Rack module for rehabilitation physiotherapy robot and rehabilitation physiotherapy robot

Abstract

The utility model discloses a machine frame module for a rehabilitation physiotherapy robot and the rehabilitation physiotherapy robot. The machine frame module comprises a fixing frame, a driving mechanism and a driving mechanism, one transverse side edge of the damping bracket is rotatably mounted on the fixed frame around an axis extending along the longitudinal direction; the hip support is supported at the upper end of the damping support and provided with a first side edge and a second side edge which are oppositely arranged in the transverse direction. The back support is arranged on one transverse side of the hip support, and one transverse side edge of the back support is rotatably installed on the first side edge around the axis extending in the longitudinal direction. The leg support is arranged on the other transverse side of the hip support, and one transverse side edge of the leg support is rotatably installed on the second side edge around the axis extending in the longitudinal direction. The first driving mechanism is connected with the damping bracket; the second driving mechanism is connected with the back bracket; and the third driving mechanism is connected with the leg bracket. The damping effect of the back and the legs of a user in the swinging process relative to the buttocks can be enhanced, and the using somatosensory comfort degree is improved.

Description

Technical Field

[0001] This utility model relates to the field of rehabilitation therapy robot technology, specifically to a frame module for a rehabilitation therapy robot and the rehabilitation therapy robot itself. Background Technology

[0002] The fast pace of modern life can cause stress for some people, leading to a sub-healthy state. Studies have shown that physical vibration therapy can relax muscles and improve blood circulation, significantly alleviating physical fatigue and mental tension in sub-healthy individuals. Based on this, a rehabilitation therapy robot capable of providing physical vibration therapy is now available on the market. However, existing rehabilitation therapy robots cannot target different parts of the patient's body for specific treatments, resulting in poor therapeutic effects. Utility Model Content

[0003] The main purpose of this invention is to propose a frame module for a rehabilitation therapy robot and a rehabilitation therapy robot, aiming to solve the problem of poor therapeutic effect of traditional rehabilitation therapy robots.

[0004] To achieve the above objectives, this utility model proposes a frame module for a rehabilitation therapy robot, comprising:

[0005] Fixture;

[0006] A shock-absorbing bracket is disposed vertically above the fixed frame, and one lateral edge of the shock-absorbing bracket is rotatably mounted on the fixed frame around an axis extending longitudinally.

[0007] A hip support is provided at the vertical end of the shock-absorbing bracket, the hip support having a first side edge and a second side edge that are arranged opposite each other in the lateral direction;

[0008] A back support is provided on one lateral side of the hip support, and the lateral side edge of the back support is rotatably mounted on the first side edge about an axis extending longitudinally.

[0009] A leg support is provided on the other side of the hip support, and one side edge of the leg support is rotatably mounted on the second side edge about an axis extending longitudinally.

[0010] The first drive mechanism is located on the fixed frame and is drivenly connected to the shock absorber bracket;

[0011] A second drive mechanism is disposed on the shock-absorbing bracket and / or the hip bracket, and is drively connected to the back bracket; and,

[0012] The third drive mechanism is located on the shock-absorbing bracket and / or the hip bracket, and is drive-connected to the leg bracket.

[0013] Optionally, the rotatable connection between the shock-absorbing bracket and the fixed frame is located near the first side edge.

[0014] Optionally, the shock absorber bracket includes a first shock absorber plate and a second shock absorber plate arranged vertically at intervals, and at least one first elastic shock absorber element sandwiched between the first shock absorber plate and the second shock absorber plate;

[0015] The hip support is fixedly supported at the first shock-absorbing plate, and the second shock-absorbing plate is rotatably connected to the fixed frame.

[0016] Optionally, a second elastic shock absorber element is provided at the rotatable connection between the shock absorber bracket and / or the fixed bracket.

