CN104800041B - A kind of Multi-position lower limb rehabilitation training robot - Google Patents

A kind of Multi-position lower limb rehabilitation training robot Download PDF

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Publication number
CN104800041B
CN104800041B CN201510126371.9A CN201510126371A CN104800041B CN 104800041 B CN104800041 B CN 104800041B CN 201510126371 A CN201510126371 A CN 201510126371A CN 104800041 B CN104800041 B CN 104800041B
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China
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guiding
weight
loss
human
gravity center
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CN201510126371.9A
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Chinese (zh)
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CN104800041A (en
Inventor
侯增广
王卫群
彭龙
梁旭
彭亮
程龙
谢晓亮
边桂彬
谭民
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中国科学院自动化研究所
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Abstract

The invention discloses a kind of Multi-position lower limb rehabilitation training robot, including robot base and training bed.Described training bed includes two set leg mechanisms, a set of seat, a set of seat width guiding mechanism, a set of gravity center of human body's guiding mechanism, a set of back cushion, a set of loss of weight system and a set of Chair back cushion angle-adjusting mechanism.Described robot base includes that a set of bed body angle-adjusting mechanism, described bed body angle-adjusting mechanism and described chair angle guiding mechanism match, can provide for paralysed patient crouch, sit, the training method of the many attitude such as stand.Described leg mechanism includes hip, knee, three joints of ankle;Described hip, SCID Mice are driven by motor, and are mounted with angle and force snesor, can be used for identifying the motion intention of patient, it is simple to provide active and power-assisting training for patient.Described gravity center of human body's guiding mechanism, leg mechanism and loss of weight system cooperate, it is possible to achieve close to the bionics gait of human body natural's walking, improve gait training effect.

Description

A kind of Multi-position lower limb rehabilitation training robot

Technical field

The present invention relates to technical field of medical instruments, particularly relate to a kind of many poses lower limb rehabilitation training machine Device people.

Background technology

The lower limb paralysis patient populations being caused by apoplexy, spinal cord injury and brain trauma at present is very big, presents Ascendant trend.Lower limb paralysis patient, after the symptomatic treatment of acute stage, generally requires through longer The rehabilitation of phase, to recover the lower extremity motor function of patient.Kinesiatrics is lower limb rehabilitation treatment Common method.Traditional rehabilitation training is manually to be driven patient's lower limb to carry out training by therapist, Subjectivity is big, waste time and energy, and effect is not ideal enough.Healing robot automates, accurately as one Change, intelligentized Medical Devices, continue providing, have very strong advantage in terms of quantitative rehabilitation training, Can effectively make up the deficiency of Traditional Rehabilitation treatment method, have broad application prospects.

It in clinical rehabilitation training, is generally directed to the different rehabilitation stage different training attitudes of employing and rail Mark is to obtain preferable rehabilitation efficacy.For early stage patient, prone position is mostly used to carry out passive exercise, Purpose is to prevent muscular atrophy, minimizing complication;And rehabilitation patient in mid-term, be gradually from prone position transition To stance, adapt to midstance, at this time, it may be necessary to consider to overcome postural hypotension problem;For health Multiple later stage patient, patient's lower limb have had certain muscular strength, it may be considered that combine loss of weight system and overcome Body weight carries out passive or active gait training, enables the patient to realize early independent rows Walk, recover activity of daily living.Simultaneously for the patient of early metaphase, often use the treadmill of sitting posture Training.This training method uses fairly simple rehabilitation treadmill it is achieved that it trains cost relatively Low, training set-up procedure is also very fast, therefore adopts and can carry out higher-strength and the frequency in this way Rehabilitation training.At present, rehabilitation treadmill is widely used in the Rehabilitation Training in Treating of lower limb paralysis patient.

But, existing recovery robot system, mostly for the specific instruction of one training attitude design Practice track, it is difficult to meet the training demand in paralysed patient different rehabilitation stage simultaneously;It is difficult to based on same Platform, same standard, be optimized design to the prescription of rehabilitation training, it is thus achieved that optimum rehabilitation efficacy.

Content of the invention

For problem above, the present invention provides a kind of Multi-position lower limb rehabilitation training robot, this rehabilitation Image training robot can provide sleeping, sit, the rehabilitation training of the many attitude such as stand;Can provide and human body Naturally walking bionics gait training closely;And multiple training methods such as master is passive can be provided.

The present invention proposes a kind of Multi-position lower limb rehabilitation training robot, this many poses lower limb rehabilitation training Robot includes robot base 1-1 and two modules of training bed.

Described robot base 1-1 is the support base of Multi-position lower limb rehabilitation training robot, its end Portion is mounted with roller, for the movement of Multi-position lower limb rehabilitation training robot;Simultaneously described robot Pedestal 1-1 is mounted with a set of bed body guiding mechanism, and this bed body guiding mechanism props up support component 1-8 by bed body Hinged with the bed body framework 1-7 of described training bed, for described training bed angle is adjusted, with The attitude of trainer when changing training.

