CN110353944B - Sitting type combined driving lower limb rehabilitation robot - Google Patents
Sitting type combined driving lower limb rehabilitation robot Download PDFInfo
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- CN110353944B CN110353944B CN201910697919.3A CN201910697919A CN110353944B CN 110353944 B CN110353944 B CN 110353944B CN 201910697919 A CN201910697919 A CN 201910697919A CN 110353944 B CN110353944 B CN 110353944B
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 210000000689 upper leg Anatomy 0.000 claims abstract description 42
- 244000309466 calf Species 0.000 claims abstract description 24
- 238000000034 method Methods 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 14
- 210000002683 foot Anatomy 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 10
- 230000006870 function Effects 0.000 abstract description 7
- 230000008901 benefit Effects 0.000 abstract description 5
- 238000005457 optimization Methods 0.000 abstract description 3
- 230000009467 reduction Effects 0.000 abstract description 3
- 210000002414 leg Anatomy 0.000 description 12
- 230000033001 locomotion Effects 0.000 description 10
- 241000282414 Homo sapiens Species 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 4
- 210000000544 articulatio talocruralis Anatomy 0.000 description 4
- 238000002560 therapeutic procedure Methods 0.000 description 4
- 230000006378 damage Effects 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 210000000629 knee joint Anatomy 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 210000004394 hip joint Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 238000000554 physical therapy Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 238000013329 compounding Methods 0.000 description 1
- 230000008094 contradictory effect Effects 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
- 210000003414 extremity Anatomy 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 238000001356 surgical procedure 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
-
- 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
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/106—Leg for the lower legs
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/108—Leg for the upper legs
Abstract
The invention discloses a sitting type combined driving lower limb rehabilitation robot which comprises a base, a thigh lifting mechanism, a shank stretching mechanism and a driving device, wherein the base is provided with a seat; the thigh lifting mechanism comprises a first swing rod which is linked with the thigh and is arranged on the base in a swinging way along the left-right axis; the shank stretching mechanism comprises a second swing rod which is linked with the shank and is arranged on the first swing rod in a swinging way along the left-right axis; the driving device drives the first swing rod to swing up and down and the second swing rod to swing back and forth respectively. According to the invention, under the drive of the driving device, the first swing rod can drive the thigh of the patient to lift and perform rehabilitation training, and the second swing rod can drive the calf of the patient to perform extension rehabilitation training, so that the diversity of rehabilitation training functions is enriched, and the optimization of rehabilitation training effects is facilitated; and need not the patient and bear the weight, when improving patient's rehabilitation training's comfort level, have simple structure, economic cost reduction's advantage.
Description
Technical Field
The invention relates to the technical field of medical robots, in particular to a sitting type combined driving lower limb rehabilitation robot.
Background
The continuous development of technology continuously improves the medical level of human beings, prolongs the average service life and also leads the population worldwide to trend to be old. A large number of patients with cerebrovascular diseases or nervous system diseases exist in the elderly population, and the most common clinical manifestations of these diseases are hemiplegia, which seriously affects the motor functions and life self-care ability of the patients. Medical theory and clinical medicine prove that scientific and reasonable rehabilitation training plays a very important role in restoring and improving limb movement functions besides receiving early surgical treatment and necessary drug treatment.
Traditional rehabilitation therapy is usually based on one-to-one auxiliary therapy of rehabilitation physiotherapy operators, and is long in time consumption and high in cost. In order to solve the above problems, a rehabilitation robot combining rehabilitation engineering and robot technology has been developed, in which there is a rehabilitation robot involving movements of hip joints, knee joints and ankle joints of a human body, which is to be worn on the human body, and requires high requirements for supporting materials and controlling motors, thus having high costs; in addition, the amplitude adjustment of each joint movement needs to be accurately controlled to prevent secondary injury, so four motor drives are arranged in total, and the weight of the exoskeleton is increased; or a rehabilitation robot for a patient with weak lower limbs and difficult to stand is provided, the main body is a bed body, the upper half of the patient lies flat, the legs are driven by an exoskeleton mechanical structure to train the leg muscles, but the effect of rehabilitation training by adopting prone position is small, and the rehabilitation training effect is poor.
