CN110353945B - Lower limb rehabilitation robot with multiple movement modes - Google Patents
Lower limb rehabilitation robot with multiple movement modes Download PDFInfo
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- CN110353945B CN110353945B CN201910698213.9A CN201910698213A CN110353945B CN 110353945 B CN110353945 B CN 110353945B CN 201910698213 A CN201910698213 A CN 201910698213A CN 110353945 B CN110353945 B CN 110353945B
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 30
- 230000033001 locomotion Effects 0.000 title claims description 15
- 210000000689 upper leg Anatomy 0.000 claims abstract description 57
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- 210000002683 foot Anatomy 0.000 claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims description 21
- 238000000034 method Methods 0.000 claims description 18
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000002441 reversible effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 17
- 244000309466 calf Species 0.000 abstract description 13
- 210000002414 leg Anatomy 0.000 abstract 1
- 230000008569 process Effects 0.000 description 8
- 230000007306 turnover Effects 0.000 description 8
- 210000003414 extremity Anatomy 0.000 description 5
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 208000012661 Dyskinesia Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pain & Pain Management (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a multi-movement-mode 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 for a patient to sit; the thigh lifting mechanism comprises a supporting structure for fixing the thigh, wherein the supporting structure has a lifting stroke along the up-down direction approaching and separating from the seat; the lower leg stretching mechanism comprises a pedal structure for fixing the foot, wherein the pedal structure has a moving stroke approaching and separating from the seat along the front-rear direction; the driving device enables the supporting structure to move along the lifting stroke and the pedal structure to move along the moving stroke. According to the invention, after a user sits on the seat and fixes the thighs and the lower legs, the supporting structure drives the thighs to move upwards and downwards under the drive of the driving device, so that the thigh lifting function of a patient can be recovered; the pedal structure drives feet to move forwards and backwards, rehabilitation training can be carried out on the calf stretching function of a patient, the training function is enriched, and the training effect is optimized.
Description
Technical Field
The invention relates to the technical field of medical robots, in particular to a lower limb rehabilitation robot with multiple movement modes.
Background
Aiming at patients with limb dyskinesia, the traditional manual training is difficult to meet the requirements, and the emerging limb rehabilitation training robot has great achievements in the aspects of standardization of training, rehabilitation effect and the like. The existing lower limb rehabilitation robot generally needs to use a plurality of motors, is complex in structure, has more transmission modes and processes, and is easy to cause energy loss; moreover, the existing rehabilitation robot can only perform one mode of training, the training process is simpler and boring, and the training effect is difficult to ensure; in addition, the training range of the robot cannot be adjusted, and the training range cannot be reasonably selected according to the requirements of the recovery degree of the patient. Therefore, the robot has a plurality of problems in actual use, the expected training effect is difficult to realize, and the popularization and the application are difficult.
Disclosure of Invention
The invention mainly aims to design a multi-movement-mode lower limb rehabilitation robot, and aims to solve the problems that the traditional lower limb rehabilitation robot is single in function and poor in training effect.
In order to achieve the above object, the present invention provides a multi-movement-mode lower limb rehabilitation robot, comprising:
a base provided with a seat for a patient to sit on;
a thigh lifting mechanism including a support structure for securing a thigh, the support structure being movably mounted to the base so as to have a lifting stroke in an up-down direction toward and away from the seat;
a lower leg extension mechanism including a pedal structure for securing a foot, the pedal structure being movably mounted to the base to have a travel in a fore-aft direction toward and away from the seat; 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 supporting structure moves along the lifting stroke and the pedal structure moves along the moving stroke.
Optionally, the driving device is provided with a rotation output shaft extending in a left-right direction;
the thigh lifting mechanism further comprises a crank rocker structure, wherein the crank rocker structure comprises a first crank, a first connecting rod and a swinging rod, and the swinging rod comprises:
the two ends of the first connecting rod are respectively rotatably arranged at one end of the first crank and one end of the swing rod;
the other end of the first crank is arranged on the rotating output shaft;
the middle part of the swing rod is rotatably arranged on the base, and the other end of the swing rod is rotatably arranged on the supporting structure.
