CN110812130B - Pelvic auxiliary walking rehabilitation training robot - Google Patents
Pelvic auxiliary walking rehabilitation training robot Download PDFInfo
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- CN110812130B CN110812130B CN201911145411.9A CN201911145411A CN110812130B CN 110812130 B CN110812130 B CN 110812130B CN 201911145411 A CN201911145411 A CN 201911145411A CN 110812130 B CN110812130 B CN 110812130B
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- supporting plate
- pelvis
- rehabilitation training
- patient
- driving unit
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- 210000004197 Pelvis Anatomy 0.000 claims abstract description 48
- 230000005540 biological transmission Effects 0.000 claims abstract description 30
- 239000002965 rope Substances 0.000 claims description 22
- 210000003127 Knee Anatomy 0.000 claims description 18
- 238000005452 bending Methods 0.000 claims description 17
- 238000004804 winding Methods 0.000 claims description 8
- 230000001360 synchronised Effects 0.000 claims description 3
- 210000001624 Hip Anatomy 0.000 abstract description 26
- 238000006243 chemical reaction Methods 0.000 abstract description 5
- 210000003141 Lower Extremity Anatomy 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006011 modification reaction Methods 0.000 description 2
- 230000000630 rising Effects 0.000 description 2
- 230000000576 supplementary Effects 0.000 description 2
- 210000002683 Foot Anatomy 0.000 description 1
- 206010022114 Injury Diseases 0.000 description 1
- 210000002414 Leg Anatomy 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000003139 buffering Effects 0.000 description 1
- 230000000875 corresponding Effects 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Images
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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/14—Platforms for reciprocating rotating motion about a vertical axis, e.g. axis through the middle of the platform
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/02—Exercising apparatus specially adapted for particular parts of the body for the abdomen, the spinal column or the torso muscles related to shoulders (e.g. chest muscles)
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
Abstract
The invention discloses a pelvis-assisted walking rehabilitation training robot, which comprises: comprises an auxiliary treadmill, a variable rigidity driving unit and a pelvis movement auxiliary system; the auxiliary running table is provided with a vertical sliding rail which is vertically arranged, and the variable-rigidity driving unit can be connected to the vertical sliding rail in a sliding manner; the pelvis movement auxiliary system comprises a supporting plate, wherein the supporting plate is provided with a fixed block, handrails are arranged at two ends of the supporting plate, the supporting plate is also connected with a waistband, and an elastic device and a rotation limiting device are arranged between the fixed block and the supporting plate; the variable-rigidity driving unit comprises a transmission shaft, the transmission shaft is connected with a fixed block, a rotary power structure for driving the transmission shaft to rotate, and a horizontal limiting mechanism for driving the transmission shaft to elastically move transversely; the variable stiffness drive unit is also connected with an active weight reduction system for reducing weight of the patient. The weight reduction part of the invention is positioned at the waist, the pelvis movement auxiliary system can carry out four-degree-of-freedom rehabilitation movement on the waist of the patient, and when the patient carries out sitting-standing conversion training, the pelvis movement auxiliary system can also realize assistance to the patient.
Description
Technical Field
The invention relates to the technical field of rehabilitation robots, in particular to a pelvis-assisted walking rehabilitation training robot.