Disclosure of Invention
The invention mainly aims to provide a sitting-type combined driving lower limb rehabilitation robot, and aims to solve the problems of poor rehabilitation effect and higher economic cost of the traditional rehabilitation robot.
In order to achieve the above object, the present invention provides a sitting type combined driving lower limb rehabilitation robot, comprising:
a base provided with a seat for a patient to sit on;
the thigh lifting mechanism comprises a first swing rod for linking the thigh, and the mounting end of the first swing rod is arranged on the base in an up-and-down swinging manner along the left-right axial line;
the lower leg stretching mechanism comprises a second swing rod for linking the lower leg, and the installation end of the second swing rod is arranged at the movable end of the first swing rod in a manner of swinging back and forth along the left-right axial line; the method comprises the steps of,
the driving device is arranged on the base and is respectively in driving connection with the thigh lifting mechanism and the shank stretching mechanism, so that the first swing rod swings up and down and the second swing rod swings back and forth.
Optionally, the driving device is provided with a rotation output shaft extending upwards;
the thigh lifting mechanism further comprises a swing assembly comprising:
the worm is in transmission connection with the rotating output shaft so as to rotate back and forth along an up-down axis under the drive of the driving device; the method comprises the steps of,
and the worm wheel is meshed with the worm, and one side, far away from the meshing position, of the worm wheel is fixedly connected with the mounting end of the first swing rod.
Optionally, the swing assembly further includes:
the shell is arranged on the base, a mounting cavity for mounting the worm and the worm wheel is formed in the shell, an opening is formed in one side of the mounting cavity, and the opening is used for the movable end of the first swing rod to extend outwards from the inside of the mounting cavity; the method comprises the steps of,
and the two limiting plates are respectively arranged at the upper end edge and the lower end edge of the opening in a protruding way and are used for limiting the swing angle of the first swing rod.
Optionally, the calf extension mechanism further comprises a lifting assembly, wherein:
the upper end of the lifting assembly is fixedly connected with the movable end of the second swing rod so as to drive the movable end of the second swing rod to ascend or descend;
the lifting assembly is movably arranged on the base along the front-back direction so as to drive the movable end of the second swing rod to move along the front-back direction.
Optionally, the lifting assembly includes:
the bottom plate is movably arranged on the base along the front-back direction, the upper end of the bottom plate is provided with a fixed part and a moving part, and the moving part can move relative to the bottom plate;
the two upper ends of the scissor type lifting frame are used for connecting the movable end of the second swing rod, and the two lower ends of the scissor type lifting frame are respectively connected with the fixed part and the moving part in a rotating way so as to drive the movable end of the second swing rod to ascend or descend when the moving part moves relative to the bottom plate; the method comprises the steps of,
and the electric driving part is arranged on the bottom plate and used for driving the moving part to move.
Optionally, the driving device is provided with a rotation output shaft extending forwards;
the calf extension mechanism further includes:
the screw rod is arranged on the base and is in transmission connection with the rotating output shaft so as to rotate along a front-back axial line under the drive of the driving device; the method comprises the steps of,
the nut is in threaded connection with the lead screw, and the nut is fixedly connected with the lower end of the lifting assembly.
Optionally, the calf extension mechanism further comprises a pedal structure comprising:
the sleeve is used for fixing the foot part and can be vertically and overturned along the left-right axial line and is arranged at the upper end of the lifting assembly; the method comprises the steps of,
and the resetting piece is arranged between the sleeve and the lifting assembly.
Optionally, the driving device includes:
the driving motor is arranged on the base and provided with a power output shaft extending forwards; the method comprises the steps of,
the steering assembly is in transmission connection with the power output shaft and the thigh lifting mechanism and is used for forming the upward extending rotating output shaft under the driving of the driving motor.
