Waist rehabilitation robot based on parallel structure

Abstract

According to the waist rehabilitation robot based on the parallel structure, a patient can conduct rehabilitation training in the supine posture, the axial load of the lumbar vertebra is reduced by adopting the supine posture, the rehabilitation safety is improved, and meanwhile the comfort degree of the patient during rehabilitation is improved. Wherein the upper limb plate and the fixed rack are coupled through an arc-shaped sliding block connected with a bolt below the upper limb plate and an arc-shaped sliding rail connected with the fixed rack through a bolt, so that the upper limb plate vertically and axially swings relative to the fixed rack; the lower limb plate and the fixed rack realize two horizontal axial swings perpendicular to each other and movement in the vertical direction by taking three driving electric push rods as supports; the multi-degree-of-freedom waist motion range rehabilitation training device has the advantages that multi-degree-of-freedom waist motion range rehabilitation training can be carried out, the requirement for multi-degree-of-freedom motion of the waist is met, training content and training modes are effectively enriched, and therefore the rehabilitation effect of a patient is effectively enhanced.

Description

Technical Field

[0001] The utility model belongs to the field of medical equipment, and in particular relates to a waist rehabilitation training robot. Technical Background

[0002] Lower back pain (LBP) is a serious global health issue. It refers to pain, muscle tension, and stiffness that extends from the rib cage to the hip crease. LBP is a group of symptoms or syndromes characterized by back and lumbar pain, with irregular and recurring episodes. Lumbar mobility exercises have been widely used in the conservative treatment of LBP. Introducing LBP into clinical practice can promote neurological remodeling, enhance balance and lumbar mobility, and help restore basic lumbar function. However, LBP training has several challenges, including difficulty maintaining and non-standardized movements. This requires extensive medical rehabilitation resources and the involvement of rehabilitation physicians, and results in limited outcomes. Therefore, research and promotion of rehabilitation robots is expected to effectively alleviate the shortage of rehabilitation medical resources and improve the quality of life for patients with LBP.

[0003] Based on the human waist's motion patterns, this utility model proposes a parallel-structured waist rehabilitation robot. Compared with traditional tension-based and end-guided waist rehabilitation methods, this robot assists the human body in waist mobility training, better aligns with the human waist's motion patterns, and reduces the likelihood of waist injury recurrence. Utility Model Content

[0004] In response to the problems existing in the existing technology, the utility model provides a lumbar rehabilitation training robot that allows patients to perform rehabilitation training in a supine position. By adopting a supine position, the axial load on the lumbar spine is reduced, thereby improving rehabilitation safety and the patient's comfort during rehabilitation.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A waist rehabilitation robot based on a parallel structure is characterized in that it consists of an upper limb plate, a lower limb plate, and a fixed frame, wherein the upper limb plate includes a human body fixing sponge, an upper limb support plate, a linear guide rail, an upper limb sponge, a human body fixing rod, a driving gear, an arc-shaped slider, an arc-shaped rack, a first driving motor, a reducer, a motor support plate, an arc-shaped slide rail, and a locking slider. The upper limb support plate and the fixed frame are coupled through an arc-shaped slider connected by bolts below the upper limb plate and an arc-shaped slide rail connected by bolts on the fixed frame to realize vertical axial swing of the upper limb plate relative to the fixed frame. movement; the corresponding arc-shaped rack is fixedly installed at the lower end of the upper limb support plate, so that the driving gear is meshed with the arc-shaped rack; the first driving motor is fixedly installed on the motor support plate; the lower limb plate and the fixed frame are supported by three driving electric push rods to realize two horizontal axial swings perpendicular to each other and movement in the vertical direction; the fixed frame is bolted with a supporting foot to ensure the stability of the waist rehabilitation robot relative to the ground, and the electric push rod bracket is connected by bolts to fix the lower limb plate, and the linear guide rail is fixed on the surface of the upper limb support plate.

[0007] This waist rehabilitation robot achieves relative independence between the upper and lower limb motion systems while ensuring they are securely fixed to the robot's frame, providing a stable rehabilitation environment for the user. Specifically, the upper limb board has vertical axial swing freedom relative to the base, allowing users to perform lateral flexion rehabilitation exercises on a flat surface. The lower limb board has a wider range of motion freedom, including two mutually perpendicular horizontal axial swing degrees of freedom and vertical degrees of freedom. This allows users to perform a wider range of lower limb rehabilitation exercises, including flexion, extension, and waist twisting, thereby achieving a more comprehensive rehabilitation effect.

