CN113768738A

CN113768738A - Rehabilitation robot

Info

Publication number: CN113768738A
Application number: CN202010519224.9A
Authority: CN
Inventors: 宋涛; 高志军; 李志青; 田恬
Original assignee: Shanghai Shentai Medical Technology Co ltd
Current assignee: Shanghai Shentai Medical Technology Co ltd
Priority date: 2020-06-09
Filing date: 2020-06-09
Publication date: 2021-12-10
Also published as: WO2021249314A1

Abstract

The present invention provides a rehabilitation robot, comprising: the robot comprises a robot main body, a mechanical arm, a rehabilitation equipment tail end assembly and a driving part; the mechanical arm is rotatably connected with the robot main body around the horizontal direction and is driven by the driving part to rotate; the rehabilitation equipment tail end assembly is rotatably connected with the mechanical arm around the horizontal direction and is driven by the driving part to rotate; the rehabilitation device tip assembly has a rotational degree of freedom, the rotational axis of which is arranged at an angle to the horizontal. So the configuration, through the rotational degree of freedom of recovered equipment end subassembly, can realize that recovered robot drives the motion of patient's low limbs outside the sagittal plane, including the motion of drive hip joint adduction abduction, combine the arm around the rotation of horizontal direction and drive low limbs in the motion of sagittal plane, form the three-dimensional recovered motion in space of low limbs, provide better recovered treatment.

Description

Rehabilitation robot

Technical Field

The invention relates to the field of robot-assisted rehabilitation systems and methods, in particular to a rehabilitation robot.

Background

The motor rehabilitation therapy is an effective means for improving the limb motor dysfunction of patients caused by cerebral apoplexy, spinal cord injury, brain trauma and the like. Medical research shows that early bedside rehabilitation is more helpful to improve the impaired limb function of patients with stroke and other diseases, reduce the degree of disability and improve the living quality. China has a large demand for rehabilitation therapy, and rehabilitation doctors are in short supply, while the traditional exercise rehabilitation therapy assists patients to complete limb training through medical staff, so that the labor intensity is high, and electromechanical integrated intelligent rehabilitation equipment is urgently needed. At present, the exercise rehabilitation equipment is limited to enable the lower limb of a patient to perform in-plane rehabilitation exercise parallel to a sagittal plane, and multi-directional rehabilitation exercise of each joint cannot be realized. In addition, the existing automatic intelligent rehabilitation equipment has large volume, complex mechanism and inflexible use scene, and cannot meet the requirement of early bedside treatment of patients.

Disclosure of Invention

The invention aims to provide a rehabilitation robot to solve the problem that the existing early bedside rehabilitation equipment mechanism for a patient is limited to rehabilitation movement in a sagittal plane.

In order to solve the above technical problem, the present invention provides a rehabilitation robot, including: the robot comprises a robot main body, a mechanical arm, a rehabilitation equipment tail end assembly and a driving part;

the mechanical arm is rotatably connected with the robot main body around the horizontal direction and is driven by the driving part to rotate;

the rehabilitation equipment tail end assembly is rotatably connected with the mechanical arm around the horizontal direction and is driven by the driving part to rotate; the rehabilitation device tip assembly has a rotational degree of freedom, the rotational axis of which is arranged at an angle to the horizontal.

Optionally, the robot arm includes: a first arm, a second arm; the driving part comprises a first driving assembly, a first transmission assembly and a second driving assembly;

the first arm is rotatably connected with the robot main body around a first axis, the second arm is rotatably connected with the first arm around a second axis, and the rehabilitation equipment tail end component is connected with the second arm; the first axis and the second axis are both arranged along the horizontal direction;

the first driving assembly is arranged on the robot main body, is in transmission connection with the first arm and is used for driving the first arm to rotate; the second driving assembly is arranged on the robot main body, is in transmission connection with the second arm through the first transmission assembly and is used for driving the second arm to rotate; the first transmission assembly is arranged on the first arm.

Optionally, the rehabilitation robot further includes: a first joint and a second joint;

the first joint comprises a first rotating part and a first fixing part, the first rotating part is rotatably arranged in the first fixing part in a penetrating mode, the first rotating part is fixedly connected with the first arm, and the first fixing part is fixedly connected with the robot main body; the rotation axis of the first rotating member is coincident with the first axis;

the second joint comprises a second rotating part and a second fixing part, the second rotating part is rotatably arranged in the second fixing part in a penetrating mode, the second rotating part is fixedly connected with the second arm, and the second fixing part is fixedly connected with the first arm; the rotation axis of the second rotating member coincides with the second axis.

Optionally, the first joint further comprises a third swivel member;

the third rotating part is rotatably arranged in the first fixing part in a penetrating way; one end of the third rotating member is in transmission connection with the second driving assembly, and the other end of the third rotating member is in transmission connection with the first driving assembly.

Optionally, the rotation axis of the third rotating member coincides with the first axis.

Optionally, the rehabilitation device tip assembly includes: the foot part rotating slide rail, the leg part rotating mechanism, the foot part positioning piece and the leg part positioning piece;

the leg positioning part is rotatably connected with the leg rotating mechanism around a third axis;

the foot rotating slide rail extends around a fourth axis, the foot positioning piece is movably connected with the foot rotating slide rail along the extending direction of the foot rotating slide rail, and the fourth axis is intersected with or coincided with the third axis;

the rotational degree of freedom is configured to include rotation of the leg positioner about the third axis and movement of the foot positioner along the foot rotary slide about the fourth axis.

