CN111888186B - Three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot and use method thereof - Google Patents
Three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot and use method thereof Download PDFInfo
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- CN111888186B CN111888186B CN202010702847.XA CN202010702847A CN111888186B CN 111888186 B CN111888186 B CN 111888186B CN 202010702847 A CN202010702847 A CN 202010702847A CN 111888186 B CN111888186 B CN 111888186B
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 44
- 238000000034 method Methods 0.000 title abstract description 13
- 210000000689 upper leg Anatomy 0.000 claims abstract description 80
- 210000001699 lower leg Anatomy 0.000 claims abstract description 30
- 230000001360 synchronised effect Effects 0.000 claims abstract description 22
- 210000000629 knee joint Anatomy 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000012549 training Methods 0.000 abstract description 41
- 210000004394 hip joint Anatomy 0.000 abstract description 14
- 230000008569 process Effects 0.000 abstract description 5
- 244000309464 bull Species 0.000 description 8
- 238000005452 bending Methods 0.000 description 2
- 238000005034 decoration Methods 0.000 description 2
- 230000004064 dysfunction Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0244—Hip
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Rehabilitation Tools (AREA)
Abstract
The invention discloses a three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot and a using method thereof, wherein the robot consists of a base, a lifting platform, a first motor, a second motor, a third motor, a bevel gear set, a first gear set, a second gear set, a rotating shaft, a synchronous platform, a curved rod, a connecting rod, a guide rod, a sliding block, a supporting plate, a telescopic plate, a thigh plate, a shank plate and a binding band; the robot has the rehabilitation training functions of 3 degrees of freedom, namely the flexion and extension rehabilitation training functions of hip joints of patients, the adduction and abduction rehabilitation training functions of the hip joints of the patients and the flexion and extension rehabilitation training functions of knee joints of the patients, has more abundant rehabilitation training functions compared with the conventional exoskeleton lower limb rehabilitation robot beside a bed, and can ensure the stability and the accuracy of the training process.
Description
Technical Field
The invention relates to the technical field of rehabilitation robots, in particular to a three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot and a using method thereof.
Background
At present, in the early bedside rehabilitation process of most patients with lower limb dysfunction, a therapist is still required to perform one-to-one manual rehabilitation training on the patients because the patients cannot get out of the bed. However, the training process is high in labor intensity, and is a severe test for physical strength of therapists, the therapists are difficult to ensure the continuity and stability of the rehabilitation training, and the levels of the therapists are uneven, so that the effect of the rehabilitation training is difficult to ensure.
In recent years, lower limb rehabilitation robot apparatuses gradually come into the field of vision of people, and start replacing part of heavy work of therapists. The existing lower limb rehabilitation robot mainly comprises a standing exoskeleton type, a standing sole driving type, a wheelchair exoskeleton type, a bedside suspension type, a bedside mechanical arm type, a bedside bicycle type, a common two-degree-of-freedom bedside exoskeleton type and the like. The standing exoskeleton type, standing sole driving type and wheelchair exoskeleton type lower limb rehabilitation robots cannot meet the requirements of early bedside rehabilitation training of critical patients; the bedside suspension type lower limb rehabilitation robot cannot ensure the stability and accuracy of the training process; the robot arm type and the pedal type lower limb rehabilitation robot beside the bed need to bind the feet of a patient with the tail end of equipment, and the tail end of the equipment moves to drive the patient to carry out rehabilitation training, so that the moving capability of each joint of the patient cannot be effectively evaluated; the common two-degree-of-freedom bedside exoskeleton type lower limb rehabilitation robot can only realize flexion and extension training motions of hip joints and knee joints of patients. Therefore, aiming at the requirement of early bedside lower limb rehabilitation training, lower limb rehabilitation equipment with more effective training and more abundant functions is explored, and the lower limb rehabilitation training device is of great importance for meeting the wide rehabilitation treatment requirement of China.
Disclosure of Invention
In order to solve the problem that the existing bedside lower limb rehabilitation robot cannot reasonably realize the functions of adduction and abduction rehabilitation training of hip joints of patients, the invention provides a three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot and a using method thereof, so as to meet the requirement of early bedside rehabilitation training of patients with lower limb dysfunction.
