CN205073233U - Recovered robot of low limbs is with rotatable formula ectoskeleton mechanical legs - Google Patents
Recovered robot of low limbs is with rotatable formula ectoskeleton mechanical legs Download PDFInfo
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- CN205073233U CN205073233U CN201520719498.7U CN201520719498U CN205073233U CN 205073233 U CN205073233 U CN 205073233U CN 201520719498 U CN201520719498 U CN 201520719498U CN 205073233 U CN205073233 U CN 205073233U
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- fixed station
- pedipulator
- thigh
- shank
- lower limb
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Abstract
The utility model provides a recovered robot of low limbs is with rotatable formula ectoskeleton mechanical legs mainly includes base, hip joint width regulation mechanism, two mechanical legs fixed stations and two mechanical legs. The utility model discloses owing to divide into fixed station upper portion and fixed station lower part with a mechanical legs fixed station body, fixed station upper portion can outwards be rotated, on patient during the seat, can be with the mechanical legs outward turning, convenient recovered teacher's operation, owing to set up hip joint width regulation mechanism, the width between two mechanical legs is adjusted to the accessible, satisfies the different training person's of hip joint width training requirement, because two mechanical legs's thigh mechanism, shank mechanism and ankle joint mechanism are equipped with actuating mechanism respectively, can realize the athletic training of simple joint and the exercise of mobility, also can realize single leg and two mechanical legs's harmonious athletic training. Hip joint, knee joint and ankle joint independent control mechanism can realize the regulation of big shank length, realize individualized training.
Description
Technical field
This utility model relates to medical rehabilitation instrument, particularly relates to the turnable ectoskeleton pedipulator of a kind of lower limb rehabilitation robot.
Background technology
At present, numerous researcher and medical institutions have all carried out the correlational study of lower limb rehabilitation robot, and achieve valuable achievement in research, and business-like lower limb rehabilitation robot has the Handy1 of MikeTopping company of Britain development in 1987.Secondly the another kind of healing robot successfully come into the market is the MANUS healing robot of Dutch ExactDynamics company exploitation.The healing robot of early stage research and development is all based on single-degree-of-freedom, representational product has the NUSTEP device for rehabilitation of the U.S., the THERA.Vital intelligent rehabilitation image training robot of Germany, the healing robot most of sitting and lying formula is representational be Switzerland WORTEC company research and development MOTIONMAKER, this robot can realize 3DOF training and joint training, but expensive.In China, the exploitation of lower limb robot is also in the development stage.
The current whole nation has all types disability rehabilitation to train nearly 20,000 of service organization, very large to the demand of rehabilitation equipment.But one of rehabilitation machine image training robot deficiency is that ectoskeleton pedipulator device is complicated at present, be in the left and right sides, the upper and lower instrument difficulty of patient, the assistance of wasting time and energy of rehabilitation teacher must be relied on just to complete, product is difficult to promote and commercialization, therefore develops the turnable ectoskeleton pedipulator of a kind of lower limb rehabilitation robot, can eliminate left and right occupy-place impact, facilitate the upper and lower machine of patient, reduce the preparation of rehabilitation teacher.
Utility model content
The purpose of this utility model, exactly in order to solve the problem, provides a kind of novel lower limb rehabilitation robot turnable ectoskeleton pedipulator.
In order to achieve the above object, this utility model have employed following technical scheme: the turnable ectoskeleton pedipulator of a kind of lower limb rehabilitation robot, and it comprises:
Base;
Hip joint width adjustment mechanism, to be erected on base and can left and right adjusting;
Pedipulator fixed station, totally two are connected to the left and right sides of hip joint width adjustment mechanism, and can move left and right along base under the adjustment of hip joint width adjustment mechanism;
Pedipulator, totally two are connected on two pedipulator fixed stations, and can move left and right with pedipulator fixed station;
In described two pedipulator fixed stations, the body of at least one pedipulator fixed station is divided into fixed station top and fixed station bottom, fixed station top is connected with fixed station lower rotatable and is provided with locking mechanism and mutually locks, and after unlocking, fixed station top can outwards be rotated; Corresponding pedipulator is connected with fixed station top movable.
Described hip joint width adjustment mechanism comprises screw mandrel fixed station, screw mandrel, feed screw nut and motor transmission mechanism; Screw mandrel fixed station is arranged on base, screw mandrel is arranged through screw mandrel fixed station, the two ends, left and right of screw mandrel connect left and right feed screw nut respectively, motor transmission mechanism is arranged on screw mandrel fixed station and is also connected with screw rod transmission, left and right feed screw nut is fixedly linked with two, left and right pedipulator fixed station respectively, starter motor drive mechanism drives screw mandrel to rotate, realize two the pedipulator fixed stations in left and right in opposite directions or opposing motion, thus drive two pedipulators in left and right in opposite directions or opposing movement.
