CN115715729A - Transfer and transport type lower limb rehabilitation robot - Google Patents
Transfer and transport type lower limb rehabilitation robot Download PDFInfo
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- CN115715729A CN115715729A CN202211521896.9A CN202211521896A CN115715729A CN 115715729 A CN115715729 A CN 115715729A CN 202211521896 A CN202211521896 A CN 202211521896A CN 115715729 A CN115715729 A CN 115715729A
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- 238000012546 transfer Methods 0.000 title claims abstract description 56
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 47
- 238000012549 training Methods 0.000 claims abstract description 29
- 210000001503 joint Anatomy 0.000 claims abstract description 4
- 210000002683 foot Anatomy 0.000 claims description 21
- 210000001699 lower leg Anatomy 0.000 claims description 15
- 210000000689 upper leg Anatomy 0.000 claims description 15
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 14
- 210000004394 hip joint Anatomy 0.000 claims description 14
- 210000000629 knee joint Anatomy 0.000 claims description 13
- 230000007246 mechanism Effects 0.000 claims description 12
- 210000002414 leg Anatomy 0.000 claims description 8
- 238000006243 chemical reaction Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000000474 nursing effect Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000001217 buttock Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000011002 quantification Methods 0.000 description 1
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Abstract
The invention discloses a transfer and transport type lower limb rehabilitation robot, which comprises a rack, a transfer and transport device, a lifting seat device, a lower limb training device and a moving device, wherein the rack is provided with a lifting seat; the lifting seat device has a lifting function, and a user sits on the lifting seat device when the robot is in a sitting posture working position; the lower limb training device is used for realizing the tail end traction and driving the leg joint to move by the foot power of a user in a standing state, thereby realizing the leg rehabilitation training function; the moving device is used for moving the robot; the transfer and carrying device can realize transfer and carrying between a user and the robot on a bed, can realize mutual conversion between a standing state and a sitting state of the user on the robot, and is convenient for realizing lower limb rehabilitation training in the standing state. The lower limb rehabilitation training device has the advantages of good comfort, rich functions, wide application objects and the like.
Description
Technical Field
The invention relates to the field of rehabilitation robots, in particular to a transfer and transport type lower limb rehabilitation robot.
Background
The aging problem of the population becomes a global common social problem, the number of semi-disabled old people is increasing, and in order to reduce the nursing burden of the old people and take care of the willingness of the old people to live alone, the robot capable of moving by a shifting machine begins to appear. The shifting machine is a rehabilitation auxiliary tool for helping a lower limb body obstacle person to transfer and carry, and can greatly reduce the workload of nursing staff. The transfer and transportation means physical labor for transferring a cared person who is not convenient to move from a bed to a wheelchair, or transferring the cared person from the wheelchair to the bed or a toilet.
At present, a plurality of shifting machines appear on the market, but most of the shifting machines need nursing staff to assist users to use, the labor force of the nursing staff cannot be liberated, the automation degree is poor, and the function is single. The document with the application number 201710340526.8 discloses a transfer and transport nursing robot which can realize a transfer function, but can only realize a mechanical transport function singly, and for patients with lower limb disorders, it is more desirable to add a lower limb rehabilitation function to the transfer. And the seat height is fixed in the working state of the mechanism, and the application object range is relatively limited. Therefore, there is a need for a robot that can perform autonomous transfer and increase lower limb training functions for the elderly or patients with various degrees of lower limb disorders.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to solve the technical problem of providing a transfer and transport type lower limb rehabilitation robot.
