Lower limb rehabilitation robot structure

Abstract

The utility model belongs to the technical field of lower limb rehabilitation robots, and particularly relates to a lower limb rehabilitation robot structure which comprises a waist fixing frame, two first mounting plates are fixedly mounted at the bottom of the waist fixing frame, and a first motor is fixedly mounted on one side of each first mounting plate. A first driving shaft is fixedly installed at the output end of the first motor, through the arranged adjusting assembly, the device can drive the first driving shaft and a first control rotating plate to rotate through the first motor so as to control thighs of a person to move, and a second driving shaft and a second control rotating plate are driven through a second motor so as to control shanks to move; according to the device, a third motor can be controlled to drive a control shaft and a transmission gear to rotate according to people of different figures, the transmission gear can drive a control gear to rotate, the control gear can drive a lead screw to ascend and descend through thread fit, and the lead screw can drive a clamping rubber air bag to abut against the legs of people.

Description

Technical Field

[0001] The utility model relates to the technical field of lower limb rehabilitation robots, in particular to a lower limb rehabilitation robot structure. Background Art

[0002] At present, many elderly people suffer from lower limb motor dysfunction due to age-related decline in motor function, stroke, etc. At the same time, the number of people who lose the ability to walk due to illness or sudden accidents is also increasing year by year. Lower limb motor dysfunction has brought a series of inconveniences to their lives, trauma to their hearts, and also placed a huge burden on their families and society. Modern medicine and clinical trials have proven that rehabilitation exercises can enable most patients to recover most or a small part of their lower limb motor ability. However, today's rehabilitation is mainly carried out by rehabilitation therapists through one-on-one manual therapy to help patients move their joints and achieve the purpose of rehabilitation. This treatment method is not only time-consuming but also consumes a lot of manpower and material resources;

[0003] Publication No. CN 221600544 U discloses a lower limb rehabilitation robot structure, comprising a backplate assembly, a hip joint adjustment mechanism connected to the backplate assembly for opening and closing the legs, a thigh component connected to the hip joint adjustment mechanism, a knee joint adjustment mechanism connected to the thigh component, a calf component connected to the knee joint adjustment mechanism, an ankle joint adjustment mechanism connected to the calf component, and a foot connected to the ankle joint adjustment mechanism.

[0004] When in use, it is difficult to fix it on the thigh and calf of a person in the existing technology, making it difficult for the device to drive the person's legs to move, and the device is difficult to adapt to people of different body shapes; therefore, we proposed a lower limb rehabilitation robot structure. Utility Model Content

[0005] The purpose of the utility model is to provide a lower limb rehabilitation robot structure to solve the existing problems.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A lower limb rehabilitation robot structure includes a waist fixing frame, two first mounting plates are fixedly installed at the bottom of the waist fixing frame, a first motor is fixedly installed on one side of the first mounting plate, a first drive shaft is fixedly installed on the output end of the first motor, a first control rotary plate is fixedly installed on the outside of the first drive shaft, a first electric telescopic rod is fixedly installed on the bottom of the first control rotary plate, a thigh clamping frame is fixedly installed on the output end of the first electric telescopic rod, two second electric telescopic rods are fixedly installed on the bottom of the thigh clamping frame, a second mounting plate is fixedly installed on the output end of the second electric telescopic rod, a second motor is fixedly installed on one side of the second mounting plate, a second drive shaft is fixedly installed on the output end of the second motor, a second control rotary plate is fixedly installed on the outside of the second drive shaft, two third electric telescopic rods are fixedly installed on the bottom of the second control rotary plate, a calf clamping frame is fixedly installed on the output end of the third electric telescopic rod, a foot support frame is fixedly installed on the bottom of the calf clamping frame, an adjustment component is provided above the thigh clamping frame and the calf clamping frame, and a fixing component is provided above the thigh clamping frame and the calf clamping frame.

[0008] As a further improvement of the above scheme, the adjustment component includes a control gear, a screw rod, a limit rod, a third motor, a control shaft, a transmission gear and a clamping rubber airbag. The control gear is rotatably installed on the front side of the thigh clamping frame and the calf clamping frame, the screw rod is threadedly installed on the inner side of the control gear, and the limit rod is slidably installed on the upper and lower sides of the front side of the thigh clamping frame and the calf clamping frame. The third motor is fixedly installed on the inner side of the thigh clamping frame and the screw rod, the control shaft is fixedly installed on the output end of the third motor, the transmission gear is fixedly installed on the outer side of the control shaft, the transmission gear and the control gear are meshed, the clamping rubber airbag is fixedly installed on the rear side of the limit rod, and the clamping rubber airbag is rotatably installed on the rear side of the screw rod.