Optionally, the rehabilitation device tip assembly further comprises: a foot mechanism connector and a leg mechanism connector;

the foot rotary slide rail is connected with the foot mechanism connecting piece, and the foot mechanism connecting piece is rotatably arranged around a fifth axis and is connected with the mechanical arm;

the leg rotating mechanism is connected with the leg mechanism connecting piece, and the leg mechanism connecting piece is rotatably arranged around the fifth axis and is connected with the mechanical arm;

the fifth axis is arranged along the horizontal direction.

Optionally, the third axis intersects and is perpendicular to the fifth axis, and the fourth axis intersects and is perpendicular to the fifth axis.

Optionally, the driving part further includes: a third drive assembly and a fourth drive assembly;

the third driving assembly is connected with the mechanical arm, is in transmission connection with the leg mechanism connecting piece and is used for driving the leg rotating mechanism to rotate around the fifth axis;

and the fourth driving component is connected with the mechanical arm, is in transmission connection with the foot mechanism connecting piece and is used for driving the foot rotary slide rail to rotate around the fifth axis.

Optionally, the rehabilitation robot further includes: a third joint;

the third joint comprises a fourth rotating part, a fifth rotating part and a third fixing part, and the third fixing part is fixedly connected with the mechanical arm; the fourth rotating part and the fifth rotating part are respectively and rotatably arranged in the third fixing part in a penetrating way;

one end of the fourth rotating member is in transmission connection with the third driving assembly, and the other end of the fourth rotating member is in transmission connection with a rotating part of the rehabilitation equipment tail end assembly;

one end of the fifth rotating member is in transmission connection with the fourth driving assembly, and the other end of the fifth rotating member is in transmission connection with the other rotating part of the rehabilitation equipment tail end assembly.

Optionally, the rotation axis of the fourth rotating member coincides with the rotation axis of the fifth rotating member.

Optionally, the robot main body includes a base and a chassis; the base is rotatably connected with the case around the vertical direction and is driven by the driving part to rotate; the rotational degree of freedom of the rehabilitation device terminal assembly is passively adapted to the rotation of the base.

Optionally, the rehabilitation robot further comprises a lifting assembly; the lifting assembly is connected with the case in a lifting mode along the vertical direction, and the base is connected with the lifting assembly and is connected with the case in a lifting mode through the lifting assembly.

Optionally, the robot main body is configured to be rotatable about a vertical direction and/or liftable along the vertical direction, and is driven by the driving part to rotate and/or lift.

As described above, the rehabilitation robot according to the present invention includes: the robot comprises a robot main body, a mechanical arm, a rehabilitation equipment tail end assembly and a driving part; the mechanical arm is rotatably connected with the robot main body around the horizontal direction and is driven by the driving part to rotate; the rehabilitation equipment tail end assembly is rotatably connected with the mechanical arm around the horizontal direction and is driven by the driving part to rotate; the rehabilitation device tip assembly has a rotational degree of freedom, the rotational axis of which is arranged at an angle to the horizontal.

So the configuration, through the rotational degree of freedom of recovered equipment end subassembly, can realize that recovered robot drives the motion of patient's low limbs outside the sagittal plane, including the motion of drive hip joint adduction abduction, combine the arm around the rotation of horizontal direction and drive low limbs in the motion of sagittal plane, form the three-dimensional recovered motion in space of low limbs, provide better recovered treatment.

Drawings

It will be appreciated by those skilled in the art that the drawings are provided for a better understanding of the invention and do not constitute any limitation to the scope of the invention. Wherein:

fig. 1 is a schematic view of a rehabilitation robot according to an embodiment of the present invention;

fig. 2 is a partial cross-sectional view of a rehabilitation robot provided in accordance with an embodiment of the present invention;

FIG. 3 is a partial cross-sectional view of a base and lifting column provided in accordance with one embodiment of the present invention;

fig. 4 is a schematic diagram of a chassis provided in an embodiment of the invention;

FIG. 5 is a schematic view of a rehabilitation device tip assembly provided by an embodiment of the present invention;

fig. 6a and 6b are schematic top views of the rehabilitation device tip assembly rotating around the base according to one embodiment of the present invention;

fig. 7 is a schematic view of another angle of the rehabilitation device tip assembly according to an embodiment of the present invention.

In the drawings:

01-a robot body; 02-mechanical arm;

1-a caster; 2-a case; 3-locking the pedal; 4-a base; 5-a touch screen; 6-a lifting assembly; 7-a first arm; 8-a second arm;

10-rehabilitation device tip assembly; 11-a foot locator; 12-foot swivel slide; 13-foot mechanism connections; 14 a-linear slide; 14 b-a slide; 14 c-a locking pin; 15-leg positioning elements; 16-a leg rotation mechanism; 17-leg mechanism connections; 18-fifth axis; 19-a third axis; 20-a fourth axis;

21-a first drive assembly; 211-a first servomotor; 212-a first synchronization belt; 22-a second drive assembly; 221-a second servo motor; 222-a second synchronous belt; 23-a third drive assembly; 231-a third servomotor; 232-a fourth synchronous belt; 24-a fourth drive assembly; 241-a fourth servo motor; 242-a fifth synchronous belt; 251-a base drive motor; 252-a sixth synchronous belt;

31-a first transmission assembly; 311-fifth synchronizing wheel; 312-a third synchronous belt; 313-a sixth synchronizing wheel;

41-first joint; 410-a first axis; 411-a first rotating member; 412-a first fixture; 413-a third swivel; 42-a second joint; 420-a second axis; 421-a second rotating member; 422-a second fixing piece; 43-third joint; 430-sixth axis; 431-a fourth rotating member; 432-a fifth rotating member; 433-third fixing piece.

Detailed Description

To further clarify the objects, advantages and features of the present invention, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is to be noted that the drawings are in greatly simplified form and are not to scale, but are merely intended to facilitate and clarify the explanation of the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.

