Walking assisting robot for rehabilitation

Abstract

The utility model relates to the technical field of rehabilitation medical equipment, and discloses a rehabilitation auxiliary walking robot which comprises a rack, a wheel set is arranged at the bottom of the rack and comprises a front wheel and a rear wheel which are arranged in front of and behind the rack, the front wheel comprises a driving wheel and a driven wheel, and a shaft rod rotationally connected with the rack is arranged between the driving wheel and the driven wheel. The driving wheel is fixedly connected with the shaft rod, the driven wheel is rotationally connected with the shaft rod, and the rear wheel comprises universal trundles on the two sides of the rack. Mechanical leg assemblies for supporting the left leg and the right leg of a human body to move are arranged on the left side and the right side in the rack respectively, the shaft rod drives the mechanical leg assemblies to move through a transmission mechanism, a lifting and falling seat assembly for achieving conversion between a sitting posture and a standing posture is arranged in the middle of the rack, and a lifting mechanism for driving the lifting and falling seat assembly to move up and down is arranged on the front portion of the inner side of the rack. The walking robot is convenient to put on and take off and low in walking energy consumption, posture changes of rehabilitation personnel can be guided in an auxiliary mode through lifting of the rising and falling seat assembly, pain of the rehabilitation personnel is relieved, and rehabilitation experience is improved.

Description

Technical Field

[0001] This utility model relates to the field of rehabilitation medical equipment technology, and in particular to a rehabilitation assistive walking robot. Background Technology

[0002] For a long time, wheelchairs have been the primary assistive device for patients with lower limb motor dysfunction. While wheelchairs offer convenience, they still require assistance with daily living activities such as exercise, eating, washing, and toileting. Furthermore, existing wheelchairs are seated and do not provide lower limb exercise functions, offering minimal aid to rehabilitation. Seated wheelchairs also cause prolonged pressure on the buttocks, increasing the risk of bedsores and even muscle atrophy in the legs. Therefore, assistive walking robots for patients with lower limb motor dysfunction are essential.

[0003] Most existing rehabilitation training equipment consists of fixed rehabilitation training robots, which fix patients to the equipment and use a treadmill under their feet to complete in-place walking training. Treadmill-style walking training is not entirely equivalent to normal daily walking exercise, which is not conducive to the physical and mental health of patients. It also has drawbacks such as inconvenience in putting on and taking off the equipment, limited space, and high energy consumption. Utility Model Content

[0004] This utility model provides a rehabilitation-assisted walking robot. The walking robot is easy to put on and take off, and has low energy consumption. It can be used for rehabilitation exercises for rehabilitation personnel and to assist patients with lower limb motor dysfunction in daily walking. The lifting and lowering of the seat assembly can realize the conversion between sitting and standing postures, which facilitates the change of posture for rehabilitation personnel, reduces their pain, and improves the rehabilitation experience.

[0005] The above-mentioned objective of the utility model is achieved through the following technical solution:

[0006] A rehabilitation-assisted walking robot includes a frame with a wheel assembly at the bottom. The wheel assembly includes a front wheel and a rear wheel positioned at the front and rear of the frame. The front wheel includes a driving wheel and a driven wheel, with an axle rotatably connected to the frame between the driving wheel and the driven wheel. The driving wheel is fixedly connected to the axle, and the driven wheel is rotatably connected to the axle. The rear wheel includes omnidirectional casters on both sides of the frame. Mechanical leg assemblies supporting the left and right legs of the user are respectively located on the left and right sides inside the frame. The axle drives the mechanical leg assemblies to move through a transmission mechanism. A landing seat assembly for switching between sitting and standing postures is located in the middle of the frame. A lifting mechanism for driving the landing seat assembly to move up and down is located on the inner front side of the frame.

[0007] In the aforementioned rehabilitation-assisted walking robot, the transmission mechanism includes a reducer, a transmission belt, and a drive wheel. The drive wheel is coaxially and fixedly connected to the shaft. The transmission belt drives and connects the drive wheel and the reducer. Synchronous output shafts are provided on both sides of the reducer.

[0008] In the aforementioned rehabilitation-assisted walking robot, the mechanical leg assembly includes an adjusting rod group, a support rod, a lower leg rod, a thigh rod, and a foot plate. One end of the adjusting rod group is fixedly connected to the output shaft of the reducer, and the other end of the adjusting rod group is rotatably connected to the support rod. The other end of the support rod is fixedly connected to the top of the lower leg rod, and the support rod and the lower leg rod form an inverted V shape. The top of the thigh rod is rotatably connected to the frame, and the bottom of the thigh rod is rotatably connected to the top of the lower leg rod. The bottom of the lower leg rod is fixedly connected to the foot plate.

