CN112545833A - External skeleton robot capable of synchronously drafting shoulder and spine for lumbar vertebra rehabilitation - Google Patents

External skeleton robot capable of synchronously drafting shoulder and spine for lumbar vertebra rehabilitation Download PDF

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Publication number
CN112545833A
CN112545833A CN202011420517.8A CN202011420517A CN112545833A CN 112545833 A CN112545833 A CN 112545833A CN 202011420517 A CN202011420517 A CN 202011420517A CN 112545833 A CN112545833 A CN 112545833A
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frame
lifting
adjusting
sleeved
transverse moving
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CN112545833B (en
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姜俊良
杨浩伦
薛建良
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West China Hospital of Sichuan University
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West China Hospital of Sichuan University
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0218—Drawing-out devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F5/00—Orthopaedic methods or devices for non-surgical treatment of bones or joints; Nursing devices; Anti-rape devices
    • A61F5/01—Orthopaedic devices, e.g. splints, casts or braces
    • A61F5/02—Orthopaedic corsets
    • A61F5/026—Back straightening devices with shoulder braces to force back the shoulder to obtain a correct curvature of the spine
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1614—Shoulder, e.g. for neck stretching
    • A61H2201/1616—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1623—Back
    • A61H2201/1626—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/06—Arms
    • A61H2205/062—Shoulders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/08—Trunk
    • A61H2205/081—Back

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Vascular Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Nursing (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Rehabilitation Tools (AREA)
  • Orthopedics, Nursing, And Contraception (AREA)

Abstract

The invention belongs to the technical field of exoskeleton robots, and particularly relates to a lumbar vertebra rehabilitation exoskeleton robot capable of synchronously stretching shoulders and spines. The exoskeleton robot comprises a fixed plate, wherein a reciprocating bidirectional motor is mounted on the fixed plate, two output shafts of the reciprocating bidirectional motor are connected with telescopic rotating shafts, and the other ends of the telescopic rotating shafts are connected with a lifting driving mechanism; both sides of the fixed plate are provided with transverse moving frames; the upper end of the transverse moving frame is sleeved with an upper limb frame, the lifting driving mechanism is in transmission connection with the upper limb frame, and the upper limb frame is provided with a shoulder fixing part; the lower end of the fixing plate is hinged with a bionic spine, both sides of the bionic spine are connected with telescopic shafts, and the other end of each telescopic shaft is connected with the upper limb frame; the lower end of the transverse moving frame is connected with a lower limb frame, and a thigh fixing piece is connected on the lower limb frame. The invention provides an exoskeleton robot for lumbar vertebra rehabilitation, which can ensure that shoulders and lumbar vertebrae are stretched synchronously so as to reduce body injury during rehabilitation training.

Description

External skeleton robot capable of synchronously drafting shoulder and spine for lumbar vertebra rehabilitation
Technical Field
The invention belongs to the technical field of exoskeleton robots, and particularly relates to a lumbar vertebra rehabilitation exoskeleton robot capable of synchronously stretching shoulders and spines.
Background
Lumbar spondylosis is a common disease and a frequently encountered disease which seriously affect the working and living abilities of people. Due to the lack of exercise activity, muscle weakness, poor blood circulation, trauma, bad posture, repeated or sustained stress and overstress, most people are in lack of exercise activity for a long time. The population suffering from lumbar disc herniation and other diseases is increasing rapidly. According to the statistics of the Ministry of health of China, the lumbar vertebra disease patients in China break through 2 hundred million, the lumbar disc herniation patients account for 15.2 percent of the total number of the patients in the country, and the number of the patients losing the self-care ability due to the lumbar vertebra disease is only second to the second of the famous cases of the cerebrovascular disease. Patients with lumbar spine disease have been on the rise for many years and have expanded year-to-year from the middle aged to young and strong at an alarming rate. Lumbar diseases such as lumbar disc herniation and the like gradually become one of important diseases which threaten the health of people in China and obstruct the development of economic culture. Traditionally, to correct cervical and lumbar deformities, it is common practice to apply an external force to the vertebrae, such as a massage treatment by an orthopedist.
The robot is born to date, and has been widely applied to various fields, such as industrial automation manufacturing, service medical treatment, military equipment and other industries, which are hot spot industries of the robot. Although the traditional robot is still active in the fields of industrial manufacturing service and the like, the development of the times makes the requirements of people on production, life, entertainment, medical treatment, service and the like increasingly novel, the traditional robot cannot meet the requirements in the aspects of structure, control and intellectualization, the people need the robot which is lighter, more integrated and more intelligent, and the robot is required to be capable of safely cooperating with people. However, robots that have been widely used in various fields generally have the following problems: firstly, the auxiliary rehabilitation machine is structurally large and heavy, and adopts materials such as steel with high rigidity and the like, so that the man-machine coupling property and the comfort level cannot be met, and the load self-weight ratio is low; secondly, the auxiliary rehabilitation working environment is specific, single and predictable, and the robot base can complete work tasks basically without moving, so that the flexibility is poor; thirdly, the degree of intelligence varies. Some lumbar vertebra rehabilitation auxiliary equipment have simple and extensive structure and function, such as a sitting-position type traction mechanism and intelligent fixed on-line traction rehabilitation.
The invention patent with the patent application number of CN201910332513.5 discloses a lightweight lumbar auxiliary rehabilitation exoskeleton robot, which comprises a back vertebra traction mechanism, a vertebra and waist bionic structure, a vertebra and waist driving mechanism, an intelligent adjustable elastic waist belt, an abdomen fixing and supporting mechanism, a vertebra rehabilitation exoskeleton leg fixing mechanism, a back supporting mechanism, a vertebra exoskeleton handheld terminal and a driving control box. The spine and waist driving mechanism moves along the back supporting mechanism under the control of the driving control box to cause the bionic deformation of the spine and waist bionic mechanism and drive a wearer to realize the training of the front and back bending and stretching traction movement of the lumbar; the back vertebra traction mechanism moves up and down under the control of the drive control box, so that the human body load above the lumbar vertebra is transmitted to the vertebra exoskeleton leg fixing mechanism through the back supporting mechanism and the abdomen fixing and supporting mechanism, and the upper and lower traction rehabilitation training of the lumbar vertebra is realized for a wearer. The intelligent wearable multi-posture rehabilitation training device adopts an integrated design, is smaller in size, improves the load weight ratio, and realizes intelligent wearable and multi-posture rehabilitation training.
