阅读说明：本技术 一种手足畸形矫正机器人 (Hand and foot deformity correction robot ) 是由 张强 于 2020-07-03 设计创作，主要内容包括：本发明公开一种手足畸形矫正机器人,包括底部机构、限位机构、运动机构,底部机构固定安装在地面上,底部机构设有扶手作为患者手扶的地方,滑杆气缸调整限位支架的间距,使得限位机构底部机构卡住患者的腿部,限位机构固定安装在底部机构上,提供限制患者腿部,矫正形状的功能,运动机构固定安装在底部机构上,运动机构整体提供模拟患者正常行走的功能,以运动电机、上升气缸、角度气缸协同作用,通过程序编程实现行走的功能,通过不断的行走让患者逐渐适应正常的姿势,本发明具有无需患者承担机器的重量,减少患者负荷,帮助患者提前适应行走,即便脱离机器也能尽快适应,结构精简造价低的优点。(The invention discloses a robot for correcting deformity of hands and feet, which comprises a bottom mechanism, a limiting mechanism and a movement mechanism, wherein the bottom mechanism is fixedly arranged on the ground, the bottom mechanism is provided with a handrail as a place for a patient to hold, a sliding rod cylinder adjusts the distance of a limiting bracket to enable the bottom mechanism of the limiting mechanism to clamp the legs of the patient, the limiting mechanism is fixedly arranged on the bottom mechanism to provide the function of limiting the legs of the patient and correcting the shape, the movement mechanism is fixedly arranged on the bottom mechanism, the movement mechanism integrally provides the function of simulating the normal walking of the patient, the function of walking is realized through the cooperation of a movement motor, a lifting cylinder and an angle cylinder through program programming, and the patient gradually adapts to the normal posture through continuous walking, simple structure and low cost.)

1. The utility model provides a hand and foot deformity correction robot, includes bottom mechanism (1), stop gear (2), motion (3), its characterized in that:

the bottom mechanism 1 is fixedly arranged on the ground, the bottom mechanism 1 is provided with a handrail (108) as a place where a patient holds the handrail, the sliding rod cylinder (105) adjusts the distance of the limiting support (201) to enable the bottom mechanism 1 of the limiting mechanism (2) to clamp the legs of the patient, the limiting mechanism (2) is fixedly arranged on the bottom mechanism (1) to provide the functions of limiting the legs of the patient and correcting the shape, the moving mechanism (3) is fixedly arranged on the bottom mechanism (1), the whole moving mechanism 3 provides the function of simulating the normal walking of the patient, the moving motor (303), the lifting cylinder (322) and the angle cylinder (327) are cooperated to realize the walking function through program programming, and the patient can gradually adapt to the normal posture through continuous walking, so that the invention has the advantages of no need of bearing the weight of the machine by the patient, reducing the load of the patient and helping the patient to adapt to, even if the device is separated from the machine, the device can adapt as soon as possible, and has the advantages of simple structure and low manufacturing cost;

the bottom mechanism (1) comprises: the air-powered floor-type air conditioner comprises a bottom plate (101), a bottom plate fixing block (102), a sliding rod (103), a sliding rod block (104), a sliding rod cylinder (105), a sliding rod air rod block (106), a handrail support (107) and a handrail (108), wherein the bottom plate (101) is fixedly installed on the ground, the sliding rod block (104) is slidably installed on the sliding rod (103), the sliding rod cylinder (105) is fixedly installed on the sliding rod block (104), the sliding rod air rod block (106) is fixedly installed on an air rod of the sliding rod cylinder (105), the handrail support (107) is fixedly installed on the bottom plate (101), and the handrail (108) is fixedly installed on the handrail support (107);