As used in this application, the singular forms "a", "an" and "the" include plural referents, the term "or" is generally employed in a sense including "and/or," the terms "a" and "an" are generally employed in a sense including "at least one," the terms "at least two" are generally employed in a sense including "two or more," and the terms "first", "second" and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit to the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include one or at least two of the features, the term "proximal" generally being the end near the operator, the term "distal" generally being the end near the lesion of the patient, the terms "end" and "proximal" and "distal" generally referring to the corresponding two parts, including not only the end points, unless the context clearly dictates otherwise. As used herein, the terms "mounted," "connected," and "coupled" are to be construed broadly and encompass, for example, both fixed and removable coupling or integration, unless expressly stated otherwise; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. Furthermore, as used in the present invention, the disposition of an element with another element generally only means that there is a connection, coupling, fit or driving relationship between the two elements, and the connection, coupling, fit or driving relationship between the two elements may be direct or indirect through intermediate elements, and cannot be understood as indicating or implying any spatial positional relationship between the two elements, i.e., an element may be in any orientation inside, outside, above, below or to one side of another element, unless the content clearly indicates otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The core idea of the invention is to provide a rehabilitation robot to solve the problem that the existing rehabilitation equipment mechanism is limited to rehabilitation movement in a sagittal plane.

The following description refers to the accompanying drawings.

Referring to fig. 1 to 7, in which fig. 1 is a schematic view of a rehabilitation robot according to an embodiment of the present invention; fig. 2 is a partial cross-sectional view of a rehabilitation robot provided in accordance with an embodiment of the present invention; FIG. 3 is a partial cross-sectional view of a base and lifting column provided in accordance with one embodiment of the present invention; fig. 4 is a schematic diagram of a chassis provided in an embodiment of the invention; FIG. 5 is a schematic view of a rehabilitation device tip assembly provided by an embodiment of the present invention; fig. 6a and 6b are schematic top views of the rehabilitation device tip assembly rotating around the base according to one embodiment of the present invention; fig. 7 is a schematic view of another angle of the rehabilitation device tip assembly according to an embodiment of the present invention.

An embodiment of the present invention provides a rehabilitation robot for performing rehabilitation training on a lower limb of a patient.

As shown in fig. 1 and 2, the rehabilitation robot includes: robot main body 01, robot arm 02, rehabilitation device tip assembly 10, and driving means. The mechanical arm 02 is rotatably connected with the robot main body 01 around the horizontal direction and is driven by the driving part to rotate; the rehabilitation equipment tail end assembly 10 is rotatably connected with the mechanical arm 02 around the horizontal direction and is driven by the driving part to rotate; the rehabilitation device tip assembly 10 has a rotational degree of freedom, the rotational axis of which is arranged at an angle to the horizontal.

With the adoption of the configuration, the rehabilitation robot can drive the lower limbs of a patient to move in the direction other than the sagittal plane through the rotational freedom degree of the tail end component 10 of the rehabilitation equipment, and comprises the movement of driving the hip joint to contract and expand, and the movement of the lower limbs in the sagittal plane is driven by combining the rotation of the mechanical arm 02 in the horizontal direction, so that the spatial three-dimensional rehabilitation movement of the lower limbs is formed, and a better rehabilitation treatment effect is provided.

Preferably, the robot arm 02 includes: a first arm 7, a second arm 8; the driving components include a first driving assembly 21, a first transmission assembly 31 and a second driving assembly 22. The first arm 7 is rotatably connected with the robot main body 01 around a first axis 410, the second arm 8 is rotatably connected with the first arm 7 around a second axis 420, and the rehabilitation device end assembly 10 is connected with the second arm 8; the first axis 410 and the second axis 420 are both disposed in a horizontal direction; the first driving assembly 21 is arranged on the robot main body 01, is in transmission connection with the first arm 7, and is used for driving the first arm 7 to rotate; the second driving assembly 22 is disposed on the robot main body 01, and is in transmission connection with the second arm 8 through the first transmission assembly 31, so as to drive the second arm 8 to rotate; the first transmission assembly 31 is disposed on the first arm 7. First drive assembly 21 and second drive assembly 22 set up respectively in robot main part 01, and first drive assembly 31 sets up in first arm 7, sets up most drive assembly on robot main part 01, is favorable to improving recovered robot's stability, reduces the volume and the weight of first arm 7 and second arm 8, is convenient for carry out early bedside treatment to the patient at the bedside.

In use, a patient may lie flat on a hospital bed or sit on a chair with the affected lower limb secured to the rehabilitation device end assembly 10. The first arm 7 rotates relative to the robot body 01, and the second arm 8 rotates relative to the first arm 7, thereby performing traction and extension training on the lower limb of the patient in the sagittal plane.

In one example, the robot main body 01 includes a base 4 and a cabinet 2; the base 4 is rotatably connected with the case 2 around the vertical direction and is driven by the driving part to rotate; the rehabilitation device tip assembly 10 is adapted to be passively adapted to the rotation of the base 4. Further, the rehabilitation robot further includes: caster 1 and lock pedal 3. The case 2 is used for accommodating electronic devices such as a control device and the like so as to realize the control of the whole equipment, and in addition, the case 2 is also used for bearing the weight of the base 4, the first arm 7, the second arm 8, the rehabilitation equipment tail end assembly 10 and the lower limbs of the human body; a plurality of casters 1 are installed at the bottom of the case 2, which facilitates the movement of the rehabilitation robot. The locking pedal 3 is arranged on the case 2, so that one foot of the trundles 1 can be locked, and the stability of the equipment during operation is ensured. In other examples, the robot main body 01 is configured to be rotatable in a vertical direction as a whole and to be rotated by the driving unit.

