CN106539659A - Lower limb rehabilitation robot is with turnable ectoskeleton pedipulator - Google Patents
Lower limb rehabilitation robot is with turnable ectoskeleton pedipulator Download PDFInfo
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- CN106539659A CN106539659A CN201510591198.XA CN201510591198A CN106539659A CN 106539659 A CN106539659 A CN 106539659A CN 201510591198 A CN201510591198 A CN 201510591198A CN 106539659 A CN106539659 A CN 106539659A
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Abstract
A kind of lower limb rehabilitation robot with turnable ectoskeleton pedipulator, mainly including base, hip joint width adjustment mechanism, two pedipulator fixed stations and two pedipulators.As a pedipulator fixed station body is divided into fixed station top and fixed station bottom, fixed station top can be turned out the present invention；When patient's seat, pedipulator outward turning can be facilitated the operation of rehabilitation teacher；Due to being provided with hip joint width adjustment mechanism, can pass through to adjust the width between two pedipulators, meet the training requirement of the different trainer of hip joint width；As the big leg mechanism of two pedipulators, little leg mechanism and ankle-joint mechanism are respectively equipped with drive mechanism, monarthric training and the exercise of mobility are capable of achieving, are also capable of achieving the coordinated movement of various economic factors training of list leg and double-mechanical leg.The independent governor motion of hip joint, knee joint and ankle-joint is capable of achieving the regulation of size leg length, realizes personalized training.
Description
Technical field
The present invention relates to medical rehabilitation instrument, more particularly to a kind of lower limb rehabilitation robot is with turnable ectoskeleton machine
Tool leg.
Background technology
At present, numerous researchers and medical institutions have all carried out the correlative study of lower limb rehabilitation robot, and take
Valuable achievement in research was obtained, business-like lower limb rehabilitation robot there are MikeTopping companies of Britain 1987
The Handy1 that year develops.Secondly the healing robot that another kind is successfully entered market is Dutch Exact Dynamics
The MANUS healing robots of company's exploitation.Early stage research and development healing robot based on single-degree-of-freedom, generation
The product of table has the NUSTEP device for rehabilitation in the U.S., the THERA.Vital intelligent rehabilitation training machines of Germany
People, the healing robot of sitting and lying formula most it is representational be Switzerland the research and development of WORTEC companies
MOTIONMAKER, the robot can realize 3DOF training and joint training, but expensive.
In China, the exploitation of lower limb robot is also in the development stage.
The whole nation has all types disability rehabilitation training service organization nearly 20,000 at present, the demand to rehabilitation equipment
Amount is very big.But one of machine image training robot deficiency of rehabilitation at present is ectoskeleton, and machinery leg device is complicated, is in
Difficulty is entered in the left and right sides, the upper and lower instrument of patient, it is necessary to can just complete by the assistance wasted time and energy of rehabilitation teacher, produces
Product are difficult to promote and are commercialized, therefore develop a kind of turnable ectoskeleton pedipulator of lower limb rehabilitation robot, can
Affected with eliminating left and right occupy-place, facilitate the upper and lower machine of patient, reduce the preparation of rehabilitation teacher.
The content of the invention
The purpose of the present invention, exactly in order to solve the above problems, there is provided a kind of new lower limb rehabilitation robot is with can
Rotary type ectoskeleton pedipulator.
In order to achieve the above object, present invention employs technical scheme below：A kind of lower limb rehabilitation robot use can turn
Dynamic formula ectoskeleton pedipulator, which includes：
Base；
Hip joint width adjustment mechanism, is erected on base and can left and right adjusting；
Pedipulator fixed station, totally two left and right sides for being connected to hip joint width adjustment mechanism, and can be in hip
The regulation lower edge base of joint width adjustment mechanism is moved left and right；
Pedipulator, totally two are connected on two pedipulator fixed stations, and can move with pedipulator fixed station or so
It is dynamic；
In described two pedipulator fixed stations, the body of at least one pedipulator fixed station is divided into fixed station top and consolidates
Ding Tai bottoms, fixed station top are connected with fixed station lower rotatable and are provided with locking mechanism mutually locking, release lock
After fixed, fixed station top can be turned out；Corresponding pedipulator is connected with fixed station top movable.
