CN107174476B - A kind of pedipulator of lower limb rehabilitation robot - Google Patents
A kind of pedipulator of lower limb rehabilitation robot Download PDFInfo
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- CN107174476B CN107174476B CN201710251167.9A CN201710251167A CN107174476B CN 107174476 B CN107174476 B CN 107174476B CN 201710251167 A CN201710251167 A CN 201710251167A CN 107174476 B CN107174476 B CN 107174476B
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 12
- 210000001624 hip Anatomy 0.000 claims abstract description 148
- 230000005540 biological transmission Effects 0.000 claims abstract description 84
- 210000003127 knee Anatomy 0.000 claims abstract description 82
- 210000004394 hip joint Anatomy 0.000 claims abstract description 62
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 61
- 210000000629 knee joint Anatomy 0.000 claims abstract description 41
- 210000000689 upper leg Anatomy 0.000 claims abstract description 39
- 230000001953 sensory effect Effects 0.000 claims abstract description 12
- 210000003423 ankle Anatomy 0.000 claims description 41
- 210000002683 foot Anatomy 0.000 claims description 12
- 210000002414 leg Anatomy 0.000 claims description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 8
- 238000013519 translation Methods 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 238000009413 insulation Methods 0.000 claims description 4
- 238000012360 testing method Methods 0.000 claims description 4
- 238000004026 adhesive bonding Methods 0.000 claims description 3
- 229910052755 nonmetal Inorganic materials 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000012549 training Methods 0.000 abstract description 11
- 230000036544 posture Effects 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 description 10
- 230000000694 effects Effects 0.000 description 5
- 230000035876 healing Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 239000002360 explosive Substances 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 206010033892 Paraplegia Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 206010008118 cerebral infarction Diseases 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5061—Force sensors
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
A kind of pedipulator of lower limb rehabilitation robot, it includes: hip joint transmission component, the long component of thigh tune, knee joint transmission component, the long component of shank tune, ankle-joint transmission component and vola sensory package；Hip joint transmission component includes: hip joint motor, hip driving pulley and hip metering driving pulley, hip metering driven pulley, hip encoder, hip driven pulley, hip retarder, hip transmission shaft and the first torque sensor；The long component of thigh tune includes: thigh support frame and the first electric pushrod；Knee joint transmission component includes: knee joint motor, knee driving pulley, knee driven pulley, knee metering belt wheel, knee encoder and the second torque sensor；The long component of shank tune includes: shank upper bracket, shank lower bracket, the second electric pushrod and electronic ruler；Vola sensory package includes six-dimension force sensor.The present invention can adapt to the rehabilitation training needs of the patient of different heights, different postures, securely and reliably.
Description
Technical field
The invention belongs to the field of medical instrument technology, in particular to a kind of healing robot.
Background technique
With the development of the times, China human mortality aging is increasingly severe, and the generation of the diseases such as cerebral infarction, paraplegia will
Lead to a large amount of deformity of limbs person.In addition the lower extremity motor function as caused by the contingencies such as traffic accident, movement disability
Disfunction number of patients is increasing year by year.The rehabilitation of these conditions of patients carries out science other than carrying out the treatments such as operating medicine
Rehabilitation training it is also extremely important.According to statistics, about 24,070,000 people of China's deformity of limbs person at present, it is only unarmed by physiatrician
Training is far from satisfying the needs of patient.A kind of rehabilitation medicine equipment of the lower limb rehabilitation robot as automation, just may be used
To fill up this vacancy.
Compared to the developed country to maintain the leading position in lower limb rehabilitation robot field, China is in healing robot field
Research still belong to the initial development stage, and wherein most of healing robots for assisted class, shortage has multi-functional, more
Posture training mode is in the lower limb rehabilitation robot of one.
Rehabilitation training is carried out by a moving leg movement of pedipulator band similar with the leg structure of human body, effect is brighter
It is aobvious, but the patient of different heights is trained using the same pedipulator, it cannot be guaranteed that pedipulator it is bent drive axis with
The joints axes of people's leg are similar or are overlapped, and influence training effect, and more serious person may have security risk to rehabilitation training；It is another
Aspect patient in sitting is trained and lying posture training all has different joints axes curve movements.
Summary of the invention
The present invention is not able to satisfy different height patients, different instructions for the pedipulator of lower limb rehabilitation robot set forth above
The requirement of white silk posture, and a kind of highly-safe lower limb that can adapt to different height patients, different training postures of researching and designing
The pedipulator of healing robot.
