CN113855476B - Multi-posture lower limb rehabilitation robot based on parallel mechanism and control method thereof - Google Patents
Multi-posture lower limb rehabilitation robot based on parallel mechanism and control method thereof Download PDFInfo
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- CN113855476B CN113855476B CN202111026584.6A CN202111026584A CN113855476B CN 113855476 B CN113855476 B CN 113855476B CN 202111026584 A CN202111026584 A CN 202111026584A CN 113855476 B CN113855476 B CN 113855476B
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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
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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
Abstract
The invention relates to a multi-position lower limb rehabilitation robot based on a parallel mechanism, which comprises a 2-PRPS _ RPS parallel multi-position adjusting component, a seat component, a tail traction type lower limb rehabilitation component and an underframe component, wherein the lower end of the 2-PRPS _ RPS parallel multi-position adjusting component is connected above the underframe component, the upper end of the 2-PRPS _ RPS parallel multi-position adjusting component is hinged with the lower end of the seat component, the upper end of the tail traction type lower limb rehabilitation component is fixedly connected to the rear part of the lower end of the seat component, and the lower end of the tail traction type lower limb rehabilitation component is fixedly connected to the middle front part above the underframe component. The invention can simulate real walking feeling, is beneficial to the transfer of a patient between the rehabilitation robot and a sickbed, can realize the posture conversion among the lying posture, the sitting posture and the standing posture, adopts the modular design, is convenient to assemble and disassemble, and is more convenient to move and transport equipment.
Description
Technical Field
The invention belongs to the technology of medical rehabilitation health care robots, and particularly relates to a multi-pose lower limb rehabilitation robot based on a parallel mechanism and a control method thereof.
Background
Spinal cord injury is a catastrophic injury that results in lifelong disability, and the condition that causes paraplegia is particularly prominent. 10-14 new traumatic paraplegic patients are added in China every year, the total number of the patients reaches more than 200, heavy burden is brought to vast families and society, and meanwhile, through measurement and calculation, the number of the severe paraplegic disabled elderly in 2017 in China is about 800 ten thousand, and the people have the hard requirement of long-term accompanying.
The nervous system of a paraplegic disabled patient suffers damage that makes it unable to effectively control the body, such as standing, walking, grasping of the hands, etc. Modern medicine proves that most of the people can improve the daily activity ability at home through effective rehabilitation training. Through contrast experiment research discovery, in paraplegia patient's nursing, use the recovered nursing of motion to carry out muscle power and motion function's the recovery to the patient, the patient can let the patient tentatively control oneself's health through the rehabilitation training of "study" and "releast". However, the focus point of most rehabilitation robots in the current market is the limb rehabilitation effect and the immersion rehabilitation experience of the patient, and the focus point of most rehabilitation robots in the current market is not enough in the aspects of secondary injury caused by long-term bed rest and fine protection in the early rehabilitation stage of the patient. Therefore, it is necessary and urgent to design a multi-posture lower limb rehabilitation robot based on a parallel mechanism to improve limb injuries and improve real body feeling.
Disclosure of Invention
In view of the above situation, the invention provides a multi-posture lower limb rehabilitation robot based on a parallel mechanism, which comprises a 2-PRPS _ RPS parallel multi-posture adjusting component, a seat component, a tail end traction type lower limb rehabilitation component and a chassis component, wherein the lower end of the 2-PRPS _ RPS parallel multi-posture adjusting component is connected above the chassis component, the upper end of the 2-PRPS _ RPS parallel multi-posture adjusting component is hinged with the lower end of the seat component, the upper end of the tail end traction type lower limb rehabilitation component is fixedly connected to the rear part of the lower end of the seat component, and the lower end of the tail end traction type lower limb rehabilitation component is fixedly connected to the middle front part above the chassis component. The invention can simulate real walking body feeling, is beneficial to the transfer of a patient between a rehabilitation robot and a sickbed, can realize the posture conversion among the lying posture, the sitting posture and the standing posture, adopts the modular design, is convenient to assemble and disassemble, and is more convenient to move and transport equipment.