Described training bed mainly includes leg mechanism 1-2, seat 1-4, seat width guiding mechanism, people Body gravity centre adjustment mechanism, back cushion 1-5, back cushion framework 5-1, squab angle guiding mechanism, bed body framework 1-7 and loss of weight system 1-6.

Described leg mechanism 1-2 includes that hip, knee, three joints of ankle and large and small leg two overlap linkage, For fixing trainer's lower limb, and supplemental training person's lower limb carry out training.

Described seat 1-4 takes one's seat for trainer during sitting posture training, supports trainer's weight.

Seat 1-4 is fixedly arranged on described seat width guiding mechanism, and described seat width guiding mechanism is used In the distance adjusting between two set leg mechanism 1-2, to adapt to the build of different trainer;Described seat Chair width adjusting mechanism is installed on described gravity center of human body's guiding mechanism, described gravity center of human body's guiding mechanism For the position of adjusting training person's center of gravity real-time during gait training, center of gravity when simulation human body natural walks Change up and down;Described seat 1-4 both sides are respectively mounted with a set of armrest 1-3, are used for training process In provide hand support for trainer.

Trainer's upper body weight is supported when back cushion 1-5 is for prone position training.Described back cushion 1-5 is fixedly arranged on Back cushion framework 5-1 front.Described back cushion framework 5-1 one end is hinged with described bed body framework 1-7.

Described squab angle guiding mechanism is installed on described back cushion framework 5-1 and described bed body framework 1-7 Between, it is used for when sitting posture or the training of prone position state adjusting the angle of back cushion, to improve the comfort level of training.

Loss of weight system 1-6 is driven by loss of weight system drive motor 4-11, is installed on back cushion framework 5-1's (in this robot device, each parts are all with close trainer side as front, away from trainer at the back side Side is the back side), for the some or all of body weight of balance training person.

The beneficial effects of the present invention is:

(1) bed body guiding mechanism, the design of squab angle guiding mechanism are passed through, it is achieved that based on together One equipment realizes crouching, sits, the rehabilitation training of the many attitude such as stand;

(2) thigh and calf length, the seat width of described leg mechanism 1-2 are all adjustable, can meet The training demand of different building shape trainer;

(3) loss of weight system is driven by motor, can accurately adjust loss of weight pulling force size continuously, to fit Answer the recovery of trainer's lower limbs strength in rehabilitation process, provide just right strength to assist;

(4) loss of weight system, gravity center of human body's guiding mechanism and leg mechanism 1-2 cooperate, Ke Yishi The now bionics gait close to human body natural's walking;

(5) angle of training bed can adjust continuously, disclosure satisfy that trainer overcomes body in rehabilitation mid-term Position property hypotensive training demand;

(6) Chair back cushion angle can adjust continuously, disclosure satisfy that trainer uses at rehabilitation early metaphase Prone position or sitting posture carry out the demand of lower limb rehabilitation training, can also improve the comfort level of training.

Brief description

Fig. 1 .1 is the Multi-position lower limb rehabilitation training robot overall structure figure according to the embodiment of the present invention;

Fig. 1 .2 is the bed body angle explanatory diagram according to the embodiment of the present invention;

Fig. 2 is the seat width guiding mechanism structure chart according to the embodiment of the present invention;

Fig. 3 is the gravity center of human body's guiding mechanism structure chart according to the embodiment of the present invention;

Fig. 4 is the loss of weight system construction drawing according to the embodiment of the present invention;

Fig. 5 is the squab angle guiding mechanism structure chart according to the embodiment of the present invention;

In figure: 1-1. robot base, 1-2. leg mechanism, 1-3. armrest, 1-4. seat, 1-5. back cushion, 1-6. loss of weight system, 1-7. bed body framework, 1-8. bed body props up support component, 2-1. seat Chair width adjusting mechanism guide rail saddle, 2-2. seat width guiding mechanism installing plate, 2-3. seat width Guiding mechanism drives motor, 2-4. seat width guiding mechanism motor mount, and 2-5. seat width is adjusted Complete machine structure bevel gear system, 2-6. seat width guiding mechanism leading screw screw rod, 2-7. seat width adjusts machine Structure line slideway, 2-8. seat width guiding mechanism feed screw nut, 2-9. seat width guiding mechanism silk Thick stick nut mounting seat, 2-10. leg mechanism mounting seat, 3-1. gravity center of human body's guiding mechanism installing plate, 3-2. Gravity center of human body's guiding mechanism drives motor, 3-3. gravity center of human body's guiding mechanism motor mount, 3-4. people Body gravity centre adjustment mechanism leading screw screw rod, 3-5. gravity center of human body's guiding mechanism feed screw nut, 3-6. body weight for humans Heart guiding mechanism feed screw nut mounting seat, 3-7. gravity center of human body's guiding mechanism line slideway, 3-8. human body Gravity centre adjustment mechanism guide rail saddle, 4-1. bandage links up with, and 4-2. links up with crossbeam, 4-3. loss of weight rope, 4-4. loss of weight train, 4-5. loss of weight system guideways saddle, 4-6. loss of weight system feed screw nut, 4-7. subtracts Weight system feed screw nut mounting seat, 4-8. loss of weight system line slideway, 4-9. loss of weight system leading screw screw rod, 4-10. loss of weight system leading screw shaft coupling, 4-11. loss of weight system drive motor, 4-12. loss of weight system is pacified Dress plate, 5-1. back cushion framework, 5-2. squab angle guiding mechanism crossbeam A, 5-3. squab angle adjusts Mechanism's electric pushrod, 5-4. squab angle guiding mechanism crossbeam B.