The first hoisting rope of the exoskeleton robot pulls the shoulder fixing belt to move up and down, and the second hoisting rope pulls the spine and waist bionic mechanism to bend, so that a wearer is driven to perform lumbar rehabilitation auxiliary motion. But the first hoisting rope and the second hoisting rope can not ensure synchronous action, so that the passive bending action of the shoulders and the lumbar of the human body can not be synchronous. When the shoulder is moved passively and the lumbar vertebrae are not yet bent, it is easy to cause excessive compression of the lumbar vertebrae. When the lumbar vertebrae are passively bent and the shoulders are not yet moved, the lumbar vertebrae are easily pulled excessively.
Disclosure of Invention
In order to solve the above problems in the prior art, the present invention aims to provide an exoskeleton robot for lumbar vertebra rehabilitation, which can ensure synchronous extension of the shoulder and the lumbar vertebra to reduce body injuries during rehabilitation training.
The technical scheme adopted by the invention is as follows:
an exoskeleton robot for lumbar vertebra rehabilitation capable of synchronously drafting shoulders and spines comprises a fixing plate, wherein a reciprocating bidirectional motor is mounted on the fixing plate, two output shafts of the reciprocating bidirectional motor are connected with telescopic rotating shafts respectively, and the other end of each telescopic rotating shaft is connected with a lifting driving mechanism; the two sides of the fixed plate are both provided with transverse moving frames, the transverse moving frames are provided with limiting columns, the fixed plate is provided with transverse moving chutes, and the limiting columns are sleeved in the transverse moving chutes; the upper end of the transverse moving frame is sleeved with an upper limb frame, the lifting driving mechanism is in transmission connection with the upper limb frame, the upper limb frame is provided with a shoulder fixing part, the lifting driving mechanism is also fixed with a lifting slide block, the upper limb frame is provided with a lifting slide groove which is longitudinally arranged, and the lifting slide block is sleeved in the lifting slide groove; the lower end of the fixed plate is hinged with a bionic spine, a stretching chute is arranged on the fixed plate, the upper end of the bionic spine is sleeved in the stretching chute, two sides of the bionic spine are both connected with telescopic frames, and the other end of each telescopic frame is connected with an upper limb frame; the lower end of the transverse moving frame is connected with a lower limb frame, and a thigh fixing piece is connected on the lower limb frame.
Before wearing, the transverse moving frames are moved, so that the distance between the two transverse moving frames is adjusted to be suitable. After adjusting the cross sliding frame, the distance between the two thigh fixing parts and the distance between the two shoulder fixing parts can be suitable for the user. The thigh mounts are worn on the thighs of the user and the shoulder mounts are worn on the shoulders of the user. Because the telescopic rotating shaft and the telescopic frame can be stretched and retracted under the pulling action, the telescopic rotating shaft or the telescopic frame cannot generate movement interference after the transverse moving frame is moved. Because the lifting slide block on the lifting driving mechanism is sleeved in the lifting slide groove on the upper limb frame, when the upper limb frame moves transversely, the lifting driving mechanism and the upper limb frame move transversely simultaneously, and the lifting driving mechanism can drive the upper limb frame to move up and down in a reciprocating manner all the time.
During the traction treatment, the reciprocating bidirectional motor is started, the reciprocating bidirectional motor drives the telescopic rotating shaft to rotate, and the telescopic rotating shaft drives the lifting driving mechanism to act. Because the upper limb frame is sleeved in the transverse moving frame, the upper limb frame can move up and down under the driving of the lifting driving mechanism. At the moment, the lifting slide block on the lifting driving mechanism slides in the lifting slide groove on the upper limb frame, so that no movement interference is generated. Accordingly, the shoulder fixing piece can reciprocate up and down under the drive of the upper limb frame, so that the shoulder fixing piece pulls the shoulder of the user to reciprocate up and down. Because the bionic spine is connected with the upper limb frame through the telescopic frame, when the upper limb frame reciprocates up and down, the telescopic frame drives the upper end of the bionic spine to reciprocate up and down in the stretching sliding groove. Because the lower end of the bionic spine is hinged with the lower end of the fixing plate, the bionic spine is repeatedly bent and stretched when the upper end of the bionic spine moves up and down. Under the condition that the shoulders of the user are fixed by the shoulder fixing parts and the thighs are fixed by the thigh fixing parts, the lumbar of the user is tightly attached to the bionic spine, and when the bionic spine moves, the lumbar of the user is subjected to reciprocating traction treatment.
In the process that the lifting driving mechanism drives the upper limb frame to lift, the upper limb frame drives the telescopic frame to lift synchronously, and the upper end of the driven bionic spine lifts synchronously. Therefore, the shoulder fixing piece drives the shoulder of the user to move up and down and completely synchronize with the bending and stretching of the bionic spine. When the lumbar vertebra of the user is bent by the bionic spine, the shoulder of the user is pulled downwards by the shoulder fixing piece. Similarly, when the lumbar vertebra of the user is stretched by the bionic spine, the shoulder of the user is pulled upwards by the shoulder fixing piece. The synchronism of the movement of the shoulder and the movement of the waist of the user satisfies the deformation of the body during natural movement. Therefore, the lumbar vertebra traction rehabilitation training device can avoid the situation that the lumbar vertebra is excessively extruded when the shoulder is passively moved and the lumbar vertebra is not bent, also avoid the situation that the lumbar vertebra is excessively pulled when the shoulder is passively bent and the shoulder is not moved, protect the body of a user, and realize healthier and more effective lumbar vertebra traction rehabilitation training.
Before the shoulder fixing pieces are used for carrying out the traction training on the shoulders of the user, the distance between the two transverse moving frames can be adjusted according to the body width of the user, so that the distance between the two shoulder fixing pieces can be adjusted, the shoulder fixing pieces can accurately draw the proper positions of the shoulders of the user up and down, and the effect of the traction training is ensured. And, after adjusting the interval of two shoulder fixings, the user dresses more comfortablely. After the horizontal positions of the transverse moving frame, the upper limb frame and the shoulder fixing piece are adjusted, the lifting driving mechanism can still drive the upper limb frame to lift, and the telescopic shaft can still drive the bionic spine to bend or stretch, so that the functions of the bionic spine stretching device are not influenced.
