Rehabilitation training walking aid robot

Abstract

The utility model provides a walking aid robot for rehabilitation training, relates to the field of rehabilitation auxiliary equipment, and is designed for solving the problem that a large number of medical and human resources are occupied due to the fact that existing rehabilitation training adopts a manual assistance mode. The rehabilitation training walking aid robot comprises a walking chassis, a lifting device, a supporting device and a control device, the walking chassis comprises a power assembly, the power assembly is used for driving the walking chassis to walk, and the power assembly is electrically connected with the control device; the lifting device is installed on the walking chassis, the supporting device comprises an installation support, a left handrail support and a right handrail support, the left handrail support and the right handrail support are arranged on the installation support, the installation support is fixedly connected to the lifting end of the lifting device, and the distance between the left handrail support and the right handrail support is adjustable; a first pressure sensor is arranged on the supporting face of the left armrest support, a second pressure sensor is arranged on the supporting face of the right armrest support, and the first pressure sensor and the second pressure sensor are both electrically connected with the control device. The device does not need human assistance.

Description

Technical Field

[0001] This utility model relates to the field of rehabilitation assistive devices, and more specifically, to a rehabilitation training walking assistance robot. Background Technology

[0002] Sports injuries or post-operative joint surgeries often result in walking and standing difficulties. To prevent lower limb muscle atrophy caused by prolonged bed rest, rehabilitation training for the lower limbs is usually necessary. Traditional rehabilitation training uses manual assistance, which not only requires a large amount of medical and human resources, but also cannot provide patients with a stable amount of exercise input that is appropriate for their rehabilitation level. Utility Model Content

[0003] The purpose of this invention is to provide a rehabilitation training assistive robot to solve the technical problem that existing rehabilitation training methods rely on manual assistance and require a large amount of medical and human resources.

[0004] The rehabilitation training assistive robot provided by this utility model includes a walking chassis, a lifting device, a support device, and a control device. The walking chassis includes a power component for driving the walking chassis to move, and the power component is electrically connected to the control device. The lifting device is mounted on the walking chassis. The support device includes a mounting bracket and left and right handrail supports, both mounted on the mounting bracket. The mounting bracket is fixedly connected to the lifting end of the lifting device. The distance between the left and right handrail supports is adjustable. A first pressure sensor is provided on the support surface of the left handrail support, and a second pressure sensor is provided on the support surface of the right handrail support. Both the first and second pressure sensors are electrically connected to the control device.

[0005] Furthermore, the left handrail support also includes a first support plate, a first tension sensor, and a first handle. The first support plate is used to connect to the mounting bracket. The first tension sensor is mounted on the first support plate, and the sensing end of the first tension sensor faces away from the mounting bracket. The first handle is connected to the sensing end of the first tension sensor. The first tension sensor is electrically connected to the control device.

[0006] The right handrail support also includes a second support plate, a second tension sensor, and a second handle. The second support plate is used to connect to the mounting bracket. The second tension sensor is installed on the second support plate, and the sensing end of the second tension sensor is away from the mounting bracket. The second handle is connected to the sensing end of the second tension sensor. The second tension sensor is electrically connected to the control device.

[0007] Furthermore, the left armrest support also includes a first silicone plate, which is disposed on the upper surface of the first support plate and covers the first pressure sensor; the right armrest support also includes a second silicone plate, which is disposed on the upper surface of the second support plate and covers the second pressure sensor.

[0008] And / or, the left armrest support further includes a first hand grip, which is disposed at one end of the first support plate near the mounting bracket; the right armrest support further includes a second hand grip, which is disposed at one end of the second support plate near the mounting bracket; one of the first hand grip and the second hand grip is provided with an up button, and the other of the first hand grip and the second hand grip is provided with a down button, both of which are electrically connected to the control device.

[0009] And / or, one of the first support plate and the second support plate is provided with an emergency stop button, and the other of the first support plate and the second support plate is provided with a rocker controller, both of which are electrically connected to the control device.

[0010] Furthermore, the lifting device includes a fixed frame, a lifting column, and a lifting drive assembly. The fixed frame includes an upper horizontal wall, a lower horizontal wall, and a vertical connecting wall fixedly connected between the upper and lower horizontal walls, forming an accommodating space between the upper and lower horizontal walls. The upper horizontal wall has a sliding opening, through which the lifting column extends into the accommodating space and slides with the fixed frame. The fixed frame is installed on the chassis, and the lifting drive assembly is used to drive the lifting column to rise and fall. The lifting drive assembly is electrically connected to the control device.

[0011] Furthermore, the lifting drive assembly includes a lifting motor, a lifting lead screw, and a nut slider. The lifting motor is mounted on the fixed frame and located in the receiving space. The lifting lead screw is rotatably mounted between the upper and lower horizontal walls around a vertical axis and is driven by the lifting motor. The nut slider is helically engaged with the lifting lead screw and is fixedly connected to the lifting column.

