CN111359165B - Parallel driving lower limb rehabilitation training robot - Google Patents

Parallel driving lower limb rehabilitation training robot Download PDF

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Publication number
CN111359165B
CN111359165B CN202010288689.8A CN202010288689A CN111359165B CN 111359165 B CN111359165 B CN 111359165B CN 202010288689 A CN202010288689 A CN 202010288689A CN 111359165 B CN111359165 B CN 111359165B
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China
Prior art keywords
assembly
lower limb
lifting
patient
back cushion
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CN202010288689.8A
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Chinese (zh)
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CN111359165A (en
Inventor
蒋海义
车林仙
游青山
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Chongqing Vocational Institute of Engineering
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Chongqing Vocational Institute of Engineering
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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
    • 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
    • A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
    • 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
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • 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
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • 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
    • 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
    • A61H2201/50—Control means thereof
    • 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
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5064—Position sensors
    • 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
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5071—Pressure sensors
    • 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
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0406—Standing on the feet
    • 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
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0443—Position of the patient substantially horizontal
    • A61H2203/0456—Supine
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2208/00—Characteristics or parameters related to the user or player
    • A63B2208/02—Characteristics or parameters related to the user or player posture
    • A63B2208/0204—Standing on the feet
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2208/00—Characteristics or parameters related to the user or player
    • A63B2208/02—Characteristics or parameters related to the user or player posture
    • A63B2208/0242—Lying down
    • A63B2208/0252—Lying down supine
    • 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
    • A63B2220/10—Positions
    • 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
    • A63B2220/56—Pressure

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  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Pain & Pain Management (AREA)
  • Epidemiology (AREA)
  • Rehabilitation Therapy (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Cardiology (AREA)
  • Vascular Medicine (AREA)
  • Biophysics (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a parallel driving lower limb rehabilitation training robot which comprises a back cushion assembly, a pair of lower limb bracket assemblies connected to the back cushion assembly and a deformation assembly connected to the back cushion assembly and the lower limb bracket assemblies, wherein the deformation assembly comprises a lifting assembly, a back cushion driving assembly and a lower limb bracket driving assembly; the robot provided by the invention has two training modes of lying and standing, can be suitable for lower limb rehabilitation training of a patient in a lying state in the early rehabilitation stage, can also be suitable for rehabilitation training of the patient in a standing state in the middle and later rehabilitation stage of recovering part of leg functions, is suitable for the whole rehabilitation training period of the patient, can comprehensively assist the patient in rehabilitation, and simultaneously is beneficial to assisting the patient in switching between lying and standing postures and the angle adjustment of a back cushion component thereof through the driving deformation of a deformation component, is beneficial to the adjustment of the back posture of the patient in the rehabilitation training process, and improves the use comfort of the patient.

Description

Parallel driving lower limb rehabilitation training robot
Technical Field
The invention relates to the technical field of lower limb rehabilitation training, in particular to a parallel driving lower limb rehabilitation training robot.
Background
Cerebral stroke is one of the main causes of disability. With the improvement of medical care and medical technology, the survival rate of patients after cerebral apoplexy is higher and higher, and the disability rate of cerebral apoplexy is improved at the same time. Wherein, limb movement dysfunction increases the heavy burden of patients and families after cerebral apoplexy, and seriously affects the daily life of the patients. Therefore, how to effectively improve walking ability and daily living activity of patients after cerebral apoplexy becomes a main target of cerebral apoplexy rehabilitation research.
Based on the nerve rehabilitation theory, a patient after cerebral apoplexy can recover limb functions through professional rehabilitation training; therefore, the lower limb rehabilitation training device is required to be applied to the patients with lower limb movement dysfunction; the device mainly aims at patients with lower limb movement dysfunction, and has the main effect of helping the patients with lower limb movement dysfunction to complete various movement function rehabilitation training processes, and no device for assisting the relevant patients to perform rehabilitation training exists at present.
Therefore, based on the above problems, there is a need for a parallel drive lower limb rehabilitation robot that can be adapted to rehabilitation exercises of patients in lying as well as standing modes, and can comprehensively assist the patients in rehabilitation exercises.
Disclosure of Invention
In view of the above, the present invention provides a parallel driving lower limb rehabilitation training robot, which can be adapted to rehabilitation training of a patient in a lying and standing mode, and can comprehensively help the patient to perform rehabilitation training.
The parallel driving lower limb rehabilitation training robot comprises a back cushion component, a pair of lower limb bracket components connected to the back cushion component and used for fixing legs of a patient respectively, and a deformation component connected to the back cushion component and the lower limb bracket components and used for changing postures of the back cushion component and the lower limb bracket components to form a lying state and a standing state, wherein the deformation component comprises a lifting component, a back cushion driving component and a lower limb bracket driving component, the lifting component is connected below the back cushion component, the back cushion component is arranged on the lifting component in a longitudinal swinging mode, the back cushion driving component is connected to the lifting component and used for driving the back cushion component to rotate, and the lower limb bracket driving component is connected to the lower limb bracket and used for driving the lower limb bracket components to move so as to drive the legs of the patient to move.