As a preferable scheme of the present invention, the lifting driving mechanism includes a lifting reducer, an input end of the lifting reducer is connected to the telescopic rotating shaft, an output end of the lifting reducer is connected to the lifting gear, and a lifting rack is mounted on the upper limb frame and engaged with the lifting rack. When the telescopic rotating shaft drives the lifting speed reducer to act, the lifting speed reducer drives the lifting gear to rotate. When the lifting gear drives the lifting rack to move, the lifting rack drives the upper limb support to move up and down, so that the shoulder fixing piece can correspondingly move up and down. A certain transmission ratio is formed between the lifting rack and the lifting rack, so that the timeliness and the accuracy of the action of driving the shoulder fixing piece are ensured.
As a preferred scheme of the present invention, the telescopic rotating shaft includes a sleeve shaft, one end of the sleeve shaft is fixed on an output shaft of the reciprocating bidirectional motor, the sleeve shaft is internally sleeved with the telescopic shaft, the telescopic shaft is fixed with an input end of the lifting driving mechanism, the inner wall of the sleeve shaft is provided with a plurality of retaining grooves, the outer wall of the telescopic shaft is provided with retaining strips, and the retaining strips are sleeved in the retaining grooves. Because the barrier strip is sleeved in the barrier groove, the telescopic shaft is limited, and the telescopic shaft cannot rotate relative to the sleeve shaft. When the reciprocating bidirectional motor drives the sleeve shaft to rotate, the telescopic shaft rotates along with the sleeve shaft, so that the telescopic shaft can drive the lifting driving mechanism to act. Because the barrier strip is only sleeved in the barrier groove, the barrier groove can not limit the barrier strip to move horizontally, and the telescopic shaft can move horizontally relative to the sleeve shaft. When the transverse moving frame drives the upper limb frame to transversely move, the lifting driving mechanism transversely moves along with the upper limb frame. Because the telescopic shaft is fixed with the input end of the lifting driving mechanism, the telescopic shaft transversely moves relative to the sleeve shaft, and the telescopic rotating shaft can be smoothly stretched.
As a preferable scheme of the invention, the number of the limiting columns on the transverse moving frame is two, and the number of the transverse moving chutes on the fixing plate is four. The upper end and the lower end of the transverse moving frame are respectively provided with a limiting post, and the corresponding positions on the fixed plate are respectively provided with a transverse moving chute corresponding to the limiting posts, so that the rotation of the transverse moving frame is limited, the transverse moving frame can only transversely move along the transverse moving chutes, the position accuracy of the transverse moving frame is ensured, and the position accuracy of the shoulder fixing piece and the thigh fixing piece is correspondingly ensured.
As a preferred scheme of the invention, the telescopic frame comprises a sleeve, one end of the sleeve is fixed on the bionic spine, the other end of the sleeve is sleeved with a loop bar, and the other end of the loop bar is fixed with the upper limb frame. When the upper limb frame drives the sleeve rod to move, the sleeve rod moves relative to the sleeve, the telescopic frame stretches, and the upper limb frame can still drive the bionic spine to move through the telescopic frame after the distance between the self-defense spine and the upper limb frame is changed.
As a preferred scheme of the invention, the bionic spine comprises a plurality of waist protecting plates, a plurality of lumbar vertebrae are hinged on the waist protecting plates, an intervertebral elastomer is connected between the lumbar vertebrae, a stretching sliding block is fixed on the uppermost lumbar vertebrae, and the stretching sliding block is sleeved in a stretching sliding groove. The stretching slide block slides in the stretching slide groove all the time, so that the upper end of the bionic spine can move along an accurate path, and the action of the bionic spine is more accurate. When the telescopic shaft drives the stretching sliding block to move, the included angle between the plurality of lumbar vertebrae bodies is changed, so that the whole bionic spine is bent or stretched, each lumbar vertebrae body and the intervertebral elastic body of the bionic spine can uniformly apply force to the spine of a user, the spine of the user is guaranteed to be pulled, the effect of pulling training is improved, and the comfort of the user during training is improved.
As a preferred scheme of the invention, a pushing frame is hinged on the fixed plate, a pushing sliding block is fixed at the other end of the pushing frame, a vertical groove is formed in the transverse moving frame, and the pushing sliding block is sleeved in the vertical groove; and the fixed plate is provided with a connecting rod mechanism for driving the pushing frame to rotate, and the fixed plate is also provided with an adjusting driving mechanism for driving and locking the connecting rod mechanism.
When the adjusting driving mechanism drives the connecting rod mechanism to act, the connecting rod mechanism drives the pushing frame to rotate. When the pushing frame rotates, the pushing slide block on the pushing frame slides in the vertical groove on the transverse moving frame. Because the projection length of the pushing frame in the horizontal direction is changed, the transverse moving frame is pushed to move transversely when the pushing frame rotates. The moving distance of the transverse moving frame can be accurately controlled by controlling the rotating angle of the pushing frame, so that the transverse moving frame can be accurately adjusted. When the adjusting driving mechanism does not act, the device is used as a locking connecting rod mechanism, so that the connecting rod mechanism does not act by itself, and the position of the transverse moving frame is locked.
As a preferred scheme of the invention, the link mechanism comprises two moving rods, the adjusting and driving mechanism is in transmission connection with one of the moving rods, the fixed plate is provided with a limiting chute, the moving rods are sleeved in the limiting chute, the moving rods are fixed with shifting slide blocks, the pushing frame is provided with shifting chutes, and the shifting slide blocks are sleeved in the shifting chutes; articulated on the fixed plate have the gangbar, and the both ends of gangbar all are provided with the linkage spout, are fixed with the linkage piece on the carriage release lever, and the linkage piece cover is located in the linkage spout, and two promotion framves are central symmetry.
When the adjusting and driving mechanism drives one of the movable rods to move, the movable rod drives the linkage rod to rotate, and the other end of the linkage rod drives the other movable rod to move reversely. The linkage block on the moving rod slides in the linkage sliding groove on the linkage rod, so that no motion interference is generated between the moving rod and the linkage rod. The moving rod is sleeved in the limiting sliding groove of the fixing plate, and moves along an accurate path all the time in the movement. When the movable rod moves, the poking slide block on the movable rod slides in the poking slide groove of the pushing frame and drives the pushing frame to rotate. Therefore, the two pushing frames can be accurately controlled to rotate for determining the angle by adjusting the driving mechanism to drive one of the movable rods to move. The two pushing frames are centrosymmetric, the two pushing frames drive the transverse moving frames to transversely move along opposite directions, and the two transverse moving frames move oppositely or back to back. The two transverse moving frames can synchronously adjust the positions by the driving of the connecting rod mechanism, and the adjusting distances of the two transverse moving frames are the same. Before and after the position of the transverse moving frame is adjusted, the distance between the two shoulder fixing pieces and the spine is always equal, so that the two shoulder fixing frames can stretch the shoulders up and down at the same positions of the two shoulders of a user, and the stretching dislocation cannot be generated. And before and after the position of the transverse moving frame is adjusted, the distance between the two shoulder fixing pieces and the bionic spine is the same, and the distance between the two thigh fixing pieces and the bionic spine is always the same, so that after the bionic spine stretching machine is worn, the bionic spine can be accurately attached to the spine of a user, the stretching dislocation cannot occur, and the accurate stretching of the bionic spine to the spine of a human body is ensured. The same position of user's two shoulders is by the tractive and user's vertebra is by accurate draft, and when avoiding the rehabilitation training, the condition that user's shoulder or vertebra are crooked toward the side avoids being injured, and the corresponding accuracy that improves the traction training improves the training effect.
