CN115944507A - Movable stand type lower limb exoskeleton rehabilitation robot - Google Patents
Movable stand type lower limb exoskeleton rehabilitation robot Download PDFInfo
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- CN115944507A CN115944507A CN202310020483.0A CN202310020483A CN115944507A CN 115944507 A CN115944507 A CN 115944507A CN 202310020483 A CN202310020483 A CN 202310020483A CN 115944507 A CN115944507 A CN 115944507A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 210000002414 leg Anatomy 0.000 claims description 47
- 210000004394 hip joint Anatomy 0.000 claims description 7
- 210000000629 knee joint Anatomy 0.000 claims description 7
- 230000005484 gravity Effects 0.000 abstract description 13
- 230000033001 locomotion Effects 0.000 abstract description 12
- 238000012549 training Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 239000003638 chemical reducing agent Substances 0.000 description 6
- 238000003780 insertion Methods 0.000 description 6
- 230000037431 insertion Effects 0.000 description 6
- 210000000689 upper leg Anatomy 0.000 description 5
- 208000006011 Stroke Diseases 0.000 description 4
- 230000003014 reinforcing effect Effects 0.000 description 3
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000032683 aging Effects 0.000 description 2
- 230000002490 cerebral effect Effects 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 206010061296 Motor dysfunction Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000037230 mobility Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000004393 prognosis Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The invention relates to the technical field of lower limb rehabilitation auxiliary equipment, in particular to a movable stand type lower limb exoskeleton rehabilitation robot. The device comprises a supporting platform, a dynamic balance mechanism, an auxiliary fixing mechanism and a pair of symmetrical mechanical legs; the supporting platform comprises a moving trolley and a telescopic bracket arranged on the moving trolley; the dynamic balance mechanism comprises a fixed slot plate, a connecting plate, an I-shaped upper connecting rod, a pair of lower connecting rods, a pair of hook plates and a pair of guide rods, wherein the fixed slot plate, the connecting plate, the I-shaped upper connecting rod, the pair of lower connecting rods, the pair of hook plates and the pair of guide rods are arranged at the top end of the telescopic bracket; the auxiliary fixing mechanism is arranged on the connecting plate, and two sides of the auxiliary fixing mechanism are respectively provided with a mechanical leg fixing plate; the mechanical legs are arranged on the mechanical leg fixing plate. The invention is provided with the dynamic balance mechanism, so that the gravity center swings more naturally when walking; in addition, the balance spring and the related structure provide assistance for the upward movement of the center of gravity of the patient.
Description
Technical Field
The invention relates to the technical field of lower limb rehabilitation auxiliary equipment, in particular to a movable stand type lower limb exoskeleton rehabilitation robot.
Background
With the rapid growth of aging population, the lower limb paralysis caused by aging diseases and the inconvenience in walking cause the inconvenience in the movement of the old, wherein sequelae with different degrees appear after the prognosis of a patient with cerebral apoplexy seriously affect the life quality of the patient. Clinical medicine proves that in addition to early surgical treatment and necessary medical treatment, early rehabilitation training can not only maintain the basic mobility of limbs, but also remarkably improve the final recovery of the motor function of a stroke patient, so that the rehabilitation of the stroke patient is more and more important.
The lower limb exoskeleton rehabilitation robot is a human-machine-electricity integrated system with a robot coupled with a wearer, and helps patients with lower limb movement dysfunction caused by diseases such as spinal cord injury, cerebral apoplexy and the like to exercise lower limb muscles and recover lower limb movement functions by simulating normal human body walking gait rules. The lower limb exoskeleton rehabilitation robot is expected to be a patient with lower limb motor dysfunction to perform motor function rehabilitation training.
