Modular rehabilitation robot trunk support frame

Abstract

The utility model discloses a modular rehabilitation robot trunk support frame relates to medical rehabilitation instrument technical field, including fixed plate, the top one side of fixed plate is installed with the connecting frame, and the both sides of connecting frame all are established with the guide slide rail, and the inner wall slidingly connected with the moving block of two guide slide rails is adjacent, and the bottom one side screw thread connection of moving block has the screw rod, and one end of screw rod is connected with motor, and the side slidingly connected with the guide rod of moving block is away from screw rod, and both ends of moving block all are rotatably connected with first connecting rod, and the one end rotatably connected with support plate of each first connecting rod is away from moving block, in the utility model, through the cooperation of moving block, transmission part and multilink, drive support component to realize the continuous angle lifting from horizontal to vertical, break the limitation of single fixed body position, satisfy the demand of different training angle.

Description

Technical Field

[0001] This utility model relates to the field of medical rehabilitation equipment technology, specifically a modular rehabilitation robot torso support frame. Background Technology

[0002] Patients with central nervous system diseases such as stroke, spinal cord injury, and Parkinson's disease, or after orthopedic surgery, often experience weakness in their core trunk muscles and decreased postural control. This leads to complications such as pressure sores and lung infections during prolonged bed rest, and restricted trunk movement further hinders limb function recovery. In clinical rehabilitation, trunk postural adjustment training is a crucial step in improving core stability, promoting blood circulation, and restoring the ability to change positions. It requires assistive devices to achieve precise and safe angle control, helping patients gradually rebuild trunk motor function.

[0003] In existing technologies, traditional supine robots use a rigid support frame integrated with a lying platform, which can only provide preset fixed positions and focuses more on limb training. There are few modular support frames for the trunk. Patients need to gradually raise their trunk around a fixed fulcrum of the spine in a supine position to simulate the process of the human body getting up on its own. However, the existing modular structure lacks precise control over this movement trajectory, resulting in uneven force on the trunk and insufficient stability during the adjustment process, which affects the rehabilitation effect.

[0004] In view of the above, this application is hereby submitted. Utility Model Content

[0005] The purpose of this invention is to provide a modular rehabilitation robot trunk support frame to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, this utility model provides a modular rehabilitation robot torso support frame, including a fixed plate, a connecting frame installed on one side of the top of the fixed plate, guide rails on both sides of the connecting frame, a moving block slidably connected to the inner wall of the two adjacent guide rails, a lead screw threadedly connected to one side of the bottom of the moving block, a motor connected to one end of the lead screw, a guide rod slidably connected to the side of the moving block away from the lead screw, a first connecting rod rotatably connected to both ends of the moving block, a support plate rotatably connected to the end of each first connecting rod away from the moving block, a second connecting rod rotatably connected to the side of the first connecting rod near the support plate, a third connecting rod rotatably connected to the top of the second connecting rod, the bottom ends of the two second connecting rods rotatably connected to both sides of the top of the connecting frame, and the ends of the two third connecting rods away from the second connecting rods rotatably connected to the inner wall of the support plate.

[0007] Furthermore, a seat cushion is fixedly connected to the top side of the fixed plate away from the connecting frame, and protective frames are fixedly connected to the top two sides of the seat cushion near the support plate. The inner wall of each protective frame is rotatably connected to the robot body, and two limb fixing frames are installed on the adjacent sides of the two robot bodies.

[0008] Furthermore, a vest is fixedly connected to one side of the support plate. The surface of the vest has several sets of ventilation holes, and the vest is made of elastic fabric.

[0009] Furthermore, a motor protective shell is fixedly connected to the outer wall of the motor. The motor protective shell is made of aluminum alloy and has an anti-rust coating on its surface.

[0010] Furthermore, both ends of the guide rod are fixedly connected to the connecting frame, the outer wall of the guide rod is slidably connected to the inner wall of the moving block, and the outer wall of the guide rod is smoothed.

[0011] Furthermore, the surface of the seat cushion is provided with anti-slip texture, and the inside of the seat cushion is filled with memory foam material. The inside of the moving block is provided with an internal threaded hole that matches the lead screw, and the inner wall of the internal threaded hole is tightly fitted with the outer wall of the lead screw. When the moving block slides along the guide rail, it drives the first connecting rod to rotate synchronously.