[0017] Optionally, the fixing frame includes a base frame and a support frame fixed vertically above the base frame, the support frame including:

[0018] The first support rod is arranged at least two intervals along the longitudinal direction;

[0019] The second support rod is arranged at least two in a longitudinal direction at intervals, and each second support rod is arranged in a one-to-one correspondence with each first support rod in a transverse direction at intervals.

[0020] A first connecting rod extends laterally and connects between the corresponding first support rod and the second support rod;

[0021] A second connecting rod extends longitudinally and connects between each of the first support rods; and

[0022] The third connecting rod extends longitudinally and connects between each of the second support rods;

[0023] The first support rod and the second support rod extend vertically toward the same side at an inclination, and the shock-absorbing bracket is rotatably connected to the first support rod.

[0024] Optionally, the first drive mechanism, the second drive mechanism, and / or the third drive mechanism include a main body and a telescopic shaft; in the first drive mechanism, the main body is rotatably connected to the fixed frame about a longitudinally extending axis, and the telescopic shaft is rotatably connected to the shock-absorbing bracket about a longitudinally extending axis.

[0025] In the second drive mechanism, the main body is rotatably connected to the shock-absorbing bracket and / or the hip bracket about a longitudinally extending axis, and the telescopic shaft is rotatably connected to the back bracket about a longitudinally extending axis.

[0026] In the third drive mechanism, the main body is rotatably connected to the shock-absorbing bracket and / or the hip bracket about a longitudinally extending axis, and the telescopic shaft is rotatably connected to the leg bracket about a longitudinally extending axis.

[0027] Optionally, the back support can be tilted upwards and downwards relative to the hip support; and / or,

[0028] The leg support can be tilted upwards and downwards relative to the hip support.

[0029] Optionally, the frame module further includes a rod and a sleeve that are movably sleeved laterally;

[0030] The end of the rod away from the sleeve is rotatably connected to the shock-absorbing bracket and / or the hip bracket about a longitudinally extending axis, and the end of the sleeve away from the rod is rotatably connected to the back bracket about a longitudinally extending axis.

[0031] Optionally, the frame module further includes a foot support, which is located on the side of the leg support that is laterally away from the hip support, and is laterally translatable relative to the leg support and / or rotatable relative to the leg support about an axis extending longitudinally.

[0032] Furthermore, to achieve the above objectives, this utility model also provides a rehabilitation therapy robot, including a frame module, wherein the frame module comprises:

[0033] Fixture;

[0034] A shock-absorbing bracket is disposed vertically above the fixed frame, and one lateral edge of the shock-absorbing bracket is rotatably mounted on the fixed frame around an axis extending longitudinally.

[0035] A hip support is provided at the vertical end of the shock-absorbing bracket, the hip support having a first side edge and a second side edge that are arranged opposite each other in the lateral direction;

[0036] A back support is provided on one lateral side of the hip support, and the lateral side edge of the back support is rotatably mounted on the first side edge about an axis extending longitudinally.

[0037] A leg support is provided on the other side of the hip support, and one side edge of the leg support is rotatably mounted on the second side edge about an axis extending longitudinally.

[0038] The first drive mechanism is located on the fixed frame and is drivenly connected to the shock absorber bracket;

[0039] A second drive mechanism is disposed on the shock-absorbing bracket and / or the hip bracket, and is drively connected to the back bracket; and,

[0040] The third drive mechanism is located on the shock-absorbing bracket and / or the hip bracket, and is drive-connected to the leg bracket.