In order to solve the technical problem, the technical solution adopted by the present invention is that:
The present invention includes: hip joint transmission component, the long component of thigh tune, knee joint transmission component, the long component of shank tune, ankle
Joint transmission component and vola sensory package, wherein hip joint transmission component is connect with the long component of thigh tune, the long component of thigh tune
It is connect with knee joint transmission component, knee joint transmission component is connect with the long component of shank tune, the long component of shank tune and ankle-joint pass
Dynamic component connection, ankle-joint transmission component are connect with vola sensory package；
The hip joint transmission component includes hip joint bracket, hip joint motor, hip driving pulley, hip metering main belt
Wheel, hip metering driven pulley, hip encoder, hip driven pulley, hip retarder, the first torque sensor, hip swivel plate, hip transmission
Axis, wherein hip joint motor is located at the bottom of hip joint bracket, and hip driving pulley and hip metering driving pulley are electric with hip joint
Machine is coaxially connected, and hip metering driven pulley measures driving pulley with hip by V belt translation and connect, hip encoder and hip driven belt
Wheel coaxial arrangement, hip driven pulley is located at the top of hip joint bracket, hip retarder and hip transmission shaft and hip driven pulley is coaxial
Connection, the first torque sensor are connected between the output shaft of hip retarder and hip transmission shaft, and hip swivel plate and hip transmission shaft are solid
Fixed connection, hip driving pulley are connect with hip driven pulley by V belt translation；
The long component of thigh tune includes: thigh support frame and the first electric pushrod, the fixing end of first electric pushrod
It is fixed on thigh support frame, output end is fixedly connected with the hip swivel plate；
The knee joint transmission component includes: knee joint motor, knee driving pulley, knee driven pulley, knee metering belt wheel, knee
Encoder, knee retarder, knee transmission shaft and the second torque sensor, wherein knee driving pulley is connect with knee joint motor coaxle,
Knee driven pulley is connect by toothed belt transmission with knee driving pulley, and knee metering belt wheel is engaged with synchronous belt, knee encoder and knee
Metering belt wheel is coaxially connected, and knee retarder and knee driven pulley are coaxially connected, and the second torque sensor is located at knee retarder and knee
Between transmission shaft；
The long component of shank tune includes: shank upper bracket, shank lower bracket, the second electric pushrod, electronic ruler, medium and small
Leg upper bracket is fixedly connected with the knee transmission shaft, and one end of shank lower bracket is connect with one end of shank upper bracket, under shank
Bracket can be mobile relative to shank upper bracket, and the fixing end and output end of the second electric pushrod are separately connected shank upper bracket and shank
Lower bracket, the fixing end of electronic ruler and test side are separately connected shank upper bracket and shank lower bracket；
The ankle-joint transmission component includes: ankle-joint stator housing, ankle retarder, rimless motor and ankle encoder,
Middle ankle-joint stator housing is fixed with the shank lower bracket, ankle retarder, rimless motor and ankle encoder and ankle-joint stator
Housing is fixedly connected, and the input shaft of the rimless motor shaft and ankle retarder of rimless motor is coaxially connected, encoder and rimless motor
Axis coaxial arrangement
The vola sensory package includes: ankle-joint bracket, ankle-joint bottom plate, foot pedal and six-dimension force sensor, wherein
Ankle-joint bracket is connect with ankle retarder, and ankle-joint bottom plate is connect with ankle-joint bracket bottom end, and foot pedal is located at ankle-joint bracket
Lower part, between ankle-joint bottom plate and foot pedal be equipped with six-dimension force sensor.
Further, the hip joint transmission component hip retarder is located in hip speed reducer base, the output shaft of hip retarder
On be coaxially connected with hip positioning plate, hip positioning plate is fixedly connected with the inner ring of the first torque sensor, hip transmission shaft and first turn round
The outer ring of square sensor is connected, and hip drive shaft mount is erected on hip drive bearing block by bearing, is fixed with hip on hip swivel plate
Joint sliding rail, hip joint sliding block compatible with the hip joint sliding rail are fixedly connected with thigh support frame.
Further, it is additionally provided with hip joint on the hip joint transmission component and becomes limit assembly comprising positioning ring, hip
Positioning plate, hip locating piece, signal plate, locating snap ring, third electric pushrod, first are close to switch and second close to switch, wherein fixed
Position ring is located on hip speed reducer housing, and hip positioning plate is located on hip reducer output shaft, and hip locating piece and signal plate are each provided at hip
On positioning plate, the fixing end of third electric pushrod is connected on above-mentioned hip joint bracket, and output end is connect with locating snap ring, stop
Ring and third electric pushrod can relative positioning ring coaxially slide, positioning ring and the concentric setting of hip retarder, the positioning
Ring is equipped with first close to switch, and locating snap ring is equipped with second close to switch.