[0009] As a further improvement of the above scheme, the fixing component includes a fixed airbag, an air pump, a battery and a gas transmission pipeline. The fixed airbag is fixedly mounted on the inner wall of one side of the thigh clamping frame and the calf clamping frame, the air pump is fixedly mounted on the inner side of the thigh clamping frame and the calf clamping frame, the battery is fixedly mounted on the inner side of the thigh clamping frame and the calf clamping frame, the air pump and the battery are electrically connected, one end of the gas transmission pipeline is fixedly mounted on one side of the air pump, and the other end of the gas transmission pipeline is fixedly mounted on one side of the fixed airbag and the clamping rubber airbag respectively.

[0010] As a further improvement of the above solution, the first mounting plate and the second mounting plate are L-shaped, and one side of the first control rotating plate and the second control rotating plate is arc-shaped.

[0011] As a further improvement of the above solution, the thigh clamping frame and the calf clamping frame are C-shaped, and the clamping rubber airbag and the fixing airbag are made of rubber.

[0012] As a further improvement of the above solution, a mounting groove is provided on one side of the thigh clamping frame and the calf clamping frame, and the battery and the air pump are fixedly mounted on the inner side of the mounting groove respectively.

[0013] As a further improvement of the above solution, an internal thread is provided on the inner side of the control gear, and the screw rod is engaged with the internal thread.

[0014] As a further improvement of the above solution, a sliding groove is provided on one side of the thigh clamping frame and the screw rod, and the screw rod and the limit rod are slidably installed on the inner side of the sliding groove.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] (1) The utility model provides a lower limb rehabilitation robot structure. Through the provided adjustment component, the device can control the movement of a person's thigh by driving the first drive shaft and the first control turn plate through the first motor, and can control the movement of the calf by driving the second drive shaft and the second control turn plate through the second motor. The device can control the third motor to drive the control shaft and the transmission gear to rotate according to people of different body shapes, so that the transmission gear can drive the control gear to rotate, so that the control gear can drive the screw rod to move up and down through the threaded fit, so that the screw rod can drive the clamping rubber airbag to contact the person's leg;

[0017] (2) The utility model provides a lower limb rehabilitation robot structure. Through the setting of a fixing component, after the clamping rubber airbag and the fixed airbag are in contact with the person's legs, the air pump can be controlled to supply air to the clamping rubber airbag and the fixed airbag through the gas transmission pipeline, so that the clamping rubber airbag and the fixed airbag can clamp and fix the device above the person's legs, so that the device can better drive the person's legs to move when driven. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0019] Figure 1 This is a three-dimensional structural diagram of a lower limb rehabilitation robot proposed in the utility model;

[0020] Figure 2This is a partial three-dimensional structural diagram of a lower limb rehabilitation robot proposed in the utility model;

[0021] Figure 3 This is a partial three-dimensional structural diagram of a lower limb rehabilitation robot proposed in the utility model;

[0022] Figure 4 This is a partial three-dimensional structural diagram of a lower limb rehabilitation robot proposed in the utility model.

[0023] In the figure: 1. Waist fixing frame; 2. First mounting plate; 3. First motor; 4. First drive shaft; 5. First control rotary plate; 6. First electric telescopic rod; 7. Thigh clamping frame; 8. Second electric telescopic rod; 9. Second mounting plate; 10. Second motor; 11. Second drive shaft; 12. Second control rotary plate; 13. Third electric telescopic rod; 14. Calf clamping frame; 15. Foot support frame; 16. Control gear; 17. Screw; 18. Limit rod; 19. Third motor; 20. Control shaft; 21. Transmission gear; 22. Clamping rubber airbag; 23. Fixed airbag; 24. Air pump; 25. Battery; 26. Gas transmission pipeline. DETAILED DESCRIPTION

[0024] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] refer to Figure 1-4A lower limb rehabilitation robot structure includes a waist fixing frame 1, two first mounting plates 2 are fixedly installed at the bottom of the waist fixing frame 1, a first motor 3 is fixedly installed on one side of the first mounting plate 2, a first driving shaft 4 is fixedly installed on the output end of the first motor 3, a first control rotating plate 5 is fixedly installed on the outer side of the first driving shaft 4, a first electric telescopic rod 6 is fixedly installed at the bottom of the first control rotating plate 5, a thigh clamping frame 7 is fixedly installed on the output end of the first electric telescopic rod 6, two second electric telescopic rods 8 are fixedly installed on the bottom of the thigh clamping frame 7, a second mounting plate 9 is fixedly installed on the output end of the second electric telescopic rod 8, and the second mounting plate 9 is fixedly installed on the output end of the second electric telescopic rod 8. A second motor 10 is fixedly mounted on one side of the mounting plate 9, a second drive shaft 11 is fixedly mounted on the output end of the second motor 10, a second control turn plate 12 is fixedly mounted on the outer side of the second drive shaft 11, two third electric telescopic rods 13 are fixedly mounted on the bottom of the second control turn plate 12, and a calf clamping frame 14 is fixedly mounted on the output end of the third electric telescopic rod 13; multiple first drive shafts 4, second electric telescopic rods 8, and third electric telescopic rods 13 can adjust the spacing between the thigh clamping frame 7 and the screw rod 17 according to people of different heights, so that the device is more convenient in use and can be used as an auxiliary tool for people of various body shapes.