Detailed description of the invention

For making the object, technical solutions and advantages of the present invention clearer, below in conjunction with specifically in fact Execute example, and referring to the drawings, the present invention is described in more detail.

Fig. 1 .1 is the Multi-position lower limb rehabilitation training robot overall structure figure according to the embodiment of the present invention. Described Multi-position lower limb rehabilitation training robot mainly includes robot base 1-1 and two moulds of training bed Block.For the ease of describe, in the present embodiment each parts all with training bed near the side of human body as front, Side away from human body is the back side;Carry out this reality with the upper and lower relation of each several part under the vertical state of training bed Execute the location expression of example each several part.Robot base 1-1 is described many poses lower limb rehabilitation training machine The base of people, is used for supporting described training bed weight.It is mounted with roller bottom robot base 1-1, Can move ahead along ground surface, it is simple to described lower limbs rehabilitation training robot is shifted.Robot base Comprising a set of bed body angle-adjusting mechanism inside seat 1-1, described bed body angle-adjusting mechanism passes through bed body Prop up support component 1-8, bed body framework 1-7 to be connected with described training bed, can be used for adjusting described training bed And the angle between described robot base 1-1, i.e. θ angle shown in Fig. 1 .2.When θ=0 °, instruction Practice bed and be in level, it is provided that the rehabilitation training of prone position;When 0 ° < when θ < 90 °, training bed It is in heeling condition, can be used for overcoming the rehabilitation training of postural hypotension;When θ=90 °, training Bed is in erectility, it is provided that gait training, the rehabilitation training of the stances such as training of marking time.

As shown in Fig. 1 .1, leg mechanism 1-2 has two sets, is three-freedom mechanical arm.At figure In 1.1, training bed is in erectility, and three joints of now described leg mechanism 1-2 are divided from top to bottom Wei hip, SCID Mice.Described two set leg mechanism 1-2 lay respectively at the both sides of training bed.Instruction When practicing, trainer's two legs is separately fixed on described two set leg mechanism 1-2, the hip of trainer, The hip of SCID Mice and leg mechanism 1-2, SCID Mice one_to_one corresponding respectively, trainer's is big Shank and the thigh and calf mechanism one_to_one corresponding of described leg mechanism 1-2, therefore, driving leg portion mechanism 1-2 Each joint trainer's leg can be driven to do corresponding training.Meanwhile, leg mechanism 1-2 Each joint has been respectively mounted angle and force snesor, and described angle and force snesor may be used for identifying instruction The motion intention of white silk person, and then active and power-assisting training can be provided for trainer.Fig. 2 is for according to this The seat width guiding mechanism structure chart of inventive embodiments.As in figure 2 it is shown, seat width guiding mechanism Including: four set seat width adjusting mechanism guide rail saddle 2-1, a set of seat width guiding mechanism are installed Plate 2-2, a pedestal chair width adjusting mechanism drive motor 2-3, a set of seat width guiding mechanism motor Mounting seat 2-4, a set of seat width guiding mechanism bevel gear system 2-5, two set seat width adjusting mechanism Leading screw screw rod 2-6, four set seat width adjusting mechanism line slideway 2-7, two set seat width adjustment machines Structure feed screw nut 2-8, two set seat width adjusting mechanism feed screw nut mounting seats 2-9 and two set legs Mechanism's mounting seat 2-10.Described seat width guiding mechanism drives motor 2-3 to be fixedly installed in seat width Degree guiding mechanism motor mount 2-4.Described seat width guiding mechanism motor mount 2-4 fixes It is installed on the front of described seat width guiding mechanism installing plate 2-2.Described seat width guiding mechanism Bevel gear system 2-5 includes an input and two outputs.Described seat width guiding mechanism drives The output shaft of motor 2-3 fixes the input being connected to described seat width guiding mechanism bevel gear system 2-5 End.Two outputs of described seat width guiding mechanism bevel gear system 2-5 overlap seat width with two respectively Degree guiding mechanism leading screw screw rod 2-6 is fixing to be connected.Often overlap seat width adjusting mechanism leading screw screw rod 2-6 Constitute one group of screw pair with corresponding a set of seat width guiding mechanism feed screw nut 2-8.Often set is described Seat width guiding mechanism feed screw nut 2-8 is fixedly installed in corresponding a set of seat width respectively and adjusts Mechanism's feed screw nut mounting seat 2-9.Described often set seat width adjusting mechanism feed screw nut mounting seat 2-9 is fixedly installed in the back side of corresponding a set of leg mechanism mounting seat 2-10.Often overlap leg machine simultaneously The corresponding seat width guiding mechanism guide rail saddle 2-1 of the back side also with two set of structure mounting seat 2-10 fixes Connect.Often overlap seat width adjusting mechanism guide rail saddle 2-1 and a set of corresponding seat width adjusts machine Structure line slideway 2-7 forms one group of sliding pair.Described often set seat width adjusting mechanism leading screw screw rod 2-6 With the corresponding two set parallel installations of seat width adjusting mechanism line slideway 2-7.Often overlap described leg machine The front of structure mounting seat 2-10 is mounted with corresponding a set of leg mechanism 1-2.