Further, the deformation assembly further comprises a parallel platform assembly, the parallel platform assembly comprises a parallel support which is connected with the lifting assembly in parallel to realize linkage lifting and a supporting platform connected to the parallel support, the lower limb bracket driving assembly is fixed on the supporting platform, and the output end of the lower limb bracket driving assembly is detachably connected with the lower limb bracket assembly.
Further, the lower limb bracket assembly comprises a thigh support rod, a shank support rod in running fit with the bottom end of the thigh support rod, a foot support bracket in running fit with the bottom end of the shank support rod and a binding member connected to the thigh support rod and the shank support rod, wherein the top of the thigh support rod is connected with the back cushion assembly through a hip joint.
Further, the cushion assembly includes a cushion, armrests connected to both lateral sides of the cushion, and a headrest secured to the cushion.
Further, the lifting assembly comprises a bottom transverse frame, a top transverse frame, at least two scissor type lifting structures which are connected between the bottom transverse frame and the top transverse frame and are transversely arranged, each scissor type lifting structure comprises two lifting rods which are mutually intersected and are in rotary fit with each other in the middle, lifting screws which are longitudinally matched with the bottom transverse frame in a rotary mode, and lifting sliding blocks which are in threaded connection with the lifting screws, the tops of the two lifting rods are in rotary fit with the top transverse frame, the bottoms of one lifting rod are in rotary fit with the bottom transverse frame, the bottoms of the other lifting rods are in rotary fit with the lifting sliding blocks, and the back cushion is in rotary fit with the top transverse frame in a mode capable of longitudinally swinging.
Further, cushion drive assembly includes transversely connects in the roof cross arm and with the vertical normal running fit's of roof cross arm mounting bracket, connects the cushion actuating lever on the mounting bracket and installs the cushion driving piece that is used for driving cushion actuating lever axial motion on the mounting bracket, cushion drive pole head normal running fit connects on the cushion.
Further, low limbs bracket drive assembly includes two at least actuating lever subassemblies, actuating lever subassembly includes but base and flexible drive assembly on horizontal rotation's mode is connected to supporting platform, but flexible drive assembly is with perpendicular to horizontal plane wobbling mode and base normal running fit, the output of drive assembly passes through the sphere pair and connects in upper platform, upper platform and low limbs bracket assembly detachable connection.
Further, the hip joint comprises a rotating plate connected with the cushion assembly in a longitudinal rotating mode, a hip joint support eccentrically and rotatably matched with the rotating plate, and a towing rod matched with the hip joint support through a spherical pair, and the end part of the thigh support rod is rotatably matched with the towing rod.
Further, install the track subassembly on the bottom crossbearer, the track subassembly is used for supporting the patient in order to realize patient's walking rehabilitation training when standing state.
Further, the parallel support comprises a plurality of parallel swing rods connected between the bottom of the lifting assembly and the supporting platform and a linkage rod connected between one of the parallel swing rods and the back cushion assembly, two ends of the parallel swing rods are respectively in running fit with the bottom of the lifting assembly and the supporting platform, and two ends of the linkage rod are respectively in running fit with one of the parallel swing rods and the back cushion assembly.
The invention has the beneficial effects that:
the robot provided by the invention has two training modes of lying and standing, can be suitable for lower limb rehabilitation training of a patient in a lying state in the early rehabilitation stage, can also be suitable for rehabilitation training of the patient in a standing state in the middle and later rehabilitation stages of recovering part of leg functions, can be used for rehabilitation training of the patient in the whole rehabilitation period, comprehensively assists the patient in rehabilitation, and simultaneously facilitates the auxiliary patient to switch between lying and standing postures through driving deformation of the deformation component, and the angle adjustment of the back cushion component facilitates the adjustment of the back posture of the patient so as to adjust the support of the back in lying or standing, thereby facilitating the adjustment of the back posture of the patient in the rehabilitation training process, improving fatigue caused by long-time maintenance of the same posture, and improving the use comfort of the patient.
The deformation assembly can realize the deformation of the back cushion to change the posture of the whole robot, wherein the lifting assembly can drive the back cushion assembly to lift so as to adjust the height of the back cushion assembly to adapt to the back height of a patient in standing and lying, and meanwhile, the back cushion driving assembly can drive the back cushion assembly to rotate so as to keep horizontal in a lying state, keep vertical in a standing state or be inclined so as to adjust the lying posture of the patient, and the back posture of the patient in standing and lying can be adapted by adjusting the back cushion assembly.
Drawings
The invention is further described below with reference to the drawings and examples.