However, market research shows that the existing lower limb exoskeleton rehabilitation robot is not mature enough, and has a plurality of defects which cause difficulty in further popularization, such as:
1) Although the lower limb rehabilitation robot represented by the Chinese patent 'active and passive lower limb exoskeleton robot' (application number 202210435848.1) can actively provide power to assist a patient to walk, the lower limb rehabilitation robot does not have an auxiliary supporting platform, and the patient needing to use the lower limb rehabilitation robot has the weakness of the lower limb, and the patient cannot maintain walking without falling due to self strength, so that the patient needs one or two guardians to support the lower limb rehabilitation robot in the process of using the lower limb rehabilitation robot, and the use cost is high. In addition, the lower limb rehabilitation robot is only suitable for patients with certain walking ability due to no auxiliary supporting structure, and cannot be used by patients needing ultra-early lower limb movement interventional rehabilitation training.
2) The lower limb rehabilitation robot represented by Chinese patent ' an exoskeleton assistance and lower limb rehabilitation integrated robot ' (application number CN 202111644118.4) ', aims to solve the problem that a patient is easy to fall down in the rehabilitation training process, reduces the dependence on a nurse worker, and is additionally provided with an auxiliary support system; however, the development of the lower limb rehabilitation robot is not based on human engineering, and the gravity center of a normal human body floats up and down in the walking process; this type of lower limb rehabilitation robot does not take this into account; when a patient uses the rehabilitation training device to perform rehabilitation training, the gravity center of the rehabilitation training device is fixed, the instinct of the human body is seriously violated, and the recovery effect is influenced.
Disclosure of Invention
The invention provides a moving platform frame type lower limb exoskeleton rehabilitation robot, which aims to solve the problems that in the prior art, a guardian is required to support the robot in the use process, and the gravity center of a patient swings unnaturally in the walking process.
In order to realize the purpose, the technical scheme of the invention is as follows:
the invention provides a movable stand type lower limb exoskeleton rehabilitation robot, which comprises a supporting platform, a dynamic balance mechanism, an auxiliary fixing mechanism and a pair of mechanical legs which are bilaterally symmetrical;
the supporting platform comprises a moving trolley and a telescopic bracket arranged on the moving trolley;
the dynamic balance mechanism comprises a fixed slot plate, a connecting plate, an I-shaped upper connecting rod, two lower connecting rods, two hook-shaped plates and two guide rods, wherein the fixed slot plate is arranged at the top end of the telescopic bracket; the supporting rods at the two ends of the upper connecting rod are respectively and rotatably connected with the fixed groove plate and the connecting plate, the two hook-shaped plates are fixedly connected through the two lower connecting rods, the two lower connecting rods are respectively arranged at the front end and the middle part of the hook-shaped plates, and the two lower connecting rods are respectively and rotatably connected with the fixed groove plate and the connecting plate; an upper rotating shaft seat is arranged at the tail end of the hook plate, a lower rotating shaft seat with a shaft hole is arranged on the side wall of the fixed groove plate, one end of the guide rod is fixed on the upper rotating shaft seat, the other end of the guide rod penetrates through the shaft hole of the lower rotating shaft seat, a balance spring is sleeved on the guide rod, and two ends of the balance spring are respectively propped against the upper rotating shaft seat and the lower rotating shaft seat;
the auxiliary fixing mechanism is arranged on the connecting plate, and two sides of the auxiliary fixing mechanism are respectively provided with a mechanical leg fixing plate;
the mechanical legs are arranged on the mechanical leg fixing plates.
In one embodiment, the moving trolley comprises two parallel beams and universal wheels, wherein the two parallel beams are arranged on a longitudinal beam, the universal wheels are arranged near two ends of the longitudinal beam respectively, and the two beams are arranged on the rear half section of the longitudinal beam.
In one embodiment, the telescopic bracket comprises at least two sections of supporting tubes, and a lifting structure is arranged in each supporting tube.
In one embodiment, two sides of the fixed groove plate are respectively provided with a push handle extending backwards.
In one embodiment, the auxiliary fixing mechanism comprises a height adjusting plate, a fixing barrel, a sliding block provided with a through hole d, a backrest fixing rod, two screw rod sliding blocks, two screw rods, two hand wheels, two fixing seats, two mechanical leg fixing plates and four sliding rods.