[0026] The foot support frame 15 is fixedly installed at the bottom of the calf clamping frame 14. An adjustment component is set above the thigh clamping frame 7 and the calf clamping frame 14, and a fixed component is set above the thigh clamping frame 7 and the calf clamping frame 14; the adjustment component includes a control gear 16, a screw rod 17, a limit rod 18, a third motor 19, a control shaft 20, a transmission gear 21 and a clamping rubber airbag 22. The control gear 16 is rotatably mounted on the front side of the thigh clamping frame 7 and the calf clamping frame 14, and the screw rod 17 is threadedly mounted on the control gear 16. On the inner side of the control gear 16, the limit rod 18 is slidably installed on the upper and lower sides of the front side of the thigh clamping frame 7 and the calf clamping frame 14, the third motor 19 is fixedly installed on the inner side of the thigh clamping frame 7 and the screw rod 17, the control shaft 20 is fixedly installed on the output end of the third motor 19, the transmission gear 21 is fixedly installed on the outer side of the control shaft 20, the transmission gear 21 and the control gear 16 are engaged, the clamping rubber airbag 22 is fixedly installed on the rear side of the limit rod 18, and the clamping rubber airbag 22 is rotatably installed on the rear side of the screw rod 17.

[0027] The fixed component includes a fixed airbag 23, an air pump 24, a battery 25 and a gas transmission pipe 26. The fixed airbag 23 is fixedly mounted on the inner wall of one side of the thigh clamping frame 7 and the calf clamping frame 14, the air pump 24 is fixedly mounted on the inner side of the thigh clamping frame 7 and the calf clamping frame 14, the battery 25 is fixedly mounted on the inner side of the thigh clamping frame 7 and the calf clamping frame 14, the air pump 24 and the battery 25 are electrically connected, one end of the gas transmission pipe 26 is fixedly mounted on one side of the air pump 24, and the other end of the gas transmission pipe 26 is respectively fixedly mounted on one side of the fixed airbag 23 and the clamping rubber airbag 22.

[0028] The first mounting plate 2 and the second mounting plate 9 are L-shaped, and one side of the first control turn plate 5 and the second control turn plate 12 is arc-shaped; the thigh clamping frame 7 and the calf clamping frame 14 are C-shaped, and the clamping rubber airbag 22 and the fixed airbag 23 are made of rubber material; this makes the device fit more closely to the person's legs and more comfortable to wear; a mounting groove is provided on one side of the thigh clamping frame 7 and the calf clamping frame 14, and the battery 25 and the air pump 24 are fixedly mounted on the inner side of the mounting groove respectively.

[0029] An internal thread is provided on the inner side of the control gear 16, and the screw rod 17 is engaged with the internal thread; so that the control gear 16 can drive the screw rod 17 to move under force after rotation, and the limit rod 18 can limit the clamping rubber airbag 22, so that the screw rod 17 can move through the thread after rotation, so that the screw rod 17 can drive the clamping rubber airbag 22 to move; a sliding groove is provided on one side of the thigh clamping frame 7 and the screw rod 17, and the screw rod 17 and the limit rod 18 are slidably installed on the inner side of the sliding groove.

[0030] The implementation principle of a lower limb rehabilitation robot structure in an embodiment of the present application is as follows: the device can control the movement of a person's thigh by driving the first drive shaft 4 and the first control turn plate 5 to rotate through the first motor 3, and can control the movement of the calf by driving the second drive shaft 11 and the second control turn plate 12 through the second motor 10. The device can control the third motor 19 to drive the control shaft 20 and the transmission gear 21 to rotate according to people of different body shapes, so that the transmission gear 21 can drive the control gear 16 to rotate, so that the control gear 16 can drive the screw rod 17 to rise and fall through the threaded cooperation, so that the screw rod 17 can drive the clamping rubber airbag 22 to abut against the person's leg; after the clamping rubber airbag 22 and the fixed airbag 23 abut against the person's leg, the air pump 24 can be controlled to supply air to the clamping rubber airbag 22 and the fixed airbag 23 through the gas transmission pipe 26, so that the clamping rubber airbag 22 and the fixed airbag 23 can clamp and fix the device above the person's leg, so that the device can better drive the person's leg to move when driven.