FIG. 1 is a schematic view of the structure of the present invention in a lying state;
FIG. 2 is a schematic side view of the lying state;
FIG. 3 is a schematic view of a standing state structure of the present invention;
FIG. 4 is a schematic side elevational view of a standing position;
FIG. 5 is a schematic view of a hip joint configuration;
FIG. 6 is a schematic view of a cushion drive assembly;
FIG. 7 is a schematic view of a partial structure;
FIG. 8 is a schematic view of a lifting slider structure;
Detailed Description
FIG. 1 is a schematic view of the structure of the present invention in a lying state; FIG. 2 is a schematic side view of the lying state; FIG. 3 is a schematic view of a standing state structure of the present invention; FIG. 4 is a schematic side elevational view of a standing position; FIG. 5 is a schematic view of a hip joint configuration; FIG. 6 is a schematic view of a cushion drive assembly; FIG. 7 is a schematic view of a partial structure; FIG. 8 is a schematic view of a lifting slider structure;
as shown in the figure: the embodiment provides a parallel driving lower limb rehabilitation training robot, which comprises a back cushion assembly 10, a pair of lower limb bracket assemblies 20 connected to the back cushion assembly and used for respectively fixing legs of a patient, and a deformation assembly connected to the back cushion assembly and the lower limb bracket assemblies and used for changing postures of the back cushion assembly and the lower limb bracket assemblies to form a lying state and a standing state, wherein the deformation assembly comprises a lifting assembly 30, a back cushion driving assembly 40 and a lower limb bracket driving assembly 50, the lifting assembly 30 is connected to the lower part of the back cushion assembly 10, the back cushion assembly 10 is arranged on the lifting assembly 30 in a longitudinally swinging manner, the back cushion driving assembly 40 is connected to the lifting assembly and used for driving the back cushion assembly to rotate, and the lower limb bracket driving assembly 50 is connected to the lower limb bracket and used for driving the lower limb bracket assemblies 20 to move so as to drive the legs of the patient to move. The longitudinal direction is the length direction, the transverse direction corresponds to the width direction, the longitudinal direction corresponds to the height direction of a patient when the patient is lying on the training robot, the transverse direction corresponds to the width direction of the patient, and the front side is the side of the robot which is longitudinally close to the head of the patient when the patient is lying on the robot; the longitudinal swing means swing by taking the transverse axis as a central axis, namely swing in a plane where the longitudinal direction is located, and the transverse rotation means rotation by taking the longitudinal axis as a central axis, namely rotation in a plane where the transverse direction is located; referring to fig. 1 and 3, the cushion assembly is used to support a patient, and in a lying state, the patient lies on the cushion assembly, and in a standing state, the patient leans against the cushion assembly, thereby improving good support for the patient. The lower limb bracket assembly is connected to the bottom of the back cushion assembly and is used for fixing the legs of a patient, when the patient lies down, the lower limb bracket assembly is approximately horizontal, and the lower limb bracket is driven to move through the lower limb bracket driving assembly, so that the lower limb bracket swings, twists or imitates the walking posture of the patient, and further, the legs of the patient are driven to perform rehabilitation exercise, when the patient stands up, the legs of the patient are driven to perform rehabilitation exercise through the lower limb bracket, or the driving function driven by the lower limb bracket driving assembly can be relieved on the premise that the legs of the patient recover a certain action function, and the patient can exert force by himself to achieve rehabilitation exercise. The deformation assembly can realize the deformation of the robot to change the posture of the whole robot, wherein the lifting assembly 30 can drive the back cushion assembly to lift so as to adjust the height of the back cushion assembly to adapt to the back height of a patient when standing and lying, meanwhile, the back cushion driving assembly can drive the back cushion assembly to rotate so as to keep horizontal when lying, keep vertical when standing or be inclined so as to adjust the lying posture of the patient, the back posture of the patient when standing and lying can be adapted by adjusting the back cushion assembly, and the lower limb bracket assembly 20 can be rotatably matched and installed on the back cushion assembly or can be rigidly connected to the back cushion assembly so that the back cushion assembly can correspondingly change the posture when changing the posture so as to adapt to the leg of the patient; the robot has two training modes of lying and standing, can be suitable for lower limb rehabilitation training of a patient in a lying state at the initial stage of rehabilitation, can also be suitable for rehabilitation training of the patient in a standing state at the middle and later stages of rehabilitation of the leg function of the patient, is suitable for rehabilitation training of the patient in the whole rehabilitation period, comprehensively assists the patient in rehabilitation, and simultaneously facilitates the switching of the lying and standing postures of the auxiliary patient through the driving deformation of the deformation component, the angle adjustment of the back cushion component facilitates the adjustment of the back posture of the patient so as to adjust the support of the back in lying or standing, is favorable for the adjustment of the back posture of the patient in the rehabilitation training process, improves the fatigue caused by long-time maintenance of the same posture, and improves the use comfort of the patient.
