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CN-121971836-A - Rehabilitation training robot with joint moment feedback

CN121971836ACN 121971836 ACN121971836 ACN 121971836ACN-121971836-A

Abstract

The invention relates to the technical field of rehabilitation training and discloses a rehabilitation training robot with joint moment feedback, which comprises a shell, wherein a cover plate is fixedly arranged on the left side of the top of the shell, a seat assembly extending to the top of the cover plate is arranged on the inner side of the shell, two outer boxes are fixedly arranged on the right side of the inner wall of the shell, a supporting seat is fixedly arranged at the bottom of the shell, a training mechanism extending to the outer side of the outer boxes is arranged between the inner sides of the two outer boxes, an adjusting mechanism connected with the training mechanism and extending to the right side of the shell is arranged between the two outer boxes, the top of the training mechanism is provided with a fixing mechanism, and a supporting plate slides along a guide rail through the arrangement of the training mechanism and realizes the aim of adjustable training strength.

Inventors

  • LIU YIFAN

Assignees

  • 西安理工大学

Dates

Publication Date
20260505
Application Date
20260320

Claims (9)

  1. 1. The rehabilitation training robot with the joint moment feedback comprises a shell (1), wherein a cover plate (2) is fixedly arranged on the left side of the top of the shell (1), a seat assembly (3) extending to the top of the cover plate (2) is arranged on the inner side of the shell (1), two outer boxes (4) are fixedly arranged on the right side of the inner wall of the shell (1), and a supporting seat (8) is fixedly arranged at the bottom of the shell (1), and the rehabilitation training robot is characterized in that a training mechanism (5) extending to the outer side of the outer boxes (4) is arranged between the inner sides of the two outer boxes (4), an adjusting mechanism (6) connected with the training mechanism (5) and extending to the right side of the shell (1) is arranged between the two outer boxes (4), and a fixing mechanism (7) is arranged at the top of the training mechanism (5); The seat assembly (3) comprises a bottom box (301), the left side of the inner wall of the shell (1) is fixedly provided with the bottom box (301) fixedly connected with the inner bottom wall of the shell (1), the inner side of the bottom box (301) is fixedly provided with a mounting block (302) extending to the top of the bottom box (301), the front side and the rear side of the inner wall of the bottom box (301) are fixedly provided with a cross rod (303), the outer sides of the two cross rods (303) are slidably provided with a moving block (304) which is slidably connected with the inner wall of the bottom box (301), one end of the moving block (304) extends to the right side of the bottom box (301), the right side of the moving block (304) is fixedly provided with a handle (305), the top of the moving block (304) is fixedly provided with two frames (306) which extend to the top of the bottom box (301), the top of the moving block (304) is fixedly provided with a sliding block (307) extending to the top of the bottom box (306), the top of the moving block (308) is fixedly provided with a moving block (308), the top of the moving block (308) is fixedly provided with a sliding block (310), the inner side of the U-shaped plate (311) is fixedly provided with a pull rod (312) positioned above the installation block (302), the inner bottom wall of the U-shaped plate (311) is fixedly provided with a telescopic spring (313) fixedly connected with the inner top wall of the installation cavity (310), and the bottom of the U-shaped plate (311) is fixedly provided with a clamping block (314) which extends to the bottom of the installation block (302) and is clamped with the moving block (304).
  2. 2. The rehabilitation training robot with joint moment feedback according to claim 1, wherein the training mechanism (5) comprises guide rails (51), guide rails (51) are fixedly installed on the front side and the rear side of the inner wall of the outer box (4), a baffle strip (52) is fixedly installed on the left side of the inner wall of the guide rails (51), a supporting plate (53) is slidably installed between the inner sides of the two guide rails (51), a vertical plate (54) is fixedly installed at the bottom of the supporting plate (53), two stabilizing rods (55) penetrating through the vertical plate (54) are fixedly installed between the left side and the right side of the inner wall of the outer box (4), regulating blocks (56) located on the right side of the vertical plate (54) are slidably installed between the outer sides of the two stabilizing rods (55), regulating springs (57) located between the two stabilizing rods (55) are fixedly installed between the regulating blocks (56), and a connecting plate (58) penetrating through the outer box (4) is fixedly installed between the two regulating blocks (56).