Further, referring to fig. 2, the rehabilitation robot further includes: a first joint 41 and a second joint 42; the first joint 41 includes a first rotating member 411 and a first fixing member 412, the first rotating member 411 is rotatably inserted into the first fixing member 412, the first rotating member 411 is fixedly connected to one end of the first arm 7, and the first fixing member 412 is fixedly connected to the robot main body 01, for example, to the base 4; the axis of rotation of the first swivel 411 coincides with the first axis 410; the second joint 42 includes a second rotating member 421 and a second fixing member 422, the second rotating member 421 is rotatably inserted into the second fixing member 422, the second rotating member 421 is fixedly connected to one end of the second arm 8, and the second fixing member 422 is fixedly connected to the other end of the first arm 7; the rotation axis of the second rotating member 421 coincides with the second axis 420.

In practice, the first joint 41 and the second joint 42 are rotational joints, and hereinafter, the first joint 41 is described as an example, in which the first fixing member 412 has a through hole penetrating in the direction of the first axis 410, and the first rotating member 411 is rotatably inserted through the through hole of the first fixing member 412 via a bearing. Through the fixed connection of the first rotating member 411 and the first arm 7, the fixed connection of the first fixing member 412 and the base 4, the rotatable connection of the first rotating member 411 and the first fixing member 412, the first arm 7 can rotate relative to the base 4. The second joint 42 may be the same or similar in structure to the first joint 41, and may be configured with reference to the first joint 41.

Further, the first joint 41 further includes a third rotating member 413; the third rotating member 413 is rotatably disposed in the first fixing member 412; one end of the third rotating member 413 is in transmission connection with the second driving assembly 22, and the other end of the third rotating member 413 is in transmission connection with the first transmission assembly 31. The third rotating member 413 is also inserted into the first fixing member 412, so that the space is more effectively utilized and the structure of the first arm 7 is more compact. Preferably, the rotation axis of the third rotating member 413 coincides with the first axis 410, and the third rotating member 413 and the first rotating member 411 are substantially coaxial. So configured, it is more beneficial to improve the stability of the transmission of the first transmission assembly 31 and reduce the overall size of the first joint 41.

The following is a detailed description of an exemplary embodiment.

In an exemplary embodiment, the first rotating member 411 includes a shaft hole penetrating in an axial direction, the third rotating member 413 is inserted into the shaft hole of the first rotating member 411, the first rotating member 411 is inserted into the first fixing member 412, and the first rotating member 411 and the third rotating member 413 can rotate independently without mutual influence. Preferably, the first rotating member 411 and the third rotating member 413 are respectively connected to the first fixing member 412 through different bearings.

Optionally, the first driving assembly 21 includes a first servo motor 211, a first synchronizing wheel, a first synchronizing belt 212 and a second synchronizing wheel, the first synchronizing wheel is fixed on an output shaft of the first servo motor 211, the second synchronizing wheel is fixed on one side of the first rotating member 411 facing the base 4, the first synchronizing belt 212 is connected to the first synchronizing wheel and the second synchronizing wheel, so as to realize transmission connection between the first servo motor 211 and the first rotating member 411, and further realize driving the first arm 7 to rotate through the first servo motor 211. The second driving assembly 22 includes a second servo motor 221, a third synchronous wheel, a second synchronous belt 222 and a fourth synchronous wheel, the third synchronous wheel is fixed on the output shaft of the second servo motor 221, the fourth synchronous wheel is fixed on one side of the third revolving member 413 facing the base 4, the second synchronous belt 222 is connected with the third synchronous wheel and the fourth synchronous wheel, and transmission connection of the second servo motor 221 and the third revolving member 413 is achieved. Two servo motors are connected with different rotating parts through different synchronous belts in a transmission mode respectively, so that the rotation of the first rotating part 411 and the rotation of the third rotating part 413 are decoupled mutually, and the two rotating parts can rotate independently.

Further, the first transmission assembly 31 includes a fifth synchronizing wheel 311, a third synchronizing belt 312 and a sixth synchronizing wheel 313, the fifth synchronizing wheel 311 is fixedly disposed on one side of the second revolving member 421 facing the first arm 7, the sixth synchronizing wheel 313 is fixedly disposed on one side of the third revolving member 413 facing the first arm 7, the third synchronizing belt 312 is connected to the fifth synchronizing wheel 311 and the sixth synchronizing wheel 313, so as to realize transmission connection between the third revolving member 413 and the second revolving member 421, further realize transmission connection between the second servo motor 221 and the second revolving member 421, and realize rotation of the second arm 8 driven by the second servo motor 221.

Preferably, the first driving assembly 21, the second driving assembly 22 and the first transmission assembly 31 further include at least one tension wheel for tensioning the timing belt to maintain a proper tightness of the timing belt. The skilled person can select the appropriate number, position and diameter of the tension pulleys according to different configurations of the synchronous belt and the synchronous pulley, and the detailed description is omitted here.

It should be understood that the first driving assembly 21, the second driving assembly 22 and the first transmission assembly 31 are not limited to be connected through a synchronous belt transmission, and in other embodiments, the first driving assembly 21, the second driving assembly 22 and the first transmission assembly 31 may also be connected through a gear transmission, a belt transmission, a chain transmission or a friction wheel transmission. In addition, the connection relationship between the first rotating member 411 and the third rotating member 413 is not limited to that the first rotating member 411 is sleeved outside the third rotating member 413, and the third rotating member 413 may be provided with a shaft hole, and the first rotating member 411 is inserted into the shaft hole of the third rotating member 413, which is not limited in the present invention.