The invention provides a multi-pose lower limb rehabilitation robot based on a parallel mechanism, which comprises a 2-PRPS _ RPS parallel multi-pose adjusting component, a seat component, a tail traction type lower limb rehabilitation component and a chassis component, wherein the lower end of the 2-PRPS _ RPS parallel multi-pose adjusting component is connected above the chassis component, the upper end of the 2-PRPS _ RPS parallel multi-pose adjusting component is hinged with the lower end of the seat component, the upper end of the tail traction type lower limb rehabilitation component is fixedly connected with the rear part of the lower end of the seat component, the lower end of the tail traction type lower limb rehabilitation component is fixedly connected with the middle front part above the chassis component, the 2-PRPS _ RPS parallel multi-pose adjusting component comprises a horizontal driving electric cylinder, a revolute pair connecting piece, a first pose adjusting electric push rod body, a first ball pair connecting piece, a second electric push rod body and a second pose adjusting electric push rod body, the lower side of the horizontal driving electric cylinder is fixedly installed at the rear part above the chassis component, the first end of the first posture-adjusting electric push rod body is hinged with the upper side of the horizontal driving electric cylinder through the revolute pair connecting piece, the second end of the first posture-adjusting electric push rod body is connected with the first ball pair connecting piece through the first electric push rod body, the first end of the second posture-adjusting electric push rod body is hinged with the upper front part of the underframe assembly through the revolute pair connecting piece, the second end of the second posture-adjusting electric push rod body is connected with the second ball pair connecting piece through the second electric push rod body, and the first ball pair connecting piece and the second ball pair connecting piece are hinged with the lower end of the seat assembly;
the seat component comprises a backrest, linkage armrests, a human body support frame, hanging belts, a suspension beam, suspension beam electric push rods, a backrest electric push rod body, a backrest electric push rod, a cross beam and linear bearings, wherein the lower side of the human body support frame is hinged with the upper ends of a first ball pair connecting piece and a second ball pair connecting piece, the upper side of the human body support frame is hinged with the lower end of the backrest, the two linkage armrests are symmetrically arranged on the lower portion of the backrest and two sides above the human body support frame and are hinged, the suspension beam linearly moves up and down along the linear bearings arranged on the upper portion behind the backrest, the lower portion of the suspension beam is hinged with the middle portion behind the backrest through the suspension beam electric push rod, the hanging belts are hung on the upper portion of the human body support frame, the cross beam is arranged on the rear end of the human body support frame and is hinged with the lower end of the backrest electric push rod body through the connecting pieces, and the lower end of the backrest electric push rod is connected with the upper portion of the backrest electric push rod body, the upper end of the backrest is hinged with the middle part of the back of the backrest through a connecting piece;
the tail end traction type lower limb rehabilitation assembly comprises a hip adjusting plate, a four-bar mechanism and a motor part, the hip adjusting plate is fixedly installed on the human body supporting frame through bolts, a first end of the four-bar mechanism is fixedly installed on the hip adjusting plate, a second end of the four-bar mechanism is connected with the motor part, and the motor part is a power source and is fixedly installed in the middle front part above the underframe assembly;
the chassis assembly comprises a chassis and a speed reducer mounting plate, the front part and the rear part above the chassis are respectively provided with the revolute pair connecting piece through bolts, the front part of the upper part of the chassis is fixedly provided with the speed reducer mounting plate, the lower part of the chassis can be provided with heavy-load type ground feet, and the speed reducer mounting plate is fixedly arranged with the motor component.
Furthermore, the four-bar linkage mechanism comprises a hip adjusting piece, a thigh fixing piece, a shank and foot fixing piece and a crankshaft, wherein a first end of the hip adjusting piece is fixedly arranged on the hip adjusting plate, a second end of the hip adjusting piece is connected with a first end of the thigh fixing piece through a spherical hinge, a first end of the shank and foot fixing piece is connected with a second end of the thigh fixing piece through a spherical hinge, a second end of the shank and foot fixing piece is connected with the crankshaft through a spherical hinge, and the crankshaft is connected with the output shaft of the motor part through a bevel gear.