Optionally, the support structure comprises:
the overturning bottom plate is arranged at the other end of the swing rod in a manner of being capable of rotating up and down along the left-right axis; the method comprises the steps of,
the tray is penetrated with a through groove extending along the front and back directions for placing thighs, and the tray is arranged on the overturning bottom plate in a sliding manner along the up and down directions.
Optionally, the lower leg stretching mechanism further comprises a crank block structure, wherein the crank block structure comprises a second crank, a second connecting rod, a guide rod and a guide block, and the crank block structure comprises:
the guide block is arranged on the base and is provided with guide holes in a penetrating way along the front and rear directions;
the two ends of the second connecting rod are respectively rotatably arranged at one end of the second crank and one end of the guide rod;
the other end of the second crank is arranged on the rotating output shaft;
the other end of the guide rod penetrates through the guide hole and then is arranged on the pedal structure.
Optionally, the pedal structure includes:
the fixed plate is arranged at the other end of the guide rod; the method comprises the steps of,
and a mounting part, which is provided with a sleeve for sleeving the foot part and is arranged on the fixing plate in a sliding way along the up-down direction.
Optionally, the installation part further includes a sliding bottom plate and a resetting piece, the sleeve is installed on the sliding bottom plate along the left-right axial line in a vertically reversible manner, and the resetting piece is arranged between the sleeve and the sliding bottom plate.
Optionally, the first crank and/or the second crank are provided with a plurality of threaded holes at intervals along the length direction;
the lower limb rehabilitation robot with multiple movement modes further comprises a connecting sleeve, the connecting sleeve is fixedly connected to the rotating output shaft and correspondingly sleeved with the first crank and/or the second crank, connecting holes are formed in the connecting sleeve, and the connecting holes are used for being connected and matched with different threaded holes through a screw connector, so that the length of the first crank and/or the second crank can be adjusted.
Optionally, the driving device includes:
the driving motor is arranged on the base and provided with a power output shaft extending in the front-rear direction; the method comprises the steps of,
the power input end of the transmission system is in transmission connection with the power output shaft, and the power output end of the transmission system is in transmission connection with the thigh lifting mechanism and the shank stretching mechanism respectively.
Optionally, the transmission system includes:
the worm is connected with the power output shaft so as to rotate left and right along the front-back axial line under the drive of the power output shaft; the method comprises the steps of,
each worm wheel assembly comprises a worm wheel, a first straight gear and a second straight gear, wherein the worm wheel is meshed with the worm, the first straight gear is coaxially arranged on the worm wheel, the first straight gear is meshed with the second straight gear, and a rotating shaft of the second straight gear forms the power output end.
Optionally, the worm wheel is slidably mounted to the base in a left-right direction to have an operating state in which it is engaged with the worm and an idle state in which it is spaced from the worm.
According to the technical scheme provided by the invention, after a user sits on the seat and fixes the thigh and the shank, the supporting structure drives the thigh to move upwards and downwards under the drive of the driving device, so that the thigh lifting function of a patient can be recovered; the pedal structure drives the feet to move forwards and backwards, and can perform rehabilitation training on the calf stretching function of a patient, so that the functions of rehabilitation training are enriched, and the rehabilitation training effect is optimized.
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 schematic perspective view of an embodiment of a multi-movement-mode lower limb rehabilitation robot according to the present invention;
FIG. 2 is a schematic perspective view of the thigh lifting mechanism of FIG. 1;
FIG. 3 is a schematic perspective view of the support structure of FIG. 2;
FIG. 4 is a schematic perspective view of the calf extension mechanism of FIG. 1;
FIG. 5 is a schematic front view of the pedal structure of FIG. 4;
FIG. 6 is a schematic view of the assembly of the second crank and connecting sleeve of FIG. 1;
fig. 7 is a schematic perspective view of the driving device in fig. 1.