Optionally, the steering assembly includes:
the bevel gear set comprises a driving bevel gear rotating along a front-back axial line and a driven bevel gear rotating along an up-down axial line, the driven bevel gear is meshed with the driving bevel gear, and a rotating shaft of the driven bevel gear forms the rotating output shaft; the method comprises the steps of,
and the synchronous belt is respectively wound on the power output shaft and the rotating shaft of the drive bevel gear.
Optionally, the length of the first swing link and/or the second swing link is adjustable.
According to the technical scheme provided by the invention, after a patient sits on the seat and fixes thighs and calves according to the setting, the first swing rod can drive the thighs of the patient to lift and perform rehabilitation training under the drive of the driving device, and the second swing rod can drive the calves of the patient to perform stretching and rehabilitation training, so that the diversity of rehabilitation training functions is enriched, and the optimization of rehabilitation training effects is facilitated; and need not the patient and bear the weight, when improving patient's rehabilitation training's comfort level, have simple structure, economic cost reduction's advantage.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a perspective view of an embodiment of a seated joint-driven lower limb rehabilitation robot according to the present invention;
FIG. 2 is an exploded view of the swing assembly of FIG. 1;
FIG. 3 is a schematic perspective view of the lift assembly of FIG. 1;
FIG. 4 is a schematic perspective view of the pedal structure of FIG. 1;
fig. 5 is a schematic structural view of the driving device in fig. 1.
Reference numerals illustrate:
| reference numerals | Name of the name | Reference numerals | Name of the name |
| 100 | Sitting type combined driving lower limb rehabilitation robot | 31 | Second swing rod |
| 1 | Base seat | 32 | Bottom plate |
| 11 | Chair | 321 | Fixing part |
| 2 | Thigh lifting mechanism | 322 | Moving part |
| 21 | First swing rod | 33 | Scissor fork type lifting frame |
| 211 | Branch rod | 34 | Electric driving member |
| 212 | Long hole | 35 | Screw rod |
| 22 | Worm screw | 36 | Nut |
| 23 | Worm wheel | 37 | Article carrying board |
| 24 | Shell body | 38 | Sleeve barrel |
| 241 | Mounting cavity | 39 | Reset piece |
| 25 | Limiting plate | 4 | Driving device |
| 26 | Bearing | 41 | Driving motor |
| 27 | Connecting plate | 42 | Drive bevel gear |
| 28 | Mounting baffle | 43 | Driven bevel gear |
| 3 | Shank stretching mechanism | 44 | Synchronous belt |
The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present invention, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout includes three parallel schemes, for example "A and/or B", including the A scheme, or the B scheme, or the scheme where A and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.
Traditional rehabilitation therapy is usually based on one-to-one auxiliary therapy of rehabilitation physiotherapy operators, and is long in time consumption and high in cost. In order to solve the above problems, a rehabilitation robot combining rehabilitation engineering and robot technology has been developed, in which there is a rehabilitation robot involving movements of hip joints, knee joints and ankle joints of a human body, which is to be worn on the human body, and requires high requirements for supporting materials and controlling motors, thus having high costs; in addition, the amplitude adjustment of each joint movement needs to be accurately controlled to prevent secondary injury, so four motor drives are arranged in total, and the weight of the exoskeleton is increased; or a rehabilitation robot for a patient with weak lower limbs and difficult to stand is provided, the main body is a bed body, the upper half of the patient lies flat, the legs are driven by an exoskeleton mechanical structure to train the leg muscles, but the effect of rehabilitation training by adopting prone position is small, and the rehabilitation training effect is poor.
In view of the above, the present invention provides a sitting-type combined driving lower limb rehabilitation robot, and fig. 1 to 5 are specific embodiments of the sitting-type combined driving lower limb rehabilitation robot provided by the present invention.
