Connecting rod device for rehabilitation training robot

Abstract

The connecting rod device for the rehabilitation training robot comprises a pelvis lifting connecting base and a pelvis yawing connecting base which are arranged at intervals, and a left connecting rod, a shifting rod and a right connecting rod are sequentially hinged between the first end of the pelvis lifting connecting base and the pelvis yawing connecting base in the horizontal direction. The open end of the deflector rod extends into the second end of the pelvis lifting connecting seat; two spring assemblies are symmetrically arranged between the two sides of the open end of the shifting rod and the two sides of the pelvis lifting connecting base. According to the implementation mode, when the pelvis yawing connecting seat drives the deflector rod to swing, the deflector rod can provide rigid support for the connecting rod device, and then the stability and reliability of the connecting rod device are improved. In addition, spring assemblies are arranged on the two sides of the open end of the deflector rod, damping can be provided for the deflector rod no matter how the swinging direction of the deflector rod is, and therefore the rotating speed and the rotating acceleration of the deflector rod are limited.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical instrument technical field especially is related to a connecting rod device for rehabilitation training robot. BACKGROUND

[0002] For the crowd of lower limbs gait abnormality, lower limbs postoperative rehabilitation training, walking or balance dysfunction and cerebral apoplexy recovery period and so on lower limbs need to carry out rehabilitation, usually adopts lower limbs rehabilitation robot to carry out rehabilitation training.

[0003] The utility model discloses a intelligent walking aid rehabilitation training robot of publication number CN211382530U, the specification paragraph 0065-0066 and the specification attached drawing 20-24 of the intelligent walking aid rehabilitation training robot have disclosed the front four bar mechanism. Among them, the fixed connecting seat 244 is fixed on a support mechanism, and the function of sliding up and down is realized through the connection with the lifting mechanism. The tail end of the mobile connecting seat 245 is connected with the head end of the yaw cylinder 222.

[0004] The front four bar mechanism 203 realizes the displacement of horizontal freedom degree. That is to say, two connecting rods 242 can rotate relative to the fixed connecting seat 244. The tension spring 235 connected between the fixed connecting seat 244 and the mobile connecting seat 245 included in the tension spring fixing mechanism can provide damping when the two connecting rods 242 rotate.

[0005] However, the overall strength of the front four bar mechanism is still supported by the two connecting rods 242, and the tension spring fixing mechanism only plays a damping role, which cannot make the overall front four bar mechanism more stable.

[0006] In addition, when the two connecting rods 242 are installed to form a four-bar linkage mechanism, a tool needs to be inserted into the four-bar linkage mechanism to install the tension spring 235. Due to the limited space, it is inconvenient to install and maintain the tension spring 235. UTILITY MODEL CONTENTS

[0007] The content part of the utility model briefly introduces the conception, which will be described in detail in the specific embodiment part. The content part of the disclosure does not aim to identify the key features or essential features of the claimed technical solution, nor does it aim to limit the scope of the claimed technical solution.

[0008] Some embodiments of the utility model provide a connecting rod device for a rehabilitation training robot to solve the technical problems mentioned in the background technology part.

[0009] The connecting rod device for the rehabilitation training robot comprises a pelvic lifting connecting seat and a pelvic yaw connecting seat arranged at intervals, wherein,

[0010] The left connecting rod, the push rod and the right connecting rod are sequentially hinged between the first end of the pelvic lifting connecting seat and the pelvic yaw connecting seat in horizontal direction, and the open end of the push rod extends into the second end of the pelvic lifting connecting seat.

[0011] Two spring assemblies are symmetrically arranged between the two sides of the open end of the push rod and the two sides of the pelvic lifting connecting seat, and the two spring assemblies provide swing damping in response to the swing of the push rod driven by the pelvic yaw connecting seat.

[0012] Optionally, each spring assembly comprises a first spring connected to the open end of the push rod and one side of the pelvic lifting connecting seat.

[0013] Optionally, each spring assembly further comprises a spring fixing seat symmetrically fixed to the two sides of the pelvic lifting connecting seat, and the two first springs are one-to-one connected with the two spring fixing seats.

[0014] Optionally, each spring assembly comprises a top block and a second spring, the first end of the second spring is inserted into the top block, the top block abuts against the open end of the push rod, and the second end of the second spring is connected to one side of the pelvic lifting connecting seat.

[0015] Optionally, each spring assembly further comprises a guide block fixed to the pelvic lifting connecting seat, the top block is slidably sleeved on the guide block, and the second end of the second spring is connected with the guide block.