The technical scheme adopted by the invention is as follows:
a three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot comprises:
the base is used for installing the lifting platform;
the lifting platform is arranged in the base and can move up and down along the axis of the base and rotate around the axis of the base;
the first motor is arranged in the lifting platform and used for driving the rotating shaft to rotate;
the rotating shaft is arranged in the lifting platform, is connected with the first motor and is used for driving the thigh plate and the shank plate to rotate around the axis of the rotating shaft so as to drive the thigh of the patient to do flexion and extension movement;
one end of the curved rod is coaxially connected with the rotating shaft, and the other end of the curved rod is connected with the thigh plate;
the thigh plate is used for fixing the thigh of a patient, one end of the thigh plate is rotatably connected with the curved bar, the other end of the thigh plate is connected with the telescopic plate, the outer side surface of the thigh plate is provided with a guide bar, and a sliding block is slidably sleeved on the guide bar;
one end of the synchronous platform is connected with the rotating shaft and the curved bar, the other end of the synchronous platform is rotatably connected with the connecting rod through the first gear pair, and the other end of the connecting rod is hinged with the sliding block;
the second motor is arranged on the synchronous platform and is used for driving the first gear pair to rotate so as to drive the thighs of the patient to perform adduction and abduction motions;
the telescopic plate is connected to the end face of the thigh plate through a moving pair and used for mounting the lower leg plate and adjusting the position of the knee joint;
the supporting plate is connected to the bottom surface of the thigh plate through a moving pair and is used for supporting the thigh of the patient and adjusting the position of the knee joint;
the shank plate is used for fixing the shank of the patient and is rotatably arranged on the telescopic plate through a second gear pair;
the third motor is arranged on the telescopic plate and used for driving the second revolute pair to rotate so as to drive the shank of the patient to do flexion and extension motions; and
and the binding bands are respectively arranged on the thigh plate and the shank plate and are used for binding the thigh of the patient on the thigh plate and binding the shank of the patient on the shank plate.
Furthermore, the supporting plate and the telescopic plate are in sliding connection with the thigh plate through hole through a round rod arranged on the end face of the supporting plate and are fixed in position through a locking knob arranged on the thigh plate. By adopting the scheme, the supporting plate and the telescopic plate are simple and convenient to adjust.
Furthermore, the rotating shaft is connected with a first motor through a bevel gear transmission pair, the first motor is installed in the base, the output shaft of the motor extends to the shaft end of the lifting platform and is sleeved with a small bevel gear, and a large bevel gear is sleeved on the rotating shaft and is meshed with the lower bevel gear. The bevel gear set is used for changing the steering and the speed reduction of the motor, so that the robot is light in structure, and the bending and stretching speed of the thigh plate is adjustable.
Furthermore, the first gear pair comprises a first pinion and a first gearwheel, the first pinion is sleeved on a motor shaft of the second motor, the first gearwheel is rotatably mounted on the synchronous platform through a rotating shaft and is meshed with the first pinion, the connecting rod is eccentrically connected to the first gearwheel, and the synchronous platform, the curved rod, the connecting rod, the thigh plate, the guide rod and the sliding block form a crank-swing rod mechanism together. The robot has a light structure, and the abduction and adduction speeds of the thigh plates are adjustable.
Furthermore, the second gear pair comprises a second small gear and a second large gear, the second small gear is sleeved on a motor shaft of the third motor, the second large gear is rotatably installed on the expansion plate through a rotating shaft and is meshed with the second small gear, and the lower leg plate is eccentrically connected to the second large gear. The robot has a light structure, and the bending and stretching speed of the crus board is adjustable.
Furthermore, the inner side surface of the thigh plate is provided with a support lug, the top surface of the support lug is provided with a round shaft connecting part, the thigh plate is rotatably connected with the curved rod through the round shaft connecting part, and the rotating position of the thigh plate is limited through an end cover arranged at the top of the round shaft connecting part. The robot has a light structure and the thigh plate moves reliably.
When the three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot is used for lower limb rehabilitation training, the axis of the thigh plate and the local coordinate system O where the hip joint on one side of a patient is located are adjusted by adjusting the base, the lifting platform and the supporting plate1-x1y1z1Y of (A) to (B)1The axes are coincident, the axes of the axes are in local coordinate system O1-x1y1z1Z of (a)1A shaft; after adjustment, the thigh of the patient is bound with the thigh plate through the binding belt arranged on the thigh plate. By the method, the flexion and extension rehabilitation training function of the hip joint of the patient and the adduction and abduction rehabilitation training function of the hip joint of the patient can be realized.