Described pedipulator fixed station comprises fixed station body, and be provided with slide block in the bottom of fixed station body, top is provided with handrail, and base is provided with linear guides, and pedipulator fixed station is moved left and right by the slide realization that is connected of slide block and linear guides; Described fixed station body comprises the two pieces of fixing heads in left and right, forms the space for installing pedipulator between the fixing head of two pieces, left and right.
Described pedipulator comprises large leg mechanism, little leg mechanism and ankle joint mechanism, and large leg mechanism is flexibly connected with pedipulator fixed station, and little leg mechanism is flexibly connected with large leg mechanism, and ankle joint mechanism is flexibly connected with little leg mechanism.
Described large leg mechanism comprises thigh and drives electric cylinder, thick link, thigh push rod, thigh sleeve, lower limb holder and thigh length adjustment mechanism; Thigh drives electric cylinder to be flexibly connected with two pieces, the left and right fixing head of pedipulator fixed station, thick link and thigh drive electric cylinder transmission to be connected, thigh push rod is fixedly linked with thick link and is flexibly connected with two pieces, the left and right fixing head of pedipulator fixed station, thigh sleeve set is also connected with thigh push rod scalable by thigh length adjustment mechanism on thigh push rod, realize thigh adjustable length, lower limb holder is arranged on the inner side of thigh sleeve; Described little leg mechanism and thigh sleeve are movably connected.
Described little leg mechanism comprises shank and drives electric cylinder, knee joint connector, knee joint rotating shaft, shank push rod, shank sleeve and lower-leg length governor motion; Shank drives electric cylinder to be arranged on large leg mechanism, one end and the shank of knee joint connector drive electric cylinder transmission to be connected, the other end is movably connected in thigh barrel forward end by knee joint rotating shaft, shank push rod is rotatably connected with thigh sleeve by knee joint rotating shaft, shank sleeve set is also connected with shank push rod scalable by lower-leg length governor motion on shank push rod, realize lower-leg length adjustable, described ankle joint mechanism and shank sleeve are movably connected.
Described ankle joint mechanism comprises ankle joint motor, deceleration force amplifier mechanism and pedal, ankle joint motor is arranged on the outside of shank sleeve, deceleration force amplifier organization establishes is in shank sleeve and be connected with the transmission of ankle joint motor, and pedal is arranged on the inner side of shank sleeve and is connected with deceleration force amplifier mechanism driving.
Ankle joint angle sensor is provided with in the active connection part of ankle joint mechanism and little leg mechanism, knee joint angle sensor is provided with in the active connection part of little leg mechanism and large leg mechanism, be respectively equipped with pressure transducer in pedal two bottom sides, the base on two pedipulator fixed station sides be respectively equipped with pedipulator and move spacing photoelectric sensor.
Adopt device of the present utility model, lower extremity movement training function can be realized, lower limb evaluation function, craps game interactive function, wherein passive exercise comprises both legs and replaces walking simulation training, both legs synchronously simulating is squatted down to stand and is bent and stretched training, and monarthric training is applicable to the needs of different arthritic patients.
Synchronously bend and stretch simulation to squat down the function that stands, regulate the motion of left and right group of motors to realize, training time selection can be selected.Allow patient sit on the seat, fix shank, thigh, and allow its left and right foot step down on the pedal of left and right respectively; Be furnished with during training and stimulate interesting sound effect and picture background effect, its object increases the interest of patient's training, to reach best training effect.Training can, according to patient features, take incremental mode to improve speed gradually, strengthens difficulty, realizes the requirement of patient's rehabilitation training gradually.
System can according to patient need realize knee joint, the monarthric motion of ankle joint, also can realize the kneed of left and right lower limb to be synchronized with the movement, being synchronized with the movement of ankle joint, realizes the exercise of the mobility in joint, is furnished with and stimulates interesting sound effect and picture background effect during training, training can according to patient features, take incremental mode to improve speed gradually, strengthen difficulty, realize the requirement of patient's rehabilitation training gradually.
Compared with prior art, this utility model has the following advantages:
1) at least one pedipulator fixed station body is divided into fixed station top and fixed station bottom, and fixed station top is connected with fixed station lower rotatable, fixed station top can outwards be rotated; When patient's seat, by pedipulator outward turning, facilitate the operation of rehabilitation teacher, overcome patient upper and lower time pedipulator occupy-place impact.
2) hip joint width adjustment mechanism has the function of the width between adjustment two pedipulators, the training requirement of the different trainer of hip joint width can be met, the too wide or too narrow discomfort caused of distance between avoiding because of two pedipulators, ensure that training strength and the safety of patient regulate, achieve the training of comfortable personalization.