Background
At present, most of the designs of lower limb rehabilitation robots finish gait training by correcting leg walking actions, the lower limbs are restrained and driven partially in an exoskeleton mode, an upper suspension scheme is basically adopted for weight reduction in the human body training process, the control on the motion of the pelvis or the waist of a human body is lacked, and under the scheme, the upper half body of the human body is pulled upwards and the gravity of the lower half body is caused, so that a stiff state is formed near the waist, the abnormal motion of the pelvis (waist) and the hip-knee joint of the human body is caused during the walking training, and the lower limb rehabilitation robot is unfavorable for patients with lower limb dysfunction caused by the injury of the waist and the spine. At present, researchers control the waist movement of human bodies in a parallel rope driving mode, for example, a waist rehabilitation robot driven by a rope with the patent number of 201110027352.2 adopts a set of gravity balance unit and a plurality of traction ropes to coordinate, reproduces the pelvis movement track of normal people of rehabilitation patients under the condition of standing and walking, and achieves effective rehabilitation training of the waist. But at least six hauling ropes are needed, the driving and the wearing are complex, and the control difficulty is large.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a pelvis-assisted walking rehabilitation training robot, which solves the problems that the existing walking rehabilitation training assistance lacks human waist movement control, or a plurality of ropes driven by ropes are difficult to control, inconvenient to wear and the like.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a pelvis auxiliary walking rehabilitation training robot comprises an auxiliary running platform, a variable stiffness driving unit and a pelvis movement auxiliary system;
the auxiliary running platform is provided with a vertical sliding rail which is vertically arranged, and the variable-rigidity driving unit can be connected to the vertical sliding rail in a sliding manner;
the pelvis movement auxiliary system comprises a supporting plate, wherein the supporting plate is provided with a fixed block capable of horizontally rotating, handrails are arranged at two ends of the supporting plate, the supporting plate is also connected with a waistband, and an elastic device and a rotation limiting device are arranged between the fixed block and the supporting plate;
the variable-rigidity driving unit comprises a transmission shaft, wherein the transmission shaft is connected with a fixed block, a rotary power structure for driving the transmission shaft to rotate and a horizontal limiting mechanism for driving the transmission shaft to elastically move transversely;
the variable stiffness driving unit is also connected with an active weight reduction system for reducing weight of a patient.
As a preferable aspect of the invention, the active weight reduction system includes a rope winding motor, the rope winding motor is connected to the variable stiffness driving unit through a rope, the rope further passes through an upper pulley connected to the upper end of the vertical sliding rail, and the upper pulley is connected to a vertical spring.
As a preferable scheme of the invention, in the pelvis assisted walking rehabilitation training robot, the upper pulley is connected to a bearing block, the bearing block is slidably connected to an inner guide post, the inner guide post is sleeved with a vertical spring, the upper end of the vertical spring is connected to the bearing block, and the lower end of the vertical spring is fixedly connected to the lower stop block.
As a preferred scheme of the present invention, the pelvis-assisted walking rehabilitation training robot further includes a transition support, a motor, an electric cylinder, a horizontal moving rod, and a side plate, wherein the side plate is connected to the vertical slide rail through a linear slide block, the horizontal moving rod is connected to the side plate through a horizontal slide block, the transition support is connected to the drive transmission shaft and the horizontal moving rod, the electric cylinder is used for driving the transition support and the horizontal moving rod to slide along the horizontal slide block, and the motor is used for driving the transmission shaft to rotate.
As a preferable aspect of the present invention, in the pelvic assistance walking rehabilitation training robot, the motor is connected to the transition support, and the motor drives the transmission shaft to rotate through the synchronous belt.
As a preferable aspect of the present invention, the pelvis assisted walking rehabilitation training robot further comprises an assisted knee bending mechanism, the assisted knee bending mechanism comprises a cross universal joint, a connecting rod and an elastic body which are sequentially connected, the upper end of the cross universal joint is connected to the supporting plate, and the cross universal joint is further provided with a knee bending motor for driving the connecting rod to swing.
As a preferred embodiment of the present invention, the pelvis assisted walking rehabilitation training robot comprises: still including helping hand rising mechanism, helping hand rising mechanism includes layer board bracing piece and layer board, the pelvis motion auxiliary system is connected to layer board bracing piece upper end, the layer board bracing piece is equipped with the spout, but layer board sliding connection in spout, but layer board bracing piece swivelling joint in pelvis motion auxiliary system.
As a preferred embodiment of the present invention, the pelvis assisted walking rehabilitation training robot comprises: and a sitting electric cylinder is also arranged between the supporting plate supporting rod and the pelvis movement auxiliary system.
As a preferable aspect of the present invention, in the pelvic assistance walking rehabilitation training robot, the transmission shaft is further connected to a torque sensor and a lower force sensor.