[0012] Furthermore, the chassis also includes a first crossbeam, a connecting beam, and a second crossbeam connected in a "U" shape, as well as four casters, wherein two casters are disposed on the first crossbeam and two casters are disposed on the second crossbeam; both the first crossbeam and the second crossbeam are provided with the power assembly, the power assembly including a housing for mounting on the corresponding crossbeam and a drive wheel elastically floating on the housing; the lifting device is mounted on the connecting beam.

[0013] Furthermore, the power assembly also includes a support frame, a compression spring, and a fixed shaft, wherein the fixed shaft is disposed in the inner cavity of the housing and extends in the vertical direction; the support frame is movably sleeved on the fixed shaft, the compression spring is sleeved on the fixed shaft, and the lower end of the compression spring abuts against the upper surface of the support frame, and the upper end of the compression spring abuts against the inner wall of the housing; the drive wheel is mounted on the support frame.

[0014] Furthermore, the control device is installed on the connecting beam; and / or, the rehabilitation training walking robot also includes a power module, which is installed on the connecting beam; and / or, the first crossbeam, the connecting beam, and the second crossbeam form a three-sided enclosed standing space, and all three crossbeams are equipped with distance sensors facing the standing space.

[0015] Furthermore, the support device also includes a horizontal lead screw, a first connecting block, and a second connecting block. The horizontal lead screw is rotatably mounted on the mounting bracket around a horizontal axis, and its outer surface is provided with a first thread and a second thread with opposite directions of rotation. The first connecting block is helically assembled to the first thread and slidably connected to the mounting bracket in the horizontal direction, and the left handrail is supported and mounted on the first connecting block. The second connecting block is helically assembled to the second thread and slidably connected to the mounting bracket in the horizontal direction, and the right handrail is supported and mounted on the second connecting block.

[0016] Furthermore, the mounting bracket includes a front mounting plate and a support base plate spaced apart in the vertical direction, and two side plates fixedly connected to the front mounting plate and the support base plate, with the horizontal lead screw rotatably connected to the two side plates; the support device also includes a width-adjusting motor, a drive wheel, a driven wheel, and a timing belt, with the width-adjusting motor mounted on the support base plate, the drive wheel fixedly fitted onto the motor shaft of the width-adjusting motor, the driven wheel fixedly fitted onto the horizontal lead screw, and the timing belt sleeved on and supporting the drive wheel and the driven wheel; and / or, the support device also includes a limiting element, which is disposed on the mounting bracket and used to limit the distance between the left handrail support and the right handrail support.

[0017] The beneficial effects of this rehabilitation training assistive robot are:

[0018] By designing a rehabilitation training assistive robot primarily composed of a walking chassis, lifting device, support device, and control device, when a patient needs to use it for rehabilitation training, the lifting device can be adjusted to the required height according to the patient's height. Simultaneously, the spacing between the left and right armrest supports, located on the mounting bracket, can be adjusted to suit the patient's lateral dimensions. During use, the patient's arms are supported by the left and right armrest supports respectively, allowing pressure to be applied to the first pressure sensor located on the left armrest support and the second pressure sensor located on the right armrest support.

[0019] The pressure signals detected by the first and second pressure sensors are transmitted to the control device. When the control device receives pressure signals from both sides, it indicates that the patient's arms are supported by the left and right handrails respectively. At this time, the control device can send an action command to the power component to make the walking chassis move, thereby enabling the rehabilitation training walking assistance robot to assist the patient's walking. When the control device determines that there is a pressure difference between the two sides, for example, when the pressure on the left handrail is greater and the pressure on the right handrail is less, and the difference between the two is greater than a set value, it indicates that the left handrail is under greater force and the user wants to use the rehabilitation training walking assistance robot to move to the left for rehabilitation training. At this time, the control device can send an action command to the power component to make the walking chassis turn left, thereby assisting the user in performing left-turn rehabilitation training.

[0020] Therefore, it is evident that this rehabilitation training walking assistance robot, through the aforementioned design, not only eliminates the need for assistance from other personnel, reducing labor costs, but also allows for bidirectional adjustment of height and width to accommodate the needs of patients of different body types. Furthermore, the inclusion of the first and second pressure sensors enables the control device to acquire real-time pressure data on the left and right armrest supports. This allows the control device to adjust the robot's movement based on the force exerted on the left and right armrest supports, thereby better meeting the patient's usage needs. Attached Figure Description

[0021] 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 embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0022] Figure 1A schematic diagram of the structure of the rehabilitation training assistive robot provided in this embodiment of the utility model;

[0023] Figure 2 Top view of the support device for the rehabilitation training walking robot provided in an embodiment of this utility model;

