CN120241449A - A lower limb rehabilitation robot with an additional movable fixing frame - Google Patents

A lower limb rehabilitation robot with an additional movable fixing frame Download PDF

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Publication number
CN120241449A
CN120241449A CN202510474360.3A CN202510474360A CN120241449A CN 120241449 A CN120241449 A CN 120241449A CN 202510474360 A CN202510474360 A CN 202510474360A CN 120241449 A CN120241449 A CN 120241449A
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CN
China
Prior art keywords
fixing frame
support
motor
patient
waist
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202510474360.3A
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Chinese (zh)
Inventor
李宪华
万恒锐
刘叙钿
刘钦洲
虞如杰
孙自飞
王敏慧
李颜池
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Anhui University of Science and Technology
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Anhui University of Science and Technology
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Publication date
Application filed by Anhui University of Science and Technology filed Critical Anhui University of Science and Technology
Priority to CN202510474360.3A priority Critical patent/CN120241449A/en
Publication of CN120241449A publication Critical patent/CN120241449A/en
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024—Knee
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0244—Hip
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0266—Foot
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H3/04—Wheeled walking aids for patients or disabled persons
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • 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
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • 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
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
    • 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
    • A61H2201/50—Control means thereof
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/08—Trunk
    • A61H2205/088—Hip
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • A61H2205/102—Knee
    • 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
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/12—Feet

Landscapes

  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)

Abstract

本发明适用于康复机械技术领域，提供了一种外加可活动固定架的下肢康复机器人，包括：腰护外固定架，用于固连患者腰部；支座外固定架，所述支座外固定架的底部连接有支座底部可伸缩杆支撑在地面上；连接固定架弹性连杆，连接在腰护外固定架和支座外固定架之间，用于为患者腰部运动提供支撑；下肢康复组件，与所述腰护外固定架相连，用于带动患者进行髋关节、膝盖、脚踝的康复训练。本发明能让患者腰部360°任意方向运动，让重心在一定范围内运动，结构简单，装卸方便，且适用人体下肢尺寸范围广、人机耦合性好。

The present invention is applicable to the field of rehabilitation machinery technology, and provides a lower limb rehabilitation robot with an external movable fixing frame, including: a waist guard external fixator, which is used to fix the patient's waist; a support external fixator, the bottom of which is connected to a retractable rod at the bottom of the support and supported on the ground; an elastic connecting rod of the connecting fixing frame, which is connected between the waist guard external fixator and the support external fixator, and is used to provide support for the patient's waist movement; a lower limb rehabilitation component, which is connected to the waist guard external fixator and is used to drive the patient to perform rehabilitation training for the hip joint, knee, and ankle. The present invention allows the patient's waist to move 360° in any direction, and allows the center of gravity to move within a certain range. It has a simple structure, is easy to load and unload, and is applicable to a wide range of human lower limb sizes and has good human-machine coupling.