the limiting mechanism (2) comprises: a limiting support (201), a top limiting (202), a groove block (203), a limiting lower side plate (204), a limiting left lower rotating shaft (205), a limiting left lower connecting plate (206), a limiting left upper connecting plate (207), a limiting left upper rotating shaft (208), a limiting upper side plate (209), a limiting right upper rotating shaft (210), a limiting right lower connecting plate (211), a limiting right upper connecting plate (212), a limiting right lower rotating shaft (213), a spring connecting plate (214), a limiting spring (215) and a bottom limiting (216), wherein the limiting support (201) is fixedly arranged on a sliding rod block (104), the groove block (203) is fixedly arranged on the limiting lower side plate (204), the limiting lower side plate (204) is fixedly arranged on a sliding rod cylinder (105), the limiting left lower rotating shaft (205) is rotatably arranged on the limiting left lower connecting plate (206), the limiting left lower connecting plate (206) is rotatably arranged on the limiting left upper rotating shaft (208), the limiting left upper connecting plate (207) is rotatably mounted on the limiting left lower rotating shaft (205), the limiting upper side plate (209) is fixedly mounted on the limiting right upper rotating shaft (210), the limiting right lower rotating shaft (213) is rotatably mounted on the limiting right lower connecting plate (211), the limiting right lower rotating shaft (213) is rotatably mounted on the limiting right upper connecting plate (212), the limiting right lower rotating shaft (213) is fixedly mounted on the limiting lower side plate (204), the spring connecting plate (214) is fixedly mounted on the limiting lower side plate (204), the limiting spring (215) is fixedly mounted on the spring connecting plate (214), the bottom limiting (216) is fixedly mounted on the limiting support (201), the bottom limiting (216) is fixedly mounted on the limiting spring (215), and the bottom mechanism (1) of the limiting mechanism (2) is fixedly mounted on the limiting upper side plate (209);

the movement mechanism (3) comprises: the device comprises a moving bottom plate (301), a moving motor bracket (302), a moving motor (303), a moving motor gear (304), a moving motor pinion (305), a central rotating shaft (306), a central rotating shaft plate (307), a moving right lower rotating shaft (308), a lower pedal (309), a short air cylinder (310), a moving left lower rotating shaft (311), a long air cylinder (312), a long air cylinder rotating shaft (313), a short air rod (314), a moving right upper rotating shaft (315), an upper pedal plate shaft sleeve (316), an upper pedal plate (317), a lifting air cylinder bracket (318), a lifting air cylinder bracket shaft sleeve (319), a lifting air cylinder rotating shaft (320), a lifting air cylinder shaft sleeve (321), a lifting air cylinder (322), an angle air cylinder bracket (323), an angle air cylinder secondary bracket (324), an angle air cylinder rotating shaft (325), an angle air cylinder shaft sleeve (326), an angle air cylinder (327), an angle air rod shaft sleeve, A motion spring (329), a motion small side plate (330), a motion small rotating shaft (331) and a motion small shaft sleeve (332), wherein the motion bottom plate (301) is fixedly arranged on the bottom plate (101), a motion motor bracket (302) is fixedly arranged on the motion bottom plate (301), a motion motor (303) is fixedly arranged on the motion motor bracket (302), a motion motor pinion (305) and a motion motor gear (304) are in gear engagement, the motion motor pinion (305) is fixedly arranged on a central rotating shaft (306), a motion right lower rotating shaft (308) is rotatably arranged on the central rotating shaft plate (307), a motion right lower rotating shaft (308) is fixedly arranged on a lower pedal plate (309), a lower pedal plate (309) is rotatably arranged on the central rotating shaft (306), a short cylinder (310) is rotatably arranged on the motion right lower rotating shaft (308), and a motion left lower rotating shaft (311) is rotatably arranged in the central rotating shaft plate (307), a moving left lower rotating shaft (311) is fixedly arranged on a lower pedal plate (309), a long air cylinder (312) is rotatably arranged on the moving left lower rotating shaft (311), the long air cylinder (312) is fixedly arranged on a long air cylinder rotating shaft (313), a short air rod (314) is positioned on the air rod of the short air cylinder (310), a moving right upper rotating shaft (315) is rotatably arranged in an upper pedal plate shaft sleeve (316), the upper pedal plate shaft sleeve (316) is fixedly arranged on an upper pedal plate (317), the upper pedal plate shaft sleeve (316) is fixedly arranged on the short air rod (314), a lifting air cylinder bracket (318) is fixedly arranged on a lower pedal plate (309), a lifting air cylinder shaft sleeve (321) is fixedly arranged on a lifting air cylinder rotating shaft (320), a lifting air cylinder (322) is fixedly arranged on the lifting air cylinder shaft sleeve (321), an angle air cylinder bracket (323) is fixedly arranged below the lower pedal plate (309), and an angle air cylinder shaft sleeve (326) is rotatably arranged on an angle air cylinder rotating shaft (, the angle cylinder (327) is fixedly installed on an angle cylinder shaft sleeve (326), an angle air rod shaft sleeve (328) is fixedly installed on an air rod of the angle cylinder (327), the angle air rod shaft sleeve (328) is rotatably installed on a long cylinder rotating shaft (313), a moving spring (329) is fixedly installed below a lower pedal plate (309), the moving spring (329) is fixedly installed on a bottom plate (101), a moving small side plate (330) is fixedly installed below an upper pedal plate (317), the moving small rotating shaft (331) is fixedly installed in the moving small side plate (330), a moving small shaft sleeve (332) is rotatably installed on the moving small rotating shaft (331), and the moving small shaft sleeve (332) is fixedly installed on an air rod of a lifting cylinder (322).