The invention provides a transfer and transport type lower limb rehabilitation robot, which is characterized by comprising a rack, a transfer and transport device, a lifting seat device, a lower limb training device and a moving device, wherein the rack is used for carrying the lower limb rehabilitation robot;
the lifting seat device has a lifting function, and a user sits on the lifting seat device when the robot is in a sitting posture working position; the lower limb training device is arranged at a standing position working position of the robot and is used for realizing the function of leg rehabilitation training by enabling a user to realize tail end traction to drive leg joints to move through foot power in a standing state; the moving device is used for moving the robot;
the transfer and carrying device comprises a transfer and carrying device frame body, an electric push rod I, a slide block, a slide rail assembly, a control console, a clamping arm, a connecting rod I, a connecting rod II and a connecting rod III;
the bottom of the frame body of the transfer and conveying device is fixed on the frame; the shell of the electric push rod I is fixed on the frame body of the transfer and carrying device, and the output end of the electric push rod I outputs horizontally; a sliding block is fixed at the output tail end of the electric push rod I; the third connecting rod is vertically fixed on the rack; the two connecting rods are arranged in parallel, one ends of the two connecting rods are hinged to the third connecting rod, and the other ends of the two connecting rods are hinged to the first connecting rod; the first connecting rod, the second connecting rod and the third connecting rod form a parallelogram mechanism; the control console, the first connecting rod and the sliding rail assembly are fixedly connected with each other; a slide rail in the vertical direction is arranged in the slide rail component; the sliding block is arranged in a vertical sliding rail of the sliding rail component in a sliding manner; the clamping arm is fixed on the console and provides supporting force for a user.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention realizes the functions of transfer and transportation, simultaneously adds the function of lower limb rehabilitation training, and organically combines the two functions. Compared with the traditional transfer and carrying robot, the robot has the advantages of good comfort, rich functions, wide application objects and the like.
(2) The transfer and carrying device can realize transfer and carrying between a user and the robot on a bed, can realize mutual conversion between a standing state and a sitting state of the user on the robot, and is convenient for realizing lower limb rehabilitation training in the standing state.
(3) In the transfer and carrying device, the horizontal linear motion of the electric push rod I is converted into the arc motion of the clamping arm, and the motion in two directions can be realized simultaneously through the motion in one direction, so that the number of power elements is reduced, and the device can be conveniently controlled in the next step. The clamping arm is always kept parallel to the ground and the upper body of a user is always kept vertical in the transfer and carrying process through the parallelogram mechanism.
(4) The seat lifting device realizes the lifting of the seat in a rotary lifting mode, and simultaneously ensures that the seat is always parallel to the ground in the sitting and standing conversion process through the parallelogram mechanism.
(5) In the lower limb training device, a user drives the whole lower limb to move through foot power in a standing posture state, the bottom wheels are always attached to the bottom wheel tracks through the springs, so that the height change of the feet is realized, the user is subjected to rehabilitation training under the condition of only using one group of hub motors, the number of the motors is reduced, the cost is saved, and the lower limb training device has the advantages of good comfort, simplicity in execution, quantification, strong repeatability and the like compared with a multi-motor exoskeleton, and can perform rehabilitation training closer to the gait of a human body.
(6) The electric push rod is used as a power part, so that the support of a complex complete system is not needed, and a large amount of space is saved; under the condition of no maintenance, the device can work safely and reliably; the pollution of oil stains is avoided, the noise can be greatly reduced, and a clean and quiet working environment is kept; the output torque is large, the operation is stable, the stability and the reliability of transfer and transportation can be ensured, and the smooth conversion of the sitting posture is ensured.
(7) The length of the transfer and carrying device and the length of the lower limb training device can be adjusted, the device can adapt to users with different heights, and the application range is wide.
Drawings
FIG. 1 is a perspective view of the whole structure of the working position in a sitting position according to the present invention;
FIG. 2 is a schematic front view of the overall structure of the present invention in a standing position;
FIG. 3 is a perspective view of the overall structure of the present invention;
FIG. 4 is a perspective view of the transfer device of the present invention;
FIG. 5 is a perspective view of the lift seat assembly of the present invention;
figure 6 is a schematic perspective view of the lower limb training device of the present invention;
FIG. 7 is an enlarged partial view of portion A of FIG. 6 in accordance with the present invention;
figure 8 is a schematic front view of the lower limb training device of the present invention;
fig. 9 is a schematic view of the mounting of the moving shaft and the hub bracket of the present invention.
