CN110833493B

CN110833493B - Leg rehabilitation mechanism device based on cable driving

Info

Publication number: CN110833493B
Application number: CN201911063805.XA
Authority: CN
Inventors: 唐乐为; 周长江; 石朋帅; 谢小平; 张司
Original assignee: Hunan University
Current assignee: Hunan University
Priority date: 2019-11-04
Filing date: 2019-11-04
Publication date: 2021-09-03
Anticipated expiration: 2039-11-04
Also published as: CN110833493A

Abstract

The invention provides a leg rehabilitation device based on cable driving. The speed transmission motion system can be composed of a treadmill, is assembled by mounting aluminum sectional materials, supports a cable driving system and provides a safe motion range; the rope driving system consists of a motor, a coupling, a speed reducer, a rope drum, a rope, a guide pulley and a force sensor; the leg attachment system connects the drive cable to the leg by two relatively rotatable kinematic rings. The leg rehabilitation training device can realize the function of assisting leg movement, and provides a novel, safe and low-inertia device type for leg rehabilitation training application requirements.

Description

Leg rehabilitation mechanism device based on cable driving

Technical Field

The invention belongs to the technical field of rehabilitation medical treatment, and particularly relates to a leg rehabilitation mechanism device based on rope driving.

Background

According to statistical data, the mortality rate of the cerebrovascular disease patients in 2017 in China is about 23%, and the cerebrovascular disease patients are located at the first position of the mortality rate of the main diseases in rural areas and the third position of cities. Apoplexy refers to the localized or diffuse cerebral function impairment syndrome caused by acute cerebrovascular circulatory disturbance. About 200 million patients with new onset of stroke in China each year, and 75-80% of patients have disabilities. Due to the effects of high mortality and disability rates, stroke has become a major cause of death and disability in adults. There are some rehabilitation therapies for motor dysfunction in stroke patients. The movement of daily activities is divided into a series of basic movement modes, which respectively stimulate muscle groups at different parts of the body, improve muscle strength and keep the flexibility of joints. To restore the correct motor response, the patient needs to concentrate on a large number of repeated simple motor exercises, gradually increasing the difficulty of the exercises until the normal motor function is restored. At present, a series of rehabilitation exercises are required to be completed under the assistance of a rehabilitation doctor in the traditional rehabilitation training. This training mode is inefficient and labor intensive. With the development of the aging population and the younger cerebrovascular disease trend, the increasing treatment demand and the shortage of professional rehabilitation doctors become one of the medical service contradictions which need to be solved urgently.

In order to solve the above-mentioned contradiction, many researchers have developed corresponding rehabilitation medical aids for different exercise sites. The general classification is two, rigid drive mechanisms and cable drive mechanisms. Rigid drive rehabilitation mechanisms require the addition of active or passive degrees of freedom to account for changes in the axis of rotation. This design method of increasing the degree of freedom makes the rehabilitation mechanism more complicated. The waist rehabilitation flexible cable robot fixes the upper limbs to complete the three-degree-of-freedom rotation rehabilitation training of the lumbar vertebrae of the patient. The upper limb rehabilitation robot design based on hybrid driving adopts a rope as a driving piece to control the motion of the robot. Compared with the two driving schemes, the rope has the characteristics of small mass, flexible driving and the like, so that the initiative of a patient can be improved and the restraint feeling and the discomfort caused by the rigid rod piece can be reduced in the interaction process of the patient and the rehabilitation equipment. From the safety perspective, the rope driving mode can effectively reduce the quality of the moving member and improve the safety performance of human-computer interaction in the training process.

The device aims to provide a novel, safe and low-inertia device type for leg rehabilitation training application requirements through the device.

Disclosure of Invention

The invention aims to provide a leg rehabilitation mechanism device based on rope driving, and aims to solve the technical problems of large inertia, complex mechanism and poor reconstruction performance in the prior art.

In order to achieve the above object, the present invention provides a rope-based leg rehabilitation mechanism device, which uses a flexible rope instead of a rigid rod as an actuating member, and the rope connection points can be arranged according to the height and the injured position of the leg. The flexible rope has small mass and inertia, enhances the safety performance of the mechanism in the human-computer interaction process, and is suitable for the rehabilitation training motion structure required by space human-computer interaction.

In order to achieve the purpose, the invention adopts the technical scheme that:

a leg rehabilitation training device based on cable driving comprises a speed transmission movement system and a leg connecting structure, wherein the leg connecting structure is installed on a leg and is connected with a cable driving system through a cable; the cable driving system comprises a front cable driving system and a rear cable driving system; the leg connecting structure is positioned between the front cable driving system and the rear cable driving system; the leg attachment structure includes a lower leg attachment structure mounted to the lower leg and an upper leg attachment structure mounted to the upper leg.

In a further improvement, the rope connected with the thigh connecting structure and the rope connected with the shank connecting structure are arranged in parallel or in a crossed manner.

In a further improvement, the speed transmission motion system is positioned right below the leg connecting structure; the front cable driving system and the rear cable driving system are respectively arranged at two ends of the speed transmission movement system.