Preferably, 2 horizontal driving electric cylinders are arranged at the rear part above the underframe assembly in parallel left and right, 2 first position adjusting electric push rod bodies, 2 first electric push rod bodies and 2 first ball pair connecting pieces are arranged and are respectively arranged above the two horizontal driving electric cylinders in parallel, 1 second ball pair connecting piece, 1 second electric push rod body and 3 revolute pair connecting pieces are arranged; the four-bar mechanism is provided with 2 motor parts, the four-bar mechanism is respectively arranged on the left side and the right side above the hip adjusting plate in parallel, the distance between the four-bar mechanism and the hip adjusting plate can be freely adjusted according to the body state of a patient, the thigh fixing part, the shank fixing part and the foot fixing part can realize length adjustment according to the length of the leg of the patient, the motor parts are provided with 2 motor parts, the distance between the motor parts can be adjusted, the motor parts respectively drive the left lower limb and the right lower limb to move, and diversified rehabilitation actions are provided for the patient; the speed reducer mounting plates are provided with 2 speed reducer mounting plates which are symmetrically and fixedly mounted in the middle front part above the underframe; the linear bearing is provided with 2 and is respectively arranged in parallel at the left side and the right side of the suspension beam electric push rod.
Preferably, the vertical planes of the rotation central axes of the first position posture adjusting electric putter body and the second position posture adjusting electric putter body are parallel to each other, and the vertical planes of the rotation central axes of the first ball pair connecting piece and the second ball pair connecting piece in the corresponding rotational degrees of freedom are parallel to each other.
Preferably, the human body support frame is of a T-shaped structure, the backrest is of an upper trapezoidal and lower rectangular combined structure, and a back cushion is arranged on the backrest.
In another aspect of the invention, a control method for a multi-posture lower limb rehabilitation robot based on the parallel mechanism is provided, the horizontal position of the body of the electric push rod is adjusted by driving and changing the first horizontal position through the two horizontal driving electric cylinders, and the relative positions in the space of the two first ball pair connecting pieces and the second ball pair connecting pieces are further changed by stretching and contracting the two first electric push rod bodies and the second electric push rod bodies, so that the movement of the human body support frame along the vertical axis and the sagittal axis of the human body can be realized, namely, the rehabilitation requirements of different body states and postures are met; the rotation of the human body support frame around the sagittal axis and the coronal axis of the human body can be realized, and the requirements of relieving bedsores and muscle necrosis caused by long-term lying are met.
The invention has the characteristics and beneficial effects that:
1. in the parallel mechanism-based multi-position lower limb rehabilitation robot, in the 2-PRPS _ RPS parallel multi-position adjusting assembly, the moving freedom degree provided by the horizontal driving electric cylinder enables the human body support frame in the seat assembly to be kept in a horizontal state, continuous vertical support force is provided for the human body in the process of changing the sitting posture and the standing posture of the rehabilitation robot, the state of the rehabilitation robot can be changed, non-vertical support force is provided for a patient, and real stepping body feeling is simulated.
2. The multi-position lower limb rehabilitation robot based on the parallel mechanism provided by the invention has the advantages that the seat can realize the movement of two rotations and two movements in four freedom directions under the support of the 2-PRPS _ RPS parallel multi-position adjusting component, the height of the seat component can be kept level with a sickbed, the direction is the same as the sickbed, and the seat part rotates around a sagittal axis for a certain angle at one side close to the sickbed, so that the transfer of a patient between the rehabilitation robot and the sickbed is more beneficial.
3. According to the multi-pose lower limb rehabilitation robot based on the parallel mechanism, the motion principle of the tail end traction type lower limb rehabilitation component is that a certain position of the four-bar mechanism is close to a human body gait track in the motion process, and the position is driven by the crankshaft to drive the feet to move, so that the rehabilitation action is realized; meanwhile, the position of the seat assembly is changed based on the 2-PRPS _ RPS parallel multi-pose adjusting assembly, and the posture conversion between the sitting posture and the standing posture can be realized.
4. According to the multi-posture lower limb rehabilitation robot based on the parallel mechanism, the tail end traction type rehabilitation robot 2-PRPS _ RPS parallel multi-posture adjusting assembly, the seat assembly, the tail end traction type lower limb rehabilitation assembly and the chassis assembly are in modular design, the main connecting parts are connected through bolts, the disassembly and the assembly are convenient, and the movement and the transportation of equipment are convenient.