In this embodiment, the lifting assembly 30 includes a bottom cross frame 32, a top cross frame 31, at least two scissor lifting structures connected between the bottom cross frame and the top cross frame and arranged transversely, the scissor lifting structures include two lifting rods 33 which are mutually intersected and are in rotation fit in the middle, a lifting screw 34 which is longitudinally and rotatably fitted on the bottom cross frame, and a lifting slider 35 which is in threaded connection with the lifting screw, the tops of the two lifting rods are in rotation fit with the top cross frame, the bottom of one lifting rod is in rotation fit with the bottom cross frame, the bottom of the other lifting rod is in rotation fit with the lifting slider, and the back cushion is in rotation fit with the top cross frame in a manner capable of longitudinally swinging. The bottom crossbearer 32 is low limbs rehabilitation training robot bottommost part, the bottom crossbearer 32 is H type structure, four universal gyro wheels 36 are installed to bottom crossbearer four corners department, and this universal gyro wheel should take braking system to in order to keep the state of robot, the universal gyro wheel that has braking system is prior art, and specific no longer described, and the universal gyro wheel accessible leveling screw is connected on the bottom crossbearer, can make low limbs rehabilitation training robot platform keep the level on uneven ground through the leveling screw, improves the adaptability to the topography. The top crossbearer is rectangular square frame structure, and two longerons of bottom crossbearer 32 are vertically opposite with two longerons of top crossbearer 31, respectively connect a set of scissors formula elevation structure between two pairs of vertically opposite longerons, respectively install a vertically extending's lift screw in two longerons inboard of bottom crossbearer 32, specifically be the inside inwards protrusion of bottom crossbearer 32 longeron forms two screw rod mount pad 37, and screw rod mount pad 37 is also the bearing frame simultaneously, and lift screw rod both ends are installed on this screw rod mount pad through bearing normal running fit. As shown in fig. 8, the lifting slider 35 includes a lifting nut 35a in threaded engagement with a lifting screw, an auxiliary slider 35b in sliding engagement with a longitudinal beam of the bottom cross frame 32, and a sliding table 35c connected to the lifting nut and the auxiliary slider, where the longitudinal beam of the bottom cross frame 32 is in a rectangular structure, the sliding table 35c is in a channel steel structure, the sliding table 35c is fastened on the longitudinal beam of the bottom cross frame 32 and can slide longitudinally, the lifting slider 35 in the structure has good motion stability, the top ends of two lifting rods in the scissor type lifting structure are rotationally engaged with the longitudinal beam of the top cross frame 31, one bottom end of each lifting rod is rotationally engaged with the longitudinal beam of the bottom cross frame 32, the bottom end of the other lifting rod is rotationally engaged with the sliding table 35c, and the lifting screw is rotated to drive the two scissor type lifting rods to swing, where the lifting screw can be manually driven to rotate or driven by the lifting driving structure, in this embodiment, two motors can be independently driven by the two lifting screws in cooperation with the two lifting screws, and a gear drive system or a pulley drive system is also used to simultaneously realize a synchronous drive assembly, which is not rotationally engaged with two lifting screw drive assemblies 40; the lifting assembly of this structure cooperates scissors formula lifter, vertically arranged's lifting screw and sliding block to realize the lift of cushion subassembly, and this structure does benefit to the spatial arrangement before bottom crossbearer 32 and top crossbearer 31, increases elevation height, and reserves more spaces in bottom crossbearer department and be convenient for the installation of track subassembly 70.
In this embodiment, the cushion assembly 10 includes a cushion 11, armrests 12 connected to both lateral sides of the cushion, and a headrest 13 fixed to the cushion 11. The armrest comprises a stop block 12a connected to two lateral sides of a back cushion and a U-shaped handle 12b connected to the front side of the stop block, the U-shaped handle 12b is convenient for a patient to hold and apply force, the stop block 12a is transversely blocked on two sides of the patient to play a role in laterally protecting the patient, the stop block is also used as an installation position of a lower limb bracket assembly 20, the headrest 13 is sleeved on the back cushion through an elastic bandage, in order to ensure the comfort of the patient, the upper surface of the back cushion is provided with soft materials such as sponge or cotton wool, and in order to facilitate the operation of the patient, an operation panel installation position is reserved on the stop block 12a, an operation panel 14 is installed on the installation position to realize the control of the robot, and the robot is also required to be provided with an intelligent control assembly which is used for controlling the actions of all parts in the whole process of the lower limb rehabilitation training, and specifically comprises a pressure sensor, a position sensor, a control system and the like;