Referring to fig. 1, the present invention provides a sitting type combined driving lower limb rehabilitation robot 100, which comprises a base 1, a thigh lifting mechanism 2, a shank stretching mechanism 3 and a driving device 4, wherein the base 1 is provided with a seat 11 for a patient to sit; the thigh lifting mechanism 2 comprises a first swing rod 21 for linking the thigh, and the mounting end of the first swing rod 21 is arranged on the base 1 in a manner of swinging up and down along a left-right axial line; the lower leg stretching mechanism 3 comprises a second swing rod 31 for linking the lower leg, and the mounting end of the second swing rod 31 is arranged at the movable end of the first swing rod 21 in a manner of swinging back and forth along the left-right axial line; the driving device 4 is arranged on the base 1, and the driving device 4 is respectively connected with the thigh lifting mechanism 2 and the shank stretching mechanism 3 in a driving way, so that the first swing rod 21 swings up and down and the second swing rod 31 swings back and forth.
According to the technical scheme provided by the invention, after a patient sits on the seat 11 and fixes thighs and calves according to the setting, the first swing rod 21 can drive the thighs of the patient to lift and perform rehabilitation training under the driving of the driving device 4, and the second swing rod 31 can drive the calves of the patient to perform stretching and rehabilitation training, so that the diversity of rehabilitation training functions is enriched, and the optimization of rehabilitation training effects is facilitated; and need not the patient and bear the weight, when improving patient's rehabilitation training's comfort level, have simple structure, economic cost reduction's advantage.
It should be noted that the specific form of the base 1 is not limited in this design, the base 1 may provide a mounting platform for mounting the thigh lifting mechanism 2 and the calf stretching mechanism 3, and may also provide a receiving cavity for mounting an electric control element, a transmission element, etc. in the driving device 4, so as to perform the functions of supporting and isolating protection. In addition, the style of the seat 11 may be specifically set according to actual needs, for example, the seat 11 may have a seat board and a backrest, and may also have armrests, so as to improve sitting comfort when the patient performs rehabilitation training; and preferably, the height of the seat 11 in the present design is adjustable, for example, by providing a telescopic rod to cooperate with fastening screws to adapt to different sitting heights of different patients, so that the patients can perform rehabilitation training in a more comfortable and natural sitting posture. At this time, the sitting posture of the patient can be uniquely determined by the arrangement of the seat 11, and in order to facilitate better understanding of the present technical solution, the face orientation and the back orientation of the patient during sitting are uniformly defined hereinafter, and correspond to the front and back directions of the sitting type combined driving lower limb rehabilitation robot 100 respectively; the left and right fingers of the patient sitting correspond to the left and right directions of the sitting type combined driving lower limb rehabilitation robot 100, respectively.
In this design, the first swing link 21 and the second swing link 31 each have a mounting end and a movable end that are disposed opposite to each other, the first swing link 21 is preferably disposed in front of the seat 11, and the second swing link 31 is preferably disposed in front of the first swing link 21 to adapt to the placement orientations of the thighs and the lower legs of the patient after sitting. In addition, the length of the first swing link 21 and/or the second swing link 31 may be adjustable to adapt to different thigh lengths and/or calf lengths of different patients, so as to help to improve the matching degree between the sitting type combined driving lower limb rehabilitation robot 100 and the patient, and optimize the rehabilitation training effect. Taking the first swing rod 21 as an example, the first swing rod 21 may include two sub-rods 211 sleeved with each other along the length direction, and the length of the first swing rod 21 may be correspondingly adjusted by adjusting the sleeve depth between the two sub-rods 211; further, the two sub-rods 211 are respectively provided with long holes 212 corresponding to each other, and then a screw connector is arranged to be in inserted fit with the two long holes 212, so that the first swing rod 21 is fixed at the required length. The length adjustment structure of the second swing link 31 is the same as that of the first swing link 21, and will not be described here.
In addition, the first swing rod 21 and the second swing rod 31 may be provided with an elastic strap, and still take the first swing rod 21 as an example, the elastic strap is expanded under the action of external force so as to allow the thighs of the patient to pass through smoothly, and then after the action of external force is cancelled, the elastic strap is elastically contracted so as to apply an elastic pressing force to the thighs of the patient, so that the thighs of the patient are ensured to be well fixed, and meanwhile, the discomfort of wearing caused to the skin of the patient is effectively avoided.
