Waist width adjusting device for rehabilitation robot

Abstract

The utility model provides a waist width adjusting device for a rehabilitation robot, which comprises a shaft connecting block, a spline shaft, two sleeves, two spline nuts, a torque sensor and two tightening columns, and the shaft connecting block is connected with a yawing mechanism; the spline shaft rotatably penetrates through the shaft connecting block; the two spline nuts are slidably connected to the two ends of the spline shaft. The two sleeves are respectively and fixedly sleeved on the two spline nuts; one end, deviating from the shaft connecting block, of each sleeve is connected with a cylinder; two ends of the torque sensor are respectively connected with the shaft connecting block and the spline shaft; a plurality of through holes are formed in the sleeve, and the tightening columns penetrate through the corresponding through holes to be inserted into the spline shaft and used for locking the sleeve. According to the implementation mode, the sleeves on the two sides can be coaxially arranged through one spline shaft, and the problem of non-concentricity is avoided. And the torque sensor is used for detecting the torque of the spline shaft during rotation, so that the auxiliary supporting force of the two cylinders is collected, and the manufacturing cost and the power consumption can be reduced.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to a waist width adjustment device for a rehabilitation robot. Background Technology

[0002] For individuals requiring lower limb rehabilitation, such as those with gait abnormalities, postoperative lower limb rehabilitation training, walking or balance disorders, or those recovering from stroke, lower limb rehabilitation robots are typically used for rehabilitation training.

[0003] Utility model patent CN211382530U discloses an intelligent walking-assisted rehabilitation training robot. This robot includes a pelvic auxiliary movement mechanism composed of a motion intention recognition mechanism, a lateral swing mechanism, and a front four-bar linkage. The motion intention recognition mechanism comprises two cylinders and two sleeves. Paragraphs

[0059] to

[0062] of the specification and the corresponding drawings disclose the structure of the two sleeves and their connection relationships with the two cylinders and the lateral swing mechanism.

[0004] In summary, the inner ends of the two sleeves 215 are equipped with flanges 214, which are connected to the lateral movement mechanism 202 via shaft connecting blocks 229. The outer ends of both sleeves 215 are connected to a load cell 212, which in turn are connected to two cylinders 206. Each sleeve 215 contains a shaft of the second ball spline 213, movably mounted via a spline nut of the second ball spline 213. In the adjustment state, the threaded plunger 211 can be removed, and the locking position of the two cylinders can be adjusted to achieve adjustment of the width of the pelvic auxiliary movement mechanism.

[0005] However, the two shafts with two second ball splines 213 on both sides are prone to misalignment after long-term use.

[0006] Furthermore, since the shaft has two second ball splines 213, two load cells 212 are needed to collect the auxiliary support force, which increases the weight of the device and raises the manufacturing cost. Simultaneously collecting and processing two auxiliary support forces will increase the robot's computing power and power consumption. Utility Model Content

[0007] The summary section of this utility model is intended to briefly introduce the concepts, which will be described in detail in the detailed description section below. This summary section is not intended to identify key or essential features of the claimed technical solution, nor is it intended to limit the scope of the claimed technical solution.

[0008] This invention provides a waist width adjustment device for a rehabilitation robot to solve the technical problems mentioned in the background section above.

[0009] The waist width adjustment device for a rehabilitation robot includes a shaft connecting block, a splined shaft, two sleeves, two splined nuts, a torque sensor, and two tightening pins.

[0010] The shaft connecting block is connected to the lateral tilting mechanism; the splined shaft rotatably passes through the shaft connecting block;

[0011] Two spline nuts are slidably connected to both ends of the spline shaft; two sleeves are respectively fixedly fitted onto the two spline nuts;

[0012] Each sleeve has a cylinder connected to one end of the shaft connecting block;

[0013] The torque sensor is connected to the shaft connecting block and the spline shaft at both ends, respectively, and is used to collect the torque of the spline shaft.

[0014] The sleeve is provided with multiple through holes, and the tightening pin passes through the corresponding through hole and is inserted into the splined shaft to lock the sleeve.

