CN205007219U - Recovered adjustable mechanical legs of hip joint width for robot - Google Patents

Abstract

A hip joint width adjustable mechanical leg for a rehabilitation robot mainly includes a base, a hip joint width adjustment mechanism, two mechanical leg fixing platforms and two mechanical legs. The hip joint width adjustment mechanism is erected on the base and can be adjusted left and right; two mechanical leg fixing platforms are respectively connected to the left and right sides of the hip joint width adjustment mechanism, and can move left and right along the base under the adjustment of the hip joint width adjustment mechanism; Each mechanical leg is connected to two mechanical leg fixing platforms respectively, and can move left and right along with the mechanical leg fixing platform. Since the utility model is provided with a hip joint width adjustment mechanism, it can meet the training requirements of trainers with different hip joint widths by adjusting the width between the two mechanical legs; The mechanism is respectively equipped with a driving mechanism, which can realize the independent adjustment of the hip joint, knee joint and ankle joint, and can not only realize the exercise training of a single joint, but also realize the synchronous movement of each joint.

Description

Hip Width Adjustable Mechanical Legs for Rehabilitation Robots

technical field

The utility model relates to medical rehabilitation equipment, in particular to a mechanical leg with adjustable hip joint width for a rehabilitation robot.

Background technique

The lower limb rehabilitation robot has been greatly developed in recent years, and has obtained valuable research results. The commercialized lower limb rehabilitation robot is Handy1 developed by Mike Topping Company of the United Kingdom in 1987. Secondly, another rehabilitation robot that has successfully entered the market is the MANUS rehabilitation robot developed by ExactDynamics in the Netherlands. The rehabilitation robots developed in the early stage are mainly single-degree-of-freedom. The representative products include the NUSTEP rehabilitation device in the United States, the THERA.Vital intelligent rehabilitation training robot in Germany, and the most representative of the sitting-horizontal rehabilitation robot is the WORTEC company in Switzerland. The developed MOTINMAKER robot can realize 3-DOF motion training and joint training. In our country, the development of lower limb robots is still in the development stage.

There are nearly 20,000 rehabilitation training service institutions for all types of disabled persons across the country, and the demand for rehabilitation equipment is very large. However, one of the shortcomings of the current rehabilitation machine training robot is that the width of the hip joint of the exoskeleton mechanical leg is fixed, and it is located on the left and right sides. It is difficult for patients to get on and off the instrument. It must rely on the time-consuming and laborious assistance of the rehabilitation teacher to complete it. On the one hand, the width of the fixed hip joint mechanical leg cannot be adjusted, causing the exoskeleton mechanical leg to not fit the lower limbs of the patient, and there is a risk of insufficient or excessive training.

Utility model content

The purpose of this utility model is to solve the above-mentioned problems and provide a mechanical leg with adjustable hip joint width for a rehabilitation robot.

In order to achieve the above object, the utility model adopts the following technical solutions: a hip joint width adjustable mechanical leg for a rehabilitation robot, which includes:

base;

The hip joint width adjustment mechanism is erected on the base and can be adjusted left and right;

Two mechanical leg fixation platforms are respectively connected to the left and right sides of the hip joint width adjustment mechanism, and can move left and right along the base under the adjustment of the hip joint width adjustment mechanism;

A total of two mechanical legs are respectively connected to two mechanical leg fixing platforms, and can move left and right along with the mechanical leg fixing platforms.

The hip joint width adjustment mechanism comprises a screw mandrel fixing table, a screw mandrel, a screw mandrel nut and a motor transmission mechanism; the screw mandrel fixing table is installed on the base, the screw mandrel passes through the screw mandrel fixing table and is set, and the left and right ends of the screw mandrel are respectively Connect the left and right screw nuts, the motor transmission mechanism is installed on the screw fixing table and connected with the screw drive, the left and right screw nuts are fixedly connected with the left and right mechanical leg fixing tables, and the motor transmission mechanism is started to drive the screw to rotate, realizing left and right The movement of the two mechanical leg fixing platforms towards or away from each other drives the left and right mechanical legs to move towards or away from each other.