Specifically, referring to fig. 1 and 2, in this embodiment, when the driving device 4 has an upwardly extending rotation output shaft, the thigh lifting mechanism 2 further includes a swing assembly, the swing assembly includes a worm 22 and a worm wheel 23, where the worm 22 is in transmission connection with the rotation output shaft to rotate back and forth along an up-down direction axis under the driving of the driving device 4; the worm wheel 23 is meshed with the worm 22, and one side, far away from the meshing position, of the worm wheel 23 is fixedly connected with the mounting end of the first swing rod 21. The worm 22 and the worm wheel 23 are matched, so that a large transmission ratio is realized, and the structural compactness of the swing assembly is improved; the worm gear 23 is prevented from reversely driving the worm 22 to rotate, and the protection function is achieved.
Further, in this embodiment, the swing assembly further includes a housing 24 and two limiting plates 25, where the housing 24 is disposed on the base 1, a mounting cavity 241 in which the worm 22 and the worm wheel 23 are mounted is formed inside the housing 24, and an opening is disposed at one side of the mounting cavity 241, and the opening is provided for the movable end of the first swing rod 21 to protrude from the inside of the mounting cavity 241. Of course, the mounting cavity 241 may further be provided with a mounting opening and a mounting baffle 28, the mounting opening facilitates the mounting and dismounting of the worm 22 and the worm wheel 23, and the mounting baffle 28 is used for covering the mounting opening after the worm 22 and the worm wheel 23 are mounted in place in the mounting cavity 241, so as to play a role in isolation protection; in addition, the mounting end of the first swing rod 21 may be directly connected to the worm wheel 23, or may be fixedly connected to the worm wheel 23 through a connection plate 27, the connection plate 27 is not limited to be flat, and may be adapted to the shapes of the worm wheel 23 and the first swing rod 21, and when the connection plate 27 is connected to the end face of the worm wheel 23, a bearing 26, such as an angular contact bearing, may be further disposed between the connection plate 27 and the worm wheel 23; the connecting plate 27 and the first swing rod 21 can be fixed by screw connection through a screw connection piece. The two limiting plates 25 are respectively protruded at the upper end edge and the lower end edge of the opening, and are used for limiting the swing angle of the first swing rod 21. The two limiting plates 25 may be further slidably disposed with respect to the housing 24, so that the limit positions of the first swing rod 21 that swings upward and downward are adjustable, thereby realizing that the swing angle range of the first swing rod 21 is adjustable, and helping to ensure that the thigh of the patient is lifted in a proper range, and avoiding secondary injury to the patient.
Because the mounting end of the second swing rod 31 is movably mounted on the first swing rod 21, if a transmission element is disposed at the mounting end of the second swing rod 31 with reference to the first swing rod 21, the overall mass of the first swing rod 21 and the second swing rod 31 is increased, the load of the legs during rehabilitation training of a patient is aggravated, and the rehabilitation training effect is affected. Therefore, referring to fig. 1 and 3, in this embodiment, the calf stretching mechanism 3 further includes a lifting assembly, and an upper end of the lifting assembly is fixedly connected to the movable end of the second swing rod 31, so as to drive the movable end of the second swing rod 31 to rise or fall; the lifting assembly is movably mounted on the base 1 along the front-back direction, so as to drive the movable end of the second swing rod 31 to move along the front-back direction. The back-and-forth swing of the second swing rod 31 can be finally realized by compounding the two motion modes of ascending and descending and forward-and-backward movement of the lifting assembly; and the lifting component is movably arranged on the base 1, namely, gravity is concentrated on the base 1, so that gravity load can not be caused to the legs of a patient, and the patient can efficiently and orderly finish leg rehabilitation training.