Reference numerals illustrate:
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.
Aiming at patients with limb dyskinesia, the traditional manual training is difficult to meet the requirements, and the emerging limb rehabilitation training robot has great achievements in the aspects of standardization of training, rehabilitation effect and the like. The existing lower limb rehabilitation robot generally needs to use a plurality of motors, is complex in structure, has more transmission modes and processes, and is easy to cause energy loss; moreover, the existing rehabilitation robot can only perform one mode of training, the training process is simpler and boring, and the training effect is difficult to ensure; in addition, the training range of the robot cannot be adjusted, and the training range cannot be reasonably selected according to the requirements of the recovery degree of the patient. Therefore, the robot has a plurality of problems in actual use, the expected training effect is difficult to realize, and the popularization and the application are difficult.
In view of the above, the present invention provides a multi-movement-mode lower limb rehabilitation robot, and fig. 1 to 7 are specific embodiments of the multi-movement-mode lower limb rehabilitation robot provided by the present invention.
Referring to fig. 1, the multi-movement-mode lower limb rehabilitation robot 100 provided by the invention 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 support structure 21 for fixing the thigh, the support structure 21 being movably mounted to the base 1 to have a lifting stroke in up and down direction toward and away from the seat 11; the lower leg extension mechanism 3 includes a pedal structure 31 for securing a foot, the pedal structure 31 being movably mounted to the base 1 to have a movement stroke in a front-rear direction toward and away from the seat 11; 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 supporting structure 21 moves along the lifting stroke and the pedal structure 31 moves along the moving stroke.
In the technical scheme provided by the invention, after a user sits on the seat 11 and fixes thighs and calves, the supporting structure 21 drives the thighs to move upwards and downwards under the drive of the driving device 4, so that rehabilitation training can be performed on the thigh lifting function of a patient; the pedal structure 31 drives the feet to move forward and backward, and can perform rehabilitation training on the calf stretching function of the patient, thereby being beneficial to enriching the rehabilitation training function and optimizing the rehabilitation training effect.
It should be noted that, the specific form of the base 1 is not limited in this design, and the base 1 may be a box structure, a frame structure, or other shaped structures; the style of the seat 11 can also be specifically set according to actual needs, and optionally, the seat 11 is provided with a seat board and a backrest, and also can be provided with armrests, so as to improve sitting comfort of a patient during rehabilitation training. 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 are respectively corresponding to the front and back directions of the lower limb rehabilitation robot 100 in the multiple movement modes; the left and right fingers of the patient sitting correspond to the left and right directions of the multi-movement-mode lower limb rehabilitation robot 100.
The support structure 21 and the pedal structure 31 are disposed in front of the seat 11, and the support structure 21 is disposed closer to the seat 11 than the pedal structure 31 to more conform to the actual configuration of the lower limbs of the human body. In addition, the driving device 4 is arranged at the rear of the seat 11 to avoid interference to rehabilitation training actions; the base 1 may be provided with a mounting cavity, and the driving device 4 is preferably at least embedded in the mounting cavity by an electric control part, so as to obtain enough protection and isolation, and help to improve the use safety of the lower limb rehabilitation robot 100 in the multiple movement modes.
Since the lifting stroke of the support structure 21 can be cyclically performed, in the present embodiment, it is preferable that the driving device 4 has a rotation output shaft extending in the left-right direction, and the continuous rotation output of the rotation output shaft can ensure the cyclic reciprocation of the lifting stroke. At this time, referring to fig. 2, in the present embodiment, the thigh lifting mechanism 2 further includes a crank-rocker structure, the crank-rocker structure includes a first crank 22, a first connecting rod 23, and a swing rod 24, wherein two ends of the first connecting rod 23 are rotatably mounted at one end of the first crank 22 and one end of the swing rod 24, respectively; the other end of the first crank 22 is mounted to the rotary output shaft; the middle part of the swing rod 24 is rotatably mounted on the base 1, and the other end of the swing rod 24 is rotatably mounted on the supporting structure 21. The specific dimensions of the first crank 22, the first connecting rod 23 and the swinging rod 24 may be adaptively adjusted according to practical applications, and the swinging rod 24 is preferably formed by two integrally formed sub-rods, the two sub-rods are disposed in a crossing manner, and a mounting hole for mounting a rotation pin is formed at the crossing portion, so as to achieve the purpose of rotationally mounting the middle portion of the swinging rod 24 on the base 1 or the seat 11, wherein the size of the included angle between the two sub-rods may be determined according to parameters such as a height range in which the supporting structure 21 needs to be lifted during practical applications.