As a preferable scheme of the present invention, the adjusting and driving mechanism includes an adjusting two-way motor, an output shaft of the adjusting two-way motor is connected to an adjusting reducer, both the adjusting two-way motor and the adjusting reducer are mounted on the fixing plate, an output shaft of the adjusting reducer is connected to an adjusting gear, one of the moving rods is provided with an adjusting rack, and the adjusting gear is engaged with the adjusting rack.
After the adjusting two-way motor is started, the adjusting two-way motor drives the adjusting reducer to act, the adjusting reducer drives the adjusting gear to rotate, and then the adjusting gear can drive the adjusting rack on one of the moving rods to accurately move. The adjusting rack and the adjusting gear have a determined transmission ratio, so that the movement distance of the transverse moving frame can be accurately adjusted by controlling and adjusting the action of the bidirectional motor.
As a preferable scheme of the present invention, the lower limb frame is sleeved at the lower end of the transverse moving frame, and the transverse moving frame is in threaded connection with a locking screw for tightly pushing the lower limb frame. The thigh fixing part on the lower limb frame can be fixedly connected to the thigh of the user, so that the lower end of the invention is accurately fixed. The position of the thigh fixing part can be adjusted according to the height of the user. After the lower limb frame is pulled out from the transverse moving frame to a determined position, the lower limb frame is locked on the transverse moving frame by using a locking screw, and the position of the thigh fixing piece is correspondingly fixed. After the position of the thigh fixing part is adjusted, the distance between the thigh fixing part and the shoulder fixing part is adjusted, so that the thigh fixing part and the shoulder fixing part are suitable for the stature of a user.
The invention has the beneficial effects that:
1. in the process that the lifting driving mechanism drives the upper limb frame to lift, the upper limb frame drives the telescopic frame to lift synchronously, and the upper end of the driven bionic spine lifts synchronously. Therefore, the shoulder fixing piece drives the shoulder of the user to move up and down and completely synchronize with the bending and stretching of the bionic spine. When the lumbar vertebra of the user is bent by the bionic spine, the shoulder of the user is pulled downwards by the shoulder fixing piece. Similarly, when the lumbar vertebra of the user is stretched by the bionic spine, the shoulder of the user is pulled upwards by the shoulder fixing piece. The synchronism of the movement of the shoulder and the movement of the waist of the user satisfies the deformation of the body during natural movement. Therefore, the lumbar vertebra traction rehabilitation training device can avoid the situation that the lumbar vertebra is excessively extruded when the shoulder is passively moved and the lumbar vertebra is not bent, also avoid the situation that the lumbar vertebra is excessively pulled when the shoulder is passively bent and the shoulder is not moved, protect the body of a user, and realize healthier and more effective lumbar vertebra traction rehabilitation training.
2. The two pushing frames are centrosymmetric, so that the two pushing frames drive the transverse moving frames to transversely move in opposite directions, and the two transverse moving frames move oppositely or oppositely. The two transverse moving frames can synchronously adjust the positions by the driving of the connecting rod mechanism, and the adjusting distances of the two transverse moving frames are the same. Before and after the position of the transverse moving frame is adjusted, the distance between the two shoulder fixing pieces and the spine is always equal, so that the two shoulder fixing frames can stretch the shoulders up and down at the same positions of the two shoulders of a user, and the stretching dislocation cannot be generated. And before and after the position of the transverse moving frame is adjusted, the distance between the two shoulder fixing pieces and the bionic spine is the same, and the distance between the two thigh fixing pieces and the bionic spine is always the same, so that after the bionic spine stretching machine is worn, the bionic spine can be accurately attached to the spine of a user, the stretching dislocation cannot occur, and the accurate stretching of the bionic spine to the spine of a human body is ensured. The same position of user's two shoulders is by the tractive and user's vertebra is by accurate draft, and when avoiding the rehabilitation training, the condition that user's shoulder or vertebra are crooked toward the side avoids being injured, and the corresponding accuracy that improves the traction training improves the training effect.
The advantages of the invention are not limited to this description, but are described in more detail in the detailed description for better understanding.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
It will be appreciated by those skilled in the art that the objects and advantages that can be achieved with the present invention are not limited to the specific details set forth above, and that these and other objects that can be achieved with the present invention will be more clearly understood from the detailed description that follows.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a rear view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a schematic structural view of a telescopic rotating shaft and a lifting driving mechanism;
FIG. 4 is a schematic structural view of the cross-sliding frame, the upper limb frame and the lower limb frame;
FIG. 5 is a schematic view of the structure of the pushing frame and the link mechanism;
fig. 6 is a schematic structural diagram of a bionic spine.