As a preferable aspect of the present invention, in the pelvis assisted walking rehabilitation training robot, an upper force sensor is further disposed between the upper pulley and the bearing block.
The invention achieves the following beneficial effects:
compared with the prior art, the weight reduction part is positioned at the waist, so that the upper body of the patient is prevented from being lifted, the patient is forced to be in a stiff state, the active weight reduction system can reduce the bearing capacity of the lower limbs and the waist of the patient, and the bearing capacity can be adjusted.
The invention can carry out four-degree-of-freedom rehabilitation exercise on the waist of a patient, assists the motion control of the pelvis of the patient during walking rehabilitation exercise, achieves effective rehabilitation exercise on the waist, and can realize assistance on the patient by the active weight reduction system, the assistance sitting-up mechanism, the assistance knee bending mechanism and the like when the patient carries out sitting-standing position conversion exercise.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is a block diagram of the pelvic exercise assistance system of the present invention;
FIG. 3 is a block diagram of a variable stiffness drive unit of the present invention;
FIG. 4 is a structural view of a variable stiffness drive unit of the present invention (with one side panel hidden);
FIG. 5 is a block diagram of the active weight reduction system of the present invention;
FIG. 6 is a view of the structure of the auxiliary treadmill of the present invention;
FIG. 7 is a diagram of an auxiliary knee flexion mechanism of the present invention;
FIG. 8 is a structural view of the power-assisted setting mechanism of the present invention;
the meaning of the reference numerals: 1-a human body model; 2-a pelvic exercise assistance system; 3-a variable stiffness drive unit; 4-an active weight reduction system; 5-auxiliary running platform; 6-auxiliary knee bending mechanism; 7-a power-assisted sitting-up mechanism; 2-1-armrest; 2-2-connecting rod; 2-3-waistband; 2-4-lower support plate; 2-5-upper supporting plate; 2-6-spring fixing plate; 2-7-waist-shaped groove; 2-8-fixed block; 2-9-spring one; 2-10-arc plate; 4-1-up force sensor; 4-2-transition pulleys; 4-4 bearing blocks; 4-5-vertical springs; 4-6-inner guide post; 4-8-lower stop block; 4-9-rope; 5-1-display; 5-4-vertical sliding rail; 5-5-top plate; 3-2-transition junction support; 3-3-big belt wheel; 3-4-synchronous belt; 3-5-small belt wheel; 3-6-side plate; 5-4-linear slide rail; 3-7-linear slide; 3-8-horizontal sliding block; 3-9-torque sensor; 3-10-lower force sensor; 3-11-connectors; 3-12-electric cylinder; 3-13-moving bar; 3-14-a fixture; 3-15-baffle ring; 3-16-spring two; 3-17-servo motor; 3-18-drive shaft; 6-1-locking nut; 6-2-connecting block; 6-3-cross universal joint; 6-4-connecting rod; 6-5-elastomer; 6-6-Motor for bending knee; 7-3-chute; 7-2-locking spring; 7-1-pallet; 7-4-a pallet support bar; 7-5-sitting up the electric cylinder.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1 to 8: the embodiment discloses a pelvis-assisted walking rehabilitation training robot: comprises an auxiliary treadmill 5, a variable rigidity driving unit 3 and a pelvis movement auxiliary system 2; the auxiliary running platform 5 is provided with a vertical slide rail 5-4 which is vertically arranged, and the variable stiffness driving unit 3 is slidably connected with the vertical slide rail 5-4.
The pelvis movement auxiliary system 2 comprises a supporting plate, wherein the supporting plate is provided with fixing blocks 2-8 capable of horizontally rotating, handrails 2-1 are arranged at two ends of the supporting plate, the supporting plate is further connected with a belt 2-3, and an elastic device and a rotation limiting device are arranged between the fixing blocks 2-8 and the supporting plate. The supporting plate comprises an upper supporting plate 2-5 and a lower supporting plate 2-4, and the two supporting plates are arranged in parallel.