[0015] Optionally, the spline shaft is symmetrically arranged about the shaft connecting block.

[0016] Optionally, a bearing is provided inside the shaft connecting block, and the inner ring of the bearing is fitted onto the splined shaft.

[0017] Optionally, the spline shaft is fitted within the section of the shaft connecting block, the bearing is fitted onto the spline connecting shaft, and the spline connecting shaft is connected to the torque sensor.

[0018] Optionally, a clamping sleeve is fitted onto the spline connecting shaft, the clamping sleeve being used to fix the bearing.

[0019] Optionally, the outer circumference of the spline nut is provided with a keyway, and the inner wall of the sleeve is fixedly connected to the spline nut through the keyway.

[0020] Optionally, each of the sleeves is fixed with a splined shaft nut cap that is coaxially fitted onto the splined shaft at one end facing the shaft connecting block.

[0021] Optionally, each of the sleeves is fitted with an encapsulating sleeve at one end facing the shaft connecting block.

[0022] Optionally, both ends of the spline shaft are connected to adjustment blocks, and each adjustment block is provided with a positioning hole; the open end of the tightening pin is connected to a width adjustment knob; in the locked state, the tightening pin passes through the corresponding through hole and positioning hole on the sleeve, thereby locking the sleeve.

[0023] Optionally, a baffle is also connected to the side of the adjusting block opposite to the spline shaft.

[0024] The above-described embodiments of this utility model have the following beneficial effects: by using a spline shaft and a shaft connecting block for rotatable connection, and simultaneously slidably sleeved spline nuts at both ends of the spline shaft, the two sleeves fixedly connected to the spline nuts can slide along the axis of the spline shaft, thereby adjusting the distance between the two cylinders and realizing the width adjustment of the waist.

[0025] Meanwhile, using a single splined shaft allows the sleeves on both sides to be set coaxially, avoiding misalignment and improving the reliability of the device.

[0026] In addition, by connecting a torque sensor between the shaft connecting block and the spline shaft, the torque of the spline shaft during rotation can be detected, thereby collecting the auxiliary support force of the two cylinders. Compared with using two weighing sensors, this can reduce manufacturing costs and the power consumption of the rehabilitation robot. Attached Figure Description

[0027] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of one embodiment of the waist width adjustment device for a rehabilitation robot according to the present invention;

[0029] Figure 2 This is an exploded view of one embodiment of the waist width adjustment device for a rehabilitation robot according to the present invention;

[0030] Figure 3 This is an exploded view of another embodiment of the waist width adjustment device for a rehabilitation robot according to the present invention;

[0031] Figure 4 This is a cross-sectional view of one embodiment of the waist width adjustment device for a rehabilitation robot according to the present invention;

[0032] Figure 5 for Figure 4 Enlarged view of point A in the middle;

[0033] Figure 6 for Figure 4 Enlarged view of point B in the middle.

[0034] Explanation of reference numerals in the attached figures:

[0035] 100. Set sleeve; 101. Bearing; 102. Shaft connecting block; 103. Torque sensor; 104. Spline connecting shaft; 105. Tightening column; 106. Width adjustment knob; 107. Spline nut; 108. Spline shaft; 109. Spline nut cover; 110. Encapsulating sleeve; 111. Adjusting stop; 112. Baffle; 113. Sleeve;

[0036] 2. Swinging mechanism; 3. Cylinder. Detailed Implementation

[0037] The technical solution of this utility model will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0038] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0039] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "installed," "connected," and "linked" 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; 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 utility model based on the specific circumstances.

[0040] This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0041] Please see Figures 1 to 6 , Figure 1This is a schematic diagram of one embodiment of the waist width adjustment device for a rehabilitation robot according to the present invention; Figure 2 This is an exploded view of one embodiment of the waist width adjustment device for a rehabilitation robot according to the present invention; Figure 3 This is an exploded view of another embodiment of the waist width adjustment device for a rehabilitation robot according to the present invention; Figure 4 This is a cross-sectional view of one embodiment of the waist width adjustment device for a rehabilitation robot according to the present invention; Figure 5 for Figure 4 Enlarged view of point A in the middle; Figure 6 for Figure 4 Enlarged view at point B. The waist width adjustment device for the rehabilitation robot includes a shaft connecting block 102 connected to the lateral swing mechanism 2. The connection method between the shaft connecting block 102 and the lateral swing mechanism 2 is the same as that disclosed in the background art publication CN211382530U entitled "An Intelligent Walking Assistive Rehabilitation Training Robot", which will not be described again here.

