CN109303669A - A kind of multiple degrees of freedom movable lower limb healing robot - Google Patents
A kind of multiple degrees of freedom movable lower limb healing robot Download PDFInfo
- Publication number
- CN109303669A CN109303669A CN201811208352.0A CN201811208352A CN109303669A CN 109303669 A CN109303669 A CN 109303669A CN 201811208352 A CN201811208352 A CN 201811208352A CN 109303669 A CN109303669 A CN 109303669A
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- ankle
- foot
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- plantar flexion
- patient
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- 230000035876 healing Effects 0.000 title claims abstract description 36
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 26
- 210000003423 ankle Anatomy 0.000 claims abstract description 98
- 210000002683 foot Anatomy 0.000 claims abstract description 92
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical group COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 claims abstract description 71
- 210000002414 leg Anatomy 0.000 claims abstract description 53
- 229960001030 mephenoxalone Drugs 0.000 claims abstract description 36
- 210000004394 hip joint Anatomy 0.000 claims abstract description 14
- 210000000689 upper leg Anatomy 0.000 claims description 36
- 210000001699 lower leg Anatomy 0.000 claims description 32
- 230000007246 mechanism Effects 0.000 claims description 25
- 238000004513 sizing Methods 0.000 claims description 20
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 19
- 210000004744 fore-foot Anatomy 0.000 claims description 14
- 210000003127 knee Anatomy 0.000 claims description 14
- 210000000548 hind-foot Anatomy 0.000 claims description 12
- 230000009467 reduction Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 5
- 238000012549 training Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 210000000629 knee joint Anatomy 0.000 claims description 4
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 230000036541 health Effects 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 238000005452 bending Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 claims 1
- 210000000544 articulatio talocruralis Anatomy 0.000 description 18
- 238000010586 diagram Methods 0.000 description 8
- 210000001624 hip Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000002490 cerebral effect Effects 0.000 description 2
- 230000002980 postoperative effect Effects 0.000 description 2
- 206010061225 Limb injury Diseases 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 239000004677 Nylon Substances 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 239000002253 acid Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- 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
- A61H1/024—Knee
-
- 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
- A61H1/0218—Drawing-out devices
-
- 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
- A61H1/0244—Hip
-
- 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
- A61H1/0266—Foot
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
- A61H2201/5069—Angle sensors
-
- 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
- A61H2201/5071—Pressure sensors
Landscapes
- 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)
Abstract
The present invention provides a kind of multiple degrees of freedom movable lower limb healing robot, include: robot base part, leg exercise part, ankle plantar flexion dorsiflex part, receive outreach part, foot support section, drive control part, handheld box and energy source and power part in ankle, in which: robot base part is for carrying other building blocks；Leg exercise part is for realizing hip joint and kneed buckling stretching routine；Ankle plantar flexion dorsiflex part is for driving ankle plantar flexion dorsiflex to rotate；Outreach part is received in ankle to be used for receiving Outward Bound in ankle；The foot of foot support section immobilized patients, and be equipped with pressure sensor and Rehabilitation intention is differentiated；Drive control part is used for angle and speed drive control；Handheld box receives kinematic parameter and passes to drive control part to control the movement velocity and angle of each joint shaft；Energy source and power part provides electric power energy.The configuration of the present invention is simple, it is convenient to operate, and has and is widely popularized meaning.
Description
Technical field
The present invention relates to field of medical device, and in particular, to a kind of multiple degrees of freedom movable lower limb healing robot.
Background technique
Patients with cerebral apoplexy or the postoperative most effective restoration methods of limb injury patient are exactly rehabilitation training at present, and lower limb
Rehabilitation training is a link very crucial in limbs of patient rehabilitation exercise.
Also there is part lower limb rehabilitation robot in the prior art, for example application No. is CN201711011249.2, disclose
A kind of lower limb rehabilitation robot, including the support of pedestal, hip joint, big leg mechanism, knee joint, small leg mechanism, ankle-joint, vola
Part；The thigh slide bar of big leg mechanism is mounted on the axis one of hip joint by the key one of hip joint, and the rotation of axis one drives thigh
The movement of mechanism, kneed knee joint support are mounted on the thigh guide rail end of big leg mechanism, the shank slide bar of small leg mechanism
It is mounted on kneed axis two by kneed key two, the rotation of axis two drives the movement of small leg mechanism, vola supporting element
Directly interference fit is mounted on the axis three of ankle-joint, and the 5th stepper motor of ankle-joint passes through active small pulley, driven small band
Wheel belt moving axis three rotates, and the rotation of axis three drives the movement of vola supporting element.