With reference to fig. 3 to 4: the variable stiffness driving unit 3 of the embodiment comprises transmission shafts 3-18, wherein the transmission shafts 3-18 are connected with fixed blocks 2-8, a rotary power structure for driving the transmission shafts 3-18 to rotate, and a horizontal limiting mechanism for driving the transmission shafts 3-18 to elastically move transversely.
Specifically, the variable-stiffness driving unit 3 further comprises a transition support 3-2, a motor 3-17 (a rotary power structure), an electric cylinder 3-12, a horizontal moving rod 3-13 and a side plate 3-6, the side plate 3-6 is connected to a vertical slide rail 5-4 through a linear slide block 3-7, the horizontal moving rod 3-13 is connected to the side plate 3-6 through a horizontal slide block 3-8, the transition support 3-2 is connected with a driving transmission shaft 3-18 and the horizontal moving rod 3-13, the electric cylinder 3-12 is used for driving the transition support 3-2 and the horizontal moving rod 3-13 to slide along the horizontal slide block 3-8, and the motor 3-17 is used for driving the transmission shaft 3-18 to rotate.
Wherein, the motors 3-17 are connected with the transition support 3-2, the power output ends of the motors 3-17 are provided with small belt wheels 3-5, the transmission shafts 3-18 are provided with large belt wheels 3-3, the two belt wheels realize transmission through a synchronous belt 3-4, and then the motors 3-17 drive the transmission shafts 3-18 to rotate.
The variable stiffness drive unit 3 of the present embodiment is also connected to an active weight reduction system for reducing weight to the waist of the patient. The active weight reduction system provides an upward lifting force for the waist of the patient to realize weight reduction.
With reference to fig. 1 and 5: the active weight reducing system specifically comprises a rope winding motor 4-10, the rope winding motor 4-10 is connected with a variable stiffness driving unit 3 through a rope 4-9, the rope 4-9 further penetrates through an upper pulley 4-7 connected to the upper end of a vertical sliding rail 5-4, and the upper pulley 4-7 is connected with a vertical spring 4-5.
The upper pulley 4-7 is connected to the bearing block 4-4, the bearing block 4-4 is slidably connected to the inner guide pillar 4-6, the inner guide pillar 4-6 is sleeved with a vertical spring 4-5, the upper end of the vertical spring 4-5 is connected to the bearing block 4-4, and the lower end of the vertical spring is connected to the lower stop block 4-8. In order to facilitate the detection of the weight reduction, an upper force sensor 4-1 is arranged between the upper pulley 4-7 and the bearing block 4-4.
In practical applications, the rope-winding motor 4-10 may be installed on the auxiliary running board 5, but a phenomenon that the transverse distance between the rope-winding motor 4-10 and the variable stiffness driving unit 3 is too large may occur, and at this time, the rope 4-9 may be inclined (not vertically arranged), which may cause the deviation of the detection value of the upper force sensor 4-1 from the actual value, and in order to avoid this phenomenon, the present embodiment further includes a transition pulley 4-2, and the transition pulley 4-2-is arranged in parallel and opposite to the upper pulley 4-7, and is used for ensuring that the rope 4-9 is vertically arranged.
With reference to fig. 1 and 6: the knee bending assisting device further comprises a knee bending assisting mechanism 6, wherein the knee bending assisting mechanism 6 comprises a cross universal joint 6-3, a connecting rod 6-4 and an elastic body 6-5 which are sequentially connected, the upper end of the cross universal joint 6-3 is connected to a supporting plate, and the cross universal joint 6-3 is further provided with a knee bending motor 6-6 for driving the connecting rod 6-4 to swing. One end of the cross universal joint 6-3 is provided with a connecting block 6-2, and the connecting block 6-2 is connected to the lower supporting plate 2-4 through a locking nut 6-1. When the knee bending motor 6-6 rotates, one shaft in the cross universal joint 6-3 can be driven to rotate, then the driving connecting rod 6-4 is driven to swing, the driving connecting rod 6-4 drives the knee joint of the patient to bend through the connecting block 6-2, and the auxiliary knee bending action of the patient during walking training is realized.
