CN110192964B

CN110192964B - Foot movement device of pedal type gait rehabilitation robot

Info

Publication number: CN110192964B
Application number: CN201910585189.8A
Authority: CN
Inventors: 张书涛; 邹佳航; 巩利强; 李师; 闻梦成
Original assignee: Henan University of Science and Technology
Current assignee: Henan University of Science and Technology
Priority date: 2019-07-01
Filing date: 2019-07-01
Publication date: 2021-10-01
Anticipated expiration: 2039-07-01
Also published as: CN110192964A

Abstract

Aiming at the defects of the existing foot-driven gait rehabilitation robot, the invention provides a foot motion device of a pedal type gait rehabilitation robot, which comprises a base, a transverse guide rail, two groups of pedal motion mechanisms which are bilaterally symmetrical, a step width adjusting connecting rod and a step width adjusting screw rod. The invention adopts a parallel driving mode, has simple structure and strong load capacity, can work in a zero weight-loss state, has exquisite structure and multiple degrees of freedom compared with the prior pedal type lower limb rehabilitation robot, can simultaneously work in a coordinated way, can randomly adjust the step width, the dorsiflexion-plantarflexion motion angle and the upper and lower heights of the feet according to the condition of a patient, and can control the motion of a servo motor according to the condition of the patient so as to generate any gait motion trail required by rehabilitation; can be suitable for patients with different rehabilitation processes and different weight loss schemes to carry out rehabilitation training. The pedal robot is wide in applicable crowd and is superior to the existing pedal robot with a fixed track.

Description

Foot movement device of pedal type gait rehabilitation robot

Technical Field

The invention belongs to the technical field of medical rehabilitation instruments, and particularly relates to a foot movement device of a pedal type gait rehabilitation robot.

Background

With the accelerating aging process of the population in China, the number of patients with nervous system diseases such as cerebral apoplexy, spinal cord injury, Parkinson's disease and the like is continuously increased. In addition, due to the popularization of automobiles, the number of people suffering from nerve damage or limb damage caused by the increase of traffic accidents, the increase of sports injuries and other factors causing injuries and disabilities is increasing, so that the number of patients suffering from gait abnormalities caused by various reasons in China is extremely large, and the patients are urgently required to be effectively treated. In addition to surgery or medical treatment, reasonable rehabilitation training is also required to help patients restore ambulatory function. The traditional artificial walking rehabilitation training has many problems, such as: the labor intensity of therapists is high; the effect of the training is too dependent on the experience and level of the therapist; it is difficult to ensure that the patient obtains sufficient training intensity and training period, etc. The gait rehabilitation robot overcomes the defects of the traditional artificial rehabilitation training and is an effective means for carrying out gait rehabilitation training on abnormal gait patients caused by motor nervous system diseases. The gait rehabilitation robot mainly has two mechanism forms of a leg driving type and a foot driving type. The leg driving type gait rehabilitation robot usually adopts an exoskeleton form, and has the limitation that the degree of freedom of mechanical joints is less than that of actual human joints, and joint motion in normal gait cannot be accurately reproduced. The foot-driven gait rehabilitation training robot drives the feet of a patient to move through a motion pedal, and then the big leg and the small leg of the patient move. However, in the conventional foot-driven lower limb rehabilitation robot, a fixed mechanism is usually adopted to realize an ellipse-like motion trajectory, and the foot motion trajectory cannot be flexibly adjusted according to the physical needs of a patient, so that the flexibility is insufficient, and an ideal rehabilitation effect is difficult to achieve.

Through the search of the existing patent documents, Chinese patent No. 201110103102.2 discloses a gait rehabilitation training robot, which uses a small chain wheel, a large chain wheel and a double-row plate type chain to form a plate type chain circulation operation mechanism to fit the closed curve track of the walking of the lower limbs of the human body. Chinese patent No. 201511033068.0 discloses a stepping device and a gait rehabilitation training robot having the same, which realizes sliding and lifting movements of pedals by driving the other end of a push-pull rod to slide on a slide plate in a reciprocating manner by rotation of a motor wheel. Chinese patent No. 201210277695.9 discloses a device for driving a person to perform gait training by binding a foot and a calf, which is synthesized by a crank rocker mechanism and a link mechanism to form a trajectory with an upper part being a part of an arc and a lower part being an approximate straight line. The foot trajectory generated by these foot-driven gait rehabilitation robots is too simple, has a large difference from the normal human gait, and cannot be adjusted according to the condition and the rehabilitation progress of the trainers.