[0024] Figure 3 A cross-sectional view of the left handrail support of the support device for the rehabilitation training walking robot provided in this embodiment of the utility model;

[0025] Figure 4 A schematic diagram of the right handrail support structure of the support device for the rehabilitation training walking robot provided in this embodiment of the utility model;

[0026] Figure 5 A schematic diagram of the lifting device of the rehabilitation training assistive walking robot provided in an embodiment of this utility model;

[0027] Figure 6 A schematic diagram of the walking chassis of the rehabilitation training assistive walking robot provided in an embodiment of this utility model;

[0028] Figure 7 A schematic diagram of the power component of the walking chassis of the rehabilitation training assistive walking robot provided in this embodiment of the utility model;

[0029] Figure 8 A schematic diagram of the support device for the rehabilitation training walking robot provided in this embodiment of the utility model.

[0030] Explanation of reference numerals in the attached figures:

[0031] 100 - Chassis; 200 - Lifting device; 300 - Support device; 400 - Control device; 500 - Power module; 600 - Display screen;

[0032] 110-Power assembly; 111-Housing; 112-Drive wheel; 113-Support frame; 114-Compression spring; 115-Walking motor; 120-First crossbeam; 130-Connecting beam; 140-Second crossbeam; 150-Universal wheel; 160-Distance sensor;

[0033] 210 - Fixed frame; 220 - Lifting column; 230 - Lifting drive assembly;

[0034] 211 - Upper transverse wall; 212 - Lower transverse wall; 213 - Vertical connecting wall;

[0035] 231-Lifting motor; 232-Lifting lead screw; 233-Nut slider;

[0036] 310-Mounting bracket; 311-Front mounting plate; 312-Support base plate; 313-Side plate; 314-Damping shaft mounting plate; 320-Right handrail support; 330-Left handrail support; 340-Horizontal lead screw; 350-First connecting block; 360-Second connecting block; 370-Width adjustment motor; 380-Synchronous belt; 390-Limit element;

[0037] 331-First pressure sensor; 332-First support plate; 333-First tension sensor; 334-First handle; 335-First silicone plate; 336-First grip; 3371-Up button; 3372-Down button; 3373-Emergency stop button; 3374-Rock controller; 338-Strap connecting buckle. Detailed Implementation

[0038] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of this utility model and are not intended to limit it.

[0039] Figure 1 This is a schematic diagram of the rehabilitation training assistive robot provided in this embodiment. Figure 1 As shown, this embodiment provides a rehabilitation training assistive robot, including a walking chassis 100, a lifting device 200, a support device 300, and a control device 400. The walking chassis 100 includes a power component 110, which is used to drive the walking chassis 100 to walk. The power component 110 is electrically connected to the control device 400.

[0040] Figure 2 This is a top view of the support device 300 for the rehabilitation training walking robot provided in this embodiment. Please continue to refer to... Figure 1 and combined Figure 2 The lifting device 200 is installed on the walking chassis 100. The support device 300 includes a mounting bracket 310 and a left handrail support 330 and a right handrail support 320, both of which are set on the mounting bracket 310. The mounting bracket 310 is fixedly connected to the lifting end of the lifting device 200. The distance between the left handrail support 330 and the right handrail support 320 is adjustable.

[0041] Figure 3 This is a structural cross-sectional view of the left armrest support 330 of the support device 300 of the rehabilitation training walking robot provided in this embodiment. Figure 3 As shown, a first pressure sensor 331 is provided on the support surface of the left handrail support 330, and a second pressure sensor is provided on the support surface of the right handrail support 320. Both the first pressure sensor 331 and the second pressure sensor are electrically connected to the control device 400.

[0042] When a patient needs to use it for rehabilitation training, the support device 300 can be adjusted to the required height using the lifting device 200 according to the patient's height. Simultaneously, the distance between the left armrest support 330 and the right armrest support 320, located on the mounting bracket 310, can be adjusted to suit the patient's lateral dimensions. During use, the patient's arms are supported by the left armrest support 330 and the right armrest support 320 respectively, allowing pressure to be applied to the first pressure sensor 331 located on the left armrest support 330 and the second pressure sensor located on the right armrest support 320.

[0043] The pressure signals detected by the first pressure sensor 331 and the second pressure sensor are transmitted to the control device 400. When the control device 400 receives pressure signals from both sides, it indicates that the patient's arms are supported by the left armrest support 330 and the right armrest support 320 respectively. At this time, an action command can be sent to the power component 110 to make the walking chassis 100 walk, so as to realize the rehabilitation training walking assistance robot to assist the patient's walking. When the control device 400 determines that there is a pressure difference between the two sides, for example, when the pressure on the left armrest support 330 is greater and the pressure on the right armrest support 320 is less, and the difference between the two is greater than a set value, it indicates that the left armrest support 330 is under greater force. The user wants to use the rehabilitation training walking assistance robot to move to the left for rehabilitation training. At this time, the control device 400 can send an action command to the power component 110 to make the walking chassis 100 turn left, so as to assist the user in left-turn rehabilitation training.