In the figure, a frame 1, a transfer and transportation device 2, a lifting seat device 3, a lower limb training device 4 and a moving device 5;
the transfer and carrying device comprises a frame body 2-1, an electric push rod I2-2, an electric push rod supporting piece 2-3, a sliding block 2-4, a sliding rail component 2-5, a control console 2-6, a clamping arm 2-7, a connecting rod I2-8, a connecting rod II 2-9 and a connecting rod III 2-10;
a second electric push rod 3-1, a parallel lifting rod 3-2, a seat 3-3 and a seat hinge 3-4;
4-1 parts of a hip joint connecting piece I, 4-2 parts of a hip joint connecting piece II, 4-3 parts of a thigh exoskeleton, 4-4 parts of a knee joint connecting piece I, 4-5 parts of a knee joint connecting piece II, 4-6 parts of a shank exoskeleton, 4-7 parts of an ankle joint connecting piece I, 4-8 parts of an ankle joint connecting piece II, 4-9 parts of a foot exoskeleton, 4-10 parts of an exoskeleton support, 4-11 parts of a spring, 4-12 parts of a hub support, 4-13 parts of a hub motor, 4-14 parts of a bottom wheel, 4-15 parts of a bottom wheel track, 4-16 parts of an L-shaped plate, 4-17 parts of a moving shaft and 4-18 parts of a bottom wheel track fixing plate.
Detailed Description
Specific examples of the present invention are given below. The specific examples are only for illustrating the present invention in further detail and do not limit the scope of the claims of the present invention.
The invention provides a transfer and transport type lower limb rehabilitation robot (a robot for short), which is characterized by comprising a rack 1, a transfer and transport device 2, a lifting seat device 3, a lower limb training device 4 and a moving device 5;
the lifting seat device 3 has a lifting function, and a user sits on the lifting seat device when the robot is in a sitting posture working position; the lower limb training device 4 is arranged at a standing position working position of the robot and is used for realizing the function of leg rehabilitation training by enabling a user to realize tail end traction to drive leg joints to move through foot power in a standing state; the moving device 5 is used for moving the robot and can adopt wheels;
the transfer and carrying device 2 comprises a transfer and carrying device frame body 2-1, an electric push rod I2-2, a sliding block 2-4, a sliding rail assembly 2-5, a control console 2-6, a clamping arm 2-7, a connecting rod I2-8, a connecting rod II 2-9 and a connecting rod III 2-10;
the bottom of the frame body 2-1 of the transfer and conveying device is fixed on the frame 1; the shell of the electric push rod I2-2 is fixed on the frame body 2-1 of the transfer and carrying device through screws, and the output end of the electric push rod I2-2 horizontally outputs; the output tail end of the electric push rod I2-2 is fixed with a sliding block 2-4; the connecting rod III 2-10 is fixed on the rack 1 through a right-angle connecting piece, and the connecting rod III 2-10 is ensured to be vertical all the time; the two second connecting rods 2-9 are arranged in parallel, one ends of the two second connecting rods are hinged to the third connecting rods 2-10 through pin shafts, and the other ends of the two second connecting rods are hinged to the first connecting rods 2-8 through pin shafts; the first connecting rod 2-8, the second connecting rod 2-9 and the third connecting rod 2-10 form a parallelogram mechanism, so that the first connecting rod 2-8 and the third connecting rod 2-10 are always kept parallel; the control console 2-6, the connecting rod I2-8 and the sliding rail component 2-5 are fixedly connected with each other through screws; a vertical slide rail is arranged in the slide rail component 2-5; the sliding block 2-4 is arranged in a vertical sliding rail of the sliding rail component 2-5 in a sliding manner, and the sliding block 2-4 can slide up and down in the vertical sliding rail of the sliding rail component 2-5 along the vertical direction; the clamping arms 2-7 are fixed on the console 2-6 through screws to provide supporting force for a user.
Preferably, the transfer handling device 2 further comprises an electric putter support 2-3; the bottom of the electric push rod supporting piece 2-3 is fixed on a horizontal plate of the transfer and carrying device frame body 2-1 through bolts, the top of the electric push rod supporting piece is fixedly connected with a shell of the electric push rod I2-2, the electric push rod I2-2 is further supported, vertical constraint is provided for the electric push rod I2-2, the electric push rod I2-2 is prevented from being damaged in positioning precision due to external load, and horizontal output of an output end of the electric push rod I2-2 is further guaranteed.