In the figure: 1-fixing the plate; 2-a lifting driving mechanism; 3-transversely moving the frame; 4-upper limb frame; 5-bionic spine; 6-lower limb frame; 7-a pushing frame; 8-a linkage mechanism; 9-adjusting the driving mechanism; 11-reciprocating bidirectional motor; 12-a telescopic rotating shaft; 13-a traverse chute; 14-a stretching chute; 15-a telescopic frame; 16-a limiting chute; 21-lifting slide block; 22-a lifting reducer; 23-a lifting gear; 24-a lifting rack; 31-a limiting column; 32-vertical slots; 33-locking screws; 41-shoulder fixing part; 42-a lifting chute; 51-waist protecting board; 52-lumbar vertebral body; 53-intervertebral elastomer; 54-a tension slide block; 61-thigh mount; 71-pushing the slide block; 72-poke chute; 81-moving rod; 82-a linkage bar; 91-adjusting the bidirectional motor; 92-adjusting the reducer; 93-an adjusting gear; 94-adjusting the rack; 121-sleeve shaft; 122-telescopic shaft; 123-baffle groove; 124-barrier strip; 151-sleeve; 152-a loop bar; 811-toggle slide; 812-a linkage block; 821-linkage sliding chute.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1 and 2, the exoskeleton robot for lumbar vertebra rehabilitation capable of synchronously drafting shoulders and vertebrae of the present embodiment includes a fixing plate 1, a reciprocating bidirectional motor 11 is installed on the fixing plate 1, two output shafts of the reciprocating bidirectional motor 11 are both connected with a telescopic rotating shaft 12, and the other end of the telescopic rotating shaft 12 is connected with a lifting driving mechanism 2; the two sides of the fixed plate 1 are both provided with transverse moving frames 3, the transverse moving frames 3 are provided with limiting columns 31, the fixed plate 1 is provided with a transverse moving chute 13, and the limiting columns 31 are sleeved in the transverse moving chute 13; the upper end of the transverse moving frame 3 is sleeved with an upper limb frame 4, the lifting driving mechanism 2 is in transmission connection with the upper limb frame 4, the upper limb frame 4 is provided with a shoulder fixing part 41, the lifting driving mechanism 2 is also fixed with a lifting slide block 21, the upper limb frame 4 is provided with a lifting slide groove 42 which is longitudinally arranged, and the lifting slide block 21 is sleeved in the lifting slide groove 42; the lower end of the fixed plate 1 is hinged with a bionic spine 5, a stretching sliding groove 14 is formed in the fixed plate 1, the upper end of the bionic spine 5 is sleeved in the stretching sliding groove 14, two sides of the bionic spine 5 are both connected with telescopic frames 15, and the other ends of the telescopic frames 15 are connected with the upper limb frame 4; the lower end of the transverse moving frame 3 is connected with a lower limb frame 6, and a thigh fixing piece 61 is connected on the lower limb frame 6.
It should be noted that the reciprocating bidirectional motor 11 performs the forward rotation and the reverse rotation in a cycle, and the forward rotation time and the reverse rotation time may be the same. According to the requirement, a PLC controller can be arranged on the fixed plate 1 and is electrically connected with the reciprocating bidirectional motor 11. By programming the PLC controller, the PLC controller can control the reciprocating bidirectional motor 11 to rotate forwards and backwards circularly. Or an electromagnetic relay can be electrically connected on the reciprocating bidirectional motor 11, the electromagnetic relay is electrically connected with a time relay, a normally open contact of the electromagnetic relay is electrically connected with a forward rotation joint of the reciprocating bidirectional motor 11, and a normally closed contact of the electromagnetic relay is electrically connected with a reverse rotation joint of the reciprocating bidirectional motor 11. Accordingly, the forward rotation circuit and the reverse rotation circuit of the reciprocating bidirectional motor 11 are sequentially connected, and the reciprocating bidirectional motor 11 cyclically rotates in the forward direction and the reverse direction.
The shoulder fixing part 41 and the thigh fixing part 61 may be both straps, and both ends of the straps are connected together after tightening the shoulders or the thighs. The two ends of the bandage can be connected through connecting pieces such as a magic tape, a hidden button and a buckle.
Before wearing, the transverse moving frames 3 are moved, so that the distance between the two transverse moving frames 3 is adjusted to be proper. After adjusting the cross frame 3, the distance between the two thigh mounts 61 and the distance between the two shoulder mounts 41 can be adapted to the user. The thigh holder 61 is worn on the thigh of the user, and the shoulder holder 41 is worn on the shoulder of the user. Because the telescopic rotating shaft 12 and the telescopic frame 15 can be stretched and contracted under the pulling action, after the transverse moving frame 3 is moved, the position of the telescopic rotating shaft 12 or the position of the telescopic frame 15 cannot generate movement interference. Because the lifting slide block 21 on the lifting driving mechanism 2 is sleeved in the lifting slide groove 42 on the upper limb frame 4, when the upper limb frame 4 moves transversely, the lifting driving mechanism 2 and the upper limb frame 4 move transversely simultaneously, and the lifting driving mechanism 2 can drive the upper limb frame 4 to move up and down in a reciprocating manner all the time.
During the traction treatment, the reciprocating bidirectional motor 11 is started, the reciprocating bidirectional motor 11 drives the telescopic rotating shaft 12 to rotate, and the telescopic rotating shaft 12 drives the lifting driving mechanism 2 to act. Because the upper limb frame 4 is sleeved in the transverse moving frame 3, the upper limb frame 4 can move up and down under the driving of the lifting driving mechanism 2. At this time, the lifting slider 21 of the lifting driving mechanism 2 slides in the lifting chute 42 of the upper limb frame 4, and no movement interference is generated. Accordingly, the shoulder fixing member 41 can reciprocate up and down by the drive of the upper limb frame 4, so that the shoulder fixing member 41 pulls the shoulder of the user to reciprocate up and down. Because the bionic spine 5 is connected with the upper limb frame 4 through the telescopic frame 15, when the upper limb frame 4 reciprocates up and down, the telescopic frame 15 drives the upper end of the bionic spine 5 to reciprocate up and down in the stretching chute 14. Because the lower end of the bionic spine 5 is hinged with the lower end of the fixing plate 1, when the upper end of the bionic spine 5 moves up and down, the bionic spine 5 is repeatedly bent and stretched. When the shoulder of the user is fixed by the shoulder fixing member 41 and the thigh of the user is fixed by the thigh fixing member 61, the lumbar vertebrae of the user is closely attached to the bionic spine 5, and the lumbar vertebrae of the user is subjected to reciprocal draft treatment when the bionic spine 5 moves.
In the process that the lifting driving mechanism 2 drives the upper limb frame 4 to lift, the upper limb frame 4 drives the expansion bracket 15 to lift synchronously, and the upper end of the driven bionic spine 5 lifts synchronously. Therefore, the shoulder fixing part 41 drives the shoulder of the user to move up and down completely synchronously with the bending and stretching of the bionic spine 5. When the user's lumbar vertebrae are bent by the bionic spine 5, the user's shoulders are pulled down by the shoulder fixing pieces 41. Similarly, when the user's lumbar vertebrae are stretched by the bionic spine 5, the user's shoulders are pulled upward by the shoulder fixing members 41. The synchronism of the movement of the shoulder and the movement of the waist of the user satisfies the deformation of the body during natural movement. Therefore, the lumbar vertebra traction rehabilitation training device can avoid the situation that the lumbar vertebra is excessively extruded when the shoulder is passively moved and the lumbar vertebra is not bent, also avoid the situation that the lumbar vertebra is excessively pulled when the shoulder is passively bent and the shoulder is not moved, protect the body of a user, and realize healthier and more effective lumbar vertebra traction rehabilitation training.