Description

Lower limb rehabilitation robot externally provided with movable fixing frame
Technical Field
The invention belongs to the technical field of rehabilitation machines, and particularly relates to a lower limb rehabilitation robot externally provided with a movable fixing frame.
Background
When the patient loses complete control over the lower limbs, the lower limbs cannot be effectively exercised, permanent damage to the lower limbs can be caused, and great inconvenience is caused to the patient in future life.
The traditional lower limb rehabilitation training method is characterized in that rehabilitation trainers perform special rehabilitation training on patients one by one, muscle training is repeated on the patients every day through passive training, the purpose of avoiding muscle necrosis is achieved, however, the number and the required quantity of current medical rehabilitation trainers are seriously not matched, and in order to relieve the pressure of the medical rehabilitation trainers, in the prior art, a lower limb rehabilitation training robot is developed by combining a robot with a medical rehabilitation training method, so that the patients can be efficiently and conveniently helped to perform rehabilitation training.
However, the existing lower limb rehabilitation robots cannot enable the waist of a patient to freely move within a certain range, and most rehabilitation robots playing a role in-situ rehabilitation training are too complicated, so that the movement range of the rehabilitation training robots of the patient is small and the degree of freedom is not high.
Disclosure of Invention
The embodiment of the invention aims to provide a lower limb rehabilitation robot externally provided with a movable fixing frame, and aims to solve the problems in the background technology.
The embodiment of the invention is realized in such a way that the lower limb rehabilitation robot externally provided with the movable fixing frame comprises:
the external waist support fixing frame is used for fixedly connecting the waist of a patient;
The bottom of the support external fixing frame is connected with a telescopic rod at the bottom of the support and is supported on the ground;
The elastic connecting rod of the connecting fixing frame is connected between the external waist support fixing frame and the external support fixing frame and is used for supporting the waist movement of a patient;
The lower limb rehabilitation component is connected with the waist support external fixing frame and is used for driving a patient to perform rehabilitation training on hip joints, knees and ankles.
The lower limb rehabilitation robot with the externally-added movable fixing frame provided by the embodiment of the invention aims at the problems that the existing lower limb rehabilitation robot is complex in structure, the gravity center cannot move in a range and the like, is provided with the elastic connecting rod which is designed by taking the step as a design template and is connected with the fixing frame and the support external fixing frame, so that the waist of a patient can move in 360 degrees in any direction, the gravity center moves in a certain range, in addition, the support bottom telescopic rod is arranged below the support external fixing frame, the machine can move in any direction, when the support bottom telescopic rod extends to the longest, a patient can be guaranteed to perform in-situ rehabilitation training, and meanwhile, the lower limb rehabilitation assembly is arranged, so that each joint of the lower limb can be guaranteed to be trained.
Drawings
Fig. 1 is a schematic structural view of a lower limb rehabilitation robot with an externally-added movable fixing frame according to an embodiment of the invention;
Fig. 2 is a schematic structural view of an external lumbar support fixing frame of a lower limb rehabilitation robot externally provided with a movable fixing frame according to an embodiment of the invention;
Fig. 3 is a front view of an external lumbar support mount of a lower limb rehabilitation robot with an externally-added movable mount according to an embodiment of the present invention;
Fig. 4 is a schematic structural view of an external support mount of a lower limb rehabilitation robot with an externally-added movable mount according to an embodiment of the present invention;
Fig. 5 is a schematic structural view of a telescopic rod at the bottom of a support in a lower limb rehabilitation robot with an externally-added movable fixing frame according to an embodiment of the present invention;
fig. 6 is a schematic structural view of an elastic connecting rod connected with a fixed frame in a lower limb rehabilitation robot externally provided with a movable fixed frame according to an embodiment of the invention;
FIG. 7 is a cross-sectional view taken at A-A of FIG. 6;
fig. 8 is a schematic structural diagram of a lower limb rehabilitation robot with an externally-added movable fixing frame.