When seat width guiding mechanism drives motor 2-3 to pass through seat width guiding mechanism bevel gear system When 2-5 drives seat width guiding mechanism leading screw screw rod 2-6 to rotate, seat width guiding mechanism leading screw Nut 2-8 will move along a straight line along seat width guiding mechanism leading screw screw rod 2-6, drive leg machine Structure mounting seat 2-10 moves along a straight line along seat width guiding mechanism line slideway 2-7, so that two Distance between set leg mechanism 1-2 changes, and reaches to adjust the effect of seat width.

Fig. 3 is the gravity center of human body's guiding mechanism structure chart according to the embodiment of the present invention.As it is shown on figure 3, Described gravity center of human body's guiding mechanism specifically includes that a set of gravity center of human body guiding mechanism installing plate 3-1, one Platform gravity center of human body's guiding mechanism drives motor 3-2, a set of gravity center of human body guiding mechanism motor mount 3-3, A set of gravity center of human body guiding mechanism leading screw screw rod 3-4, a set of gravity center of human body guiding mechanism feed screw nut 3-5, A set of gravity center of human body's guiding mechanism feed screw nut mounting seat 3-6, two set gravity center of human body's guiding mechanism straight lines Guide rail 3-7, two set gravity center of human body guiding mechanism guide rail saddle 3-8.Described gravity center of human body's guiding mechanism is pacified The dress plate 3-1 back side is fixing with described bed body framework 1-7 to be connected.Described gravity center of human body's guiding mechanism drives Motor 3-2 is fixedly installed in gravity center of human body guiding mechanism motor mount 3-3.Described gravity center of human body Guiding mechanism motor mount 3-3 is fixedly installed in the front of gravity center of human body guiding mechanism installing plate 3-1. Meanwhile, described gravity center of human body's guiding mechanism drives motor 3-2 output shaft and described gravity center of human body to adjust machine Structure leading screw screw rod 3-4 is fixing to be connected.Described gravity center of human body guiding mechanism leading screw screw rod 3-4 and body weight for humans Heart guiding mechanism feed screw nut 3-5 constitutes one group of screw pair.Described gravity center of human body's guiding mechanism leading screw spiral shell Female 3-5 is fixedly mounted in described gravity center of human body's guiding mechanism feed screw nut mounting seat 3-6.Described people Body gravity centre adjustment mechanism feed screw nut mounting seat 3-6 is fixedly installed in described seat width guiding mechanism peace The back side of dress plate 2-2.The back side of simultaneously described seat width guiding mechanism installing plate 2-2 also with described Two set gravity center of human body guiding mechanism guide rail saddle 3-8 are fixing to be connected.Described often set gravity center of human body adjusts Mechanism guide rail saddle 3-8 and corresponding a set of gravity center of human body guiding mechanism line slideway 3-7 constitutes one group Sliding pair.Two described set gravity center of human body guiding mechanism line slideway 3-7 and described a set of gravity center of human body Guiding mechanism leading screw screw rod 3-4 is just being installed in parallel in described gravity center of human body guiding mechanism installing plate 3-1 Face.