[0009] In the aforementioned rehabilitation-assisted walking robot, the inner side of the thigh bar is provided with an adhesive thigh strap, the inner side of the calf bar is provided with an adhesive calf strap, and the sole plate is provided with adhesive shoelaces.

[0010] In the aforementioned rehabilitation-assisted walking robot, the adjusting rod assembly includes a sleeve, a screw, and a sliding block. The sliding block is slidably connected inside the sleeve, the top of the sleeve is rotatably connected to the screw, the screw is screwed to the sliding block, the sliding block is rotatably connected to the support rod, and the upper end of the sleeve is fixedly connected to the output shaft of the reducer.

[0011] In the aforementioned rehabilitation-assisted walking robot, the lifting mechanism includes a support frame, slide rods, sliders, a connecting plate, and a self-locking gas spring. The support frame is located behind the reducer and is fixedly connected to the frame. A pair of vertical slide rods are fixedly connected to the support frame, and sliders are slidably connected to the two slide rods respectively. The two sliders are fixedly connected to the connecting plate. The self-locking gas spring is rotatably connected to the support frame, and the push rod of the self-locking gas spring is rotatably connected to the connecting plate.

[0012] The aforementioned rehabilitation-assisted walking robot includes a seating assembly comprising a seat body, a seat swing arm, a fixed rod, an adhesive lumbar support belt, a waist swing arm, a hydraulic cylinder, a rocker arm, and an adjustable diagonal brace. The seat swing arm is fixedly connected to the front side of the seat body. The other end of the seat swing arm is rotatably connected to a horizontal fixed rod. The other end of the fixed rod is fixedly connected to the lower end of a connecting plate. The adhesive lumbar support belt is rotatably connected to the waist swing arm. The other end of the waist swing arm is rotatably connected to the upper part of the connecting plate. The lower part of the connecting plate is rotatably connected to a hydraulic cylinder. The cylinder rod of the hydraulic cylinder is rotatably connected to the waist swing arm. The hydraulic cylinder is connected to a rocker arm for driving the extension and retraction of the hydraulic cylinder. The waist swing arm near the rear side of the cylinder rod of the hydraulic cylinder is rotatably connected to an adjustable diagonal brace. The other end of the adjustable diagonal brace is rotatably connected to the rear side of the seat swing arm.

[0013] In the aforementioned rehabilitation-assisted walking robot, the adjustable inclined rod includes a screw cylinder with reverse internal threads connected to both ends of the screw cylinder. Adjusting rods are screwed to both ends of the screw cylinder, and the other ends of the two adjusting rods are rotatably connected to the seat swing rod and the waist swing rod, respectively.

[0014] In the aforementioned rehabilitation assistive walking robot, the rear side of the frame is provided with an auxiliary handrail for the person to hold, and the front side of the frame is provided with a handle for the person to hold.

[0015] In summary, the beneficial technical effects of this utility model are as follows:

[0016] The active wheel in the front wheel of this invention drives the mechanical leg assembly to swing via a transmission mechanism, which can meet the rehabilitation training and daily walking assistance needs of patients with lower limb motor dysfunction. By setting different swing speeds and swing angles, the rehabilitation training needs of therapists can be met. The lifting and lowering of the seat assembly can realize the conversion between sitting and standing postures, making it convenient for rehabilitation personnel to transition from a sitting to a standing posture for rehabilitation training, or from a standing to a sitting posture to restore the initial state of rehabilitation personnel, reducing the pain of rehabilitation personnel and improving the rehabilitation experience. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of this utility model;

[0018] Figure 2 This is a structural schematic diagram from another perspective of the present invention;

[0019] Figure 3 This is a structural schematic diagram of the frame and mechanical leg assembly of this utility model;

[0020] Figure 4 This is a structural schematic diagram of the frame and mechanical leg assembly of this utility model from another perspective;

[0021] Figure 5 This is a schematic diagram of the structure of the adjusting rod of this utility model;

[0022] Figure 6 This is a structural schematic diagram of the frame and landing gear assembly of this utility model;

[0023] Figure 7 This is a structural schematic diagram of the frame and landing gear assembly of this utility model from another perspective.