The hip joint width adjustment mechanism includes screw mandrel fixed station, screw mandrel, feed screw nut and motor transmission mechanism；
Screw mandrel fixed station is arranged on base, and screw mandrel is arranged through screw mandrel fixed station, and the left and right two ends of screw mandrel connect a left side respectively
Right screw nut, motor transmission mechanism are arranged on screw mandrel fixed station and are connected with screw rod transmission, left and right feed screw nut
It is fixedly linked with the two pedipulator fixed stations in left and right respectively, starts motor transmission mechanism and drive screw mandrel to rotate, realize left
Right two pedipulator fixed stations towards or away from motion, so as to drive two pedipulators in left and right towards or away from shifting
It is dynamic.
The pedipulator fixed station includes fixed station body, is provided with slide block in the bottom of fixed station body, and top is provided with
Handrail, is provided with linear guides on base, and pedipulator fixed station slides to be connected by slide block and linear guides and realizes a left side
Move right；The fixed station body includes the two pieces of fixed plates in left and right, is formed for installing between the fixed plate of two pieces of left and right
The space of pedipulator.
The pedipulator includes big leg mechanism, little leg mechanism and ankle-joint mechanism, big leg mechanism and pedipulator fixed station
It is flexibly connected, little leg mechanism is flexibly connected with big leg mechanism, and ankle-joint mechanism is flexibly connected with little leg mechanism.
The big leg mechanism include thigh drive electric cylinder, thick link, thigh push rod, thigh sleeve, leg support and
Thigh length adjustment mechanism；Thigh drives electric cylinder to be flexibly connected with two pieces of the left and right fixed plate of pedipulator fixed station,
Thick link drives electric cylinder transmission to be connected with thigh, and thigh push rod is fixedly linked with thick link and solid with pedipulator
Two pieces of the left and right fixed plate for determining platform is flexibly connected, and thigh sleeve set is on thigh push rod and passes through thigh length adjustment
Mechanism is adjustable with thigh push rod to be connected, and realizes thigh adjustable length, and leg support is arranged on the inner side of thigh sleeve；Institute
State little leg mechanism to be movably connected with thigh sleeve.
The little leg mechanism include shank drive electric cylinder, knee joint connector, knee joint rotary shaft, shank push rod,
Shank sleeve and lower-leg length governor motion；Shank drives electric cylinder to be arranged on big leg mechanism, knee joint connector
One end and shank drive electric cylinder transmission to be connected, the other end is movably connected in thigh sleeve by knee joint rotary shaft
Front end, shank push rod are rotatably connected with thigh sleeve by knee joint rotary shaft, and shank sleeve set is pushed away in shank
It is connected on bar and by lower-leg length governor motion and shank push rod are adjustable, realizes that lower-leg length is adjustable, the ankle
Articulation mechanism is movably connected with shank sleeve.
The ankle-joint mechanism includes ankle-joint stepper motor, deceleration force amplifier mechanism and pedal, ankle-joint stepper motor
Installed in the outside of shank sleeve, deceleration force amplifier mechanism is arranged in shank sleeve and is driven with ankle-joint stepper motor
It is connected, pedal is arranged on the inner side of shank sleeve and is connected with deceleration force amplifier mechanism driving.
Ankle joint angle sensor is provided with the active connection part of little leg mechanism in ankle-joint mechanism, little leg mechanism with
The active connection part of big leg mechanism is provided with knee joint angle sensor, is respectively equipped with pressure sensing in pedal two bottom sides
Device, is respectively equipped with pedipulator on the base beside two pedipulator fixed stations and moves spacing photoelectric sensor.
Using the device of the present invention, it is possible to achieve lower extremity movement training function, lower limb evaluation function, craps game are handed over
Mutual function, wherein passive exercise include that both legs replace walking simulated training, and both legs synchronously simulating is squatted down to stand and bends and stretches instruction
Practice, monarthric training is adapted to the needs of difference arthritic patients.
