Double-input self-locking rehabilitation robot motion support

Abstract

The utility model provides a double-input self-locking rehabilitation robot movement support, and relates to the technical field of medical instruments. A first support of the support is connected with a second support. A first driving assembly, a worm and gear assembly and a second driving assembly are arranged at the end, close to the first support, of the second support, the first driving assembly and the second driving assembly are connected with the worm and gear assembly through couplings, and the first driving assembly can drive the worm and gear assembly under the action of electric energy. The second driving assembly can drive the worm and gear assembly under the action of kinetic energy; the worm and gear assembly is connected with the lifting assembly, and the worm and gear assembly can drive the lifting assembly to do lifting motion in the height direction of the second support under driving of the first driving assembly or the second driving assembly; the lifting assembly can be used for assisting the patient in rehabilitation training. The first driving assembly and the second driving assembly are arranged to drive the worm and gear assembly, and the device can be suitable for places with power sources and outdoor places without power sources.

Description

Technical Field

[0001] This specification relates to the field of medical device technology, and more specifically, to a dual-input self-locking rehabilitation robot motion support. Background Technology

[0002] As a support device for rehabilitation robots, rehabilitation patients need a support device to assist them in walking and to lift them from a sitting to a standing position when they are training indoors or outdoors. However, most existing devices are just auxiliary frames with height adjustment functions. When using existing devices, patients first adjust the height of the auxiliary frame according to their own height, and then use its auxiliary functions for training. These devices will encounter disadvantages such as unstable movement, unreliable self-locking of the height adjustment structure, and inability to adjust the height in the event of a power outage outdoors, which may lead to secondary injury to the patient. Moreover, traditional auxiliary devices have serious defects in terms of durability, reliability, and energy efficiency. Utility Model Content

[0003] The purpose of this specification is to provide a dual-input self-locking rehabilitation robot motion support that can overcome the above-mentioned defects of traditional auxiliary devices.

[0004] The embodiments described in this specification are implemented as follows:

[0005] A dual-input self-locking rehabilitation robot motion support includes a first support, a second support, a first drive assembly, a second drive assembly, a worm gear assembly, and a lifting assembly;

[0006] The first bracket is connected to the second bracket, and the setting direction of the first bracket is perpendicular to the setting direction of the second bracket;

[0007] The second bracket is provided with the first drive assembly, the worm gear assembly and the second drive assembly at one end near the first bracket. The first drive assembly and the second drive assembly are respectively connected to the worm gear assembly via couplings. The first drive assembly can drive the worm gear assembly under the action of electrical energy, and the second drive assembly can drive the worm gear assembly under the action of kinetic energy.

[0008] The worm gear assembly is connected to the lifting assembly, and the worm gear assembly can drive the lifting assembly to move up and down along the height direction of the second bracket under the drive of the first drive assembly or the second drive assembly;

[0009] The lifting assembly can be used to assist patients in rehabilitation training.

[0010] The embodiments described in this specification have at least the following advantages or beneficial effects:

[0011] Compared to existing technologies, the first drive component of this dual-input self-locking rehabilitation robot motion support rotates its output shaft via electrical energy, thereby driving the aforementioned worm gear assembly. In outdoor or other locations without power, the second drive component uses kinetic energy to rotate its hand-cranked output shaft, which in turn drives the worm gear assembly. This worm gear assembly then drives the lifting component to move up and down along the height of the second support, allowing the patient to transition from a sitting to a standing position or vice versa. Therefore, by using the first and second drive components to drive the worm gear assembly, this motion support is suitable for both locations with and without power, including outdoor locations, making it more practical. Attached Figure Description

[0012] To more clearly illustrate the technical solutions of the embodiments of this specification, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this specification and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a structural diagram of the motion support for the dual-input self-locking rehabilitation robot provided in this manual.

[0014] Figure 2 This is a structural schematic diagram of the worm gear assembly provided in this specification;

[0015] Figure 3 This is a schematic diagram showing the installation position of the lead screw provided in this manual;

[0016] Figure 4 This is a structural diagram of the caster wheel provided in this manual;

[0017] Figure 5 This is a structural diagram of the hand-cranked gear assembly provided in this manual.