  3. 3. A rehabilitation training robot with joint moment feedback is characterized in that the adjusting mechanism (6) comprises a threaded block (601), the inner side of the connecting plate (58) is provided with the threaded block (601), a bottom plate (605) positioned below the connecting plate (58) is fixedly arranged between the two outer boxes (4), a supporting plate (602) positioned on the left side of the threaded block (601) is fixedly arranged at the top of the bottom plate (605), a threaded rod (603) extending to the right side of the shell (1) is rotatably connected to the right side of the supporting plate (602), the threaded block (601) is in threaded connection with the outer side of the threaded rod (603), a rotating handle (604) is fixedly arranged at the right side of the threaded rod (603), U-shaped frame bodies (606) which are two in number and are positioned on the front side of the threaded rod (603) are fixedly arranged at the top of the bottom plate (605), a lifting plate (607) extending to the outer side of the bottom plate (607) is fixedly arranged between the inner sides of the two U-shaped frame bodies (606), a spring (608) is fixedly connected with the lifting plate (607) which is fixedly connected with the top of the bottom plate (607) and the connecting plate (58), the top of the lifting plate (607) is fixedly provided with a connecting handle (610) positioned at the outer side of the U-shaped frame body (606).
  4. 4. A rehabilitation training robot with joint moment feedback according to claim 2, characterized in that the fixing mechanism (7) comprises a mounting box (701), a mounting box (701) is fixedly mounted on the top of the supporting plate (53), a triangular block (702) is fixedly mounted on the top of the mounting box (701), a bracket (703) attached to the top of the mounting box (701) is movably mounted on the outer side of the triangular block (702), a bottom bracket (704) attached to the mounting box (701) is fixedly mounted on the left side of the bracket (703), rectangular groove bodies (705) are formed on the front side and the rear side of the bracket (703), a mounting sliding block (706) extending to the outer side of the rectangular groove bodies is movably mounted on the inner side of the rectangular groove bodies (705), an elastic strip (707) positioned on the left side of the bracket (703) is fixedly mounted between the two mounting sliding blocks (706), a movable plate (708) is slidably mounted between the upper side and the lower side of the inner wall of the mounting box (701), a U-shaped plate (709) extending to the right side of the mounting box (701) is fixedly mounted on the right side of the bracket (708), a U-shaped plate (709) is fixedly mounted on the right side of the bracket (709), a U-shaped plate (709) is fixedly mounted on the right side of the bracket (701), the left side of the vertical plate (711) is fixedly provided with a fixed block (712) which is clamped with the bracket (703).
  5. 5. The rehabilitation training robot with joint moment feedback according to claim 1, wherein sliding grooves are formed in the front side and the rear side of the moving block (304), the sliding grooves are matched with the cross rod (303), the inner top wall of the bottom box (301) is of an opening design, rectangular holes matched with the moving block (304) are formed in the right side of the inner wall of the bottom box (301), clamping grooves matched with clamping blocks (314) are formed in the top of the moving block (304), soft cushions are arranged on the outer side of the seat (309), through holes matched with the U-shaped plates (311) are formed in the top of the mounting block (302), the through holes are communicated with the inner top wall of the mounting cavity (310), and sponge sleeves are wrapped on the outer side of the pull rod (312).
  6. 6. The rehabilitation training robot with joint moment feedback according to claim 2, wherein rectangular sliding holes matched with the stabilizer bar (55) are formed in the inner side of the vertical plate (54), through holes matched with the stabilizer bar (55) are formed in the inner side of the adjusting block (56), strip-shaped holes are formed in the inner walls of the opposite sides of the two outer boxes (4), and the size of the strip-shaped holes is matched with the moving track of the connecting plate (58).
  7. 7. The rehabilitation training robot with joint moment feedback according to claim 3, wherein the number of the limiting blocks (309) can be set according to requirements and are distributed from left to right at equal intervals, limiting holes matched with the limiting blocks (309) are formed in the inner side of the connecting plate (58), rectangular mounting holes matched with threaded blocks (601) are formed in the inner side of the connecting plate (58), one end of the left side of the threaded rod (603) is rotationally connected with a supporting plate (602) through a bearing, and supporting holes matched with the threaded rod (603) are formed in the right side of the inner wall of the shell (1).
  8. 8. The rehabilitation training robot with joint moment feedback of claim 4, wherein the right side of the bracket (703) is provided with a stabilizing groove matched with the fixed block (712), the bottom of the bracket (703) is provided with a triangular groove matched with the triangular block (702), the left side of the bracket (703) is of an inclined design, and the right side of the inner wall of the mounting box (701) is provided with a through hole body matched with the U-shaped rod (709).
  9. 9. The rehabilitation training robot with joint moment feedback according to claim 1, wherein the inner top wall of the shell (1) is of an opening design, the number of the supporting seats (8) is four, rectangular hole bodies are formed in the inner side of the cover plate (2), and the inner top wall of the outer box (4) is of an opening design.