The mechanical leg fixed platform includes a fixed platform body, a slider is provided at the bottom of the fixed platform body, an armrest is provided at the top, and a linear guide rail is provided on the base. Move; the fixed platform body includes two left and right fixed plates, and a space for installing mechanical legs is formed between the left and right fixed plates.

The mechanical leg includes a thigh mechanism, a calf mechanism and an ankle joint mechanism. The thigh mechanism is movably connected with the mechanical leg fixing platform, the calf mechanism is movably connected with the thigh mechanism, and the ankle mechanism is movably connected with the calf mechanism.

The thigh mechanism includes a thigh driving electric cylinder, a thigh connecting rod, a thigh push rod, a thigh sleeve, a leg support and a thigh length adjustment mechanism; The rod is connected with the thigh driving electric cylinder transmission, the thigh push rod is fixedly connected with the thigh connecting rod and movably connected with the left and right fixing plates of the mechanical leg fixing table, the thigh sleeve is set on the thigh push rod and connected to the thigh through the thigh length adjustment mechanism The push rod can be adjusted and connected to realize the adjustable length of the thigh, and the leg support is installed on the inner side of the thigh sleeve; the calf mechanism is movably connected with the thigh sleeve.

The shank mechanism includes a shank driving electric cylinder, a knee joint connecting piece, a knee joint rotating shaft, a shank push rod, a shank sleeve and a shank length adjustment mechanism; the shank driving electric cylinder is installed on the thigh mechanism, and one end of the knee joint connecting piece is connected to the The lower leg is driven by the electric cylinder, and the other end is movably connected to the front end of the thigh sleeve through the knee joint rotation shaft. The calf push rod is rotatably connected to the thigh sleeve through the knee joint rotation shaft. The length adjustment mechanism is adjustable and connected with the calf push rod to realize the adjustable length of the calf, and the ankle joint mechanism is movably connected with the calf sleeve.

The ankle joint mechanism includes an ankle joint stepping motor, a deceleration power boosting mechanism and a pedal, the ankle joint stepping motor is installed on the outside of the calf sleeve, the deceleration power boosting mechanism is arranged in the calf sleeve and is connected with the ankle joint stepping motor The transmission is connected, and the pedal is installed on the inner side of the calf sleeve and connected with the transmission of the deceleration and booster mechanism.

Compared with the prior art, the utility model has the following advantages:

1) The hip joint width adjustment mechanism is introduced into the structure to meet the training requirements of trainers with different hip joint widths, avoid the discomfort caused by too wide or too narrow hip joints, ensure the training intensity and safety of patients, and achieve comfort personalized training.

2) The thigh mechanism, the calf mechanism and the ankle mechanism of the two mechanical legs are respectively equipped with a driving mechanism, which can realize the independent adjustment of the hip joint, knee joint and ankle joint, realize single-joint exercise training, and also realize joint synchronous movement , as well as exercises to achieve the range of motion of the joints, gradually increase the speed and increase the difficulty in a step-by-step manner during training, so as to realize the requirements of patients' gradual rehabilitation training.

Description of drawings

Fig. 1, Fig. 2 are the structural representations of the mechanical leg in the utility model;

Fig. 3 is the structural representation of the base in the utility model;

Fig. 4 is a structural schematic diagram of the hip joint width adjustment mechanism in the present invention.

detailed description

Refer to Fig. 1 and Fig. 2, and refer to Fig. 3 and Fig. 4 for coordination. The hip joint width-adjustable mechanical leg of the rehabilitation robot of the present invention includes a base 1, a hip joint width adjustment mechanism 2, a mechanical leg fixing platform 3 and a mechanical leg 4 .

Referring to Fig. 3, the base 1 in the utility model includes a base plate 11, four casters 12 are installed below the base plate 11, and a linear guide rail 34 and a screw fixing table 21 are installed above the base plate 11.