As shown in fig. 8, when the lower limb strength of the patient is weak, the assisted sitting-up mechanism 7 of the embodiment can be used for assisting the squatting-up, the assisted sitting-up mechanism 7 specifically comprises a supporting plate supporting rod 7-4 and a supporting plate 7-1, the upper end of the supporting plate supporting rod 7-4 is connected with the pelvis movement assisting system (2), the supporting plate supporting rod 7-4 is provided with a chute 7-3, and the supporting plate 7-1 can be slidably connected with the chute 7-3. A locking spring 7-2 is also arranged between the supporting plate 7-1 and the chute 7-3, and the number of the locking springs 7-2 is not less than two. The lower end of the supporting plate 7-1 is provided with a connecting column which is connected with the chute 7-3 in a sliding way and is arranged inside the locking spring 7-2, and the locking spring 7-2 can play a role in damping and buffering. Furthermore, during the period from squatting to standing, the pelvis of the patient moves not only upwards, but also forwards, and the supporting plate 7-1 can slide in the sliding groove 7-3 to compensate the forward movement.
When the pelvic exercise assisting system 2 moves up and down, the whole power-assisted sitting-up mechanism 7 can be driven to ascend or descend, but the power-assisted sitting-up mechanism 7 can only ascend and descend synchronously along with the pelvic exercise assisting system 2. In order to enable the power-assisted sitting-up mechanism 7 to operate independently and adjust the relative height between the supporting plate 7-1 and the pelvis movement assisting system 2 conveniently to meet the use requirements of patients with different heights, a sitting-up electric cylinder 7-5 is further arranged between the supporting plate supporting rod 7-4 and the pelvis movement assisting system 2, when the sitting-up electric cylinder 7-5 extends and contracts, the upper end of the sitting-up electric cylinder 7-5 is connected with the pelvis movement assisting system 2, and the lower end of the sitting-up electric cylinder 7-4 is connected with the supporting plate supporting rod. The supporting plate supporting rod 7-4 can be rotatably connected to the pelvis movement auxiliary system, the rotating mechanism can adopt any one of the prior art, and when the power-assisted sitting-up mechanism 7 is not needed, the supporting plate supporting rod 7-4 can be rotated to other positions through the rotating mechanism, so that the influence on the lower limbs of a patient is avoided.
When the support is used, the supporting plate 7-1 supports the crotch of a patient, the crotch of the patient is supported by stretching of the sitting electric cylinder 7-5, and the squatting motion of the patient is assisted. On the other hand, the weight reduction system rope drives the whole body to rise, and meanwhile, the electric cylinders 3-12 move forwards, so that the conversion from a sitting position to a standing position of a patient can be assisted, namely the patient is assisted to perform squatting movement; conversely, the conversion movement from the standing position to the sitting position can be realized.
When the waist rehabilitation device is used, the waist of a patient is fixed on the arc plates 2-10 through the waistbands 2-3, when the waist of the patient is twisted, the whole variable stiffness driving unit 3 rotates by taking the transmission shafts 3-18 as axes, the rotation can be realized by the motors 3-17 to provide certain torque, and the output torque of the motors 3-17 can be monitored in real time through the torque sensors 3-9, which is the first rehabilitation degree of freedom (rotation). When the patient twists in the horizontal direction, i.e. around the fixed block 2-8, the two springs-2-9 can provide restoring force, so that the twisting in the direction has a certain elastic resistance, and the larger the twisting amplitude, the larger the elastic resistance, which is the second rehabilitation degree of freedom (rotation).
When the waist of the patient swings forwards and backwards, namely swings with the horizontal moving rod 3-13 as an axis, and when the electric cylinder 3-12 does not work, the electric cylinder is in a follow-up state, the spring II 3-16 provides certain elastic force for the whole pelvis movement auxiliary system 2, so that the patient can swing freely; when the electric cylinders 3-12 work, the electric cylinders 3-12 stretch and retract to drive the waist of a patient, and the lower force sensors 3-10 can detect the output forces of the electric cylinders 3-12 in real time. This is the third degree of freedom of rehabilitation (lateral translation).