But above-mentioned patent has the disadvantage that structure is complicated, volume is larger, it has not been convenient to be placed on progress rehabilitation instruction on bed
Practice, it is also not readily transportable, although the plantar flexion dorsiflex of hip joint and kneed buckling stretching routine and ankle-joint may be implemented
Movement, but cannot achieve to arms sideward lift is received in rehabilitation the technique especially ankle-joint of cerebral apoplexy postoperative rehabilitation most critical.
There is presently no a kind of mechanism appearance for facilitating carrying, effective multiple degrees of freedom to carry out patient's lower extremity movement, so that
Patient obtains effective multiple degrees of freedom lower limb rehabilitation training during rehabilitation exercise.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of multiple degrees of freedom movable lower limb healing robot, can be fast
It is prompt that the stretching, extension of hip joint buckling is carried out to patient's ankle, knee sprung stretching, extension, ankle-joint plantar flexion dorsiflex, receives outreach in ankle-joint
Independent rehabilitation exercise, two-by-two the coordinated movement of various economic factors, Three Degree Of Freedom linkage etc. rehabilitations movement, can effectively carry out the health of patient's lower limb
Refreshment is practiced.
In order to achieve the above object, the present invention provides a kind of multiple degrees of freedom movable lower limb healing robot, comprising: robot
Base portion, ankle plantar flexion dorsiflex part, receives outreach part, foot support section, drive control in ankle at leg exercise part
Partially, handheld box and energy source and power part, in which:
Bracket of the robot base part as entire healing robot, for carrying leg exercise part, ankle
Outreach part, foot support section, drive control part, handheld box and energy source and power part are received in plantar flexion dorsiflex part, ankle；
The leg exercise is partially installed on robot base part, and leg exercise part carries the shank of patient and big
Leg simultaneously drives the shank of patient and thigh to move back and forth, thus realize hip joint and kneed buckling and stretching routine,
And then realize the rehabilitation training of thigh and shank；
The ankle plantar flexion dorsiflex part is connect with leg exercise part, and the Pivot axle of ankle plantar flexion dorsiflex part
It coincides with the central axis of human ankle plantar flexion dorsiflex campaign, for driving the ankle of patient to carry out plantar flexion and dorsiflex rotation, rises
To rehabilitative action；
It receives outreach part in the ankle to connect with ankle plantar flexion dorsiflex part, and in ankle in the movement of receipts outreach part
Mandrel and the Pivot axle of ankle plantar flexion dorsiflex part are perpendicular, and outreach part is received in ankle and is connected by the way of crank rocker
Foot support section is connect, for receipts and Outward Bound in carrying out to patient's ankle；
The foot support section is connect with receipts outreach part in the ankle, and the foot support section is suffered from for fixed
The foot of person；；
The drive control part, input terminal connect the handheld box, output end connected legs motion parts, ankle plantar flexion
Outreach part is received in dorsiflex part and ankle, for receiving outreach in leg exercise part, ankle plantar flexion dorsiflex part and ankle
Part carries out the driving of angle and/or speed, control；
The handheld box is man-machine interactive interface, and handheld box and drive control part carry out wireless and wired communication, use
In the kinematic parameter for receiving user setting, and kinematic parameter is passed into drive control part, thus control leg exercise part,
The movement velocity and angle of outreach part are received in ankle plantar flexion dorsiflex part and ankle；
The energy source and power part be used to receive for leg exercise part, ankle plantar flexion dorsiflex part, in ankle outreach part,
Foot support section, drive control part, handheld box provide electric power energy.
Preferably, the robot base part includes: pedestal base, base shell, moving handle, mobile pulley and cunning
Take turns jack, in which:
The pedestal base is the benchmark of entire healing robot, and other components are all unfolded in pedestal base；Pedestal base
Seat is in rectangular parallelepiped structure, and one end of cuboid long side is fixedly connected with moving handle, and moving handle is convenient for users to grasping and make
The healing robot is mobile；The other end connection mobile pulley and pulley jack of cuboid long side；Base shell is used for
Drive control part, mobile pulley and pulley jack are protected；Pulley jack is for triggering and storing movement
Pulley, including torsional spring, trigger mechanism and retaining mechanism, torsional spring and trigger mechanism are used for the mobile cunning that will be accommodated in base shell
Wheel pop-up, retaining mechanism are used to for the mobile pulley flicked being accommodated into base shell and self-locking.
Preferably, there are two types of operating modes for the healing robot: rehabilitation modality and Move Mode；Wherein:
Under rehabilitation modality, mobile pulley is accommodated in inside base shell, in order to which patient will the entire rehabilitation machine
People is placed on bed and uses；
In transport mode, the trigger mechanism of mobile pulley jack is clicked to discharge mobile pulley, and in torsional spring power
Transmitting under mobile pulley is popped up, entire healing robot is placed in ground, the moving handle of pull-up pedestal base one end,
The mobile pulley of the pedestal base other end contacts ground, and user is facilitated by mobile pulley carries out the healing robot
It carries.
