CN103584977A - Riding type lower limb rehabilitation robot capable of achieving elliptical orbits - Google Patents
Riding type lower limb rehabilitation robot capable of achieving elliptical orbits Download PDFInfo
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- CN103584977A CN103584977A CN201310539039.6A CN201310539039A CN103584977A CN 103584977 A CN103584977 A CN 103584977A CN 201310539039 A CN201310539039 A CN 201310539039A CN 103584977 A CN103584977 A CN 103584977A
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- elliptical orbit
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Abstract
The invention discloses a riding type lower limb rehabilitation robot capable of achieving elliptical orbits. The riding type lower limb rehabilitation robot comprises handlebars and a saddle, wherein the handlebars and the saddle are fixed to a frame. The frame is fixed to a base. The base is provided with a motor and an elliptical orbit motion device. The elliptical orbit motion device comprises two sets of elliptical orbit achieving mechanisms. Each elliptical orbit achieving mechanism comprises a worm and worm gear reducing mechanism and a planetary gear transmission mechanism. An output shaft of a motor transmits power to a worm through a coupler. A worm gear shaft drives a planet wheel to rotate through a tie rod. A center wheel and the worm gear shaft are coaxially arranged. The center wheel is fixedly connected with the base. The reference diameter of the center wheel is two times that of the planet wheel. The planet wheel is provided with a pedal. The pedal passes through the center of the planet wheel and is provided with a footboard. The rehabilitation robot enables patients to carry out rehabilitation according to the elliptical orbits, conforms to normal gaits of human being, and is simple and compact in structure, small in occupied space, high in practicality, low in cost, and capable of meeting the requirements for rehabilitation of lower limbs of the patients by medical institutions, families and the like.
Description
Technical field
The invention belongs to the robot in a kind of rehabilitation medical instrument field, be specifically related to a kind of riding type robot for lower limb rehabilitation that can realize elliptical orbit.
Background technology
According to investigations, there are a considerable amount of people in China every year because the reasons such as disease, vehicle accident cause lower limb disorder.Clinical practice shows, no matter is the motor dysfunction that disease or limb injury cause, and good lower limb rehabilitation training can improve lower limb exercise ability and promote function of nervous system to repair, and reduces complication rate.For this reason, the developed country such as American-European, Japanese has all developed multiple lower limb rehabilitation robot.But it is large, expensive to take up room, be difficult to meet the daily demand of ordinary people.
By existing relevant literature search is found, China Patent No. 200620140778.3 discloses a kind of wheel chair type robot for walking training, comprises wheelchair system, lower limb exoskeleton system, Damper Braces system and controller.This robot realizes the training of lower limb by controlling the rotation of each joint motor on ectoskeleton.This robot controls four motors simultaneously, the higher and difficult realization of cost.
China Patent No. 200620021269.9 discloses a kind of vertical lower limb rehabilitation training machine, comprises the gait mechanism that base, left and right 2 covers are arranged symmetrically with, the ankle motion mechanism that left and right 2 covers are arranged symmetrically with.Wherein motor makes crooked rocking bar with handles swing around the upper end of column rocking bar core by drive mechanism, and then drives the hinged pedal of middle part and rod hinge connection, end and slide block to do plane motion again.Because patient's lower limbs or part are lost locomotor activity ，Gai mechanism and are required patient standing to train, have larger danger and negative interaction.
China Patent No. 200910075068.5 discloses a kind of lower limb rehabilitation medical robot used for paralytic patient, comprises base, rehabilitation leg training device and computer control system.The exoskeleton mechanism that this robot is suspended on outside by control reaches training objectives.Its less stable, algorithm complexity etc., and then cause cost high, be not suitable for extensive use.
