Walking device for rehabilitation robot

Abstract

The utility model discloses a walking device for a rehabilitation robot, which comprises two supporting legs, the front end and the rear end of each supporting leg are respectively provided with a walking wheel, a frame body is arranged above the two supporting legs, the two sides of the frame body are respectively provided with a vertical rotating shaft, the supporting leg on the left side is rotatably arranged on the rotating shaft on the left side of the frame body, and the supporting leg on the right side is rotatably arranged on the rotating shaft on the right side of the frame body. The supporting leg on the right side is rotationally mounted on the rotating shaft on the right side of the frame body; the front end and the rear end of each supporting leg are each provided with a foot cup, the rear sides of the two supporting legs are provided with a pedal driving device, the pedal driving devices drive the foot cups to stretch out and draw back vertically, and when the foot cups stretch out downwards, the walking wheels are lifted away from the ground, and the walking device is fixed. The rehabilitation training robot can be more stable; and the rehabilitation robot can be conveniently fixed, so that the rehabilitation robot is not easy to move.

Description

Technical Field

[0001] This utility model relates to a walking device for a rehabilitation robot, belonging to the field of rehabilitation robot walking technology. Background Technology

[0002] Motor rehabilitation therapy is an effective means of improving limb motor function impairment caused by stroke, spinal cord injury, traumatic brain injury, and other causes. Medical research shows that early bedside rehabilitation is more helpful in improving the function of damaged limbs in patients with stroke and other diseases, reducing the severity of the condition, and improving their quality of life. my country has a large demand for rehabilitation therapy. Traditional motor rehabilitation therapy involves medical staff assisting patients in completing limb training, which is labor-intensive. Modern medical systems often use mechatronic rehabilitation robots. These robots are equipped with a walking frame at their lower end, which provides support and facilitates movement.

[0003] The existing design of the rehabilitation robot's walking frame has the following defects:

[0004] First, the walking frame has two parallel support legs on the underside. During rehabilitation training, the walking frame is not stable enough and is prone to swaying and instability during strenuous activities.

[0005] Secondly, the walking frame has wheels at the bottom, but these wheels are not securely fixed during rehabilitation training, and each wheel needs to be fixed separately, which is troublesome.

[0006] In conclusion, the existing technology obviously has inconveniences and defects in practical use, so it is necessary to improve it. Utility Model Content

[0007] This invention addresses the shortcomings of the prior art by providing a walking device for rehabilitation robots, which makes rehabilitation training robots more stable and allows for easy fixation of the rehabilitation robot, making it less prone to movement.

[0008] To solve the above technical problems, the present invention adopts the following technical solution:

[0009] A walking device for a rehabilitation robot includes two legs, each with a walking wheel mounted at its front and rear ends. A frame is mounted above the two legs, and a vertically arranged pivot is provided on each side of the frame. The left leg is rotatably mounted on the pivot on the left side of the frame, and the right leg is rotatably mounted on the pivot on the right side of the frame.

[0010] Each of the front and rear ends of the outrigger is equipped with a foot cup, and the rear of the two outriggers is also equipped with a foot pedal drive device. The foot pedal drive device drives the foot cups to extend and retract up and down. When the foot cups extend downwards, the walking wheels are lifted off the ground, thus fixing the walking device.

[0011] Furthermore, the foot pedal drive device includes an inner square sleeve disposed at the rear end between the two legs, and a square post is slidably inserted into the left side of the inner square sleeve.

[0012] Each of the two outriggers has a rear mounting shaft rotatably mounted at its rear end. The left end of the square column is connected to the rear mounting shaft of the left outrigger, and the right end of the inner square sleeve is connected to the rear mounting shaft of the right outrigger. A lever is fixedly mounted on the rear mounting shaft. The lever engages with the top surface of the foot cup connecting shaft. When the lever's actuating head rotates to its lowest position, it pushes the foot cup connecting shaft downward, causing the foot cup to extend downward.

[0013] Furthermore, a front mounting shaft is rotatably mounted on the front end of each of the two outriggers, and a lever is also fixedly mounted on the front mounting shaft. The lever engages with the top surface of the foot cup connecting shaft.

[0014] A swing arm is fixedly installed on both the front and rear mounting shafts, and a tie rod is hinged between the two swing arms of each leg.

[0015] Furthermore, an elastic device is provided at the connection between the foot cup and the support leg, so that the foot cup retracts when the actuating head of the lever does not engage with the top surface of the foot cup connecting shaft.

[0016] Furthermore, the left side of the square column is connected to the rear mounting shaft of the left outrigger via a universal joint, and the right end of the inner square sleeve is connected to the rear mounting shaft of the right outrigger via a universal joint. A foot pedal is fixed on the inner square sleeve.

[0017] Furthermore, an electric actuator is installed between the two outriggers.

[0018] Furthermore, a rotating plate is rotatably installed at the lower middle position of the frame, with one end of the rotating plate hinged to the support leg and the other end hinged to the rotating plate.

[0019] Furthermore, a fixing sleeve is provided on each of the two front ends of the frame, and a bullseye wheel is rotatably installed on the lower end of the fixing sleeve, the bullseye wheel cooperating with the upper surface of the support leg.