Preferably, the leg exercise part include: parts moving linearly, it is shank connecting component, toe raise component, big
Leg moving component, thigh stretching member and angular transducer component, in which:
The parts moving linearly is located in robot base part, for providing linear reciprocating motion；
The shank connecting component and thigh moving component form parallelogram motion structure, while shank connecting component
It carries the shank of patient and is connected with parts moving linearly, for the linear motion of parts moving linearly to be converted into patient's hip
Joint and kneed buckling and stretching routine；
The toe raise component is used to finely tune lower leg portion and patient's leg length so that the entire healing robot
Degree matches；
The thigh of the thigh moving component carrying patient, thigh moving component four side parallel with shank connecting component composition
Shape structure and joint shaft when guaranteeing knee sprung and the stretching, extension of a joint shaft and patient in parallelogram sturcutre is same
The heart；
The thigh stretching member is for finely tuning so that the entire leg portion of the healing robot and the thigh of patient
Length matches；
The angular transducer component is used to detect angle when patient's knee sprung and stretching, extension, the i.e. movement of detection thigh
The angle of component and two sides that are coaxially connected with patient's knee joint joint shaft of the formed parallelogram of shank connecting component.
It is highly preferred that the parts moving linearly drives lead screw or rotating electric machine to drive using linear motor, rotating electric machine
One of rack-and-pinion is realized.
Preferably, the ankle plantar flexion dorsiflex part includes: plantar flexion dorsiflex rotating power source, inner frame member, in which:
The plantar flexion dorsiflex rotating power source is fixed on the toe raise component of leg exercise part, and provides inner frame
The rotation angle of component and toe raise component；
The inner frame member is driven by plantar flexion dorsiflex rotating power source to be rotated, and is carried and received outreach part and foot in ankle
The movement of portion's support section.
It is highly preferred that the plantar flexion dorsiflex rotating power source is rotating electric machine, the stator of the rotating electric machine is mounted on small
On leg stretching member end, the rotor of rotating electric machine connects inner frame member, and inner frame member is driven to rotate, to realize ankle
Plantar flexion dorsiflex movement.
Preferably, it includes: interior receipts outreach rotating power source and crank rocker component that outreach part point is received in the ankle,
In:
The interior receipts outreach rotating power source is fixed on the inner frame member of ankle plantar flexion dorsiflex part and provides rotation
Power；
The crank rocker component matches with interior receipts outreach rotating power source, for receiving outreach rotating power source for interior
Rotary motion is converted to the reciprocating motion of set angle, to realize the movement of patient's ankle plantar flexion and dorsiflex.
Preferably, the foot support section includes: foot portion frame, foot sizing adjusts component, foot binds component, preceding
Sole pressure sensor and hind paw pressure sensor, in which:
The foot portion frame is connected with the crank rocker element outputs for receiving outreach part in ankle, and foot portion frame is in L
Type is used to support foot binding component, foot sizing adjustment component, forefoot pressure sensor and hind paw pressure sensor；
Foot sizing adjustment component is tabular, adjusts component and foot portion frame by manual adjustment foot sizing
It relatively moves to patients feet's size to match, and locks；
The foot binding component is used to mutually fix the foot of patient and foot sizing adjustment component；
The forefoot pressure sensor is located at the front of foot sizing adjustment component, for acquiring patient's forefoot to foot
The pressure of portion's support section；
The hind paw pressure sensor is located at the rear portion of foot sizing adjustment component, for acquiring patient's heel to foot
The pressure of support section.
It is highly preferred that the forefoot pressure sensor and hind paw pressure sensor are the pressure sensing for including spring
Device.
In the present invention, the lower limb rehabilitation movement, is hip and knee buckling stretching routine, ankle-joint plantar flexion dorsiflex campaign
With the independently moving or hip and knee buckling stretching routine, ankle-joint plantar flexion dorsiflex fortune in ankle-joint in receipts abduction exercise
The coordination linkage between any two or hip and knee buckling stretching routine, ankle-joint in abduction exercise are received in dynamic and ankle-joint
The abduction exercise coordinated movement of various economic factors together is received in plantar flexion dorsiflex campaign and ankle-joint.
Compared with prior art, the present invention has the following beneficial effects:
Convenient transportation of the present invention can be stretched out mobile pulley by pulley jack from robot base portion,
Hauling moving handle can be realized fast transfer.Operation of the present invention is convenient, only needs patient that leg is put into leg exercise part, foot
Portion is put into foot support section and is fixed, and hip joint buckling stretching routine, knee sprung stretching, extension fortune not only may be implemented
Dynamic and ankle-joint plantar flexion dorsiflex campaign, can also realize the interior receipts abduction exercise of ankle-joint, can satisfy more rehabilitation demands.