Of course, there are various solutions of the lifting assembly, in this embodiment, the lifting assembly includes a base plate 32, a scissor fork type lifting frame 33 and an electric driving member 34, the base plate 32 is movably mounted on the base 1 along a front-rear direction, a fixed portion 321 and a moving portion 322 are disposed at an upper end of the base plate 32, the moving portion 322 can move relative to the base plate 32, specifically, the fixed portion 321 is, for example, a boss structure integrally formed with the base plate 32; a sliding groove can be arranged on the bottom plate 32, and the moving part 322 is of a sliding block structure in sliding fit with the sliding groove; the scissor lift 33 may refer to the prior art, and generally has two legs, wherein two upper ends of the two legs are used for connecting the movable ends of the second swing rod 31, and two lower ends of the two legs are respectively rotatably connected with the fixed portion 321 and the moving portion 322, so as to drive the movable ends of the second swing rod 31 to rise or fall when the moving portion 322 moves relative to the bottom plate 32; at this time, the lifting assembly may further include a carrier plate 37, the movable end of the second swing rod 31 is fixedly connected to the upper end of the carrier plate 37, the lower end surface of the carrier plate 37 may be provided with a fixed matching portion (not labeled in the drawing) and a movable matching portion (not labeled in the drawing) with reference to the bottom plate 32, two upper ends of the two supporting legs are respectively rotatably connected to the fixed matching portion and the movable matching portion, and the movable matching portion moves passively along with the movement of the moving portion 322, so as to realize the stable lifting and the steady lowering of the carrier plate 37. The electric driving member 34 is disposed on the base plate 32, and is used for driving the moving portion 322 to move. Various solutions of the electric driving member 34 are provided, for example, the electric driving member 34 may be a linear cylinder, and the linear cylinder has a telescopic push rod, and the telescopic push rod is connected to the moving portion 322; alternatively, the electric driving member 34 may be a combination of a motor, a loop bar, and a screw rod, one end of the screw rod is provided with an external thread, one end of the loop bar is in transmission connection with an output shaft of the motor, the other end of the loop bar is provided with an internal thread in threaded combination with the screw rod, and the moving portion 322 is driven to move relative to the bottom plate 32 by adjusting a screwing depth between the loop bar and the screw rod.
Next, referring to fig. 1 and 5, in the present embodiment, the driving device 4 has a rotation output shaft extending forward; the lower leg stretching mechanism 3 further comprises a screw rod 35 and a nut 36, the screw rod 35 is arranged on the base 1, and the screw rod 35 is in transmission connection with the rotation output shaft so as to rotate along a front-back axial line under the drive of the driving device 4; the nut 36 is in threaded connection with the lead screw 35, and the nut 36 is fixedly connected to the lower end of the lifting assembly. The base 1 may be correspondingly provided with a mounting groove, and the screw 35 is disposed in the mounting groove. Under the drive of the driving device 4, the screw rod 35 is screwed with the nut 36, and the nut 36 can move along the extending direction of the screw rod 35 due to the fixed position of the screw rod 35, so as to drive the lifting assembly or the bottom plate 32 to move along the front and back direction, and the lifting assembly has the advantages of simple structure and low cost.
In addition, referring to fig. 1 and 4, in the present embodiment, the calf stretching mechanism 3 further includes a pedal structure, the pedal structure includes a sleeve 38 and a restoring member 39, the sleeve 38 is used for fixing the foot, the specific form of the sleeve 38 is not limited in the present design, and all sleeves 38 that can be used for fixing the foot are within the protection scope of the present design. The sleeve 38 is mounted to the upper end of the lift assembly in a vertically reversible manner along a left-right axis. Because the patient sits on the seat 11 when performing the calf extension rehabilitation training, which is equivalent to swinging back and forth by taking the knee joint as the center of a circle and the calf as the radius, the sleeve 38 can be turned over to adapt to different angles formed between the calf and the foot under different extension degrees, namely, the ankle joint of the patient flexibly rotates, thereby achieving the purpose of training the ankle joint; the reset element 39 is arranged between the sleeve 38 and the lifting assembly. The restoring member 39 is, for example, a spring, and when the sleeve 38 is turned over by an external force, the spring is stressed to be stretched or compressed and deformed; when the external force is removed, the spring has elastic restoring force to drive the sleeve 38 to return to the original state.