When described gravity center of human body's guiding mechanism drives motor 3-2 to drive described gravity center of human body's guiding mechanism silk When thick stick screw rod 3-4 rotates, described seat width guiding mechanism installing plate 2-2 will be driven along described people Body gravity centre adjustment mechanism line slideway 3-7 moves along a straight line.Due to described leg mechanism 1-2, seat 1-4, seat width guiding mechanism are installed on described seat width guiding mechanism installing plate 2-2.Cause This, drive motor 3-2 to can control described leg mechanism 1-2, seat by gravity center of human body's guiding mechanism 1-4, seat width guiding mechanism are overall makees straight line fortune along described gravity centre adjustment mechanism line slideway 3-7 Dynamic (when training bed is in erectility, described linear motion is the motion of vertical direction).Therefore, Can be moved along a straight line at vertical direction by described gravity center of human body guiding mechanism controlled training person, thus The center of gravity making trainer changes.

Fig. 4 is the loss of weight system construction drawing according to the embodiment of the present invention.As shown in Figure 4, described loss of weight System includes: two set bandage hook 4-1, a sleeve hanger crossbeam 4-2, a set of loss of weight rope 4-3, one Set loss of weight train 4-4, a set of loss of weight system guideways saddle 4-5, a set of loss of weight system feed screw nut 4-6, A set of loss of weight system feed screw nut mounting seat 4-7, a set of loss of weight system line slideway 4-8, a set of loss of weight System leading screw screw rod 4-9, a set of loss of weight system leading screw shaft coupling 4-10, a loss of weight system drive electricity Machine 4-11, a set of loss of weight system installing plate 4-12.Described loss of weight system installing plate 4-12 fixedly mounts At the described back cushion framework 5-1 back side.Described loss of weight system drive motor 4-11 subtracts described in being fixedly mounted on On weight system installing plate 4-12.The output of simultaneously described loss of weight system drive motor 4-11 passes through institute State the fixing connection of loss of weight system leading screw shaft coupling 4-10 and described loss of weight system leading screw screw rod 4-9.Described Loss of weight system leading screw screw rod 4-9 and loss of weight system feed screw nut 4-6 constitutes one group of screw pair.Described subtract The nut 4-6 of weight system leading screw is fixedly mounted in described loss of weight system feed screw nut mounting seat 4-7. Described loss of weight system feed screw nut mounting seat 4-7 is also fixing with described loss of weight system guideways saddle 4-5 even Connect.Described loss of weight system guideways saddle 4-5 and described loss of weight system line slideway 4-8 constitutes one group of cunning Dynamic pair.Meanwhile, described loss of weight system feed screw nut mounting seat 4-7 is also with described loss of weight rope 4-3's One end is fixing to be connected.After described loss of weight rope 4-3 is by described loss of weight train 4-4, its direction of motion Change.The other end of described loss of weight rope 4-3 is fixing is connected to described hook crossbeam 4-2.Institute The two ends stating hook crossbeam 4-2 have fixedly mounted a set of described bandage hook 4-1 respectively.Described bandage Hook 4-1 is for being fastened on the bandage with trainer.

When described loss of weight system drive motor 4-11 drives described loss of weight system leading screw screw rod 4-9 to rotate, Described loss of weight system feed screw nut 4-6 will move along a straight line along described loss of weight system leading screw screw rod 4-9, Thus drive one end of described loss of weight rope 4-3 to do straight line along described loss of weight system line slideway 4-8 Motion.Now, drive bandage hook 4-1 is moved along a straight line by the other end of described loss of weight rope 4-3, So that described bandage is strained along trainer's body direction or loosens.Therefore by subtracting described in control Weight system drive motor 4-11, i.e. can control the size of loss of weight pulling force.

Fig. 5 is the squab angle guiding mechanism structure chart according to the embodiment of the present invention.As it is shown in figure 5, Described squab angle guiding mechanism specifically includes that squab angle guiding mechanism crossbeam A 5-2, back cushion angle Degree guiding mechanism electric pushrod 5-3, squab angle guiding mechanism crossbeam B 5-4.Described back cushion framework 5-1 For installing described back cushion 1-5.Described squab angle guiding mechanism crossbeam A 5-2 is fixedly installed in described Back cushion framework 5-1.Described squab angle guiding mechanism crossbeam B 5-4 is fixedly installed in described bed body framework 1-7.Described squab angle guiding mechanism electric pushrod 5-3 one end is horizontal with described squab angle guiding mechanism A 5-2 is hinged for beam, and the other end is hinged with described squab angle guiding mechanism crossbeam B 5-4.Meanwhile, Described back cushion framework 5-1 and described bed body framework 1-7 is also hinged.

The length of described squab angle guiding mechanism electric pushrod 5-3 is by motor control.When described back cushion When the length of angle-adjusting mechanism push rod 5-3 changes, described back cushion framework 5-1 and described bed body Angle between framework 1-7 can change.This angle is the inclination angle of back cushion.Therefore, by control The length of squab angle guiding mechanism electric pushrod 5-3 processed i.e. can control the inclination angle of described back cushion.