[0016] Optionally, each spring assembly further comprises a guide shaft inserted into the second spring, the first end of the guide shaft is fixedly connected with the top block, and the second end of the guide shaft is slidably inserted into the guide block.

[0017] Optionally, the open end of the push rod is pivotally connected with a push rod bearing, and the outer edge of the push rod bearing is engaged with the two top blocks.

[0018] Optionally, the top block is arc-shaped towards one end of the push rod.

[0019] Optionally, the connecting rod device further comprises a locking assembly, the locking assembly comprises a limiting pin and a tapered hole opened on the push rod, one end of the limiting pin is threadedly connected with the pelvic lifting connecting seat and can be matched with the tapered hole.

[0020] Optionally, the other end of the limiting pin is threadedly connected with a knob protruding from the pelvic lifting connecting seat.

[0021] The above embodiment of the utility model has the following beneficial effects: the setting of the push rod parallel to the left connecting rod and the right connecting rod makes the push rod, the left connecting rod and the right connecting rod swing together.

[0022] In addition, the spring assembly is arranged on both sides of the open end of the push rod, so that the push rod can provide damping regardless of the swing direction of the push rod, thereby limiting the rotation speed and rotation acceleration of the push rod.

[0023] Finally, the spring assembly is arranged in the inner cavity of the pelvic lifting connecting seat, so that the spring assembly provides an operation space for installation and disassembly, thereby providing convenience for replacing and maintaining the spring assembly. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the specific embodiments of the utility model or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the utility model, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0025] Figure 1 It is a perspective view of an embodiment of the connecting rod device for the rehabilitation training robot of the utility model;

[0026] Figure 2 It is a side view of an embodiment of the connecting rod device for the rehabilitation training robot of the utility model;

[0027] Figure 3 It is a perspective view of an embodiment of the connecting rod device for the rehabilitation training robot of the utility model; Figure 2 It is a sectional view of the spring assembly along A-A in the embodiment;

[0028] Figure 4 It is a sectional view of another embodiment of the spring assembly along A-A; Figure 2 It is a sectional view of another embodiment of the spring assembly along A-A;

[0029] Figure 5 It is a structural schematic view of another embodiment of the spring assembly.

[0030] Figure 6 It is a sectional view of the locking assembly. Figure 2

[0031] BRIEF DESCRIPTION OF DRAWINGS

[0032] ​101, upper cover; 102, lower cover; 103, pelvic lifting connecting seat; 104, pelvic yaw connecting seat; 105, left connecting rod; 106, push rod; 107, right connecting rod; 108, rotating shaft; 109, first spring; 110, spring fixing seat; 111, second spring; 112, top block; 113, guide block; 114, guide shaft; 115, push rod bearing; 116, knob; 117, pin sleeve; 118, limiting pin; 119, conical hole. DETAILED DESCRIPTION

[0033] The technical solutions of the present application will be described clearly and completely below in conjunction with the embodiments. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0034] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0035] In addition, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the present application, "a plurality of" means two or more, unless otherwise explicitly and specifically limited. In addition, the terms "mounting", "connecting", and "connecting" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0036] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0037] First, please refer to Figure 1 , Figure 2 and Figure 3 ,Figure 1 This is a perspective view of one embodiment of the linkage device for a rehabilitation training robot according to the present invention; Figure 2 This is a side view of one embodiment of the linkage device for a rehabilitation training robot according to the present invention; Figure 3 for Figure 2 A cross-sectional view of the spring assembly along AA in one embodiment. Figures 1 to 3 As shown, the linkage device for the rehabilitation training robot includes a pelvic lifting connector 103 and a pelvic swing connector 104 spaced apart. The pelvic lifting connector 103 is enclosed by an upper cover 101 and a lower cover 102 and has a cavity.

[0038] like Figure 3 As shown, a left connecting rod 105, a lever 106, and a right connecting rod are pivotally connected between the pelvic lifting connecting seat 103 and the pelvic swing connecting seat 104. At the first end of the pelvic lifting connecting seat 103 ( Figure 3 Three symmetrically arranged rotating shafts 108 are respectively provided on the right end shown and on the pelvic horizontal connecting seat 104.

[0039] The right ends of left link 105 and right link 107 ( Figure 3 The direction in the middle) is rotatably connected to the pelvic swing connecting seat 104 via the corresponding rotating shaft 108. The left end of the left connecting rod 105 and the left end of the right connecting rod 107 (in the middle direction) Figure 3 (in the direction) is connected to the second end of the pelvic lifting connecting seat 103 via the corresponding rotating shaft 108. Figure 3 The left end shown is rotatably connected. In this way, the pelvic lifting connecting seat 103, the pelvic swing connecting seat 104, the left connecting rod 105 and the right connecting rod 107 form a four-bar linkage, so the pelvic swing connecting seat 104 can swing relative to the pelvic lifting connecting seat 103.

