CN110025454A - A kind of counter weight type lower limb rehabilitation robot - Google Patents
A kind of counter weight type lower limb rehabilitation robot Download PDFInfo
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- CN110025454A CN110025454A CN201910406304.0A CN201910406304A CN110025454A CN 110025454 A CN110025454 A CN 110025454A CN 201910406304 A CN201910406304 A CN 201910406304A CN 110025454 A CN110025454 A CN 110025454A
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- hip joint
- fixed
- joint
- motor
- retarder
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 20
- 210000004394 hip joint Anatomy 0.000 claims abstract description 119
- 210000000629 knee joint Anatomy 0.000 claims abstract description 75
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 32
- 210000000689 upper leg Anatomy 0.000 claims description 32
- 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 31
- 210000002414 leg Anatomy 0.000 claims description 16
- 230000003028 elevating effect Effects 0.000 claims description 13
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 210000001624 hip Anatomy 0.000 claims description 5
- 230000003447 ipsilateral effect Effects 0.000 claims description 4
- 238000005086 pumping Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims 1
- 238000012549 training Methods 0.000 abstract description 17
- 230000005484 gravity Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 210000003414 extremity Anatomy 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000035876 healing Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 2
- 210000003423 ankle Anatomy 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000004083 survival effect Effects 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
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
-
- 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
- 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
- A61H2001/0248—Hip by separating the legs laterally
-
- 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
- A61H2001/0251—Hip by moving the legs together laterally
-
- 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
Abstract
The invention discloses a kind of counter weight type lower limb rehabilitation robots, it is related to rehabilitation appliances technical field, hip joint module, knee joint module and ankle-joint module including being used to support fixed base module and autonomous working are respectively arranged to the hip joint counterweight connecting rod, hip joint counterweight spring and knee joint counterweight spring of balancing gravity in hip joint module and knee joint module.Hip joint module, knee joint module and ankle-joint module of the invention, can realize the rehabilitation training of hip joint, knee joint and ankle-joint respectively, conducive to the rehabilitation for pointedly realizing patient；Hip joint module and knee joint module have the function of gravitational equilibrium, can load caused by the self weight of balanced robot's connecting rod, reduce the torque request that motor is arranged, alleviate robot self weight and improve the load capacity of joint of robot.Structure is simple, compact layout, low in cost, easy to operate, easy to spread, has good practicability.
Description
Technical field
The present invention relates to rehabilitation appliances technical fields, and in particular to a kind of healing robot for lower limb rehabilitation.
Background technique
Cerebral apoplexy is the common disease and frequently-occurring disease of nervous system, and the death rate and disability rate are all very high.Medicine confirms, in brain
The patient of stroke survival, by positive rehabilitation, the overwhelming majority can restore walking and self care ability, part energy again
It is engaged in lighter work.Traditional rehabilitation procedure depends on the experience and hand operation technology of therapist, with patient's number
It steeply rises, medical resource is in more intense situation.In recent years, the healing robot field of rehabilitation is assisted also to have one
A little researchs.
Lower limbs rehabilitation training robot is one of recovery exercising robot, is generally divided into tail end traction type rehabilitation machine
People and exoskeleton rehabilitation robot.Currently, multiple degrees of freedom serial manipulator mostly use power biggish motor collocation retarder with
Driving joint of robot works that patient's Ipsilateral is driven to carry out rehabilitation training.But this kind of motor and retarder price height, quality weight
And size is big, causes entire robot at high cost, structure bulky, and human-computer interaction security is poor.
It is retrieved by the prior art, there are following known technical solutions:
The prior art 1:
Yu Zekun horizontal lower limb rehabilitation robot design and research [D] HeFei University of Technology, 2015.
The document has studied a kind of horizontal lower limb rehabilitation robot, though the requirement of rehabilitation training can be substantially met, its
The motor of adaptation needs biggish driving torque, and overall structure is heavy, cost is high.