Disclosure of Invention

Aiming at the defects of the conventional gait rehabilitation robot driven by feet, the invention provides a foot motion device of a pedal type gait rehabilitation robot, which can control the motion of a servo motor according to the condition of a patient so as to generate any gait motion trail required by rehabilitation. Meanwhile, the foot movement device provided by the invention adopts a parallel driving mode, has a simple structure and strong load capacity, can work in a zero weight reduction state, and can adapt to patients with different rehabilitation processes and different weight reduction schemes for rehabilitation training. In addition, the invention can realize the active training mode of the patient by adopting the servo drive.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows: the utility model provides a recovered robot foot telecontrol equipment of footboard formula gait, including base and symmetry setting in base top left side, two sets of pedal mechanism of right side both sides, base and two sets of pedal mechanism are through setting up many transverse guide sliding connection at the base top, set up perpendicularly between transverse guide and pedal mechanism, the front end of two sets of pedal mechanism links to each other through step width adjusting screw, still be provided with step width adjusting connecting rod between two sets of pedal mechanism, step width adjusting connecting rod's both ends are articulated with the bottom of two sets of pedal mechanism respectively, step width adjusting connecting rod's intermediate position department is articulated through the top of round pin axle with the base, make two sets of pedal motion mechanisms do opposite directions or back-to-back motion through rotatory step width adjusting screw, thereby adjust the distance between two sets of pedal mechanism.

Furthermore, the pedal mechanism comprises a large sliding seat, a first longitudinal guide rail, a sliding plate, a synchronous belt wheel, a synchronous belt, a first hinged support, a second hinged support, a third hinged support, a first connecting rod and a second connecting rod, the front end and the rear end of the large sliding seat are respectively provided with the synchronous belt wheel, the outer sides of the two synchronous belt wheels are jointly wound with the synchronous belt, the first servo motor is connected with one of the synchronous belt wheels through the first servo reducer, the first longitudinal guide rail is arranged at the top of the large sliding seat, the sliding plate is arranged on the first longitudinal guide rail in a sliding manner, the bottom of the sliding plate is fixedly connected with the upper edge of the synchronous belt, and the sliding plate can slide along the first longitudinal guide rail under the driving of the synchronous belt;

the first hinged support, the second hinged support, the third hinged support, the second servo motor lead screw and the third servo motor lead screw are all arranged at the top of the sliding plate, wherein the second servo motor, the third servo motor and the second hinged support are all fixedly arranged at the top of the sliding plate, the second servo motor and the third servo motor are symmetrically arranged at two sides of the second hinged support, and the first hinged support and the third hinged support are respectively arranged on the second servo motor lead screw and the third servo motor lead screw; the first hinged support, the second hinged support and the third hinged support are hinged to one end of a first connecting rod, one end of a second connecting rod and one end of a third connecting rod respectively, the other ends of the first connecting rod, the second connecting rod and the third connecting rod are hinged to the bottom end of the pedal, and the first connecting rod and the second connecting rod are coaxial with a hinged point of the pedal.

Furthermore, the top of slide is provided with the free bearing guide rail, and first free bearing and third free bearing all slide to set up on the free bearing guide rail.

Compared with the prior art, the invention has the beneficial effects that: 1. the requirements of different crowds on personalized rehabilitation training are met, and a rehabilitation physical therapist can preset a relatively accurate motion track, so that the rehabilitation curative effect of a patient is greatly improved; 2. the design can carry out special simulated rehabilitation training according to the freedom degrees of motion of six joints of the lower limb of the human body; 3. the servo motor is adopted, so that the speed and the output torque in the rehabilitation process can be relatively accurately controlled; 4. through the exquisite design, the complex movement is realized by a simple mechanism, and the difficulty in manufacturing the system is reduced; 5. the design adopts a large number of standard parts, so that the manufacture and later-period maintenance are convenient, and the product stability is high; 6. the product volume is relatively compact, and does not occupy a large amount of space.