In one embodiment, the upper half part of the panel of the height adjusting plate is provided with a rectangular groove, and the outer side of one side wall of the height adjusting plate is provided with a graduated scale.
In one embodiment, a rectangular groove is formed in the side wall of the fixed barrel, and a graduated scale is arranged on one side of the rectangular groove of the fixed barrel.
In an embodiment, the mechanical leg fixing plate is fixed on the screw rod slide block, and a reinforcing toggle plate is arranged between the screw rod slide block and the mechanical leg fixing plate.
In one embodiment, the mechanical leg fixing plate is provided with a handrail.
In one embodiment, the mechanical leg comprises an upper support structure rotatably arranged on the mechanical leg fixing plate through a hip joint rotating structure, a lower support structure rotatably arranged at the lower end of the upper support structure through a knee joint rotating structure, and a pedal structure rotatably arranged at the lower end of the lower support structure through a rotating shaft.
The invention achieves the following beneficial effects:
1) The lower limb rehabilitation training device is provided with the supporting platform to assist in supporting a patient and prevent the patient from being injured secondarily due to accidental falling in the lower limb rehabilitation training process.
2) The telescopic bracket, the backrest, the armrests and other structures of the invention are all adjustable, and can meet the requirements of different patients.
3) The invention is provided with the dynamic balance mechanism, so that the gravity center swings more naturally when walking; in addition, the balance spring and the related structure provide assistance for the upward movement of the center of gravity of the patient.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a first perspective view of the present invention.
Fig. 2 is a perspective view two of the present invention.
Fig. 3 is a front view of the present invention.
Fig. 4 is a side view of the present invention.
Fig. 5 is a first perspective view of the dynamic balance mechanism and the auxiliary fixing mechanism of the present invention.
Fig. 6 is a second perspective view of the dynamic balance mechanism and the auxiliary fixing mechanism of the present invention.
Fig. 7 is a perspective view of the mechanical leg of the present invention.
In the figure, 1, a platform is supported; 11. moving the trolley; 111. a longitudinal bone; 112. a cross beam; 113. a universal wheel; 12. a telescopic bracket; 13. an active area; 21. fixing the groove plate; 211. a push handle; 22. a connecting plate; 23. an upper connecting rod; 24. a lower connecting rod; 25. rotating; 26. a hook plate; 27. a balance spring; 271. an upper rotating shaft seat; 272. a lower shaft rotating seat; 273. a guide bar; 3. an auxiliary fixing mechanism; 31. a height adjustment plate; 32. fixing the barrel; 321. fixing a bolt I; 322. a slider; 33. a backrest; 34. a backrest fixing rod; 341. fixing a bolt II; 35. a screw rod slide block; 36. a screw rod; 361. a hand wheel; 37. a fixed seat; 371. a reinforcing toggle plate; 38. a mechanical leg fixing plate; 381. a handrail; 39. a slide bar; 4. a mechanical leg; 41. an upper support structure; 411. a lower leg fixing plate; 412. an upper leg fixing plate; 42. a lower support structure; 421. a below-knee fixation plate; 43. a pedal structure; 44. a hip joint rotation structure; 45. a knee joint rotating structure.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, if appearing throughout the text, "and/or" is meant to include three juxtaposed aspects, taking "A and/or B" as an example, including either the A aspect, or the B aspect, or both A and B satisfied aspects. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
As shown in fig. 1 to 7, the invention provides a mobile platform frame type lower extremity exoskeleton rehabilitation robot, which comprises a supporting platform 1, a dynamic balance mechanism, an auxiliary fixing mechanism 3 and a pair of mechanical legs 4 which are bilaterally symmetrical;
the support platform 1 is used for providing auxiliary support for a patient and is also convenient for moving; the supporting platform 1 comprises a moving trolley 11 and a telescopic bracket 12 arranged on the moving trolley 11;