Further, the knee joint transmission component further include: for be tensioned synchronous belt the first tensioning wheel and second
Bearing up pulley, first tensioning wheel and the second tensioning wheel are separately positioned on high wheel carrier and short wheel carrier, and high wheel carrier and short wheel carrier are all provided with
In the thigh support frame of knee joint motor side, the output shaft of the knee retarder is fixedly connected with knee positioning plate, and described second
The outer ring of torque sensor is fixed with the knee positioning plate, and inner ring is fixed with the knee transmission shaft.
Further, the long component of shank tune further include: the sliding rail that is fixed on the shank upper bracket and be fixed on
Sliding block on the shank lower bracket.
Further, the ankle-joint transmission component further include: the motor being connect with the rotor coaxial of the rimless motor
The stator of shaft and motor shaft sleeve, the rimless motor is fixed by gluing and the ankle-joint stator housing, rimless motor
Two sides are also respectively provided with the rimless motor pressing plate of nonmetal parts and insulation board；The ankle encoder is arranged in the Motor Shaft
On；The output shaft of the ankle retarder is fixedly connected on ankle positioning plate, and ankle positioning plate is fixedly connected with the ankle-joint bracket.
Further, the knee joint transmission component and the ankle-joint transmission component be equipped with mechanical limiting mechanism and
Electric limiting mechanism.
The invention has the following advantages over the prior art:
1, the length of thigh is adjusted by thigh elongate component, the length of shank is adjusted by shank elongate component,
It can be according to the length of the joints axes of the length adjustment pedipulator in different human leg joints and the joint shaft of human leg
The length of line is consistent, can adapt to the patient of different heights, the long demand with the training of different postures of different legs, the instruction being optimal
Practice effect.
2, implement power that monitoring patient is applied on foot pedal by the way that six-dimension force sensor below foot pedal is arranged in
Direction and torque size, the behavior for analyzing patient is intended to, to adjust movement velocity and the direction of pedipulator in real time.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is healing robot pedipulator perspective view of the embodiment of the present invention；
Fig. 2 is hip joint transmission component perspective view of the embodiment of the present invention；
Fig. 3 is hip joint transmission component cross-sectional view of the embodiment of the present invention；
Fig. 4 is that hip joint of the embodiment of the present invention becomes limit assembly perspective view；
Fig. 5 is thigh of embodiment of the present invention elongate component and knee joint transmission component perspective view；
Fig. 6 is knee joint position explosive view in Fig. 5；
Fig. 7 is shank of embodiment of the present invention elongate component and ankle-joint transmission component perspective view；
Fig. 8 is ankle-joint location explosive view in Fig. 7；
Fig. 9 is plantar pressure sensors component perspective view.
In figure: 1, hip joint transmission component, 2, the long component of thigh tune, 3, knee joint transmission component, 4, the long component of shank tune,
5, ankle-joint transmission component, 6, vola sensory package, 101, hip joint bracket, 102, hip joint motor, 103, hip encoder,
104, hip driving pulley, 105, hip measure driving pulley, 106, hip measure driven pulley, 107, hip driven pulley, 108, hip subtracts
Fast device, 109, hip speed reducer base, 110, hip drive bearing block, 111, hip swivel plate, 112, hip motor bearing seat, 113, hip coding
Device bearing block, 114, hip positioning plate, the 115, first torque sensor, 116, hip transmission shaft, 117, hip joint sliding rail, 201, positioning
Ring, 202, first close to switch, and 203, first close to switch base, 204, hip locating piece, and 205, signal plate, 206, second close to opening
It closes, 207, second close to switch base, 208, locating snap ring, 209, extension arm, 210, third electric pushrod, 211, hip electric pushrod
Seat, 301, thigh support frame, 302, knee driven pulley, 303, knee retarder, the 304, first tensioning wheel, the 305, first thigh push rod
Seat, the 306, first electric pushrod, the 307, second thigh ram seat, 308, high wheel carrier, 309, knee encoder bearing block, 310, short wheel
Frame, 311, knee driving pulley, 312, knee joint motor bearing seat, 313, knee joint motor, 314, knee metering belt wheel, 315, knee volume
Code device, 316, knee bearing outside, 317, knee joint transmission belt, 319, knee transmission shaft, the 320, second torque sensor, 321, detection
Item, 322, knee locating piece, 323, knee positioning plate, 324, knee joint set, the 325, second tensioning wheel, 401, shank upper bracket, 402,
The first ram seat of shank, the 403, second electric pushrod, 404, the second ram seat of shank, 405, shank lower bracket, 406, electronic ruler,
407, shank sliding rail, 408, shank lower bracket lid, 409, shank upper bracket lid, 410, electronic ruler draw-bar seat, 501, ankle encoder,
502, rimless motor pressing plate, 503, Motor Shaft, 504, rimless motor, 505, motor shaft sleeve, 506, insulation board, 507, rimless electricity
Arbor, 508, ankle-joint stator housing, 509, ankle-joint close to switch, 510, ankle retarder, 511, ankle positioning plate, 512, ankle it is fixed
Position block, 513, ankle joint sleeve, 601, ankle-joint bracket, 603, ankle-joint bottom plate, 604, six-dimension force sensor, 605, foot pedal.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
The pedipulator of lower limb rehabilitation robot as shown in Figure 1, comprising: the long component 2 of hip joint transmission component 1, thigh tune,
The long component 4 of knee joint transmission component 3, shank tune, ankle-joint transmission component 5 and vola sensory package 6.