Further, referring to fig. 3, in the present embodiment, the supporting structure 21 includes a turnover base 211 and a tray 212, and the turnover base 211 is mounted on the other end of the swing rod 24 in a manner of being rotatable up and down along a left-right axis; the tray 212 is provided with a through groove extending in the front-rear direction for placing thighs, and the tray 212 is slidably mounted on the overturning bottom plate 211 in the up-down direction. The inner groove wall of the through groove is preferably in a cambered surface shape so as to be adapted to the outline of the thigh, and the comfort level of the thigh during placement is improved; when in use, thighs can be directly placed on the through groove, and can also be bound on the through groove through elastic binding bands and the like; the opposite sides of the turnover bottom plate 211 may be respectively provided with a first sliding rod 213, and a sliding hole is formed at a corresponding position of the tray 212, and the tray 212 is slidably inserted into the first sliding rod 213, so as to be slidably mounted on the turnover bottom plate 211 along the up-down direction.
So set up, in thigh lifting rehabilitation training process, first crank 22 is in the drive of rotation output shaft is rotated around the axle, and then through first connecting rod 23 drive pendulum rod 24 swings in the angle range of predetermineeing, thereby drive bearing structure 21 is movable in the altitude range of predetermineeing. Since the patient is always seated on the seat 11, this allows rehabilitation training for thigh lifting, which corresponds to the patient swinging up and down with the hip joint as the center and the thigh as the radius. The overturning bottom plate 211 performs overturning passively, so that the thigh is always tightly attached to the through groove in the up-and-down swinging process, which is helpful for balancing the stress of the whole thigh and optimizing the rehabilitation training effect; in addition, the slidable arrangement of the tray 212 plays a good role in buffering, so that when the turnover bottom plate 211 moves upwards under the drive of the swing rod 24 until the turnover bottom plate abuts against the bottom of the tray 212, an upward acting force is applied to the tray 212 to drive the thighs to rise; conversely, when the turnover bottom plate 211 moves downward under the driving of the swing rod 24 until the natural relaxed state of the thigh of the patient sits, the turnover bottom plate 211 is separated from the bottom of the tray 212 and continues to move downward, and finally the lowest swing height of the swing rod 24 is reached, and the tray 212 does not continue to move downward, so that the thigh is effectively prevented from excessively descending to affect the thigh rehabilitation effect of the patient.
Of course, referring to fig. 4, in the present embodiment, the lower leg stretching mechanism 3 further includes a crank block structure, the crank block structure includes a second crank 32, a second connecting rod 33, a guide rod 34, and a guide block 35, wherein the guide block 35 is mounted on the base 1, and a guide hole (not labeled in the drawing) is penetrated along the front-rear direction; the two ends of the second connecting rod 33 are rotatably mounted on one end of the second crank 32 and one end of the guide rod 34, respectively; the other end of the second crank 32 is mounted to the rotary output shaft; the other end of the guide rod 34 is inserted into the guide hole and then mounted on the pedal structure 31. The length of the guide hole can be set according to actual needs, so as to limit the moving direction of the guide rod 34, and ensure that the movement of the guide rod 34 does not deviate sideways to influence the calf rehabilitation effect of the patient.