the dynamic balance mechanism is used for enabling the gravity center of the patient to swing up and down more naturally in the rehabilitation training process; the dynamic balance mechanism comprises a fixed slotted plate 21 arranged at the top end of the telescopic bracket 12, a connecting plate 22, an I-shaped upper connecting rod 23, two lower connecting rods 24, two hook plates 26 and two guide rods 273; the supporting rods at two ends of the upper connecting rod 23 are respectively rotatably connected with the fixed groove plate 21 and the connecting plate 22, the two hook-shaped plates 26 are fixedly connected through the two lower connecting rods 24, the two lower connecting rods 24 are respectively arranged at the front end and the middle part of the hook-shaped plates 26, and the two lower connecting rods 24 are respectively rotatably connected with the fixed groove plate 21 and the connecting plate 22; an upper rotating shaft seat 271 is arranged at the tail end of the hooking plate 26, a lower rotating shaft seat 272 with a shaft hole is arranged on the side wall of the fixed groove plate 21, one end of the guide rod 273 is fixed on the upper rotating shaft seat 271, the other end of the guide rod passes through the shaft hole of the lower rotating shaft seat 272, a balance spring 27 is sleeved on the guide rod 273, and two ends of the balance spring 27 are respectively propped against the upper rotating shaft seat 271 and the lower rotating shaft seat 272;
the auxiliary fixing mechanism 3 is used for assisting in fixing a patient and providing a supporting point for the upper body of the patient; the auxiliary fixing mechanism 3 is arranged on the connecting plate 22, and two sides of the auxiliary fixing mechanism 3 are respectively provided with a mechanical leg fixing plate 38;
the mechanical leg 4 is used for fixing the leg of the patient and providing assistance for the patient when the patient moves; the robot leg 4 is disposed on the robot leg fixing plate 38.
In the embodiment of the present invention, as shown in fig. 1 to 4, the movable trolley 11 includes two parallel beams 112 disposed on a longitudinal frame 111, and universal wheels 113 disposed near two ends of the longitudinal frame 111, respectively, and both the two beams 112 are disposed on the rear half section of the longitudinal frame 111; the longitudinal frame 111 and the cross beam 112 form a main body frame of the moving trolley 11, and an open rectangular moving area 13 is defined by the front half section of the longitudinal frame 111 and the cross beam 112 so as to facilitate the movement of a patient; the number of the universal wheels 113 is four, every two of the universal wheels are in a group, and one universal wheel 113 is arranged near two ends of each longitudinal frame 111, so that the invention is convenient for a nurse and a patient to move; the telescopic support 12 is fixed between the two cross beams 112, and the mechanical legs 4 are arranged in the active area 13.
In the embodiment of the present invention, the telescopic bracket 12 includes at least two sections of supporting tubes, the supporting tube located above can be embedded into the adjacent supporting tube located below and can slide up and down, and the bottom of the supporting tube located below and the top of the supporting tube located above are provided with sealing plates. A lifting structure is arranged in the supporting pipe, and the lifting structure can be an air cylinder, an oil cylinder or a jacking screw rod lifter so as to drive the telescopic support 12 to extend or contract.
In the embodiment of the present invention, the dynamic balance mechanism includes a fixed slot plate 21, a connecting plate 22, an i-shaped upper connecting rod 23, two lower connecting rods 24, two hook plates 26 and two guide rods 273, which are arranged at the top end of the telescopic bracket 12; the whole fixed slotted plate 21 is made of channel steel, a top plate is arranged at the top of the fixed slotted plate, and the fixed slotted plate 21 is fixed at the top end of the telescopic bracket 12 through bolts; in order to facilitate the movement of the present invention for the maintainers, push handles 211 extending backwards are respectively arranged on both sides of the fixed groove plate 21.