As shown in Figures 2 and 3, hip joint transmission component can will be located at the hip joint motor of the bottom of hip joint bracket 101
102 power are transmitted on thigh support frame 301, and the huckle of pedipulator is driven to rotate around hip joint, and hip joint transmission component 1 includes
Hip joint bracket 101, coaxially connects with hip joint motor 102 the hip joint motor 102 that 101 bottom of hip joint bracket is arranged in
Hip driving pulley 104 and hip the metering driving pulley 105 connect, the hip meter being connect with hip metering driving pulley 105 by V belt translation
It measures driven pulley 106, the hip encoder 103 being coaxially disposed with hip metering driven pulley 106, be arranged on hip joint bracket 101
The hip driven pulley 107 in portion, hip transmission shaft 116, is connected to hip and subtracts the hip retarder 108 coaxially connected with hip driven pulley 107
It the first torque sensor 115 between the output shaft and hip transmission shaft 116 of fast device 108 and is fixedly connected with hip transmission shaft 116
Hip swivel plate 111；Hip driving pulley 104 is connect with hip driven pulley 107 by V belt translation；It is installed on hip joint bracket 101
There is hip motor bearing seat 112, the output shaft of hip joint motor 102 is erected on hip motor bearing seat 112 by bearing, hip coding
Device 103 is mounted on hip encoder bearing block 113, and hip retarder 108 is mounted in hip speed reducer base 109, hip retarder 108
Output shaft is fixedly connected by bolt with hip positioning plate 114, and hip positioning plate 114 passes through bolt and the first torque sensor 115
Inner ring is connected, and hip transmission shaft 116 is connected by bolt with the outer ring of the first torque sensor 115, and hip transmission shaft 116 passes through bearing
It is erected on hip drive bearing block 110, guarantees the output shaft of hip retarder 108 and the concentricity of hip transmission shaft 116, hip transmission shaft
116 end is fixed with hip swivel plate 111, and hip joint sliding rail 117 is fixed on hip swivel plate 111.Hip joint motor 102 passes through
Transmission belt drive hip driven pulley 107 rotate, and by hip retarder 108 slow down after, drive be mounted on the defeated of hip retarder 108
Hip positioning plate 114 on shaft drives hip transmission shaft 116 to rotate by the detection of the inside and outside circle of the first torque sensor 115, and
Hip swivel plate 111 is set to make corresponding rotation.Thigh support frame 301 is fixed on hip sliding block, and hip sliding block can be along hip joint sliding rail 117
It is mobile, so that thigh support frame 301 be made to rotate around hip joint axis of rotation.
As shown in Figure 3 and Figure 4, hip joint become limit assembly include: the positioning ring 201 being mounted on hip speed reducer base 109,
The hip locating piece 204 and signal plate 205 that are mounted on hip positioning plate 114 and the hip for being mounted on 109 side of hip speed reducer base electricity
Dynamic ram seat 211.Positioning ring 201 and hip retarder 108 are coaxial, and setting locating snap ring 208 is in positioning ring 201 and hip motor bearings
Between, and coaxially can opposite sliding in positioning ring 201.It is close close to switch base 203, first that first is equipped on the outside of positioning ring 201
Switch base 203 is equipped with first close to switch 202, and locating snap ring 208 is equipped with second close to 206 207, switch, and second close opens
It closes 206 207 and is equipped with second close to switch 206.Hip joint becomes limit assembly and realizes machine by the driving of third electric pushrod 210
Tool limit, the fixing end of third electric pushrod 210 are connected on hip joint bracket 101, and output end is connect with extension arm 209, is prolonged
Long-armed 209 connect with locating snap ring 208.