Synchronously bend and stretch simulation to squat down the function that stands, realize for adjusting the motion of left and right group of motors, the training time selects
May be selected.Allow patient to sit on the seat, fix shank, thigh, and it is foot-operated to allow its left and right pin to step down in left and right respectively
On plate；Being furnished with during training stimulates interesting sound effect and picture background effect, and its purpose increases the interest of patient's training
Taste, to reach optimal training effect.Training can take incremental mode gradually to carry according to patient features
At high speed, difficulty is increased, realizes the requirement of patient's gradually rehabilitation training.
System can according to patient need realize knee joint, the monarthric motion of ankle-joint is also capable of achieving left and right
The kneed of leg is synchronized with the movement, being synchronized with the movement for ankle-joint, realizes the exercise of the mobility in joint, matches somebody with somebody during training
Having stimulates interesting sound effect and picture background effect, training take incremental side according to patient features
Formula gradually steps up speed, increases difficulty, realizes the requirement of patient's gradually rehabilitation training.
Compared with prior art, the present invention has advantages below：
1) at least one pedipulator fixed station body is divided into into fixed station top and fixed station bottom, and makes fixed station
Top is connected with fixed station lower rotatable, and fixed station top can be turned out；When patient's seat, by machinery
Leg outward turning, facilitates the operation of rehabilitation teacher, overcome patient it is upper and lower when pedipulator occupy-place affect.
2) hip joint width adjustment mechanism has the function of adjusting the width between two pedipulators, can meet hip joint
The training requirement of the different trainer of width, it is to avoid because the distance between two pedipulators are too wide or too narrow cause
It is uncomfortable, it is ensured that the training strength of patient and safety regulation, realize the training of comfortable personalization.
3) the big leg mechanism of two pedipulators, little leg mechanism and ankle-joint mechanism are respectively equipped with drive mechanism, can be real
Existing hip joint, knee joint and ankle-joint are individually adjusted, and realize monarthric training, are also capable of achieving joint
It is synchronized with the movement, and realizes the exercise of the mobility in joint, during training, takes incremental mode to gradually step up speed
Degree, increases difficulty, realizes the requirement of patient's gradually rehabilitation training.
4) each joint part in lower limb adopts advanced locational space sensing technology, realizes joint angles data
It is wirelessly transferred, assessment data, are overcome using complicated frame for movement to display is operated using wireless communication mode
To limit the shortcoming of range of movement.
Description of the drawings
Fig. 1 is the general structure schematic diagram of involved lower limb rehabilitation robot in the present invention；
Fig. 2 is the use state figure of the present invention；
Fig. 3, Fig. 4 are the structural representation of the pedipulator in the present invention；
Fig. 5 is the structural representation of the base in the present invention；
Fig. 6 is the structural representation of a pedipulator fixed station in the present invention；
Fig. 7, Fig. 8 are sensor installment state schematic diagram in the present invention；
Fig. 9 is the structural representation of the hip joint width adjustment mechanism in the present invention；
Figure 10 is the pedipulator adjustment state figure in the present invention.
Specific embodiment
Referring to Fig. 1, lower limb rehabilitation robot involved in the present invention, including base 1, seat 3, hip joint width
Degree governor motion 4, pedipulator fixed station 5, pedipulator 6 and counterweight control cabinet 7.
Coordinate referring to Fig. 5, the base 1 in the present invention includes base plate 11, is mounted below four pin in base plate 11
Wheel 12, in the linear guide rail 54 installed above of base plate 11 and screw mandrel fixed station 41.
Coordinate referring to Fig. 9, the hip joint width adjustment mechanism 4 in the present invention is erected on base and can left and right adjusting.