In the present embodiment, seat width guiding mechanism linear motion device is adjusted machine by a set of seat width Structure drives motor 2-3, a set of seat width guiding mechanism motor mount 2-4, a set of seat width to adjust Complete machine structure bevel gear system 2-5, two set seat width adjusting mechanism leading screw screw rod 2-6, two set seat width Guiding mechanism feed screw nut 2-8, two set seat width adjusting mechanism feed screw nut mounting seats 2-9 are constituted, The gyration that seat width guiding mechanism drives motor 2-3 output is changed into seat width and adjusts machine The linear motion of structure feed screw nut 2-8, thus drive seat width guiding mechanism feed screw nut mounting seat 2-9 moves along a straight line, it is achieved the adjustment of position, and electric pushrod can be used in actual applications as directly Seat width guiding mechanism linear motion device in the present embodiment replaced by line telecontrol equipment, it is possible to achieve Same function.

In the present embodiment, gravity center of human body's guiding mechanism linear motion device is adjusted machine by a gravity center of human body Structure drives motor 3-2, a set of gravity center of human body guiding mechanism motor mount 3-3, a set of gravity center of human body to adjust Complete machine structure leading screw screw rod 3-4, a set of gravity center of human body guiding mechanism feed screw nut 3-5, a set of gravity center of human body Guiding mechanism feed screw nut mounting seat 3-6 is constituted, and drives motor 3-2 defeated gravity center of human body's guiding mechanism The gyration going out is changed into the linear motion of gravity center of human body guiding mechanism feed screw nut 3-5, thus carries Dynamic gravity center of human body's guiding mechanism feed screw nut mounting seat 3-6 moves along a straight line, it is achieved the adjustment of position, Electric pushrod can be used in actual applications to replace human body in the present embodiment as linear motion device Gravity centre adjustment mechanism linear motion device, it is possible to achieve same function.

In the present embodiment, loss of weight system linear motion device by a loss of weight system drive motor 4-11, A set of loss of weight system leading screw shaft coupling 4-10, a set of loss of weight system leading screw screw rod 4-9, a set of loss of weight system System feed screw nut 4-6, a set of loss of weight system feed screw nut mounting seat 4-7 are constituted, and drive loss of weight system The gyration of dynamic motor 4-11 output is changed into the linear motion of loss of weight system feed screw nut 4-6, from And drive loss of weight system feed screw nut mounting seat 4-7 to move along a straight line, it is achieved and the adjustment of position, in reality Border application can use electric pushrod to replace loss of weight system in the present embodiment as linear motion device Linear motion device, it is possible to achieve same function.

The above, the only detailed description of the invention in the present invention, but protection scope of the present invention is not Being confined to this, any people being familiar with this technology is in the technical scope that disclosed herein, it will be appreciated that think The conversion arrived or replacement, all should cover invention comprise within the scope of, therefore, the protection of the present invention Scope should be as the criterion with the protection domain of claims.

Claims (12)