China Patent No. 201110050479.6 discloses a kind of riding type robot for lower limb rehabilitation, comprises riding type seat, driving mechanism, exoskeleton mechanism and support.This robot, by driven by servomotor, drives foot motion, makes patient's and then motion of whole lower limb.Circular trace is walked with foot by this robot, and people's normal gait track is class ellipse, and difference is larger.Summary of the invention
The present invention is directed to prior art above shortcomings, a kind of riding type robot for lower limb rehabilitation that can realize elliptical orbit is provided, according to the rehabilitation of patient's concrete size and medical science is theoretical, design, to make that it is simple and compact for structure, institute takes up space little, practical, cost is lower, can meet the needs to the daily lower limb rehabilitation of patient such as medical institutions, family.
In order to solve the problems of the technologies described above, a kind of riding type robot for lower limb rehabilitation that can realize elliptical orbit of the present invention, comprises vehicle frame, is fixed on handlebar and vehicle seat on vehicle frame, described vehicle frame is fixed on a base, and described base is provided with motor and elliptical orbit telecontrol equipment; Described elliptical orbit telecontrol equipment comprises that two cover elliptical orbits realize mechanism; Described elliptical orbit is realized mechanism and is comprised worm and wormwheel reducing gear and planetary gear mechanism, and the output shaft of described motor is given the worm screw in described worm and wormwheel reducing gear by shaft coupling by transmission of power; The worm-wheel shaft of described worm and wormwheel reducing gear drives the planetary gear of described planetary gear mechanism by a tie-rod, the centre wheel of described planetary gear mechanism and described worm-wheel shaft are coaxially arranged, described centre wheel and described base are connected, and the reference diameter of described centre wheel equals the twice of the reference diameter of described planetary gear; Described planetary gear is provided with a pedal, and described pedal is crossed the center of described planetary gear, and described pedal is provided with pedal.
Compare with the rehabilitation institution of existing round track, the present invention can realize by elliptical orbit and drive patient to carry out rehabilitation, more meet people's normal gait, and can carry out track adjusting according to different height patient's gait differences, that the present invention is simple and reasonable, compact in design takes up room is less, cost is little, simple to operate, can, according to s own situation adjustment, so be applicable to individual family and ordinary people, use.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that the present invention can realize the riding type robot for lower limb rehabilitation of elliptical orbit;
Fig. 2 is the side view of healing robot shown in Fig. 1;
Fig. 3 is man-machine interaction structural scheme of mechanism in the present invention;
Fig. 4 is elliptical orbit telecontrol equipment structural representation in the present invention.
In figure:
10-base, 20-elliptical orbit telecontrol equipment, 21-upper casing, 21 '-lower casing, 22-centre wheel, 23-worm screw, 24-worm-wheel shaft, 25-planetary gear, 26-pedal, 27-pedal, 28-tie-rod, 29-worm gear, 30-shaft coupling, 40-motor, 50-vehicle frame, 60-handlebar, 61-display, 62-holder, 70-vehicle seat.
The specific embodiment
Below in conjunction with the specific embodiment, the present invention is described in further detail.
As shown in Figure 2, a kind of riding type robot for lower limb rehabilitation that can realize elliptical orbit of the present invention, comprises vehicle frame 50, is fixed on handlebar 60 and vehicle seat 70 on vehicle frame 50, described vehicle frame 50 is fixed on a base 10, and described base 10 is provided with motor 40 and elliptical orbit telecontrol equipment 20.As shown in Figure 2 and Figure 4, for safety and good looking appearance, described elliptical orbit telecontrol equipment 20 is arranged in a housing, and described housing consists of plug-in upper casing 21 and lower casing 21 '.
As shown in Figure 1 and Figure 4, lower limb rehabilitation robot of the present invention be take bicycle as model, and described elliptical orbit telecontrol equipment 20 wherein comprises that two cover elliptical orbits realize mechanism, to replace bicycle to scrunch part, thereby drive patient foot to walk elliptical orbit, reach rehabilitation object.Described elliptical orbit is realized mechanism and is comprised worm and wormwheel reducing gear and planetary gear mechanism, and the output shaft of described motor 40 is given the worm screw 23 in described worm and wormwheel reducing gear by shaft coupling 30 by transmission of power; The worm-wheel shaft 24 of described worm and wormwheel reducing gear drives the planetary gear 25 of described planetary gear mechanism by a tie-rod 28, the centre wheel 22 of described planetary gear mechanism is coaxially arranged with described worm-wheel shaft 28, described centre wheel 22 is connected with described base 10, and the reference diameter of described centre wheel 22 equals the twice of the reference diameter of described planetary gear 25; Described planetary gear 25 is provided with a pedal 27, and described pedal 27 is crossed described planetary gear 25 center, and described pedal 27 is provided with pedal 26.