[0031] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0032] The above is a detailed introduction to the structure of a lower limb rehabilitation robot provided by the present invention. Specific embodiments are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only intended to help understand the method and core concept of the present invention. It should be pointed out that, for ordinary technicians in this technical field, without departing from the principles of the present invention, the present invention can also be improved and modified, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A lower limb rehabilitation robot structure, characterized in that: include: A waist fixing frame (1) is provided, wherein two first mounting plates (2) are fixedly installed at the bottom of the waist fixing frame (1), a first motor (3) is fixedly installed on one side of the first mounting plate (2), a first driving shaft (4) is fixedly installed at the output end of the first motor (3), a first control rotating plate (5) is fixedly installed on the outer side of the first driving shaft (4), a first electric telescopic rod (6) is fixedly installed at the bottom of the first control rotating plate (5), a thigh clamping frame (7) is fixedly installed at the output end of the first electric telescopic rod (6), two second electric telescopic rods (8) are fixedly installed at the bottom of the thigh clamping frame (7), a second mounting plate (9) is fixedly installed at the output end of the second electric telescopic rod (8), and the first electric telescopic rod (6) is fixedly installed at the output end thereof. A second motor (10) is fixedly mounted on one side of the second mounting plate (9), a second drive shaft (11) is fixedly mounted on the output end of the second motor (10), a second control turn plate (12) is fixedly mounted on the outer side of the second drive shaft (11), two third electric telescopic rods (13) are fixedly mounted on the bottom of the second control turn plate (12), a calf clamping frame (14) is fixedly mounted on the output end of the third electric telescopic rod (13), a foot support frame (15) is fixedly mounted on the bottom of the calf clamping frame (14), an adjustment component is arranged above the thigh clamping frame (7) and the calf clamping frame (14), and a fixing component is arranged above the thigh clamping frame (7) and the calf clamping frame (14).

2. A lower limb rehabilitation robot structure according to claim 1, characterized in that: The adjustment assembly includes a control gear (16), a screw rod (17), a limit rod (18), a third motor (19), a control shaft (20), a transmission gear (21) and a clamping rubber airbag (22), wherein the control gear (16) is rotatably mounted on the front side of the thigh clamping frame (7) and the calf clamping frame (14), the screw rod (17) is threadedly mounted on the inner side of the control gear (16), and the limit rod (18) is slidably mounted on the front side of the thigh clamping frame (7) and the calf clamping frame (14). On the upper and lower sides, the third motor (19) is fixedly mounted on the inner side of the thigh clamping frame (7) and the screw rod (17), the control shaft (20) is fixedly mounted on the output end of the third motor (19), the transmission gear (21) is fixedly mounted on the outer side of the control shaft (20), the transmission gear (21) and the control gear (16) are meshed, the clamping rubber airbag (22) is fixedly mounted on the rear side of the limit rod (18), and the clamping rubber airbag (22) is rotatably mounted on the rear side of the screw rod (17).

3. The lower limb rehabilitation robot structure according to claim 1, characterized in that: The fixing assembly comprises a fixed airbag (23), an air pump (24), a battery (25) and a gas transmission pipeline (26); the fixed airbag (23) is fixedly mounted on the inner wall of one side of the thigh clamping frame (7) and the calf clamping frame (14); the air pump (24) is fixedly mounted on the inner side of the thigh clamping frame (7) and the calf clamping frame (14); the battery (25) is fixedly mounted on the inner side of the thigh clamping frame (7) and the calf clamping frame (14); the air pump (24) and the battery (25) are electrically connected; one end of the gas transmission pipeline (26) is fixedly mounted on one side of the air pump (24); and the other end of the gas transmission pipeline (26) is fixedly mounted on one side of the fixed airbag (23) and the clamping rubber airbag (22), respectively.

4. The lower limb rehabilitation robot structure according to claim 1, characterized in that: The first mounting plate (2) and the second mounting plate (9) are L-shaped, and one side of the first control rotating plate (5) and the second control rotating plate (12) is arc-shaped.

5. The lower limb rehabilitation robot structure according to claim 2, characterized in that: The thigh clamping frame (7) and the calf clamping frame (14) are C-shaped, and the clamping rubber airbag (22) and the fixing airbag (23) are made of rubber.

6. The lower limb rehabilitation robot structure according to claim 3, characterized in that: One side of the thigh clamping frame (7) and the calf clamping frame (14) is provided with a mounting groove, and the battery (25) and the air pump (24) are respectively fixedly mounted on the inner side of the mounting groove.

7. The lower limb rehabilitation robot structure according to claim 2, characterized in that: An internal thread is provided on the inner side of the control gear (16), and the screw rod (17) is meshed with the internal thread.

8. The lower limb rehabilitation robot structure according to claim 2, characterized in that: A sliding groove is provided on one side of the thigh clamping frame (7) and the screw rod (17), and the screw rod (17) and the limiting rod (18) are slidably mounted on the inner side of the sliding groove.

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