1. a Multi-position lower limb rehabilitation training robot, it is characterised in that include robot base (1-1) And training bed;
Described robot base (1-1) is the support base of Multi-position lower limb rehabilitation training robot;Simultaneously Described robot base (1-1) is mounted with a set of bed body guiding mechanism, and this bed body guiding mechanism passes through bed body Prop up support component (1-8) hinged with the bed body framework (1-7) of described training bed, for described training bed angle It is adjusted, the attitude of trainer during to change training;
Described training bed mainly include leg mechanism (1-2), seat (1-4), seat width guiding mechanism, Gravity center of human body's guiding mechanism, back cushion (1-5), back cushion framework (5-1), squab angle guiding mechanism, bed body Framework (1-7) and loss of weight system (1-6);
Described leg mechanism (1-2) includes that hip, knee, three joints of ankle and large and small leg two overlap linkage, For fixing trainer's lower limb, and supplemental training person's lower limb carry out training;
Described seat (1-4) is taken one's seat for trainer during sitting posture training, supports trainer's weight;
Seat (1-4) is fixedly arranged on described seat width guiding mechanism, and described seat width guiding mechanism is used In the distance adjusting between two sets leg mechanism (1-2), to adapt to the build of different trainer;Described seat Chair width adjusting mechanism is installed on described gravity center of human body's guiding mechanism, described gravity center of human body's guiding mechanism For the position of adjusting training person's center of gravity real-time during gait training, center of gravity when simulation human body natural walks Change up and down;
Trainer's upper body weight is supported when back cushion (1-5) is for prone position training;Described back cushion (1-5) is fixedly arranged on Back cushion framework (5-1) front;Described back cushion framework (5-1) one end is hinged with described bed body framework (1-7);
Described squab angle guiding mechanism is installed on described back cushion framework (5-1) and described bed body framework (1-7) Between, it is used for when sitting posture or the training of prone position state adjusting the angle of back cushion, to improve the comfort level of training;
Loss of weight system (1-6) is driven by loss of weight system drive motor (4-11), is installed on back cushion framework (5-1) The back side, for the some or all of body weight of balance training person.
2. a kind of Multi-position lower limb rehabilitation training robot as claimed in claim 1, its feature exists In described seat (1-4) both sides are respectively mounted with a set of armrest (1-3), for during training being instruction White silk person provides hand support;Described robot base (1-1) bottom is provided with roller, under many poses The movement of limbs rehabilitation training robot.
3. a kind of Multi-position lower limb rehabilitation training robot as claimed in claim 2, its feature exists In described seat width guiding mechanism includes seat width guiding mechanism installing plate (2-2), is used for pacifying Two leg mechanism mounting seats (2-10) of dress leg mechanism, the seat width being symmetrical set adjust Mechanism's line slideway (2-7) and the matching used seat of seat width guiding mechanism line slideway (2-7) Width adjusting mechanism guide rail saddle (2-1), seat width guiding mechanism linear motion device;
Seat width guiding mechanism linear motion device is installed on seat width guiding mechanism installing plate (2-2) On;
Leg mechanism mounting seat (2-10) front is fixing with leg mechanism (1-2) to be connected;Described leg mechanism Mounting seat (2-10) back side and seat width guiding mechanism linear motion device and seat width guiding mechanism Guide rail saddle (2-1) is fixing to be connected;
Seat width guiding mechanism line slideway (2-7) and seat width guiding mechanism guide rail saddle (2-1) It is correspondingly arranged, and be fixedly installed in seat width guiding mechanism installing plate (2-2).
4. a kind of Multi-position lower limb rehabilitation training robot as claimed in claim 2, its feature exists In described gravity center of human body's guiding mechanism includes gravity center of human body's guiding mechanism installing plate (3-1), human body Gravity centre adjustment mechanism linear motion device, gravity center of human body's guiding mechanism guide rail saddle (3-8), gravity center of human body Guiding mechanism line slideway (3-7);
Gravity center of human body's guiding mechanism installing plate (3-1) is installed on described bed body framework (1-7);
Gravity center of human body's guiding mechanism linear motion device is installed on gravity center of human body's guiding mechanism installing plate (3-1) On, and fixing with seat width guiding mechanism installing plate (2-2) be connected;
Gravity center of human body's guiding mechanism guide rail saddle (3-8) is installed on seat width guiding mechanism installing plate (2-2) Side towards gravity center of human body's guiding mechanism installing plate (3-1);
Gravity center of human body's guiding mechanism line slideway (3-7) and gravity center of human body's guiding mechanism guide rail saddle (3-8) It is correspondingly arranged, and be fixedly installed on gravity center of human body's guiding mechanism installing plate (3-1).
5. a kind of Multi-position lower limb rehabilitation training robot as claimed in claim 2, its feature exists In described loss of weight system (1-6) includes loss of weight system installing plate (4-12), loss of weight system linear motion Device, loss of weight system guideways saddle (4-5), loss of weight system line slideway (4-8), loss of weight rope (4-3), Hook crossbeam (4-2), loss of weight train (4-4), bandage hook (4-1);
Loss of weight system installing plate (4-12) is installed on back cushion framework (5-1);
Loss of weight system linear motion device is installed on loss of weight system installing plate (4-12);
Loss of weight system guideways saddle (4-5) is installed on loss of weight system linear motion device;
Loss of weight system line slideway (4-8) is correspondingly arranged with loss of weight system guideways saddle (4-5);
One end of loss of weight rope (4-3) is connected with loss of weight system linear motion device, its other end and extension Hook crossbeam (4-2) is connected;
Loss of weight train (4-4) is installed on the top of back cushion framework (5-1), with loss of weight rope (4-3) with the use of;