The prior art 2:
Application number: CN201711011249, the applying date: 2017.10.26, authorized announcement date: 2018.02.16, the present invention
Disclose a kind of lower limb rehabilitation robot, it is characterised in that: including pedestal, hip joint, big leg mechanism, knee joint, small leg mechanism,
Ankle-joint, vola supporting element；The thigh slide bar of big leg mechanism is mounted on the axis one of hip joint by the key one of hip joint, axis one
Rotation drive the movement of big leg mechanism, kneed knee joint support is mounted on the thigh guide rail end of big leg mechanism, shank
The shank slide bar of mechanism is mounted on kneed axis two by kneed key two, and the rotation of axis two drives the fortune of small leg mechanism
Dynamic, vola supporting element is directly interference fitted on the axis three for being mounted on ankle-joint, and the 5th stepper motor of ankle-joint passes through actively small
Belt wheel, driven small pulley band moving axis three rotate, and the rotation of axis three drives the movement of vola supporting element.The present invention is auxiliary by mechanical structure
It helps the limbs of patient to move, the muscle of patient and joint is made to obtain taking exercise to be gradually recovered the normal work in joint and muscle
It is dynamic, and finally make Rehabilitation.The same motor driving moment demand of the invention is larger.
Through the above search, it has been found that above technical scheme does not influence novelty of the invention；And the above patent text
The intercombination of part is without destroying creativeness of the invention.
Summary of the invention
The present invention provides a kind of counter weight type lower limb health precisely in order to avoid above-mentioned existing deficiencies in the technology
Multiple robot.
The present invention adopts the following technical scheme that a kind of counter weight type lower limb rehabilitation robot in order to solve the technical problem, including with
In the fixed base module of support and hip joint module, knee joint module and the ankle-joint module of autonomous working, the base mold
Block includes pedestal, the cushion above the pedestal, the handrail in front of the cushion and is set to the cushion back upper place
Lying bed；
First motor bracket structure in a ring, is fixed on the pedestal, first motor is installed on the first motor branch
Inside frame, the first retarder is fixed on the first motor bracket, and input terminal is connect with the output end of the first motor；
Hip joint horizontal bracket is set to above first retarder, and front end and the output end of first retarder are connected and fixed,
Hip joint vertical rack is connected to hip joint horizontal bracket end straight up, can slide along the horizontal bracket level,
And it is fastened by bolts locking；Second electric machine support structure in a ring, be connected on the hip joint vertical rack, the second motor
Be installed on inside second electric machine support, the second retarder is fixed on second electric machine support, input terminal with it is described
The output end of the connection of second motor output end, hip joint small pulley and second retarder is connected；Hip joint bushing is fixed on
On the hip joint vertical rack, it is located above second electric machine support, hip joint connecting shaft is installed on institute by bearing bracket stand
State hip joint bush inside；Hip joint big belt wheel is located above the hip joint small pulley, by retainingf key thereon with it is described
The connection of hip joint one end of the connecting shaft, the hip joint small pulley and the hip joint big belt wheel pass through the synchronous band connection of hip joint；
The fixed of the hip joint connecting shaft other end and hip joint counterweight connecting rod is keyed, hip joint counterweight both ends of the spring respectively with institute
It states hip joint counterweight connecting rod and the hip joint horizontal bracket is connected and fixed, constitute the hip joint module, the hip joint is matched
Weight spring is in tensional state always；
The knee joint module and the hip joint connecting shaft are keyed by the fixed of the hip joint connecting shaft, described
Ankle-joint module is connect with the knee joint module.