Preferably, the sliders 2-4 are wedge-shaped sliders or trapezoidal sliders.
Preferably, in the process of converting the sitting posture work position, the standing posture work position and the sitting position, the control console 2-6 is close to the user all the time and keeps horizontal with the clamping arms 2-7 all the time.
Preferably, the lifting seat device 3 comprises an electric push rod II 3-1, a parallel lifting rod 3-2 and a seat 3-3;
the two parallel lifting rods 3-2 are arranged in parallel, one end of each lifting rod is hinged to the rack 1, and the other end of each lifting rod is hinged to the seat 3-3 through a seat hinge joint 3-4; the machine frame 1, the two parallel lifting rods 3-2 and the seat 3-3 form a parallelogram mechanism, so that the seat 3-3 is always kept horizontal in the processes of changing a sitting posture working position, a standing posture working position and a sitting position; the shell of the electric push rod II 3-1 is hinged on the rack 1, and the output end of the electric push rod II is hinged with the middle part of a parallel lifting rod 3-2.
Preferably, the seat 3-3 is a saddle-riding type seat, which saves space and increases comfort.
Preferably, the lower limb training device 4 comprises a first hip joint connector 4-1, a second hip joint connector 4-2, a thigh exoskeleton 4-3, a first knee joint connector 4-4, a second knee joint connector 4-5, a shank exoskeleton 4-6, a first ankle joint connector 4-7, a second ankle joint connector 4-8, a foot exoskeleton 4-9, an exoskeleton support 4-10, a spring 4-11, a hub support 4-12, a hub motor 4-13, a bottom wheel 4-14, a bottom wheel rail 4-15, an L-shaped plate 4-16 and a moving shaft 4-17;
the exoskeleton brackets 4-10 are fixed on the frame 1; the hip joint connecting piece II 4-2 is fixed on the exoskeleton support 4-10; the hip joint connecting piece I4-1 is rotatably arranged on the hip joint connecting piece II 4-2; one end of the thigh exoskeleton 4-3 is fixedly connected with the hip joint connecting piece I4-1, and the other end of the thigh exoskeleton is fixedly connected with the knee joint connecting piece I4-4; the second knee joint connecting piece 4-5 is rotatably arranged on the first knee joint connecting piece 4-4; one end of the crus exoskeleton 4-6 is fixedly connected with the knee joint connecting piece II 4-5, and the other end of the crus exoskeleton is fixedly connected with the ankle joint connecting piece II 4-8; the ankle joint connecting piece I4-7 is rotatably arranged on the ankle joint connecting piece II 4-8; the foot exoskeleton 4-9 is fixed on the ankle joint connecting piece I4-7;
an L-shaped plate 4-16 is fixed on one side of the foot exoskeleton 4-9; the bottom wheel tracks 4-15 are fixed on the frame 1 through track fixing plates 4-18; the bottom wheel 4-14 is rotatably arranged in the hub bracket 4-12; the shell of the hub motor 4-13 is fixed on the hub bracket 4-12, and the output end of the hub motor is fixedly connected with the axle center of the bottom wheel 4-14 to drive the bottom wheel 4-14 to rotate; the bottom wheels 4-14 are arranged in bottom wheel tracks 4-15; one end of the moving shaft 4-17 is fixed on the top of the hub support 4-12, the other end of the moving shaft is arranged in the through hole of the L-shaped plate 4-16 in a sliding manner and can slide up and down along the vertical direction of the L-shaped plate 4-16, and the hub support 4-12 and the L-shaped plate 4-16 form a moving pair; the spring 4-11 is nested on the moving shaft 4-17, one end of the spring is in contact with or fixedly connected with the hub bracket 4-12, and the other end of the spring is in contact with or fixedly connected with the L-shaped plate 4-16, so that the bottom wheel 4-14 is always in contact with the bottom wheel track 4-15.
Preferably, the length of the thigh exoskeleton 4-3 is freely adjustable and fixed by fastening bolts to adapt to the thigh length of different users.