Preferably, referring to fig. 5, 6a and 6b, the rehabilitation device tip assembly 10 includes: a foot guide mechanism, a leg rotation mechanism 16, a foot positioning member 11, and a leg positioning member 15; the leg positioning element 15 is connected to the leg rotation mechanism 16 rotatably about a third axis 19, the foot positioning element 11 is connected to the foot guide mechanism movably about a fourth axis 20, and the fourth axis 20 intersects or coincides with the third axis 19. The foot guide mechanism is used for guiding the moving direction of the foot positioning member 11, and in an exemplary embodiment, the foot guide mechanism includes a foot rotary slide rail 12, the foot rotary slide rail 12 extends around a fourth axis 20, and the foot positioning member 11 is movably connected with the foot rotary slide rail 12 along the extending direction of the foot rotary slide rail 12.

The rotational degrees of freedom are configured to include rotation of the leg positioning member 15 about the third axis 19, and movement of the foot positioning member 11 along the foot rotary slide rail 12 about the fourth axis 20. It should be noted that, since the foot and the leg of the rehabilitation subject can rotate relatively, the angle between the third axis 19 and the fourth axis 20 can also be adjusted, rather than fixed. Preferably, under the traction of the robot arm 02, the leg rest 15 passively moves around the third axis 19, and the foot rest 11 passively moves around the fourth axis 20.

In particular, when the foot of the rehabilitation subject is at 90 ° to the leg, the third axis 19 coincides with the fourth axis 20, fig. 5 illustrating the condition of the rehabilitation device tip assembly 10 in this particular case. So configured, the leg positioning member 15 and the foot positioning member 11 can be rotated in the same direction (clockwise or counterclockwise) about the third axis 19 and the fourth axis 20, respectively, to passively adapt to the rotation of the base 4. Specifically, please refer to fig. 6a and 6b, which illustrate the variation of the rotational degree of freedom when the base 4 rotates a certain angle. In fig. 6a and 6b, a straight line T represents the lower limb of the rehabilitation subject, and the lower end point O represents the hip joint. When the base 4 rotates counterclockwise by a certain angle from the state shown in fig. 6a, the leg positioner 15 and the foot positioner 11 correspondingly rotate passively around the third axis 19 while being driven and pulled by the robot arm 02 to rotate around the rotation axis of the base 4, the angle α changes the direction and displacement, and the movement of the leg positioner 15 and the foot positioner 11 around the third axis 19 forms the rotational degree of freedom.

In practice, the leg positioning member 15 is used to fix and support the patient's leg, such as a leg plate, and the foot positioning member 11 is used to fix and support the patient's foot, such as a foot plate. Because the foot positioning member 11 and the leg positioning member 15 can move around the fourth axis 20 and the third axis 19 respectively, the legs of the patient can not be limited to move in the sagittal plane, but can be adapted to the active rotation of the base 4 to realize the abduction and adduction rehabilitation training actions of the hip joint and can also be adapted to the abduction and adduction multi-joint compound actions of the hip joint.

In some other embodiments, the foot guiding mechanism comprises a foot linear rail extending on a plane parallel to the fourth axis 20, and a projection of the fourth axis 20 on the plane is perpendicular to an extending direction of the foot linear rail, the distance of the foot linear rail relative to the fourth axis 20 is telescopically arranged, and the foot positioning member 11 is movable along the foot linear rail, so that the foot positioning member 11 moves along the foot linear rail while the distance of the foot linear rail relative to the fourth axis 20 changes, thereby realizing the circumferential movement of the foot positioning member 11 around the fourth axis 20.

Furthermore, the rotation of the leg positioning element 15 about the third axis 19 and the displacement of the foot positioning element 11 about the fourth axis 20 preferably take place synchronously in the same direction. Because the leg and the foot are actually required to move synchronously during abduction-adduction training of the hip joint, when abduction-adduction training of the hip joint is realized, the leg positioning piece 15 and the foot positioning piece 11 can be configured to move synchronously, when the leg positioning piece 15 rotates around the third axis 19, the ankle joint of the patient moves together along with the leg positioning piece and drives the foot positioning piece 11 to rotate synchronously around the fourth axis 20, and thus, passive motion matched with the abduction-adduction motion of the hip joint is formed.

In other embodiments, the fourth axis 20 intersects or coincides with the third axis 19, the leg positioning member 15 and the foot positioning member 11 are independently rotatable about the third axis 19 and the fourth axis 20, respectively, such that the eversion and eversion motions of the ankle joint are achieved when the foot positioning member 11 is independently movable relative to the leg positioning member 15, such as when the foot positioning member 11 is independently rotatable about the fourth axis 20 and the leg positioning member 15 is not rotatable. Thereby carrying out rehabilitation treatment on the ankle joint of the patient. Preferably, the third axis 19 is perpendicular to the first axis 410 and/or the second axis 420. In a preferred example, the first axis 410 and the second axis 420 are both arranged along a horizontal direction, and the third axis 19 is arranged along a vertical direction, so that the three-dimensional rehabilitation therapy is particularly suitable for the lower limb three-dimensional rehabilitation therapy of a patient lying in a flat position in an early stage of rehabilitation.