The upper connecting rod 23 is i-shaped, two ends of the upper connecting rod are respectively provided with a support rod, the support rod at one end of the upper connecting rod 23 is rotatably fixed on the panel of the fixed trough plate 21 through two rotary seats 25, and the support rod at the other end of the upper connecting rod 23 is fixed on the back of the connecting plate 22 through two rotary seats 25; the two hook-shaped plates 26 are fixedly connected through the two lower connecting rods 24, the two lower connecting rods 24 are respectively arranged at the front end and the middle part of the hook-shaped plates 26, namely the two hook-shaped plates 26 and the two lower connecting rods 24 form a parallelogram structure; the two lower connecting rods 24 are respectively connected with the fixed trough plate 21 and the connecting plate 22 in a rotating way through a rotating seat 25, and the tail ends of the hook plates 26 face upwards; the tail end of the hooking plate 26 is provided with an upper shaft seat 271, the side wall of the fixed groove plate 21 is provided with a lower shaft seat 272 with a shaft hole, the lower shaft seat 272 is arranged obliquely below the upper bearing, and the upper shaft seat 271 and the lower shaft seat 272 can rotate; one end of the guide rod 273 is fixed on the upper spindle seat 271, the other end of the guide rod 273 penetrates through the spindle hole of the lower spindle seat 272, a balance spring 27 is sleeved on the guide rod 273, and two ends of the balance spring 27 respectively prop against the upper spindle seat 271 and the lower spindle seat 272.
As shown in fig. 5 to 6, the upper link 23 and the lower link 24 form a parallel four-sided rod, and the balance spring 27 is compressed or extended by an external force. Specifically, when the patient falls his legs forward, the center of gravity moves downward, the distal end of the hook plate 26 rotates upward, and the counter spring 27 is compressed by gravity; when the patient wishes to raise his legs, the center of gravity has a tendency to move upwards, at which point the counter spring 27 is released, providing a counter force to assist the patient in moving the center of gravity upwards, reducing the weight that the patient needs to overcome when lifting his legs. With the assistance of the dynamic balance mechanism, the gravity center of the patient swings up and down more naturally, and the walking instinct of the human body is met.
In the embodiment of the present invention, as shown in fig. 5 to 6, the auxiliary fixing mechanism 3 includes a height adjusting plate 31, a fixing barrel 32, a sliding block 322, a backrest 33, a backrest fixing rod 34, two screw rod sliding blocks 35, two screw rods 36, two hand wheels 361, two fixing seats 37, two mechanical leg fixing plates 38, and four sliding rods 39.
The height adjusting plate 31 is of a channel steel structure as a whole, a rectangular groove is formed in the upper half part of a panel of the height adjusting plate 31, a graduated scale is arranged on the outer side of one side wall of the height adjusting plate 31, and the height adjusting plate 31 is arranged on the connecting plate 22; the sliding block 322 is embedded in the groove of the height adjusting plate 31 and can slide up and down along the two side wall plates of the height adjusting plate 31, and a through hole is formed in the sliding block 322.
The fixed barrel 32 is of a cylindrical structure, one end of the fixed barrel 32 is a large opening, the other end of the fixed barrel 32 is provided with an inserted rod, the side wall of the fixed barrel 32 is provided with a rectangular groove, and one side of the rectangular groove of the fixed barrel 32 is provided with a graduated scale; the inserted link passes through the rectangular groove of the height adjusting plate 31 and the through hole of the sliding block 322 and is in threaded connection with a fixing bolt I321, the fixing barrel can be fixed on the height adjusting plate 31 by screwing the fixing bolt I321, and the height of the fixing barrel can be adjusted by unscrewing the fixing bolt I321; in order to facilitate screwing, a handle is arranged on the fixing bolt I321.