Drawings
FIG. 1 is a schematic diagram of a multi-posture lower limb rehabilitation robot based on a parallel mechanism;
FIG. 2 is a schematic diagram of the structure of the 2-PRPS _ RPS parallel multi-position adjusting assembly of the present invention;
FIG. 3 is a schematic side view of the seat assembly and seating posture of the present invention;
FIG. 4 is a rear side view of the seat assembly and seating position of the present invention;
FIG. 5 is a schematic block diagram of the end pull lower limb rehabilitation assembly and undercarriage assembly of the present invention;
FIG. 6 is a diagrammatic overall schematic view of the position layout of the prone position training components of the present invention;
fig. 7 is a schematic diagram of the position layout of the components of the standing position training of the present invention.
In the figure:
001-2-PRPS _ RPS is connected with a multi-position adjusting component in parallel; 101-horizontal driving electric cylinder; 102-revolute pair joint; 103-a first position adjusting electric push rod body; 104-a first electric push rod body; 105-a first ball pair connector; 106-a second ball-pair connector; 107-a second electric push rod body; 108-a second position adjusting electric push rod body; 002-a seat assembly; 201-backrest; 202-linked armrests; 203-human body support; 204-a harness; 205-cantilever beam; 206-suspended beam electric push rod; 207-backrest electric push rod body; 208-a cross beam; 209-linear bearing; 003-end traction lower limb rehabilitation assembly; 301-hip adjusting plate; 302-a hip adjustment; 303-thigh fixing part; 304-calf and foot securing member; 305-a crankshaft; 306-motor components; 004-a chassis assembly; 401-a chassis; 402-reducer mounting plate.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
The invention provides a multi-position lower limb rehabilitation robot based on a parallel mechanism, which comprises a 2-PRPS _ RPS parallel multi-position adjusting component 001, a seat component 002, a tail end traction type lower limb rehabilitation component 003 and a chassis component 004 as shown in figure 1, wherein the lower end of the 2-PRPS _ RPS parallel multi-position adjusting component 001 is connected above the chassis component 004, the upper end of the 2-PRPS _ RPS parallel multi-position adjusting component is hinged with the lower end of the seat component 002, the upper end of the tail end traction type lower limb rehabilitation component 003 is fixedly connected to the rear part of the lower end of the seat component 002, and the lower end of the tail end traction type lower limb rehabilitation component 003 is fixedly connected to the middle front part above the chassis component 004.
As shown in fig. 2, the 2-PRPS _ RPS parallel multi-pose adjusting assembly 001 includes a horizontal driving electric cylinder 101, a revolute pair connecting member 102, a first pose adjusting electric push rod body 103, a first electric push rod body 104, the lower side of a horizontal driving electric cylinder 101 is fixedly arranged at the rear part above a base frame component 004, the first end of a first posture adjusting electric push rod body 103 is hinged with the upper side of the horizontal driving electric cylinder 101 through a revolute pair connecting piece 102, the second end of the first posture adjusting electric push rod body 108 is connected with the first ball pair connecting piece 105 through a first electric push rod body 104, the first end of the second posture adjusting electric push rod body 108 is hinged with the front part above the base frame component 004 through the revolute pair connecting piece 102, the second end of the second posture adjusting electric push rod body is connected with a second ball pair connecting piece 106 through a second electric push rod body 107, and the first ball pair connecting piece 105 and the second ball pair connecting piece 106 are hinged with the lower end of a seat component 002; the horizontal driving electric cylinders 101 are provided with 2 and are parallelly installed at the rear part above the underframe assembly 004 side by side at the left and right, the first position adjusting electric push rod body 103, the first electric push rod body 104 and the first ball pair connecting piece 105 are respectively provided with 2 and are respectively installed above the two horizontal driving electric cylinders 101 in parallel, the second ball pair connecting piece 106, the second electric push rod body 107 and the second position adjusting electric push rod body 108 are respectively provided with 1, and the revolute pair connecting piece 102 is provided with 3; vertical planes of the rotation center axes of the first position adjusting electric putter body 103 and the second position adjusting electric putter body 108 are parallel to each other, and vertical planes of the rotation center axes of the first ball pair connecting member 105 and the second ball pair connecting member 106 in the corresponding rotational degrees of freedom are parallel to each other.