Which includes screw mandrel fixed station 41, screw mandrel 42, feed screw nut 43 and motor transmission mechanism 44；Screw mandrel fixed station 41
On base, screw mandrel 42 is arranged through screw mandrel fixed station, and the left and right two ends of screw mandrel connect left and right screw mandrel respectively
Nut 43, motor transmission mechanism 44 are arranged on screw mandrel fixed station 41 and are connected with the transmission of screw mandrel 42, left and right silk
Stem nut is fixedly linked with the two pedipulator fixed stations in left and right respectively, is started motor transmission mechanism and is driven screw mandrel to rotate,
Realize the two pedipulator fixed stations in left and right towards or away from motion, so as to drive the pedipulators of left and right two opposite or phase
Back of the body movement.Jing hip joint width adjustment mechanism 4 adjust after two states as shown in Figure 10 A, B, wherein A
It is that two pedipulators are adjusted to into most wide state, B is that two pedipulators are adjusted to most narrow state.
Coordinate referring to Fig. 9, Fig. 6, the pedipulator fixed station 5 in the present invention is connected to hip joint width for totally two
The left and right sides of degree governor motion, and can move left and right in the regulation lower edge base of hip joint width adjustment mechanism.It
Including fixed station body 51, slide block 52 is provided with the bottom of fixed station body, top is provided with handrail 53, in base
It is provided with linear guides 54, pedipulator fixed station is moved left and right by the slide block realization that is connected with the slip of linear guides.
In the present embodiment, the body of left side mechanical leg fixed station 51 is divided into fixed station top 511 and fixed station bottom
512, fixed station top is connected with fixed station lower rotatable and is provided with 513 mutually locking of locking mechanism, releases lock
After fixed, fixed station top can be turned out；Corresponding pedipulator is connected with fixed station top movable.Fixed station top drives
State after pedipulator is turned out is as shown in Figure 2.
Coordinate referring to Fig. 3, Fig. 4, the pedipulator 6 in the present invention is connected to two pedipulators and fixes for totally two
On platform 5, and can move left and right with pedipulator fixed station.It includes that big leg mechanism 61, little leg mechanism 62 and ankle are closed
Section mechanism 63, big leg mechanism 61 is flexibly connected with pedipulator fixed station 5, little leg mechanism 62 and big leg mechanism 61
It is flexibly connected, ankle-joint mechanism 63 is flexibly connected with little leg mechanism 62.
Big leg mechanism 61 includes that thigh drives electric cylinder 611, thick link 612, thigh push rod 613, thigh set
Cylinder 614, leg support 615 and thigh length adjustment mechanism 616；Thigh drives a left side for electric cylinder and pedipulator fixed station
Right two pieces of fixed plates are flexibly connected, and thick link drives electric cylinder transmission to be connected with thigh, and thigh push rod is connected with thigh
Bar is fixedly linked and is flexibly connected with two pieces of the left and right fixed plate of pedipulator fixed station, and thigh sleeve set is pushed away in thigh
It is connected on bar and by thigh length adjustment mechanism and thigh push rod are adjustable, realizes thigh adjustable length, leg support peace
It is mounted in the inner side of thigh sleeve；The little leg mechanism is movably connected with thigh sleeve.
Little leg mechanism 62 include shank drive electric cylinder 621, knee joint connector 622, knee joint rotary shaft 623,
Shank push rod 624, shank sleeve 625 and lower-leg length governor motion 626.It is big that shank drives electric cylinder to be arranged on
On the thigh sleeve of leg mechanism, one end and the shank of knee joint connector drive electric cylinder transmission to be connected, and the other end leads to
Cross knee joint rotary shaft and be movably connected in thigh barrel forward end, shank push rod is by knee joint rotary shaft and thigh sleeve
Rotatable to be connected, shank sleeve set is on shank push rod and adjustable with shank push rod by lower-leg length governor motion
Section is connected, and realizes that lower-leg length is adjustable, and the ankle-joint mechanism is movably connected with shank sleeve.