Description

Rehabilitation training robot with joint moment feedback Technical Field The invention relates to the technical field of rehabilitation training, in particular to a rehabilitation training robot with joint moment feedback. Background Through searching, chinese patent publication No. CN222467974U discloses a lower limb rehabilitation training robot, the lower limb rehabilitation training robot comprises a base, thereby a patient can exercise lower limb leg muscles by repeatedly stepping on a placing plate, meanwhile, the patient can step on the placing plate according to self leg recovery condition self-adaptive force, thereby the leg rehabilitation of the patient brings certain benefits, the prior art scheme has the following defects that in the use process, the training strength of the patient cannot be changed, the use requirements of different patients cannot be met, the placing plate is of a fixed design, the placing plates of different models cannot be selected according to the patient requirements, the foot is not provided with a fixed structure, the use convenience is influenced, and the rehabilitation training robot with joint moment feedback is provided to solve the problems. Disclosure of Invention (One) solving the technical problems Aiming at the defects of the prior art, the invention provides a rehabilitation training robot with joint moment feedback, which has the advantages of adjustable training intensity and replaceable placing plates of different types, and solves the problems in the prior art. (II) technical scheme The invention provides a rehabilitation training robot with joint moment feedback, which comprises a shell, wherein a cover plate is fixedly arranged on the left side of the top of the shell, seat components extending to the top of the cover plate are arranged on the inner side of the shell, two outer boxes are fixedly arranged on the right side of the inner wall of the shell, supporting seats are fixedly arranged at the bottom of the shell, a training mechanism extending to the outer side of the outer box is arranged between the inner sides of the two outer boxes, an adjusting mechanism connected with the training mechanism and extending to the right side of the shell is arranged between the two outer boxes, and a fixing mechanism is arranged on the top of the training mechanism; The seat assembly comprises a bottom box, the bottom box fixedly connected with the bottom wall of the shell is fixedly arranged on the left side of the inner wall of the shell, a mounting block extending to the top of the bottom box is arranged in the inner sliding mounting of the bottom box, transverse rods are fixedly arranged on the front side and the rear side of the inner wall of the bottom box, a moving block which is slidably connected with the inner wall of the bottom box is arranged between the outer sides of the transverse rods, one end of the moving block extends to the right side of the bottom box, handles are fixedly arranged on the right side of the moving block, a plurality of frame bodies which are two and extend to the top of the bottom box are fixedly arranged on the top of the moving block, a sliding block which extends to the top of the bottom box is slidably arranged between the two frame bodies, an electric push rod is fixedly arranged on the top of the moving block, a seat is fixedly arranged on the top of the sliding block, a mounting cavity is arranged on the inner side of the mounting block, a U-shaped plate which is fixedly arranged on the inner side of the mounting block, a U-shaped block is fixedly arranged on the upper side of the mounting block, and a telescopic block is fixedly connected with the bottom wall of the top wall of the U-shaped block, and the top wall of the U-shaped block is fixedly connected with the top wall of the U-shaped block. Preferably, the training mechanism comprises a guide rail, guide rails are fixedly arranged on the front side and the rear side of the inner wall of the outer box, a baffle bar is fixedly arranged on the left side of the inner wall of the guide rail, a supporting plate is slidably arranged between the inner sides of the guide rails, a vertical plate is fixedly arranged at the bottom of the supporting plate, stabilizing rods which are two in number and penetrate through the vertical plate are fixedly arranged between the left side and the right side of the inner wall of the outer box, an adjusting block positioned on the right side of the vertical plate is slidably arranged between the outer sides of the stabilizing rods, an adjusting spring positioned between the two stabilizing rods is fixedly arranged between the adjusting block and the vertical plate, and a connecting plate penetrating through the outer box is fixedly arranged between the adjusting blocks. Preferably, the adjusting mechanism comprises a thread block, the thread block is arranged on the inner side of the connecting plate, a bottom plate arranged below the co