The configuration of the present invention is simple, it is convenient to operate, and has and is widely popularized meaning.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the structural schematic diagram of one embodiment of the present invention,
In figure: 010- robot base part, 020- leg exercise part, 030- ankle plantar flexion dorsiflex part, 040- foot
Outreach part, 050- foot support section, 060- drive control part, 070- handheld box, 080- energy source and power part are received in ankle；
Fig. 2 is the robot base partial structure diagram of one embodiment of the present invention,
In figure: 011- pedestal base, 012- base shell, 013- moving handle, 014- mobile pulley, 015- pulley folding and unfolding
Mechanism；
(a), (b) are respectively that the mobile pulley pop-up of one embodiment of the present invention and storage move schematic diagram in Fig. 3；
Fig. 4 is the leg exercise partial structure diagram of one embodiment of the present invention,
In figure: 021- parts moving linearly, 022- shank connecting component, 023- toe raise component, the movement of 024- thigh
Component, 025- thigh stretching member, 026- angular transducer component；
(a) in Fig. 5, (b) are respectively the leg exercise portions flex stretching routine schematic diagram of one embodiment of the present invention；
Fig. 6 is the ankle plantar flexion dorsiflex partial structure diagram of one embodiment of the present invention,
In figure: 031- plantar flexion dorsiflex rotating power source, 032- inner frame member；
(a) in Fig. 7, (b) are respectively that the ankle plantar flexion dorsiflex part plantar flexion dorsiflex campaign of one embodiment of the present invention is shown
It is intended to；
Fig. 8 is that outreach partial structure diagram is received in the ankle of one embodiment of the present invention,
In figure: receiving outreach rotating power source, 042- crank rocker component in 041-；
(a), (b) are respectively and receive receipts abduction exercise in outreach part in the ankle of one embodiment of the present invention to show in Fig. 9
It is intended to；
Figure 10 is the foot support section structural schematic diagram of one embodiment of the present invention,
In figure: 051- foot portion frame, 052- foot sizing adjust component, and 053- foot binds component, 054- forefoot pressure
Force snesor, 055- hind paw pressure sensor.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
As shown in Figure 1, a kind of multiple degrees of freedom movable lower limb healing robot, comprising: robot base part 010, leg
Portion's motion parts 020, ankle plantar flexion dorsiflex part 030, the interior receipts outreach part 040 of ankle, foot support section 050, driving control
Part 060, handheld box 070 and energy source and power part 080 processed, in which:
Bracket of the robot base part 010 as entire healing robot, for carrying leg exercise part
020, ankle plantar flexion dorsiflex part 030, receive in ankle outreach part 040, foot support section 050, drive control part 060,
Handheld box 070 and energy source and power part 080；
The leg exercise part 020 drives a rocker device and four-bar mechanism by a straight-line motion mechanism, into
Row is moved back and forth to realize patient's hip joint and kneed buckling and stretching routine, to realize the rehabilitation instruction of thigh and shank
Practice；
The ankle plantar flexion dorsiflex part 030 is connect with leg exercise part 020, the rotation of ankle plantar flexion dorsiflex part 030
The central axis for turning central axis and human ankle plantar flexion dorsiflex campaign coincides, and the band by way of rotating electric machine acceleration and deceleration device
Dynamic patient's ankle carries out plantar flexion and dorsiflex rotation, plays rehabilitative action；
Outreach part 040 is received in the ankle to connect with ankle plantar flexion dorsiflex part 030, and outreach part is received in ankle
040 centre of motion axis and the centre of motion axis of ankle plantar flexion dorsiflex part 030 are perpendicular, are connected by the way of crank rocker
Foot support section 050 carries out interior receipts and Outward Bound to patient's ankle；
The foot of 050 immobilized patients of foot support section；
The drive control part 060, for in leg exercise part 020, ankle plantar flexion dorsiflex part 030 and ankle
Receive the drive control that rotating electric machine required for outreach part 040 carries out angle and speed；
The handheld box 070 is man-machine interactive interface, carries out communication wirelessly or non-wirelessly with drive control part 060, connects
The kinematic parameter of user setting is received, and kinematic parameter is passed into drive control part 060 to control leg exercise part
020, ankle plantar flexion dorsiflex part 030 and the interior movement velocity and movement for receiving rotating electric machine required for outreach part 040 of ankle
Angle；
The energy source and power part 080 provides electric power energy for healing robot, can be with lead-acid accumulator, lithium battery
The mode of equal batteries exists, and can also provide the energy by extraneous power supply adaptor, can also directly be connected with alternating current.