[0020] Compared with the prior art, the present invention, by adopting the above technical solution, has the following advantages:

[0021] 1. A lever is fixedly installed on the front mounting shaft and the rear mounting shaft. The lever engages with the top surface of the foot cup connecting shaft. When the lever's actuating head rotates to the lowest point, it pushes the foot cup connecting shaft downward, causing the foot cup to extend downward and the walking wheel to lift off the ground, thus fixing the walking device. This makes it very convenient to fix the walking device.

[0022] 2. The electric actuator pushes the two outriggers apart. The rotating plate at the bottom of the frame can make the two outriggers open and close simultaneously. When they are open, the two outriggers form a V-shape, making the support more stable.

[0023] The present invention will now be described in detail with reference to the accompanying drawings and embodiments. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural schematic diagram of the present invention;

[0025] Figure 2 This is a schematic diagram of the foot pedal drive device in this utility model;

[0026] Figure 3 yes Figure 2 Enlarged view of point A in the middle;

[0027] Figure 4 This is a bottom view of the present invention;

[0028] Figure 5 This is a side view of the present invention.

[0029] In the diagram, 1-outrigger, 2-walking wheel, 3-frame, 4-swivel shaft, 5-fixed sleeve, 6-bullseye wheel, 7-foot cup, 8-inner square sleeve, 9-foot pedal, 10-square column, 11-universal joint, 12-paddle, 13-swing arm, 14-connecting shaft, 15-pull rod, 16-front mounting shaft, 17-rear mounting shaft, 18-rotating plate, 19-electric actuator. Detailed Implementation

[0030] To provide a clearer understanding of the technical features, objectives, and effects of this utility model, the specific embodiments of this utility model are now described with reference to the accompanying drawings.

[0031] like Figure 1-4 As shown, this utility model provides a walking device for a rehabilitation robot, including two legs 1, with a walking wheel 2 installed at the front and rear ends of each leg 1. A frame 3 is provided above the two legs 1, and rehabilitation training equipment is installed on the frame 3. A vertically arranged rotating shaft 4 is provided on each side of the frame 3, wherein the left leg 1 is rotatably mounted on the rotating shaft 4 on the left side of the frame 3, and the right leg 1 is rotatably mounted on the rotating shaft 4 on the right side of the frame 3.

[0032] A foot cup 7 is installed at each of the front and rear ends of the support leg 1. A foot pedal drive device is also provided on the rear side of the two support legs 1. The foot pedal drive device drives the foot cup 7 to extend and retract up and down. When the foot cup 7 extends downward, the walking wheel 2 is lifted off the ground to fix the walking device.

[0033] The foot pedal drive device includes an inner square sleeve 8 located at the rear end between the two legs 1, and a square post 10 is slidably inserted into the left side of the inner square sleeve 8; the inner square sleeve 8 drives the square post 10 to rotate together.

[0034] Each of the two support legs 1 has a rear mounting shaft 17 rotatably mounted at its rear end. The left end of the square column 10 is connected to the rear mounting shaft 17 of the left support leg 1, and the right end of the inner square sleeve 8 is connected to the rear mounting shaft 17 of the right support leg 1. A lever 12 is fixedly mounted on the rear mounting shaft 17. The lever 12 cooperates with the top surface of the foot cup 7 connecting shaft 14. When the lever 12 rotates to the lowest point, it pushes the foot cup 7 connecting shaft 14 downward, causing the foot cup 7 to extend downward.

[0035] Each of the two support legs 1 has a front mounting shaft 16 rotatably mounted at its front end. A lever 12 is also fixedly mounted on the front mounting shaft 16. The lever 12 cooperates with the top surface of the foot cup 7 connecting shaft 14. A swing arm 13 is fixedly mounted on both the front mounting shaft 16 and the rear mounting shaft 17. A pull rod 15 is hinged between the two swing arms 13 of each support leg 1. The rotation of the rear mounting shaft 17 can drive the front mounting shaft 16 to rotate.

[0036] The foot cup 7 is provided with an elastic device at the connection between it and the support leg 1. When the actuating head of the lever 12 does not cooperate with the top surface of the foot cup 7 connecting shaft 14, the foot cup 7 is retracted.

[0037] The left side of the square column 10 is connected to the rear mounting shaft 17 of the left support leg 1 via a universal joint 11, and the right end of the inner square sleeve 8 is connected to the rear mounting shaft 17 of the right support leg 1 via a universal joint 11. A foot pedal 9 is fixed on the inner square sleeve 8. The walking device can be fixed by stepping on the foot pedal 9, making the rehabilitation robot less prone to movement.

[0038] An electric push rod 19 is provided in the middle of the two support legs 1; a rotating plate 18 is rotatably installed in the middle of the lower end of the frame 3, with one end of the rotating plate 18 hinged to the support leg 1 and the other end hinged to the rotating plate 18.

[0039] The frame 3 has a fixed sleeve 5 on each of its front sides. The lower end of the fixed sleeve 5 is rotatably mounted with a bullseye wheel 6. The bullseye wheel 6 cooperates with the upper surface of the support leg 1. When the support leg 1 is open and closed, the frame 3 is supported on the support leg 1 by the bullseye wheel 6, which makes it more stable.