With reference to Fig. 4, the hip joint width adjustment mechanism 2 in the utility model is erected on the base 1 and can be adjusted left and right. It comprises screw mandrel fixed table 21, screw mandrel 22, screw mandrel nut 23 and motor transmission mechanism 24; Connect the left and right screw nuts 23, the motor transmission mechanism 24 is installed on the screw fixing table 21 and connected to the screw rod 22 in transmission, the left and right screw nuts are fixedly connected with the left and right mechanical leg fixing tables respectively, and the motor transmission mechanism is started to drive the screw rod Rotate to realize the opposite or opposite movement of the left and right mechanical leg fixing platforms, thereby driving the left and right mechanical legs to move towards or opposite each other.

Referring to Fig. 4, there are two mechanical leg fixing platforms 3 in the utility model, which are respectively connected to the left and right sides of the hip joint width adjustment mechanism, and can move left and right along the base under the adjustment of the hip joint width adjustment mechanism. It includes a fixed table body 31, a slider 32 is provided on the lower part of the fixed table body, an armrest 33 is provided on the upper part, and a linear guide rail 34 is provided on the base. . The fixed platform body 31 includes two left and right fixed plates 311 , and a space for installing mechanical legs is formed between the left and right fixed plates.

Referring to Fig. 1, Fig. 2, there are two mechanical legs 4 in the utility model, which are respectively connected on two mechanical leg fixed platforms 3, and can move left and right with the mechanical leg fixed platforms. It includes a thigh mechanism 41, a calf mechanism 42 and an ankle mechanism 43. The thigh mechanism 41 is movably connected with the mechanical leg fixing platform 3, the shank mechanism 42 is movably connected with the thigh mechanism 41, and the ankle mechanism 43 is movably connected with the shank mechanism 42.

Thigh mechanism 41 comprises thigh driving electric cylinder 411, thigh connecting rod 412, thigh push rod 413, thigh sleeve 414, leg support 415 and thigh length adjustment mechanism 416; thigh driving electric cylinder and two left and right fixing plates of mechanical leg fixing table Flexible connection, the thigh connecting rod is connected with the thigh driving electric cylinder, the thigh push rod is fixedly connected with the thigh connecting rod and movably connected with the left and right fixing plates of the mechanical leg fixing table, the thigh sleeve is set on the thigh push rod and passed through the thigh The length adjustment mechanism is adjustable and connected with the thigh push rod to realize the adjustable thigh length, and the leg support is installed on the inner side of the thigh sleeve; the calf mechanism is movably connected with the thigh sleeve.

The calf mechanism 42 comprises a calf driving electric cylinder 421, a knee joint connector 422, a knee joint rotating shaft 423, a calf push rod 424, a calf sleeve 425 and a calf length adjustment mechanism 426; the calf driving electric cylinder is installed on the thigh mechanism, and the knee joint One end of the connector is connected to the calf driving electric cylinder, and the other end is movably connected to the front end of the thigh sleeve through the knee joint rotation shaft. The calf push rod is rotatably connected to the thigh sleeve through the knee joint rotation shaft. The rod is adjustable and connected with the calf push rod through the calf length adjustment mechanism to realize the adjustable calf length, and the ankle joint mechanism is movably connected with the calf sleeve.

Ankle joint mechanism 43 comprises ankle joint stepper motor 431, deceleration booster mechanism 432 and pedal 433, and ankle joint stepper motor is installed on the outside of shank sleeve, and deceleration booster mechanism is arranged in the shank sleeve and is connected with ankle joint stepper. The motor drive is connected, and the pedal is installed on the inner side of the shank sleeve and connected with the deceleration booster mechanism.