When the three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot is used for lower limb rehabilitation training, the axis of the second gearwheel and the local coordinate system O where the knee joint of a patient is located are adjusted by adjusting the telescopic plate2-x2y2z2Z of (a)2The axes are coincident and the patient's lower leg is bound to the lower leg plate by a strap disposed on the lower leg plate. The flexion and extension rehabilitation training function of the knee joint of the patient can be realized through the method.
When the three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot is used for lower limb rehabilitation training, the axis of the thigh plate and the local coordinate system O where the hip joint on one side of a patient is located are adjusted by adjusting the base, the lifting platform and the supporting plate1-x1y1z1Y of (A) to (B)1The axes are coincident, the axes of the axes are in local coordinate system O1-x1y1z1Z of (a)1A shaft binding the thigh of the patient with the thigh plate through a binding band arranged on the thigh plate; the axis of the second gearwheel and the local coordinate system O of the knee joint of the patient are adjusted by adjusting the telescopic plate2-x2y2z2Z of (a)2The axes are coincident and the patient's lower leg is bound to the lower leg plate by a strap disposed on the lower leg plate. By the method, the flexion and extension rehabilitation training function of the hip joint of the patient, the adduction and abduction rehabilitation training function of the hip joint of the patient and the flexion and extension rehabilitation training function of the knee joint of the patient can be realized.
Further, a single robot is arranged on one side of the patient bed or two robots are arranged on both sides of the patient bed in a mirror image. Can realize the rehabilitation training function of hip joints and knee joints of patients on one side or two sides.
The invention has the beneficial effects that:
1. the rehabilitation robot has 3-degree-of-freedom rehabilitation training functions, namely a flexion and extension rehabilitation training function of hip joints of patients, an adduction and abduction rehabilitation training function of the hip joints of the patients and a flexion and extension rehabilitation training function of knee joints of the patients, has more abundant rehabilitation training functions compared with the conventional exoskeleton lower limb rehabilitation robot beside a bed, and can ensure the stability and accuracy of a training process.
2. The robot can greatly reduce the workload of therapists, the adopted technical scheme is convenient to deploy and implement, and the binding and adjustment of the lower limbs of patients can be quickly realized.
3. The technical scheme adopted by the invention is convenient for effectively evaluating the single joint movement capability of the patient in the later period.
Drawings
Fig. 1 is a schematic structural view showing an exoskeleton lower limb rehabilitation robot according to a first embodiment of the present invention.
Fig. 2 is a partial sectional view at a in fig. 1.
Fig. 3 is a schematic view of the connection structure of the rotating shaft, the synchronous platform, the curved rod, the end cover and the thigh plate of the exoskeleton lower limb rehabilitation robot.
Fig. 4 is a schematic view of the connection structure of the synchronous platform, the second motor, the first pinion and the first gearwheel of the exoskeleton lower limb rehabilitation robot.
Fig. 5 is a schematic view of the connection structure of the thigh plate, the supporting plate and the expansion plate of the exoskeleton lower limb rehabilitation robot.
Fig. 6 is a schematic view of the connection structure of the expansion plate, the third motor, the second pinion and the second bull gear of the exoskeleton lower limb rehabilitation robot.
Fig. 7 is a schematic structural diagram of a crank and swing link mechanism composed of a synchronous platform, a crank rod, a connecting rod, a thigh plate, a guide rod and a slide block of the exoskeleton lower limb rehabilitation robot.
Fig. 8 is a schematic view of the mounting structure of the exoskeleton lower limb rehabilitation robot for rehabilitation training.
Detailed Description
In order to better understand the present invention, the following examples are further provided to illustrate the present invention, but the present invention is not limited to the following examples.
In the following embodiments, the "medial" refers to the side of the thigh plate that contacts the patient, and the opposite side is the "lateral".