Further, referring to fig. 5, in the present embodiment, the pedal structure 31 includes a fixing plate 311 and a mounting portion (not shown), wherein the fixing plate 311 is mounted at the other end of the guide rod 34 to move in the front-rear direction under the driving of the guide rod 34; the mounting portion is formed with a sleeve 312 for sleeving the foot portion, the mounting portion is slidably mounted on the fixing plate 311 along an up-down direction, for example, two opposite sides of the fixing plate 311 are respectively provided with a second sliding rod 315, a sliding hole is formed at a position of the mounting portion corresponding to the second sliding rod 315, and the slidable arrangement of the mounting portion is realized through sliding fit of the second sliding rod 315 and the sliding hole. The specific form of the sleeve 312 is not limited, and may be made of an elastic material, for example, and may be stretched and deformed under the action of an external force to form a sufficient space for the foot to penetrate smoothly, and then be elastically restored after the external force is removed to elastically compress the foot, so that the foot is limited, and the comfort of the foot is improved.
Further, in this embodiment, the mounting portion further includes a sliding bottom plate 313 and a restoring member 314, the sleeve 312 is mounted on the sliding bottom plate 313 in a manner that it can be turned upside down along a left-right axis, and the restoring member 314 is disposed between the sleeve 312 and the sliding bottom plate 313. So set up, in the shank extension rehabilitation training process, the second crank 32 is driven by the rotation output shaft to rotate around the shaft, and then drives the guide rod 34 to move back and forth in a preset movement range through the second connecting rod 33. Because the patient sits on the seat 11 all the time, the mounting part is slidably arranged up and down, which is equivalent to rehabilitation training of stretching the lower leg, wherein the patient swings back and forth with the knee joint as the center and the lower leg as the radius, and the sliding bottom plate 313 passively performs overturning activity, so that the feet and the sleeve 312 are tightly attached all the time and stably mounted in the back and forth swinging process of the lower leg, and the rehabilitation training effect is optimized by training the ankle joint of the patient; in addition, the restoring member 314 may be specifically configured as a torsion spring, which may function to cushion movement and to assist in restoring the sliding bottom plate 313.
It should be noted that, the multi-movement-mode lower limb rehabilitation robot 100 not only can support the patient to perform independent thigh lifting rehabilitation training or calf stretching rehabilitation training, but also can support the patient to perform composite thigh lifting and calf stretching rehabilitation training, at this time, the installation part is arranged along the up-down slidable way, and the lifting effect of the thigh can be assisted, so that a better rehabilitation training effect is achieved.
In view of the above, the rotation radius of the first crank 22 affects the vertical lifting height range of the supporting structure 21, and the rotation radius of the second crank 32 affects the forward and backward moving distance range of the pedal structure 31, and as an example, referring to fig. 6, in this embodiment, a plurality of threaded holes 321 are provided in the second crank 32 at intervals along the length direction; the lower limb rehabilitation robot 100 with multiple movement modes further comprises a connecting sleeve 5, the connecting sleeve 5 is fixedly connected to the rotating output shaft and correspondingly sleeved on the second crank 32, the connecting sleeve 5 is provided with a connecting hole 51, and the connecting hole 51 is used for being connected and matched with different threaded holes 321 through a screw connector so as to correspondingly form the second crank 32 with different rotating radiuses, so that the adjustable lower leg stretching rehabilitation training is realized. Of course, the adjustment principle of the first crank 22 is the same as that described above, and will not be described here.
In this design, the thigh lifting mechanism 2 and the calf stretching mechanism 3 may be respectively configured with a motor to realize independent opening and closing of the thigh lifting mechanism and the calf stretching mechanism. However, in order to achieve energy saving and consumption reduction, referring to fig. 1 and 7, in the present embodiment, the driving device 4 includes a driving motor 41 and a transmission system, where the driving motor 41 is disposed on the base 1 and has a power output shaft extending in a front-rear direction; the power input end of the transmission system is in transmission connection with the power output shaft, and the power output end of the transmission system is in transmission connection with the thigh lifting mechanism 2 and the shank stretching mechanism 3 respectively. So set up, accessible one driving motor 41 realizes thigh lifting mechanism 2 with the separate control of shank extension mechanism 3 effectively saves the number of motor, has reduced the transmission space for the structure of the recovered robot 100 of low limbs of multiple motion mode is compacter and simple.