When the waist of a patient needs to squat up and down, the whole pelvis movement auxiliary system 2 and the variable stiffness driving unit 3 can slide along the vertical sliding rails 5-4, in the sliding process, the active weight reduction system provides certain upward pulling force, the upward pulling force can be buffered through the vertical springs 4-5, and the upper force sensor 4-1 connected to the upper pulley 4-7 can detect the weight reduction force in real time. This is the fourth degree of freedom of rehabilitation (vertical translation).
The patient is at recovered in-process, and both feet stand on supplementary running platform 5, and supplementary running platform 5 is equipped with the drive belt, is similar to the treadmill, makes the patient need not remove can recover. Meanwhile, the auxiliary treadmill 5 is provided with a human-computer interaction device, namely a display 5-1, which can display the working state of the current device or play a rehabilitation action guide video to guide the patient to recover; the display screen can also be in a touch mode, so that a doctor can set working parameters of the equipment through the control system, and a patient can also select a rehabilitation training mode and corresponding rehabilitation training parameters.
Compared with the prior art, the weight reduction part is positioned at the waist, so that the upper body of the patient is prevented from being lifted, the patient is forced to be in a stiff state, the active weight reduction system can reduce the bearing capacity of the lower limbs and the waist of the patient, and the bearing capacity can be adjusted.
The invention can carry out four-degree-of-freedom rehabilitation exercise on the waist of a patient, assists the motion control of the pelvis of the patient during walking rehabilitation exercise, achieves effective rehabilitation exercise on the waist, and can realize assistance on the patient by the active weight reduction system, the assistance sitting-up mechanism 7, the assistance knee bending mechanism 6 and the like when the patient carries out sitting-standing position conversion exercise.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (7)
1. The pelvis auxiliary walking rehabilitation training robot is characterized by comprising an auxiliary running platform (5), a variable stiffness driving unit (3) and a pelvis movement auxiliary system (2);
the auxiliary running table (5) is provided with a vertical sliding rail (5-4) which is vertically arranged, and the variable-rigidity driving unit (3) is connected to the vertical sliding rail (5-4) in a sliding manner;
the pelvis movement auxiliary system (2) comprises a supporting plate, wherein the supporting plate is provided with fixed blocks (2-8), handrails (2-1) are arranged at two ends of the supporting plate, the supporting plate is also connected with a waistband (2-3), and an elastic device and a rotation limiting device are arranged between the fixed blocks (2-8) and the supporting plate;
the variable-rigidity driving unit (3) comprises transmission shafts (3-18), wherein the transmission shafts (3-18) are connected with fixed blocks (2-8), a rotary power structure for driving the transmission shafts (3-18) to rotate, and a horizontal limiting mechanism for driving the transmission shafts (3-18) to elastically move transversely;
the variable stiffness driving unit (3) is also connected with an active weight reduction system for reducing weight of a patient;
the variable stiffness driving unit (3) also comprises a transition support (3-2), a motor (3-17), an electric cylinder (3-12), a horizontal moving rod (3-13) and a side plate (3-6), the side plates (3-6) are connected with the vertical slide rails (5-4) through linear slide blocks (3-7), the horizontal moving rods (3-13) are connected with the side plates (3-6) through horizontal sliding blocks (3-8), the transition support (3-2) is connected with a driving transmission shaft (3-18) and a horizontal moving rod (3-13), the electric cylinder (3-12) is used for driving the transition support (3-2) and the horizontal moving rod (3-13) to slide along the horizontal sliding block (3-8), and the motor (3-17) is used for driving the transmission shaft (3-18) to rotate;
the knee bending assisting device is characterized by further comprising an assisting knee bending mechanism (6), wherein the assisting knee bending mechanism (6) comprises a cross universal joint (6-3), a connecting rod (6-4) and an elastic body (6-5) which are sequentially connected, the upper end of the cross universal joint (6-3) is connected to a supporting plate, and a knee bending motor (6-6) used for driving the connecting rod (6-4) to swing is further arranged on the cross universal joint (6-3);
the active weight reduction system comprises a rope winding motor (4-10), the rope winding motor (4-10) is connected with a variable stiffness driving unit (3) through a rope (4-9), the rope (4-9) further penetrates through an upper pulley (4-7) connected to the upper end of a vertical sliding rail (5-4), and the upper pulley (4-7) is connected with a vertical spring (4-5).