Embodiment mode 1
Referring to fig. 1, the embodiment provides a three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot, which includes a base 1, a lifting platform 2, a first motor 3, a small bevel gear 4, a large bevel gear 5, a rotating shaft 6, a synchronous platform 7, a curved bar 8, a second motor 9, a first pinion 10, a first bull gear 11, a connecting rod 12, an end cover 13, a thigh plate 14, a guide rod 15, a slider 16, a supporting plate 17, a telescopic plate 18, a third motor 19, a second pinion 20, a second bull gear 21, a shank plate 22, a locking knob 23 and a binding band 24.
The lifting platform 2 is composed of a U-shaped frame and a cylindrical sleeve, the cylindrical sleeve is connected to the central portion of the bottom of the U-shaped frame, and the lifting platform and the cylindrical sleeve can be integrally formed and can also be welded into a whole after being processed respectively. The cylindrical sleeve of the lifting platform 2 is coaxially arranged with the base 1, a rotating motor is arranged in the base, and the rotating motor can drive the lifting platform 2 to rotate around the axis of the base 1; be equipped with elevator motor in the base, elevator motor can drive lift platform 2 oscilaltion in base 1, and lift platform 2 and base 1 are prior art, and its structure and theory of operation are not repeated here. A motor 3 is fixedly installed in a cylindrical sleeve of the lifting platform 2, a motor output shaft vertically extends upwards to a U-shaped frame of the lifting platform 2, and a small bevel gear 4 is fixed on the end portion of the motor output shaft in a sleeved mode.
The one end of pivot 6 is the ladder cylindricly, and the other end is square column, is connected through square shaft shoulder between cylinder and the square column, and the cylindrical path section of ladder forms circular shaft shoulder with the junction of big footpath section. The cylindrical end of the rotating shaft 6 penetrates through two side walls of a U-shaped frame of the lifting platform 2 and is rotatably arranged in through holes of the two side walls of the U-shaped frame, and the positioning between the rotating shaft 6 and the end surface of the lifting platform 2 is realized through a circular shaft shoulder; big bevel gear 5 is fixed with in the big footpath section suit of 6 cylinder ends of pivot, and big bevel gear 5 meshes with bevel pinion 4, and the square column end cartridge of pivot 6 is in the square through-hole of synchronous platform 7, and realizes the location through square shaft shoulder.
One end of the synchronous platform 7 is provided with a square through hole, the other end of the synchronous platform is provided with a mounting platform, the bottom of the mounting platform is fixedly provided with a second motor 9, an output shaft of the second motor 9 extends upwards out of the mounting platform, and a first pinion 10 is fixedly arranged at the extending end; the first gearwheel 11 is rotatably mounted on the synchronization platform 7 and meshes with the first pinion 10.
One end of the curved bar 8 is provided with a square connecting part, the other end is provided with a round through hole, and the square connecting part of the curved bar 8 is inserted in the square through hole of the synchronous platform 7.
The inner side surface of one side of the thigh plate 14 protrudes outwards in the radial direction to form a support lug, the top surface of the support lug protrudes outwards in the radial direction to form a round shaft connecting part, the round shaft connecting part movably penetrates through a round through hole of the curved rod 8, the protruding end is fixedly connected with an end cover 13, and the end cover 13 is used for limiting the rotation between the thigh plate 14 and the curved rod 8. The face of the opposite side of thigh board 14 is equipped with square through hole, and square through hole's bottom is equipped with the first through-hole that is used for the mounting plate, and square through hole's lateral wall is equipped with the second through-hole that is used for installing the expansion plate. The design of square through hole makes things convenient for the installation and the position control of expansion plate and layer board, and can reduce thigh board weight and make the structure light and handy.
A first motor 3 drives the small bevel gear 3 to rotate around the axis of the base 1, and drives the large bevel gear 4 to rotate, so that the rotating shaft 6, the synchronous platform 7, the bent rod 8 and the thigh plate 14 are driven to synchronously rotate around the axis of the rotating shaft 6.
The outer side surface of the thigh plate 14 is fixedly connected with a guide rod 15, the cross section of the guide rod 15 is rectangular, and the top surface of the guide rod 15 is flush with the top plane of the synchronous platform 7; the guide rod 15 is slidably sleeved with a slide block 16. One end of the connecting rod 12 is eccentrically fixed on the first gearwheel 11, and the other end is connected with the sliding block 16 through a rotating shaft. Preferably, the square through hole of the thigh plate 14 is opened along the length direction of the guide rod 15, so as to facilitate the installation and movement of the slider 16.