Bandage hook (4-1) is two, is fixedly installed in the two ends of hook crossbeam (4-2) respectively.
6. a kind of Multi-position lower limb rehabilitation training robot as claimed in claim 2, its feature exists In described squab angle guiding mechanism includes squab angle guiding mechanism crossbeam A (5-2), back cushion angle Degree guiding mechanism electric pushrod (5-3), squab angle guiding mechanism crossbeam B (5-4);
Squab angle guiding mechanism crossbeam A (5-2) is fixedly installed on back cushion framework (5-1), squab angle Guiding mechanism crossbeam B (5-4) is fixedly installed on described bed body framework (1-7), squab angle guiding mechanism Electric pushrod (5-3) one end is hinged with described squab angle guiding mechanism crossbeam A (5-2), the other end and institute State squab angle guiding mechanism crossbeam B (5-4) hinged.
7. a kind of Multi-position lower limb rehabilitation training robot as claimed in claim 3, its feature exists In seat width guiding mechanism linear motion device includes that a set of seat width guiding mechanism drives motor (2-3), a set of seat width guiding mechanism motor mount (2-4), a set of seat width guiding mechanism cone Gear train (2-5), two sets seat width adjusting mechanism leading screw screw rod (2-6), two set seat width adjustment machines Structure feed screw nut (2-8), two sets seat width adjusting mechanism feed screw nut mounting seat (2-9);
Seat width guiding mechanism drives motor (2-3) to be fixedly installed in seat width guiding mechanism motor In mounting seat (2-4);Seat width guiding mechanism motor mount (2-4) is fixedly installed in seat width and adjusts On complete machine structure installing plate (2-2);Seat width guiding mechanism bevel gear system (2-5) include an input and Two outputs, its input and seat width guiding mechanism drive the output shaft of motor (2-3) fixing even Connecing, its output is fixing with two sets seat width adjusting mechanism leading screw screw rod (2-6) respectively to be connected;Often overlap Seat width guiding mechanism leading screw screw rod (2-6) and corresponding a set of seat width guiding mechanism leading screw spiral shell Female (2-8) constitutes one group of screw pair;Peace fixed respectively by two sets seat width adjusting mechanism feed screw nut (2-8) It is loaded on corresponding a set of seat width guiding mechanism feed screw nut mounting seat (2-9);Often overlap seat width Guiding mechanism feed screw nut mounting seat (2-9) is fixedly installed in corresponding a set of leg mechanism mounting seat (2-10) side towards seat width guiding mechanism installing plate (2-2).
8. a kind of Multi-position lower limb rehabilitation training robot as claimed in claim 4, its feature exists In described gravity center of human body's guiding mechanism linear motion device includes that gravity center of human body's guiding mechanism drives Dynamic motor (3-2), a set of gravity center of human body's guiding mechanism motor mount (3-3), a set of gravity center of human body adjust Mechanism's leading screw screw rod (3-4), a set of gravity center of human body's guiding mechanism feed screw nut (3-5), a set of gravity center of human body Guiding mechanism feed screw nut mounting seat (3-6);
Gravity center of human body's guiding mechanism drives motor (3-2) to be fixedly installed in gravity center of human body's guiding mechanism motor In mounting seat (3-3);Gravity center of human body's guiding mechanism motor mount (3-3) is fixedly installed in gravity center of human body and adjusts On complete machine structure installing plate (3-1);Gravity center of human body's guiding mechanism leading screw screw rod (3-4) and gravity center of human body adjust machine Structure drives the fixing connection of the output shaft of motor (3-2);Gravity center of human body's guiding mechanism leading screw screw rod (3-4) and people Body gravity centre adjustment mechanism feed screw nut (3-5) constitutes one group of screw pair;Gravity center of human body's guiding mechanism leading screw spiral shell Female (3-5) is fixedly installed in gravity center of human body's guiding mechanism feed screw nut mounting seat (3-6);Gravity center of human body adjusts Complete machine structure feed screw nut mounting seat (3-6) is fixedly installed in seat width guiding mechanism installing plate (2-2) face Side to gravity center of human body's guiding mechanism installing plate (3-1).
9. a kind of Multi-position lower limb rehabilitation training robot as claimed in claim 5, its feature exists In, described loss of weight system linear motion device include a loss of weight system drive motor (4-11), one Set loss of weight system leading screw shaft coupling (4-10), a set of loss of weight system leading screw screw rod (4-9), a set of loss of weight system System feed screw nut (4-6), a set of loss of weight system feed screw nut mounting seat (4-7);
Loss of weight system drive motor (4-11) is fixedly installed on loss of weight system installing plate (4-12);Loss of weight system System drives the output shaft of motor (4-11) to pass through loss of weight system leading screw shaft coupling (4-10) and loss of weight system silk Thick stick screw rod (4-9) is fixing to be connected;Loss of weight system leading screw screw rod (4-9) and loss of weight system feed screw nut (4-6) structure Become one group of screw pair;The nut (4-6) of loss of weight system leading screw is fixedly installed in loss of weight system feed screw nut peace In dress seat (4-7);Loss of weight system feed screw nut mounting seat (4-7) and loss of weight system guideways saddle (4-5) are fixed Connect;One end of loss of weight system feed screw nut mounting seat (4-7) and described loss of weight rope (4-3) is fixing to be connected.
10. a kind of Multi-position lower limb rehabilitation training robot as claimed in claim 3, its feature exists In described seat width guiding mechanism linear motion device is electric pushrod.
11. a kind of Multi-position lower limb rehabilitation training robots as claimed in claim 4, its feature exists In described gravity center of human body's guiding mechanism linear motion device is electric pushrod.
12. a kind of Multi-position lower limb rehabilitation training robots as claimed in claim 5, its feature exists In described loss of weight system linear motion device is electric pushrod.
CN201510126371.9A 2015-03-20 2015-03-20 A kind of Multi-position lower limb rehabilitation training robot CN104800041B (en)

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