[0044] Therefore, it is evident that this rehabilitation training walking assistance robot, through the aforementioned design, not only eliminates the need for assistance from other personnel, reducing labor costs, but also allows for bidirectional adjustment of height and width to accommodate the needs of patients of different body types. Furthermore, the inclusion of the first pressure sensor 331 and the second pressure sensor enables the control device 400 to acquire real-time pressure data on the left armrest support 330 and the right armrest support 320. This allows the control device 400 to adjust the robot's movement based on the force exerted on the left armrest support 330 and the right armrest support 320, thereby better meeting the patient's usage needs.

[0045] Please continue to refer to Figure 3In this embodiment, the left handrail support 330 may further include a first support plate 332, a first tension sensor 333, and a first handle 334. The first support plate 332 is connected to the mounting bracket 310. The first tension sensor 333 is mounted on the first support plate 332, and the sensing end of the first tension sensor 333 faces away from the mounting bracket 310. The first handle 334 is connected to the sensing end of the first tension sensor 333. The first tension sensor 333 is electrically connected to the control device 400. Similarly, the right handrail support 320 may further include a second support plate, a second tension sensor, and a second handle. The second support plate is connected to the mounting bracket 310. The second tension sensor is mounted on the second support plate, and the sensing end of the second tension sensor faces away from the mounting bracket 310. The second handle is connected to the sensing end of the second tension sensor. The second tension sensor is also electrically connected to the control device 400.

[0046] By setting up a first handle 334 and a second handle, a force application point is provided for the rehabilitation training walking robot, facilitating its movement. By setting up a first tension sensor 333 and a second tension sensor, when the rehabilitation training walking robot is propelled by the first handle 334 and the second handle, the first tension sensor 333 and the second tension sensor can detect the thrust force it receives in real time. At this time, the first tension sensor 333 and the second tension sensor transmit the detected tension signal to the control device 400, and the control device 400 uses feedback to control the power component 110 to make the walking chassis 100 move forward.

[0047] When the control device 400 determines that the tension values ​​detected by the first tension sensor 333 and the second tension sensor are unequal and the difference is greater than the set tension, it indicates that the user needs the rehabilitation training walking robot to turn to the side with less force. At this time, the control device 400 can be used to control the power component 110 to assist the rehabilitation training walking robot in achieving the turning purpose.

[0048] It should be noted that, in this embodiment, how the first pressure sensor 331, the second pressure sensor, the first tension sensor 333, and the second tension sensor transmit the detected signals to the control device 400 so that the control device 400 can provide feedback control of the power element 110 is something that those skilled in the art can obtain based on existing technology. This embodiment has not made any improvements to this, so it will not be described in detail here.

[0049] Please continue to refer to Figure 3In this embodiment, the left armrest support 330 may further include a first silicone plate 335, which is disposed on the upper surface of the first support plate 332 and covers the first pressure sensor 331; similarly, the right armrest support 320 may further include a second silicone plate, which is disposed on the upper surface of the second support plate and covers the second pressure sensor.

[0050] The arrangement of the first silicone plate 335 and the second silicone plate serves two purposes. First, it provides soft, non-slip support for both the first and second handrail supports, enhancing patient comfort during use. Second, it covers the first pressure sensor 331 and the second pressure sensor, providing them with some protection.

[0051] It should be noted that in this embodiment, the basic structure of the right handrail support 320 is similar to that of the left handrail support 330, so the right handrail support 320 will not be shown in the accompanying drawings.

[0052] Please continue to refer to Figures 1 to 3 In this embodiment, the left armrest support 330 may further include a first hand grip 336, which is disposed at one end of the first support plate 332 near the mounting bracket 310; the right armrest support 320 may further include a second hand grip, which is disposed at one end of the second support plate near the mounting bracket 310; one of the first hand grip 336 and the second hand grip is provided with an up button 3371, and the other of the first hand grip 336 and the second hand grip is provided with a down button 3372, both of which are electrically connected to the control device 400; the lifting device 200 is electrically connected to the control device 400.

[0053] The design of the first and second grips facilitates hand support when the patient's arms are supported by the first and second silicone plates, improving safety during use. By placing one of the rise button 3371 and the other of the fall button 3372 on the first grip 336 and the other on the second grip, the patient can easily operate the lifting device 200 during rehabilitation training to raise or lower the support device 300.

[0054] Figure 4 This is a schematic diagram of the right armrest support 320 of the support device 300 of the rehabilitation training walking robot provided in this embodiment. Please continue to refer to... Figure 2 and Figure 3 and combined Figure 4In this embodiment, one of the first support plate 332 and the second support plate is provided with an emergency stop button 3373, and the other of the first support plate 332 and the second support plate is provided with a rocker controller 3374. Both the emergency stop button 3373 and the rocker controller 3374 are electrically connected to the control device 400.