The mechanism composed of the synchronous platform 7, the crank rod 8, the connecting rod 12, the thigh plate 14, the guide rod 15 and the slide block 16 can be simplified into a crank oscillating bar mechanism, the second motor 9 drives the first pinion 10 to rotate to drive the first gearwheel 11 to rotate, and the crank oscillating bar mechanism drives the thigh plate 14 to rotate around the axis of the end cover 13.
One end of the supporting plate 17 is provided with a round rod connecting part which is formed by locally and radially protruding the side surface of the supporting plate, the supporting plate is slidably inserted into the first through hole of the thigh plate 14 through a cylindrical connecting part of the supporting plate, the surface of the supporting plate 17 vertically extends towards the inner side surface of the thigh plate 14, and the supporting plate 17 is used for supporting the thigh of a patient.
A round rod connecting portion is arranged on one side face of the telescopic plate 18 and formed by local radial protruding of the side face of the telescopic plate, the axis of the cylindrical connecting portion is parallel to the face of the telescopic plate 18, the telescopic plate 18 is slidably inserted into the second through hole of the thigh plate 14 through the cylindrical connecting portion of the telescopic plate, and the inner side face of the telescopic plate 18 is flush with the inner side face of the thigh plate 14.
The supporting plate 17 and the telescopic plate 18 can realize the movement of the supporting plate 17 and the telescopic plate 18 along the respective round rod direction through the round rod connecting parts, so that the distance between the supporting plate 17 and the telescopic plate 18 and the thigh plate 14 can be adjusted to adapt to the use of patients with different body lengths. The thigh plate 14 is provided with a locking knob 23, and the locking knob 23 is screwed through the circular through hole of the thigh plate and abuts against the circular rods of the supporting plate 17 and the telescopic plate 18 to lock the supporting plate 17 and the telescopic plate 18.
An L-shaped support is arranged on the outer side face of the expansion plate 18, one end of the L-shaped support is vertically fixed on the expansion plate 18, the other end of the L-shaped support vertically extends upwards, a third motor 19 is fixedly installed on the L-shaped support, an output shaft of the motor horizontally penetrates through a second pinion 20 fixedly connected with the L-shaped support, a second bull gear 21 is installed on the expansion plate 18, and the second bull gear 21 is meshed with the second pinion 20. One end of the lower leg plate 22 is eccentrically fixed on the second bull gear 21, and the other end extends along the plate surface of the upper leg plate 14.
The third motor 19 drives the second pinion 20 to rotate, and drives the second bull gear 21 to rotate, so as to drive the shank plate 22 to rotate around the rotation axis of the second bull gear 21.
When the robot is used for lower limb rehabilitation training of a patient, the axis of the end cover 13 and the local coordinate system O of the hip joint of the patient can be adjusted by adjusting the position of the base 1 and the height and the rotating angle of the lifting platform 21-x1y1z1Y of (A) to (B)1The axes are coincident, the axis of the rotating shaft 6 and the local coordinate system O1-x1y1z1Z of (a)1The axes are overlapped; meanwhile, the axis of the second gearwheel 21 and the local coordinate system O of the knee joint of the patient are enabled to be in accordance with the adjustment of the supporting plate 17 and the expansion plate 182-x2y2z2Z of (a)2The axes are overlapped; under the drive of the first motor 3, the thigh of the patient can be wound around the z1Flexion and extension training movements of the shaft; under the drive of the second motor 9, the thigh of the patient can be wound around the y1Adduction and abduction training movements of the shaft; driven by the third motor 19, the patient can wind the lower leg around the z2The shaft is bent and stretched to train the movement.