In the above embodiment, the thigh lifting mechanism 2 needs an upward rotation output shaft, the calf stretching mechanism 3 needs a forward rotation output shaft, and at this time, a motor may be configured for the thigh lifting mechanism 2 and the calf stretching mechanism 3 respectively to realize independent start and stop of the thigh lifting mechanism 2 and the calf stretching mechanism 3, but in view of resource saving, in this embodiment, it is preferable that the driving device 4 only includes a driving motor 41, the driving motor 41 is provided on the base 1 and has a forward extending power output shaft, and the power output shaft of the driving motor 41 may directly drive the screw 35 in the calf stretching mechanism 3 to rotate; in addition, the driving device 4 further comprises a steering assembly, and the steering assembly is in transmission connection with the power output shaft and the thigh lifting mechanism 2, and is used for forming the upward extending rotating output shaft under the driving of the driving motor 41. By means of the arrangement, the driving motor 41 can be utilized, meanwhile, a power source is provided for the thigh lifting mechanism 2 and the shank stretching mechanism 3, the whole structure of the sitting-type combined driving lower limb rehabilitation robot 100 is simplified, and economic cost is reduced.
Of course, there may be various technical solutions of the steering assembly, but in this embodiment, referring to fig. 1 and 5, the steering assembly includes a bevel gear set and a synchronous belt 44, where the bevel gear set includes a drive bevel gear 42 that rotates along a front-rear axis, and a driven bevel gear 43 that rotates along an up-down axis, the driven bevel gear 43 is meshed with the drive bevel gear 42, and a rotation shaft of the driven bevel gear 43 forms the rotation output shaft, so that a rotation output extending along the front-rear direction can be converted into a rotation output extending along the up-down direction; the timing belt 44 is wound around the rotation shafts of the power output shaft and the drive bevel gear 42, respectively, for synchronizing the rotation of the power output shaft to the drive bevel gear 42. At this time, the base 1 may be provided with a guide channel corresponding to the synchronous belt 44, and a mounting structure corresponding to the bevel gear set, so as to prevent interference with rehabilitation training of the patient while performing a supporting protection function.
It should be noted that, in the above embodiment, the thigh lifting mechanism 2 and the calf stretching mechanism 3 are simultaneously powered by one driving motor 41, but this does not limit the movement rates of the thigh lifting mechanism 2 and the calf stretching mechanism 3 to be consistent, for example, the rotation speed actually obtained by the thigh lifting mechanism 2 may be adjusted by adjusting the gear ratio matched in the bevel gear set; in addition, in order to ensure that the rehabilitation training process is more ergonomic, the transmission ratio of the thigh lifting mechanism 2 and the shank extension mechanism 3 is pre-configured, so that the shank swings to the rearmost position and the lifting assembly is at the highest position when the thigh is lifted to the highest position during the rehabilitation training process; when the thigh is lowered to the lowest position, the calf swings to the foremost position and the lift assembly is at the lowest position.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the invention, and all equivalent structural changes made by the description of the present invention and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the invention.
Claims (7)
1. A seated joint-driven lower limb rehabilitation robot, comprising:
a base provided with a seat for a patient to sit on;
the thigh lifting mechanism comprises a first swing rod for linking the thigh, and the mounting end of the first swing rod is arranged on the base in an up-and-down swinging manner along the left-right axial line;
the lower leg stretching mechanism comprises a second swing rod for linking the lower leg, and the installation end of the second swing rod is arranged at the movable end of the first swing rod in a manner of swinging back and forth along the left-right axial line; the method comprises the steps of,
the driving device is arranged on the base and is respectively connected with the thigh lifting mechanism and the shank stretching mechanism in a driving way, so that the first swing rod swings up and down and the second swing rod swings back and forth;
the driving device is provided with an upward extending rotary output shaft;
the thigh lifting mechanism further comprises a swing assembly comprising:
the worm is in transmission connection with the rotating output shaft so as to rotate back and forth along an up-down axis under the drive of the driving device; the method comprises the steps of,
the worm wheel is meshed with the worm, and one side, far away from the meshing position, of the worm wheel is fixedly connected with the mounting end of the first swing rod;
the swing assembly further includes:
the shell is arranged on the base, a mounting cavity for mounting the worm and the worm wheel is formed in the shell, an opening is formed in one side of the mounting cavity, and the opening is used for the movable end of the first swing rod to extend outwards from the inside of the mounting cavity; the method comprises the steps of,
the two limiting plates are respectively arranged at the upper end edge and the lower end edge of the opening in a protruding mode and used for limiting the swing angle of the first swing rod;
the calf extension mechanism further comprises a lifting assembly, wherein:
the upper end of the lifting assembly is fixedly connected with the movable end of the second swing rod so as to drive the movable end of the second swing rod to ascend or descend;
the lifting assembly is movably arranged on the base along the front-back direction so as to drive the movable end of the second swing rod to move along the front-back direction.