2. The pelvis assisted walking rehabilitation training robot as claimed in claim 1, wherein: the upper pulley (4-7) is connected to the bearing block (4-4), the bearing block (4-4) is slidably connected to the inner guide pillar (4-6), the inner guide pillar (4-6) is sleeved with the vertical spring (4-5), the upper end of the vertical spring (4-5) is connected to the bearing block (4-4), and the lower end of the vertical spring is fixedly connected to the lower stop block (4-8).
3. The pelvis assisted walking rehabilitation training robot as claimed in claim 1, wherein: the motors (3-17) are connected to the transition supports (3-2), and the motors (3-17) drive the transmission shafts (3-18) to rotate through the synchronous belts (3-4).
4. The pelvis assisted walking rehabilitation training robot as claimed in claim 1, wherein: the pelvis exercise assisting device is characterized by further comprising an assisting sitting-up mechanism (7), wherein the assisting sitting-up mechanism (7) comprises a supporting plate supporting rod (7-4) and a supporting plate (7-1), the upper end of the supporting plate supporting rod (7-4) is connected with the pelvis exercise assisting system (2), the supporting plate supporting rod (7-4) is provided with a sliding groove (7-3), the supporting plate (7-1) is connected to the sliding groove (7-3) in a sliding mode, and the supporting plate supporting rod (7-4) is connected to the pelvis exercise assisting system (2) in a rotating mode.
5. The pelvis assisted walking rehabilitation training robot as claimed in claim 4, wherein: a sitting electric cylinder (7-5) is also arranged between the supporting plate supporting rod (7-4) and the pelvis movement auxiliary system (2).
6. The pelvis assisted walking rehabilitation training robot as claimed in claim 1, wherein: the transmission shaft (3-18) is also connected with a torque sensor (3-9) and a lower force sensor (3-10).
7. The pelvis assisted walking rehabilitation training robot as claimed in claim 1, wherein: an upper force sensor (4-1) is also arranged between the upper pulley (4-7) and the bearing block (4-4).
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| CN111374867B (en) * | 2020-03-25 | 2022-02-25 | 江苏医药职业学院 | Hemiplegia patient sits station and exchanges and assists device |
| CN111939003A (en) * | 2020-07-01 | 2020-11-17 | 上海莱影医疗科技有限公司 | Lower limb rehabilitation robot |
| CN111658445A (en) * | 2020-07-20 | 2020-09-15 | 上海金矢机器人科技有限公司 | Hip joint structure for lower limb rehabilitation training and passive gait coordination control method |
| CN112516522A (en) * | 2020-11-27 | 2021-03-19 | 陈欣 | Pelvis motion control balance training robot |
| CN112842811A (en) * | 2020-12-24 | 2021-05-28 | 阁步(上海)医疗科技有限公司 | Pelvis supporting mechanism for lower limb rehabilitation training device |
| CN113143695B (en) * | 2021-04-15 | 2022-11-01 | 北航歌尔(潍坊)智能机器人有限公司 | Weight reduction device for rehabilitation training and limb rehabilitation system |
| CN113181000B (en) * | 2021-04-15 | 2023-02-28 | 北航歌尔(潍坊)智能机器人有限公司 | Waist multi-degree-of-freedom mechanism of lower limb rehabilitation robot and lower limb rehabilitation robot |
| CN113367939B (en) * | 2021-05-25 | 2023-02-17 | 湖北文理学院 | Pelvis auxiliary walking training mechanism |
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