[0040] The right end of the aforementioned lever 106 ( Figure 3 The direction in the middle) is rotatably connected to the pelvic horizontal swing connecting seat 104 via the rotating shaft 108 in the middle of the pelvic horizontal swing connecting seat 104. The lever 106 can be longer than the left connecting rod 105 and the right connecting rod 107, so the lever 106 is rotatably connected to the pelvic lifting connecting seat 103 via the rotating shaft 108 in the middle of the pelvic lifting connecting seat 103, thereby making the open end of the lever 106 (in the middle direction) Figure 3 The left end (as shown) extends into the second end cavity of the pelvic lifting connector 103. During the swinging of the pelvic swing connector 104 relative to the pelvic lifting connector 103, the open end of the lever 106 swings within the cavity of the pelvic lifting connector 103. In this way, the lever 106 provides rigid support for the aforementioned four-bar linkage, improving its stability.

[0041] Furthermore, on the upper and lower sides of the open end of the lever 106 ( Figure 3 Two spring assemblies are symmetrically arranged between the two sides of the pelvic lifting connector 103 (in the direction shown). The two spring assemblies can provide damping when the lever 106 swings, thereby limiting the rotational speed and rotational acceleration of the lever 106.

[0042] like Figure 3 As shown, each spring assembly may include a first spring 109 and a spring retainer 110. Since the two spring assemblies are symmetrically arranged, the upper spring assembly will be used as an example. The spring retainer 110 is fixedly mounted to the upper inner wall of the pelvic lifting connector 103. The upper end of the first spring 109, i.e., the end facing away from the lever 106, is connected to the spring retainer 110, and the lower end of the first spring 109, i.e., the end facing the lever 106, is connected to the open end of the lever 106. When the lever 106 rotates clockwise around the rotation axis 108 on the pelvic lifting connector 103, the lower first spring 109 is stretched, and the upper first spring 109 is compressed, thereby providing a downward damping force to the lever 106, thus limiting the rotational speed and acceleration of the lever 106. Similarly, when the lever 106 rotates counterclockwise around the rotation axis 108 of the pelvic lifting connecting seat 103, the upper first spring 109 is stretched and the lower first spring 109 is compressed, thereby providing an upward damping force to the lever 106.

[0043] Please refer to the following. Figure 4 and Figure 5 , Figure 4 for Figure 2 A cross-sectional view of the spring assembly along another embodiment of AA; Figure 5 This is a structural schematic diagram of another embodiment of the spring assembly. In addition to the embodiment of the spring assembly disclosed above, the following will combine... Figure 4 and Figure 5 Another embodiment of the spring assembly will be described. Since the two spring assemblies are symmetrically arranged, the upper spring assembly will still be used as an example for explanation. Figure 4 and Figure 5 As shown, the spring assembly may include a top block 112 and a second spring 111. The first end of the second spring 111 ( Figure 4 The lower end (as shown) is inserted into the top block 112 at the end facing the lever 106. The second end of the second spring 111 ( Figure 4 The upper end (shown) of the lever 106, which is opposite to the lever 106, is connected to the upper side of the pelvic lifting connector 103. In this way, when the open end of the lever 106 rotates around the rotating shaft 108, it can press against the top block 112. At this time, the second spring 111 is compressed, thereby providing damping force.

[0044] Furthermore, to ensure that the top block 112 and the second spring 111 can slide along their own axis without tilting, the spring assembly also includes a guide block 113 and a guide shaft 114. The guide block 113 is fixedly connected to the upper inner wall of the pelvic lifting connecting seat 103, and the end of the top block 112 facing away from the lever 106 ( Figure 4 The upper end shown is slidably fitted onto the guide block 113. The first end of the guide shaft 114, that is, the end facing the lever 106 ( Figure 4 The lower end (as shown) is inserted into the second spring 111 and fixedly connected to the top block 112. The second end of the guide shaft 114, that is, the end opposite to the lever 106 ( Figure 4 The upper end (as shown) is inserted into the guide block 113. In this way, when the top block 112 is pressed by the lever 106, the second spring is compressed, and the guide shaft 114 and the top block 112 can slide along the guide block 113, thereby limiting the sliding direction of the top block 112, preventing the top block 112 from tilting, and improving the reliability of the spring assembly.