2. The seated joint-driven lower limb rehabilitation robot of claim 1, wherein the lifting assembly comprises:
the bottom plate is movably arranged on the base along the front-back direction, the upper end of the bottom plate is provided with a fixed part and a moving part, and the moving part can move relative to the bottom plate;
the two upper ends of the scissor type lifting frame are used for connecting the movable end of the second swing rod, and the two lower ends of the scissor type lifting frame are respectively connected with the fixed part and the moving part in a rotating way so as to drive the movable end of the second swing rod to ascend or descend when the moving part moves relative to the bottom plate; the method comprises the steps of,
and the electric driving part is arranged on the bottom plate and used for driving the moving part to move.
3. The seated joint drive lower limb rehabilitation robot of claim 1, wherein the drive means has a forwardly extending rotational output shaft;
the calf extension mechanism further includes:
the screw rod is arranged on the base and is in transmission connection with the rotating output shaft so as to rotate along a front-back axial line under the drive of the driving device; the method comprises the steps of,
the nut is in threaded connection with the lead screw, and the nut is fixedly connected with the lower end of the lifting assembly.
4. The seated joint-driven lower limb rehabilitation robot of claim 1, wherein the lower leg extension mechanism further comprises a pedal structure comprising:
the sleeve is used for fixing the foot part and can be vertically and overturned along the left-right axial line and is arranged at the upper end of the lifting assembly; the method comprises the steps of,
and the resetting piece is arranged between the sleeve and the lifting assembly.
5. The seated joint-driven lower limb rehabilitation robot of claim 1, wherein the driving means comprises:
the driving motor is arranged on the base and provided with a power output shaft extending forwards; the method comprises the steps of,
the steering assembly is in transmission connection with the power output shaft and the thigh lifting mechanism and is used for forming the upward extending rotating output shaft under the driving of the driving motor.
6. The seated joint-driven lower limb rehabilitation robot of claim 5, wherein the steering assembly comprises:
the bevel gear set comprises a driving bevel gear rotating along a front-back axial line and a driven bevel gear rotating along an up-down axial line, the driven bevel gear is meshed with the driving bevel gear, and a rotating shaft of the driven bevel gear forms the rotating output shaft; the method comprises the steps of,
and the synchronous belt is respectively wound on the power output shaft and the rotating shaft of the drive bevel gear.
7. The seated joint drive lower limb rehabilitation robot of claim 1, wherein the length of the first swing link and/or the second swing link is adjustable.
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| CN111012625B (en) * | 2019-12-28 | 2021-08-27 | 青岛大学附属医院 | Foot joint exercise rehabilitation device |
| CN111359164B (en) * | 2020-04-14 | 2023-12-12 | 重庆工程职业技术学院 | Deformation assembly of lower limb rehabilitation training robot |
| CN112451311B (en) * | 2020-11-23 | 2022-09-06 | 乐陵市人民医院 | Cerebral apoplexy rehabilitation exercise device |
| CN112826696A (en) * | 2020-12-24 | 2021-05-25 | 阁步(上海)医疗科技有限公司 | Three-freedom mechanical arm for lower limb rehabilitation training device |
| CN112914805B (en) * | 2021-01-21 | 2022-09-30 | 韩红英 | Traction-preventing fixing rehabilitation device for surgical mouth of hand-foot department |
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