Preferably, the length of the lower leg exoskeleton 4-6 is freely adjustable and fixed by fastening bolts to adapt to the lower leg length of different users.
Preferably, the crus exoskeleton 4-6 and the thigh exoskeleton 4-3 are both provided with binding bands for fixing the corresponding positions of the human body.
Preferably, the foot exoskeletons 4-9 are provided with straps for securing to the feet of the person.
Preferably, the bottom wheel tracks 4-15 can also be inserted into the bottom of the bed, functioning as a stationary robot.
The working principle and the working process of the invention are as follows:
when a user transfers the robot from the bed to the robot, the moving device 5 drives the robot to move to the bedside, and the robot is inserted into the bottom of the bed through the brake of the moving device 5 and/or the bottom wheel tracks 4-15 to achieve the fixing effect; a user sits on the bed, and places feet on the foot exoskeleton 4-9; the electric push rod II 3-1 works to drive the seat 3-3 to lift, so that the seat is positioned at a certain height in front of the user and does not exceed the height of the chest; the electric push rod I2-2 extends to drive the slide block 2-4 to vertically slide downwards in the slide rail assembly 2-5, and a parallelogram mechanism formed by the connecting rod I2-8, the two connecting rods II 2-9 and the connecting rod III 2-10 rotates clockwise to drive the clamping arm 2-7 to be lowered along the vertical direction and to be close to a user along the horizontal direction, so that the clamping arm 2-7 is inserted into the armpit of the user; then, the electric push rod I2-2 is shortened to drive the slide block 2-4 to vertically slide upwards in the slide rail assembly 2-5, a parallelogram mechanism formed by the connecting rod I2-8, the two connecting rods II 2-9 and the connecting rod III 2-10 rotates anticlockwise to drive the clamping arm 2-7 to drive a user to move (namely move forwards) in a direction close to the robot along the horizontal direction and lift the user along the vertical direction, so that the user is lifted up to stand for a certain height; after a user passively stands, the electric push rod II 3-1 extends to drive a parallelogram mechanism formed by the rack 1, the two parallel lifting rods 3-2 and the seat 3-3 to rotate clockwise, the seat 3-3 falls down and moves backwards to the hip position of the sitting position of the user through the space between the two legs of the user, and at the moment, the electric push rod II 3-1 stops moving; the electric push rod I2-2 extends to further drive the clamping arms 2-7 to lower along the vertical direction and move backwards along the horizontal direction, so that the buttocks of a user sit on the seats 3-3, and the transfer and carrying work from a bed to a robot is completed; the moving device 5 carries the user to move;
when the user is switched from the sitting posture to the standing posture, after the clamping arms 2-7 are confirmed to be inserted into armpits of the user, the electric push rod I2-2 is shortened, and then the clamping arms 2-7 are driven to drive the user to move forwards in the horizontal direction and lift in the vertical direction, so that the user is lifted to the standing posture; meanwhile, the electric push rod II 3-1 is shortened to drive a parallelogram mechanism formed by the rack 1, the two parallel lifting rods 3-2 and the seat 3-3 to rotate anticlockwise, and the seat 3-3 is lifted; in the moving process, the clamping arms 2-7 and the seats 3-3 synchronously move to enable a human body to be comfortable, the clamping arms 2-7 provide main supporting force, and the seats 3-3 provide auxiliary supporting force (or the seats 3-3 are not contacted with a user all the time and do not provide supporting force, so that the user is prevented from sliding off the clamping arms 2-7); when the standing position working position is reached, the first electric push rod 2-2 stops working, and the second electric push rod 3-1 is still shortened until the seat 3-3 is separated from the lower limbs of the user and stops moving when returning to the initial position;
when the user uses the lower limb training device 4, the user is in a standing position at the moment, the feet of the user step on the foot exoskeletons 4-9 and can be fixed or unfixed through the binding bands, the crus of the user and the crus exoskeletons 4-6 can be fixed or unfixed through the binding bands, and the thighs of the user and the thigh exoskeletons 4-3 can be fixed or unfixed through the binding bands; the hub motors 4-13 work to drive the bottom wheels 4-14 to move back and forth along the bottom wheel tracks 4-15, so that the movement tracks of the bottom wheels 4-14 are ensured to be straight lines, the foot exoskeletons 4-9 move, the whole legs of a user are driven to move, and the rehabilitation training on the lower limbs of the human body is achieved;