In the drawings, the waist support outer fixing frame comprises a 1-waist support outer fixing frame, a 2-connection fixing frame elastic connecting rod, a 3-support outer fixing frame, a 4-support bottom telescopic rod, a 5-lower limb rehabilitation component, a 101-waist support pad, a 102-rear waist support outer fixing frame, a 103-waist support outer fixing frame connecting piece, a 104-front waist support outer fixing frame, a 105-waist lower connecting piece, a 106-upper connecting piece, a 201-upper rotating bead, a 202-upper rotating bead connecting piece, a 203-rotatable connecting piece, a 204-motor connecting piece, a 205-motor, a 206-lower rotating bead connecting piece, a 207-lower rotating bead, a 208-support rod, a 209-spring, a 210-main rod, a 301-front support outer fixing frame, a 302-rear support outer fixing frame, a 303-telescopic rod connecting piece, a 304-lower connecting piece, a 401-upper telescopic rod, a 402-lower telescopic rod, a 403-lifting motor, a 404-driving motor, a 405-universal wheel, a 501-lower limb connecting piece, a pelvic bone size adjusting piece, a 503-joint motor, a 504-rotating motor, a 505-motor connecting plate, a 506-thigh motor, a 507-thigh motor, a pedal motor, a 209-thigh plate, a 508-thigh plate, a pedal plate, a 512-shank plate, a shank plate and a supporting plate.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Specific implementations of the invention are described in detail below in connection with specific embodiments.
As shown in fig. 1, a structure diagram of a lower limb rehabilitation robot with an externally-added movable fixing frame according to an embodiment of the present invention includes:
the external waist support fixing frame 1 is used for fixedly connecting the waist of a patient;
The support outer fixing frame 3, the bottom of the support outer fixing frame 3 is connected with a support bottom telescopic rod 4 which is supported on the ground;
The elastic connecting rod 2 of the connecting fixing frame is connected between the external fixing frame 1 of the waist support and the external fixing frame 3 of the support and is used for providing support for the waist movement of a patient;
the lower limb rehabilitation component 5 is connected with the waist support external fixing frame 1 and is used for driving a patient to perform rehabilitation training of hip joints, knees and ankles.
In one embodiment of the invention, the lower limb rehabilitation robot with the externally-added movable fixing frame aims at the problems that the existing lower limb rehabilitation robot is complex in structure, the gravity center cannot move in a range and the like, the connecting fixing frame elastic connecting rod 2 and the support outer fixing frame 3 which are designed by taking step as a design template are arranged, the waist of a patient can move in any direction in 360 degrees, the gravity center moves in a certain range, the support bottom telescopic rod 4 is arranged below the support outer fixing frame 3, the machine can move in any direction, when the support bottom telescopic rod 4 extends to the longest, a patient can be guaranteed to perform in-situ rehabilitation training, meanwhile, the lower limb rehabilitation assembly 5 is arranged, each joint of the lower limb can be guaranteed to be trained, the machine is suitable for the lower limb of a human body, the human-machine coupling is good, and the problem that the upper limb rehabilitation robot cannot be matched due to the difference of individual sizes of the patient is avoided.
As shown in fig. 2 and 3, as a preferred embodiment of the present invention, the external lumbar support frame 1 includes:
A rear waist support fixing frame 102, wherein the rear waist support fixing frame 102 is connected with a front waist support external fixing frame 104 through a waist support external fixing frame connecting piece 103;
The waist protection pad 101 is arranged on the rear waist protection fixing frame 102, and a waist lower connecting piece 105 is arranged on the waist protection pad 101 and connected with the lower limb rehabilitation component 5;
The upper connecting pieces 106 are provided with a plurality of connecting pieces which are respectively arranged on the rear waist support fixing frame 102 and the waist support external fixing frame connecting pieces 103 and are connected with one end of the connecting fixing frame elastic connecting rod 2.
The waist protection pad 101 is installed on the rear waist protection fixing frame 102, a patient uses the waist protection pad 101 to protect the waist when using the robot, the waist protection fixing frame 102 and the waist protection outer fixing frame connecting piece 103 are connected into a whole through the waist protection outer fixing frame connecting piece 103 by using the lower waist protection connecting piece 105, the ton upper connecting piece 106 is connected with the connecting fixing frame elastic connecting rod 2, the number of the upper connecting pieces 106 can be six specifically, and the number of the upper connecting pieces 106 is matched with the number of the connecting fixing frame elastic connecting rod 2.
As shown in fig. 4, as another preferred embodiment of the present invention, the holder external mount 3 includes:
A front support external fixation frame 301, wherein the front support external fixation frame 301 is connected with a rear support external fixation frame 302;
The lower connecting pieces 304 are respectively arranged on the front support outer fixing frame 301 and the rear support outer fixing frame 302 and are connected with the other end of the elastic connecting rod 2 of the connecting fixing frame;
The telescopic link connecting pieces 303 are provided with a plurality of telescopic link connecting pieces, and are respectively arranged on the front support outer fixing frame 301 and the rear support outer fixing frame 302 and are connected with the telescopic link 4 at the bottom of the support.