[0012] Furthermore, a buckle is installed on the side of the limb fixation frame away from the robot body, and the inner wall of the buckle is integrally formed with anti-slip particles.

[0013] Compared with the prior art, the beneficial effects of this utility model are: 1. Through the cooperation of moving blocks, transmission components and multi-links, the support components are driven to achieve continuous angular lifting from horizontal to vertical, breaking the limitation of a single fixed position and meeting the needs of different training angles.

[0014] 2. By using components in synergy, a wider range of angle elevation can be achieved, meeting the training needs of patients transitioning from bedridden to standing, solving the problem of limited angle range in existing structures, and providing more comprehensive rehabilitation support. Attached Figure Description

[0015] Figure 1 A schematic diagram of the overall structure of a modular rehabilitation robot's torso support frame; Figure 2 A schematic diagram of the rear structure of a modular rehabilitation robot's torso support frame; Figure 3 This is a schematic diagram of the guide rail structure in the torso support frame of a modular rehabilitation robot. Figure 4 This is a side view of the torso support frame of a modular rehabilitation robot.

[0016] In the diagram: 1. Fixed plate; 2. Connecting frame; 3. Guide rail; 4. Moving block; 5. Lead screw; 6. Motor; 7. Guide rod; 8. First link; 9. Support plate; 10. Second link; 11. Third link; 12. Wearing vest; 13. Seat cushion; 14. Protective frame; 15. Robot body. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0018] Please see Figures 1-4This utility model provides a technical solution: a modular rehabilitation robot torso support frame, including a fixed plate 1, a connecting frame 2 installed on one side of the top of the fixed plate 1, guide rails 3 on both sides of the connecting frame 2, a movable block 4 slidably connected to the inner wall of the two adjacent guide rails 3, a lead screw 5 threadedly connected to one side of the bottom of the movable block 4, a motor 6 connected to one end of the lead screw 5, after the motor 6 is started, the output shaft drives the lead screw 5 to rotate along its own axis, a guide rod 7 slidably connected to the side of the movable block 4 away from the lead screw 5, and because the movable block 4 and the lead screw 5 are threadedly connected, and Limited by the guide rod 7 and unable to rotate with the lead screw 5, and constrained by the guide rail 3, the moving block 4 will move horizontally in a straight line along the guide rail 3 towards the vertical side of the connecting frame 2. During the sliding process, it maintains a horizontal posture without vertical offset or rotation. Both ends of the moving block 4 are rotatably connected to a first connecting rod 8. The end of each first connecting rod 8 furthest from the moving block 4 is rotatably connected to a support plate 9. The side of the first connecting rod 8 closest to the support plate 9 is rotatably connected to a second connecting rod 10. The top of the second connecting rod 10 is rotatably connected to a third connecting rod 11. The bottom ends of the two second connecting rods 10 are connected to the connecting... Both sides of the top of frame 2 are rotatably connected. The ends of the two third links 11 away from the second link 10 are rotatably connected to the inner wall of the support plate 9. When the moving block 4 slides, the first links 8 at both ends will rotate around the connection point with the moving block 4. The ends of the first links 8 away from the moving block 4 will lift upwards simultaneously, pushing the bottom end of the support plate 9 upwards, causing the support plate 9 to begin to lift around the user's lumbar region. At the same time, during the rotation of the first link 8, it will drive the second link 10 connected to its middle part to rotate around the connection point with the connecting frame 2. The top of the first link 8 moves upward synchronously, which in turn pulls the third link 11 to rotate upward around the connection point with the second link 10. The end of the third link 11 away from the second link 10 pushes the top of the inner wall of the support plate 9 upward, providing additional upward support force for the support plate 9. With the coordinated linkage of the first link 8, the second link 10, and the third link 11, the support plate 9 rotates smoothly around the fixed axis, and the lifting angle gradually increases from horizontal. During the process, it always fits the user's back and can eventually reach a vertical state, completing the angle adjustment of the user's torso from lying down to standing up.