Before the shoulder fixing pieces 41 are used for carrying out the traction training on the shoulders of the user, the distance between the two transverse moving frames 3 can be adjusted according to the body width of the user, so that the distance between the two shoulder fixing pieces 41 can be adjusted, the shoulder fixing pieces 41 can accurately carry out the up-and-down traction on the proper positions of the shoulders of the user, and the effect of the traction training is ensured. And, after adjusting the distance between the two shoulder fixing pieces 41, the user can wear the utility model more comfortably. After the horizontal positions of the transverse moving frame 3, the upper limb frame 4 and the shoulder fixing part 41 are adjusted, the lifting driving mechanism 2 can still drive the upper limb frame 4 to lift, and the telescopic frame 215 can still drive the bionic spine 5 to bend or stretch, so that the functions of the bionic spine fixing device are not influenced.
As shown in fig. 3, the specific structure of the lifting drive mechanism 2 is: the lifting driving mechanism 2 comprises a lifting reducer 22, the input end of the lifting reducer 22 is connected with the telescopic rotating shaft 12, the output end of the lifting reducer 22 is connected with a lifting gear 23, a lifting rack 24 is installed on the upper limb frame 4, and the lifting rack 24 is meshed with the lifting rack 24. When the telescopic shaft 12 drives the elevation reducer 22 to operate, the elevation reducer 22 drives the elevation gear 23 to rotate. When the lifting gear 23 drives the lifting rack 24 to move, the lifting rack 24 drives the upper limb frame 4 to move up and down, so that the shoulder fixing part 41 can move up and down correspondingly. The certain transmission ratio is formed between the lifting rack 24 and the lifting rack 24, so that the timeliness and the accuracy of the action of the driving shoulder fixing piece 41 are ensured.
As shown in fig. 3, the specific structure of the telescopic rotating shaft 12 is as follows: the telescopic rotating shaft 12 comprises a sleeve shaft 121, one end of the sleeve shaft 121 is fixed on an output shaft of the reciprocating bidirectional motor 11, a telescopic shaft 122 is sleeved in the sleeve shaft 121, the telescopic shaft 122 is fixed with the input end of the lifting driving mechanism 2, a plurality of blocking grooves 123 are formed in the inner wall of the sleeve shaft 121, blocking strips 124 are arranged on the outer wall of the telescopic shaft 122, and the blocking grooves 123 are sleeved with the blocking strips 124. Because the blocking strip 124 is sleeved in the blocking groove 123, the telescopic shaft 122 is limited, and the telescopic shaft 122 cannot rotate relative to the sleeve shaft 121. When the reciprocating bidirectional motor 11 drives the sleeve shaft 121 to rotate, the telescopic shaft 122 rotates along with the sleeve shaft 121, so that the telescopic shaft 122 can drive the lifting driving mechanism 2 to act. Since the blocking bar 124 is only sleeved in the blocking groove 123, the blocking groove 123 does not limit the horizontal movement of the blocking bar 124, so that the telescopic shaft 122 can move horizontally relative to the sleeve shaft 121. When the transverse moving frame 3 drives the upper limb frame 4 to transversely move, the lifting driving mechanism 2 transversely moves along with the upper limb frame 4. Because the telescopic shaft 122 is fixed to the input end of the lifting driving mechanism 2, the telescopic shaft 122 moves laterally relative to the sleeve shaft 121, and the telescopic rotating shaft 12 can be ensured to be smoothly telescopic.
As shown in fig. 4, in order to ensure the stability of the traverse frame 3, the number of the limiting posts 31 on the traverse frame 3 is two, and the number of the traverse chutes 13 on the fixing plate 1 is four. The upper end and the lower end of the transverse moving frame 3 are respectively provided with a limiting column 31, and the corresponding positions on the fixing plate 1 are respectively provided with a transverse moving chute 13 corresponding to the limiting column 31, so that the rotation of the transverse moving frame 3 is limited, the transverse moving frame 3 can only transversely move along the transverse moving chute 13, the position accuracy of the transverse moving frame 3 is ensured, and the position accuracy of the shoulder fixing piece 41 and the thigh fixing piece 61 is correspondingly ensured.
The specific structure of the telescopic frame 15 is as follows: the telescopic frame 15 comprises a sleeve 151, one end of the sleeve 151 is fixed on the bionic spine 5, the other end of the sleeve 151 is sleeved with a loop bar 152, and the other end of the loop bar 152 is fixed with the upper limb frame 4. When the upper limb frame 4 drives the loop bar 152 to move, the loop bar 152 moves relative to the sleeve 151, and the telescopic frame 15 stretches, so that after the distance between the self-defense vertebra and the upper limb frame 4 is changed, the upper limb frame 4 can still drive the bionic vertebra 5 to move through the telescopic frame 15.
As shown in fig. 6, the bionic spine 5 includes a plurality of lumbar support plates 51, a plurality of lumbar vertebral bodies 52 are hinged on the lumbar support plates 51, an intervertebral elastic body 53 is connected between the lumbar vertebral bodies 52, a stretching slider 54 is fixed on the uppermost lumbar vertebral body 52, and the stretching slider 54 is sleeved in the stretching sliding groove 14. The stretching slide block 54 slides in the stretching slide groove 14 all the time, so that the upper end of the bionic spine 5 can move along an accurate path, and the action of the bionic spine 5 is more accurate. When the telescopic frame 15 drives the stretching slider 54 to move, the included angle between the plurality of lumbar vertebral bodies 52 is changed, so that the whole bionic spine 5 is bent or stretched, each lumbar vertebral body 52 and the intervertebral elastic body 53 of the bionic spine 5 can uniformly apply force to the spine of a user, the spine of the user is guaranteed to be pulled, the effect of pulling training is improved, and the comfort of the user during training is improved.
As shown in fig. 5, in order to facilitate accurate control of the traverse frame 3, a pushing frame 7 is hinged on the fixing plate 1, a pushing slider 71 is fixed at the other end of the pushing frame 7, a vertical slot 32 is arranged on the traverse frame 3, and the pushing slider 71 is sleeved on the vertical slot 32; and a connecting rod mechanism 8 for driving the pushing frame 7 to rotate is arranged on the fixed plate 1, and an adjusting driving mechanism 9 for driving and locking the connecting rod mechanism 8 is also arranged on the fixed plate 1.