[0018] Icons: 1. First bracket; 2. Second bracket; 3. Third bracket; 4. First drive assembly; 5. Worm gear assembly; 6. Second drive assembly; 61. First stage spur gear; 62. Second stage spur gear; 63. Third stage bevel gear; 64. Hand crank output shaft; 7. Lifting assembly; 8. Elastic element; 9. Second lifting beam; 10. Guide rod; 11. Caster wheel; 111. First support member; 112. Second support member; 113. Vibration damping spring. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments in this specification clearer, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Generally, the components of the embodiments of this specification described and shown in the accompanying drawings can be arranged and designed in various different configurations.

[0020] Therefore, the following detailed description of the embodiments provided in the accompanying drawings is not intended to limit the scope of the claimed specification, but merely represents selected embodiments of the specification. All other embodiments obtained by those skilled in the art based on the embodiments in this specification without inventive effort are within the scope of protection of this specification.

[0021] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0022] In the description of the embodiments in this specification, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationships commonly used when the product is in use. These are used only for the convenience of describing this specification and for simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this specification. Furthermore, the terms "first," "second," and "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0023] Furthermore, the use of terms such as "horizontal," "vertical," and "suspended" does not imply that the component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0024] In the description of the embodiments in this specification, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this specification according to the specific circumstances.

[0025] Please refer to Figures 1 to 5 The dual-input self-locking rehabilitation robot motion support provided in one embodiment of this specification mainly includes a first support 1, a second support 2, a first drive assembly 4, a second drive assembly 6, a worm gear assembly 5, and a lifting assembly 7.

[0026] The first bracket 1 is connected to the second bracket 2, and the setting direction of the first bracket 1 is perpendicular to the setting direction of the second bracket 2;

[0027] The second bracket 2 is provided with the first drive assembly 4, the worm gear assembly 5 and the second drive assembly 6 at one end near the first bracket 1. The first drive assembly 4 and the second drive assembly 6 are respectively connected to the worm gear assembly 5 through couplings. The first drive assembly 4 can drive the worm gear assembly 5 under the action of electrical energy, and the second drive assembly 6 can drive the worm gear assembly 5 under the action of kinetic energy.

[0028] The worm gear assembly 5 is connected to the lifting assembly 7. Under the drive of the first drive assembly 4 or the second drive assembly 6, the worm gear assembly 5 can drive the lifting assembly 7 to move up and down along the height direction of the second bracket 2.

[0029] The lifting component 7 can be used to assist patients in rehabilitation training.

[0030] In this embodiment, the first support 1 is used as a bottom support and the second support 2 is used as a back support. It can be seen that the first support 1 and the second support 2 are set in different directions to facilitate patient use.

[0031] Specifically, in use, the first drive component 4 outputs electrical energy to make its output shaft rotate, thereby driving the worm gear assembly 5 to rotate. In places without power, such as outdoors, the second drive component 6 uses kinetic energy to make its hand-cranked output shaft 64 rotate, thereby driving the worm gear assembly 5 to rotate. This causes the worm gear assembly 5 to drive the lifting component 7 to move up and down along the height direction of the second support 2, allowing the patient to change from a sitting position to a standing position or vice versa.

[0032] Based on the above, it can be seen that the above-mentioned motion bracket, by setting the first drive component 4 and the second drive component 6 to drive the worm gear assembly 5, can be applied to places with power supply as well as outdoor places without power supply, and is more practical.

[0033] In this embodiment, the first drive component 4 includes a drive motor, and the second drive component 6 includes a hand-cranked gear assembly and a hand-cranked output shaft 64 connected to each other. The output shaft of the drive motor is connected to one end of the worm of the worm gear assembly 5, and the hand-cranked output shaft 64 is connected to the other end of the worm.

[0034] The output shaft of the drive motor can drive the worm to rotate, thereby driving the worm wheel of the worm gear assembly 5 to rotate, and the worm wheel is connected to the lifting assembly 7;

[0035] The hand-cranked output shaft 64, driven by the hand-cranked gear assembly, drives the worm gear to rotate, thereby driving the worm wheel to rotate.

[0036] In this embodiment, the second drive component 6 is equipped with a hand-cranked gear assembly, and kinetic energy is input to the hand-cranked gear assembly by hand, so that the hand-cranked output shaft 64 is in a rotating state, thereby achieving the effect of driving the worm gear to rotate.