[0008] The upper limb support plate and the motor support plate are respectively provided with an arc-shaped slider and an arc-shaped slide rail and are coupled with the slide rail through the slider; the driving torque is increased by installing a reducer on the upper end of the first drive motor; the upper end of the first drive motor is provided with a drive gear.

[0009] A linear guide rail is fixed on the surface of the upper limb support plate, and a corresponding locking slider is assembled on the linear guide rail; the locking slider is connected to the human body fixing rod by bolts, so that the human upper limb and the upper limb plate are fixed and move synchronously; the sponge layer fixed on the upper limb support plate and the human body fixing rod increases the comfort and safety of the patient during rehabilitation exercises.

[0010] The lower limb board includes a lower limb sponge, a lower limb support board, a second driving electric push rod, a third driving electric push rod, a fourth driving electric push rod, a cross-axis-electric push rod base, a cross-axis universal joint, and a cross-axis base, wherein the lower limb support board and the fixed frame are fixed by the second driving electric push rod, the third driving electric push rod, and the fourth driving electric push rod; three electric push rod brackets are fixed on the lower part of the fixed frame, and the ends of the second driving electric push rod, the third driving electric push rod, and the fourth driving electric push rod are respectively connected to the electric push rod brackets through pins; the lower surface of the lower limb support board is fixed with three cross-axis bases by bolts, and the upper ends of the second driving electric push rod, the third driving electric push rod, and the fourth driving electric push rod are connected to the cross-axis-electric push rod base through threads; the cross-axis base and the cross-axis-electric push rod base are hinged by a cross-axis universal joint fixed by a retaining spring; the sponge layer fixed on the lower limb support board increases the comfort and safety of the patient during rehabilitation exercises.

[0011] The fixed frame includes a welded steel pipe, a supporting foot, and an electric push rod bracket, wherein the supporting foot is fixed to both ends of the fixed frame by bolts; the electric push rod bracket is fixed to the lower half of the fixed frame by bolts to fix the position of the lower limb plate.

[0012] Beneficial effects of the utility model:

[0013] Compared with existing technologies, this new device allows patients to perform rehabilitation training in a supine position. By adopting a supine position, the axial load on the lumbar spine is reduced, improving rehabilitation safety and comfort. This device allows for multi-degree-of-freedom lumbar mobility rehabilitation training, which not only meets the needs of multi-degree-of-freedom lumbar mobility but also effectively enriches the training content and methods, thereby more effectively enhancing the patient's rehabilitation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the structure of a waist rehabilitation robot based on a parallel structure of the present invention;

[0015] Figure 2 This is a schematic diagram of the upper limb plate structure of the present utility model;

[0016] Figure 3 This is an exploded schematic diagram of the upper limb plate structure of the present utility model;

[0017] Figure 4 This is a schematic diagram of the lower limb plate structure of the present utility model;

[0018] Figure 5 This is an exploded schematic diagram of the lower limb plate structure of the present utility model;

[0019] Figure 6This is a schematic diagram of the rear extension rehabilitation training action and the extreme position angles of the waist rehabilitation robot during the rear extension exercise of the human body;

[0020] Figure 7 This is a schematic diagram of the forward bending rehabilitation training action of the present invention and the extreme position angles of the waist rehabilitation robot when the human body is bending forward;

[0021] Figure 8 This is a schematic diagram of the human-machine coupling model of the lateral flexion rehabilitation training movement and the extreme position angles of the waist rehabilitation robot when the human body performs lateral flexion movement;

[0022] Figure 9 This is a schematic diagram of the waist twisting rehabilitation training action and the extreme position angles of the waist rehabilitation robot of the present invention;

[0023] Figure 10 This is a schematic curve diagram of the center of gravity trajectory of the upper limb board when performing lateral bending, forward bending, backward extension, and waist twisting exercises;

[0024] Figure 11 This is a schematic curve diagram of the center of gravity trajectory of the lower limb board when performing lateral bending, forward bending, backward extension, and waist twisting exercises;

[0025] Figure 12 This is a schematic curve diagram showing changes in lumbar vertebrae joint angles when a person lies supine on the utility model during lateral flexion exercise;

[0026] Figure 13 This is a schematic curve diagram showing changes in lumbar vertebrae joint angles when a person lies supine on the utility model during flexion and extension exercises;

[0027] Figure 14 This is a schematic curve diagram of the change in lumbar vertebrae joint angle when a human body lies supine on the utility model during waist twisting exercise.