When the adjusting and driving mechanism 9 drives the link mechanism 8 to act, the link mechanism 8 drives the pushing frame 7 to rotate. When the pushing frame 7 rotates, the pushing slide block 71 on the pushing frame 7 slides in the vertical groove 32 on the transverse moving frame 3. Since the projection length of the pushing frame 7 in the horizontal direction is changed, the transverse moving frame 3 is pushed to move transversely when the pushing frame 7 rotates. The moving distance of the transverse moving frame 3 can be accurately controlled by controlling the rotating angle of the pushing frame 7, so that the transverse moving frame 3 can be accurately adjusted. When the adjusting drive mechanism 9 is not operated, the link mechanism 8 is not operated by itself, and the position of the cross frame 3 is locked.
Specifically, the link mechanism 8 includes two moving rods 81, the adjusting and driving mechanism 9 is in transmission connection with one of the moving rods 81, the fixed plate 1 is provided with a limiting sliding groove 16, the moving rod 81 is sleeved in the limiting sliding groove 16, a shifting slider 811 is fixed on the moving rod 81, the pushing frame 7 is provided with a shifting sliding groove 72, and the shifting slider 811 is sleeved in the shifting sliding groove 72; the fixed plate 1 is hinged with a linkage rod 82, two ends of the linkage rod 82 are respectively provided with a linkage sliding groove 821, a linkage block 812 is fixed on the moving rod 81, the linkage block 812 is sleeved in the linkage sliding groove 821, and the two pushing frames 7 are in central symmetry.
When the adjusting and driving mechanism 9 drives one of the moving rods 81 to move, the moving rod 81 drives the linkage rod 82 to rotate, and the other end of the linkage rod 82 drives the other moving rod 81 to move reversely. The link block 812 of the moving rod 81 slides in the link slide slot 821 of the link rod 82, so that no motion interference is generated between the moving rod 81 and the link rod 82. The moving rod 81 is sleeved in the limiting sliding groove 16 of the fixing plate 1, and moves along an accurate path all the time in the movement. When the moving rod 81 moves, the toggle sliding block 811 on the moving rod 81 slides in the toggle sliding slot 72 of the pushing rack 7 and drives the pushing rack 7 to rotate. Therefore, by adjusting the driving mechanism 9 to drive one of the moving rods 81 to move, the two pushing frames 7 can be accurately controlled to rotate for a determined angle. The two pushing frames 7 are centrosymmetric, the two pushing frames 7 drive the transverse moving frames 3 to transversely move along opposite directions, and the two transverse moving frames 3 move towards each other or move back to each other. Through the drive of the link mechanism 8, the two transverse moving frames 3 can synchronously adjust the positions, and the adjusting distances of the two transverse moving frames are the same. Before and after the position adjustment of the transverse moving frame 3, the distance between the two shoulder fixing pieces 41 and the spine is always equal, so that the two shoulder fixing frames can stretch the shoulders up and down at the same positions of the two shoulders of a user, and the stretching dislocation cannot be generated. Before and after the position of the transverse moving frame 3 is adjusted, the distance between the two shoulder fixing pieces 41 and the bionic spine is the same, and the distance between the two thigh fixing pieces 61 and the bionic spine 5 is always the same, so that after the bionic spine 5 is worn, the bionic spine 5 can be accurately attached to the spine of a user, the traction dislocation cannot occur, and the accurate traction of the bionic spine 5 on the spine of a human body is ensured. The same position of user's two shoulders is by the tractive and user's vertebra is by accurate draft, and when avoiding the rehabilitation training, the condition that user's shoulder or vertebra are crooked toward the side avoids being injured, and the corresponding accuracy that improves the traction training improves the training effect.
The adjusting and driving mechanism 9 includes an adjusting two-way motor 91, an output shaft of the adjusting two-way motor 91 is connected with an adjusting reducer 92, the adjusting two-way motor 91 and the adjusting reducer 92 are both mounted on the fixing plate 1, an output shaft of the adjusting reducer 92 is connected with an adjusting gear 93, one of the moving rods 81 is provided with an adjusting rack 94, and the adjusting gear 93 is meshed with the adjusting rack 94.
After the adjusting bidirectional motor 91 is started, the adjusting bidirectional motor 91 drives the adjusting reducer 92 to act, the adjusting reducer 92 drives the adjusting gear 93 to rotate, and then the adjusting gear 93 can drive the adjusting rack 94 on one of the moving rods 81 to accurately move. The determined transmission ratio between the adjusting rack 94 and the adjusting gear 93 can accurately adjust the moving distance of the cross sliding frame 3 by controlling and adjusting the action of the bidirectional motor 91.
The two-way motor 91 is a brake motor capable of rotating forward and backward. When the bidirectional motor 91 is stopped, the rotating shaft thereof cannot rotate by itself, thereby preventing the moving rod 81 from moving and locking the moving rod 81.
Instead of the adjustment drive 9, a locking element may be used instead of the adjustment drive 9. When the moving bar 81 is moved to the right position, the moving bar 81 is locked by using the locking member. The locking member may be a locking bolt. However, when the moving bar 81 is manually driven or other driving mechanisms are used to drive the moving bar 81, the distance that the moving bar 81 moves is difficult to precisely control and the operation is inconvenient.
In order to adapt to people with different statures, the lower limb frame 6 is sleeved at the lower end of the transverse moving frame 3, and a locking screw 33 for tightly jacking the lower limb frame 6 is connected to the transverse moving frame 3 in a threaded manner. The thigh fixing part 61 of the lower limb support 6 can be fixedly connected to the thigh of the user, so that the lower end of the present invention is accurately fixed. The position of the thigh holder 61 can also be adjusted according to the height of the user. After the lower limb support 6 is pulled out from the transverse moving frame 3 to a certain position, the lower limb support 6 is locked on the transverse moving frame 3 by the locking screw 33, and the position of the thigh fixing piece 61 is correspondingly fixed. After the position of the thigh fixing part 61 is adjusted, the distance between the thigh fixing part 61 and the shoulder fixing part 41 is adjusted to adapt to the stature of the user.
The invention is not limited to the above alternative embodiments, and any other various forms of products can be obtained by anyone in the light of the present invention, but any changes in shape or structure thereof, which fall within the scope of the present invention as defined in the claims, fall within the scope of the present invention.