Further, thigh pumping rod one end and the fixed of hip joint connecting shaft are keyed, and the other end and thigh are fixed and connected
Bar is slidably connected, and passes through the fastening locking of thigh bolt clip；Third electric machine support structure in a ring, is fixedly connected on the thigh
On fixed connecting rod, third motor is installed on inside the third electric machine support；Third retarder is fixed on the third motor branch
On frame, input terminal is connect with the output end of the third motor, the output end of knee joint small pulley and the third retarder
It is connected；Knee joint bushing is fixed on the fixed connecting rod of the thigh, and knee joint connecting shaft is installed on the knee by bearing bracket stand and closes
Bush inside is saved, knee joint big belt wheel is ipsilateral set on the fixed connecting rod of the thigh with the knee joint small pulley, passes through the knee
Joint synchronous band connection；The knee joint big belt wheel passes through the retainingf key being arranged thereon and connect with knee joint one end of the connecting shaft, institute
It states the knee joint connecting shaft other end and the fixed connecting rod of shank is connected, knee joint counterweight both ends of the spring is fixed with the thigh respectively to be connected
Bar front end and the fixed connecting rod top of the shank are connected and fixed, and constitute the knee joint module；The knee joint counterweight spring begins
It is in tensional state eventually.
Further, it is additionally provided with small leg support, the small leg support is in the ring structure equipped with opening, is fixed on described small
Leg fixes connecting rod end.
Further, shank pull connecting rod is connect with the fixed rod slide of the shank, and is fastened by shank bolt clip
Locking, the 4th electric machine support structure in a ring, is fixed on the shank pull connecting rod, the 4th retarder is installed on the described 4th
Inside electric machine support, the 4th motor is installed on outside the 4th electric machine support, the output end of the 4th motor and described the
The input terminal of four retarders connects；Ankle-joint flange and the 4th retarder are respectively arranged on the shank pull connecting rod two sides,
And connect with the output end of the 4th retarder, pedal is connected by pedal link block and the ankle-joint flange, constitutes institute
State ankle-joint module.
Further, the base module further includes good fortune horse wheel, the first corner brace, the first electric pushrod, the second corner brace, third
Corner brace, elevating lever, hose clamp, fixing pipe, the second electric pushrod, pusher bar support, plug and Armrest guide rail, the pedestal are installed on good fortune
On horse wheel, the first corner brace is fixed on the pedestal, is located at the lying bed lower back, and the second corner brace is fixedly arranged on the lying bed back
At the top of portion, the first electric pushrod both ends are rotatablely connected with first corner brace and second corner brace respectively；Third corner brace is fixed
In the lying bed back bottom, rod-shaped stretching structure one end is fixed on the pedestal, and the other end and the third corner brace rotate
Connection；
Pusher bar support is fixed on the pedestal, the second electric pushrod both ends respectively with the pusher bar support and the cushion
It is fixedly connected；Armrest guide rail is fixed on the Base edge, and the handrail is socketed on inside the Armrest guide rail by plug.
Further, the rod-shaped stretching structure includes the fixing pipe for being in hollow tubular structures, is socketed on the fixing pipe
Internal elevating lever and the hose clamp at the top of the fixing pipe, the hose clamp is for locking the fixing pipe and the elevating lever
Relative position；The elevating lever top and the third corner brace are rotatablely connected, and the fixing pipe bottom end and the pedestal are connected.
Further, the first motor, second motor, the third motor and the 4th electric machine built-in are used for
The encoder of robot measurement posture.
Further, first retarder, second retarder, the third retarder and the 4th retarder
It is harmonic speed reducer.
The present invention provides a kind of counter weight type lower limb rehabilitation robots, have the advantages that
1, it is equipped with hip joint module, knee joint module and ankle-joint module, can realize that hip joint, knee joint and ankle close respectively
The rehabilitation training of section, conducive to the rehabilitation for pointedly realizing patient；
2, hip joint module and knee joint module have the function of gravitational equilibrium, can balanced robot's connecting rod self weight produced by
Load, reduce the torque request that motor is arranged, alleviate robot self weight and improve the load capacity of joint of robot；
3, structure is simple, compact layout, low in cost, easy to operate, easy to spread, has good practicability.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is the structural schematic diagram of base module of the present invention；
Fig. 3 is the structural schematic diagram of hip joint module of the present invention；
Fig. 4 is the structural schematic diagram of knee joint module of the present invention；
Fig. 5 is the structural schematic diagram of ankle-joint module of the present invention.