[0028] Among them, 1—upper limb plate, 2—lower limb plate, 3—fixed frame, 101—human body fixing sponge, 102—upper limb support plate, 103—linear guide rail, 104—upper limb sponge, 105—human body fixing rod, 106—driving gear, 107—arc-shaped slider, 108—arc-shaped rack, 109—first driving motor, 110—reducer, 111—motor support plate, 112—arc-shaped slide rail, 113—locking slider, 201—lower limb sponge, 202—lower limb support plate, 203—second driving electric push rod, 204—third driving electric push rod, 205—fourth driving electric push rod, 206—cross axis-electric push rod base, 207—cross axis universal joint, 208—cross axis base, 301—support foot, 302—electric push rod bracket. DETAILED DESCRIPTION

[0029] The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

[0030] 1. See Figures 1-14 As shown, a waist rehabilitation robot based on a parallel structure in this specific embodiment includes an upper limb plate 1, a lower limb plate 2, and a fixed frame 3, wherein the upper limb plate 1 includes a human body fixing sponge 101, an upper limb support plate 102, a linear guide rail 103, an upper limb sponge 104, a human body fixing rod 105, a driving gear 106, an arc-shaped slider 107, an arc-shaped rack 108, a first driving motor 109, a reducer 110, a motor support plate 111, an arc-shaped slide rail 112, and a locking slider 113. The upper limb support plate 102 and the fixed frame 3 are coupled through the arc-shaped slider 107 bolted to the bottom of the upper limb plate 1 and the arc-shaped slide rail 112 bolted to the fixed frame 3 to realize the upper limb plate 1. For the vertical axial swing of the fixed frame 3; the corresponding arc-shaped rack 108 is fixedly installed at the lower end of the upper limb support plate 102, so that the driving gear 106 is meshed with the arc-shaped rack 108; and the first driving motor 109 is fixedly installed on the upper part of the motor support plate 111; the lower limb plate 2 and the fixed frame 3 are supported by three driving electric push rods to realize two horizontal axial swings perpendicular to each other and movement in the vertical direction; the fixed frame 3 is bolted with a support foot 301 to ensure the stability of the waist rehabilitation robot relative to the ground, and the electric push rod bracket 302 is bolted to fix the lower limb plate 2, and the linear guide rail 103 is fixed on the surface of the upper limb support plate 102.

[0031] 2. This lumbar rehabilitation robot achieves relative independence between the upper and lower limb motion systems while ensuring they are securely fixed to the robot's frame, providing a stable rehabilitation environment for the user. Specifically, the upper limb plate 1 is coupled to a curved slide 107 bolted to its lower surface and a curved rail 112 bolted to the upper portion of the fixed frame 3. This allows for vertical axial swinging freedom relative to the base, enabling users to perform lateral flexion rehabilitation exercises on a flat surface. The cross-axis base 208 of the lower limb plate 2 is connected by bolts on the lower surface, and is connected to the cross-axis universal joint 207 through a retaining spring. At the same time, it is connected to the cross-axis-electric push rod base 206 through a retaining spring at the bottom. The cross-axis-electric push rod base 206 is connected to the electric push rod through a thread at the bottom, and the electric push rod is fixedly connected to the electric push rod bracket 302 through a pin shaft at the bottom. The electric push rod bracket 302 is welded to the lower part of the fixed frame 3. Through the above connection method, the lower limb plate 2 has more abundant degrees of freedom of movement, including two horizontal axial swing degrees of freedom perpendicular to each other and degrees of freedom in the vertical direction, which enables users to perform more diverse lower limb rehabilitation exercises, including flexion, extension, twisting of the waist and other movements, thereby achieving a more comprehensive rehabilitation effect.

[0032] 2. See Figure 2 and Figure 3The upper limb support plate 102 and the motor support plate 111 are respectively provided with an arc slider 107 and an arc slide rail 112 and are coupled with the slide rail through the slider, and the driving torque is increased by installing a reducer 110 on the upper end of the first drive motor 109; the linear guide rail 103 is fixed on the surface of the upper limb support plate 102, and the corresponding locking slider 113 is assembled on the linear guide rail 103, and the locking slider 113 is connected to the human body fixing rod 105 by bolts, so that the human upper limb and the upper limb plate 1 are fixed and move synchronously; the sponge layer fixed on the upper limb support plate 102 and the human body fixing rod 105 increases the comfort and safety of the patient during rehabilitation exercises; the upper limb plate 1 is coupled with the arc slide rail 112 bolted to the upper part of the fixed frame 3 through the arc slider 107 bolted on the lower surface, and the arc rack 108 is driven by the driving gear 106 to drive the upper limb plate 1 to perform lateral flexion rehabilitation movements.