Under sitting posture state, the space of hip joint is smaller, by making third electric pushrod 210, make locating snap ring 208 from
It is stretched out in positioning ring 201, reduces motion range of the hip locating piece 204 between positioning ring 201 and locating snap ring 208, pass through letter
Number plate 205, positioning ring 201, first are provided close to switch 202 and second close to the composition electric limiting of switch 206 for mechanical position limitation
One layer of protection issues the movement of signal command hip joint and stops when signal plate 205 is by the first close 202 detection range of switch.
To guarantee that exercise-based rehabilitation program on patients will not cause to damage to patient body.
As shown in figure 5, the long component of thigh tune includes: the thigh support frame 301 being fixed on hip joint sliding block and for driving
The first flexible electric pushrod 306 of thigh, is equipped with the first thigh ram seat 305 on thigh support frame 301, on hip swivel plate 111
Equipped with the second thigh ram seat 307, the connected first thigh ram seat 305 in the both ends of the second electric pushrod 403 and the second thigh are pushed away
Pole socket 307, by keeping the output shaft of the first electric pushrod 306 flexible, drive thigh support frame 301 is moved forward and backward with respect to hip joint,
To achieve the effect that thigh extends.
As shown in Figure 5 and Figure 6, knee joint transmission component includes: the knee joint motor bearings being mounted on thigh support frame 301
Seat 312, knee encoder 315, bearing block 309, high wheel carrier 308, short wheel carrier 310, knee joint set 324, knee joint motor 313 passes through
For bearing support on knee joint motor bearing seat 312, knee encoder 315 passes through bearing support on knee encoder bearing block 309,
Knee driven pulley 302 and knee retarder 303 are coaxially connected, and knee retarder 303 is fixed in knee joint set 324, knee retarder 303
Output shaft connect with knee positioning plate 323 by bolt, the outer ring of the second torque sensor 320 passes through bolt and knee positioning plate
323 connections, inner ring are connect with knee transmission shaft 319, and 319 side of knee transmission shaft is fixed on shank upper bracket 401, and shank
Upper bracket 401 is shifted mechanical arm weight on knee bearing outside 316 by bearing.The first tensioning is provided on high wheel carrier 308
304 are taken turns, is provided with the second tensioning wheel 325 on short wheel carrier 310, synchronous belt is successively across knee driving pulley 311, the second tensioning wheel
325, the first tensioning wheel 304 and knee driven pulley 302, knee encoder 315 and the second tensioning wheel 325 are coaxially connected.Knee joint connects
Nearly switch is fixed on thigh support frame 301, detects the knee locating piece 322 and detector bar 321 being mounted on knee positioning plate 323, knee
Joint transmission band 317 connects knee driving pulley 311 and knee driven pulley 302, and passes through the first tensioning wheel 304 and the second tensioning wheel
325 drive knee metering belt wheels 314 are servo-actuated, and are detected 313 motion state of knee joint motor by knee encoder 315, are being shut down
After can save current location, when patient's upper machine again without carrying out mechanical return.Knee joint motor 313 passes through knee main belt
Wheel 311, knee joint transmission belt 317 drive knee driven pulley 302, and rotation is transmitted into the input shaft of knee retarder 303, passes through knee
Make knee positioning plate 323 that the second torque sensor 320 and knee transmission shaft 319 be driven to rotate after the deceleration of retarder 303, the second torque
Knee joint torque value is worked as in the detection of sensor 320, while knee locating piece 322 and knee joint set 324 constitute mechanical position limitation system,
Fluting containing restricted 322 motion range of knee locating piece in structure in knee joint set 324, the close switch of detector bar 321, knee joint
Electric limiting system is constituted, it is identical as hip joint electric limiting System Working Principle.