In figure:
100, base module, 101, good fortune horse wheel, the 102, first corner brace, the 103, first electric pushrod, the 104, second corner brace,
105, lying bed, 106, third corner brace, 107, elevating lever, 108, hose clamp, 109, fixing pipe, 110, cushion, 111, second electronic pushes away
Bar, 112, pusher bar support, 113, handrail, 114, plug, 115, Armrest guide rail, 116, pedestal；200, hip joint module, 201,
One motor, 202, first motor bracket, the 203, first retarder, 204, hip joint horizontal bracket, 205, hip joint vertical rack,
206, the second motor, the 207, second electric machine support, the 208, second retarder, 209, hip joint small pulley, 210, hip joint synchronization
Band, 211, hip joint big belt wheel, 212, hip joint bushing, 213, hip joint counterweight connecting rod, 214, hip joint connecting shaft, 215, hip
Joint counterweight spring；300, knee joint module, 301, thigh pull connecting rod, 302, the fixed connecting rod of thigh, 303, thigh bolt clip,
304, knee joint counterweight spring, 305, third motor, 306, third electric machine support, 307, third retarder, 308, knee joint it is small
Belt wheel, 309, knee joint synchronous belt, 310, knee joint big belt wheel, 311, knee joint bushing, 312, knee joint connecting shaft, 313, small
Leg fixes connecting rod, 314, shank bolt clip, 315, small leg support, 316, thigh support frame；400, ankle-joint module, 401, shank pumping
Drawing connecting rod, the 402, the 4th motor, the 403, the 4th retarder, 404, ankle-joint flange, 405, pedal link block, 406, pedal,
407, the 4th electric machine support.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention,
Technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is the present invention one
Divide embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not making
Every other embodiment obtained, shall fall within the protection scope of the present invention under the premise of creative work.
As shown in fig. 1~fig. 5, structural relation are as follows: including being used to support fixed base module 100 and autonomous working
Hip joint module 200, knee joint module 300 and ankle-joint module 400, base module 100 include pedestal 116, are set to pedestal 116
The cushion 110 of top, the lying bed 105 set on the handrail 113 in 110 front of cushion and set on 110 back upper place of cushion；
The structure in a ring of first motor bracket 202, is fixed on pedestal 116, first motor 201 is installed on first motor branch
Inside frame 202, the first retarder 203 is fixed on first motor bracket 202, the output end of input terminal and first motor 201
Connection；Hip joint horizontal bracket 204 is set to 203 top of the first retarder, and front end is connect with the output end of the first retarder 203
Fixed, hip joint vertical rack 205 is connected to 204 end of hip joint horizontal bracket straight up, can be horizontal along horizontal bracket 204
Sliding, and it is fastened by bolts locking；Second electric machine support 207 structure in a ring, be connected on hip joint vertical rack 205,
Second motor 206 is installed on inside the second electric machine support 207, and the second retarder 208 is fixed on the second electric machine support 207,
Input terminal is connect with 206 output end of the second motor, and the output end of hip joint small pulley 209 and the second retarder 208 is connected；Hip closes
Section bushing 212 is fixed on hip joint vertical rack 205, is located at 207 top of the second electric machine support, and hip joint connecting shaft 214 is logical
Bearing bracket stand is crossed to be installed on inside hip joint bushing 212；Hip joint big belt wheel 211 is located at 209 top of hip joint small pulley, passes through it
On retainingf key connect with 214 one end of hip joint connecting shaft, hip joint small pulley 209 and hip joint big belt wheel 211 pass through hip and close
Synchronous belt 210 is saved to connect；214 other end of hip joint connecting shaft and the fixed of hip joint counterweight connecting rod 213 are keyed, and hip joint is matched
215 both ends of weight spring are connected and fixed with hip joint counterweight connecting rod 213 and hip joint horizontal bracket 204 respectively, constitute hip joint mould
Block 200, hip joint counterweight spring 215 are in tensional state always；
Knee joint module 300 and hip joint connecting shaft 214 are keyed by the fixed of hip joint connecting shaft 214, ankle-joint
Module 400 is connect with knee joint module 300.
