CN103584977A - Riding type lower limb rehabilitation robot capable of achieving elliptical orbits - Google Patents

Abstract

The invention discloses a riding-type lower limb rehabilitation robot capable of realizing an elliptical track, which comprises a handlebar and a seat fixed on a frame, the frame is fixed on a base, and a motor and an elliptical track motion device are arranged on the base; The elliptical trajectory motion device includes two sets of elliptical trajectory realization mechanisms; the elliptical trajectory realization mechanism includes a worm gear reduction mechanism and a planetary gear transmission mechanism. The output shaft of the motor transmits power to the worm through a coupling; the worm gear shaft drives the planetary gear through a tie rod. Rotation, the center wheel and the worm gear shaft are coaxially arranged, the center wheel is firmly connected with the base, the diameter of the index circle of the center wheel is twice the diameter of the index circle of the planetary wheel; there is a pedal on the planetary wheel, and the pedal passes through the center of the planetary wheel , pedals are provided on the pedals. It can drive the patient to recover according to the elliptical trajectory, which is more in line with the normal gait of people. It has a simple and compact structure, takes up little space, has strong practicability and low cost, and can meet the needs of medical institutions and families for daily lower limb rehabilitation of patients.

Description

A riding-type lower limb rehabilitation robot capable of realizing elliptical trajectory

technical field

The invention belongs to a robot in the field of rehabilitation medical equipment, and in particular relates to a riding type lower limb rehabilitation robot capable of realizing an elliptical trajectory.

Background technique

According to the survey, a considerable number of people in our country have lower limb dysfunction every year due to diseases, traffic accidents and other reasons. Clinical practice has shown that whether it is a motor disability caused by a disease or a limb injury, good lower limb rehabilitation training can improve the mobility of the lower limbs, promote the recovery of nerve function, and reduce the incidence of complications. For this reason, developed countries such as Europe, America, Japan have all developed multiple lower limb rehabilitation robots. However, it takes up a lot of space and is expensive, and it is difficult to meet the daily needs of ordinary people.

Through searching the existing relevant literature, it is found that Chinese Patent No. 200620140778.3 discloses a wheelchair-type walking training robot, including a wheelchair system, a lower limb exoskeleton system, a damping support system and a controller. The robot realizes the training of the lower limbs by controlling the rotation of the motors at each joint on the exoskeleton. The robot controls four motors at the same time, which is costly and difficult to implement.

Chinese Patent No. 200620021269.9 discloses a vertical lower limb rehabilitation training machine, which includes a base, two sets of symmetrically arranged gait mechanisms on the left and right, and two sets of symmetrically arranged ankle joint motion mechanisms on the left and right. Wherein the motor makes the curved rocker with the handle swing around the upper end of the upright rocker seat through the transmission mechanism, and then drives the pedals whose middle part is hinged with the connecting rod and whose end is hinged with the slider to move in a plane. Due to the complete or partial loss of walking ability of the lower limbs of the patient, the institution requires the patient to stand for training, which has great risks and negative effects.

Chinese Patent No. 200910075068.5 discloses a lower limb rehabilitation medical robot for paraplegic patients, including a base, a rehabilitation lower limb training device and a computer control system. The robot achieves training purposes by controlling an exoskeleton mechanism suspended outside. Its poor stability and complex algorithm lead to high cost and are not suitable for wide application.

Chinese Patent No. 201110050479.6 discloses a riding-type lower limb rehabilitation robot, including a riding-type seat, a driving mechanism, an exoskeleton mechanism and a bracket. The robot is driven by a servo motor to drive the foot to move, so that the patient's entire lower limbs follow the movement. The robot walks a circular trajectory with its feet, while the normal gait trajectory of a human is an ellipse-like trajectory, which is quite different. Contents of the invention

Aiming at the above-mentioned deficiencies in the prior art, the present invention provides a riding type lower limb rehabilitation robot capable of realizing an elliptical trajectory, which is designed according to the specific size of the patient and the medical rehabilitation theory, so that the structure is simple and compact, and the space occupied is small , strong practicability, low cost, and can meet the needs of medical institutions, families, etc. for patients' daily lower limb rehabilitation.