As shown in fig. 7, shank tune growth device includes shank upper bracket 401, shank lower bracket 405, is arranged and props up on shank
Shank sliding rail 407 on frame 401, shank lower bracket lid 408, props up on shank the shank sliding block being arranged on shank lower bracket 405
Frame lid 409, the first ram seat of shank 402 being mounted on shank upper bracket 401, the electronic ruler pull rod being mounted in small leg support
Seat 410, the second ram seat of shank 404 being mounted on shank lower bracket 405 and electronic ruler 406, shank sliding rail 407 are installed on small
The inside of leg upper bracket 401, shank lower bracket 405 are installed on shank sliding block, the both ends connection shank of the second electric pushrod 403 the
One ram seat 402 and the second ram seat of shank 404, the fixing end of electronic ruler 406 is fixed on shank lower bracket 405, test side
It is fixed on electronic ruler draw-bar seat 410, shank lower bracket lid 408 is bolted on the outside of shank lower bracket 405, on shank
Bracket cover 409, which is bolted, is fixed on 401 outside of shank upper bracket, and ankle-joint transmission component 5 and vola sensory package 6 connect
It connects in small leg support, forms ankle-joint and the vola of robot in pedipulator end, made by flexible second electric pushrod 403
Shank lower bracket 405 with respect to shank upper bracket 401 move, make ankle transmission component, vola sensory package 6 with respect to knee joint it is separate or
It is close, since 403 size of the second electric pushrod is smaller, there is no built-in-potential meter, in the fixed electronics in 403 opposite side of the second electric pushrod
Ruler 406, for measuring current shank elongation, shank lower bracket lid 408, shank upper bracket lid 409 mounting means ensure that
The easy to disassemble and maintenance of shank structure.
As shown in figure 8, ankle-joint transmission component 5 include: with 405 SACHfoot adaptor stator housing 508 of shank lower bracket, with
Ankle retarder 510 that ankle-joint stator housing 508 is fixedly connected, rimless motor shaft 507, motor shaft sleeve 505, Motor Shaft 503
It is coaxially connected with the input shaft of ankle encoder 501, rimless motor shaft 507 and ankle retarder 510, motor shaft sleeve 505 by key with
Rimless motor shaft 507 connects, and Motor Shaft 503 is coaxially connected by bolt and rimless motor shaft 507, and passes through Motor Shaft
503 and the shaft shoulder of motor shaft sleeve 505 clamp the rotor of rimless motor 504, the stator of rimless motor 504 passes through gluing and ankle-joint
Stator housing 508 is fixedly connected, and ankle retarder 510, which is bolted, to be fixed on ankle-joint stator housing 508, and ankle-joint
Stator housing 508 and ankle retarder 510 guarantee high-precision coaxial degree, and rimless motor shaft 507 is arranged and is fixed on ankle retarder 510
Input shaft on, and protruding into 510 longer one sections of ankle retarder makes rimless motor shaft 507 during running at high speed, due to external force
Effect lose rimless motor shaft 507, motor shaft sleeve 505 and the concentricity of ankle retarder 510, rimless 504 two sides of motor point
It is not provided with the rimless motor pressing plate 502 of nonmetal parts and insulation board 506, guarantees that rimless motor 504 will not be leaked in energization
Electricity damages patient.Ankle encoder 501 detects the rotational angle of Motor Shaft 503, carries out revolving speed control to rimless motor 504
System, 510 output shaft of ankle retarder are fixedly connected with ankle positioning plate 511, and ankle positioning plate 511 is connected by bolt and ankle-joint bracket 601
Connect, and ankle-joint bracket 601 by ankle-joint bearing by vola installation weight carrying with ankle joint sleeve 513 on, by rimless
Motor 504 rotates, and rimless 504 stator of motor is fixed on ankle-joint stator housing 508, nothing static with respect to shank lower bracket 405
504 rotor of frame motor drives Motor Shaft 503, rimless motor shaft 507 and motor shaft sleeve 505 to rotate, and passes through ankle retarder 510
Rotation is transferred on ankle positioning plate 511 and ankle-joint bracket 601 after deceleration, ankle locating piece 512 and ankle joint sleeve 513 form machine
Tool caging system, working principle is identical as knee joint mechanical position limitation system, the close switch 509 of ankle-joint and 512 shape of ankle locating piece
At electric limiting system, guarantee that the movement of ankle-joint is within the scope of human motion always.
As shown in figure 9, vola sensory package 6 include: the ankle-joint bracket 601 being connected on ankle positioning plate 511, setting exist
The ankle-joint bottom plate 603 of 601 bottom side of ankle-joint bracket, six-dimension force sensor 604 are bolted on ankle-joint bottom plate 603
On, the fixed foot pedal 605 in test side, 601 inside hollow out of ankle-joint bracket is convenient for 604 signal wire cabling of six-dimension force sensor, is suffered from
Person foot is placed on foot pedal 605, and when carrying out rehabilitation training, patient is applied to three directions on foot pedal 605
Power and torque can all be detected by six-dimension force sensor 604, for analyze patient behavior be intended to.