The movement of lower limb rehabilitation described in the present embodiment, can be hip and knee buckling stretching routine, ankle-joint plantar flexion dorsiflex
Movement and ankle-joint in receive abduction exercise in independently moving, can also above-mentioned coordination linkage between any two, be also possible to above-mentioned
Three kinds of movement coordinated movements of various economic factors together.
In a preferred embodiment, between the handheld box 070 and the drive control part 060 by RS232,
RS485, USB, CAN bus, spi bus, I2C bus wired forms carry out data communication, or by bluetooth, ZIGBEE,
The wireless of WIFI, 13.56MHZ, 433MHZ carry out data communication.
As shown in Fig. 2, the robot base part 010 includes: pedestal base 011, bottom in a preferred embodiment
Seat shell 012, moving handle 013, mobile pulley 014 and pulley jack 015, in which: pedestal base 011 is entire rehabilitation
The benchmark of robot, all other components are unfolded in pedestal base 011；Pedestal base 011 is whole to be presented rectangle,
In rectangular long side both ends: one end is equipped with moving handle 013, other end installation mobile pulley 014 and pulley jack
015, drive control part 060 is placed in pedestal base 011 and is protected by base shell 012；Base shell 012 will be for that will drive
Dynamic control section 060, mobile pulley 014 and pulley jack 015 protect；Moving handle 013 is located at pedestal base 011
Long side one end, when healing robot is in moving condition, convenient for users to grasping and moving it；Mobile pulley 014
In the long side other end of pedestal base 011, can hide and be contained in inside base shell 012, can also pop up base shell 012 with
It is easy to remove；Pulley jack 015 includes torsional spring, touching for triggering and storing mobile pulley 014, pulley jack 015
Mechanism, retaining mechanism are sent out, the mobile pulley 014 being accommodated in base shell 012 is popped up by torsional spring and trigger mechanism, is passed through
The mobile pulley 014 flicked is accommodated into base shell 012 and self-locking by retaining mechanism.
As shown in Figure 3a, 3b, there are two types of operating modes for the healing robot: rehabilitation modality and Move Mode, in which:
Under rehabilitation modality, mobile pulley 014 is accommodated in inside base shell 012, is convenient for patient by entire rehabilitation machine
People is placed in use (as shown in Figure 3b) on bed；
In transport mode, the trigger mechanism of pulley jack 015 is clicked, discharges mobile pulley 014, and in torsional spring power
Transmitting under mobile pulley 014 is popped up, and entire healing robot is placed in ground, 011 one end of pull-up pedestal base
The mobile pulley 014 of moving handle 013,011 other end of pedestal base contacts ground, and user can pass through mobile pulley
014 is easily carried (as shown in Figure 3a) to healing robot.
As shown in Fig. 4 and Fig. 5 a, 5b, in a preferred embodiment, the leg exercise part 020 includes: straight line fortune
Dynamic component 021, shank connecting component 022, toe raise component 023, thigh moving component 024, thigh stretching member 025 and angle
Spend sensor element 026, in which: parts moving linearly 021 is located in robot base part 010, and provides reciprocal straight line
Movement；Shank connecting component 022 and thigh moving component 024 form parallelogram motion structure, and shank connecting component 022 is used
It is connected in the shank for carrying patient and with parts moving linearly 021, for converting the linear motion of parts moving linearly 021
At patient's hip joint and kneed buckling and stretching routine；Toe raise component 023 can be manually finely adjusted, and make entire health
The lower leg portion of multiple robot and the lower-leg length of patient match；Thigh moving component 024 and shank connecting component 022 form
Parallelogram sturcutre, and when guaranteeing knee sprung and the stretching, extension of a joint shaft and patient in parallelogram sturcutre
Joint shaft it is same, while carrying the thigh of patient；Thigh stretching member 025 can be manually finely adjusted, and make entire rehabilitation machine
The leg portion of people and the thigh length of patient match；Angular transducer component 026 for detect patient's knee sprung and
Angle when stretching, extension, i.e., detection thigh moving component 024 and the formed parallelogram of shank connecting component 022 and patient's knee
Two corner degree that joint joint shaft is coaxially connected.The angle information of these detections can be used as the reference of rehabilitation parameter setting.
Further, the parts moving linearly 021 drives lead screw or electric rotating using linear motor, rotating electric machine
Machine drives one of rack-and-pinion to realize.