[0024] The diagram shows: 1. Frame; 2. Wheelset; 21. Front wheel; 211. Drive wheel; 212. Driven wheel; 22. Rear wheel; 221. Swivel caster; 23. Axle; 3. Mechanical leg assembly; 31. Adjusting rod assembly; 311. Sleeve; 312. Screw; 313. Sliding block; 32. Support rod; 33. Lower leg rod; 331. Adhesive lower leg strap; 34. Thigh rod; 341. Adhesive thigh strap; 35. Foot plate; 351. Adhesive shoelaces; 4. Transmission. Mechanism; 41. Reducer; 42. Transmission belt; 43. Drive wheel; 5. Lifting seat assembly; 51. Seat body; 52. Seat swing arm; 53. Fixing rod; 54. Adhesive lumbar support belt; 55. Waist swing arm; 56. Hydraulic cylinder; 57. Rocker arm; 58. Adjustable diagonal tie rod; 581. Screw barrel; 582. Adjusting rod; 6. Lifting mechanism; 61. Support frame; 62. Slide rod; 63. Slider; 64. Connecting plate; 65. Self-locking gas spring; 7. Auxiliary handrail; 8. Handle. Detailed Implementation

[0025] The following is in conjunction with the appendix Figure 1-7 The present invention will be described in further detail below.

[0026] like Figure 1 , 2 As shown, a rehabilitation-assisted walking robot includes a frame 1. A wheel set 2 is provided at the bottom of the frame 1. The wheel set 2 includes a front wheel 21 and a rear wheel 22 arranged at the front and rear of the frame 1. The front wheel 21 includes an active wheel 211 and a driven wheel 212. An axle 23 is provided between the active wheel 211 and the driven wheel 212 and is rotatably connected to the frame 1. The active wheel 211 is fixed to the axle 23, and the driven wheel 212 is rotatably connected to the axle 23. The rear wheel 22 includes universal casters 221 on both sides of the frame 1. Mechanical leg assemblies 3 supporting the movement of the left and right legs of the human body are respectively provided on the left and right sides inside the frame 1. The axle 23 drives the mechanical leg assemblies 3 to move through the transmission mechanism 4. A lifting seat assembly 5 for realizing the conversion between sitting and standing postures is provided in the middle of the frame 1. A lifting mechanism 6 for driving the lifting seat assembly 5 to move up and down is provided on the inner front of the frame 1.

[0027] like Figure 1 , 3 As shown, the transmission mechanism 4 includes a reducer 41, a transmission belt 42 and a drive pulley 43. The drive pulley 43 is coaxially fixed to the shaft 23. The transmission belt 42 drives the drive pulley 43 and the reducer 41. Synchronous output shafts are provided on both sides of the reducer 41.

[0028] When the walking robot moves forward, the active wheel 211 rotates synchronously, driving the shaft 23 to rotate, which in turn drives the output shaft of the reducer 41 to rotate via the transmission belt 42.

[0029] like Figure 3 , 4As shown, the mechanical leg assembly 3 includes an adjusting rod group 31, a support rod 32, a lower leg rod 33, a thigh rod 34, and a foot plate 35. One end of the adjusting rod group 31 is fixedly connected to the output shaft of the reducer 41, and the other end of the adjusting rod group 31 is rotatably connected to the support rod 32. The other end of the support rod 32 is fixedly connected to the top of the lower leg rod 33. The support rod 32 and the lower leg rod 33 form an inverted V shape. The top of the thigh rod 34 is rotatably connected to the frame 1, and the bottom of the thigh rod 34 is rotatably connected to the top of the lower leg rod 33. The bottom of the lower leg rod 33 is fixedly connected to the foot plate 35.

[0030] To ensure the safety and stability of the synchronized movement of the thigh, calf and foot of the rehabilitation personnel with the mechanical leg assembly 3, an adhesive thigh strap 341 is provided on the inner side of the thigh bar 34, an adhesive calf strap 331 is provided on the inner side of the calf bar 33, and an adhesive shoelace 351 is provided on the foot plate 35.

[0031] like Figure 5 As shown, the adjusting rod assembly 31 includes a sleeve 311, a screw 312, and a sliding block 313. The sliding block 313 is slidably connected inside the sleeve 311. The top of the sleeve 311 is rotatably connected to the screw 312. The screw 312 is screwed to the sliding block 313. The sliding block 313 is rotatably connected to the support rod 32. The upper end of the sleeve 311 is fixedly connected to the output shaft of the reducer 41.

[0032] The upper end of the screw 312 is equipped with an adjustment knob. Rotating the adjustment knob can drive the screw 312 to rotate, thereby driving the sliding block 313 to slide within the sleeve 311, thus adjusting the length of the adjustment rod 582. This allows for adjustment of the gait size of the mechanical leg assembly 3. The adjustment rod assembly 31 drives the support rod 32 to swing the thigh rod 34 and the lower leg rod 33, achieving the purpose of lower limb walking rehabilitation for the rehabilitation personnel.