In order to solve the above-mentioned technical problems, the present invention provides a riding type lower limb rehabilitation robot capable of realizing elliptical trajectory, comprising a vehicle frame, a handlebar and a vehicle seat fixed on the vehicle frame, the vehicle frame is fixed on a base, and the The base is provided with a motor and an elliptical track motion device; the elliptical track motion device includes two sets of elliptical track realization mechanisms; the elliptical track realization mechanism includes a worm gear reduction mechanism and a planetary gear transmission mechanism, and the output shaft of the motor passes The shaft device transmits the power to the worm in the worm and worm gear reduction mechanism; the worm shaft of the worm and worm gear reduction mechanism drives the planetary gear of the planetary gear transmission through a tie rod, and the center wheel of the planetary gear transmission and the The worm gear shaft is coaxially arranged, the center wheel is fixedly connected to the base, and the diameter of the index circle of the center wheel is equal to twice the diameter of the index circle of the planetary wheel; a foot is provided on the planetary wheel pedal, the pedal passes through the center of the planetary wheel, and the pedal is provided with a pedal.

Compared with the existing circular trajectory rehabilitation mechanism, the present invention can drive the patient to perform rehabilitation according to the elliptical trajectory, which is more in line with the normal gait of people, and can adjust the trajectory according to the different gaits of patients with different heights. The structure of the present invention is simple and reasonable, The compact layout occupies less space, the cost is small, the operation is simple, and it can be adjusted according to one's own situation, so it is more suitable for individual families and ordinary people.

Description of drawings

Fig. 1 is the schematic diagram of the riding type lower limb rehabilitation robot capable of realizing elliptical trajectory in the present invention;

Fig. 2 is a side view of the rehabilitation robot shown in Fig. 1;

Fig. 3 is a schematic diagram of the human-computer interaction mechanism in the present invention;

Fig. 4 is a schematic diagram of the structure of the elliptical track motion device in the present invention.

In the picture:

10-base, 20-elliptical track motion device, 21-upper shell, 21'-lower shell, 22-central wheel, 23-worm, 24-worm gear shaft, 25-planetary gear, 26-pedal, 27-pedal, 28-tie rod, 29-worm gear, 30-coupling, 40-motor, 50-frame, 60-handlebar, 61-monitor, 62-fixed seat, 70-seat.

Detailed ways

The present invention will be further described in detail below in combination with specific embodiments.

As shown in Figure 2, a riding type lower limb rehabilitation robot capable of realizing an elliptical trajectory of the present invention includes a vehicle frame 50, a handlebar 60 and a vehicle seat 70 fixed on the vehicle frame 50, and the vehicle frame 50 is fixed on a On the base 10, a motor 40 and an elliptical track motion device 20 are arranged on the base 10. As shown in Fig. 2 and Fig. 4, for the sake of safety and beautiful appearance, the elliptical trajectory motion device 20 is arranged in a housing, and the housing is composed of an upper shell 21 and a lower shell 21' which are inserted together.

As shown in Figures 1 and 4, the lower limb rehabilitation robot of the present invention takes a bicycle as a model, wherein the elliptical trajectory motion device 20 includes two sets of elliptical trajectory realization mechanisms to replace the pedaling part of the bicycle, thereby driving the patient's feet to walk in an ellipse Trajectory, to achieve the purpose of rehabilitation. The elliptical track realization mechanism includes a worm gear reduction mechanism and a planetary gear transmission mechanism, and the output shaft of the motor 40 transmits power to the worm screw 23 in the worm gear reduction mechanism through a coupling 30; the worm gear reduction mechanism The worm gear shaft 24 drives the planetary gear 25 of the planetary gear transmission mechanism through a tie rod 28, and the center wheel 22 of the planetary gear transmission mechanism is coaxially arranged with the worm gear shaft 28, and the center wheel 22 and the base 10 is fixedly connected, and the indexing circle diameter of described center wheel 22 is equal to twice of the indexing circle diameter of described planetary wheel 25; Described planetary wheel 25 is provided with a pedal 27, and described pedal 27 passes described planetary wheel At the center of the wheel 25, the pedal 27 is provided with a pedal 26.

FIG. 1 shows a schematic diagram of the mechanism for implementing an elliptical trajectory. The worm 23 is driven by a motor 40 , and the worm wheel 29 drives the tie rod 28 to rotate. When the index circle diameter of center wheel 22 is twice of the index circle diameter of planetary wheel 25, be fixed on planetary wheel 25 and pass any point A on the pedal 27 of its center just can realize elliptical track.