Preferably, 301 one end of thigh pumping rod and the fixed of hip joint connecting shaft 214 are keyed, and the other end and thigh are solid
Determine connecting rod 302 to be slidably connected, and passes through the fastening locking of thigh bolt clip 303；The structure in a ring of third electric machine support 306, it is fixed
It is connected on the fixed connecting rod 302 of thigh, third motor 305 is installed on inside third electric machine support 306；Third retarder 307 is solid
Due on third electric machine support 306, input terminal is connect with the output end of third motor 305, knee joint small pulley 308 and third
The output end of retarder 307 is connected；Knee joint bushing 311 is fixed on the fixed connecting rod 302 of thigh, and knee joint connecting shaft 312 is logical
It crosses bearing bracket stand to be installed on inside knee joint bushing 311, knee joint big belt wheel 310 is fixed with knee joint small pulley 308 set on thigh
Connecting rod 302 is ipsilateral, is connected by knee joint synchronous belt 309；Knee joint big belt wheel 310 passes through the retainingf key being arranged thereon and knee closes
The connection of 312 one end of connecting shaft is saved, 312 other end of knee joint connecting shaft and the fixed connecting rod 313 of shank are connected, knee joint counterweight spring
304 both ends are connected and fixed with fixed 302 front end of connecting rod of thigh and fixed 313 top of connecting rod of shank respectively, constitute knee joint module
300；Knee joint counterweight spring 304 is in tensional state always.
Preferably, it is additionally provided with small leg support 315, small leg support 315 is in the ring structure equipped with opening, and it is solid to be fixed on shank
Determine 313 end of connecting rod.
Preferably, shank pull connecting rod 401 is slidably connected with the fixed connecting rod 313 of shank, and tight by shank bolt clip 314
Solid lock is tight, and the 4th electric machine support 407 structure in a ring is fixed on shank pull connecting rod 401, the 4th retarder 403 is installed on
Inside 4th electric machine support 407, the 4th motor 402 is installed on outside the 4th electric machine support 407, the output end of the 4th motor 402
It is connect with the input terminal of the 4th retarder 403；Ankle-joint flange 404 and the 4th retarder 403 are respectively arranged on shank pull connecting rod
401 two sides, and connect with the output end of the 4th retarder 403, pedal 406 passes through pedal link block 405 and ankle-joint flange 404
It is connected, constitutes ankle-joint module 400.
Preferably, base module 100 further includes good fortune horse wheel the 101, first corner brace 102,103, second jiaos of the first electric pushrod
Code 104, elevating lever 107, hose clamp 108, fixing pipe 109, the second electric pushrod 111, pusher bar support 112, pulls out at third corner brace 106
114 and Armrest guide rail 116 are inserted, pedestal 116 is installed on good fortune horse wheel 101, and the first corner brace 102 is fixed on pedestal 116, positioned at lying
105 lower backs of bed, the second corner brace 104 are fixedly arranged at the top of 105 back of lying bed, and 103 both ends of the first electric pushrod are respectively with first
Corner brace 102 and the rotation connection of the second corner brace 105；Third corner brace 106 is fixedly arranged on 105 back bottom of lying bed, rod-shaped stretching structure one
End is fixed on pedestal 116, and the other end and third corner brace 106 are rotatablely connected；
Pusher bar support 112 is fixed on pedestal 116,111 both ends of the second electric pushrod respectively with pusher bar support 112 and cushion
110 are fixedly connected；Armrest guide rail 115 is fixed on 116 edge of pedestal, and handrail 113 is socketed on Armrest guide rail 115 by plug 114
It is internal.