Fig. 1 shows the schematic diagram that elliptical orbit is realized mechanism, and worm screw 23 is driven by motor 40, and worm gear 29 drives tie-rod 28 to rotate.When the reference diameter of centre wheel 22 is the reference diameter twice of planetary gear 25, any point A being connected on the pedal 27 at planetary gear 25Bing Guoqi center just can realize elliptical orbit.
In order to grasp the training time of rehabilitation exercise and the speed of motion, healing robot of the present invention also includes man-machine interaction mechanism, as shown in Figure 3, described man-machine interaction mechanism comprises display 61, described display 61 is fixing with described vehicle frame 50 by a holder 62, described handlebar 60 is also fixing with described vehicle frame 50 by holder 62, in order to be suitable for the user of different heights, between described holder 62 and vehicle frame 50, between described vehicle seat 70 and described vehicle frame 50, be provided with respectively locking mechanism, be used for adjusting display 61 according to the height of user, the height of handlebar 60 and vehicle seat 70.Certainly, in the present invention, must include the control device being connected with man-machine interaction mechanism, have in the prior art very ripe alternative control device, the present invention repeats no more.
Use when healing robot of the present invention is installed, first according to the height size of rehabilitation, unclamp respectively the locking device that is positioned at holder 62 and vehicle seat 70 places on vehicle frame 50, the position adjustments of handlebar 60, display 61 and vehicle seat 70 is locked to locking device after patient feels the most comfortable position.According to patient's step size, regulate the length of pedal 27, the elliptical orbit after healing robot is moved meets patient's normal gait track as far as possible.Allow patient ride to be seated at healing robot Shang，Jiang patient foot and be fixed on pedal 26.Turn on the power switch, by man-machine interaction mechanism, set the parameters such as training time, speed, can drive patient to carry out rehabilitation training.Run into emergency, as track exceeds the movable scope of patient, nurse personnel or patient can press the scram button at handlebar place, and healing robot is quit work, and reach protection patient's object.
Fig. 4 shows the work process of elliptical orbit telecontrol equipment 20 in the present invention, motor 40 drives worm screw 23 to rotate, by turbine and worm decelerator, drive tie-rod 28 to rotate, and then planetary gear 25 is moved, last pedal 26 drives patient foot to realize elliptical orbit, pedal 27 can be adjusted elliptical orbit within the specific limits according to different height patients' gait difference, makes it more meet people's normal gait track.
To sum up, healing robot of the present invention be take bicycle as model, and the gear mechanism that employing can realize elliptical orbit replaces bicycle to scrunch part, drives patient foot to press elliptical orbit motion, reaches rehabilitation training.
Although in conjunction with figure, invention has been described above; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment is only schematic; rather than restrictive; those of ordinary skill in the art is under enlightenment of the present invention; in the situation that not departing from aim of the present invention, can also make a lot of distortion, within these all belong to protection of the present invention.