when the user changes from a standing posture to a sitting posture, the clamping arms 2-7 are positioned in armpits of the user; the electric push rod I2-2 extends to further drive the clamping arm 2-7 to lower along the vertical direction and move backwards along the horizontal direction; meanwhile, the electric push rod II 3-1 extends to drive the seat 3-3 to descend to a sitting position working position, and a user sits on the seat 3-3; in the moving process, the clamping arms 2-7 and the seats 3-3 synchronously move to enable a human body to be comfortable, the clamping arms 2-7 provide main supporting force, and the seats 3-3 provide auxiliary supporting force (or the seats 3-3 are not contacted with a user all the time and do not provide supporting force, so that the user is prevented from sliding off the clamping arms 2-7);
when a user is transferred to the bed by the robot, the moving device 5 drives the robot to move to the bedside, the user faces back to the bed and sits on the seat 3-3, and the robot is inserted into the bottom of the bed through the brake of the moving device 5 and/or the bottom wheel tracks 4-15 to play a fixing effect; after the clamping arms 2-7 are confirmed to be inserted into armpits of a user, the electric push rod I2-2 is shortened, so that the clamping arms 2-7 are driven to drive the user to move in a direction far away from the bed (namely, move forwards) along the horizontal direction and lift along the vertical direction, the user is lifted, and the user can stand up for a certain height; after the user passively stands, the electric push rod II 3-1 is shortened, so that the seat 3-3 is driven to be lifted to the front of the human body and return to the position of the standing posture; and then the electric push rod I2-2 extends to further drive the clamping arm 2-7 to lower along the vertical direction and move towards the direction close to the bed along the horizontal direction, so that a user is placed on the bed, and the transfer and carrying work from the robot to the bed is completed.
Nothing in this specification is said to apply to the prior art.
Claims (10)
1. A transfer and transport type lower limb rehabilitation robot is characterized by comprising a rack, a transfer and transport device, a lifting seat device, a lower limb training device and a moving device;
the lifting seat device has a lifting function, and a user sits on the lifting seat device when the robot is in a sitting posture working position; the lower limb training device is arranged at a standing position working position of the robot and is used for realizing the function that a user pulls the tail end to drive the leg joint to move through the foot power in a standing state, thereby realizing the function of leg rehabilitation training; the moving device is used for moving the robot;
the transfer and carrying device comprises a transfer and carrying device frame body, an electric push rod I, a slide block, a slide rail assembly, a control console, a clamping arm, a connecting rod I, a connecting rod II and a connecting rod III;
the bottom of the frame body of the transfer and conveying device is fixed on the frame; the shell of the electric push rod I is fixed on the frame body of the transfer and carrying device, and the output end of the electric push rod I outputs horizontally; a sliding block is fixed at the output tail end of the first electric push rod; the third connecting rod is vertically fixed on the rack; the two connecting rods II are arranged in parallel, one ends of the two connecting rods II are hinged to the connecting rod III, and the other ends of the two connecting rods II are hinged to the connecting rod I; the first connecting rod, the second connecting rod and the third connecting rod form a parallelogram mechanism; the console, the first connecting rod and the sliding rail assembly are fixedly connected with each other; a slide rail in the vertical direction is arranged in the slide rail component; the sliding block is arranged in a vertical sliding rail of the sliding rail component in a sliding manner; the holding arm is fixed on the console to provide supporting force for the user.
2. The transfer transport lower limb rehabilitation robot of claim 1, wherein the transfer transport device further comprises an electric putter support; the bottom of the electric push rod supporting piece is fixed on a horizontal plate of a frame body of the transfer and conveying device, and the top of the electric push rod supporting piece is fixedly connected with a shell of the electric push rod I, so that the electric push rod I is further supported, and the horizontal output of the output end of the electric push rod I is further ensured.