[0019] See Figure 1 , Figure 2 , Figure 3A seat cushion 13 is fixedly connected to the top side of the fixed plate 1 away from the connecting frame 2. The seat cushion 13 directly bears the weight of the user's buttocks, fixing the position of the buttocks during the torso lifting process and preventing the buttocks from sliding as the support plate 9 is lifted. At the same time, the flexible material cushions the hard contact between the buttocks and the fixed plate 1, dispersing local pressure. Protective frames 14 are fixedly connected to the top two sides of the seat cushion 13 near the support plate 9. The inner wall of each protective frame 14 is rotatably connected to the robot body 15. Two limb fixing frames are installed on the adjacent side of the two robot bodies 15. The protective frame 14 serves as the mounting base of the robot body 15, providing stable rotation support. The symmetrical fixing method ensures that the two robot bodies 15 are subjected to balanced force, avoiding deviation during limb adjustment. The seat cushion 13 is fixed to the fixed plate 1 by multiple bolts and can be disassembled, driving the protective frame 14 and the robot body 15 to detach from the fixed plate 1 simultaneously, forming a modular design for easy cleaning and replacement.

[0020] See Figure 1 A vest 12 is fixedly connected to one side of the support plate 9. The surface of the vest 12 has several sets of ventilation holes and is made of elastic fabric. The vest 12 is fixedly connected to the support plate 9. When the user puts on the vest, the elastic fabric will automatically conform to the contour of the user's torso and tightly bind the torso to the support plate 9. This can prevent relative slippage caused by gaps between the torso and the support plate 9, ensure that the torso is raised synchronously with the support plate 9, accurately transmit support force, and improve the stability and effectiveness of torso raising training. It is especially suitable for patients with weak core muscles of the torso who cannot voluntarily maintain contact with the support plate 9.

[0021] See Figure 2 Both ends of the guide rod 7 are fixedly connected to the connecting frame 2. The outer wall of the guide rod 7 is slidably connected to the inner wall of the moving block 4, and the outer wall of the guide rod 7 is smooth. When the motor 6 drives the lead screw 5 to move the moving block 4, the guide rod 7 can limit the rotation tendency of the moving block 4 around the lead screw 5 and the offset perpendicular to the slide rail direction, ensuring that the moving block 4 only slides along the horizontal direction of the guide slide rail 3, avoiding uneven force on the first connecting rod 8 due to the offset of the moving block 4, thereby ensuring the stability of the lifting trajectory of the support plate 9.

[0022] See Figure 1 The surface of the seat cushion 13 is textured with anti-slip material, and the interior of the seat cushion 13 is filled with memory foam. The anti-slip texture increases the coefficient of friction between the skin of the buttocks and the surface of the seat cushion 13, effectively limiting the forward sliding tendency of the buttocks as the support plate 9 is raised. This avoids the relative misalignment of the torso and the support plate 9 caused by the buttocks sliding, ensuring that the torso always keeps in contact with the support plate 9 and rises synchronously. This ensures that the lifting trajectory conforms to the physiological logic of the human body, reduces the risk of muscle compensation or support point displacement caused by misalignment, and improves the safety of rehabilitation training.

[0023] See Figure 2 The movable block 4 has an internal threaded hole that matches the lead screw 5, and the inner wall of the internal threaded hole is tightly fitted with the outer wall of the lead screw 5. When the movable block 4 slides along the guide rail 3, it can drive the first connecting rod 8 to rotate at a constant speed. Then, through the coordinated linkage of the second connecting rod 10 and the third connecting rod 11, the lifting angle of the support plate 9 changes at a constant speed. For rehabilitation training, the constant angle change allows the patient's trunk to gradually adapt to the change in body position, avoiding discomfort such as dizziness and muscle tension caused by sudden angle changes. At the same time, it is convenient for medical staff to accurately adjust the lifting speed and target angle according to the patient's tolerance.