2. The hand-foot deformity correction robot of claim 1, wherein: the bottom plate fixing block (102) is fixedly arranged on the bottom plate (101), and the sliding rod (103) is fixedly arranged on the bottom plate fixing block (102).

3. The hand-foot deformity correction robot of claim 1, wherein: the top limit (202) is fixedly arranged at the top end of the limit bracket (201), and the groove block (203) is slidably arranged in the groove of the limit bracket (201).

4. The hand-foot deformity correction robot of claim 1, wherein: the limiting upper left connecting plate (207) is rotatably arranged on the limiting upper left rotating shaft (208), and the limiting upper left rotating shaft (208) is fixedly arranged on the limiting upper side plate (209).

5. The hand-foot deformity correction robot of claim 1, wherein: the limiting upper right rotating shaft (210) is rotatably arranged on the limiting lower right connecting plate (211), and the limiting upper right rotating shaft (210) is rotatably arranged on the limiting upper right connecting plate (212).

6. The hand-foot deformity correction robot of claim 1, wherein: the motion motor gear (304) is fixedly arranged on a motor shaft of the motion motor (303).

7. The hand-foot deformity correction robot of claim 1, wherein: the central rotating shaft (306) is rotatably arranged in the moving base plate (301), and the central rotating shaft plate (307) is fixedly arranged on the central rotating shaft (306).

8. The hand-foot deformity correction robot of claim 1, wherein: the lifting cylinder bracket shaft sleeve (319) is fixedly arranged on the lifting cylinder bracket (318), and the lifting cylinder rotating shaft (320) is rotatably arranged in the lifting cylinder bracket shaft sleeve (319).

9. The hand-foot deformity correction robot of claim 1, wherein: the angle cylinder auxiliary support (324) is fixedly arranged on the angle cylinder support (323), and the angle cylinder rotating shaft (325) is fixedly arranged on the angle cylinder auxiliary support (324).

Technical Field

The invention relates to the technical field of medical treatment, in particular to a hand-foot deformity correction robot.

Background

Nowadays, science and technology is gradually promoted, the birth rate of deformity has been greatly reduced, but still avoid this kind of condition completely, for solving this kind of problem, design a hand and foot deformity correction robot, can correct the leg deformity gradually through the mode of motion, for example application number CN201510804458.7 discloses medical hand foot kneecap bone fracture deformity corrects external fixation ware, but is only applicable to interim rescue, is not suitable for the recovered function, and can't recover well to the deformity of nature of birth.

Disclosure of Invention

The invention provides a hand-foot deformity correction robot aiming at the technical problems, which has the advantages that a patient does not need to bear the weight of the robot, the load of the patient is reduced, the patient is helped to adapt to walking in advance, the robot can adapt to the walking as soon as possible even if the robot is separated from the robot, the structure is simplified, and the manufacturing cost is low.

The bottom mechanism is fixedly arranged on the ground, the handrail is arranged on the bottom mechanism and used as a place where a patient holds the handrail, the sliding rod cylinder adjusts the distance between the limiting supports, the bottom mechanism of the limiting mechanism clamps the legs of the patient, the limiting mechanism is fixedly arranged on the bottom mechanism and provides the functions of limiting the legs of the patient and correcting the shape, the moving mechanism is fixedly arranged on the bottom mechanism, the moving mechanism integrally provides the function of simulating the normal walking of the patient, the moving motor, the ascending cylinder and the angle cylinder cooperate to realize the walking function through program programming, and the patient can gradually adapt to the normal posture through continuous walking.