[0041] In the technical solution provided by this utility model, the frame module allows users to use it in any suitable sitting, lying, or reclining posture. During use, the hip support provides support for the user's hips, and a first drive mechanism drives the hip support to swing, simulating the lifting and lowering motion of the hips with the waist as the center. The back support provides support for the user's back, and a second drive mechanism drives the back support to swing, simulating the lifting and lowering motion of the back with the hips as the center. The leg support provides support for the user's legs, and a third drive mechanism drives the leg support to swing, simulating the lifting and lowering motion of the legs with the hips as the center. This facilitates targeted physiotherapy for various parts of the user's body. In addition, since a shock-absorbing bracket is provided between the hip support and the fixed frame, and the shock-absorbing bracket swings synchronously with the hip support, the shock-absorbing bracket can provide shock absorption and cushioning for the user's hips and other parts regardless of the user's physiotherapy posture. This helps to enhance the physiotherapy effect during the swinging motion of the user's back and legs relative to the hips and improves the user's comfort. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0043] Figure 1 A perspective view of an embodiment of the rack module provided by this utility model;

[0044] Figure 2 for Figure 1 Side view of the mid-rack module;

[0045] Figure 3 for Figure 1 Assembly diagram of the middle shock absorber bracket and the hip bracket from a first-person perspective;

[0046] Figure 4 for Figure 1 Assembly diagram of the middle shock absorber bracket and the hip bracket from a second-view perspective;

[0047] Figure 5 for Figure 1 A schematic diagram of the mid-back support structure from below;

[0048] Figure 6 for Figure 1 A three-dimensional structural diagram of the mounting bracket.

[0049] Explanation of icon numbers:

[0050] 100 Fixed frame; 110 Base frame; 120 Support frame; 121 First support rod; 122 Second support rod; 123 First connecting rod; 124 Second connecting rod; 125 Third connecting rod; 200 Shock-absorbing bracket; 210 First shock-absorbing plate; 220 Second shock-absorbing plate; 221 Seventh side edge; 222 Eighth side edge; 230 First elastic shock absorber element; 300 Hip support; 310 First side edge; 320 Second side edge; 400 Back support; 410 Third side edge; 420 Fourth side edge; 500 Leg support; 510 Fifth side edge; 520 Sixth side edge; 600 Foot support; 610 First plate; 620 Second plate; 701 Main body; 702 Telescopic shaft; 710 First drive mechanism; 720 Second drive mechanism; 730 Third drive mechanism; 810 Second elastic shock absorber element; 820 Rod body; 830 Sleeve body; 840 Handrail mounting mechanism.

[0051] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0052] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0053] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0054] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0055] Please see Figures 1 to 6 This utility model provides a frame module for a rehabilitation therapy robot and a rehabilitation therapy robot that can be applied to it.

[0056] It should be noted that, for ease of understanding, the following embodiments will be described using the example of a rack module having two roughly perpendicular vertical, horizontal, and longitudinal directions. When the rack module is actually put into use, the vertical direction can correspond to the direction of gravity, having an upper and lower side; the horizontal and longitudinal directions are any two roughly perpendicular directions on the horizontal plane. The horizontal plane is also a plane that is basically perpendicular to the direction of gravity.

[0057] Specifically Figures 1 to 6Taking the structure shown as an example, the frame module includes a fixed frame 100, a shock-absorbing bracket 200, a hip support 300, a back support 400, a leg support 500, a first drive mechanism 710, a second drive mechanism 720, and a third drive mechanism 730. The shock-absorbing bracket 200 is located vertically above the fixed frame 100, and one lateral edge of the shock-absorbing bracket 200 is rotatably mounted to the fixed frame 100 about a longitudinally extending axis. The hip support 300 is supported on the vertical upper end of the shock-absorbing bracket 200, and the hip support 300 has a first side edge 310 and a second side edge 320 that are laterally opposite to each other. The back support 400 is located on one lateral side of the hip support 300, and one lateral edge of the back support 400 is rotatably mounted to the first side edge 310 about a longitudinally extending axis. The leg support 500 is located on the other side of the hip support 300, and one side edge of the leg support 500 is rotatably mounted on the second side edge 320 around the longitudinally extending axis; the first drive mechanism 710 is located on the fixed frame 100 and is drivenly connected to the shock-absorbing bracket 200; the second drive mechanism 720 is located on the shock-absorbing bracket 200 and / or the hip support 300 and is drivenly connected to the back support 400; the third drive mechanism 730 is located on the shock-absorbing bracket 200 and / or the hip support 300 and is drivenly connected to the leg support 500.