Further, the rehabilitation device tip assembly 10 further comprises: a foot mechanism link 13 and a leg mechanism link 17; the foot guide mechanism is connected to the foot mechanism link 13, the foot mechanism link 13 being rotatably disposed about a fifth axis 18 and connected to the robotic arm 02; the leg rotation mechanism 16 is connected to the leg mechanism connecting member 17, and the leg mechanism connecting member 17 is rotatably disposed around the fifth axis 18 and connected to the robot arm 02. In one example, the foot mechanism link 13 and the leg mechanism link 17 are each connected to the second arm 8. The foot positioning member 11 is rotatable about a fifth axis 18 in addition to the fourth axis 20 with the foot mechanism link 13 and the leg positioning member 15 is rotatable about a third axis 19 with the leg mechanism link 17 about the fifth axis 18 whereby the foot positioning member 11 and the leg positioning member 15 are rotatable relative to each other in the sagittal plane of the patient to impart motion to the ankle, knee or hip joint of the patient. Preferably, the fifth axis 18 may be arranged to extend in a horizontal direction. It should be noted that in some cases, the foot positioning member 11 and the leg positioning member 15 can be rotated synchronously about the fifth axis 18 in the same direction to accommodate rehabilitation exercises for the knee or hip joint, while in other cases, the foot positioning member 11 and the leg positioning member 15 can be rotated relatively independently about the fifth axis 18 to accommodate rehabilitation exercises for the ankle joint.

To facilitate simplifying the mechanism of the rehabilitation robot, in this exemplary embodiment the foot mechanism connections 13 are arranged coaxially with the leg mechanism connections 17 (i.e. both around the fifth axis 18). However, it will be understood by those skilled in the art that the foot mechanism link 13 and the leg mechanism link 17 are not limited to being coaxially disposed, and in other embodiments, they may be independently disposed.

Preferably, with continued reference to fig. 2, the foot mechanism connecting part 13 is configured to be connected to at least one driving assembly, and the foot mechanism connecting part 13 is configured to drive the foot guiding mechanism to rotate around the fifth axis 18 under the driving of the at least one driving assembly; the leg mechanism connecting part 17 is used for connecting with at least another driving component, and the leg mechanism connecting part 17 is used for driving the leg rotating mechanism 16 to rotate around the fifth axis 18 under the driving of the at least another driving component. In one embodiment, the rehabilitation robot further comprises: a third driving assembly 23 and a fourth driving assembly 24, wherein the third driving assembly 23 is connected to the robot arm 02 and is in transmission connection with the leg mechanism connecting member 17, and is used for driving the leg rotation mechanism 16 to rotate around the fifth axis 18; the fourth driving assembly 24 is connected to the robot arm 02 and is in transmission connection with the foot mechanism connecting part 13, and is configured to drive the foot rotary slide rail 12 to rotate around the fifth axis 18. In one embodiment, the third drive assembly 23 and the fourth drive assembly 24 are both connected to the second arm 8. The foot rotary slide rail 12 and the leg rotary mechanism 16 are respectively driven by two mutually independent driving components arranged on the second arm 8, so that the foot positioning piece 11 and the leg positioning piece 15 can relatively rotate in the sagittal plane of a patient, and the ankle joint and the like of the patient can be driven to move.

Further, the rehabilitation robot further includes: a third joint 43; the third joint 43 includes a fourth rotating member 431, a fifth rotating member 432 and a third fixing member 433, and the third fixing member 433 is fixedly connected to the robot arm 02, for example, fixedly connected to the second arm 8; the fourth rotating member 431 and the fifth rotating member 432 are rotatably inserted into the third fixing member 433 respectively; one end of the fourth rotating member 431 is in transmission connection with the third driving assembly 23, and the other end of the fourth rotating member 431 is in transmission connection with the foot mechanism connecting part 13; one end of the fifth rotating member 432 is in transmission connection with the fourth driving assembly 24, and the other end of the fifth rotating member 432 is in transmission connection with the leg mechanism connecting member 17.

Preferably, the third joint 43 is a rotary joint, the third fixed member 433 has a through hole penetrating in the direction of the sixth axis 430, and the fourth rotating member 431 and the fifth rotating member 432 are rotatably inserted through the through hole of the third fixed member 433 through bearings, respectively. Optionally, sixth axis 430 is parallel to first axis 410 and second axis 420.

Further, the rotation axis of the fourth rotating member 431 and the rotation axis of the fifth rotating member 432 are coincident with the sixth axis 430. The arrangement can more effectively utilize space, so that the structure of the third joint 43 is more compact, the transmission stability of the third joint 43 is more favorably improved, and the overall size of the third joint 43 is reduced.

In an exemplary embodiment, the fourth rotating member 431 includes a shaft hole penetrating in the axial direction, the fifth rotating member 432 is inserted into the shaft hole of the fourth rotating member 431, the fourth rotating member 431 is inserted into the through hole of the third fixing member 433, and the fourth rotating member 431 and the fifth rotating member 432 can rotate independently without mutual influence. Preferably, the fourth rotating member 431 and the fifth rotating member 432 are respectively connected to the third fixing member 433 through different bearings. A side of the fourth swivel member 431 facing the rehabilitation device tip assembly 10 for connecting with one of the foot mechanism link 13 and the leg mechanism link 17; the other side of the fourth swivel member 431 is directed towards the second arm 8 for driving connection with the third drive assembly 23. A side of the fifth swivel member 432 facing the rehabilitation device tip assembly 10 for connection with the other of the foot mechanism connection 13 and the leg mechanism connection 17; the other side of the fifth rotating member 432 faces the second arm 8 for driving connection with the fourth driving assembly 24.