The bottom mechanism includes: the handrail comprises a base plate, a base plate fixing block, a sliding rod block, a sliding rod cylinder, a sliding rod air rod block, a handrail support and a handrail, wherein the base plate is fixedly installed on the ground, the sliding rod block is slidably installed on the sliding rod, the sliding rod cylinder is fixedly installed on the sliding rod block, the sliding rod air rod block is fixedly installed on an air rod of the sliding rod cylinder, the handrail support is fixedly installed on the base plate, and the handrail is fixedly installed on the handrail support.

The stop gear includes: a limiting bracket, a top limiting plate, a groove block, a limiting lower side plate, a limiting left lower rotating shaft, a limiting left lower connecting plate, a limiting left upper rotating shaft, a limiting upper side plate, a limiting right upper rotating shaft, a limiting right lower connecting plate, a limiting right upper connecting plate, a limiting right lower rotating shaft, a spring connecting plate, a limiting spring, a bottom limiting plate, wherein the limiting bracket is fixedly arranged on a slide bar block, the groove block is fixedly arranged on the limiting lower side plate, the limiting lower side plate is fixedly arranged on a slide bar cylinder, the limiting left lower rotating shaft is rotatably arranged on the limiting left lower connecting plate, the limiting left lower connecting plate is rotatably arranged on the limiting left upper rotating shaft, the limiting left upper connecting plate is rotatably arranged on the limiting left lower rotating shaft, the limiting upper side plate is fixedly arranged on the limiting right upper rotating shaft, the limiting right lower rotating shaft is rotatably arranged on the limiting right, spacing lower right pivot fixed mounting is on spacing curb plate, and spring coupling plate fixed mounting is on spacing curb plate down, and spacing spring fixed mounting is on spring coupling plate, and the spacing fixed mounting in bottom is on spacing support, and the spacing fixed mounting in bottom is on spacing spring, and spacing mechanism bottom mechanism fixed mounting is on spacing curb plate.

The motion mechanism includes: a motion bottom plate, a motion motor bracket, a motion motor gear, a motion motor pinion gear, a central rotating shaft plate, a motion right lower rotating shaft, a lower pedal plate, a short cylinder, a motion left lower rotating shaft, a long cylinder rotating shaft, a short gas rod, a motion right upper rotating shaft, an upper pedal plate shaft sleeve, an upper pedal plate, an ascending cylinder bracket shaft sleeve, an ascending cylinder rotating shaft, an ascending cylinder shaft sleeve, an ascending cylinder, an angle cylinder bracket, an angle cylinder pinion bracket, an angle cylinder rotating shaft, an angle cylinder shaft sleeve, an angle cylinder, an angle gas rod shaft sleeve, a motion spring, a motion small side plate, a motion small rotating shaft and a motion small shaft sleeve, wherein the motion bottom plate is fixedly arranged on the bottom plate, the motion motor bracket is fixedly arranged on the motion bottom plate, the motion motor is fixedly arranged on the motion motor bracket, and, the motion motor pinion is fixedly arranged on a central rotating shaft, a motion right lower rotating shaft is rotatably arranged on a central rotating shaft plate, the motion right lower rotating shaft is fixedly arranged on a lower pedal plate, a lower pedal plate is rotatably arranged on the central rotating shaft, a short air cylinder is rotatably arranged on the motion right lower rotating shaft, the motion left lower rotating shaft is rotatably arranged in the central rotating shaft plate, the motion left lower rotating shaft is fixedly arranged on the lower pedal plate, a long air cylinder is rotatably arranged on the motion left lower rotating shaft, a long air cylinder is fixedly arranged on a long air cylinder rotating shaft, the short air cylinder is positioned at an air rod of a short air cylinder, the motion right upper rotating shaft is rotatably arranged in an upper pedal plate shaft sleeve, the upper pedal plate shaft sleeve is fixedly arranged on an upper pedal plate, the upper pedal plate shaft sleeve is fixedly arranged on a short air rod, an ascending air cylinder support is fixedly arranged on a lower pedal plate, an ascending air cylinder shaft, angle cylinder support fixed mounting is in footboard below down, angle cylinder axle sleeve swivelling joint is in angle cylinder pivot, angle cylinder fixed mounting is on angle cylinder axle sleeve, angle gas pole axle sleeve fixed mounting is on the gas pole of angle cylinder, angle gas pole axle sleeve swivelling joint is in the pivot of long cylinder, motion spring fixed mounting is in footboard below down, motion spring fixed mounting is on the bottom plate, the little curb plate fixed mounting of motion is in the last running-board below, the little pivot fixed mounting of motion is in the little curb plate of motion, the little axle sleeve swivelling joint of motion is in the little pivot of motion, the little axle sleeve fixed mounting of motion is on the gas pole of the cylinder that rises.