[0055] By setting an emergency stop button 3373, patients can easily brake and stop the rehabilitation training walking robot in real time; by setting a joystick controller 3374, patients can easily control the direction of travel of the rehabilitation training walking robot.

[0056] It should be noted that in this embodiment, the positions of the emergency stop button 3373 and the joystick controller 3374 can be interchanged to meet the usage habits of different patients. This embodiment is only an illustration of one possible setting position of the emergency stop button 3373 and the joystick controller 3374.

[0057] It should also be noted that the process of using the up button 3371, down button 3372, emergency stop button 3373 and joystick controller 3374 to output the corresponding commands to the control device 400, and then using the control device 400 to adjust the lifting device 200 and the power component 110, can be obtained by those skilled in the art based on the prior art. This embodiment has not made any improvements to this, so it will not be described in detail here.

[0058] Figure 5 This is a structural schematic diagram of the lifting device 200 of the rehabilitation training assistive robot provided in this embodiment. Please continue to refer to... Figure 1 and combined Figure 5 In this embodiment, the lifting device 200 may include a fixed frame 210, a lifting column 220, and a lifting drive assembly 230. Specifically, the fixed frame 210 includes an upper horizontal wall 211, a lower horizontal wall 212, and a vertical connecting wall 213 fixedly connected between the upper horizontal wall 211 and the lower horizontal wall 212, forming an accommodating space between the upper horizontal wall 211 and the lower horizontal wall 212. The upper horizontal wall 211 has a sliding opening, through which the lifting column 220 extends into the accommodating space and slides in cooperation with the fixed frame 210. The fixed frame 210 is installed on the chassis 100, and the lifting drive assembly 230 is used to drive the lifting column 220 to rise and fall. The lifting drive assembly 230 is electrically connected to the control device 400.

[0059] When the support device 300 needs to be raised or lowered to meet the height requirements of different patients, the lifting drive component 230 can be used to drive the lifting column 220 to rise or fall. During the raising or lowering of the lifting column 220, the support device 300 will move up and down synchronously to achieve the purpose of height adjustment.

[0060] By configuring the lifting column 220 to extend into the receiving space of the fixed frame 210 and slide in cooperation with the fixed frame 210, the lifting column 220 and the fixed frame 210 form a nested sliding assembly structure. The sliding port of the fixed frame 210 can be used to limit the lifting column 220, thereby improving the stability of the lifting column 220 during the lifting process.

[0061] Please continue to refer to Figure 5 In this embodiment, the lifting drive assembly 230 may further include a lifting motor 231, a lifting screw 232, and a nut slider 233. The lifting motor 231 is mounted on the fixed frame 210 and is located in the accommodating space. The lifting screw 232 is rotatably mounted between the upper horizontal wall 211 and the lower horizontal wall 212 around a vertical axis and is driven by the lifting motor 231. The nut slider 233 is screwed to the lifting screw 232 and is fixedly connected to the lifting column 220.

[0062] When it is necessary to raise or lower the lifting column 220, the lifting motor 231 can be started. The driving force of the lifting motor 231 causes the lifting screw 232 to rotate. Through the helical engagement between the nut slider 233 and the lifting screw 232, and the sliding engagement between the lifting column 220 and the fixed frame 210, the helical feed between the nut slider 233 and the lifting screw 232 is converted into the lifting motion of the lifting column 220, thereby achieving the purpose of adjusting the height of the support device 300. The raising and lowering of the lifting column 220 can be achieved by the forward and reverse rotation of the lifting motor 231, respectively.

[0063] Figure 6 This is a structural schematic diagram of the walking chassis 100 of the rehabilitation training walking robot provided in this embodiment. Please continue to refer to... Figure 1 and combined Figure 6 In this embodiment, the walking chassis 100 may further include a first crossbeam 120, a connecting beam 130, and a second crossbeam 140 connected in a "U" shape, as well as four casters 150, wherein two casters 150 are disposed on the first crossbeam 120 and two casters 150 are disposed on the second crossbeam 140; both the first crossbeam 120 and the second crossbeam 140 are provided with a power assembly 110, the power assembly 110 including a housing 111 for mounting on the corresponding crossbeam and a drive wheel 112 elastically floating on the housing 111; the lifting device 200 is mounted on the connecting beam 130.

[0064] By designing the walking chassis 100 into a "U" shape, an opening is formed on the side of the walking chassis 100, facilitating patient access. By incorporating a drive wheel 112 elastically mounted to the housing 111 within the power assembly 110, the drive wheel 112 is consistently subjected to a downward force during the movement of the walking chassis 100. This ensures sufficient contact friction between the drive wheel 112 and the ground. This design allows the drive wheel 112 to remain in contact with the ground when the walking chassis 100 travels on uneven surfaces, preventing it from becoming suspended in mid-air when traversing potholes.