in this embodiment, the deformation assembly further includes a parallel platform assembly 60, the parallel platform assembly includes a parallel support connected in parallel with the lifting assembly to realize linkage lifting, and a support platform 61 connected to the parallel support, the lower limb bracket driving assembly 50 is fixed on the support platform, and the output end of the lower limb bracket driving assembly is detachably connected with the lower limb bracket assembly 20. The parallel support comprises a plurality of parallel swing rods 62 connected between the bottom of the lifting assembly and the supporting platform and a linkage rod 63 connected between one of the parallel swing rods and the back cushion assembly 10, two ends of the parallel swing rods are respectively in running fit with the bottom of the lifting assembly and the supporting platform, and two ends of the linkage rod are respectively in running fit with one of the parallel swing rods and the back cushion assembly. The lower limb bracket driving assembly is in linkage with the lifting assembly through the parallel platform assembly, wherein the linkage is irrelevant to the driving of the lower limb bracket driving assembly by the lower limb bracket driving assembly, and the linkage means that the movement of the lifting assembly can drive the azimuth change of the lower limb bracket driving assembly; as shown in fig. 1 to 4 and fig. 7, two stringers of the bottom cross frame are respectively connected with a parallel platform assembly to adapt to two lower limb bracket assemblies 20, each group of parallel platform assemblies comprises two parallel swing rods, wherein the parallel swing rods are in rotating fit with the bottoms of the longitudinal supports 64, the supporting platform 61 is connected to the longitudinal supports 64 in a transversely rotatable manner, the linkage rod 63 is in an L-shaped structure, one end of the linkage rod 63 is in rotating fit with the middle part of the front side parallel swing rod, the other end of the linkage rod 63 is in rotating fit with the bottom of the cushion 11, and when the lifting assembly 30 is lifted and the cushion driving assembly 40 drives the cushion 11 to swing to form an upright state, the cushion 11 drives the parallel swing rods 62 to swing and lift through the linkage rod 63, and the robot forms a standing state as shown in fig. 4; when a patient performs standing rehabilitation training, the legs of the patient often recover to a certain activity capacity, the rehabilitation training can be performed without external force, and when the patient forms a standing state, the output end of the lower limb bracket driving assembly is detached from the lower limb bracket assembly 20, the rotating support platform 61 swings outwards to form an upright state, the lower limb bracket driving assembly swings to the outer side, the inner side of the support platform is flat and positioned at two sides of the legs of the patient to form protection for the legs of the patient, and a lateral space of the legs is kept, at the moment, the stop blocks 12a are positioned at two sides of the upper body of the patient to form lateral protection for the upper body of the patient, the hands of the patient are supported on the U-shaped handles 12b, the back is leaned against the back cushion 11, the legs are fixed on the lower limb bracket assembly to realize the rehabilitation training through the self functional movement, and the structure forms good protection when the patient stands.
In this embodiment, the lower limb bracket assembly 20 includes a thigh support bar 21, a shank support bar 22 rotatably coupled to the bottom end of the thigh support bar, a foot support bracket 23 rotatably coupled to the bottom end of the shank support bar, and a binder 24 coupled to the thigh support bar and the shank support bar, wherein the top of the thigh support bar is coupled to the cushion assembly 10 via a hip joint. Thigh bracing piece 21 forms knee joint with shank bracing piece 22 articulated department, shank bracing piece 22 forms ankle joint with foot support bracket 23 articulated department, this structure adaptation is in each joint of human shank, the binder is preferably the belt-type structure of binding up, can adopt the mode of magic to paste the bonding to realize binding up to the shank so that patient's leg portion is fixed in low limbs bracket assembly, for improving the application scope of low limbs bracket assembly, thigh bracing piece 21 and shank bracing piece 22 all adopt extending structure, specifically can adopt mechanical type manual extension, linear motor electric extension or fluid pressure type extending structure, through adjusting the length of thigh bracing piece 21 and shank bracing piece 22 in order to adapt to different patient's shank length.
In this embodiment, the hip joint comprises a rotating plate 25 connected with the stop block 12a in a longitudinally rotatable manner, a hip joint support 26 eccentrically and rotatably matched with the rotating plate, and a towing bar 27 matched with the hip joint support through a spherical pair, and the end part of the thigh support bar 21 is rotatably matched with the towing bar 27. The rotation direction of the longitudinal rotation is similar to the longitudinal swinging direction, and detailed description is omitted; referring to fig. 5, the rotating plate is in a disc-shaped structure, and the drag lever 27 and the hip joint support can realize spherical surface matching through universal balls, wherein the drag lever is connected to the balls, the base of the universal balls is arranged on the hip joint support, or other existing spherical surface pair matching modes can be adopted for the drag lever 27 and the hip joint support, and detailed description is omitted; when in use, the rotating plate is arranged on the inner side of the stop block 12a in a rotating fit manner, particularly the rotating plate is arranged on the central shaft in a transmission fit manner, and the central shaft is arranged on the stop block 12a in a rotating fit manner, and detailed description is omitted; the free rotation of the drag lever 27 is facilitated through the spherical pair matching structure, so that the hip joint support is matched with the movement of the crotch of a patient, the hip joint support is eccentrically connected with the rotation plate in a rotating way, the longitudinal and transverse relative positions of the hip joint support can be adjusted when the rotation plate rotates, the hip joint support is beneficial to the adaptation of the crotch and the position change of the legs of the patient, the use comfort of the patient is improved, and the crotch part of the patient is reserved with enough movement space, so that the rehabilitation training of the patient is facilitated.