[0033] 3. See Figure 4 and Figure 5 The lower limb plate 2 includes a lower limb sponge 201, a lower limb support plate 202, a second driving electric push rod 203, a third driving electric push rod 204, a fourth driving electric push rod 205, a cross-axis-electric push rod base 206, a cross-axis universal joint 207, and a cross-axis base 208, wherein the lower limb support plate 202 is fixed to the fixed frame 3 through the second driving electric push rod 203, the third driving electric push rod 204, and the fourth driving electric push rod 205; the lower part of the fixed frame 3 is fixed with three electric push rod brackets 302, the second driving electric push rod 203, the third driving electric push rod 204, the fourth driving electric push rod 205 The ends of the four drive electric push rods 205 are respectively connected to the electric push rod bracket 302 via pins; the lower surface of the lower limb support plate 202 is fixed with three cross-axis bases 208 by bolts, while the upper ends of the second drive electric push rod 203, the third drive electric push rod 204, and the fourth drive electric push rod 205 are connected to the cross-axis-electric push rod base 206 via threads; the cross-axis base 208 and the cross-axis-electric push rod base 206 are hingedly fixed with a cross-axis universal joint 207 by a retaining spring; the sponge layer fixed to the lower limb support plate 202 increases the patient's comfort and safety during rehabilitation exercises. The lower limb plate 3 changes its length by the second drive electric push rod 203, the third drive electric push rod 204, and the fourth drive electric push rod 205 to achieve flexion, extension, and waist twisting rehabilitation movements.

[0034] The following describes the use process of the utility model in sequence with reference to the accompanying drawings:

[0035] First, the patient needs to lie flat on the waist rehabilitation robot of the present invention in a supine position, and a corresponding training program is determined according to the actual condition of the patient's waist injury.

[0036] Option 1: Lateral flexion rehabilitation training

[0037] The human body is fixed in a supine position on a waist rehabilitation robot based on a parallel structure, and the upper limbs are located on the upper limb support plate 102 and the upper limb sponge 104. The upper limb support plate 102 coupled to the fixed frame 3 by the arc-shaped slide rail 112 and the arc-shaped slider 107 can support the patient's upper limbs. The upper limb sponge 104 can adapt to the patient's upper limbs. At the same time, the patient can use the armpit to clamp the human body fixing rod 105 to assist in fixing the human body on the upper limb plate. At this time, the first drive motor 109 is controlled to drive the reducer 110 to drive the gear 106 in forward and reverse directions. The drive gear 106 drives the arc-shaped rack 108, thereby driving the upper limb plate 1 to swing vertically relative to the base. Figure 8 At this time, the upper limb board can swing back and forth up to 30 degrees, so that the lateral flexion rehabilitation training exercise can be achieved by doing so. At the same time, the patient can achieve lateral flexion of the lumbar spine on the utility model. Figure 12 At this point in the curve, the human body can achieve a maximum 30° lateral flexion movement.

[0038] Option 2: Flexion and extension rehabilitation training

[0039] The human body is fixed on a waist rehabilitation robot based on a parallel structure in a supine posture, with the lower limbs located on the lower limb support plate 202 and the lower limb sponge 201. First, the second driving electric push rod 203 is controlled to extend to make the lower limb support plate 202 overturn. At the same time, the third driving electric push rod 204 and the fourth driving electric push rod 205 are controlled to extend synchronously in a small distance to fit the human waist curve, so that the waist flexion rehabilitation training movement can be achieved. Figure 7 At this time, the lower limb board can swing upward up to 30 degrees; on the contrary, the second driving electric push rod 203 is controlled to shrink, so that the lower limb support board 202 can overturn, and the third driving electric push rod 204 and the fourth driving electric push rod 205 are controlled to shrink synchronously by a small distance to fit the waist curve of the human body, so that the waist extension rehabilitation training movement can be achieved. Figure 6 At this time, the lower limb board can swing downward up to 20 degrees, and the patient can realize flexion and extension of the lumbar spine on the utility model. Figure 13 At this point in the curve, the human body can achieve flexion and extension movements up to 30° upwards and 20° downwards.