Optionally, the third driving assembly 23 includes a third servo motor 231, a seventh synchronizing wheel, a fourth synchronizing belt 232 and an eighth synchronizing wheel, the seventh synchronizing wheel is fixed to an output shaft of the third servo motor 231, the eighth synchronizing wheel is fixed to one side of the fourth revolving member 431 facing the second arm 8, the fourth synchronizing belt 232 is connected to the seventh synchronizing wheel and the eighth synchronizing wheel, so as to achieve transmission connection between the third servo motor 231 and the fourth revolving member 431, and further achieve driving of the foot mechanism connecting member 13 to rotate through the third servo motor 231. The fourth driving assembly 24 includes a fourth servo motor 241, a ninth synchronizing wheel, a fifth synchronizing belt 242 and a tenth synchronizing wheel, the ninth synchronizing wheel is fixed on an output shaft of the fourth servo motor 241, the tenth synchronizing wheel is fixed on one side of the fifth rotating member 432 facing the second arm 8, the fifth synchronizing belt 242 connects the ninth synchronizing wheel and the tenth synchronizing wheel, the fourth servo motor 241 is connected with the fifth rotating member 432 in a transmission manner, and the fourth servo motor 241 drives the leg mechanism connecting member 17 to rotate. The two servo motors of the third driving assembly 23 and the fourth driving assembly 24 are respectively in transmission connection with different rotating members through different synchronous belts, so that the rotation of the fourth rotating member 431 and the rotation of the fifth rotating member 432 are decoupled from each other, and the two rotating members can rotate independently.

Likewise, the third drive assembly 23 and the fourth drive assembly 24 may each comprise at least one tensioner; the third driving assembly 23 and the fourth driving assembly 24 are not limited to be connected through a synchronous belt drive, and in other embodiments, the driving connection may be realized through a gear drive, a belt drive, a chain drive, a friction wheel drive, or the like. In addition, the connection relationship between the fourth rotating member 431 and the fifth rotating member 432 is not limited to the fourth rotating member 431 being sleeved outside the fifth rotating member 432, and the fifth rotating member 432 may be provided with a shaft hole, and the fourth rotating member 431 is inserted into the shaft hole of the fifth rotating member 432, which is not limited in the present invention.

Optionally, the rehabilitation device terminal assembly 10 includes a position adjusting assembly, the foot positioning member 11 is connected to the foot rotary slide rail 12 through the position adjusting assembly, and the position adjusting assembly is configured to adjust a position of the foot positioning member 11 relative to the foot rotary slide rail 12. In one example, the position adjusting assembly includes a linear slide rail 14a and a slide block 14b, which are engaged with each other, the linear slide rail 14a is disposed on one of the foot positioning member 11 and the foot rotary slide rail 12, the slide block 14b is disposed on the other of the foot positioning member 11 and the foot rotary slide rail 12, and an extending direction of the linear slide rail 14a is arranged at an angle to an extending plane of the foot rotary slide rail 12. The extension plane of the foot rotary slide rail 12 here refers to the plane in which the extension direction of the foot rotary slide rail 12 is located, which is perpendicular to the fourth axis 20. Preferably, the linear guideway 14a extends parallel to the fourth axis 20 and/or perpendicular to the fifth axis 18. By adjusting the position of the slider 14b on the linear rail 14a, the foot positioning member 11 can be moved up and down in a manner of being adapted to the leg position passively, so as to be adapted to the abduction and adduction of the hip joint more appropriately. In addition, the foot positioning element 11 can also change the using posture of the left foot and the right foot through the movement of the sliding block 14b along the linear sliding rail 14a so as to adapt to the left foot or the right foot, and optionally, the linear sliding rail 14a and the sliding block 14b are locked through a locking pin 14 c. Of course, the position adjusting assembly is not limited to the linear guideway 14a and the sliding block 14b, and may be a position adjusting assembly commonly used in the art, and may be selected by those skilled in the art according to the actual application. In addition, in some other examples, different foot positioning members for the left foot and the right foot may be used, and the corresponding foot positioning members may be adaptively assembled during rehabilitation training for the left foot and the right foot, which is not limited by the present invention.

Preferably, the leg positioning member 15 is independently movable about a third axis 19 for adjusting the position of the leg positioning member 15 relative to the leg rotation mechanism 16. In order to adapt to different physiological forms of the left and right feet, besides the foot positioning element 11 needs to be adjusted adaptively, the position of the leg positioning element 15 relative to the leg rotating mechanism 16 can be further adjusted, and the position of the leg positioning element 15 relative to the leg rotating mechanism 16 mainly refers to the angular position of the leg positioning element 15 around the third axis 19. The leg positioning members 15 are independently rotatable about said third axis 19 to accommodate left and right foot use.

Optionally, the robot main body 01 is configured to be rotatable around a vertical direction and/or liftable along the vertical direction, and is driven by the driving part to rotate and/or lift. In an exemplary embodiment, referring to fig. 3 and 4, the rehabilitation robot further includes a lifting assembly 6; the lifting assembly 6 is connected with the case 2 in a lifting manner along the vertical direction, and the base 4 is connected with the lifting assembly 6 and connected with the case 2 in a lifting manner through the lifting assembly 6. Preferably, the lifting assembly 6 comprises a lifting upright, and the lifting upright is in communication connection with the control device and is controlled by the control device to lift. Of course, in other embodiments, the lifting column can be lifted by manual adjustment. Therefore, the height of the rehabilitation robot during treatment is adjusted to adapt to the position of the lower limb of the patient. Preferably, an edge-of-touch sensor (not shown) is disposed between the first arm 7 and the second arm 8 to prevent the first arm 7 and the second arm 8 from accidentally pinching some undesired portion, such as a hand of a patient or an operator, when they are rotated relative to each other. In other examples, the robot main body 01 may be configured to be vertically liftable or vertically rotatable as a whole, and be driven by the driving unit to be lifted or rotated.

In a specific embodiment, as shown in fig. 3, the driving part further includes a base driving motor 251 and a sixth synchronous belt 252 fixedly disposed inside the housing 2, and the base driving motor 251 drives the base 4 to rotate through the sixth synchronous belt 252, so as to combine the motions of the first arm 7, the second arm 8 and the rehabilitation device end assembly 10 to realize the adduction-abduction rehabilitation therapy of the hip joint.