Of course, there are various technical solutions of the transmission system for achieving the above functions, in this embodiment, the transmission system includes a worm 42 and two worm gear assemblies, and the worm 42 is connected to the power output shaft, so as to be driven by the power output shaft to rotate left and right along a front-back direction axis; the two worm wheel assemblies may be separately disposed on the left and right sides of the worm 42, so that the thigh lifting mechanism 2 and the shank extension mechanism 3 are separately disposed on the left and right sides of the seat 11, which contributes to the improvement of the compactness of the overall structure. The two worm gear assemblies may be disposed differently or may be disposed identically as shown in fig. 7, wherein each worm gear assembly includes a worm gear 43, a first spur gear 44 and a second spur gear 45, the worm gear 43 is engaged with the worm 42, the first spur gear 44 is coaxially mounted to the worm gear 43, the first spur gear 44 is engaged with the second spur gear 45, and a rotation axis of the second spur gear 45 forms the power output end. When in use, the worm 42 is driven by the driving motor 41 to rotate, so as to drive the worm wheel 43 meshed with the worm 42 to rotate, and the first straight gear 44 coaxially arranged with the worm wheel 43 to rotate, and finally drive the second straight gear 45 meshed with the first straight gear 44 to rotate, so that the rotation output of the driving device 4 is finally realized. Wherein by adjusting the gear ratios of both the first spur gear 44 and the second spur gear 45, the rate of rotational output can be adjusted accordingly.
Further, in the present embodiment, the worm wheel 43 is slidably mounted to the base 1 in the left-right direction to have an operating state of meshing with the worm 42 and an idle state of being spaced apart from the worm 42. For example, the worm wheel 43 and the first straight gear 44 may be mounted on a support 46, the support 46 is provided with a sliding groove extending in a left-right direction, the base 1 may be provided with a sliding rail 47 corresponding to the sliding groove, and the sliding groove and the sliding rail 47 are slidably connected to realize the left-right sliding of the worm wheel 43 and the mutual switching between the working state and the idle state, so as to realize the independent driving of the thigh lifting mechanism 2 and the shank stretching mechanism 3, thereby being beneficial to independently starting and stopping the thigh lifting rehabilitation training function, the shank stretching rehabilitation training function or the thigh lifting and shank stretching composite rehabilitation training function of the lower limb rehabilitation robot 100 in the multiple movement modes according to requirements. At this time, the thickness of the first spur gear 44 may be appropriately adjusted, so that the first spur gear 44 is meshed with the second spur gear 45 regardless of whether the worm wheel 43 is in the working state or the idle state, thereby ensuring an efficient meshing transmission therebetween. When the multi-movement-mode lower limb rehabilitation robot 100 performs the combined rehabilitation training of thigh lifting and calf stretching, initial positions of the thigh and the calf need to be preset, and the initial positions may be specifically determined as the natural placement positions of the thigh and the calf of the patient in a sitting posture state, and the like.