Preferably, rod-shaped stretching structure includes the fixing pipe 109 for being in hollow tubular structures, is socketed on inside fixing pipe 109
Elevating lever 107 and hose clamp 108 set on the top of fixing pipe 109, hose clamp 108 be used to lock fixing pipe 109 and elevating lever 107
Relative position；107 top of elevating lever and third corner brace 106 are rotatablely connected, and 109 bottom end of fixing pipe and pedestal 116 are connected.
Preferably, first motor 201, the second motor 206, third motor 305 and the 4th motor 402 are built-in for measuring machine
The encoder of device people's posture.
Preferably, the first retarder 203, the second retarder 208, third retarder 307 and the 4th retarder 403 are humorous
Wave retarder.
The hip joint counterweight connecting rod 213 has certain mass, hip joint counterweight spring 215 and knee joint counterweight spring
304 are in tensional state, and 213 mass of hip joint counterweight connecting rod and hip joint counterweight spring 215 and knee joint counterweight always
The quantity of spring 304 is depending on knee joint module 300, ankle-joint module 400 and patient body weight.
When specifically used, lower limb rehabilitation robot can realize the rehabilitation training of hip joint, knee joint and ankle-joint respectively, also
The collaboration rehabilitation training in any two joint or three joints may be implemented.
Before use, should be according to patient size and practical rehabilitation needs, adjusting elevating lever 107 is relatively high with fixing pipe 109
The relative altitude of length, Armrest guide rail 115 and handrail 113 that degree, the first electric pushrod 103 and the second electric pushrod 111 stretch out,
The fixed connecting rod 302 of hip joint vertical rack 205 and 204 relative position of hip joint horizontal bracket, thigh pull connecting rod 301 and thigh
Relative position and shank fixed connecting rod 313 and shank pull connecting rod 401 relative position.Thigh is placed in thigh branch by patient
On frame 316, shank covers in small leg support 315.
1) when independent progress hip joint healing training, hip abduction or hip joint pitching training can be carried out respectively, it can also
Carry out the coorinated training of two movements.
When hip abduction training, start first motor 201, the power that first motor 201 exports is through the first retarder 203
After deceleration, driving hip joint horizontal bracket 204 is rotated, and then suffering limb hip joint is driven to do arms sideward lift；
When hip joint pitching training, start the second motor 206, the power of the second motor 206 output is through the second retarder 208
After deceleration, driving hip joint small pulley 209 is rotated, then is driven hip joint big belt wheel 211 through hip joint synchronous belt 210 and consolidated with it
Hip joint connecting shaft 214 even rotates, and then thigh pull connecting rod 301 is driven to rotate, and suffering limb hip joint is driven to do pitching motion.
When coorinated training, first motor 201 and the second motor 206 should be driven simultaneously.
2) independent when carrying out knee-joint rehabilitation training, start third motor 305, the power that third motor 305 exports is through the
After three retarders 307 slow down, knee joint connecting shaft 312 and the fixed connecting rod 313 of shank connected to it is driven to rotate, and then drive
Suffering limb motion of knee joint.
3) when ankle joint rehabilitation training, start the 4th motor 402, the power of the 4th motor output is through the 4th retarder 403
After deceleration, ankle-joint flange 404 and driving pedal connected to it 406 is driven to rotate, and then drive suffering limb ankle motion.
Hip joint, knee joint and ankle-joint wherein both any or three's coorinated training when, should accordingly start first motor
201, two to three or three to four in the second motor 206, third motor 305 and the 4th motor 402, to realize collaboration rehabilitation
Training.