In a further improvement, the speed transmission motion system is a treadmill.

In a further improvement, the cable driving system comprises a motor, the motor is connected with a speed reducer through a coupling, the speed reducer is connected with a rope winding drum, and a rope is wound on the rope winding drum; the rope reel shaft is connected with two ends of the speed transmission motion system.

In a further improvement, the leg connecting structure consists of an outer ring and an inner ring, wherein the outer ring is connected with the rope, and the inner ring is fixed on the leg.

In a further improvement, the outer ring and the inner ring in the leg connecting structure are in shaft connection through the rotating shaft, so that the outer ring and the inner ring can rotate freely relative to each other.

Compared with the prior art, the invention has the beneficial effects that:

(1) through the rope drive mode, realized human shank rehabilitation training motion, effectively improved shank rehabilitation mechanism's quality, improved training in-process human-computer interaction's security performance.

(2) The redundant driving mode can reduce the motion vibration of the cable parallel mechanism and improve the motion precision.

(3) When an accident happens in the man-machine interaction process, the safety performance of a human body is improved by using the paired ropes.

In conclusion, the redundant driving rope parallel mechanism has the characteristics of light weight and excellent safety performance, and can be widely applied to the fields of human leg rehabilitation medical treatment and the like.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic view of a leg rehabilitation mechanism device based on rope driving according to the present invention;

FIG. 2 is a schematic view of the drive system assembly of the present invention;

fig. 3 is a schematic view of a leg connection structure of the present invention.

The device comprises a speed transmission motion system 1, a rope driving system 2, a leg connecting structure 3, a motor 4, a coupling 5, a shaft reducer 6, a speed reducer 7, a winding drum 8, an outer ring 9, an inner ring 10, a rotating shaft 11, a rope 12 and a guide pulley.

Detailed Description

Embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways, which are defined and covered by the claims.

As shown in figure 1, the invention relates to a rope-driven leg rehabilitation mechanism, which comprises a speed transmission movement system 1, a rope driving system 2 and a leg connecting structure 3.

The cable drive system 2 consists of a cable 11 and a guide pulley 12. The rope 11 is connected at one end to the drum 7 via a guide pulley 12 and at the other end to the outer ring 8 of the leg attachment structure 3. Two pairs of cords 11 are attached to the ends of the outer loop 4. Each pair of ropes is arranged in parallel or in a cross way

As shown in fig. 2, each driving unit includes a driving motor 4, a coupling 5 connects an output shaft of the driving motor 4 and an input shaft of a speed reducer 6, and an output shaft of the speed reducer 6 drives a drum 7 to rotate, so that the paired ropes 11 are changed in the same length to secure a parallelogram shape of the paired ropes 11.

As shown in fig. 3, the leg connecting structure 13 is installed at the position of the leg of the human body and is composed of an outer ring 8 and an inner ring 9, and a rotating shaft 10. A cord 11 is attached to the outer ring 8. The outer ring 8 and the inner ring 9 are connected by a rotating shaft 10, and the inner ring 9 freely rotates relative to the outer ring 8.

The invention pulls the thighs and the shanks of the patient to carry out auxiliary traction and ambulation through the ropes, thereby carrying out rehabilitation exercise on the legs.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A leg rehabilitation training device based on cable driving comprises a speed transmission movement system (1) and a leg connecting structure (3) installed on legs, and is characterized in that the leg connecting structure (3) is connected with a cable driving system (2) through a cable; the cable driving system (2) comprises a front cable driving system and a rear cable driving system; the leg connecting structure (3) is arranged between the front cable driving system and the rear cable driving system; the leg connecting structure (3) comprises a lower leg connecting structure mounted on the lower leg and a thigh connecting structure mounted on the thigh; the leg connecting structure (3) consists of an outer ring (8) and an inner ring (9), wherein the outer ring (8) is connected with a rope, and the inner ring (9) is fixed on the leg; the outer ring (8) and the inner ring (9) in the leg connecting structure (3) are in shaft connection through a rotating shaft (10), and the outer ring (8) and the inner ring (9) can rotate freely relative to each other.

2. The cable-driven leg rehabilitation training device according to claim 1, wherein the cable connected to the thigh link and the cable connected to the calf link are arranged in parallel or in cross with each other.

3. The cable-driven leg rehabilitation training device according to claim 1, wherein the speed-transmitting movement system (1) is located directly below the leg connecting structure (3); the front cable driving system and the rear cable driving system are respectively arranged at two ends of the speed transmission motion system (1).

4. The cable-driven leg rehabilitation training device according to claim 1, wherein the speed-transmitting movement system (1) is a treadmill.

5. The leg rehabilitation training device based on cable driving as claimed in claim 1, wherein the cable driving system (1) comprises a motor (4), the motor (4) is connected with a speed reducer (6) through a coupling (5), the speed reducer (6) is connected with a cable drum (7), and the cable is wound on the cable drum (7); the rope winding drum (7) is connected with the two ends of the speed transmission motion system (1) in a shaft mode.