[0040] Option 3: Waist twisting rehabilitation training

[0041] The human body is fixed on a waist rehabilitation robot based on a parallel structure in a supine posture, with the lower limbs located on the lower limb support plate 202 and the lower limb sponge 201. First, the third driving electric push rod 204 is controlled to extend, and the fourth driving electric push rod 205 is controlled to synchronously perform an isometric contraction movement, so that the lower limb support plate 202 performs a tilting movement, and the second driving electric push rod 203 is controlled to appropriately contract and cooperate with the third driving electric push rod 204 and the fourth driving electric push rod 205 to make the human body fit the utility model more closely; conversely, the third driving electric push rod 204 is controlled to contract and the fourth driving electric push rod 205 is controlled to synchronously perform an isometric extension movement, so that the lower limb support plate 202 performs a reverse tilting movement, and the second driving electric push rod 203 is controlled to appropriately contract and cooperate with the third driving electric push rod 204 and the fourth driving electric push rod 205 to make the human body fit the utility model more closely, and so on and so forth, Figure 9 At this time, the lower limb board can be turned up to 30 degrees at most. At the same time, the patient can twist the lumbar spine on the utility model. Figure 14 At this point in the curve, the human body can achieve a maximum waist twisting movement of 30°.

[0042] The solutions in the embodiments are not intended to limit the patent protection scope of the present invention. All equivalent examples or modifications that do not depart from the present invention are included in the patent scope of this case.

Claims

1. A waist rehabilitation robot based on a parallel structure, characterized in that It consists of an upper limb plate (1), a lower limb plate (2), and a fixed frame (3), wherein the upper limb plate (1) includes a human body fixing sponge (101), an upper limb support plate (102), a linear guide rail (103), an upper limb sponge (104), a human body fixing rod (105), a driving gear (106), an arc-shaped slider (107), an arc-shaped rack (108), a first driving motor (109), a reducer (110), a motor support plate (111), an arc-shaped slide rail (112), and a locking slider (113). The upper limb support plate (102) and the fixed frame (3) are coupled via an arc-shaped slider (107) bolted to the lower side of the upper limb plate (1) and an arc-shaped slide rail (112) bolted to the fixed frame (3) to achieve the upper limb plate (1) relative to the fixed frame. The frame (3) swings vertically in the axial direction; a corresponding arc-shaped rack (108) is fixedly installed at the lower end of the upper limb support plate (102), so that the driving gear (106) is meshed with the arc-shaped rack (108); and a first driving motor (109) is fixedly installed on the upper part of the motor support plate (111); the lower limb plate (2) and the fixed frame (3) are supported by three driving electric push rods to realize two mutually perpendicular horizontal axial swings and vertical movement; the fixed frame (3) is bolted with a support foot (301) to ensure the stability of the waist rehabilitation robot relative to the ground, and the electric push rod bracket (302) is bolted to fix the lower limb plate (2), and the linear guide rail (103) is fixed on the surface of the upper limb support plate (102).

2. A waist rehabilitation robot based on a parallel structure according to claim 1, characterized in that The upper limb support plate (102) and the motor support plate (111) are respectively provided with an arc-shaped slider (107) and an arc-shaped slide rail (112) and are coupled to the slide rail via the slider; the drive torque is increased by installing a reducer (110) at the upper end of the first drive motor (109); and the upper end of the first drive motor (109) is provided with a drive gear (106).

3. The parallel structure waist rehabilitation robot according to claim 2, characterized in that The lower limb plate (2) includes a lower limb sponge (201), a lower limb support plate (202), a second driving electric push rod (203), a third driving electric push rod (204), a fourth driving electric push rod (205), a cross-axis-electric push rod base (206), a cross-axis universal joint (207), and a cross-axis base (208), wherein the lower limb support plate (202) is fixed to the fixed frame (3) through the second driving electric push rod (203), the third driving electric push rod (204), and the fourth driving electric push rod (205); the lower part of the fixed frame (3) is fixed with three electric push rod brackets (302), the second driving electric push rod (203), the third driving electric push rod (204), and the fourth driving electric push rod (205). The ends of the electric push rod (203), the third driving electric push rod (204), and the fourth driving electric push rod (205) are respectively connected to the electric push rod bracket (302) through a pin shaft; the lower surface of the lower limb support plate (202) is fixed with three cross-axis bases (208) by bolts, while the upper ends of the second driving electric push rod (203), the third driving electric push rod (204), and the fourth driving electric push rod (205) are connected to the cross-axis-electric push rod base (206) through threads; the cross-axis base (208) and the cross-axis-electric push rod base (206) are hinged by a cross-axis universal joint (207) fixed by a retaining spring.

4. The waist rehabilitation robot based on parallel structure according to claim 1, characterized in that A sponge layer is added to the surface of the upper limb plate (1) and the lower limb plate (2).

5. The waist rehabilitation robot based on parallel structure according to claim 1, characterized in that A linear guide rail (103) fixed on the surface of an upper limb support plate (102) is equipped with a corresponding locking slider (113); the locking slider (113) is connected to a human body fixing rod (105) by bolts, and a human body fixing sponge (101) is added to the human body fixing rod (105).

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