When two robots of the invention are used for lower limb rehabilitation training of a patient, the rehabilitation training of the lower limbs on two sides of the patient can be realized simultaneously through mirror image arrangement.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (6)
1. A three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot is characterized by comprising:
the base is used for installing the lifting platform;
the lifting platform is arranged in the base and can move up and down along the axis of the base and rotate around the axis of the base;
the first motor is arranged in the lifting platform and used for driving the rotating shaft to rotate;
the rotating shaft is arranged in the lifting platform, is connected with the first motor and is used for driving the thigh plate and the shank plate to rotate around the axis of the rotating shaft so as to drive the thigh of the patient to do flexion and extension movement;
one end of the curved rod is coaxially connected with the rotating shaft, and the other end of the curved rod is connected with the thigh plate;
the thigh plate is used for fixing the thigh of a patient, one end of the thigh plate is rotatably connected with the curved bar, the other end of the thigh plate is connected with the telescopic plate, the outer side surface of the thigh plate is provided with a guide bar, and a sliding block is slidably sleeved on the guide bar;
one end of the synchronous platform is connected with the rotating shaft and the curved bar, the other end of the synchronous platform is rotatably connected with the connecting rod through the first gear pair, and the other end of the connecting rod is hinged with the sliding block;
the second motor is arranged on the synchronous platform and is used for driving the first gear pair to rotate so as to drive the thighs of the patient to perform adduction and abduction motions;
the telescopic plate is connected to the end face of the thigh plate through a moving pair and used for mounting the lower leg plate and adjusting the position of the knee joint;
the supporting plate is connected to the bottom surface of the thigh plate through a moving pair and is used for supporting the thigh of the patient and adjusting the position of the knee joint;
the shank plate is used for fixing the shank of the patient and is rotatably arranged on the telescopic plate through a second gear pair;
the third motor is arranged on the telescopic plate and used for driving the second revolute pair to rotate so as to drive the shank of the patient to do flexion and extension motions; and
and the binding bands are respectively arranged on the thigh plate and the shank plate and are used for binding the thigh of the patient on the thigh plate and binding the shank of the patient on the shank plate.
2. The three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot of claim 1, wherein the supporting plate and the telescopic plate are slidably connected with the through hole of the thigh plate through a round rod arranged on the end surface of the supporting plate and the position of the round rod can be fixed through a locking knob arranged on the thigh plate.
3. The three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot as claimed in claim 1, wherein the rotating shaft is connected with a first motor through a bevel gear transmission pair, the first motor is installed in the lifting platform, a motor output shaft extends to the shaft end of the lifting platform and is sleeved with a small bevel gear, and a large bevel gear is sleeved on the rotating shaft and is meshed with the small bevel gear.
4. The three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot of claim 1, wherein the first gear pair comprises a first small gear and a first large gear, the first small gear is sleeved on a motor shaft of the second motor, the first large gear is rotatably mounted on the synchronous platform through a rotating shaft and meshed with the first small gear, the connecting rod is eccentrically connected to the first large gear, and the synchronous platform, the crank rod, the connecting rod, the thigh plate, the guide rod and the sliding block jointly form a crank-swing rod mechanism.
5. The three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot as claimed in claim 1, wherein the second gear pair comprises a second small gear and a second large gear, the second small gear is sleeved on a motor shaft of the third motor, the second large gear is rotatably mounted on the expansion plate through a rotating shaft and meshed with the second small gear, and the lower leg plate is eccentrically connected to the second large gear.
6. The three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot of claim 1, wherein a supporting lug is arranged on the inner side surface of the thigh plate, a round shaft connecting part is arranged on the top surface of the supporting lug, the thigh plate is rotatably connected with a curved rod through the round shaft connecting part, and the rotating position of the thigh plate is limited through an end cover arranged at the top of the round shaft connecting part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010702847.XA CN111888186B (en) | 2020-07-21 | 2020-07-21 | Three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot and use method thereof |
Applications Claiming Priority (1)
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| CN112656642A (en) * | 2020-12-17 | 2021-04-16 | 杭州华移技术有限公司 | Postoperative leg rehabilitation training device |
| CN113332100A (en) * | 2021-06-10 | 2021-09-03 | 燕山大学 | Multi-posture multi-degree-of-freedom lower limb rehabilitation robot |
| CN113440378B (en) * | 2021-07-19 | 2022-07-01 | 广西科技大学 | Leg adjusting device of self-locking exoskeleton robot and using method |
| CN114748312A (en) * | 2022-04-12 | 2022-07-15 | 埃斯顿(南京)医疗科技有限公司 | Decoupled non-exoskeleton rehabilitation device |
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| CA2950546A1 (en) * | 2015-06-24 | 2016-12-24 | Hefei University Of Technology | Lower limb automatic regulating platform for waist rehabilitation training and training method |
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