Drawings

Fig. 1 is a schematic overall structure diagram of a foot motion device of a pedal type gait rehabilitation robot;

FIG. 2 is a side view of FIG. 1;

FIG. 3 is a schematic view of the structure of FIG. 1 at another angle;

the labels in the figure are: 1. a slide plate; 2. a second hinge base; 3. a first hinge base; 4. a base; 5. a first servo motor; 6. A large slide base; 7. a step width adjusting screw rod; 8. A synchronous belt; 9. a first servo reducer; 10. a synchronous pulley; 11. a second servo motor; 12. a second servo reducer; 13. a second servo motor lead screw; 14. a first link; 15. a second link; 16. a pedal; 17. a third link; 18. a third free bearing; 19. a third servo motor lead screw; 20. a third servo deceleration; 21. a third servo motor; 22. A free-standing guide rail; 23. a first longitudinal rail; 24. a transverse guide rail; 25. the step width adjusting connecting rod.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments, and all other embodiments obtained by a person skilled in the art without any creative work based on the embodiments of the present invention belong to the protection scope of the present invention.

A foot motion device of a pedal type gait rehabilitation robot is shown in figures 1 to 3, and comprises a base 4, a transverse guide rail 24, two groups of pedal motion mechanisms which are bilaterally symmetrical, a step width adjusting connecting rod 25 and a step width adjusting screw rod 7, wherein the right foot pedal motion mechanism and the left foot pedal motion mechanism are identical in structure and are mutually symmetrical.

As shown in fig. 1, taking a right foot pedal movement mechanism as an example, the pedal movement mechanism includes a large slide carriage 6, a first longitudinal guide rail 23, a hinged support guide rail 22, a sliding plate 1, a synchronous pulley 10, a synchronous belt 8, a first hinged support 3, a second hinged support 2, a third hinged support 18, a first connecting rod 14, a second connecting rod 15, a third connecting rod 17, a pedal 16, a second servo motor lead screw 13, a third servo motor lead screw 19, a first servo motor 5, a second servo motor 11, a third servo motor 21, a first servo reducer 9, a second servo reducer 12 and a third servo reducer 20, wherein the large slide carriage 6 is disposed on a transverse guide rail 24 of a base 4 and can move transversely along the guide rail. Synchronous belt wheels 10 are installed at the front end and the rear end of the large sliding seat 6, synchronous belts 8 are installed on the synchronous belt wheels 10, and the first servo motor 5 transmits motion to the synchronous belt wheels 10 at the front end through a first servo reducer 9 to drive the synchronous belts 8 to rotate. The first longitudinal guide rail 23 is fixed on the large slide carriage 6, the slide plate 1 is installed on the first longitudinal guide rail, the upper edges of the slide plate 1 and the synchronous belt 8 are fixedly connected, and the slide plate 1 can slide along the longitudinal guide rail under the driving of the synchronous belt 8.

As shown in fig. 2, a second motor base, a third motor base, a first hinge base 3, a second hinge base 2, a third hinge base 18 and a hinge base guide rail 22 are installed at the top of the sliding plate 1, wherein the first hinge base 3 and the third hinge base 18 are arranged on the hinge base guide rail 22 of the sliding plate, and the second hinge base 2 is fixed on the sliding plate 1. The first hinged support 3, the second hinged support 2 and the third hinged support 18 are respectively hinged with one end of a first connecting rod 14, a second connecting rod 15 and a third connecting rod 17, the other end of the first connecting rod 14, the second connecting rod 15 and the third connecting rod 17 is hinged with the pedal 16, and the hinged points of the first connecting rod 14, the second connecting rod 15 and the pedal 16 are coaxial.