[0058] In the technical solution provided by this utility model, the frame module allows users to use it in any suitable sitting, lying, or reclining posture. During use, the hip support 300 provides support for the user's hips, and the first drive mechanism 710 drives the hip support 300 to swing, simulating the lifting and lowering motion of the hips with the waist as the center. The back support 400 provides back support for the user, and the second drive mechanism 720 drives the back support 400 to swing, simulating the lifting and lowering motion of the back with the hips as the center. The leg support 500 provides leg support for the user, and the third drive mechanism... The 730-driven leg support 500 swings, simulating the lifting and lowering motion of the legs with the hips as the center, thus facilitating targeted physiotherapy for various parts of the user's body. In addition, since a shock-absorbing support 200 is provided between the hip support 300 and the fixing frame 100, the shock-absorbing support 200 swings synchronously with the hip support 300, so that the shock-absorbing support 200 can provide shock absorption and cushioning for the user's hips and other parts of the body regardless of the user's physiotherapy posture. This helps to enhance the physiotherapy effect during the swinging of the user's back and legs relative to the hips, and improves the user's comfort.

[0059] When the gantry module is used alone, the mounting bracket 100 can be directly placed on a platform such as the ground; when the gantry module is used in conjunction with other mechanisms in the rehabilitation therapy robot, the mounting bracket 100 can be fixedly connected to, for example, the bottom support component of the rehabilitation therapy robot, and indirectly placed on a platform such as the ground.

[0060] The specific form of the fixed frame 100 is not limited; it can be, but is not limited to, a base, a plate, a frame, or a box. For example... Figures 1 to 6 As shown, the mounting frame 100 includes a base frame 110 and a support frame 120 fixed vertically above the base frame 110. The base frame 110 extends approximately along the horizontal plane. It should be noted that if we define the orthographic projection area of ​​the hip support 300 on the horizontal plane as the first orthographic projection area, the orthographic projection area of ​​the support frame 120 on the horizontal plane as the second orthographic projection area, and the orthographic projection area of ​​the base frame 110 on the horizontal plane as the third orthographic projection area, then the relationship between the first and second orthographic projection areas is not restricted. However, both the first and second orthographic projection areas fall within the third orthographic projection area, and the first and second orthographic projection areas are smaller than the third orthographic projection area. In this way, the base frame 110 can form a sufficient support area, providing more stable support for the support frame 120, hip support 300, back support 400, and leg support 500, etc., mounted on the base frame 110.

[0061] The support frame 120 is installed between the base frame 110 and the shock-absorbing bracket 200, so that the shock-absorbing bracket 200 and the hip support 300 form a sufficiently suitable height relative to the base frame 110, which is more conducive to the user lying flat. Specifically, the support frame 120 may include a first support rod 121, a second support rod 122, a first connecting rod 123, a second connecting rod 124, and a third connecting rod 125. Among them, at least two first support rods 121 are arranged longitudinally at intervals; at least two second support rods 122 are arranged longitudinally at intervals, and each second support rod 122 is arranged in a one-to-one correspondence with each first support rod 121 in the transverse direction; the first connecting rod 123 extends transversely and connects between the corresponding first support rod 121 and second support rod 122; the second connecting rod 124 extends longitudinally and connects between each first support rod 121; and the third connecting rod 125 extends longitudinally and connects between each second support rod 122.

[0062] Two first support rods 121 and two second support rods 122 can be provided. Then, two first connecting rods 123 are respectively provided corresponding to the two sets of first support rods 121 and second support rods 122, with at least two connecting rods 123 arranged vertically between each set of first support rods 121 and second support rods 122. At least two second connecting rods 124 connect between two first support rods 121, and at least two connecting rods 124 are arranged vertically. At least two third connecting rods 125 connect between two second support rods 122, and at least two connecting rods 125 are arranged vertically. In this way, the first support rods 121, the second support rods 122, the first connecting rods 123, the second connecting rods 124, and the third connecting rods 125 together form a relatively stable frame structure.