[0024] Working principle: When the motor 6 drives the lead screw 5 to rotate, the moving block 4 converts the rotational power of the lead screw 5 into horizontal sliding power along the guide rail 3 through the internal threaded hole that fits with the lead screw 5. Under the limit of the guide rod 7, rotation or deviation is avoided, ensuring sliding accuracy. During the sliding process, the two ends of the moving block 4 synchronously drive the first connecting rod 8 to rotate around the connection point as the axis. The end of the first connecting rod 8 away from the moving block 4 pushes the bottom end of the support plate 9 upward, while driving the second connecting rod 10 to rotate around the connecting frame 2. The second connecting rod 10 then pulls the third connecting rod 11 to push the top end of the support plate 9. Finally, under the synergistic action of multiple connecting rods, the support plate 9 is raised smoothly around the user's lumbosacral region. During this period, the moving block 4 protects the lead screw 5 through the force dispersion effect and achieves uniform speed angle adjustment of the support plate 9 with its stable sliding characteristics to adapt to different rehabilitation needs.

[0025] The control method of this utility model is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by those skilled in the art, which is common knowledge in the field. Furthermore, since this utility model is mainly used to protect mechanical devices, the control method and circuit connection will not be explained in detail here.

[0026] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the content of this utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A modular rehabilitation robot trunk support frame, comprising a fixing plate (1), characterized in that: A connecting frame (2) is installed on one side of the top of the fixed plate (1). Guide rails (3) are provided on both sides of the connecting frame (2). Moving blocks (4) are slidably connected to the inner walls of the two adjacent guide rails (3). A lead screw (5) is threadedly connected to one side of the bottom of the moving block (4). A motor (6) is connected to one end of the lead screw (5). A guide rod (7) is slidably connected to the side of the moving block (4) away from the lead screw (5). A first connecting rod (8) is rotatably connected to both ends of the moving block (4). Each of the first connecting rods (8) is rotatably connected to a support plate (9) at one end away from the moving block (4). The first connecting rod (8) is rotatably connected to a second connecting rod (10) on the side near the support plate (9). The top end of the second connecting rod (10) is rotatably connected to a third connecting rod (11). The bottom ends of the two second connecting rods (10) are rotatably connected to both sides of the top end of the connecting frame (2). The ends of the two third connecting rods (11) away from the second connecting rods (10) are rotatably connected to the inner wall of the support plate (9).

2. The modular rehabilitation robot torso support frame as described in claim 1, characterized in that: A seat cushion (13) is fixedly connected to the top side of the fixed plate (1) away from the connecting frame (2). A protective frame (14) is fixedly connected to both sides of the top of the seat cushion (13) near the support plate (9). A robot body (15) is rotatably connected to the inner wall of each protective frame (14). Two limb fixation frames are installed on the adjacent sides of the two robot bodies (15).

3. The modular rehabilitation robot trunk support frame as described in claim 2, characterized in that: A vest (12) is fixedly connected to one side of the support plate (9). The surface of the vest (12) is provided with several sets of ventilation holes, and the vest (12) is made of elastic fabric.

4. The modular rehabilitation robot torso support frame as described in claim 3, characterized in that: The outer wall of the motor (6) is fixedly connected to a motor protective shell, which is made of aluminum alloy and has an anti-rust coating on its surface.

5. The modular rehabilitation robot torso support frame as described in claim 4, characterized in that: Both ends of the guide rod (7) are fixedly connected to the connecting frame (2), the outer wall of the guide rod (7) is slidably connected to the inner wall of the moving block (4), and the outer wall of the guide rod (7) is smoothed.

6. The modular rehabilitation robot torso support frame as described in claim 5, characterized in that: The surface of the cushion (13) is provided with an anti-slip texture, and the interior of the cushion (13) is filled with memory foam material.

7. The modular rehabilitation robot trunk support frame as described in claim 6, characterized in that: The moving block (4) has an internal threaded hole that matches the lead screw (5), and the inner wall of the internal threaded hole is in close contact with the outer wall of the lead screw (5). When the moving block (4) slides along the guide rail (3), it drives the first connecting rod (8) to rotate synchronously.

8. The modular rehabilitation robot trunk support frame as described in claim 7, characterized in that: The limb fixation frame is equipped with a buckle on the side away from the robot body (15), and the inner wall of the buckle is integrally formed with anti-slip particles.

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