Claims (4)
1. can realize a riding type robot for lower limb rehabilitation for elliptical orbit, comprise vehicle frame (50), be fixed on handlebar (60) and vehicle seat (70) on vehicle frame (50), it is upper that described vehicle frame (50) is fixed on a base (10), it is characterized in that,
Described base (10) is provided with motor (40) and elliptical orbit telecontrol equipment (20);
Described elliptical orbit telecontrol equipment (20) comprises that two cover elliptical orbits realize mechanism;
Described elliptical orbit is realized mechanism and is comprised worm and wormwheel reducing gear and planetary gear mechanism, and the output shaft of described motor (40) is given the worm screw (23) in described worm and wormwheel reducing gear by shaft coupling (30) by transmission of power; The worm-wheel shaft of described worm and wormwheel reducing gear (24) drives the planetary gear (25) of described planetary gear mechanism by a tie-rod (28), the centre wheel of described planetary gear mechanism (22) is coaxially arranged with described worm-wheel shaft (28), described centre wheel (22) is connected with described base (10), and the reference diameter of described centre wheel (22) equals the twice of the reference diameter of described planetary gear (25); Described planetary gear (25) is provided with a pedal (27), and described pedal (27) is crossed the center of described planetary gear (25), and described pedal (27) is provided with pedal (26).
2. can realize according to claim 1 the riding type robot for lower limb rehabilitation of elliptical orbit, it is characterized in that, described elliptical orbit telecontrol equipment (20) is arranged in a housing, and described housing consists of plug-in upper casing (21) and lower casing (21 ').
3. can realize according to claim 1 the riding type robot for lower limb rehabilitation of elliptical orbit, it is characterized in that, also comprise a man-machine interaction mechanism, described man-machine interaction mechanism comprises display (61), and described display (61) is fixing by a holder (62) and described vehicle frame (50).
4. can realize according to claim 1 the riding type robot for lower limb rehabilitation of elliptical orbit, it is characterized in that, described handlebar is fixing by holder (62) and described vehicle frame (50), between described holder (62) and vehicle frame (50), be provided with respectively locking mechanism between described vehicle seat (70) and described vehicle frame (50).
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| CN201310539039.6A CN103584977B (en) | 2013-11-01 | 2013-11-01 | Riding type lower limb rehabilitation robot capable of achieving elliptical orbits |
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| CN201310539039.6A CN103584977B (en) | 2013-11-01 | 2013-11-01 | Riding type lower limb rehabilitation robot capable of achieving elliptical orbits |
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| CN103584977B CN103584977B (en) | 2015-04-22 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109481235A (en) * | 2018-12-18 | 2019-03-19 | 合肥工业大学 | A kind of output trajectory is elliptical single-degree-of-freedom device for healing and training |
| CN109998867A (en) * | 2019-05-23 | 2019-07-12 | 华北理工大学 | The upper and lower limbs rehabilitation training robot of drive lacking |
| US10426637B2 (en) | 2015-05-11 | 2019-10-01 | The Hong Kong Polytechnic University | Exoskeleton ankle robot |
| CN111228728A (en) * | 2020-02-16 | 2020-06-05 | 华中科技大学同济医学院附属协和医院 | Lower limb venous thrombosis prevention activity instrument and control method thereof |
| CN111449912A (en) * | 2020-04-30 | 2020-07-28 | 河南省中医院（河南中医药大学第二附属医院） | Early treatment device for peripheral vascular disease |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10426637B2 (en) | 2015-05-11 | 2019-10-01 | The Hong Kong Polytechnic University | Exoskeleton ankle robot |
| CN109481235A (en) * | 2018-12-18 | 2019-03-19 | 合肥工业大学 | A kind of output trajectory is elliptical single-degree-of-freedom device for healing and training |
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| CN109998867A (en) * | 2019-05-23 | 2019-07-12 | 华北理工大学 | The upper and lower limbs rehabilitation training robot of drive lacking |
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| CN111228728A (en) * | 2020-02-16 | 2020-06-05 | 华中科技大学同济医学院附属协和医院 | Lower limb venous thrombosis prevention activity instrument and control method thereof |
| CN111449912A (en) * | 2020-04-30 | 2020-07-28 | 河南省中医院（河南中医药大学第二附属医院） | Early treatment device for peripheral vascular disease |
| CN111449912B (en) * | 2020-04-30 | 2021-10-01 | 河南省中医院（河南中医药大学第二附属医院） | Early treatment device for peripheral vascular disease |
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