As shown in fig. 2, the first connecting rod 14 and the second connecting rod 15 form an isosceles triangle structure with the upper end surfaces of the first hinge base 3, the second hinge base 2 and the sliding plate 1 through coaxial hinge points. The second connecting rod 15, the third connecting rod 17 and the pedal 16 form a first quadrilateral structure through two hinge points and a third hinge seat 18 of the second hinge seat 2. The first link 14, the third link 17, the slide 1 and the pedal 16 form a second quadrilateral configuration. When the pedal surface is parallel to the slide plate surface, the first quadrilateral structure is a parallelogram, and the second quadrilateral structure is an isosceles trapezoid.

As shown in fig. 2, a second servo motor 11 and a third servo motor 21 are respectively mounted on the second motor base and the third motor base, and a second servo motor lead screw 13 and a third servo motor lead screw 19 are respectively mounted on the reducer transmission shafts of the second servo motor 11 and the third servo motor 21. The inner hole threads of the first hinged support and the third hinged support are respectively matched with a second servo motor lead screw 13 and a third servo motor lead screw 19. The second servo motor 11 and the third servo motor 21 transmit the motion to the servo motor screw rod at the front end thereof through respective servo reducers, the rotation of the screw rod drives the first hinged support 3 and the third hinged support 18 to move along the hinged support guide rail 22 respectively, so as to drive one end of the first connecting rod 14 and one end of the third connecting rod 17 to move respectively, and the up-down and dorsiflexion-plantarflexion motions of the pedal are realized through the combination of the mechanisms.

As shown in fig. 3, big slide 6 is under the restraint of step width adjusting link 25, through rotatory step width accommodate the lead screw 7, two sets of pedal motion can be close to or keep away from in step, thereby adjust the step width that distance between the footboard adapts to different size trainers, here, both ends screw thread symmetry about step width accommodate the lead screw 7, and all set up the same lead screw nut in two sets of pedal motion, thereby realize that two sets of pedal motion do in step and move in opposite directions or back to back, thereby adjust the distance between two sets of pedal motion.

The foot motion which can be realized by the foot motion device of the pedal type lower limb rehabilitation robot provided by the invention can be decomposed into the motion in three directions: anterior-posterior motion, superior-inferior motion, and dorsiflexion-plantarflexion motion, wherein the anterior-posterior motion is independent motion and the superior-inferior motion is coupled to the dorsiflexion-plantarflexion motion. The implementation of these three movements is described below:

1 fore-and-aft movement of the foot:

the first servo motor 5 transfers the motion to the synchronous belt wheel 10 at the front end through the first servo reducer 9 to drive the synchronous 8 belt to rotate, and the sliding plate 1 can slide along the first longitudinal guide rail 23 under the drive of the synchronous belt 8, so that the foot is driven to move back and forth.

2, up-and-down movement of feet:

the second servo motor 11 transmits power to a second servo motor lead screw 13 at the front end through a second servo reducer 12, and then drives the first hinged support 3 to move along a hinged support guide rail 22 on the sliding plate 1, so that the distance between the first hinged support 3 and the second hinged support 2 is changed, the height of the pedal is changed under the action of the first connecting rod 14 and the second connecting rod 15, and the up-and-down movement of the foot is realized. It should be noted that the up-down motion of the foot is coupled with the dorsiflexion-plantar flexion motion, i.e., the up-down motion causes the pedal angle to change, so that the control system is required to perform coordinated control.

The third servo motor 21 and the third servo reducer 20 respectively transmit power to a third servo motor lead screw at the front end, so as to drive the first hinged support 3 and the third hinged support 18 to move along a hinged support guide rail 22 on the sliding plate 1, when the moving directions of the first hinged support 3 and the third hinged support 18 are opposite, the lower ends of the first connecting rod 14 and the third connecting rod 17 are driven to move oppositely, and the included angle between the first connecting rod 14 and the third connecting rod 17 and the sliding plate surface is changed, so that the height of the pedal is changed, and the up-and-down movement of the foot is realized;

3 dorsiflexion-plantarflexion movement

When the first hinge base 3 is at rest, the third servo motor 21 transmits power to the screw rod 19 through the third servo reducer 20, so as to drive the third hinge base 18 to move along the hinge base guide rail 22 on the sliding plate 1, and drive the pedal 16 to swing through the third connecting rod 17, thereby realizing dorsiflexion-plantarflexion movement of the foot.