The main part of support external fixator 3 comprises preceding support external fixator 301 and back support external fixator 302, is equipped with six lower connecting pieces 304 on the support external fixator 3 and is connected with connecting mount elastic connecting rod 2, and then has realized the connection of waist support external fixator 1 and support external fixator 3, installs four telescopic link connecting pieces 303 under the support external fixator 3 and is connected with support bottom telescopic link 4, has increased the area of atress, and then has increased the stability of this robot.
As shown in fig. 5, as a preferred embodiment of the present invention, the stand bottom telescopic rod 4 includes:
an upper telescoping rod 401, the upper telescoping rod 401 being connected to the telescoping rod connector 303;
A lower telescopic rod 402 movably connected with the upper telescopic rod 401;
A lifting motor 403, mounted on the lower telescopic rod 402, for controlling the telescopic rod 4 at the bottom of the support to extend and retract;
A universal wheel 405 mounted on the bottom of the lower telescoping rod 402;
And a driving motor 404, which is installed on the lower telescopic rod 402, wherein an output shaft of the driving motor 404 is connected with a universal wheel 405 for controlling the direction of the universal wheel 405.
Can drive this robot through setting up universal wheel 405 and remove, through the motion of driving motor 404 control universal wheel 405, it can reach the purpose that lets the patient control this rehabilitation robot's motion through modes such as brain electricity control, goes up telescopic link 401 and lower telescopic link 402 and constitutes the body of rod, utilizes the scalable pole 4 in lift motor 403 steerable support bottom to stretch, shrink, and when the scalable pole 4 in support bottom stretches to the longest, can let the patient carry out rehabilitation training in situ.
As shown in fig. 6 to 7, as a preferred embodiment of the present invention, the connection mount elastic link 2 includes:
A main rod 210, wherein a guard rod 208 is arranged on the outer side of the main rod 210, and a spring 209 is arranged between the main rod 210 and the guard rod 208;
The upper rotating bead connecting piece 202 is arranged at one end of the main rod 210, and an upper rotating bead 201 is arranged on the upper rotating bead connecting piece 202 and connected with the upper connecting piece 106;
The lower rotating bead connecting piece 206 is arranged at the other end of the main rod 210, and the lower rotating bead connecting piece 206 is provided with a lower rotating bead 207 which is connected with the telescopic rod connecting piece 303;
a rotatable connection 203 mounted on the guard bar 208;
And the motor connecting piece 204 is connected with the rotatable connecting piece 203, a motor 205 is installed on the motor connecting piece 204, and an output shaft of the motor 205 is connected with the lower rotating bead connecting piece 206 and is used for controlling the moving direction of the elastic connecting rod 2 of the connecting fixed frame.
The connecting fixed frame elastic connecting rod 2 is constructed through a structural model imitating the step, a certain range of waist movement can be provided for a patient, wherein the guard bar 208 guarantees the safety of the spring 209, the spring 209 enables the connecting fixed frame elastic connecting rod 2 to have certain elasticity, the movement of the waist of the patient is guaranteed, effective support can be provided for the movement of the waist of the patient, the motor 205 controls the lower rotating bead 207 to drive the lower rotating bead 207 to move, the movement direction of the connecting fixed frame elastic connecting rod 2 can be controllable, and the movement trend of the waist of the patient is controlled.
As shown in fig. 8, as a preferred embodiment of the present invention, the lower limb rehabilitation unit 5 includes:
The hip joint training assembly is connected with the lower lumbar connecting piece 105 and is used for driving a patient to perform hip joint rehabilitation training;
The knee joint training assembly is connected with the hip joint training assembly and is used for adjusting the lengths of thighs and shanks and driving a patient to perform knee bending rehabilitation training;
The ankle joint training assembly and the knee joint training assembly are used for fixing soles and shanks of a patient and driving the patient to perform ankle rehabilitation training;
the hip training assembly includes:
the lower limb connecting piece 501 is connected with the lower lumbar connecting piece 105, and both sides of the lower limb connecting piece 501 are respectively provided with a pelvic bone size adjusting piece 502 for adjusting the size of the hip joint;
The hip joint motor 503 is connected with the pelvic bone size adjusting piece 502 and is used for driving the patient to perform hip joint lateral pulling training;
The knee joint training assembly includes:
The rotary motor 504 is connected with the hip joint motor 503 through a connecting plate, an output shaft of the rotary motor 504 is connected with a motor connecting plate 505 for realizing the rotation of muscles of lower limbs, and a thigh driving motor 506 is arranged in the motor connecting plate 505 for realizing the leg lifting movement of a patient;