[0037] As can be seen, the above-described setup allows the exercise brace to assist patients in changing posture even in locations without power, via hand cranking. Furthermore, using either a drive motor or a hand-cranked gear assembly as dual inputs effectively enhances the practicality of the exercise brace.

[0038] In this embodiment, the hand-cranked gear assembly includes a hand crank, a first-stage spur gear 61, a second-stage spur gear 62, and a third-stage bevel gear 63. The first-stage spur gear 61 meshes with the second-stage spur gear 62, the second-stage spur gear 62 meshes with the third-stage bevel gear 63, and the third-stage bevel gear 63 is meshed with one end of the hand-cranked output shaft 64. The hand crank is located at the center of the first-stage spur gear 61.

[0039] The hand crank can drive the first-stage spur gear 61 to rotate, the first-stage spur gear 61 can drive the second-stage spur gear 62 to rotate, which in turn drives the third-stage bevel gear 63 to rotate, and the third-stage bevel gear 63 can drive the hand crank output shaft 64 to rotate, which in turn drives the worm gear to rotate.

[0040] In this embodiment, the modules of the first-stage spur gear 61, the second-stage spur gear 62, and the third-stage bevel gear 63 decrease sequentially, and the output torque of the hand-cranked gear assembly is 35 N.m-45 N.m.

[0041] In this embodiment, the module of the first-stage spur gear 61 is 2, the module of the second-stage spur gear 62 is 0.8, and the module of the third-stage bevel gear 63 is 0.5. By setting up three-stage gears, the speed can be increased. That is, the kinetic energy is input through the hand crank and the speed is increased through the three-stage gears, which can improve the moving speed of the lifting component 7.

[0042] In this embodiment, the first-stage spur gear 61, the second-stage spur gear 62 and the third-stage bevel gear 63 are made of 2Cr13. The hand-cranked gear assembly also includes a housing, which covers the first-stage spur gear 61, the second-stage spur gear 62 and the third-stage bevel gear 63, and the housing is made of aluminum alloy.

[0043] In this embodiment, the lifting assembly 7 includes a lead screw, a lead screw nut, and a first lifting beam;

[0044] One end of the lead screw is connected to the worm gear, and the lead screw can rotate under the condition that the worm gear rotates. The lead screw nut is sleeved on the outside of the lead screw, and the lead screw nut can move along the length direction of the lead screw under the condition that the lead screw rotates.

[0045] The first lifting beam is connected to the nut.

[0046] In this embodiment, the second bracket 2 is a rectangular bracket, with one end of the lead screw positioned at the center of the worm gear, so that the worm gear drives the lead screw to rotate circumferentially, thereby allowing the nut mounted on the lead screw to move linearly along the length of the lead screw. The end of the lead screw furthest from the worm gear is positioned at the upper rod position of the second bracket 2 (i.e.,...). Figure 1 (The up and down shown are for vertical directions).

[0047] In this embodiment, the lifting assembly 7 further includes a second lifting beam 9, an elastic element 8, a guide rod 10, and several cantilever arms; the guide rod 10 is disposed on the first support 1, and the length direction of the guide rod 10 is the same as the length direction of the lead screw; the second lifting beam 9 is slidably connected to the guide rod 10, and the setting direction of the second lifting beam 9 is the same as the setting direction of the first lifting beam; both ends of the elastic element 8 are respectively connected to the first lifting beam and the second lifting beam 9; one end of the several cantilever arms is connected to the second lifting beam 9, and the other end of the cantilever arms is used to support the patient; when the first lifting beam moves up and down, the second lifting beam 9 can move along the length direction of the guide rod 10 by the force of the elastic element 8.

[0048] In this embodiment, two guide rods 10 are provided. The two guide rods 10 are symmetrically arranged about the direction of the lead screw length. The two ends of the first lifting beam are slidably connected to the two guide rods 10 respectively, so that the first lifting beam will not deviate during the lifting and moving process.

[0049] In this embodiment, the elastic element 8 can preferably be a spring. A spring is provided between the first lifting beam and the second lifting beam 9, and the spring is sleeved outside the guide rod 10. This can effectively play a buffering role, thereby preventing the patient from adjusting their posture when the first lifting beam is affected by external forces during the lifting process.