[0045] Furthermore, to make the sliding of the top block 112 smoother, the open end of the lever 106 can be pivotally connected to the lever bearing 115 via a pivot shaft, and the top block 112 is arranged in an arc shape at the end facing the lever 106. When the lever 106 presses against the top block 112, the lever bearing 115 can rotate around its own axis along the arc surface of the top block 112, thereby reducing friction and making the sliding of the top block 112 smoother.

[0046] In the embodiments of the two spring assemblies described above, since the first spring and the second spring are located in the cavity of the pelvic lifting connecting seat 103, they will not be affected by the left connecting rod 105 and the right connecting rod 107 when being replaced or repaired, thus facilitating disassembly and repair.

[0047] Please see last. Figure 6 And refer to again Figure 5 , Figure 6 for Figure 2 A cross-sectional view of the locked component. (Example) Figure 4 and Figure 6 As shown, the linkage device also includes a locking assembly, comprising a limiting pin 118 and a tapered hole 119 extending to the upper end of the lever 106. The tapered hole 119 can be set at 140°, and the lower end of the limiting pin 118 can also be set at 140°. The lower end of the limiting pin 118 ( Figure 6The limiting pin 118 (in the direction of the movement) can be threadedly connected to the pelvic lifting connecting seat 103, or a pin sleeve 117 can be provided on the pelvic lifting connecting seat 103, with the lower end of the limiting pin 118 threadedly connected to the pin sleeve 117. When the lower end of the limiting pin 118 engages with the tapered hole 119, it can limit the swing of the lever 106, thereby locking the linkage device. When the lower end of the limiting pin 118 disengages from the tapered hole 119, the lock is released, and the pelvic swing connecting seat 104 can swing relative to the pelvic lifting connecting seat 103.

[0048] Furthermore, at the upper end of the limit pin 118 ( Figure 6 The pelvic lifting connector 103 is also threadedly connected to a knob 116, which is located above the pelvic lifting connector 103. This allows the user to easily adjust the limit pin 118.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A link device for a rehabilitation training robot, characterized by, The device comprises a pelvic lifting connecting seat and a pelvic yawing connecting seat arranged at intervals, A left connecting rod, a shifting rod and a right connecting rod are sequentially hinged between the first end of the pelvic lifting connecting seat and the pelvic yawing connecting seat in a horizontal direction, and the open end of the shifting rod extends into the second end of the pelvic lifting connecting seat. Two spring assemblies are symmetrically arranged between the two sides of the open end of the shifting rod and the two sides of the pelvic lifting connecting seat, and the two spring assemblies provide swing damping in response to the swinging of the shifting rod driven by the pelvic yawing connecting seat.

2. The link device for a rehabilitation training robot according to claim 1, characterized by, Each spring assembly comprises a first spring connected to the open end of the shifting rod and one side of the pelvic lifting connecting seat.

3. The link device for a rehabilitation training robot according to claim 2, characterized by, Each spring assembly further comprises a spring fixing seat symmetrically fixed to the two sides of the pelvic lifting connecting seat, and the two first springs are one-to-one connected to the two spring fixing seats.

4. The link device for a rehabilitation training robot according to claim 1, characterized by, Each spring assembly comprises a top block and a second spring, the first end of the second spring is inserted into the top block, the top block abuts against the open end of the shifting rod, and the second end of the second spring is connected to one side of the pelvic lifting connecting seat.

5. The link device for a rehabilitation training robot according to claim 4, characterized by, Each spring assembly further comprises a guide block fixed to the pelvic lifting connecting seat, the top block is slidably sleeved to the guide block, and the second end of the second spring is connected to the guide block.

6. The link device for a rehabilitation training robot according to claim 5, characterized by, Each spring assembly further comprises a guide shaft inserted into the second spring, the first end of the guide shaft is fixedly connected to the top block, and the second end of the guide shaft is slidably inserted into the guide block.

7. The link device for a rehabilitation training robot according to claim 6, characterized by, The open end of the shifting rod is pivotally connected with a shifting rod bearing, and the outer edge of the shifting rod bearing is engaged with the two top blocks.

8. The link device for a rehabilitation training robot according to claim 7, characterized by, The end of the top block towards the shifting rod is arc-shaped.

9. The link device for a rehabilitation training robot according to claim 1, characterized by, The connecting rod device further comprises a locking assembly, the locking assembly comprises a limiting pin and a tapered hole opened on the shifting rod, one end of the limiting pin is threadedly connected with the pelvic lifting connecting seat and can be matched with the tapered hole.

10. The link device for a rehabilitation training robot according to claim 9, characterized by, The other end of the limiting pin is threadedly connected with a knob protruding from the pelvic lifting connecting seat.

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