3. The transfer and transportation type lower limb rehabilitation robot according to claim 1, wherein the slide block is a wedge-shaped slide block or a trapezoidal slide block.
4. The transfer-carrying lower limb rehabilitation robot according to claim 1, wherein the lifting seat device comprises a second electric push rod, a parallel lifting rod and a seat;
the two parallel lifting rods are arranged in parallel, one end of each parallel lifting rod is hinged to the rack, and the other end of each parallel lifting rod is hinged to the seat; the frame, the two parallel lifting rods and the seat form a parallelogram mechanism, so that the seat is always kept horizontal; the shell of the electric push rod II is hinged on the rack, and the output end of the electric push rod II is hinged with the middle part of a parallel lifting rod.
5. The transfer and transport type lower limb rehabilitation robot according to claim 1, wherein the lower limb training device comprises a first hip joint connector, a second hip joint connector, a first thigh exoskeleton, a first knee joint connector, a second shank exoskeleton, a first ankle joint connector, a second ankle joint connector, a foot exoskeleton, an exoskeleton support, a spring, a hub support, a hub motor, a bottom wheel track, an L-shaped plate and a moving shaft;
the exoskeleton support is fixed on the frame; the hip joint connecting piece II is fixed on the exoskeleton support; one hip joint connecting piece is rotatably arranged on the second hip joint connecting piece; one end of the thigh exoskeleton is fixedly connected with the hip joint connecting piece I, and the other end of the thigh exoskeleton is fixedly connected with the knee joint connecting piece I; the knee joint connecting piece II is rotatably arranged on the knee joint connecting piece I; one end of the crus exoskeleton is fixedly connected with the second knee joint connecting piece, and the other end of the crus exoskeleton is fixedly connected with the second ankle joint connecting piece; one ankle joint connecting piece is rotatably arranged on the second ankle joint connecting piece; the foot exoskeleton is fixed on the first ankle joint connecting piece;
an L-shaped plate is fixed on one side of the foot exoskeleton; the bottom wheel track is fixed on the frame through a track fixing plate; the bottom wheel is rotatably arranged in the hub bracket; the shell of the hub motor is fixed on the hub bracket, and the output end of the hub motor is fixedly connected with the axle center of the bottom wheel; the bottom wheels are arranged in the bottom wheel tracks; one end of the moving shaft is fixed at the top of the hub bracket, the other end of the moving shaft is arranged in the through hole of the L-shaped plate in a sliding manner, and the hub bracket and the L-shaped plate form a moving pair; the spring is nested on the movable shaft, one end of the spring is in contact with or fixedly connected with the hub support, and the other end of the spring is in contact with or fixedly connected with the L-shaped plate, so that the bottom wheel is always in contact with the bottom wheel rail.
6. The transfer-transport lower limb rehabilitation robot of claim 5, wherein the length of the thigh exoskeleton can be freely adjusted and fixed by fastening bolts to adapt to the thigh length of different users.
7. The transfer-carrying type lower limb rehabilitation robot according to claim 5, wherein the length of the lower leg exoskeleton can be freely adjusted and fixed by fastening bolts to adapt to the lower leg length of different users.
8. The transfer and transport type lower limb rehabilitation robot as recited in claim 5, wherein the lower leg exoskeleton and the upper leg exoskeleton are provided with straps for fixing the corresponding positions of the human body.
9. The transfer and carry type lower limb rehabilitation robot according to claim 5, wherein the foot exoskeleton is provided with a strap for fixing with the foot of the human body.
10. The transfer/carry type lower limb rehabilitation robot according to claim 5, wherein the bottom wheel rail is also inserted into the bottom of the bed to function as a fixed robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211521896.9A CN115715729B (en) | 2022-11-30 | 2022-11-30 | Transfer and carrying type lower limb rehabilitation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211521896.9A CN115715729B (en) | 2022-11-30 | 2022-11-30 | Transfer and carrying type lower limb rehabilitation robot |
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| CN115715729A true CN115715729A (en) | 2023-02-28 |
| CN115715729B CN115715729B (en) | 2024-08-02 |
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Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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