As shown in fig. 3, the backrest 33 has an inverted "convex" structure, the edge of the backrest 33 is provided with a plurality of binding holes, and the upper body of the patient can be fixed on the backrest 33 by a strap passing through the binding holes; as shown in fig. 5 to 6, a backrest fixing rod 34 is arranged on the back surface of the backrest 33, the backrest fixing rod 34 is inserted into the fixing cylinder, a backrest 33 adjusting screw is vertically arranged near the end of the backrest fixing rod 34, and the backrest 33 adjusting screw extends out of the rectangular groove of the fixing cylinder and is in threaded connection with a fixing bolt ii 341; the backrest 33 can be fixed in the fixed cylinder by screwing the fixing bolt II 341, and the insertion depth of the backrest fixing rod 34 can be adjusted by unscrewing the fixing bolt II 341; in order to facilitate screwing, a handle is arranged on the fixing bolt II 341.
As shown in fig. 6, the sliding rods 39 are four in number, are parallel to each other, are divided into two groups, and are respectively disposed on two sides of the connecting plate 22, that is, two parallel sliding rods 39 are respectively disposed on two sides of the connecting plate 22. The number of the screw rods 36 is two, the screw rods 36 are respectively arranged on two sides of the connecting plate 22 and between the two slide bars 39, the screw rods 36 are rotatably arranged on two sides of the connecting plate 22, and hand wheels 361 are arranged at the outer ends of the screw rods 36. The screw rod sliding block 35 is of a rectangular structure, two through holes are formed in the screw rod sliding block 35 along the length direction, a through threaded hole is formed between the two through holes in the length direction of the screw rod sliding block 35, the sliding rod 39 is embedded into the through hole of the screw rod sliding block 35, and the screw rod 36 is in threaded connection with the threaded hole of the screw rod sliding block 35; the number of the screw rod sliding blocks 35 is two, the screw rod sliding blocks are respectively arranged on two sides of the connecting plate 22, and the positions of the screw rod sliding blocks 35 can be adjusted by rotating a hand wheel 361.
The mechanical leg fixing plates 38 are used for fixing the mechanical legs 4, the number of the mechanical leg fixing plates 38 is two, and the shape of each mechanical leg fixing plate 38 is an L shape; the mechanical leg fixing plate 38 is fixed on the screw rod sliding block 35, and a reinforcing toggle plate 371 is arranged between the screw rod sliding block 35 and the mechanical leg fixing plate 38; be provided with handrail 381 on the machinery leg fixed plate 38, handrail 381 is used for helping the patient steady the health when the rehabilitation training.
The height of the backrest 33 can be adjusted by adjusting the position of the fixed cylinder at the height adjusting plate 31; the degree of protrusion of the backrest 33 can be adjusted by adjusting the insertion depth of the backrest fixing lever 34; the distance between the two armrests 381 can be adjusted by rotating the hand wheel 361; the body conditions of most patients can be adapted through the adjustment, and the requirements of various crowds are met.
In the embodiment of the present invention, as shown in fig. 7, the mechanical leg 4 includes an upper support structure 41 rotatably provided on the mechanical leg fixing plate 38 by a hip joint rotation structure 44, a lower support structure 42 rotatably provided at a lower end of the upper support structure 41 by a knee joint rotation structure 45, and a pedal structure 43 rotatably provided at a lower end of the lower support structure 42 by a rotation shaft.
The top ends of the upper supporting structure 41 and the lower supporting structure 42 are both provided with a joint ring plate and a fixing plate, and the bottom end of the upper supporting structure 41 is provided with an inserting plate; the joint ring plate is of an annular structure, the joint ring plate and the fixing plate enclose to form an insertion groove, the mechanical leg fixing plate 38 and the insertion plate of the upper supporting structure 41 are respectively embedded into the insertion groove of the upper supporting structure 41 and the insertion groove of the lower supporting structure 42, and the contact surface is sealed.