As shown in fig. 3 and 4, the seat assembly 002 includes a backrest 201, a linkage armrest 202, a human body support 203, a sling 204, a suspension beam 205, a suspension beam electric push rod 206, a backrest electric push rod body 207, a backrest electric push rod, a cross beam 208 and a linear bearing 209, the human body support 203 is a T-shaped structure, the lower side of the human body support is hinged with the upper ends of a first ball pair connecting piece 105 and a second ball pair connecting piece 106, the upper side of the human body support is hinged with the lower end of the backrest 201, the backrest 201 is a combined structure of an upper trapezoid and a lower rectangle, and is provided with a back rest thereon, the two linkage armrests 202 are symmetrically arranged at the lower part of the backrest 201 and at the upper side of the human body support 203 and are hinged, so that the armrest follows up and down in the angle change between the backrest 201 and the human body support 203, the suspension beam 305 moves linearly along the linear bearing 209 arranged at the upper part behind the backrest 201, the lower part is hinged with the middle part behind the backrest 201 via the suspension beam electric push rod 206, the sling 204 is hung at the upper part, to human guard action, linear bearing 209 are equipped with 2 and parallel arrangement respectively in the beam of hanging electric push rod 206 left and right sides, drive through beam of hanging electric push rod 206, satisfy the patient's of different heights demand. The crossbeam 208 is installed at human body support frame 203 rear end, and its top is articulated through connecting piece and back electricity push rod fuselage 207 lower extreme, and back electricity push rod fuselage 207 upper portion links to each other with back electricity push rod fuselage lower extreme, and the upper end is articulated through connecting piece and back 201 rear middle part, realizes the angle change between back 201 and the human body support frame 203.
As shown in fig. 5, the tail end traction type lower limb rehabilitation assembly 003 includes a hip adjusting plate 301, a four-bar linkage mechanism and a motor component 306, the hip adjusting plate 301 is fixedly mounted on the human body support frame 203 through bolts, a first end of the four-bar linkage mechanism is fixedly mounted on the hip adjusting plate 301, and a second end of the four-bar linkage mechanism is connected with the motor component 306, so that the movement of the feet is realized to drive the movement of each joint of the lower limb. Motor part 306 is anterior in power supply and fixed mounting 004 top, and motor part 306 is equipped with 2 and the interval is adjustable, drives the lower limbs motion about the drive respectively, provides diversified recovered action for the patient.
The four-bar linkage comprises a hip adjusting member 302, a thigh fixing member 303, a shank and foot fixing member 304 and a crank shaft 305, wherein a first end of the hip adjusting member 302 is fixedly mounted on the hip adjusting plate 301, a second end thereof is connected with a first end of the thigh fixing member 303 through a ball joint, a first end of the shank and foot fixing member 304 is connected with a second end of the thigh fixing member 303 through a ball joint, a second end thereof is connected with the crank shaft 305 through a ball joint, and the crank shaft 305 is connected with an output shaft of the motor part 306 through a bevel gear. The four-bar mechanism is provided with 2 and respectively arranged on the left side and the right side above the hip adjusting plate 301 in parallel, the distance between the four-bar mechanism and the hip adjusting plate can be freely adjusted according to the body state of a patient, and the thigh fixing part 303, the shank fixing part 304 and the foot fixing part 304 can be adjusted in length according to the length of the legs of the patient.
The underframe assembly 004 comprises an underframe 401 and a speed reducer mounting plate 402, wherein revolute pair connectors 102 are fixedly mounted on the front portion and the rear portion above the underframe 401 through bolts respectively, the speed reducer mounting plate 402 is fixedly mounted on the middle front portion above the underframe, a heavy-load type ground pin can be mounted below the speed reducer mounting plate 402, and the speed reducer mounting plate 402 and the motor component 306 are fixedly mounted. The speed reducer mounting plates 402 are arranged in 2 and are fixedly mounted in the middle front part above the underframe 401 in bilateral symmetry.
In another aspect of the invention, a control method for a multi-posture lower limb rehabilitation robot based on the parallel mechanism is provided, the horizontal position of the body of the electric push rod is adjusted by changing the driving of two horizontal driving electric cylinders, and the relative position in the space of two first ball pair connecting pieces and two second ball pair connecting pieces is further changed by the expansion and contraction of two first electric push rod bodies and two second electric push rod bodies, so that the movement of the human body support frame along the vertical axis and the sagittal axis of the human body can be realized, namely the rehabilitation requirements of different body states and postures are met; the rotation of the human body support frame around the sagittal axis and the coronal axis of the human body can be realized, and the requirements of relieving bedsores and muscle necrosis caused by long-time lying are met.