[0033] Controlling the pushing speed of the walking robot can control the swing frequency of the mechanical leg assembly 3.

[0034] like Figure 6 , 7 As shown, the lifting mechanism 6 includes a support frame 61, a slide bar 62, a slider 63, a connecting plate 64, and a self-locking gas spring 65. The support frame 61 is located on the rear side of the reducer 41 and is fixedly connected to the frame 1. A pair of vertical slide bars 62 are fixedly connected to the support frame 61. Slider 63 is slidably connected to the two slide bars 62 respectively. The two sliders 63 are fixedly connected to the connecting plate 64. The self-locking gas spring 65 is rotatably connected to the support frame 61. The push rod of the self-locking gas spring 65 is rotatably connected to the connecting plate 64.

[0035] like Figure 6 , 7As shown, the lifting seat assembly 5 includes a seat body 51, a seat rocker arm 52, a fixed rod 53, an adhesive lumbar support belt 54, a waist rocker arm 55, a hydraulic cylinder 56, a rocker arm 57, and an adjustable diagonal brace 58. The seat rocker arm 52 is fixedly connected to the front side of the seat body 51. The other end of the seat rocker arm 52 is rotatably connected to the horizontal fixed rod 53. The other end of the fixed rod 53 is fixedly connected to the lower end of the connecting plate 64. The adhesive lumbar support belt 54 is rotatably connected to the waist rocker arm 55. The other end of the waist rocker arm 55 is rotatably connected to the upper part of the connecting plate 64. The lower part of the connecting plate 64 is rotatably connected to the hydraulic cylinder 56. The cylinder rod of the hydraulic cylinder 56 is rotatably connected to the waist rocker arm 55. The hydraulic cylinder 56 is connected to the rocker arm 57 for driving the extension and retraction of the hydraulic cylinder 56. The waist rocker arm 55, which is close to the rear side of the cylinder rod of the hydraulic cylinder 56, is rotatably connected to the adjustable diagonal brace 58. The other end of the adjustable diagonal brace 58 is rotatably connected to the rear side of the seat rocker arm 52.

[0036] like Figure 7 As shown, specifically, the adjustable diagonal rod 58 includes a screw cylinder 581, with reverse internal threads connected to both ends of the screw cylinder 581, and adjusting rods 582 screwed to both ends of the screw cylinder 581. The other ends of the two adjusting rods 582 are rotatably connected to the seat rocker arm 52 and the waist rocker arm 55, respectively.

[0037] The rotating screw 581 can adjust the overall length of the adjustable diagonal rod 58, thereby adjusting the seat rocker arm 52 to a horizontal state and ensuring the comfort of the rehabilitation personnel's seat 51.

[0038] Before rehabilitation, the self-locking gas spring 65 is controlled to lift and lower the seat assembly 5 to a suitable position. The patient can sit on the seat 51 from the back of the frame 1, and fix the adhesive waist support belt 54, adhesive calf straps 331, adhesive thigh straps 341 and adhesive shoelaces 351. By rotating the rocker arm 57, the cylinder rod of the hydraulic cylinder 56 is extended, causing the seat rocker arm 52 to rotate downward and the waist rocker arm 55 to rotate upward, driving the adhesive waist support belt 54 to move upward and assisting the patient to stand on the mechanical leg assembly 3.

[0039] Then, the caregiver pushes the walking robot to walk. During the walking process, the active wheel 211 rotates synchronously, driving the axle 23 to move. Through the transmission belt 42, the reducer 41 works. The output shaft of the reducer 41 drives the adjustment rod group 31 to rotate, and drives the support rod 32 to move in conjunction, thereby driving the mechanical leg assembly 3 to simulate the human walking gait, achieving the effect of assisting rehabilitation.

[0040] The rear side of the frame 1 is equipped with an auxiliary handrail 7 for the assistant to hold, which makes it easier to push the walking robot. The front side of the frame 1 is equipped with a handle 8 for the rehabilitation personnel to hold. When the rehabilitation personnel are standing, they can hold the handle 8 to improve the stability of rehabilitation exercises.

[0041] The embodiments described herein are preferred embodiments of this utility model and are not intended to limit the scope of protection of this utility model. Therefore, all equivalent changes made to the structure, shape, and principle of this utility model should be included within the scope of protection of this utility model.