Specifically, the hip joint rotating structure 44 and the knee joint rotating structure 45 have the same structure and both comprise a servo motor and a harmonic drive reducer; taking the hip joint rotating structure 44 as an example for detailed description, the servo motor is arranged on the shell at one side of the harmonic drive reducer, and the other side of the harmonic drive reducer is fixed on the mechanical leg fixing plate 38; the output shaft of the servo motor is in interference fit with the input end of the harmonic drive reducer, and the output end of the harmonic drive reducer is connected with the joint ring plate. I.e. during movement, the harmonic drive reducer is not moved, and the upper supporting structure 41 is driven by the servo motor to rotate. The connection relationship between the knee joint rotating structure 45 and the upper supporting structure 41 and the lower supporting structure 42 is similar to the connection relationship between the hip joint rotating structure 44 and the mechanical leg fixing plate 38 and the upper supporting structure 41, and the connection relationship between the knee joint rotating structure 45 and the upper supporting structure 41 and the lower supporting structure 42 is not described herein again.
The invention detects the current value of the servo motor operation through the driver of the servo motor, and judges the current force application condition of a patient through judging the threshold value of the current value, wherein the current value is in a belt direction. When the force feedback of the forward movement of the patient is detected, the moment mode control of the motor is adjusted, so that the walking of the patient is assisted; in addition, when the patient has force feedback for backward motion, it is desirable to reduce the torque control to match the current patient state.
A lower leg fixing plate 411 and an upper leg fixing plate 412 are arranged on the upper supporting structure 41, and both the lower leg fixing plate 411 and the upper leg fixing plate 412 are of an L-shaped structure and are positioned on the back side of the thigh of the patient; the lower support structure 42 is provided with a below-knee fixing plate 421, and the below-knee fixing plate 421 is an L-shaped structure and is positioned on the front side of the lower leg of the patient; the fixation of the patient's leg is accomplished by straps tied to the lower leg fixation plate 411, the upper leg fixation plate 412, and the below-knee fixation plate 421.
The pedal structure 43 is provided with a strap for securing the patient's step.
The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides a moving gantry type lower limbs ectoskeleton rehabilitation robot which characterized in that: comprises a supporting platform (1), a dynamic balance mechanism, an auxiliary fixing mechanism (3) and a pair of mechanical legs (4) which are symmetrical left and right;
the supporting platform (1) comprises a moving trolley (11) and a telescopic bracket (12) arranged on the moving trolley (11);
the dynamic balance mechanism comprises a fixed slotted plate (21) arranged at the top end of the telescopic bracket (12), a connecting plate (22), an I-shaped upper connecting rod (23), two lower connecting rods (24), two hook plates (26) and two guide rods (273); the supporting rods at two ends of the upper connecting rod (23) are respectively and rotatably connected with the fixed groove plate (21) and the connecting plate (22), the two hook-shaped plates (26) are fixedly connected through the two lower connecting rods (24), the two lower connecting rods (24) are respectively arranged at the front end and the middle part of the hook-shaped plates (26), and the two lower connecting rods (24) are respectively and rotatably connected with the fixed groove plate (21) and the connecting plate (22); an upper rotating shaft seat (271) is arranged at the tail end of the hook plate (26), a lower rotating shaft seat (272) with a shaft hole is arranged on the side wall of the fixed groove plate (21), one end of a guide rod (273) is fixed on the upper rotating shaft seat (271), the other end of the guide rod penetrates through the shaft hole of the lower rotating shaft seat (272), a balance spring (27) is sleeved on the guide rod (273), and two ends of the balance spring (27) are respectively propped against the upper rotating shaft seat (271) and the lower rotating shaft seat (272);
the auxiliary fixing mechanism (3) is arranged on the connecting plate (22), and mechanical leg fixing plates (38) are respectively arranged on two sides of the auxiliary fixing mechanism (3);
the mechanical leg (4) is arranged on the mechanical leg fixing plate (38).
2. The mobile gantry type lower extremity exoskeleton rehabilitation robot of claim 1, wherein: the movable trolley (11) comprises two parallel beams (112) arranged on a longitudinal frame (111) and two parallel universal wheels (113) arranged near two ends of the longitudinal frame (111), and the two beams (112) are arranged on the rear half section of the longitudinal frame (111).