[0040] The specific working principle of this utility model:

[0041] Each of the two support legs 1 has a front mounting shaft 16 and a rear mounting shaft 17 rotatably mounted on its front and rear mounting shafts 16 and 17 respectively. A swing arm 13 is fixedly mounted on each of the front and rear mounting shafts 16 and 17 respectively. A pull rod 15 is hinged between the two swing arms 13 of each support leg 1. The rotation of the rear mounting shaft 17 can drive the front mounting shaft 16 to rotate. A lever 12 is fixedly mounted on the front and rear mounting shafts 16 and 17 respectively. The lever 12 cooperates with the top surface of the foot cup 7 connecting shaft 14. When the lever 12 is rotated to the lowest point, it pushes the foot cup 7 connecting shaft 14 downward, so that the foot cup 7 extends downward, the walking wheel 2 is lifted off the ground, and the walking device is fixed, thus making it very convenient to fix the walking device.

[0042] An electric push rod 19 is provided in the middle of the two support legs 1. The electric push rod 19 pushes the two support legs 1 to separate. The rotating plate 18 at the lower end of the frame 3 can make the two support legs 1 separate and close at the same time. When separated, the two support legs 1 form a figure eight shape, making the support more stable.

[0043] The above description provides examples of the preferred embodiments of this utility model. Any aspects not detailed herein are common knowledge to those skilled in the art. The scope of protection of this utility model is determined by the claims. Any equivalent modifications based on the technical teachings of this utility model are also within the scope of protection of this utility model.

Claims

1. A walking device for a rehabilitation robot, characterized in that: It includes two support legs (1), and a walking wheel (2) is installed at the front and rear ends of the support legs (1). A frame (3) is provided above the two support legs (1). A vertically arranged pivot (4) is provided on each side of the frame (3). The left support leg (1) is rotatably installed on the pivot (4) on the left side of the frame (3), and the right support leg (1) is rotatably installed on the pivot (4) on the right side of the frame (3). The front and rear ends of the support leg (1) are each equipped with a foot cup (7). The rear side of the two support legs (1) is also equipped with a foot pedal drive device. The foot pedal drive device drives the foot cup (7) to extend and retract up and down. When the foot cup (7) extends downward, the walking wheel (2) is lifted off the ground and the walking device is fixed.

2. The walking device for a rehabilitation robot as described in claim 1, characterized in that: The foot pedal drive device includes an inner square sleeve (8) located at the rear end between the two legs (1), and a square post (10) is slidably inserted into the left side of the inner square sleeve (8). A rear mounting shaft (17) is rotatably mounted on the rear end of each of the two support legs (1). The left end of the square column (10) is connected to the rear mounting shaft (17) of the left support leg (1), and the right end of the inner square sleeve (8) is connected to the rear mounting shaft (17) of the right support leg (1). A lever (12) is fixedly mounted on the rear mounting shaft (17). The lever (12) is engaged with the top surface of the foot cup (7) connecting shaft (14). When the lever (12) is rotated to the lowest point, it pushes the foot cup (7) connecting shaft (14) downward, causing the foot cup (7) to extend downward.

3. The walking device for a rehabilitation robot as described in claim 2, characterized in that: A front mounting shaft (16) is rotatably mounted on the front end of each of the two support legs (1). A lever (12) is also fixedly mounted on the front mounting shaft (16). The lever (12) is engaged with the top surface of the connecting shaft (14) of the foot cup (7). A swing arm (13) is fixedly installed on both the front mounting shaft (16) and the rear mounting shaft (17), and a tie rod (15) is hinged between the two swing arms (13) of each leg (1).

4. The walking device for a rehabilitation robot as described in claim 3, characterized in that: The foot cup (7) is provided with an elastic device at the connection between the foot cup (7) and the support leg (1). When the actuating head of the lever (12) does not cooperate with the top surface of the foot cup (7) connecting shaft (14), the foot cup (7) will retract upward.

5. The walking device for a rehabilitation robot as described in claim 3, characterized in that: The left side of the square column (10) is connected to the rear mounting shaft (17) of the left support leg (1) via a universal joint (11), and the right end of the inner square sleeve (8) is connected to the rear mounting shaft (17) of the right support leg (1) via a universal joint (11). A foot pedal (9) is fixed on the inner square sleeve (8).

6. The walking device for a rehabilitation robot as described in claim 1, characterized in that: An electric actuator (19) is provided in the middle of the two support legs (1).

7. The walking device for a rehabilitation robot as described in claim 6, characterized in that: A rotating plate (18) is rotatably installed at the middle position of the lower end of the frame (3). One end of the rotating plate (18) is hinged to the support leg (1), and the other end is hinged to the rotating plate (18).

8. The walking device for a rehabilitation robot as described in claim 1, characterized in that: The frame (3) has a fixed sleeve (5) on each side of its front end. The lower end of the fixed sleeve (5) is rotatably mounted with a bullseye wheel (6), which is engaged with the upper surface of the support leg (1).

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