Claims (7)

1. A hip joint width adjustable mechanical leg for a rehabilitation robot, characterized in that it comprises: base; The hip joint width adjustment mechanism is erected on the base and can be adjusted left and right; Two mechanical leg fixation platforms are respectively connected to the left and right sides of the hip joint width adjustment mechanism, and can move left and right along the base under the adjustment of the hip joint width adjustment mechanism; A total of two mechanical legs are respectively connected to two mechanical leg fixing platforms, and can move left and right along with the mechanical leg fixing platforms. 2. The hip joint width adjustable mechanical leg of rehabilitation robot as claimed in claim 1 is characterized in that: said hip joint width adjustment mechanism comprises screw mandrel fixing table, screw mandrel, screw mandrel nut and motor drive mechanism; The fixed table is installed on the base, the screw rod is set through the screw fixed table, the left and right ends of the screw rod are respectively connected with the left and right screw nuts, the motor transmission mechanism is installed on the screw fixed table and connected with the screw drive, the left and right screw rods The nuts are respectively fixedly connected with the left and right mechanical leg fixing platforms, and the motor transmission mechanism drives the screw rod to rotate, so as to realize the relative or opposite movement of the left and right mechanical leg fixing platforms, thereby driving the left and right mechanical legs to move toward or opposite each other. 3. The hip joint width adjustable mechanical leg for a rehabilitation robot as claimed in claim 1 is characterized in that: the fixed platform of the mechanical leg comprises a fixed platform body, a slider is provided at the bottom of the fixed platform body, and an armrest is provided at the top , a linear guide rail is provided on the base, and the mechanical leg fixing table is connected to move left and right through the sliding connection of the slider and the linear guide rail; the fixed table body includes two left and right fixing plates. leg room. 4. The mechanical leg with adjustable hip joint width for rehabilitation robot as claimed in claim 1, characterized in that: the mechanical leg includes a thigh mechanism, a lower leg mechanism and an ankle joint mechanism, the thigh mechanism is movably connected with the mechanical leg fixing platform, and the lower leg The mechanism is movably connected with the thigh mechanism, and the ankle joint mechanism is movably connected with the calf mechanism. 5. The hip joint width adjustable mechanical leg for a rehabilitation robot as claimed in claim 4, characterized in that: said thigh mechanism comprises a thigh driving electric cylinder, a thigh connecting rod, a thigh push rod, a thigh sleeve, a leg rest and a thigh Length adjustment mechanism; the thigh driving electric cylinder is flexibly connected with the left and right fixed plates of the mechanical leg fixing table, the thigh connecting rod is connected with the thigh driving electric cylinder for transmission, and the thigh push rod is fixedly connected with the thigh connecting rod and connected with the left and right sides of the mechanical leg fixing table The two fixed plates are movably connected, the thigh sleeve is set on the thigh push rod and connected to the thigh push rod through the thigh length adjustment mechanism to realize the adjustable thigh length, and the leg support is installed on the inner side of the thigh sleeve; the calf mechanism Links to thigh sleeve activity. 6. The mechanical leg with adjustable hip joint width for a rehabilitation robot according to claim 4, characterized in that: the lower leg mechanism includes a lower leg driving electric cylinder, a knee joint connector, a knee joint rotation shaft, a lower leg push rod, and a lower leg sleeve barrel and calf length adjustment mechanism; the calf drive electric cylinder is installed on the thigh mechanism, one end of the knee joint connector is connected with the calf drive electric cylinder, and the other end is movably connected to the front end of the thigh sleeve through the knee joint rotation shaft, and the calf push rod passes through The knee joint rotation shaft is rotatably connected with the thigh sleeve, and the calf sleeve is set on the calf push rod and is adjustablely connected with the calf push rod through the calf length adjustment mechanism to realize the adjustable length of the calf. The ankle joint mechanism and the calf sleeve Activities are connected. 7. The rehabilitation robot as claimed in claim 4 has an adjustable hip joint width mechanical leg, characterized in that: the ankle joint mechanism includes an ankle joint stepper motor, a deceleration booster mechanism and pedals, and the ankle joint stepper motor is installed On the outside of the calf sleeve, the deceleration and boosting mechanism is arranged in the calf sleeve and connected with the ankle joint stepping motor through transmission, and the pedal is installed at the inner side of the calf sleeve and is connected with the deceleration and boosting mechanism through transmission.