[0063] The first support rod 121 and the second support rod 122 can extend vertically in a straight line, or the first support rod 121 and the second support rod 122 can extend vertically to the same side, and the shock absorber bracket 200 is rotatably connected to the first support rod 121.

[0064] When the hip support 300 has a first side edge 310 and a second side edge 320 as described above, the first side edge 310 is closer to the back support 400. In this case, the rotatable connection between the shock-absorbing support 200 and the fixing frame 100 is located near the first side edge 310. In this way, when the shock-absorbing support 200 and the hip support 300 rotate synchronously relative to the fixing frame 100, their rotation center is closer to the first side edge 310, which is more suitable for the swinging process of the user's hips with the waist as the center.

[0065] Specifically, the shock absorber bracket 200 has a seventh side edge 221 and an eighth side edge 222 that are arranged opposite each other in the transverse direction. When the hip support 300 is directly or indirectly mounted on the shock absorber bracket 200 through a support structure, the seventh side edge 221 is positioned close to the first side edge 310, and the eighth side edge 222 is positioned close to the second side edge 320. In this case, the axis of rotation between the shock absorbers and the fixed frame 100 is made as close as possible to the seventh side edge 221.

[0066] In view of this, a second elastic damping element 810 may be further provided at the rotatable connection between the damping bracket 200 and / or the fixing frame 100. Specifically, for example, the second elastic damping element 810 may be provided on the damping bracket 200 near the eighth side edge 222, and / or at the second support rod 122, and / or at the second connecting rod 124, and / or at the third connecting rod 125. The second elastic damping element 810 at least ensures that when the damping bracket 200 and the hip support 300 are in their initial positions, i.e., when the second side edge 320 / eighth side edge 222 is sufficiently close to the support frame 120, it can be placed between the damping bracket 200 and the support frame 120, so that the two elastically abut against each other, and can stably maintain the damping bracket 200 and the hip support 300 in their current initial positions, reducing stress concentration at the rotatable connection between the damping bracket 200 and the support frame 120.

[0067] In view of the above, the shock-absorbing bracket 200 is mainly used to dampen the rotation of the hip support 300 relative to the fixed frame 100, and can also be used to dampen the rotation of the back support 400 relative to the hip support 300 and the leg support 500 relative to the hip support 300. There are various specific solutions for the shock-absorbing bracket 200 to achieve this function; for example, the shock-absorbing bracket 200 can be directly constructed from an elastic padding structure. Or, as... Figures 3 to 4As shown, the damping bracket 200 includes a first damping plate 210 and a second damping plate 220 arranged vertically at intervals, and at least one first elastic damping element 230 sandwiched between the first damping plate 210 and the second damping plate 220; the hip support 300 is fixedly supported at the first damping plate 210, and the second damping plate 220 is rotatably connected to the fixing frame 100. The first damping plate 210 and the second damping plate 220 can be composed of a single plate, or have a partially perforated surface, or be a frame structure enclosed by rods 820. The first damping plate 210 and / or the second damping plate 220 are preferably made of rigid materials to maintain the overall structural strength of the damping bracket 200.

[0068] The first elastic damping element 230, sandwiched between the first damping plate 210 and the second damping plate 220, mainly performs the aforementioned damping and buffering function. The specific form of the first elastic damping element 230 is not limited; it can be, but is not limited to, columnar. The first elastic damping element 230 can be arranged in any suitable manner between the first damping plate 210 and the second damping plate 220, such as arrayed along the transverse and longitudinal directions, arranged in a vortex pattern, arranged radially, or randomly dispersed.