As shown in Fig. 6 and Fig. 7 a, Fig. 7 b, in a preferred embodiment, the ankle plantar flexion dorsiflex part 030 includes:
Plantar flexion dorsiflex rotating power source 031, inner frame member 032, in which: plantar flexion dorsiflex rotating power source 031 is fixed on leg exercise
On the toe raise component 023 of part 020, and provide the rotation angle of inner frame member 032 Yu toe raise component 023, plantar
The rotating power source 031 in the wrong that stoops is that rotating electric machine directly provides rotary motion or rotating electric machine matching RV retarder, harmonic wave
One of retarder, nova gear reduction unit, worm type of reduction gearing provide rotary power；Inner frame member 032 is by plantar
The rotating power source 031 in the wrong that stoops drives rotation, and carries the movement that outreach part 040 and foot support section 050 are received in ankle,
Specific: the stator of 031 motor of plantar flexion dorsiflex rotating power source is mounted on 023 end of toe raise component, plantar flexion dorsiflex rotation
The rotor of rotatory force source motor 031 connects inner frame member 032, and inner frame member 032 is driven to rotate, and realizes the plantar flexion of ankle
Dorsiflex movement.
As shown in Fig. 8 and Fig. 9 a, Fig. 9 b, receiving outreach part 040 in a preferred embodiment, in the ankle includes:
Interior receipts outreach rotating power source 041 and crank rocker component 042, in which: interior receipts outreach rotating power source 041 is fixed on ankle plantar
It stoops on the inner frame member 032 of part 030 in the wrong, and rotary motion is provided, crank rocker component 042 and the rotation of interior receipts outreach are dynamic
Power source 041 matches, the angled reciprocal fortune of the rotation motion for providing interior receipts outreach rotating power source 041
It is dynamic, to realize the movement of patient's ankle plantar flexion and dorsiflex.
Further, the interior receipts outreach rotating power source 041 is that rotating electric machine directly provides rotary motion, or rotation
Rotating motor matches one of RV retarder, harmonic speed reducer, nova gear reduction unit, worm type of reduction gearing to provide rotation
Power.
As shown in Figure 10, in a preferred embodiment, the foot support section 050 includes: foot portion frame 051, foot
Portion's size adjusting part 052, foot binding component 053, forefoot pressure sensor 054 and hind paw pressure sensor 055,
In: foot portion frame 051 is connected with 042 output end of crank rocker component for receiving outreach part 040 in ankle, foot portion frame 051
It is whole L-shaped, be used to support foot binding component 053, foot sizing adjustment component 052, forefoot pressure sensor 054 and after
Sole pressure sensor 055；It is tabular that foot sizing, which adjusts component 052, adjusts component 052 by manual adjustment foot sizing
With the relative movement of foot portion frame 051, adjusting is made to match and lock to patients feet's size；Foot binding component 053 is adopted
With velcro, magic tape, or in such a way that bandage, nylon tape are inserted and buckled, by the foot of patient and foot sizing adjustment section
052 phase of part is fixed；Forefoot pressure sensor 054 is located at the front of foot sizing adjustment component 052, includes spring, and adopt
Patient's forefoot is acquired with pressure sensor to the pressure of foot support section 050；Hind paw pressure sensor 055 is located at foot
The rear portion of portion's size adjusting part 052 includes spring, and acquires patient's heel to foot support sector using pressure sensor
Divide 050 pressure.Forefoot pressure sensor 054, hind paw pressure sensor 055 testing result can be used as rehabilitation parameter
The reference of setting.
Healing robot of the present invention is easy to operate, only needs patient that leg is put into leg exercise part 020, foot is put
Enter foot support section 050 and fixed, so that it may realize the stretching, extension of hip joint buckling, knee sprung stretching, extension, ankle plantar
Stooping, in the wrong, ankle-joint is interior receives the movement such as outreach, plays the role of lower limb rehabilitation.The configuration of the present invention is simple, it is convenient to operate, and has wide
General dissemination.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (10)
1. a kind of multiple degrees of freedom movable lower limb healing robot characterized by comprising robot base part, leg fortune
Dynamic part, ankle plantar flexion dorsiflex part, receipts outreach part, foot support section, drive control part, handheld box and energy in ankle
Driving source part, in which:
Bracket of the robot base part as entire healing robot, for carrying leg exercise part, ankle plantar flexion
Outreach part, foot support section, drive control part, handheld box and energy source and power part are received in dorsiflex part, ankle；
The leg exercise is partially installed on robot base part, and the shank and thigh that leg exercise part carries patient are simultaneously
The shank and thigh for driving patient move back and forth, to realize hip joint and kneed buckling and stretching routine, in turn
Realize the rehabilitation training of thigh and shank；
The ankle plantar flexion dorsiflex part is connect with leg exercise part, and the Pivot axle of ankle plantar flexion dorsiflex part and people
The central axis of body ankle plantar flexion dorsiflex campaign coincides, and for driving the ankle of patient to carry out plantar flexion and dorsiflex rotation, plays health
Multiple effect；
Outreach part is received in the ankle to connect with ankle plantar flexion dorsiflex part, and the centre of motion axis of outreach part is received in ankle
It is perpendicular with the Pivot axle of ankle plantar flexion dorsiflex part, outreach part is received in ankle, and foot is connected by the way of crank rocker
Portion's support section, for receipts and Outward Bound in being carried out to patient's ankle；
The foot support section is connect with receipts outreach part in the ankle, and the foot support section is for immobilized patients
Foot；；
The drive control part, input terminal connect the handheld box, output end connected legs motion parts, ankle plantar flexion dorsiflex
Outreach part partially and in ankle is received, for receipts outreach part in leg exercise part, ankle plantar flexion dorsiflex part and ankle
Carry out driving, the control of angle and/or speed；
The handheld box is man-machine interactive interface, and handheld box and drive control part carry out wireless and wired communication, for connecing
The kinematic parameter of user setting is received, and kinematic parameter is passed into drive control part, to control leg exercise part, ankle
The movement velocity and/or angle of outreach part are received in plantar flexion dorsiflex part and ankle；
The energy source and power part is used to receive outreach part, foot in leg exercise part, ankle plantar flexion dorsiflex part, ankle
Support section, drive control part, handheld box provide electric power energy.