[0050] In this embodiment, the helix angle of the worm in the worm gear assembly 5 is smaller than the friction angle. This design enables the worm gear assembly 5 to have a self-locking function, facilitating the locking of the lead screw nut to a specific position on the lead screw, thus making it convenient for patients to use.

[0051] In this embodiment, a third support 3 is also included. One end of the third support 3 is connected to the end of the second support 2 away from the first support 1. A weight-reducing component is provided at the end of the third support 3 away from the second support 2. The weight-reducing component can suspend a soft rope / belt.

[0052] In this embodiment, there are two third supports 3, and the two third supports 3 are L-shaped, that is, they have a horizontal part and a vertical part. The two ends of the vertical part are respectively connected to one end of the horizontal part and the end of the side rod (left or right side rod) of the second support 2 away from the first support 1. The end of the horizontal part away from the vertical part is set in the form of a cantilever, and the length direction of the horizontal part is consistent with the setting direction of the movable support of the first support 1. That is, the second support 2 is set on the corresponding side of the first support 1 and the third support 3, so as to reserve space for the patient to change positions.

[0053] In this embodiment, the weight-reducing component is a U-shaped hook. Each third support 3 is equipped with a U-shaped hook. The U-shaped hook can suspend a soft rope or belt, and the soft rope or belt can be tied to the patient's body position, so that the third support 3 can bear the patient's weight and facilitate the patient to change positions.

[0054] In this embodiment, the first support 1 includes two movable supports and a crossbar. The two ends of the crossbar are respectively connected to the two movable supports, and the length direction of the crossbar intersects with the length direction of the movable supports.

[0055] A groove is provided on one side of the cross frame, one end of the second bracket 2 is disposed in the groove, and the cross frame and the end of the second bracket 2 near the groove are connected by screws.

[0056] In this embodiment, an L-shaped reinforcing rib is provided at the connection position between the movable support and the cross frame to improve the connection strength between the two.

[0057] In this embodiment, by setting a groove, the connection stability of the first bracket 1 and the second bracket 2 can be further improved, thereby improving the stability of the above-mentioned motion bracket.

[0058] In this embodiment, universal wheels 11 are respectively provided at both ends of the movable bracket. A first support member 111 is provided on the side of the movable bracket near the universal wheels 11, and a second support member 112 is provided on the side of the universal wheels 11 near the movable bracket. The first support member 111 and the second support member 112 are connected, and a damping spring 113 is provided between the first support member 111 and the second support member 112. The elastic deformation direction of the damping spring 113 is the same as the length direction of the second bracket 2.

[0059] In this embodiment, the universal wheels 11 facilitate the movement of the aforementioned motion support, while the damping springs 113 further enhance the damping effect of the motion support, thereby improving the user experience for patients.

[0060] In this embodiment, the longitudinal height of the third support 3 is preferably 1980mm, which can be made of steel tubing; the second lifting beam 9 has a maximum movable height of 1350mm and a minimum movable height of 500mm along the guide rod 10, which can meet the activity space required for the patient to change from a sitting to a standing position; in order to provide better cushioning for the patient during the change of posture, a spring is provided on the guide rod 10, the spring having a diameter of 5mm and a length of 180mm in its natural state.

[0061] The above are merely preferred embodiments of this specification and are not intended to limit this specification. Various modifications and variations can be made to this specification by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. A dual-input self-locking rehabilitation robot motion support, characterized in that, It includes a first bracket, a second bracket, a first drive assembly, a second drive assembly, a worm gear assembly, and a lifting assembly; The first bracket is connected to the second bracket, and the setting direction of the first bracket is perpendicular to the setting direction of the second bracket; The second bracket is provided with the first drive assembly, the worm gear assembly and the second drive assembly at one end near the first bracket. The first drive assembly and the second drive assembly are respectively connected to the worm gear assembly via couplings. The first drive assembly can drive the worm gear assembly under the action of electrical energy, and the second drive assembly can drive the worm gear assembly under the action of kinetic energy. The worm gear assembly is connected to the lifting assembly, and the worm gear assembly can drive the lifting assembly to move up and down along the height direction of the second bracket under the drive of the first drive assembly or the second drive assembly; The lifting assembly can be used to assist patients in rehabilitation training.