In this embodiment, the hip joint support 26 includes a joint base 26a and a joint cover 26b, the joint base 26a has an installation cavity, the joint cover 26b covers the installation cavity to form a spherical installation position, the towing bar 27 has a spherical installation portion 27a, the spherical installation portion 27a is installed in the spherical installation position, and a through hole for the towing bar to pass through is opened in the middle of the joint cover 26 b. The joint cover 26b may be fixed to the joint base 26a by bolts, and the spherical mounting position and the spherical mounting portion are not limited to a spherical structure, but may be a hemispherical or hemispherical structure, and the towing bar may be rotated in the spherical mounting position by the spherical mounting portion, thereby being adapted to the movement of the hip of the patient.
In this embodiment, the inner side surface of the joint cover 26b and the bottom of the installation cavity have approximately concentric hemispherical structures with the same bending direction, the spherical installation portion 27a has a thin-wall structure, and the hemispherical inner and outer side surfaces of the spherical installation portion 27a are respectively attached to the inner side surface of the joint cover 26b and the bottom of the installation cavity. The approximate concentricity means that certain installation errors are allowed on the basis of concentricity, and the bending directions of the inner side surface of the joint cover 26b and the bottom of the installation cavity are the same, so that the joint cover and the installation cavity are surrounded by an installation position with a flat structure; with reference to fig. 5, the spherical mounting position is a flat structure formed by the inner side surface of the joint cover and the bottom of the mounting cavity, the spherical cavity of the spherical mounting position is matched with the spherical mounting part, the inner cavity of the spherical mounting position is larger than the spherical mounting part so that the spherical mounting part rotates in the spherical mounting position, the movement center point of the spherical mounting part coincides with the hip joint of a patient, the spherical mounting part and the spherical mounting position with thin-wall flat structures can reduce the whole volume of the hip joint structure, the compactness of the whole hip joint structure is improved, the space layout is facilitated, enough space is easily reserved for the lateral direction of the crotch of the patient during use, and the hip joint of the structure is less in material consumption and beneficial to cost reduction.
In this embodiment, a flexible cushion layer 28 is provided between the bottom of the mounting cavity and the spherical mounting portion 27 a. The flexible cushion layer can adopt structures such as a paper cushion layer or a foam cushion layer, the flexible cushion layer is filled between the spherical installation part and the bottom of the installation cavity, the installation compactness of the spherical installation part is improved, the hip joint has certain elastic rebound capacity through the flexible cushion layer, the comfort level of the use of a patient is improved, and the possible secondary injury to the patient due to the rigid rehabilitation training can be effectively prevented.
In this embodiment, the device further includes a mounting substrate 29, and the rotating plate 25 is mounted on the mounting substrate in a rotating fit. Referring to fig. 5, the rotating plate may be mounted on the mounting substrate through a central shaft in a rotating fit manner, or the mounting substrate is provided with a circular groove, the rotating plate is mounted in the circular groove and is encapsulated in the circular groove through the cover plate to realize the rotating fit, the mounting substrate is mounted on the inner side of the stop block 12a through a bolt to realize the mounting of the hip joint of the robot, so that the integration level of the hip joint of the robot is high, and the universality is strong.
In this embodiment, the rotating plate 25 is eccentrically connected with a connecting sleeve 25a, the joint base 26a is outwardly protruded to form a mounting portion 26c, and the mounting portion 26c is sleeved in the connecting sleeve 25a and connected with the connecting sleeve. The installation department 26c is the axle form structure, but installation department and adapter sleeve normal running fit, also can fixed connection, specifically both can weld, threaded connection or connect through joint etc. the cooperation structure through adapter sleeve and installation department endotheca is convenient for the joint base be connected with the rotor plate, has improved the connection stability of both again.
In this embodiment, the towing bar 27 further includes a connecting rod portion 27b connected to the spherical mounting portion 27a and a towing bar main body connected to the connecting rod portion at an included angle, where the connecting rod portion passes through a via hole of the joint cover and is connected to the towing bar main body. As shown in connection with fig. 1 and 5, the connecting rod portion extends horizontally and the trawl body is approximately perpendicular to the connecting rod portion such that the trawl body is parallel to the patient's leg.
In this embodiment, the tow bar body includes an arc portion 27c connected to the connecting rod portion and bent toward the spherical mounting portion 27a side, and a straight portion 27d connected to the end of the arc portion. The curved configuration of the arcuate portion 27c provides clearance for the ball mount portion 27a and the hip support, and the straight portion 27d is approximately perpendicular to the connecting rod portion and is connected to the thigh support in parallel with the patient's leg.