[0069] The elastic strength of each first elastic damping element 230 can be kept consistent. Alternatively, in a further embodiment, the elastic strength of at least some of the first elastic damping elements 230 can be set differently in different zones. For example, the elastic strength can be increased in areas where the force is concentrated on the buttocks, and the elastic strength can be appropriately reduced in areas where the force is less on the buttocks, which is more in line with ergonomics.

[0070] Similarly, the back support 400 has a third side edge 410 and a fourth side edge 420 arranged laterally opposite to each other. The third side edge 410 is adjacent to and rotatably connected to the first side edge 310 of the hip support 300; the fourth side edge 420 is located away from the hip support 300 and is positioned closer to the user's head when the user lies flat on the frame module. The leg support 500 has a fifth side edge 510 and a sixth side edge 520 arranged laterally opposite to each other. The fifth side edge 510 is adjacent to and rotatably connected to the second side edge 320 of the hip support 300; the sixth side edge 520 is located away from the hip support 300 and is positioned closer to the user's feet when the user lies flat on the frame module.

[0071] Furthermore, in a specific application, the frame module also includes a foot support 600, which is located on the side of the leg support 500 that is laterally away from the hip support 300, and is laterally translatable relative to the leg support 500 and / or rotatable relative to the leg support 500 about a longitudinally extending axis. Specifically, the foot support 600 may include a vertically extending first plate 610, a laterally extending second plate 620, and a limiting structure located on the first plate 610. The first plate 610 is used to accommodate the foot, the second plate 620 is used to support the ankle, and the limiting structure is used to limit the foot to the first plate 610. A drive assembly is located on the fixed frame 100 and is drivenly connected to the movable frame.

[0072] When the foot support 600 moves laterally relative to the leg support 500, it can cause the foot and ankle to stretch outward and press inward moderately relative to the leg. This not only provides therapeutic relaxation for the user's feet and ankles, but also transmits the translational movement to the leg joints, further aiding in therapeutic relaxation of the user's legs. This results in a more comprehensive therapeutic effect and significantly improved comfort from the legs to the soles of the feet. Furthermore, when the user performs translational movements while lying flat, the direction of the driving force applied to the feet to propel the movements is intersecting rather than collinear or parallel to the direction of the user's gravity. This allows the driving torque to be set to be relatively small, only needing to overcome the friction between the body and the second plate 620. This saves energy and helps improve the product's usability and user experience.

[0073] Based on one or more of the above embodiments, at least two of the first drive mechanism 710, the second drive mechanism 720, and the third drive mechanism 730 can be composed of the same set of drive mechanisms. In this case, when the drive function of the first drive mechanism 710 needs to be operated, the drive mechanism is switched to drive connection with the hip support 300 / shock-absorbing support 200; when the drive function of the second drive mechanism 720 needs to be operated, the drive mechanism is switched to drive connection with the back support 400; when the drive function of the third drive mechanism 730 needs to be operated, the drive mechanism is switched to drive connection with the leg support 500.

[0074] Of course, the first drive mechanism 710, the second drive mechanism 720, and the third drive mechanism 730 can also be composed of three separate drive mechanisms to ensure that the drive of the hip support 300 / shock-absorbing support 200, the drive of the back support 400, and the drive of the leg support 500 are all independent and do not interfere with each other. Based on this, the first drive mechanism 710, the second drive mechanism 720, and the third drive mechanism 730 can be composed of drive mechanisms with the same drive principle, or they can be composed of drive mechanisms with different drive principles.