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 multi-motion mode lower limb rehabilitation robot, comprising:
a base provided with a seat for a patient to sit on;
a thigh lifting mechanism including a support structure for securing a thigh, the support structure being movably mounted to the base so as to have a lifting stroke in an up-down direction toward and away from the seat;
a lower leg extension mechanism including a pedal structure for securing a foot, the pedal structure being movably mounted to the base to have a travel in a fore-aft direction toward and away from the seat; 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 supporting structure moves along the lifting stroke and the pedal structure moves along the moving stroke;
the driving device is provided with a rotation output shaft extending in the left-right direction;
the thigh lifting mechanism further comprises a crank rocker structure, wherein the crank rocker structure comprises a first crank, a first connecting rod and a swinging rod, and the swinging rod comprises:
the two ends of the first connecting rod are respectively rotatably arranged at one end of the first crank and one end of the swing rod;
the other end of the first crank is arranged on the rotating output shaft;
the middle part of the swing rod is rotatably arranged on the base, and the other end of the swing rod is rotatably arranged on the supporting structure;
the support structure includes:
the overturning bottom plate is arranged at the other end of the swing rod in a manner of being capable of rotating up and down along the left-right axis; the method comprises the steps of,
the tray is penetrated with a through groove extending along the front-back direction for placing thighs, and is arranged on the overturning bottom plate in a sliding manner along the up-down direction;
the shank extending mechanism further comprises a crank block structure, wherein the crank block structure comprises a second crank, a second connecting rod, a guide rod and a guide block, and the crank block structure comprises a first crank, a second connecting rod, a guide rod and a guide block, wherein:
the guide block is arranged on the base and is provided with guide holes in a penetrating way along the front and rear directions;
the two ends of the second connecting rod are respectively rotatably arranged at one end of the second crank and one end of the guide rod;
the other end of the second crank is arranged on the rotating output shaft;
the other end of the guide rod penetrates through the guide hole and then is arranged on the pedal structure.
2. The multi-motion mode lower limb rehabilitation robot of claim 1, wherein the pedal structure comprises:
the fixed plate is arranged at the other end of the guide rod; the method comprises the steps of,
and a mounting part, which is provided with a sleeve for sleeving the foot part and is arranged on the fixing plate in a sliding way along the up-down direction.
3. The multi-motion-mode lower limb rehabilitation robot according to claim 2, wherein the mounting portion further comprises a sliding base plate and a restoring member, the sleeve being mounted to the sliding base plate so as to be vertically reversible along a left-right axis, the restoring member being provided between the sleeve and the sliding base plate.
4. The multi-motion mode lower limb rehabilitation robot according to claim 1, wherein the first crank and/or the second crank are provided with a plurality of threaded holes at intervals along the length direction;
the lower limb rehabilitation robot with multiple movement modes further comprises a connecting sleeve, the connecting sleeve is fixedly connected to the rotating output shaft and correspondingly sleeved with the first crank and/or the second crank, connecting holes are formed in the connecting sleeve, and the connecting holes are used for being connected and matched with different threaded holes through a screw connector, so that the length of the first crank and/or the second crank can be adjusted.
5. The multi-motion mode 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 in the front-rear direction; the method comprises the steps of,
the power input end of the transmission system is in transmission connection with the power output shaft, and the power output end of the transmission system is in transmission connection with the thigh lifting mechanism and the shank stretching mechanism respectively.
6. The multi-motion mode lower limb rehabilitation robot of claim 5, wherein the transmission system comprises:
the worm is connected with the power output shaft so as to rotate left and right along the front-back axial line under the drive of the power output shaft; the method comprises the steps of,
each worm wheel assembly comprises a worm wheel, a first straight gear and a second straight gear, wherein the worm wheel is meshed with the worm, the first straight gear is coaxially arranged on the worm wheel, the first straight gear is meshed with the second straight gear, and a rotating shaft of the second straight gear forms the power output end.
7. The multi-motion mode lower limb rehabilitation robot of claim 6, wherein the worm wheel is slidably mounted to the base in a left-right direction to have an operating state engaged with the worm and an idle state spaced apart from the worm.
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| CN111904790B (en) * | 2020-08-12 | 2023-08-22 | 威海经济技术开发区天智创新技术研究院 | Multi-track knee joint rehabilitation training robot |
| CN112402204B (en) * | 2020-11-19 | 2022-10-14 | 新乡市中心医院(新乡中原医院管理中心) | Cardiovascular internal medicine rehabilitation training nursing device |
| CN112656644B (en) * | 2020-12-21 | 2022-06-24 | 中国人民解放军陆军军医大学第一附属医院 | Cerebral apoplexy patient rehabilitation training device |
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