously with the rear rod group (4); Both ends of the front rod group (3) and the two ends of the rear rod group (4) are fixedly connected with cams (7), and each cam (7) is arranged in a one-to-one correspondence with each brake assembly (63) so as to overcome the elastic force of the elastic member (62) and push the brake assembly (63) downward under the drive of the front rod group (3) and the rear rod group (4).

2. The brake mechanism according to claim 1, characterized in that: The driving mechanism (2) comprises a telescopic actuator (21) and a parking pressure plate (22), the two ends of the telescopic actuator (21) being rotatably connected to the support frame (1) and the parking pressure plate (22) respectively, and the parking pressure plate (22) is fixedly connected to the rear rod group (4).

3. The brake mechanism according to claim 2, characterized in that: The rear rod group (4) comprises a rear rotating link (41) and a rear rotating shaft (42), the rear rotating link (41) is fixedly connected to the parking pressure plate (22), both ends of the rear rotating link (41) are fixedly connected to the rear rotating shaft (42), and each rear rotating shaft (42) is connected to one of the cams (7); The front rod assembly (3) comprises a front rotating link and a front rotating shaft, both ends of the front rotating link are fixedly connected to the front rotating shaft, and each of the front rotating shafts is connected to a cam (7); The transmission assembly (5) is connected between the rear rotating link (41) and the front rotating link.

4. The brake mechanism according to claim 3, characterized in that: The transmission assembly (5) includes a front connecting member (51), a rear connecting member (52) and a brake connecting rod (53), wherein the front connecting member (51) is fixedly connected to the front rotating shaft, the rear connecting member (52) is fixedly connected to the rear rotating shaft (42), and the brake connecting rod (53) is rotatably connected between the front connecting member (51) and the rear connecting member (52).

5. The brake mechanism according to claim 4, characterized in that: First silent bushings (54) are provided between the two ends of the brake connecting rod (53) and the front connecting piece (51) and the rear connecting piece (52).

6. The brake mechanism according to claim 1, characterized in that: The brake assembly (63) includes an elastic pad (631), a fastener (632), a top foot (633), a second silent shaft sleeve (634) and a brake pad (635); The elastic pad (631) is connected to the top of the top foot (633) through the fastener (632); The second silent shaft sleeve (634) is sleeved on the outside of the top foot (633), and the second silent shaft sleeve (634) is slidably matched with the fixing seat (61) along the vertical direction; The two ends of the elastic member (62) are clamped between the fixing seat (61) and the top foot (633); One end of the brake pad (635) extends into the top foot (633) and is connected to the top foot (633), and the other end extends from the top foot (633) to the bottom end of the top foot (633) and abuts against the bottom surface of the fixing seat (61) under the action of the elastic member (62). The bottom surface of the brake pad (635) is the brake surface (6351).

7. A bedside rehabilitation robot, characterized in that: It comprises a rope drive mechanism (8) and a brake mechanism according to any one of claims 1 to 6, wherein the rope drive mechanism (8) is connected to the support frame (1).

8. The bedside rehabilitation robot according to claim 7, characterized in that: The rope drive mechanism (8) comprises a rotary actuator (81), a rope winding wheel (82), a rope body (83), a rope drive wheel (84) and a mounting seat (85); The mounting seat (85) is mounted on the support frame (1); the rope winding wheel (82) and the rope driving wheel (84) are both rotatably connected to the mounting seat (85); and a detection structure (9) for detecting the rotation angle of the rope driving wheel (84) is installed between the mounting seat (85) and the rope driving wheel (84); The rotary actuator (81) is mounted on the support frame (1) and connected to the rope winding wheel (82), and the rotary actuator (81) is used to drive the rope winding wheel (82) to rotate relative to the mounting seat (85); The rope body (83) is wound between the rope winding wheel (82) and the rope driving wheel (84), and the rope body (83) is used to transmit the power of the rope winding wheel (82) to the rope driving wheel (84).

9. The bedside rehabilitation robot according to claim 8, characterized in that: The rope winding wheel (82) has a rope groove (821) for accommodating a single rope body (83); an angle is formed between an extension direction of the rope groove (821) and a circumferential direction of the rope winding wheel (82); and an extension direction of the rope body (83) when extending from the rope driving wheel (84) and winding into the rope groove (821) is consistent with an extension direction of the rope groove (821).

10. The bedside rehabilitation robot according to claim 8, characterized in that: The rope drive wheel (84) is provided with a rope entry opening (841), and one end of the rope body (83) connected to the rope drive wheel (84) is connected to a clamping seat (842) in the rope drive wheel (84) through the rope entry opening (841), and the clamping seat (842) has a first channel for clamping the rope body (83), and an annular groove (8421) is recessed in the first channel for increasing the friction between the rope body (83) and the clamping seat (842).

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