[0075] For example Figures 1 to 6 Taking the illustrated structure as an example, the first drive mechanism 710, the second drive mechanism 720, and / or the third drive mechanism 730 include a main body 701 and a telescopic shaft 702. When the first drive mechanism 710, the second drive mechanism 720, and / or the third drive mechanism 730 specifically include a driver, the driver may be, for example, a linear cylinder or a linear electric cylinder. Taking a linear electric cylinder as an example, the cylinder body of the linear electric cylinder constitutes the main body 701, and the output shaft of the linear electric cylinder constitutes the telescopic shaft 702. In the first drive mechanism 710, the main body 701 is rotatably connected to the fixed frame 100 about a longitudinally extending axis, and the telescopic shaft 702 is rotatably connected to the shock-absorbing bracket 200 about a longitudinally extending axis; in the second drive mechanism 720, the main body 701 is rotatably connected to the shock-absorbing bracket 200 and / or the hip bracket 300 about a longitudinally extending axis, and the telescopic shaft 702 is rotatably connected to the back bracket 400 about a longitudinally extending axis; in the third drive mechanism 730, the main body 701 is rotatably connected to the shock-absorbing bracket 200 and / or the hip bracket 300 about a longitudinally extending axis, and the telescopic shaft 702 is rotatably connected to the leg bracket 500 about a longitudinally extending axis.

[0076] Furthermore, it should be noted that in a specific application, the back support 400 can be tilted upwards and downwards relative to the hip support 300; and / or the leg support 500 can be tilted upwards and downwards relative to the hip support 300. This allows the rotation of each support in the frame module to adapt to various user therapy postures: for example, when the back support 400 and the leg support 500 are aligned with the hip support 300, corresponding to the user's supine position, rotating the hip support 300 can raise or lower the user's entire lower body. Or, for example, when the back support 400 is tilted upwards relative to the hip support 300, corresponding to the user's sitting or reclining position, the hip support 300 and the leg support 500 can be rotated as needed for therapy. Or, for example, when the leg support 500 is tilted downwards relative to the hip support 300, corresponding to the user's sitting posture, the hip support 300 and the back support 400 can be rotated as needed for physical therapy. And so on.

[0077] Furthermore, in one embodiment, the frame module further includes a rod 820 and a sleeve 830 that are movably sleeved laterally; when the rod 820 and the sleeve 830 are positioned between the back support 400 and the shock-absorbing support 200 / hip support 300, one of the rod 820 and the sleeve 830 is rotatably connected to the back support 400 about a longitudinally extending axis, and the other is rotatably connected to the shock-absorbing support 200 / hip support 300 about a longitudinally extending axis. Specifically, taking an example where the end of the rod 820 away from the sleeve 830 is rotatably connected to the shock-absorbing support 200 and / or the hip support 300 about a longitudinally extending axis, and the end of the sleeve 830 away from the rod 820 is rotatably connected to the back support 400 about a longitudinally extending axis. It can be understood that the rod 820 includes a first segment near the sleeve 830 and a second segment away from the sleeve 830; the sleeve 830 includes a first segment near the rod 820 and a second segment away from the rod 820. The first segment and the first sleeve are movably connected. Since both the rod 820 and the sleeve 830 extend laterally, the movable connection between the first segment and the first sleeve guides the rotation of the support at its current position. The rotational connection between the second segment and the second sleeve and the corresponding support provides greater rotational freedom. When the back support 400 rotates relative to the hip support 300 to any position, the movable connection between the first segment and the first sleeve allows for flexible adaptation. Furthermore, the frame module may also include an armrest mounting mechanism 840, which generally extends elongatedly along the longitudinal direction of the back support 400 and partially protrudes from both sides of the longitudinal direction of the back support 400. At this time, the rod 820 and the sleeve 830 can ensure that when the back support 400 rotates relative to the hip support 300, the armrest installed at the armrest mounting mechanism 840 can always be parallel to the hip support 300, ensuring that the armrest can support the arm in a relatively comfortable state in any posture.