[0042] A splined shaft 108 is rotatably inserted into the aforementioned shaft connecting block 102, and the splined shaft 108 can be placed symmetrically about the shaft connecting block 102. Two splined nuts 107 are slidably fitted at both ends of the splined shaft 108 with clearance, and the splined nuts 107 can slide along the axis of the splined shaft 108.

[0043] Each spline nut 107 has a keyway on its outer circumference. A sleeve 113 is fixedly fitted onto the spline nut 107 through the keyway. In the working state, the spline nut 107 and the sleeve 113 can slide relative to the axis of the spline shaft 108.

[0044] One end of the sleeve 113 on both sides, away from the shaft connecting block 102, is connected to the cylinder 3. The connection method between the sleeve 113 and the cylinder 3 is the same as the connection method disclosed in the background art publication CN211382530U entitled "An Intelligent Walking Assistive Rehabilitation Training Robot", and will not be described again here.

[0045] Taking the right-side sleeve 113 as an example, the left end of sleeve 113 ( Figure 3 A splined shaft nut cover 109 is bolted to the splined shaft 108 (in the direction of the shaft). This splined shaft nut cover 109 is coaxially fitted onto the splined shaft 108, thereby constraining the axial movement of the splined shaft nut 107 and the sleeve 113. That is, the splined shaft nut 107, the splined shaft nut cover 109, and the sleeve 113 move together along the axis of the splined shaft 108. Furthermore, an encapsulating sleeve 110 is fitted onto the outer surface of the splined shaft nut cover 109 and the left end of the sleeve 113, serving to protect the sleeve 113.

[0046] A bearing 101 is provided on each side of the shaft connecting block 102, and the outer rings of the two bearings 101 are fixedly connected to the shaft connecting block 102. A spline connecting shaft 104 is fixedly fitted onto the section of the spline shaft 108 within the shaft connecting block 102, and the inner rings of the two bearings 101 are fitted onto the spline connecting shaft 104. The spline connecting shaft 104 is used to securely fit the bearings 101 onto the spline shaft 108. When the cylinder 3 is subjected to force, it can drive the sleeve 113, the spline shaft nut 107, and the spline shaft 108 to rotate relative to the shaft connecting block 102 around their own axis through the bearings 101. In this way, the spline connecting shaft 104 can transmit the rotational torque of the spline shaft 108.

[0047] Furthermore, a clamping sleeve 100 is fitted onto the spline connecting shaft 104. The clamping sleeve 100 is used to fix the bearing 101, thereby preventing relative sliding between the spline shaft 108 and the bearing 101 and improving the reliability of the device.

[0048] To detect the auxiliary support force exerted by the cylinders 3 on the user, the device also includes a torsion sensor 103. One end of the torque sensor 103 is fixed to the shaft connecting block 102, and the other end is fixed to the spline connecting shaft 104. When the two cylinders 3 transmit torque, it is transmitted to the torque sensor 103 through the sleeve 113, spline shaft 108, and spline connecting shaft 104, thereby detecting the auxiliary support force. Compared to using two sensors, this reduces manufacturing costs and the power consumption of the rehabilitation robot.