Further bottom plate fixed block fixed mounting is on the bottom plate, and the slide bar fixed mounting is on the bottom plate fixed block.

Further, the top of the support is fixedly arranged at the top end of the limiting support in a limiting mode, and the groove block is slidably arranged in the groove of the limiting support.

And the further limiting upper left connecting plate is rotatably arranged on the limiting upper left rotating shaft, and the limiting upper left rotating shaft is fixedly arranged on the limiting upper side plate.

And the further limiting right upper rotating shaft is rotatably arranged on the limiting right lower connecting plate, and the limiting right upper rotating shaft is rotatably arranged on the limiting right upper connecting plate.

The further motion motor gear is fixedly arranged on a motor shaft of the motion motor.

The central rotating shaft is further rotatably arranged in the moving bottom plate, and the central rotating shaft plate is fixedly arranged on the central rotating shaft.

And a further ascending cylinder support shaft sleeve is fixedly arranged on the ascending cylinder support, and a rotating shaft of the ascending cylinder is rotatably arranged in the ascending cylinder support shaft sleeve.

Further angle cylinder auxiliary stand fixed mounting is on angle cylinder support, and angle cylinder pivot fixed mounting is on angle cylinder auxiliary stand.

Compared with the prior art, the invention has the beneficial effects that:

(1) the invention does not need the patient to bear the weight of the machine, thereby reducing the load of the patient.

(2) The invention helps patients to adapt to walking in advance, and can adapt as soon as possible even if the patients are separated from the machine.

(3) Simple structure and low cost.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural view of the bottom mechanism of the present invention.

Fig. 3 is a schematic structural diagram of the limiting mechanism of the present invention.

Fig. 4 and 5 are schematic structural views of the movement mechanism of the present invention.

In the figure: 1-a bottom mechanism; 2-a limiting mechanism; 3-a motion mechanism; 101-a base plate; 102-a bottom plate fixing block; 103-a slide bar; 104-a slider block; 105-a slide bar cylinder; 106-sliding rod gas rod block; 107-armrest support; 108-a handrail; 201-a limit bracket; 202-top limit; 203-groove block; 204-limiting lower side plate; 205-limiting the left lower rotating shaft; 206-limit left lower connecting plate; 207-limit left upper connecting plate; 208-limiting the upper left rotating shaft; 209-limit upper side plate; 210-limiting the upper right rotating shaft; 211-a spacing right lower connecting plate; 212-a limiting right upper connecting plate; 213-limit right lower rotating shaft; 214-spring connecting plate; 215-a limit spring; 216-bottom limit; 301-a sports mat; 302-a motion motor mount; 303-a motion motor; 304-motion motor gear; 305-motion motor pinion; 306-a central spindle; 307-central spindle plate; 308-moving the lower right rotating shaft; 309-lower pedal; 310-short cylinder; 311-moving the lower left spindle; 312-long cylinder; 313-long cylinder rotating shaft; 314-short gas rod; 315-moving the upper right spindle; 316-upper footrest bushing; 317-upper foot pedal; 318-lifting cylinder support; 319-lifting cylinder bracket axle sleeve; 320-ascending cylinder rotating shaft; 321-a rising cylinder shaft sleeve; 322-a lift cylinder; 323-angle cylinder support; 324-angle cylinder sub-mount; 325-angle cylinder shaft; 326-angle cylinder sleeve; 327-angle cylinder; 328-angle air rod shaft sleeve; 329-motion spring; 330-moving small side plate; 331-motion small spindle; 332-moving small sleeve.

Detailed Description

The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.