[0065] Figure 7 This is a schematic diagram of the power assembly 110 of the walking chassis 100 of the rehabilitation training walking robot provided in this embodiment. Figure 7 As shown, the power assembly 110 may further include a support frame 113, a compression spring 114, and a fixed shaft. The fixed shaft is disposed in the inner cavity of the housing 111 and extends in the vertical direction. The support frame 113 is movably sleeved on the fixed shaft, and the compression spring 114 is sleeved on the fixed shaft. The lower end of the compression spring 114 abuts against the upper surface of the support frame 113, and the upper end of the compression spring 114 abuts against the inner wall of the housing 111. The drive wheel 112 is mounted on the support frame 113.

[0066] This design, which uses a compression spring 114 to keep the drive wheel 112 in an elastic floating state so that it is always in contact with the ground, has a simple and compact structure and reduces the space occupied by the inner cavity of the outer shell 111.

[0067] Please continue to refer to Figure 7 The power assembly 110 may also include a travel motor 115, which is mounted on the support frame 113 and is used to drive the drive wheel 112 to rotate.

[0068] Please continue to refer to Figure 6 In this embodiment, the control device 400 is installed on the connecting beam 130.

[0069] By mounting the control device 400 on the connecting beam 130, the weight of the walking chassis 100 can be increased, thereby improving the anti-tipping performance of the rehabilitation training walking robot in this embodiment.

[0070] Please continue to refer to Figure 6 In this embodiment, the rehabilitation training assistive robot may further include a power module 500, wherein the power module 500 is installed on the connecting beam 130.

[0071] The power module 500 is designed to supply power to the electrical components in the rehabilitation training assistive robot.

[0072] Please continue to refer to Figure 6In this embodiment, the first crossbeam 120, the connecting beam 130, and the second crossbeam 140 form a standing space surrounded by three sides. The first crossbeam 120, the connecting beam 130, and the second crossbeam 140 are all equipped with distance sensors 160 facing the standing space.

[0073] This setup allows the distance sensor 160 to identify the patient's walking status when the patient is standing and undergoing rehabilitation training. This facilitates timely adjustments to the patient's or caregiver's movements, improving safety and standardization during use. Walking status parameters may include stride length, cadence, and the distance between the left and right feet.

[0074] Figure 8 This is a structural schematic diagram of the support device 300 for the rehabilitation training assistive robot provided in this embodiment. Please continue to refer to... Figure 2 and combined Figure 8 In this embodiment, the support device 300 may further include a horizontal lead screw 340, a first connecting block 350, and a second connecting block 360. The horizontal lead screw 340 is rotatably mounted on the mounting bracket 310 about a horizontal axis, and the outer surface of the horizontal lead screw 340 is provided with a first thread and a second thread with opposite directions of rotation. The first connecting block 350 is helically assembled with the first thread and is slidably connected to the mounting bracket 310 in the horizontal direction. The left handrail support 330 is mounted on the first connecting block 350. The second connecting block 360 is helically assembled with the second thread and is slidably connected to the mounting bracket 310 in the horizontal direction. The right handrail support 320 is mounted on the second connecting block 360.

[0075] When it is necessary to adjust the distance between the left handrail support 330 and the right handrail support 320, the horizontal screw 340 can be rotated. Since the first connecting block 350 connected to the left handrail support 330 is screwed onto the first thread of the horizontal screw 340, and the second connecting block 360 connected to the right handrail support 320 is screwed onto the second thread of the horizontal screw 340, and both the first connecting block 350 and the second connecting block 360 are slidably connected to the mounting bracket 310 in the horizontal direction, when the horizontal screw 340 is rotated, the first connecting block 350 and the second connecting block 360 will move closer to each other or further away from each other at the same time, thereby realizing the adjustment of the distance between the left handrail support 330 and the right handrail support 320.

[0076] This configuration of the support device 300 enables the synchronous adjustment of the left handrail support 330 and the right handrail support 320, allowing them to move closer or further apart simultaneously. This not only improves adjustment efficiency but also ensures symmetry during the adjustment process.

[0077] Please continue to refer to Figure 8In this embodiment, the mounting bracket 310 may include a front mounting plate 311 and a support base plate 312 spaced apart in the vertical direction, and two side plates 313 fixedly connected to the front mounting plate 311 and the support base plate 312. A horizontal lead screw 340 is rotatably connected to the two side plates 313. The support device 300 may also include a width-adjusting motor 370, a drive wheel, a driven wheel, and a timing belt 380. The width-adjusting motor 370 is mounted on the support base plate 312. The drive wheel is fixedly mounted on the motor shaft of the width-adjusting motor 370. The driven wheel is fixedly mounted on the horizontal lead screw 340. The timing belt 380 is sleeved on and supported by the drive wheel and the driven wheel.