[0049] The device also includes an adjusting stop 111, which is bolted to the right end of the splined shaft 108. The adjusting stop 111 has a positioning hole at its upper end, and the sleeve 113 has multiple through holes. A tightening pin 105 passes through the positioning hole of the adjusting stop 111 and the corresponding through holes on the sleeve 113, thereby locking the adjusting stop 111 and the sleeve 113, thus locking the width of the width adjustment device, or the distance between the two cylinders 3. When the tightening pin 105 disengages from the adjusting stop 111 and the sleeve 113, the adjusting stop 111 and the sleeve 113 can slide relative to each other, thereby adjusting the width of the width adjustment device. Furthermore, to facilitate operation of the tightening pin 105, an adjusting knob 106 can be connected to the upper end of the tightening pin 105. Additionally, at the right end of the adjusting stop 111 ( Figure 3 The direction of the adjustment block 111 is also connected to the baffle 112 by bolts, which serves to prevent the adjustment block 111 from falling off.

[0050] By providing a clamping sleeve 100, this invention can prevent relative sliding between the spline shaft 108 and the bearing 101, thereby improving the reliability of the device.

[0051] Furthermore, by fixing one end of the torque sensor 103 to the shaft connecting block 102 and the other end to the spline connecting shaft 104, when the two cylinders 3 rotate, the spline connecting shaft 104 can transmit the rotational torque of the spline shaft 108 to the torque sensor 103, thereby detecting the auxiliary support force. Compared to using two sensors, this reduces manufacturing costs and the power consumption of the rehabilitation robot.

[0052] By fixing the sleeve 113 to the adjusting block 111 and opening a positioning hole in the adjusting block 111, the adjusting block 111 and the sleeve 113 can be locked and unlocked by tightening the column 105, so as to achieve width locking and adjustment.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A waist width adjusting device for a rehabilitation robot, characterized by, It includes a shaft connecting block, a splined shaft, two sleeves, two splined nuts, a torque sensor, and two tightening pins, among which, The shaft connecting block is connected to the lateral tilting mechanism; the splined shaft rotatably passes through the shaft connecting block; Two spline nuts are slidably connected to both ends of the spline shaft; two sleeves are respectively fixedly fitted onto the two spline nuts; Each sleeve has a cylinder connected to one end of the shaft connecting block; The torque sensor is connected to the shaft connecting block and the spline shaft at both ends, respectively, and is used to collect the torque of the spline shaft. The sleeve is provided with multiple through holes, and the tightening pin passes through the corresponding through hole and is inserted into the splined shaft to lock the sleeve.

2. The waist width adjusting device for a rehabilitation robot according to claim 1, characterized by, The splined shaft is symmetrically arranged about the shaft connecting block.

3. The waist width adjusting device for a rehabilitation robot according to claim 1, characterized by, A bearing is provided inside the shaft connecting block, and the inner ring of the bearing is fitted onto the splined shaft.

4. The waist width adjusting device for a rehabilitation robot according to claim 3, characterized by, The spline shaft is fitted within the section of the shaft connecting block, the bearing is fitted onto the spline connecting shaft, and the spline connecting shaft is connected to the torque sensor.

5. The waist width adjusting device for a rehabilitation robot according to claim 4, characterized by, A clamping sleeve is fitted onto the spline connecting shaft, and the clamping sleeve is used to fix the bearing.

6. The waist width adjusting device for a rehabilitation robot according to claim 1, wherein The outer circumference of the spline nut is provided with a keyway, and the inner wall of the sleeve is fixedly connected to the spline nut through the keyway.

7. The waist width adjusting device for a rehabilitation robot according to claim 1, wherein Each of the sleeves is fixed with a splined shaft nut cap that is coaxially fitted onto the splined shaft at one end facing the shaft connecting block.

8. The waist width adjusting device for a rehabilitation robot according to claim 7, wherein Each of the sleeves is fitted with an encapsulating sleeve at one end facing the shaft connecting block.

9. The waist width adjusting device for a rehabilitation robot according to claim 1, wherein Both ends of the spline shaft are connected to adjustment blocks, and each adjustment block is provided with a positioning hole; the open end of the tightening pin is connected to a width adjustment knob; in the locked state, the tightening pin passes through the corresponding through hole and positioning hole on the sleeve, thereby locking the sleeve.

10. The waist width adjusting device for a rehabilitation robot according to claim 9, wherein A baffle is also connected to the side of the adjusting block that is away from the spline shaft.

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