The schematic structural diagrams of the embodiments of the multi-position lower limb rehabilitation robot based on the parallel mechanism are respectively shown in fig. 6 and fig. 7, in the process of changing the sitting posture and the standing posture of the rehabilitation robot, the human body support frame 203 can keep the horizontal state to provide continuous vertical support force for the human body, and can also change the state of the human body support frame, provide non-vertical support force for a patient, and simulate real stepping body feeling. The 2-PRPS _ RPS parallel multi-position adjusting component 001, the seat component 002, the tail end traction type lower limb rehabilitation component 003 and the chassis component 004 are in modular design, are convenient to disassemble and assemble, and are connected by bolts at main joints.
In the multi-position lower limb rehabilitation robot based on the parallel mechanism, in the 2-PRPS _ RPS parallel multi-position adjusting component, the movement freedom degree provided by the horizontal driving electric cylinder ensures that a human body support frame in the seat component can keep a horizontal state, and a continuous vertical supporting force can be provided for the human body in the process of changing the sitting posture and the standing posture of the rehabilitation robot, and the state of the rehabilitation robot can be changed, so that a supporting force in a non-vertical direction can be provided for a patient, and the real walking feeling can be simulated; under the support of the 2-PRPS _ RPS parallel multi-position adjusting component, the seat can realize the movement of two rotations and two movements in four freedom directions, the height of the seat component can be level with the sickbed, the direction is the same as the sickbed, and the seat part rotates around the sagittal axis for a certain angle at one side close to the sickbed, which is more beneficial to the transfer of the patient between the rehabilitation robot and the sickbed; the motion principle of the tail end traction type lower limb rehabilitation component is that a certain position of a four-bar mechanism is close to a human gait track in the motion process, and the position is driven by a crankshaft to drive the feet to move so as to realize rehabilitation action; meanwhile, the position of the seat assembly is changed based on the 2-PRPS _ RPS parallel multi-pose adjusting assembly, so that the posture conversion among the prone position, the sitting position and the standing position can be realized; the 2-PRPS _ RPS parallel multi-position adjusting component, the seat component, the tail traction type lower limb rehabilitation component and the chassis component of the tail traction type rehabilitation robot are in modular design, the main joints are connected through bolts, the disassembly and the assembly are convenient, and the movement and the transportation of equipment are convenient.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solution of the present invention made by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.
Claims (4)
1. A multi-posture lower limb rehabilitation robot based on a parallel mechanism is characterized by comprising a 2-PRPS _ RPS parallel multi-posture adjusting component, a seat component, a tail end traction type lower limb rehabilitation component and a chassis component, wherein the lower end of the 2-PRPS _ RPS parallel multi-posture adjusting component is connected above the chassis component, the upper end of the 2-PRPS _ RPS parallel multi-posture adjusting component is hinged with the lower end of the seat component, the upper end of the tail end traction type lower limb rehabilitation component is fixedly connected to the rear part of the lower end of the seat component, the lower end of the tail end traction type lower limb rehabilitation component is fixedly connected to the middle front part above the chassis component,
the 2-PRPS _ RPS parallel multi-position adjusting component comprises a horizontal driving electric cylinder, a revolute pair connecting piece, a first position adjusting electric push rod body, a first ball pair connecting piece, a second electric push rod body and a second position adjusting electric push rod body, the lower side of the horizontal driving electric cylinder is fixedly arranged at the rear part above the underframe assembly, the first end of the first position adjusting electric push rod body is hinged with the upper side of the horizontal driving electric cylinder through the revolute pair connecting piece, the second end is connected with the first ball pair connecting piece through the first electric push rod body, the first end of the body of the second position adjusting electric push rod is hinged with the front part above the underframe assembly through the revolute pair connecting piece, the second end of the body of the second position adjusting electric push rod is connected with the second ball pair connecting piece through the second electric push rod body, and the first ball pair connecting piece and the second ball pair connecting piece are hinged with the lower end of the seat assembly;
the vertical planes of the rotating central axes of the first position and posture adjusting electric push rod body and the second position and posture adjusting electric push rod body are parallel to each other, and the vertical planes of the rotating central axes of the first spherical pair connecting piece and the second spherical pair connecting piece on the corresponding rotational freedom degrees are parallel to each other;