Claims (10)

1. An exoskeleton robot for lumbar vertebra rehabilitation capable of synchronously drafting shoulders and spines is characterized by comprising a fixing plate (1), wherein a reciprocating bidirectional motor (11) is mounted on the fixing plate (1), two output shafts of the reciprocating bidirectional motor (11) are connected with telescopic rotating shafts (12), and the other ends of the telescopic rotating shafts (12) are connected with a lifting driving mechanism (2); the two sides of the fixed plate (1) are respectively provided with a transverse moving frame (3), the transverse moving frames (3) are provided with a limiting column (31), the fixed plate (1) is provided with a transverse moving chute (13), and the limiting column (31) is sleeved in the transverse moving chute (13); an upper limb frame (4) is sleeved at the upper end of the transverse moving frame (3), the lifting driving mechanism (2) is in transmission connection with the upper limb frame (4), a shoulder fixing part (41) is installed on the upper limb frame (4), a lifting sliding block (21) is further fixed on the lifting driving mechanism (2), a lifting sliding groove (42) which is longitudinally arranged is formed in the upper limb frame (4), and the lifting sliding block (21) is sleeved in the lifting sliding groove (42); the bionic spine fixing device is characterized in that the lower end of the fixing plate (1) is hinged with a bionic spine (5), a stretching sliding groove (14) is formed in the fixing plate (1), the upper end of the bionic spine (5) is sleeved in the stretching sliding groove (14), two sides of the bionic spine (5) are connected with telescopic frames (15), and the other ends of the telescopic frames (15) are connected with the upper limb frame (4); the lower end of the transverse moving frame (3) is connected with a lower limb frame (6), and a thigh fixing piece (61) is connected on the lower limb frame (6).
2. The exoskeleton robot for lumbar rehabilitation capable of synchronously stretching shoulders and vertebrae as claimed in claim 1, wherein the lifting driving mechanism (2) comprises a lifting reducer (22), the input end of the lifting reducer (22) is connected with the telescopic rotating shaft (12), the output end of the lifting reducer (22) is connected with a lifting gear (23), a lifting rack (24) is installed on the upper limb frame (4), and the lifting rack (24) is engaged with the lifting rack (24).
3. The exoskeleton robot for lumbar rehabilitation capable of synchronously stretching shoulders and spines as claimed in claim 1, wherein the telescopic rotating shaft (12) comprises a sleeve shaft (121), one end of the sleeve shaft (121) is fixed on an output shaft of the reciprocating bidirectional motor (11), a telescopic shaft (122) is sleeved in the sleeve shaft (121), the telescopic shaft (122) is fixed with an input end of the lifting driving mechanism (2), a plurality of retaining grooves (123) are formed in an inner wall of the sleeve shaft (121), retaining strips (124) are formed in an outer wall of the telescopic shaft (122), and the retaining strips (124) are sleeved in the retaining grooves (123).
4. The exoskeleton robot for lumbar rehabilitation capable of synchronously stretching shoulders and vertebrae as claimed in claim 1, wherein the number of the limiting columns (31) on the transverse moving frame (3) is two, and the number of the transverse moving chutes (13) on the fixing plate (1) is four.
5. The exoskeleton robot for lumbar rehabilitation capable of synchronously stretching shoulders and vertebras as claimed in claim 1, wherein said telescopic frame (15) comprises a sleeve (151), one end of the sleeve (151) is fixed on the bionic vertebras (5), the other end of the sleeve (151) is sleeved with a loop bar (152), and the other end of the loop bar (152) is fixed with the upper limb frame (4).
6. The exoskeleton robot for lumbar rehabilitation capable of synchronously drafting shoulders and spines as claimed in claim 1, wherein the bionic spine (5) comprises a plurality of waist protecting plates (51), a plurality of lumbar vertebral bodies (52) are hinged on the waist protecting plates (51), an intervertebral elastic body (53) is connected between the lumbar vertebral bodies (52), a stretching slider (54) is fixed on the uppermost lumbar vertebral body (52), and the stretching slider (54) is sleeved in the stretching sliding groove (14).
7. The exoskeleton robot for lumbar vertebra rehabilitation capable of synchronously drafting shoulders and spines as claimed in claim 1, wherein a pushing frame (7) is hinged to the fixing plate (1), a pushing slider (71) is fixed to the other end of the pushing frame (7), a vertical groove (32) is formed in the traversing frame (3), and the pushing slider (71) is sleeved in the vertical groove (32); the fixed plate (1) is provided with a link mechanism (8) for driving the pushing frame (7) to rotate, and the fixed plate (1) is also provided with an adjusting driving mechanism (9) for driving and locking the link mechanism (8).
8. The exoskeleton robot for lumbar rehabilitation capable of synchronously drafting the shoulder and the spine according to claim 7, wherein the link mechanism (8) comprises two moving rods (81), the adjusting and driving mechanism (9) is in transmission connection with one of the moving rods (81), the fixed plate (1) is provided with a limiting chute (16), the moving rods (81) are sleeved in the limiting chute (16), the moving rods (81) are fixed with shifting sliders (811), the pushing frame (7) is provided with shifting chutes (72), and the shifting sliders (811) are sleeved in the shifting chutes (72); the fixed plate (1) is hinged with a linkage rod (82), two ends of the linkage rod (82) are provided with linkage sliding grooves (821), a linkage block (812) is fixed on the moving rod (81), the linkage block (812) is sleeved in the linkage sliding grooves (821), and the two pushing frames (7) are centrosymmetric.
9. The exoskeleton robot for lumbar vertebra rehabilitation capable of synchronously drafting shoulders and spines as claimed in claim 8, wherein the adjusting driving mechanism (9) comprises an adjusting two-way motor (91), an output shaft of the adjusting two-way motor (91) is connected with an adjusting reducer (92), the adjusting two-way motor (91) and the adjusting reducer (92) are both mounted on the fixing plate (1), an output shaft of the adjusting reducer (92) is connected with an adjusting gear (93), one of the moving rods (81) is provided with an adjusting rack (94), and the adjusting gear (93) is meshed with the adjusting rack (94).
10. The exoskeleton robot for lumbar rehabilitation as claimed in any one of claims 1 to 9, wherein the lower limb frame (6) is sleeved on the lower end of the cross frame (3), and the cross frame (3) is threadedly connected with a locking screw (33) for tightening the lower limb frame (6).
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CN114028159A (en) * 2021-11-03 2022-02-11 马生根 Recovered four limbs linkage training ware of nursing branch of academic or vocational study
CN114028159B (en) * 2021-11-03 2023-09-19 朱英 Recovered four limbs linkage training ware of nursing branch of academic or vocational study
CN117898870A (en) * 2024-03-19 2024-04-19 常熟理工学院 Lumbar exoskeleton structure
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