Ankle-joint mechanism 63 includes ankle-joint stepper motor 631, deceleration force amplifier mechanism 632 and pedal 633, and ankle is closed
Section stepper motor is arranged on the outside of shank sleeve, and deceleration force amplifier mechanism is arranged in shank sleeve and is walked with ankle-joint
Stepper motor transmission is connected, and pedal is arranged on the inner side of shank sleeve and is connected with deceleration force amplifier mechanism driving.
Coordinate referring to Fig. 7, Fig. 8, the present invention is provided with ankle pass with the active connection part of little leg mechanism in ankle-joint mechanism
Section angular transducer 91, is provided with knee joint angle sensor 92 with the active connection part of big leg mechanism in little leg mechanism,
Pressure sensor 93,94 is respectively equipped with pedal two bottom sides, on the base beside two pedipulator fixed stations
It is respectively equipped with pedipulator and moves spacing photoelectric sensor 95,96, ankle joint angle sensor 91 and ankle-joint rotating shaft
Concentric fit, for measuring movement angle of the ankle portion in rotary course.Knee joint angle sensor 92
With knee joint rotating shaft concentric fit, for measuring pedipulator leg portion and lower leg portion institute angulation in motion process
Degree.Pressure sensor 93,94 is used for measuring patient's plantar pressure in training process.Pedipulator moves spacing photoelectricity
Sensor 95,96 is arranged on two extreme positions of base correspondence pedipulator fixed station movement, and fixed station is consolidated
In fixed board, rear side installs a small boss, when fixed plate moves to most wide and narrow most position, small boss and photoelectric transfer
On sensor is just corresponded to, between within distance is in preset value, sensor sends signal, and fixed plate motor stops
Rotation stop is moved, and fixed plate stop motion reaches the effect of limit mechanical leg fixed station moving range.
Claims (8)
1. a kind of lower limb rehabilitation robot is with turnable ectoskeleton pedipulator, it is characterised in that include：
Base；
Hip joint width adjustment mechanism, is erected on base and can left and right adjusting；
Pedipulator fixed station, totally two left and right sides for being connected to hip joint width adjustment mechanism, and can be in hip
The regulation lower edge base of joint width adjustment mechanism is moved left and right；
Pedipulator, totally two are connected on two pedipulator fixed stations, and can move with pedipulator fixed station or so
It is dynamic；
In described two pedipulator fixed stations, the body of at least one pedipulator fixed station is divided into fixed station top and consolidates
Ding Tai bottoms, fixed station top are connected with fixed station lower rotatable and are provided with locking mechanism mutually locking, release lock
After fixed, fixed station top can be turned out；Corresponding pedipulator is connected with fixed station top movable.
2. with turnable ectoskeleton pedipulator, its feature exists lower limb rehabilitation robot as claimed in claim 1
In：The hip joint width adjustment mechanism includes screw mandrel fixed station, screw mandrel, feed screw nut and motor transmission mechanism；
Screw mandrel fixed station is arranged on base, and screw mandrel is arranged through screw mandrel fixed station, and the left and right two ends of screw mandrel connect a left side respectively
Right screw nut, motor transmission mechanism are arranged on screw mandrel fixed station and are connected with screw rod transmission, left and right feed screw nut
It is fixedly linked with the two pedipulator fixed stations in left and right respectively, starts motor transmission mechanism and drive screw mandrel to rotate, realize left
Right two pedipulator fixed stations towards or away from motion, so as to drive two pedipulators in left and right towards or away from shifting
It is dynamic.
3. with turnable ectoskeleton pedipulator, its feature exists lower limb rehabilitation robot as claimed in claim 1
In：The pedipulator fixed station includes fixed station body, is provided with slide block in the bottom of fixed station body, and top is provided with
Handrail, is provided with linear guides on base, and pedipulator fixed station slides to be connected by slide block and linear guides and realizes a left side
Move right；The fixed station body includes the two pieces of fixed plates in left and right, is formed for installing between the fixed plate of two pieces of left and right
The space of pedipulator.