the seat component comprises a backrest, linkage armrests, a human body support frame, hanging belts, a suspension beam, suspension beam electric push rods, a backrest electric push rod body, a backrest electric push rod, a cross beam and linear bearings, wherein the lower side of the human body support frame is hinged with the upper ends of a first ball pair connecting piece and a second ball pair connecting piece, the upper side of the human body support frame is hinged with the lower end of the backrest, the two linkage armrests are symmetrically arranged on the lower portion of the backrest and two sides above the human body support frame and are hinged, the suspension beam linearly moves up and down along the linear bearings arranged on the upper portion behind the backrest, the lower portion of the suspension beam is hinged with the middle portion behind the backrest through the suspension beam electric push rod, the hanging belts are hung on the upper portion of the human body support frame, the cross beam is arranged on the rear end of the human body support frame and is hinged with the lower end of the backrest electric push rod body through the connecting pieces, and the lower end of the backrest electric push rod is connected with the upper portion of the backrest electric push rod body, the upper end of the backrest is hinged with the middle part of the back of the backrest through a connecting piece;
the tail end traction type lower limb rehabilitation assembly comprises a hip adjusting plate, a four-bar linkage mechanism and a motor part, the hip adjusting plate is fixedly mounted on the human body supporting frame through bolts, a first end of the four-bar linkage mechanism is fixedly mounted on the hip adjusting plate, a second end of the four-bar linkage mechanism is connected with the motor part, and the motor part is a power source and is fixedly mounted in the middle front part above the underframe assembly;
the chassis assembly comprises a chassis and a speed reducer mounting plate, the front part and the rear part above the chassis are respectively fixedly provided with the revolute pair connecting piece through bolts, the middle front part above the chassis is fixedly provided with the speed reducer mounting plate, a heavy-load type ground foot can be arranged below the speed reducer mounting plate, and the speed reducer mounting plate and the motor part are fixedly arranged;
in the 2-PRPS _ RPS parallel multi-position adjusting component, the human body support frame in the seat component is kept in a horizontal state by the moving freedom degree provided by the horizontal driving electric cylinder; under the support of the 2-PRPS _ RPS parallel multi-position adjusting assembly, the seat can realize the movement of two rotations and two movements in four freedom directions.
2. The parallel mechanism based multi-posture lower limb rehabilitation robot according to claim 1, wherein the four-bar linkage comprises a hip adjusting member, a thigh fixing member, a shank and foot fixing member and a crankshaft, the hip adjusting member is fixedly mounted on the hip adjusting plate at a first end thereof, a second end thereof is connected with the first end of the thigh fixing member through a ball joint, the first end of the shank and foot fixing member is connected with the second end of the thigh fixing member through a ball joint, the second end thereof is connected with the crankshaft through a ball joint, and the crankshaft is connected with the output shaft of the motor part through a bevel gear.
3. The multi-position lower limb rehabilitation robot based on parallel mechanisms according to claim 2, wherein 2 horizontal driving electric cylinders are arranged at the rear part above the underframe assembly in parallel side by side, 2 first position adjusting electric push rod bodies, 2 first electric push rod bodies and 2 first ball pair connecting pieces are arranged at the upper part of the two horizontal driving electric cylinders in parallel respectively, 1 second ball pair connecting piece, 1 second electric push rod body and 3 revolute pair connecting pieces are arranged; the four-bar mechanism is provided with 2 motor parts, the four-bar mechanism is respectively arranged on the left side and the right side above the hip adjusting plate in parallel, the distance between the four-bar mechanism and the hip adjusting plate can be freely adjusted according to the body state of a patient, the thigh fixing part, the shank fixing part and the foot fixing part can realize length adjustment according to the length of the leg of the patient, the motor parts are provided with 2 motor parts, the distance between the motor parts can be adjusted, the motor parts respectively drive the left lower limb and the right lower limb to move, and diversified rehabilitation actions are provided for the patient; the speed reducer mounting plates are provided with 2 speed reducer mounting plates which are symmetrically and fixedly mounted in the middle front part above the underframe; the linear bearing is provided with 2 and is respectively arranged in parallel at the left side and the right side of the suspension beam electric push rod.
4. The multi-posture lower limb rehabilitation robot based on the parallel mechanism according to claim 1, wherein the human body support frame is of a T-shaped structure, the backrest is of a combined structure of an upper trapezoid and a lower rectangle, and a back cushion is arranged on the backrest.
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