a thigh guard plate 507, wherein thigh binding bands 508 are arranged on the thigh guard plate 507, and the thigh guard plate 507 is connected with an output shaft of a thigh driving motor 506 and is used for adjusting the size of thighs;
The knee bending motor 509 is connected with the thigh guard plate 507, an output shaft of the knee bending motor 509 is connected with the shank guard plate 510, and a shank strap 511 is arranged on the shank guard plate 510 and is used for driving a patient to perform knee bending rehabilitation training;
A lower leg extension plate 512 movably connected to the lower leg guard 510 for adjusting the size of the lower leg;
The ankle training assembly comprises an ankle rotating motor 513 connected with the lower leg expansion plate 512, wherein an output shaft of the ankle rotating motor 513 is connected with a foot supporting plate 514, and the foot supporting plate 514 is used for fixing feet of a patient and driving the patient to perform ankle rehabilitation training.
The hip joint size adjustment can be performed through the lower limb connecting piece 501 and the pelvic bone size adjusting piece 502 (the lower limb connecting piece 501 is connected with the pelvic bone size adjusting piece 502 through bolts, the hip joint size adjustment is performed through adjusting the position of bolt holes of the lower limb connecting piece 501 and the pelvic bone size adjusting piece 502), the body part of a patient can be perceived to be adjusted and matched, the hip joint motor 503 is installed at the tail end of the pelvic bone size adjusting piece 502 and connected with the pelvic bone size adjusting piece 502, the hip joint motor 503 drives the connecting plate to rotate, the rotation of the hip joint motor 503 can realize the lateral pulling motion of a lower limb rehabilitation mechanism at the hip joint, and the hip joint lateral pulling training of the patient can be realized after the patient installs the rehabilitation machine;
The hip joint motor 503 is connected with the rotating motor 504 through a connecting plate, the rotating motor 504 is connected with a revolute pair of the connecting plate 505, the rotating motor 504 can drive the angle change of the lower limb of the patient to realize the rotation of the muscle of the lower limb part, the thigh driving motor 506 is arranged in the motor connecting plate 505, and the thigh driving motor 506 can realize the leg lifting movement of the patient;
thigh size adjustment can be performed through the thigh driving motor 506 and the thigh guard 507 (the thigh guard 507 is in bolted connection with a rectangular part at the lower end of the thigh driving motor 506, the thigh guard 510 and the thigh expansion plate 512 are used for performing thigh size adjustment through installation of adjusting bolt hole positions, the thigh is tied up through the thigh strap 508, the thigh is tied up through the thigh strap 511, the thigh and the thigh of a patient can be trained along with the robot to achieve the same frequency, the included angle between the thigh guard 507 and the thigh guard 510 can be controlled and adjusted through starting the knee bending motor 509, and further the patient is driven to perform knee bending rehabilitation training;
The patient fixes the feet by using the foot support plate 514 and carries out ankle rehabilitation training by starting the ankle rotation motor 513.
The lower limb rehabilitation robot with the externally-added movable fixing frame ensures that the robot still has stability after the gravity center is deviated by additionally arranging the connecting fixing frame elastic connecting rod 2 between the waist support external fixing frame 1 and the support external fixing frame 3, and can achieve the purpose of moving the waist position of a patient because the connecting fixing frame elastic connecting rod 2 has certain elasticity, and the connecting fixing frame elastic connecting rod 2 is internally provided with the motor 205, and can move along the movement direction of the connecting fixing frame elastic connecting rod 2 according to the thought of the patient in cooperation with an electroencephalogram receiver and the like;
The lifting motor 403 can drive the telescopic rod 4 at the bottom of the support to stretch or shrink, when the telescopic rod stretches to the longest length, the whole rehabilitation robot can be lifted, a patient can break away from the ground to perform a series of rehabilitation exercises, the universal wheel 405 is controlled by the driving motor 404, and the universal wheel is matched with an electroencephalogram receiving device, so that the rehabilitation robot can be driven to move according to the target direction according to the purpose of the patient;
The lower limb rehabilitation component 5 controls the rotation training of each joint part through the hip joint motor 503, the thigh driving motor 506, the knee bending motor 509 and the ankle rotation motor 513, and can also adjust thigh size, shank size and the like, so that the problem that the lower limb rehabilitation component cannot be widely applied due to different physical conditions of patients is avoided;
The rehabilitation robot can drive the rehabilitation robot to perform rehabilitation exercise according to the target of a patient by combining the application of modern robots such as brain electricity or myoelectricity and the like, and performs targeted training according to the requirement of the patient.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims (9)