[0078] When it is necessary to adjust the distance between the left handrail support 330 and the right handrail support 320, the width adjustment motor 370 can be activated. The motor 370 drives the drive wheel to rotate, which, under the action of the synchronous belt 380, drives the driven wheel to rotate, thereby driving the rotation of the horizontal lead screw 340, thus achieving the adjustment of the distance between the left handrail support 330 and the right handrail support 320. This setting enables automatic adjustment of the distance between the left handrail support 330 and the right handrail support 320, with a high degree of automation.

[0079] Please continue to refer to Figure 8 In this embodiment, the support device 300 may further include a limiting element 390, wherein the limiting element 390 is disposed on the mounting bracket 310 and the limiting element 390 is used to limit the distance between the left handrail support 330 and the right handrail support 320.

[0080] The limiting element 390 can limit the distance between the left handrail support 330 and the right handrail support 320, preventing the patient from being pinched if the distance between the left handrail support 330 and the right handrail support 320 is too small, and preventing the distance between the left handrail support 330 and the right handrail support 320 from being too large.

[0081] Specifically, the limiting element 390 may include photoelectric switches disposed on both sides of the right handrail support 320, and correspondingly, baffles that cooperate with the corresponding photoelectric switches are respectively disposed on both sides of the right handrail support 320.

[0082] Please continue to refer to Figure 1 In this embodiment, the rehabilitation training assistive robot may also include a display screen 600, wherein the display screen 600 may be mounted on the support device 300.

[0083] Please continue to refer to Figure 8 In this embodiment, the mounting bracket 310 may also be provided with a damping shaft mounting plate 314 for connecting to the lifting column 220 of the lifting device 200.

[0084] Please continue to refer to Figure 3In this embodiment, the left handrail support 330 can also be equipped with a strap connection buckle 338. The strap connection buckle 338 allows for the connection between the patient's strap and the left handrail support 330, preventing accidental falls during use and thus providing a certain level of safety protection.

[0085] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the present invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

[0086] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" or any other variations thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0087] In the above embodiments, descriptions of directions such as "up", "down", and "side" are based on the accompanying drawings.

[0088] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A rehabilitation training assistive robot, characterized in that, The system includes a chassis (100), a lifting device (200), a support device (300), and a control device (400). The chassis (100) includes a power assembly (110) for driving the chassis (100) to move. The power assembly (110) is electrically connected to the control device (400). The lifting device (200) is mounted on the chassis (100). The support device (300) includes a mounting bracket (310) and supports mounted on the mounting bracket (310). The left handrail support (330) and the right handrail support (320) of the 0) are fixedly connected to the lifting end of the lifting device (200) by the mounting bracket (310). The distance between the left handrail support (330) and the right handrail support (320) is adjustable. The support surface of the left handrail support (330) is provided with a first pressure sensor (331), and the support surface of the right handrail support (320) is provided with a second pressure sensor. Both the first pressure sensor (331) and the second pressure sensor are electrically connected to the control device (400).

2. The rehabilitation training assistive robot according to claim 1, characterized in that, The left handrail support (330) further includes a first support plate (332), a first tension sensor (333), and a first handle (334). The first support plate (332) is used to connect to the mounting bracket (310). The first tension sensor (333) is mounted on the first support plate (332), and the sensing end of the first tension sensor (333) is away from the mounting bracket (310). The first handle (334) is connected to the sensing end of the first tension sensor (333). The first tension sensor (333) is electrically connected to the control device (400). The right handrail support (320) further includes a second support plate, a second tension sensor, and a second handle. The second support plate is used to connect to the mounting bracket (310). The second tension sensor is installed on the second support plate, and the sensing end of the second tension sensor is away from the mounting bracket (310). The second handle is connected to the sensing end of the second tension sensor. The second tension sensor is electrically connected to the control device (400).

3. The rehabilitation training assistive robot according to claim 2, characterized in that, The left armrest support (330) further includes a first silicone plate (335), which is disposed on the upper surface of the first support plate (332) and covers the first pressure sensor (331); the right armrest support (320) further includes a second silicone plate, which is disposed on the upper surface of the second support plate and covers the second pressure sensor. And / or, the left armrest support (330) further includes a first hand grip (336), which is disposed at one end of the first support plate (332) near the mounting bracket (310); the right armrest support (320) further includes a second hand grip, which is disposed at one end of the second support plate near the mounting bracket (310); one of the first hand grip (336) and the second hand grip is provided with an up button (3371), and the other of the first hand grip (336) and the second hand grip is provided with a down button (3372), both the up button (3371) and the down button (3372) being electrically connected to the control device (400); And / or, one of the first support plate (332) and the second support plate is provided with an emergency stop button (3373), and the other of the first support plate (332) and the second support plate is provided with a rocker controller (3374), both of which are electrically connected to the control device (400).