2. The dual-input self-locking rehabilitation robot motion support according to claim 1, characterized in that, The first drive assembly includes a drive motor, and the second drive assembly includes a hand-cranked gear assembly and a hand-cranked output shaft connected to each other. The output shaft of the drive motor is connected to one end of the worm of the worm gear assembly, and the hand-cranked output shaft is connected to the other end of the worm. The output shaft of the drive motor can drive the worm to rotate, thereby driving the worm wheel of the worm gear assembly to rotate, and the worm wheel is connected to the lifting assembly; The hand-cranked output shaft, driven by the hand-cranked gear assembly, drives the worm gear to rotate, thereby driving the worm wheel to rotate.

3. The dual-input self-locking rehabilitation robot motion support according to claim 2, characterized in that, The hand-cranked gear assembly includes a hand crank, a first-stage spur gear, a second-stage spur gear, and a third-stage bevel gear. The first-stage spur gear meshes with the second-stage spur gear, the second-stage spur gear meshes with the third-stage bevel gear, and the third-stage bevel gear is meshed with one end of the hand-cranked output shaft. The hand crank is located at the center of the first-stage spur gear. The hand crank can drive the first-stage spur gear to rotate, the first-stage spur gear can drive the second-stage spur gear to rotate, which in turn drives the third-stage bevel gear to rotate, and the third-stage bevel gear can drive the hand crank output shaft to rotate, which in turn drives the worm gear to rotate.

4. The dual-input self-locking rehabilitation robot motion support according to claim 3, characterized in that, The modules of the first-stage spur gear, the second-stage spur gear, and the third-stage bevel gear decrease sequentially, and the output torque of the hand-cranked gear assembly is 35 N·m-45 N·m.

5. The dual-input self-locking rehabilitation robot motion support according to claim 2, characterized in that, The lifting assembly includes a lead screw, a lead nut, and a first lifting beam; One end of the lead screw is connected to the worm gear, and the lead screw can rotate under the condition that the worm gear rotates. The lead screw nut is sleeved on the outside of the lead screw, and the lead screw nut can move along the length direction of the lead screw under the condition that the lead screw rotates. The first lifting beam is connected to the nut.

6. The dual-input self-locking rehabilitation robot motion support according to claim 5, characterized in that, The lifting assembly further includes a second lifting beam, an elastic element, a guide rod, and several cantilever arms; the guide rod is mounted on the first support, and its length direction is the same as that of the lead screw; the second lifting beam is slidably connected to the guide rod, and its orientation is the same as that of the first lifting beam; both ends of the elastic element are connected to the first lifting beam and the second lifting beam, respectively; one end of each of the several cantilever arms is connected to the second lifting beam, and the other end of each cantilever arm is used to support the patient; when the first lifting beam moves up and down, the second lifting beam can move along the length direction of the guide rod through the force of the elastic element.

7. The dual-input self-locking rehabilitation robot motion support according to claim 1, characterized in that, The helix angle of the worm in the worm gear assembly is smaller than the friction angle.

8. The dual-input self-locking rehabilitation robot motion support according to claim 1, characterized in that, It also includes a third support, one end of which is connected to the end of the second support away from the first support. The end of the third support away from the second support is provided with a weight-reducing component, which can suspend a soft rope / belt.

9. The dual-input self-locking rehabilitation robot motion support according to claim 1, characterized in that, The first support includes two movable supports and a crossbar. The two ends of the crossbar are respectively connected to the two movable supports, and the length direction of the crossbar intersects the length direction of the movable supports. A groove is provided on one side of the cross frame, one end of the second bracket is disposed in the groove, and the cross frame and the end of the second bracket near the groove are connected by screws.

10. The dual-input self-locking rehabilitation robot motion support according to claim 9, characterized in that, The movable support is provided with casters at both ends. A first support member is provided on the side of the movable support near the casters, and a second support member is provided on the side of the casters near the movable support. The first support member and the second support member are connected, and a damping spring is provided between the first support member and the second support member. The elastic deformation direction of the damping spring is the same as the length direction of the second support.

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