The present invention is not limited to the above specific embodiments, and those skilled in the art can make variations and modifications without departing from the spirit of the present invention, and within the scope of the present invention.

Claims

1. The utility model provides a recovered robot foot telecontrol equipment of footboard formula gait which characterized in that: the pedal mechanism comprises a base (4) and two groups of pedal mechanisms symmetrically arranged on the left side and the right side of the top of the base (4), wherein the base (4) is connected with the two groups of pedal mechanisms through a plurality of transverse guide rails (24) arranged on the top of the base (4) in a sliding manner, the transverse guide rails (24) are vertically arranged between the pedal mechanisms, the front ends of the two groups of pedal mechanisms are connected through a step width adjusting lead screw (7), a step width adjusting connecting rod (25) is further arranged between the two groups of pedal mechanisms, two ends of the step width adjusting connecting rod (25) are respectively hinged with the bottom ends of the two groups of pedal mechanisms, the middle position of the step width adjusting connecting rod (25) is hinged with the top end of the base (4) through a pin shaft, the two groups of pedal movement mechanisms move in opposite directions or opposite directions by rotating the step width adjusting lead screw (7), and therefore the distance between the two groups of pedal mechanisms is adjusted;

the pedal mechanism comprises a large sliding seat (6), a first longitudinal guide rail (23), a sliding plate (1), synchronous belt wheels (10), synchronous belts (8), a first hinged support (3), a second hinged support (2), a third hinged support (18), a first connecting rod (14), a second connecting rod (15), a third connecting rod (17), a pedal (16), a second servo motor lead screw (13), a third servo motor lead screw (19), a first servo motor (5), a second servo motor (11), a third servo motor (21), a first servo reducer (9), a second servo reducer (12) and a third servo reducer (20), wherein the synchronous belt wheels (10) are arranged at the front end and the rear end of the large sliding seat (6), the synchronous belts (8) are wound on the outer sides of the two synchronous belt wheels (10) together, the first servo motor (5) is connected with one of the synchronous belt wheels (10) through the first servo reducer (9), the first longitudinal guide rail (23) is arranged at the top of the large sliding seat (6), the sliding plate (1) is arranged on the first longitudinal guide rail (23) in a sliding mode, the bottom of the sliding plate (1) is fixedly connected with the upper edge of the synchronous belt (8), and the sliding plate (1) can slide along the first longitudinal guide rail (23) under the driving of the synchronous belt (8);

the first hinged support (3), the second hinged support (2), the third hinged support (18), the second servo motor lead screw (13) and the third servo motor lead screw (19) are all arranged at the top of the sliding plate (1), wherein the second servo motor (11), the third servo motor (21) and the second hinged support (2) are all fixedly arranged at the top of the sliding plate (1), the second servo motor (11) and the third servo motor (21) are symmetrically arranged on two sides of the second hinged support (2), and the first hinged support (3) and the third hinged support (18) are respectively arranged on the second servo motor lead screw (13) and the third servo motor lead screw (19); first free bearing (3), second free bearing (2) and third free bearing (18) are articulated with the one end of first connecting rod (14), second connecting rod (15), third connecting rod (17) respectively, and the other end of first connecting rod (14), second connecting rod (15), third connecting rod (17) three all articulates with the bottom of footboard (16), and just first connecting rod (14) and second connecting rod (15) both are coaxial with the pin joint of footboard (16).

2. A pedal-type gait rehabilitation robot foot motion device according to claim 1, characterized in that: the top of the sliding plate (1) is provided with a hinged support guide rail (22), and the first hinged support (3) and the third hinged support (18) are arranged on the hinged support guide rail (22) in a sliding mode.