Hip joint module 200, knee joint module 300 and ankle-joint module 400 that the present invention is arranged with right side for example,
When patient's suffering limb be left limb when, by hip joint module 200 of the invention, knee joint module 300 and ankle-joint module 400 into
Row mirror settings.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each implementation
Technical solution documented by example is modified or equivalent replacement of some of the technical features；And these modification or
Replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (8)
1. a kind of counter weight type lower limb rehabilitation robot, including the hip for being used to support fixed base module (100) and working independently
Joint module (200), knee joint module (300) and ankle-joint module (400), it is characterised in that: base module (100) packet
Include pedestal (116), the cushion (110) being set to above the pedestal (116), the handrail (113) being set in front of the cushion (110)
With the lying bed (105) for being set to the cushion (110) back upper place；
First motor bracket (202) structure in a ring, is fixed on the pedestal (116), and first motor (201) is installed on described
First motor bracket (202) is internal, and the first retarder (203) is fixed on the first motor bracket (202), input terminal with
The output end of the first motor (201) connects；Hip joint horizontal bracket (204) is set to above first retarder (203),
Its front end and the output end of first retarder (203) are connected and fixed, and hip joint vertical rack (205) is connected to straight up
Hip joint horizontal bracket (204) end, can be along the horizontal sliding of the horizontal bracket (204), and is fastened by bolts locking；
Second electric machine support (207) structure in a ring, be connected on the hip joint vertical rack (205), the second motor (206) installation
Internal in second electric machine support (207), the second retarder (208) is fixed on second electric machine support (207), defeated
Enter end to connect with the second motor (206) output end, hip joint small pulley (209) is defeated with second retarder (208)
Outlet is connected；Hip joint bushing (212) is fixed on the hip joint vertical rack (205), is located at second electric machine support
(207) top, hip joint connecting shaft (214) are installed on hip joint bushing (212) inside by bearing bracket stand；The big band of hip joint
It takes turns (211) to be located above the hip joint small pulley (209), passes through retainingf key thereon and the hip joint connecting shaft (214)
One end connection, the hip joint small pulley (209) and the hip joint big belt wheel (211) are connected by hip joint synchronous belt (210)
It connects；Hip joint connecting shaft (214) other end and the fixed of hip joint counterweight connecting rod (213) are keyed, hip joint counterweight bullet
Spring (215) both ends are connected and fixed with the hip joint counterweight connecting rod (213) and the hip joint horizontal bracket (204) respectively, structure
At the hip joint module (200), the hip joint counterweight spring (215) is in tensional state always；
The fixation that the knee joint module (300) and the hip joint connecting shaft (214) pass through the hip joint connecting shaft (214)
Key connection, the ankle-joint module (400) connect with the knee joint module (300).
2. a kind of counter weight type lower limb rehabilitation robot according to claim 1, it is characterised in that: thigh pumping rod (301)
One end and the fixed of hip joint connecting shaft (214) are keyed, and the other end is slidably connected with thigh fixed connecting rod (302), and passes through
Thigh bolt clip (303) fastening locking；Third electric machine support (306) structure in a ring, is fixedly connected on that the thigh is fixed to be connected
On bar (302), it is internal that third motor (305) is installed on the third electric machine support (306)；Third retarder (307) is fixed on
On the third electric machine support (306), input terminal is connect with the output end of the third motor (305), knee joint small pulley
(308) it is connected with the output end of the third retarder (307)；Knee joint bushing (311) is fixed on the fixed connecting rod of the thigh
(302) on, knee joint connecting shaft (312) is installed on knee joint bushing (311) inside, knee joint big belt wheel by bearing bracket stand
(310) it is ipsilateral that the thigh fixed connecting rod (302) is set to the knee joint small pulley (308), it is synchronous by the knee joint
Band (309) connects；The knee joint big belt wheel (310) passes through the retainingf key being arranged thereon and knee joint connecting shaft (312) one end
Connection, knee joint connecting shaft (312) other end and shank fixed connecting rod (313) are connected, knee joint counterweight spring (304) two
End is connected and fixed with fixed connecting rod (302) front end of the thigh and fixed connecting rod (313) top of the shank respectively, described in composition
Knee joint module (300)；The knee joint counterweight spring (304) is in tensional state always.