In this embodiment, the cushion drive assembly 40 includes a mounting bracket 41 transversely connected to the top cross frame and longitudinally rotatably engaged with the top cross frame, a cushion drive rod 42 connected to the mounting bracket, and a cushion drive member 43 mounted to the mounting bracket for driving the cushion drive rod to move axially, with the cushion drive rod head rotatably engaged with the cushion. Axial movement refers to movement of the cushion driving rod along the length direction of the cushion driving rod, when the cushion driving rod is a cylindrical rod, the cushion driving rod moves along the axis of the cushion driving rod, the cushion driving rod is driven to axially move and stretch out and draw back to further drive the cushion on the cushion to swing and adjust the posture, the cushion driving rod can be hydraulically driven, or the cushion driving rod can be converted into axial movement through rotation of a screw rod to realize driving, and the cushion driving rod is not described in detail.
In this embodiment, the mounting frame 41 includes a middle beam 41a, vertical mounting plates 41b connected to two ends of the middle beam, and a rotation shaft 41c connected to the outer side of the vertical mounting plates and extending transversely, and the rotation shaft is mounted on the top beam in a rotating fit manner. Referring to fig. 6, the middle cross beam 41a and the vertical mounting plate 41b form an approximately U-shaped structure, and the two rotating shafts 41c are mounted on the two longitudinal beams of the top cross frame in a rotating fit manner, so that when the posture of the cushion is adjusted, the cushion driving member 43 and the cushion driving rod swing along with the mounting frame 41 to adjust the posture correspondingly.
In this embodiment, two cushion driving rods 42 are connected to the middle cross beam in an axial sliding manner, two driving nuts 44 respectively in threaded fit with the two cushion driving rods are also installed on the middle cross beam in a rotating fit manner, two synchronizing wheels 45 in one-to-one matching with the driving nuts are in transmission fit with the output ends of the cushion driving pieces, and the synchronizing wheels are in transmission fit with the driving nuts through a synchronous belt 46. The cushion actuating lever can directly adopt the screw rod structure, perhaps can be at polished rod excircle local car screw thread in order to with drive nut threaded connection, the screw thread through adjusting two cushion actuating levers revolves to realizing the synchronous flexible of two cushion actuating levers, middle part crossbeam 41a middle part widens and forms the cushion actuating lever installation department of two horizontal central symmetry, slide hole is seted up to this screw rod installation department be used for with cushion actuating lever sliding fit, drive nut normal running fit installs on cushion actuating lever installation department, the drive nut excircle can be set up to the step shaft structure, cushion actuating lever installation department has seted up the circular heavy groove coaxial with the slide hole, wherein drive nut big footpath section runs through in circular heavy inslot, the draw-in groove has been seted up to the circle in the circular heavy inslot, install the jump ring in this draw-in groove and support in drive nut excircle shaft shoulder department, in order to restrict the axial displacement of drive nut relative middle part crossbeam 41a, cushion actuating member 43 adopts the motor, cushion actuating member 43 drive synchronous wheel drive hold-in time and drive nut rotation, wherein drive nut rotary motion turns into the axial motion of actuating lever, promote the cushion through the cushion actuating lever and swing cushion, this structure passes through single motor synchronous drive two cushion actuating lever synchronous motion, and stable adjustment precision is realized to the cushion adjusting mechanism.
In this embodiment, the lower limb bracket driving assembly 50 includes at least two driving rod assemblies, the driving rod assemblies include a base 51 connected to the supporting platform in a manner of being able to rotate horizontally and a telescopic driving assembly 52, the telescopic driving assembly is in running fit with the base in a manner of being able to swing vertically to the horizontal plane, the output end of the driving assembly is connected to an upper platform 53 through a spherical pair, and the upper platform is detachably connected to the lower limb bracket assembly 20. The horizontal rotation and the horizontal plane are relative to the lying posture of the robot, namely, when the robot is in a lying state, the supporting platform is of an approximately horizontal structure, and the base is rotatably arranged on the supporting platform and rotates by taking the vertical axis as a central line; as shown in fig. 7, three driving rod assemblies are disposed on the supporting platform, wherein the telescopic driving assembly 52 may be a hydraulic cylinder or a linear motor, in this embodiment, a hydraulic cylinder is adopted, a cylinder body of the hydraulic cylinder is hinged on the base 51, an output shaft of the hydraulic cylinder is connected with the upper platform 53 through a spherical pair, and the spherical pair may also use a universal ball or adopt other known matching modes, which is not described in detail; the upper platform 53 can be connected to the lower leg support through bolts, and the multi-degree-of-freedom motion of the upper platform can be realized through the driving of the three driving rod assemblies, so that the swing or twisting motion of the lower limb bracket assembly 20 can be realized, and the specific motion track can be set according to the training condition of a patient, thereby being beneficial to the comprehensive rehabilitation training of the patient.