Above-mentioned desirable embodiment according to the present invention is enlightenment, and through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention'.This invention it is technical
Range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (2)
1. a kind of pedipulator of lower limb rehabilitation robot comprising hip joint transmission component (1), the long component of thigh tune (2), knee close
Save transmission component (3), the long component of shank tune (4), ankle-joint transmission component (5) and vola sensory package (6)；The hip joint passes
Dynamic component (1) include hip joint bracket (101), setting hip joint bracket (101) bottom hip joint motor (102),
The hip driving pulley (104) coaxially connected with the hip joint motor (102) and hip metering driving pulley (105), with it is described
Hip measures hip metering driven pulley (106) that driving pulley (105) are connected by V belt translation and the hip measures driven pulley
(106) be coaxially disposed hip encoder (103), setting hip joint bracket (101) top hip driven pulley (107),
With the hip driven pulley (107) coaxially connected hip retarder (108), hip transmission shaft (116), be connected to the hip retarder
(108) the first torque sensor (115) between output shaft and hip transmission shaft (116) and with the hip transmission shaft (116)
The hip swivel plate (111) being fixedly connected；The hip driving pulley (104) and the hip driven pulley (107) are connected by V belt translation
It connects；The long component of thigh tune (2) includes: thigh support frame (301) and third electric pushrod (210), the third electric pushrod
(210) fixing end is fixed on thigh support frame (301), and output end is fixedly connected with the hip swivel plate (111)；The knee closes
Section transmission component (3) includes: knee joint motor (313) and the coaxially connected knee driving pulley of the knee joint motor (313)
(311), the knee driven pulley (302) that is connect with the knee driving pulley (311) by toothed belt transmission is engaged with synchronous belt
Knee measures belt wheel (314), the knee encoder (315) coaxially connected with knee metering belt wheel (314) and the knee driven pulley
(302) coaxially connected knee retarder (303), knee transmission shaft (319) and be connected to the knee retarder (303) and described
The second torque sensor (320) between knee transmission shaft (319)；The long component of shank tune (4) includes: and the knee transmission shaft
(319) the shank upper bracket (401) being fixedly connected, the shank lower bracket that can be moved relative to the shank upper bracket (401)
(405), the second electric pushrod (403) and electronic ruler (408), the fixing end and output end point of second electric pushrod (403)
Not Lian Jie shank upper bracket (401) and shank lower bracket (405), the fixing end of the electronic ruler (408) and test side connect respectively
Connect shank upper bracket (401) and shank lower bracket (405)；The ankle-joint transmission component (5) includes: and the shank lower bracket
(405) the ankle-joint stator housing (508) being fixedly connected, the ankle being fixedly connected with the ankle-joint stator housing (508) slow down
The rimless motor shaft (507) of device (510), rimless motor (504) and ankle encoder (501), the rimless motor (504) subtracts with ankle
The input shaft of fast device (510) is coaxially connected, and the ankle encoder (501) and the rimless motor shaft (507) are coaxially disposed；It is described
Vola sensory package (6) includes: the ankle-joint bracket (601) connecting with ankle retarder (510), is connected to the ankle-joint bracket
(601) the ankle-joint bottom plate (603), foot pedal (605) of bottom and setting are in the ankle-joint bottom plate (603) and foot pedal
(605) six-dimension force sensor (604) between；
The hip retarder (108) is mounted in hip speed reducer base (109), coaxially connected on the output shaft of hip retarder (108)
Have hip positioning plate (114), hip positioning plate (114) is fixedly connected with the inner ring of the first torque sensor (115), hip transmission shaft
(116) it is connected with the outer ring of the first torque sensor (115), hip transmission shaft (116) is erected at hip drive bearing block by bearing
(110) on, hip joint sliding rail (117) are fixed on hip swivel plate (111), the compatible hip with the hip joint sliding rail (117)
Joint sliding block is fixedly connected with thigh support frame (301)；
The knee joint transmission component (3) further include: for being tensioned the first tensioning wheel (304) and the second tensioning wheel of synchronous belt
(325), first tensioning wheel (304) and the second tensioning wheel (325) are separately positioned on high wheel carrier (308) and short wheel carrier (310)
On, the output shaft of the knee retarder (303) is fixedly connected with knee positioning plate (323), second torque sensor (320)
Outer ring and the knee positioning plate (323) are fixed, and inner ring and the knee transmission shaft (319) are fixed；
The long component of shank tune (4) further include: the sliding rail that is fixed on the shank upper bracket (401) and be fixed on described small
Sliding block on leg lower bracket (405)；
The knee joint transmission component (3) and the ankle-joint transmission component (5) are equipped with mechanical limiting mechanism and electric limiting
Mechanism, it is characterised in that: the pedipulator further includes that hip joint becomes limit assembly, and it includes installation that the hip joint, which becomes limit assembly,
In the positioning ring (201) on hip retarder (108) shell, the hip positioning plate that is mounted on hip retarder (108) output shaft
(114), the hip locating piece (204) and signal plate (205) that are mounted on hip positioning plate (114), can relative positioning ring (201) it is coaxial
The locating snap ring (208) and third electric pushrod (210) of sliding, the positioning ring (201) and the hip retarder (108) are concentric
It is arranged, first is equipped on the positioning ring (201) close to (202) are switched, it is close that second is equipped on the locating snap ring (208)
It switchs (206), the fixing end of the third electric pushrod (210) is connected on hip joint bracket (101), and output end stops with described
Rotating ring (208) connection.