4. with turnable ectoskeleton pedipulator, its feature exists lower limb rehabilitation robot as claimed in claim 1
In：The pedipulator includes big leg mechanism, little leg mechanism and ankle-joint mechanism, big leg mechanism and pedipulator fixed station
It is flexibly connected, little leg mechanism is flexibly connected with big leg mechanism, and ankle-joint mechanism is flexibly connected with little leg mechanism.
5. with turnable ectoskeleton pedipulator, its feature exists lower limb rehabilitation robot as claimed in claim 4
In：The big leg mechanism include thigh drive electric cylinder, thick link, thigh push rod, thigh sleeve, leg support and
Thigh length adjustment mechanism；Thigh drives electric cylinder to be flexibly connected with two pieces of the left and right fixed plate of pedipulator fixed station,
Thick link drives electric cylinder transmission to be connected with thigh, and thigh push rod is fixedly linked with thick link and solid with pedipulator
Two pieces of the left and right fixed plate for determining platform is flexibly connected, and thigh sleeve set is on thigh push rod and passes through thigh length adjustment
Mechanism is adjustable with thigh push rod to be connected, and realizes thigh adjustable length, and leg support is arranged on the inner side of thigh sleeve；Institute
State little leg mechanism to be movably connected with thigh sleeve.
6. with turnable ectoskeleton pedipulator, its feature exists lower limb rehabilitation robot as claimed in claim 4
In：The little leg mechanism include shank drive electric cylinder, knee joint connector, knee joint rotary shaft, shank push rod,
Shank sleeve and lower-leg length governor motion；Shank drives electric cylinder to be arranged on big leg mechanism, knee joint connector
One end and shank drive electric cylinder transmission to be connected, the other end is movably connected in thigh sleeve by knee joint rotary shaft
Front end, shank push rod are rotatably connected with thigh sleeve by knee joint rotary shaft, and shank sleeve set is pushed away in shank
It is connected on bar and by lower-leg length governor motion and shank push rod are adjustable, realizes that lower-leg length is adjustable, the ankle
Articulation mechanism is movably connected with shank sleeve.
7. with turnable ectoskeleton pedipulator, its feature exists lower limb rehabilitation robot as claimed in claim 4
In：The ankle-joint mechanism includes ankle-joint stepper motor, deceleration force amplifier mechanism and pedal, ankle-joint stepper motor
Installed in the outside of shank sleeve, deceleration force amplifier mechanism is arranged in shank sleeve and is driven with ankle-joint stepper motor
It is connected, pedal is arranged on the inner side of shank sleeve and is connected with deceleration force amplifier mechanism driving.
8. with turnable ectoskeleton pedipulator, its feature exists lower limb rehabilitation robot as claimed in claim 1
In：Ankle joint angle sensor is provided with the active connection part of little leg mechanism in ankle-joint mechanism, little leg mechanism with
The active connection part of big leg mechanism is provided with knee joint angle sensor, is respectively equipped with pressure sensing in pedal two bottom sides
Device, is respectively equipped with pedipulator on the base beside two pedipulator fixed stations and moves spacing photoelectric sensor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510591198.XA CN106539659A (en) | 2015-09-17 | 2015-09-17 | Lower limb rehabilitation robot is with turnable ectoskeleton pedipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510591198.XA CN106539659A (en) | 2015-09-17 | 2015-09-17 | Lower limb rehabilitation robot is with turnable ectoskeleton pedipulator |
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| CN107411929A (en) * | 2017-08-17 | 2017-12-01 | 威海威高骨科手术机器人有限公司 | Fracture of lower limb resetting means |
| CN107625619A (en) * | 2017-11-06 | 2018-01-26 | 浙江理工大学 | Four stage leg multi-joint varying load rehabilitation mechanicals and its training method |
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| CN107625619A (en) * | 2017-11-06 | 2018-01-26 | 浙江理工大学 | Four stage leg multi-joint varying load rehabilitation mechanicals and its training method |
| CN107625619B (en) * | 2017-11-06 | 2019-12-17 | 浙江理工大学 | Four-stage leg multi-joint variable-load rehabilitation machine and training method thereof |
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