3. a kind of counter weight type lower limb rehabilitation robot according to claim 2, it is characterised in that: be additionally provided with small leg support
(315), the small leg support (315) is in the ring structure equipped with opening, is fixed on fixed connecting rod (313) end of the shank.
4. a kind of counter weight type lower limb rehabilitation robot according to claim 2, it is characterised in that: shank pull connecting rod
(401) it is slidably connected with the shank fixed connecting rod (313), and passes through shank bolt clip (314) fastening locking, the 4th motor branch
Frame (407) structure in a ring, is fixed on the shank pull connecting rod (401), the 4th retarder (403) is installed on the described 4th
Electric machine support (407) is internal, and the 4th motor (402) is installed on the 4th electric machine support (407) outside, the 4th motor
(402) output end is connect with the input terminal of the 4th retarder (403)；Ankle-joint flange (404) and the described 4th slows down
Device (403) is respectively arranged on shank pull connecting rod (401) two sides, and connect with the output end of the 4th retarder (403),
Pedal (406) is connected by pedal link block (405) and the ankle-joint flange (404), constitutes the ankle-joint module
(400)。
5. a kind of counter weight type lower limb rehabilitation robot according to any one of claims 1 to 4, it is characterised in that: described
Base module (100) further include good fortune horse wheel (101), the first corner brace (102), the first electric pushrod (103), the second corner brace (104),
Third corner brace (106), elevating lever (107), hose clamp (108), fixing pipe (109), the second electric pushrod (111), pusher bar support
(112), plug (114) and Armrest guide rail (116), the pedestal (116) are installed on good fortune horse wheel (101), the first corner brace (102)
It is fixed on the pedestal (116), is located at the lying bed (105) lower back, the second corner brace (104) is fixedly arranged on the lying bed
(105) at the top of back, the first electric pushrod (103) both ends respectively with first corner brace (102) and second corner brace (105)
Rotation connection；Third corner brace (106) is fixedly arranged on the lying bed (105) back bottom, and rod-shaped stretching structure one end is fixed on described
On pedestal (116), the other end and the third corner brace (106) are rotatablely connected；
Pusher bar support (112) is fixed on the pedestal (116), the second electric pushrod (111) both ends respectively with the push rod branch
Frame (112) is fixedly connected with the cushion (110)；Armrest guide rail (115) is fixed on the pedestal (116) edge, the handrail
(113) Armrest guide rail (115) inside is socketed on by plug (114).
6. a kind of counter weight type lower limb rehabilitation robot according to claim 5, it is characterised in that: the rod-shaped stretching structure
Including being in the fixing pipe (109) of hollow tubular structures, the elevating lever (107) being socketed on inside the fixing pipe (109) and being set to
Hose clamp (108) at the top of the fixing pipe (109), the hose clamp (108) is for locking the fixing pipe (109) and the lifting
The relative position of bar (107)；Elevating lever (107) top and the third corner brace (106) are rotatablely connected, the fixing pipe
(109) bottom end and the pedestal (116) are connected.
7. a kind of counter weight type lower limb rehabilitation robot according to claim 5, it is characterised in that: the first motor
(201), second motor (206), the third motor (305) and the 4th motor (402) are built-in for measuring machine
The encoder of people's posture.
8. a kind of counter weight type lower limb rehabilitation robot according to claim 5, it is characterised in that: first retarder
(203), second retarder (208), the third retarder (307) and the 4th retarder (403) are that harmonic wave subtracts
Fast device.
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| CN201910406304.0A CN110025454B (en) | 2019-05-16 | 2019-05-16 | Counter weight type lower limb rehabilitation robot |
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| CN201910406304.0A CN110025454B (en) | 2019-05-16 | 2019-05-16 | Counter weight type lower limb rehabilitation robot |
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| CN110025454B CN110025454B (en) | 2024-02-13 |
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