Preferably, at least one of the first servo motor 211, the second servo motor 221, the third servo motor 231, the fourth servo motor 241, and the base driving motor 251 can feed back at least one of a current signal, a position signal, and a velocity signal. Optionally, at least one of the first servo motor 211, the second servo motor 221, the third servo motor 231, the fourth servo motor 241, and the base driving motor 251 is provided with an absolute value encoder, which can record motion information such as a rotation position, a speed, an acceleration, and the like of the motor; the servo driver of the servo motor can realize torque control and position control.

Optionally, the rehabilitation robot further comprises a touch screen 5, and the touch screen 5 is in communication connection with the control device. The operator can input the motion trail parameters through the touch screen 5, and the motion trail parameters and the like are displayed through the touch screen 5. The motion trail parameters input by the touch screen 5 can control the motor motion of a plurality of joints through the control device, and the trail expressed by the motion trail parameters is realized.

The control device can read the state parameters of at least one of the first servo motor 211, the second servo motor 221, the third servo motor 231, the fourth servo motor 241 and the base driving motor 251 so as to realize the functions of passive training, assisted training, rehabilitation evaluation and the like of the patient, and other force sensors are not required to be added, so that the cost input is reduced. Several operating modes of the rehabilitation robot are exemplarily listed below:

1. and (3) dragging control: an operator drags a rehabilitation robot (mainly a rehabilitation equipment tail end assembly 10) to move together with the lower limbs of a patient, records and plans a movement track, so that the rehabilitation of the lower limbs of the patient at any movement pose can be realized, the flexibility is high, and the operation is simple and convenient;

2. passive training: the rehabilitation robot drives the lower limbs of the patient to perform passive rehabilitation movement, so that joint movements such as ankle dorsiflexion and plantarflexion, ankle inversion and eversion, knee joint extension and flexion, hip joint adduction and abduction and the like and compound movements of all the movements can be realized; in the training mode, the patient can move under the driving of the rehabilitation robot without applying force, and the rehabilitation robot is suitable for early treatment;

3. and (3) assisted training: after passive training, the patient can actively perform rehabilitation exercise after recovering a certain degree of self-ability, and the function can assist the patient to complete the same or similar rehabilitation action as the passive training; the control device collects the state parameters of the motor, judges the movement intention of the patient, provides driving force to assist the patient to complete rehabilitation movement, and better helps the patient to recover;

4. rehabilitation assessment: under any one of the rehabilitation training modes, the control device can identify the identity information of the patient, record the operation parameters of the motor of the patient under various rehabilitation exercises, compare and analyze the operation parameters, and evaluate the exercise ability of the patient.

Based on the rehabilitation device terminal assembly 10, the present embodiment further provides a rehabilitation device, which includes the rehabilitation device terminal assembly 10 and a rehabilitation device main body, the rehabilitation device main body is rotatably disposed around a vertical direction, the rehabilitation device terminal assembly 10 is connected with the rehabilitation device main body and is configured such that under the rotation of the rehabilitation device main body, the leg positioning member 15 passively rotates around the third axis 19, and the foot positioning member 11 passively moves around the fourth axis 20.

With the adoption of the configuration, the rehabilitation robot can drive the lower limbs of a patient to move in the direction other than the sagittal plane through the rotational freedom degree of the tail end component of the rehabilitation equipment, for example, the hip joint is driven to contract and abduct, and the lower limbs are driven to move in the sagittal plane through the rotation of the mechanical arm in the horizontal direction, so that the spatial three-dimensional rehabilitation movement of the lower limbs is formed, and a better rehabilitation treatment effect is provided.

The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.

Claims

1. A rehabilitation robot, comprising: the robot comprises a robot main body, a mechanical arm, a rehabilitation equipment tail end assembly and a driving part;

2. The rehabilitation robot of claim 1, wherein the robotic arm comprises: a first arm, a second arm; the driving part comprises a first driving assembly, a first transmission assembly and a second driving assembly;

3. The rehabilitation robot of claim 2, further comprising: a first joint and a second joint;

4. The rehabilitation robot of claim 3, wherein the first joint further comprises a third swivel;

5. The rehabilitation robot of claim 4, wherein an axis of rotation of the third swivel member coincides with the first axis.

6. The rehabilitation robot of claim 1, wherein the rehabilitation device tip assembly comprises: the foot part rotating slide rail, the leg part rotating mechanism, the foot part positioning piece and the leg part positioning piece;

7. The rehabilitation robot of claim 6, wherein the rehabilitation device tip assembly further comprises: a foot mechanism connector and a leg mechanism connector;

the fifth axis is arranged along the horizontal direction.

8. The rehabilitation robot of claim 7, wherein the third axis intersects and is perpendicular to the fifth axis, and the fourth axis intersects and is perpendicular to the fifth axis.

9. The rehabilitation robot of claim 7, wherein the drive component further comprises: a third drive assembly and a fourth drive assembly;

10. The rehabilitation robot of claim 9, further comprising: a third joint;

11. The rehabilitation robot of claim 10, wherein an axis of rotation of the fourth rotating member coincides with an axis of rotation of the fifth rotating member.

12. The rehabilitation robot of claim 1, wherein the robot body includes a base and a cabinet; the base is rotatably connected with the case around the vertical direction and is driven by the driving part to rotate; the rotational degree of freedom of the rehabilitation device terminal assembly is passively adapted to the rotation of the base.

13. The rehabilitation robot of claim 12, further comprising a lifting assembly; the lifting assembly is connected with the case in a lifting mode along the vertical direction, and the base is connected with the lifting assembly and is connected with the case in a lifting mode through the lifting assembly.

14. The rehabilitation robot according to claim 1, wherein the robot body is configured to be rotatable about a vertical direction and/or liftable in the vertical direction, and to be rotated and/or lifted by the driving of the driving part.