1. A lower limb rehabilitation robot externally provided with a movable fixing frame, which is characterized by comprising:
the external waist support fixing frame (1) is used for fixedly connecting the waist of a patient;
The support outer fixing frame (3), the bottom of the support outer fixing frame (3) is connected with a support bottom telescopic rod (4) which is supported on the ground;
the elastic connecting rod (2) of the connecting fixing frame is connected between the external fixing frame (1) of the waist support and the external fixing frame (3) of the support and is used for supporting the waist movement of a patient;
The lower limb rehabilitation component (5) is connected with the waist support external fixing frame (1) and is used for driving a patient to perform rehabilitation training of hip joints, knees and ankles.
2. Lower limb rehabilitation robot with an externally movable fixing frame according to claim 1, characterized in that the waist support external fixing frame (1) comprises:
The rear waist support fixing frame (102), wherein the rear waist support fixing frame (102) is connected with the front waist support outer fixing frame (104) through a waist support outer fixing frame connecting piece (103);
The waist protection pad (101) is arranged on the rear waist protection fixing frame (102), and a waist lower connecting piece (105) is arranged on the waist protection pad (101) and is connected with the lower limb rehabilitation component (5);
The upper connecting pieces (106) are provided with a plurality of connecting pieces which are respectively arranged on the rear waist support fixing frame (102) and the waist support external fixing frame connecting pieces (103) and are connected with one end of the connecting fixing frame elastic connecting rod (2).
3. Lower limb rehabilitation robot with an external movable mount according to claim 2, characterized in that the support external mount (3) comprises:
a front support external fixing frame (301), wherein the front support external fixing frame (301) is connected with a rear support external fixing frame (302);
The lower connecting pieces (304) are respectively arranged on the front support outer fixing frame (301) and the rear support outer fixing frame (302) and are connected with the other end of the elastic connecting rod (2) of the connecting fixing frame;
The telescopic rod connecting pieces (303) are provided with a plurality of telescopic rods which are respectively arranged on the front support external fixing frame (301) and the rear support external fixing frame (302) and are connected with the telescopic rods (4) at the bottom of the support.
4. A lower limb rehabilitation robot with an externally movable fixing frame according to claim 3, wherein the support base telescopic rod (4) comprises:
An upper telescopic rod (401), wherein the upper telescopic rod (401) is connected with a telescopic rod connecting piece (303);
The lower telescopic rod (402) is movably connected with the upper telescopic rod (401);
The lifting motor (403) is arranged on the lower telescopic rod (402) and used for controlling the telescopic rod (4) at the bottom of the support to stretch;
a universal wheel (405) mounted at the bottom of the lower telescopic rod (402);
and the driving motor (404) is arranged on the lower telescopic rod (402), and an output shaft of the driving motor (404) is connected with the universal wheel (405) and is used for controlling the direction of the universal wheel (405).
5. A lower limb rehabilitation robot with an externally movable fixing frame according to claim 3, wherein the connecting fixing frame elastic connecting rod (2) comprises:
The novel anti-theft device comprises a main rod (210), wherein a guard rod (208) is arranged on the outer side of the main rod (210), and a spring (209) is arranged between the main rod (210) and the guard rod (208);
The upper rotating bead connecting piece (202) is arranged at one end of the main rod (210), and an upper rotating bead (201) is arranged on the upper rotating bead connecting piece (202) and connected with the upper connecting piece (106);
The lower rotating bead connecting piece (206) is arranged at the other end of the main rod (210), and the lower rotating bead connecting piece (206) is provided with a lower rotating bead (207) which is connected with the telescopic rod connecting piece (303);
a rotatable connection (203) mounted on the guard bar (208);