2. a kind of multiple degrees of freedom movable lower limb healing robot according to claim 1, which is characterized in that the robot
Base portion includes: pedestal base, base shell, moving handle, mobile pulley and pulley jack, in which: pedestal base
For the benchmark of entire healing robot, pedestal base is in rectangular parallelepiped structure, and one end of cuboid long side is fixedly connected with mobile
Hand, the other end connection mobile pulley and pulley jack of cuboid long side；Base shell is used for drive control part, moves
Movable pulley and pulley jack protect；Pulley jack is for triggering and storing mobile pulley, the pulley radio and tape player
Structure includes torsional spring, trigger mechanism and retaining mechanism, the mobile pulley that torsional spring and trigger mechanism are used to be accommodated in base shell
Pop-up, retaining mechanism are used to for the mobile pulley flicked being accommodated into base shell and self-locking.
3. a kind of multiple degrees of freedom movable lower limb healing robot according to claim 1, which is characterized in that the leg fortune
Dynamic part include: parts moving linearly, shank connecting component, toe raise component, thigh moving component, thigh stretching member and
Angular transducer component, in which:
The parts moving linearly is located in robot base part, for providing linear reciprocating motion；
The shank connecting component and thigh moving component form parallelogram motion structure, while shank connecting component carries
The shank of patient is simultaneously connected with parts moving linearly, for the linear motion of parts moving linearly to be converted into patient's hip joint
With kneed buckling and stretching routine；
The toe raise component is used to finely tune lower leg portion and patient's lower-leg length phase so that the entire healing robot
Matching；
The thigh of the thigh moving component carrying patient, thigh moving component and shank connecting component form parallelogram knot
Structure and joint shaft when guaranteeing knee sprung and the stretching, extension of a joint shaft and patient in parallelogram sturcutre is concentric；
The thigh stretching member is for finely tuning so that the entire leg portion of the healing robot and the thigh length of patient
Match；
The angular transducer component is used to detect angle when patient's knee sprung and stretching, extension, i.e. detection thigh moving component
With the angle on two sides that are coaxially connected with patient's knee joint joint shaft of the formed parallelogram of shank connecting component.
4. a kind of multiple degrees of freedom movable lower limb healing robot according to claim 3, which is characterized in that the straight line fortune
Dynamic component is linear motor or rotating electric machine drives screw structure or rotating electric machine to drive one of gear & rack structure.
5. a kind of multiple degrees of freedom movable lower limb healing robot according to claim 1, which is characterized in that the ankle plantar
Stoop the inner frame portion for including: partially plantar flexion dorsiflex rotating power source and connecting with the plantar flexion dorsiflex rotating power source
Part, in which:
The plantar flexion dorsiflex rotating power source is fixed on leg exercise part, and provides the rotation angle of inner frame member；
The inner frame member is driven by plantar flexion dorsiflex rotating power source to be rotated, and is carried and received outreach part and foot branch in ankle
Hold the movement of part.
6. a kind of multiple degrees of freedom movable lower limb healing robot according to claim 5, which is characterized in that the plantar flexion back
Bending rotating power source is rotating electric machine, and the rotating electric machine directly provides rotary motion or rotating electric machine matching RV slows down
Device, harmonic speed reducer, nova gear reduction unit, worm type of reduction gearing are to provide rotary power；
The stator of the rotating electric machine is mounted in the toe raise component ends in leg exercise part, the rotor of rotating electric machine
Inner frame member is connected, and inner frame member is driven to rotate, to realize the plantar flexion dorsiflex movement of ankle.