[0078] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A frame module for a rehabilitation therapy robot, characterized in that, include: Fixture; A shock-absorbing bracket is disposed vertically above the fixed frame, and one lateral edge of the shock-absorbing bracket is rotatably mounted on the fixed frame around an axis extending longitudinally. A hip support is provided at the vertical end of the shock-absorbing bracket, the hip support having a first side edge and a second side edge that are arranged opposite each other in the lateral direction; A back support is provided on one lateral side of the hip support, and the lateral side edge of the back support is rotatably mounted on the first side edge about an axis extending longitudinally. A leg support is provided on the other side of the hip support, and one side edge of the leg support is rotatably mounted on the second side edge about an axis extending longitudinally. The first drive mechanism is located on the fixed frame and is drivenly connected to the shock absorber bracket; The second drive mechanism is located on the shock-absorbing bracket and / or the hip bracket, and is drive-connected to the back bracket; as well as, The third drive mechanism is located on the shock-absorbing bracket and / or the hip bracket, and is drive-connected to the leg bracket; The shock-absorbing bracket includes a first shock-absorbing plate and a second shock-absorbing plate arranged vertically at intervals, and at least one first elastic shock absorber element sandwiched between the first shock-absorbing plate and the second shock-absorbing plate; the hip bracket is fixedly supported at the first shock-absorbing plate, and the second shock-absorbing plate is rotatably connected to the fixed frame; a second elastic shock absorber element is provided at the rotatable connection between the shock-absorbing bracket and / or the fixed frame.

2. The frame module for a rehabilitation therapy robot as described in claim 1, characterized in that, The rotatable connection between the shock-absorbing bracket and the fixed frame is located near the first side edge.

3. The frame module for a rehabilitation therapy robot as described in claim 1, characterized in that, The fixing frame includes a base frame and a support frame fixed vertically above the base frame, the support frame including: The first support rod is arranged at least two intervals along the longitudinal direction; The second support rod is arranged at least two in a longitudinal direction at intervals, and each second support rod is arranged in a one-to-one correspondence with each first support rod in a transverse direction at intervals. A first connecting rod extends laterally and connects between the corresponding first support rod and the second support rod; A second connecting rod extends longitudinally and connects between each of the first support rods; and The third connecting rod extends longitudinally and connects between each of the second support rods; The first support rod and the second support rod extend vertically toward the same side at an inclination, and the shock-absorbing bracket is rotatably connected to the first support rod.

4. The frame module for a rehabilitation therapy robot as described in claim 1, characterized in that, The first drive mechanism, the second drive mechanism, and / or the third drive mechanism each include a main body and a telescopic shaft; in the first drive mechanism, the main body is rotatably connected to the fixed frame about a longitudinally extending axis, and the telescopic shaft is rotatably connected to the shock-absorbing bracket about a longitudinally extending axis. In the second drive mechanism, the main body is rotatably connected to the shock-absorbing bracket and / or the hip bracket about a longitudinally extending axis, and the telescopic shaft is rotatably connected to the back bracket about a longitudinally extending axis. In the third drive mechanism, the main body is rotatably connected to the shock-absorbing bracket and / or the hip bracket about a longitudinally extending axis, and the telescopic shaft is rotatably connected to the leg bracket about a longitudinally extending axis.

5. The frame module for a rehabilitation therapy robot as described in claim 1, characterized in that, The back support can be tilted upwards and downwards relative to the hip support; and / or, The leg support can be tilted upwards and downwards relative to the hip support.

6. The frame module for a rehabilitation therapy robot as described in claim 1, characterized in that, The frame module also includes a rod and a sleeve that are movably sleeved in the lateral direction; The end of the rod away from the sleeve is rotatably connected to the shock-absorbing bracket and / or the hip bracket about a longitudinally extending axis, and the end of the sleeve away from the rod is rotatably connected to the back bracket about a longitudinally extending axis.

7. The frame module for a rehabilitation therapy robot as described in claim 1, characterized in that, The frame module also includes a foot support, which is located on the side of the leg support that is laterally away from the hip support, and is laterally translatable relative to the leg support and / or rotatable relative to the leg support about a longitudinally extending axis.

8. A rehabilitation therapy robot, characterized in that, Includes the rack module as described in any one of claims 1 to 7.

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