4. The rehabilitation training assistive robot according to any one of claims 1-3, characterized in that, The lifting device (200) includes a fixed frame (210), a lifting column (220), and a lifting drive assembly (230). The fixed frame (210) includes an upper horizontal wall (211), a lower horizontal wall (212), and a vertical connecting wall (213) fixedly connected between the upper horizontal wall (211) and the lower horizontal wall (212). An accommodating space is formed between the upper horizontal wall (211) and the lower horizontal wall (212). The upper horizontal wall (211) has a sliding opening, and the lifting column (220) extends into the accommodating space through the sliding opening and slides with the fixed frame (210). The fixed frame (210) is installed on the walking chassis (100). The lifting drive assembly (230) is used to drive the lifting column (220) to rise and fall. The lifting drive assembly (230) is electrically connected to the control device (400).

5. The rehabilitation training assistive robot according to claim 4, characterized in that, The lifting drive assembly (230) includes a lifting motor (231), a lifting screw (232), and a nut slider (233). The lifting motor (231) is installed on the fixed frame (210) and is located in the receiving space. The lifting screw (232) is rotatably installed between the upper horizontal wall (211) and the lower horizontal wall (212) around a vertical axis. The lifting screw (232) is driven by the lifting motor (231). The nut slider (233) is helically engaged with the lifting screw (232) and is fixedly connected to the lifting column (220).

6. The rehabilitation training assistive robot according to any one of claims 1-3, characterized in that, The chassis (100) further includes a first crossbeam (120), a connecting beam (130), and a second crossbeam (140) connected in a "U" shape, and four casters (150), wherein two casters (150) are disposed on the first crossbeam (120) and two casters (150) are disposed on the second crossbeam (140); the first crossbeam (120) and the second crossbeam (140) are each provided with a power assembly (110), the power assembly (110) includes a housing (111) for mounting on the corresponding crossbeam and a drive wheel (112) elastically floating on the housing (111); the lifting device (200) is mounted on the connecting beam (130).

7. The rehabilitation training assistive robot according to claim 6, characterized in that, The power assembly (110) further includes a support frame (113), a compression spring (114), and a fixed shaft, wherein the fixed shaft is disposed in the inner cavity of the outer shell (111) and extends in the vertical direction; the support frame (113) is movably sleeved on the fixed shaft, the compression spring (114) is sleeved on the fixed shaft, and the lower end of the compression spring (114) abuts against the upper surface of the support frame (113), and the upper end of the compression spring (114) abuts against the inner wall of the outer shell (111); the drive wheel (112) is mounted on the support frame (113).

8. The rehabilitation training assistive robot according to claim 6, characterized in that, The control device (400) is mounted on the connecting beam (130); and / or, the rehabilitation training walking robot further includes a power module (500), which is mounted on the connecting beam (130); and / or, the first crossbeam (120), the connecting beam (130), and the second crossbeam (140) form a three-sided enclosed standing space, and all three crossbeams (120, 130, and 140) are equipped with distance sensors (160) facing the standing space.

9. The rehabilitation training assistive robot according to any one of claims 1-3, characterized in that, The support device (300) further includes a horizontal lead screw (340), a first connecting block (350), and a second connecting block (360). The horizontal lead screw (340) is rotatably mounted on the mounting bracket (310) about a horizontal axis. The outer surface of the horizontal lead screw (340) is provided with a first thread and a second thread with opposite directions of rotation. The first connecting block (350) is helically assembled on the first thread and is slidably connected to the mounting bracket (310) in the horizontal direction. The left handrail support (330) is mounted on the first connecting block (350). The second connecting block (360) is helically assembled on the second thread and is slidably connected to the mounting bracket (310) in the horizontal direction. The right handrail support (320) is mounted on the second connecting block (360).

10. The rehabilitation training assistive robot according to claim 9, characterized in that, The mounting bracket (310) includes a front mounting plate (311) and a support base plate (312) spaced apart in the vertical direction, and two side plates (313) fixedly connecting the front mounting plate (311) and the support base plate (312). The horizontal lead screw (340) is rotatably connected to the two side plates (313). The support device (300) also includes a width-adjusting motor (370), a drive pulley, a driven pulley, and a synchronous belt (380). The width-adjusting motor (370) is mounted on the support base plate (312). The drive wheel is fixedly mounted on the motor shaft of the width-adjusting motor (370), the driven wheel is fixedly mounted on the horizontal lead screw (340), and the synchronous belt (380) is sleeved on and supported by the drive wheel and the driven wheel; and / or, the support device (300) further includes a limiting element (390), the limiting element (390) is disposed on the mounting bracket (310), and the limiting element (390) is used to limit the distance between the left handrail support (330) and the right handrail support (320).

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