7. a kind of multiple degrees of freedom movable lower limb healing robot according to claim 5, which is characterized in that in the ankle
Receiving outreach part point includes: interior receipts outreach rotating power source and crank rocker component, in which:
The interior receipts outreach rotating power source is fixed on ankle plantar flexion dorsiflex part and provides rotation rotational motion；
The crank rocker component is connect with the foot support section, is matched with interior receipts outreach rotating power source, and being used for will
The interior rotary motion for receiving outreach rotating power source is converted to the reciprocating motion of set angle, to realize patient's ankle plantar flexion and dorsiflex
Movement.
8. a kind of multiple degrees of freedom movable lower limb healing robot according to claim 7, which is characterized in that outside the interior receipts
Exhibition rotating power source is rotating electric machine, and the rotating electric machine directly provides rotary motion or rotating electric machine matching RV slows down
Device, harmonic speed reducer, nova gear reduction unit, worm type of reduction gearing are to provide rotary power.
9. a kind of multiple degrees of freedom movable lower limb healing robot according to claim 1, which is characterized in that the foot branch
Holding part includes: foot portion frame, foot sizing adjustment component, foot binding component, forefoot pressure sensor and hind paw pressure
Force snesor, in which:
The foot portion frame is connect with receipts outreach part split-phase in ankle, is used to support foot binding component, foot sizing adjustment section
Part, forefoot pressure sensor and hind paw pressure sensor；
The foot sizing adjustment component is tabular, and the relative movement of component and foot portion frame is adjusted by adjusting foot sizing
Match to patients feet's size, and locks；
The foot binding component is used to mutually fix the foot of patient and foot sizing adjustment component；
The forefoot pressure sensor is located at the front of foot sizing adjustment component, for acquiring patient's forefoot to foot branch
Hold the pressure of part；
The hind paw pressure sensor is located at the rear portion of foot sizing adjustment component, supports for acquiring patient's heel foot
Partial pressure.
10. a kind of multiple degrees of freedom movable lower limb healing robot according to claim 9, which is characterized in that the front foot
It slaps pressure sensor and hind paw pressure sensor is the pressure sensor for including spring.
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| CN201811208352.0A CN109303669A (en) | 2018-10-17 | 2018-10-17 | A kind of multiple degrees of freedom movable lower limb healing robot |
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|---|---|---|---|
| CN201811208352.0A CN109303669A (en) | 2018-10-17 | 2018-10-17 | A kind of multiple degrees of freedom movable lower limb healing robot |
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| CN109303669A true CN109303669A (en) | 2019-02-05 |
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| CN201811208352.0A Pending CN109303669A (en) | 2018-10-17 | 2018-10-17 | A kind of multiple degrees of freedom movable lower limb healing robot |
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| CN110292505A (en) * | 2019-07-08 | 2019-10-01 | 江苏理工学院 | Lower limb rehabilitation training device and its control method |
| CN110368239A (en) * | 2019-07-19 | 2019-10-25 | 吉林大学 | A kind of knee joint penetrability damage wrapping auxiliary device |
| CN111529318A (en) * | 2020-06-11 | 2020-08-14 | 山东省肿瘤防治研究院（山东省肿瘤医院） | A adjunctie therapy appearance that is used for bed patient low limbs and ankle activity |
| CN111568692A (en) * | 2020-04-30 | 2020-08-25 | 宁波大学 | Multi-degree-of-freedom lower limb rehabilitation robot |
| CN112315735A (en) * | 2020-10-27 | 2021-02-05 | 宜昌市中心人民医院(三峡大学第一临床医学院、三峡大学附属中心人民医院) | Electronic multi-functional rehabilitation training frame of integration |
| CN113499221A (en) * | 2021-07-14 | 2021-10-15 | 合肥技加医疗科技有限公司 | Lower limb multidimensional rehabilitation training device |
| CN113648183A (en) * | 2021-08-19 | 2021-11-16 | 廊坊瑞立达智能机器有限公司 | Ankle joint rehabilitation training device |
| CN114129389A (en) * | 2021-12-03 | 2022-03-04 | 山西工程职业学院 | Knee joint osteoarthritis gait monitoring device and analysis method |
| CN114129395A (en) * | 2021-12-15 | 2022-03-04 | 上海念通智能科技有限公司 | Lower limb joint rehabilitation training device |
| CN114733145A (en) * | 2022-04-02 | 2022-07-12 | 深圳市人民医院 | Intelligent multifunctional lower limb rehabilitation training integrated machine |
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