the motor connecting piece (204) is connected with the rotatable connecting piece (203), a motor (205) is installed on the motor connecting piece (204), and an output shaft of the motor (205) is connected with the lower rotating bead connecting piece (206) and used for controlling the moving direction of the elastic connecting rod (2) of the connecting fixing frame.
6. Lower limb rehabilitation robot with an external movable mount according to claim 2, characterized in that the lower limb rehabilitation assembly (5) comprises:
The hip joint training assembly is connected with the lower lumbar connecting piece (105) and is used for driving a patient to perform hip joint rehabilitation training;
The knee joint training assembly is connected with the hip joint training assembly and is used for adjusting the lengths of thighs and shanks and driving a patient to perform knee bending rehabilitation training;
the ankle joint training assembly and the knee joint training assembly are used for fixing soles and shanks of patients and driving the patients to perform ankle rehabilitation training.
7. The lower limb rehabilitation robot with the addition of a movable mount according to claim 6, wherein the hip training assembly comprises:
The lower limb connecting piece (501) is connected with the lower lumbar connecting piece (105), and pelvic bone size adjusting pieces (502) are respectively arranged on two sides of the lower limb connecting piece (501) and are used for adjusting the size of the hip joint;
And the hip joint motor (503) is connected with the pelvic bone size adjusting piece (502) and is used for driving a patient to perform hip joint lateral pulling training.
8. The lower limb rehabilitation robot with the addition of a movable mount according to claim 7, wherein the knee joint training assembly comprises:
The rotary motor (504) is connected with the hip joint motor (503) through a connecting plate, an output shaft of the rotary motor (504) is connected with a motor connecting plate (505) for realizing the rotation of muscles of lower limbs, and a thigh driving motor (506) is arranged in the motor connecting plate (505) for realizing the leg lifting movement of a patient;
A thigh guard plate (507), wherein thigh binding bands (508) are arranged on the thigh guard plate (507), and the thigh guard plate (507) is connected with an output shaft of a thigh driving motor (506) and is used for adjusting the size of the thigh;
The knee bending motor (509) is connected with the thigh guard plate (507), an output shaft of the knee bending motor (509) is connected with the shank guard plate (510), and a shank binding belt (511) is arranged on the shank guard plate (510) and used for driving a patient to perform knee bending rehabilitation training;
and the shank expansion plate (512) is movably connected with the shank guard plate (510) and is used for adjusting the size of the shank.
9. The rehabilitation robot for lower limbs with the external movable fixing frame according to claim 8, wherein the ankle training assembly comprises an ankle rotating motor (513) connected with the lower leg expansion plate (512), an output shaft of the ankle rotating motor (513) is connected with a foot supporting plate (514), and the foot supporting plate (514) is used for fixing feet of a patient and driving the patient to perform ankle rehabilitation training.
CN202510474360.3A 2025-04-16 2025-04-16 A lower limb rehabilitation robot with an additional movable fixing frame Pending CN120241449A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202510474360.3A CN120241449A (en) 2025-04-16 2025-04-16 A lower limb rehabilitation robot with an additional movable fixing frame

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202510474360.3A CN120241449A (en) 2025-04-16 2025-04-16 A lower limb rehabilitation robot with an additional movable fixing frame

Publications (1)

Publication Number Publication Date
CN120241449A true CN120241449A (en) 2025-07-04

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202510474360.3A Pending CN120241449A (en) 2025-04-16 2025-04-16 A lower limb rehabilitation robot with an additional movable fixing frame

Country Status (1)

Country Link
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN120617000A (en) * 2025-08-14 2025-09-12 长春工业大学 A flexible and adaptive ankle joint active and passive rehabilitation training device

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN120617000A (en) * 2025-08-14 2025-09-12 长春工业大学 A flexible and adaptive ankle joint active and passive rehabilitation training device

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