2. the pedipulator of lower limb rehabilitation robot according to claim 1, it is characterised in that: the ankle-joint transmission component
(5) further include: coaxially connected Motor Shaft (503) and motor shaft sleeve (505), the nothing with the rimless motor shaft (507)
The stator of frame motor (504) is fixed by gluing and the ankle-joint stator housing (508), and the two sides of rimless motor (504) are also
It is respectively arranged with the rimless motor pressing plate (502) of nonmetal parts and insulation board (506)；The ankle encoder (501) is arranged described
On Motor Shaft (503)；The output shaft of the ankle retarder (510) is fixedly connected on ankle positioning plate (511), ankle positioning plate
(511) it is fixedly connected with the ankle-joint bracket (601).
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| CN201710251167.9A CN107174476B (en) | 2017-04-18 | 2017-04-18 | A kind of pedipulator of lower limb rehabilitation robot |
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| CN201710251167.9A CN107174476B (en) | 2017-04-18 | 2017-04-18 | A kind of pedipulator of lower limb rehabilitation robot |
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| CN107174476B true CN107174476B (en) | 2019-04-26 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108056898B (en) * | 2017-12-21 | 2020-11-20 | 东南大学 | Virtual scene interactive rehabilitation training robot based on lower limb connecting rod model and force sense information and control method thereof |
| CN109953869A (en) * | 2017-12-22 | 2019-07-02 | 浙江大学 | A kind of lower limbs rehabilitation training robot modular knee joint |
| US20200108514A1 (en) * | 2018-10-09 | 2020-04-09 | Flexiv Ltd. | Actuator and robot with reliable torque sensor arrangement |
| CN109771212A (en) * | 2019-01-23 | 2019-05-21 | 广西安博特智能科技有限公司 | A kind of healing robot joint of lower extremity structure |
| CN109771222A (en) * | 2019-03-27 | 2019-05-21 | 燕山大学 | A kind of finger gymnastic robot with interior receipts outreach function |
| CN110025454B (en) * | 2019-05-16 | 2024-02-13 | 中国科学院合肥物质科学研究院 | Counter weight type lower limb rehabilitation robot |
| CN110236885B (en) * | 2019-07-11 | 2020-07-31 | 燕山大学 | Rehabilitation robot with waist and lower limb training function |
| CN110281222B (en) * | 2019-07-30 | 2022-08-19 | 烟台科宇机器人科技有限公司 | Joint movement device of exoskeleton robot |
| CN111467193A (en) * | 2020-05-26 | 2020-07-31 | 河南汇博神方智能康复设备有限公司 | Bedside lower limb rehabilitation training robot capable of being mechanically limited |
| CN113768743A (en) * | 2021-08-20 | 2021-12-10 | 北京工业大学 | Lower limb household horizontal rehabilitation training device for stroke hemiplegia patient |
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| CN104287939A (en) * | 2014-08-20 | 2015-01-21 | 燕山大学 | Sitting type lower limb rehabilitation robot |
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| US10766133B2 (en) * | 2014-05-06 | 2020-09-08 | Sarcos Lc | Legged robotic device utilizing modifiable linkage mechanism |
| US10512583B2 (en) * | 2014-05-06 | 2019-12-24 | Sarcos Lc | Forward or rearward oriented exoskeleton |
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| CN101623547A (en) * | 2009-08-05 | 2010-01-13 | 燕山大学 | Lower limb rehabilitation medical robot used for paralytic patient |
| CN104287939A (en) * | 2014-08-20 | 2015-01-21 | 燕山大学 | Sitting type lower limb rehabilitation robot |
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Effective date of registration: 20190916 Address after: 315400 No. 175 Anshan Road, Chengdong New District, Yuyao Economic Development Zone, Zhejiang Province Patentee after: Zhejiang Yu Yu intelligent robot Co., Ltd. Address before: Hebei Street West Harbor area, 066004 Hebei city of Qinhuangdao province No. 438 Patentee before: Yanshan University |