In order to grasp the training time of the rehabilitation exercise and the speed of the movement, the rehabilitation robot of the present invention also includes a human-computer interaction mechanism, as shown in Figure 3, the human-computer interaction mechanism includes a display 61, and the display 61 is connected to the fixed seat 62 through a fixed seat 62. The vehicle frame 50 is fixed, and the handlebar 60 is also fixed with the vehicle frame 50 through the fixed seat 62. In order to be suitable for users of different heights, between the fixed seat 62 and the vehicle frame 50, the vehicle seat 70 Locking structures are respectively provided between the vehicle frame 50 and are used to adjust the heights of the display 61 , the handlebar 60 and the vehicle seat 70 according to the height of the user. Of course, the present invention must include a control device connected to the human-computer interaction mechanism, and there are very mature optional control devices in the prior art, so the present invention will not repeat them.

When using and installing the rehabilitation robot of the present invention, at first loosen the locking devices at the fixed seat 62 and the vehicle seat 70 on the vehicle frame 50 respectively according to the height of the rehabilitation patient, and adjust the positions of the handlebar 60, the display 61 and the vehicle seat 70. Adjust to the most comfortable position for the patient and then lock the locking device. Adjust the length of the pedals 27 according to the patient's stride size, so that the elliptical trajectory of the rehabilitation robot after running is as consistent as possible with the patient's normal gait trajectory. Allow the patient to sit on the rehabilitation robot, and fix the patient's feet on the pedals 26 . Turn on the power switch, set the training time, speed and other parameters through the human-computer interaction mechanism, and the patient can be driven to perform rehabilitation training. In an emergency situation, if the trajectory exceeds the patient's movable range, the nurse or patient can press the emergency stop button on the handlebar to stop the rehabilitation robot from working to protect the patient.

Fig. 4 shows the working process of the elliptical track motion device 20 in the present invention, the motor 40 drives the worm 23 to rotate, drives the tie rod 28 to rotate through the worm and gear reduction mechanism, and then makes the planetary wheel 25 move, and finally the pedal 26 drives the patient's foot to realize The elliptical trajectory, the pedal 27 can adjust the elliptical trajectory within a certain range according to the gait of patients with different heights, so that it is more in line with the normal gait trajectory of people.

In summary, the rehabilitation robot of the present invention uses a bicycle as a model, and uses a wheel train mechanism capable of realizing an elliptical trajectory to replace the pedaling part of the bicycle to drive the patient's feet to move along an elliptical trajectory to achieve rehabilitation training.

Although the present invention has been described above in conjunction with the drawings, the present invention is not limited to the above-mentioned specific embodiments, and the above-mentioned specific embodiments are only illustrative, rather than restrictive. Under the inspiration, many modifications can be made without departing from the gist of the present invention, and these all belong to the protection of the present invention.

Claims (4)

1. A riding type lower limb rehabilitation robot capable of realizing an elliptical trajectory, comprising a vehicle frame (50), a handlebar (60) and a vehicle seat (70) fixed on the vehicle frame (50), the vehicle frame (50 ) is fixed on a base (10), characterized in that, The base (10) is provided with a motor (40) and an elliptical track motion device (20); The elliptical trajectory movement device (20) includes two sets of elliptical trajectory realization mechanisms; The elliptical track realization mechanism includes a worm gear reduction mechanism and a planetary gear transmission mechanism, and the output shaft of the motor (40) transmits power to the worm (23) in the worm gear reduction mechanism through a coupling (30); The worm shaft (24) of the worm gear reduction mechanism drives the planetary gear (25) of the planetary gear transmission mechanism through a tie rod (28), and the center wheel (22) of the planetary gear transmission mechanism and the worm gear shaft (28) Arranged coaxially, the center wheel (22) is fixedly connected to the base (10), and the index circle diameter of the center wheel (22) is equal to the index circle diameter of the planetary wheel (25) Twice; the planetary wheel (25) is provided with a pedal (27), the pedal (27) passes through the center of the planetary wheel (25), and the pedal (27) is provided with a pedal (26 ). 2. The riding-type lower limb rehabilitation robot capable of realizing elliptical trajectory according to claim 1, characterized in that, the elliptical trajectory movement device (20) is set in a housing, and the housing is composed of plugged together The upper shell (21) and the lower shell (21') are composed. 3. The riding-type lower limb rehabilitation robot capable of realizing an elliptical trajectory according to claim 1, characterized in that it also includes a human-computer interaction mechanism, the human-computer interaction mechanism includes a display (61), and the display (61) passes A fixing seat (62) is fixed with the vehicle frame (50). 4. The riding-type lower limb rehabilitation robot capable of realizing an elliptical trajectory according to claim 1, characterized in that, the handlebar is fixed to the frame (50) through a fixing seat (62), and the fixing seat (62 ) and the vehicle frame (50) and between the vehicle seat (70) and the vehicle frame (50) are respectively provided with locking structures.

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