In this embodiment, the bottom cross frame 32 is provided with a crawler assembly 70 for supporting a patient in a standing state to perform walking rehabilitation training of the patient. In combination with the illustration of fig. 3, the track assembly includes a track and a roller supporting the track, and the track assembly may adopt a structure similar to that of a running machine, and the track assembly is an existing structure, and is particularly not described in detail, and is beneficial to rehabilitation training of patient simulation upright walking through the track assembly.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.

Claims (7)

1. The utility model provides a parallel drive low limbs rehabilitation training robot which characterized in that: the back cushion assembly is connected to the back cushion assembly and is used for fixing the legs of the patient respectively, and the deformation assembly is connected to the back cushion assembly and the lower limb bracket assembly and is used for changing the postures of the back cushion assembly and the lower limb bracket assembly to form a lying state and a standing state; the deformation assembly further comprises a parallel platform assembly, the parallel platform assembly comprises a parallel support which is connected with the lifting assembly in parallel to realize linkage lifting and a support platform connected to the parallel support, the lower limb bracket driving assembly is fixed on the support platform, and the output end of the lower limb bracket driving assembly is detachably connected with the lower limb bracket assembly; the parallel support comprises a plurality of parallel swing rods connected between the bottom of the lifting assembly and the supporting platform and a linkage rod connected between one of the parallel swing rods and the back cushion assembly, wherein two ends of the parallel swing rods are respectively in running fit with the bottom of the lifting assembly and the supporting platform, and two ends of the linkage rod are respectively in running fit with one of the parallel swing rods and the back cushion assembly; the lower limb bracket assembly comprises a thigh supporting rod, a shank supporting rod in running fit with the bottom end of the thigh supporting rod, a foot supporting bracket in running fit with the bottom end of the shank supporting rod and a binding piece connected to the thigh supporting rod and the shank supporting rod, and the top of the thigh supporting rod is connected with the back cushion assembly through a hip joint.
2. The parallel drive lower limb rehabilitation training robot according to claim 1, wherein: the back cushion assembly comprises a back cushion, armrests connected to two lateral sides of the back cushion and a headrest fixed on the back cushion.
3. The parallel drive lower limb rehabilitation training robot according to claim 2, wherein: the lifting assembly comprises a bottom transverse frame, a top transverse frame and at least two scissor type lifting structures which are arranged transversely between the bottom transverse frame and the top transverse frame, wherein each scissor type lifting structure comprises two lifting rods which are mutually intersected and are in rotary fit with each other in the middle, lifting screws which are longitudinally matched with the bottom transverse frame in a rotary fit mode, and lifting sliding blocks which are in threaded connection with the lifting screws, the tops of the two lifting rods are in rotary fit with the top transverse frame, the bottoms of one lifting rod are in rotary fit with the bottom transverse frame, the bottoms of the other lifting rods are in rotary fit with the lifting sliding blocks, and the back cushion is in rotary fit with the top transverse frame in a rotary fit mode in a mode capable of longitudinally swinging.
4. The parallel drive lower limb rehabilitation training robot according to claim 3, wherein: the cushion driving assembly comprises a mounting frame transversely connected to the top cross frame and longitudinally matched with the top cross frame in a rotating mode, a cushion driving rod connected to the mounting frame and a cushion driving piece arranged on the mounting frame and used for driving the cushion driving rod to axially move, and the head of the cushion driving rod is connected to the cushion in a rotating mode.
5. The parallel drive lower limb rehabilitation training robot according to claim 1, wherein: the lower limb bracket driving assembly comprises at least two driving rod assemblies, each driving rod assembly comprises a base and a telescopic driving assembly, the base and the telescopic driving assembly are connected to the supporting platform in a horizontally rotatable mode, the telescopic driving assembly is in running fit with the base in a mode of swinging perpendicular to the horizontal plane, the output end of each driving assembly is connected to the upper platform through a spherical pair, and the upper platform is detachably connected with the lower limb bracket assembly.
6. The parallel drive lower limb rehabilitation training robot according to claim 1, wherein: the hip joint comprises a rotating plate connected with the back cushion component in a longitudinal rotating mode, a hip joint support eccentrically and rotatably matched with the rotating plate, and a towing bar matched with the hip joint support through a spherical pair, and the end part of the thigh support bar is rotatably matched with the towing bar.
7. The parallel drive lower limb rehabilitation training robot according to claim 3, wherein: the crawler belt assembly is arranged on the bottom transverse frame and used for supporting a patient in a standing state so as to realize walking rehabilitation training of the patient.
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CN113041564B (en) * 2021-02-08 2022-05-27 北京联合大学 Medical rehabilitation robot for hip joint rehabilitation and motion control method
CN114452160B (en) * 2022-01-25 2024-04-30 中国人民解放军联勤保障部队北戴河康复疗养中心 Computer-controlled dynamic regulation limb rehabilitation training device and method
CN117618223B (en) * 2024-01-12 2024-03-26 北京大学第三医院（北京大学第三临床医学院） Static progressive drafting trainer of knee joint of integrated signal detecting system

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