Claims

1. A rehabilitation assistive walking robot characterized by, The utility model provides a kind of mechanical leg assembly and lifting seat component for the disabled, including rack, the bottom of the rack is equipped with wheel group, the front wheel and rear wheel of the front and rear of the wheel group are equipped, the front wheel includes driving wheel and driven wheel, shaft is equipped between the driving wheel and driven wheel and is connected with rack rotation, the driving wheel is fixed with shaft, the driven wheel is rotationally connected with shaft, the rear wheel includes universal caster on both sides of rack;The left and right sides in the rack are equipped with mechanical leg component for supporting left leg and right leg movement of human body respectively, shaft is driven mechanical leg component movement by transmission mechanism, the middle part of the rack is equipped with for realizing seat posture and standing posture each other conversion lift seat component, the front of the inboard of the rack is equipped with for driving lift seat component up and down movement lifting mechanism.

2. The rehabilitation assistive walking robot according to claim 1, characterized by, The transmission mechanism includes a speed reducer, a transmission belt and a driving wheel, the driving wheel is coaxially fixed with the shaft, the transmission belt is drivingly connected with the driving wheel and the speed reducer, and the speed reducer is provided with synchronous output shafts on both sides.

3. The rehabilitation assistive walking robot according to claim 2, characterized by, The mechanical leg component includes an adjusting rod group, a support rod, a lower leg rod, a thigh rod and a foot plate, one end of the adjusting rod group is fixed with the output shaft of the speed reducer, the other end of the adjusting rod group is rotationally connected with the support rod, the other end of the support rod is fixed with the top of the lower leg rod, the support rod and the lower leg rod are in inverted V shape, the top of the thigh rod is rotationally connected with the rack, the bottom of the thigh rod is rotationally connected with the top of the lower leg rod, and the bottom of the lower leg rod is fixed with the foot plate.

4. The rehabilitation assistive walking robot according to claim 3, characterized by, The inner side of the thigh rod is provided with a pasted thigh band, the inner side of the lower leg rod is provided with a pasted lower leg band, and the foot plate is provided with a pasted shoelace.

5. The rehabilitation assistive walking robot according to claim 3, wherein The adjusting rod group includes a sleeve, a screw rod and a sliding block, the sliding block is slidably connected in the sleeve, the top of the sleeve is rotationally connected with the screw rod, the screw rod is screwed with the sliding block, the sliding block is rotationally connected with the support rod, and the top of the sleeve is fixed with the output shaft of the speed reducer.

6. The rehabilitation assistive walking robot according to claim 1, wherein The lifting mechanism includes a support frame, a sliding rod, a sliding block, a connecting plate and a self-locking gas spring, the support frame is located on the rear side of the speed reducer and is fixed with the rack, a pair of vertical sliding rods are fixed on the support frame, the sliding blocks are slidably connected on the sliding rods, respectively, the connecting plate is fixed with the sliding blocks, the self-locking gas spring is rotationally connected on the support frame, and the cylinder rod of the self-locking gas spring is rotationally connected.

7. The rehabilitation assistive walking robot according to claim 6, characterized by, The lift seat component includes a seat body, a seat swing rod, a fixed rod, a pasted waist support band, a waist swing rod, a hydraulic cylinder, a rocker arm and an adjustable inclined pull rod, the seat swing rod is fixed on the front side of the seat body, the other end of the seat swing rod is rotationally connected with the horizontal fixed rod, the other end of the fixed rod is fixed with the lower end of the connecting plate, the pasted waist support band is rotationally connected with the waist swing rod, the other end of the waist swing rod is rotationally connected with the upper part of the connecting plate, the lower part of the connecting plate is rotationally connected with the hydraulic cylinder, the cylinder rod of the hydraulic cylinder is rotationally connected with the waist swing rod, the hydraulic cylinder is connected with the rocker arm for driving the hydraulic cylinder to extend and retract, the adjustable inclined pull rod is rotationally connected on the rear side of the seat swing rod close to the rear side of the cylinder rod of the hydraulic cylinder, and the other end of the adjustable inclined pull rod is rotationally connected.

8. The rehabilitation assistive walking robot according to claim 7, characterized by, The adjustable inclined pull rod comprises a screw cylinder, opposite internal threads are connected at two ends of the screw cylinder, adjusting rods are screwed at the two ends of the screw cylinder, and the other ends of the two adjusting rods are respectively rotationally connected with a seat swing rod and a waist swing rod.

9. The rehabilitation assistive walking robot according to claim 1, wherein The rear side of the frame is provided with an auxiliary handrail for the assistant to hold, and the front side of the frame is provided with a handle for the rehabilitation person to hold.

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