3. The mobile gantry type lower extremity exoskeleton rehabilitation robot of claim 2, wherein: the telescopic support (12) comprises at least two sections of support pipes, and a lifting structure is arranged in each support pipe.
4. The mobile gantry type lower extremity exoskeleton rehabilitation robot of claim 1, wherein: two sides of the fixed groove plate (21) are respectively provided with a push handle (211) extending backwards.
5. The mobile gantry type lower extremity exoskeleton rehabilitation robot of claim 1, wherein: the auxiliary fixing mechanism (3) comprises a height adjusting plate (31), a fixing barrel (32), a sliding block (322) provided with a through hole d, a backrest (33), a backrest fixing rod (34), two screw rod sliding blocks (35), two screw rods (36), two hand wheels (361), two fixing seats (37), two mechanical leg fixing plates (38) and four sliding rods (39).
6. The mobile gantry type lower extremity exoskeleton rehabilitation robot of claim 5, wherein: the upper half part of the panel of the height adjusting plate (31) is provided with a rectangular groove, and the outer side of one side wall of the height adjusting plate (31) is provided with a graduated scale.
7. The mobile gantry type lower extremity exoskeleton rehabilitation robot of claim 5, wherein: the lateral wall of fixed bucket (32) is provided with the rectangular channel, rectangular channel one side of fixed bucket (32) is provided with the scale.
8. The mobile gantry type lower extremity exoskeleton rehabilitation robot of claim 5, wherein: mechanical leg fixed plate (38) are fixed on lead screw slider (35), lead screw slider (35) with be provided with between mechanical leg fixed plate (38) and strengthen toggle plate (371).
9. The mobile gantry type lower extremity exoskeleton rehabilitation robot of claim 1, wherein: and the mechanical leg fixing plate (38) is provided with a handrail (381).
10. The mobile gantry type lower extremity exoskeleton rehabilitation robot of claim 1, wherein: the mechanical leg (4) comprises an upper supporting structure (41) rotatably arranged on the mechanical leg fixing plate (38) through a hip joint rotating structure (44), a lower supporting structure (42) rotatably arranged at the lower end of the upper supporting structure (41) through a knee joint rotating structure (45) and a pedal structure (43) rotatably arranged at the lower end of the lower supporting structure (42) through a rotating shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310020483.0A CN115944507A (en) | 2023-01-06 | 2023-01-06 | Movable stand type lower limb exoskeleton rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310020483.0A CN115944507A (en) | 2023-01-06 | 2023-01-06 | Movable stand type lower limb exoskeleton rehabilitation robot |
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| Publication Number | Publication Date |
|---|---|
| CN115944507A true CN115944507A (en) | 2023-04-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310020483.0A Withdrawn CN115944507A (en) | 2023-01-06 | 2023-01-06 | Movable stand type lower limb exoskeleton rehabilitation robot |
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| CN (1) | CN115944507A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116807839A (en) * | 2023-08-30 | 2023-09-29 | 山东泽普医疗科技有限公司 | Exoskeleton rehabilitation robot gait algorithm and control system |
-
2023
- 2023-01-06 CN CN202310020483.0A patent/CN115944507A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116807839A (en) * | 2023-08-30 | 2023-09-29 | 山东泽普医疗科技有限公司 | Exoskeleton rehabilitation robot gait algorithm and control system |
| CN116807839B (en) * | 2023-08-30 | 2023-11-28 | 山东泽普医疗科技有限公司 | Exoskeleton rehabilitation robot gait algorithm and control system |
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Country or region after: China Address after: 101 and 102 households, Building 11, No. 88 Huoju Road, High tech Zone, Qingdao City, Shandong Province Applicant after: Kangdao (Qingdao) Medical Technology Co.,Ltd. Address before: Room 112, Rehabilitation Industry Incubator, Building D, No. 100 Huoju Road, High tech Zone, Qingdao City, Shandong Province Applicant before: Kangda Future (Qingdao) Intelligent Technology Co.,Ltd. Country or region before: China |
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