3) the large leg mechanism of two pedipulators, little leg mechanism and ankle joint mechanism are respectively equipped with driving mechanism, the adjustment that hip joint, knee joint and ankle joint are independent can be realized, realize monarthric training, also being synchronized with the movement of joint can be realized, and realize the exercise of mobility in joint, take incremental mode to improve speed gradually during training, strengthen difficulty, realize the requirement of patient's rehabilitation training gradually.
4) advanced locational space sensing technology is adopted at each joint part of lower limb, realize the wireless transmission of joint angles data, assessment data adopts wireless communication mode to operation display, overcomes the shortcoming using complicated frame for movement to carry out constrained motion scope.
Accompanying drawing explanation
Fig. 1 is the population structure schematic diagram of lower limb rehabilitation robot involved in this utility model;
Fig. 2 is using state figure of the present utility model;
Fig. 3, Fig. 4 are the structural representation of the pedipulator in this utility model;
Fig. 5 is the structural representation of the base in this utility model;
Fig. 6 is the structural representation of a pedipulator fixed station in this utility model;
Fig. 7, Fig. 8 are sensor installment state schematic diagram in this utility model;
Fig. 9 is the structural representation of the hip joint width adjustment mechanism in this utility model;
Figure 10 is the pedipulator adjustment state figure in this utility model.
Detailed description of the invention
See Fig. 1, the lower limb rehabilitation robot involved by this utility model, comprises base 1, seat 3, hip joint width adjustment mechanism 4, pedipulator fixed station 5, pedipulator 6 and counterweight control chamber 7.
Coordinate see Fig. 5, the base 1 in this utility model comprises base plate 11, is provided with four castors 12 below base plate 11, is provided with linear guides 54 and screw mandrel fixed station 41 on base plate 11.
Coordinate see Fig. 9, the hip joint width adjustment mechanism 4 in this utility model is erected at also can left and right adjusting on base.It comprises screw mandrel fixed station 41, screw mandrel 42, feed screw nut 43 and motor transmission mechanism 44; Screw mandrel fixed station 41 is arranged on base, screw mandrel 42 is arranged through screw mandrel fixed station, the two ends, left and right of screw mandrel connect left and right feed screw nut 43 respectively, motor transmission mechanism 44 is arranged on screw mandrel fixed station 41 and is also connected with screw mandrel 42 transmission, left and right feed screw nut is fixedly linked with two, left and right pedipulator fixed station respectively, starter motor drive mechanism drives screw mandrel to rotate, realize two the pedipulator fixed stations in left and right in opposite directions or opposing motion, thus drive two pedipulators in left and right in opposite directions or opposing movement.Two states after hip joint width adjustment mechanism 4 regulates is as shown in Figure 10 A, B, and wherein A is for be adjusted to the widest state by two pedipulators, and B is for be adjusted to the narrowest state by two pedipulators.
Coordinate see Fig. 9, Fig. 6, the pedipulator fixed station 5 in this utility model is totally two left and right sides being connected to hip joint width adjustment mechanism, and can move left and right along base under the adjustment of hip joint width adjustment mechanism.It comprises fixed station body 51, is provided with slide block 52 in the bottom of fixed station body, and top is provided with handrail 53, and base is provided with linear guides 54, and pedipulator fixed station is moved left and right by the slide block realization that to be connected with the slip of linear guides.In the present embodiment, the body of left side mechanical lower limb fixed station 51 is divided into fixed station top 511 and fixed station bottom 512, fixed station top is connected with fixed station lower rotatable and is provided with locking mechanism 513 and mutually locks, and after unlocking, fixed station top can outwards be rotated; Corresponding pedipulator is connected with fixed station top movable.State after fixed station top driving mechanical lower limb outwards rotates as shown in Figure 2.
Coordinate see Fig. 3, Fig. 4, the pedipulator 6 in this utility model totally two be connected on two pedipulator fixed stations 5, and can to move left and right with pedipulator fixed station.It comprises large leg mechanism 61, little leg mechanism 62 and ankle joint mechanism 63, and large leg mechanism 61 is flexibly connected with pedipulator fixed station 5, and little leg mechanism 62 is flexibly connected with large leg mechanism 61, and ankle joint mechanism 63 is flexibly connected with little leg mechanism 62.
Large leg mechanism 61 comprises thigh and drives electric cylinder 611, thick link 612, thigh push rod 613, thigh sleeve 614, lower limb holder 615 and thigh length adjustment mechanism 616; Thigh drives electric cylinder to be flexibly connected with two pieces, the left and right fixing head of pedipulator fixed station, thick link and thigh drive electric cylinder transmission to be connected, thigh push rod is fixedly linked with thick link and is flexibly connected with two pieces, the left and right fixing head of pedipulator fixed station, thigh sleeve set is also connected with thigh push rod scalable by thigh length adjustment mechanism on thigh push rod, realize thigh adjustable length, lower limb holder is arranged on the inner side of thigh sleeve; Described little leg mechanism and thigh sleeve are movably connected.
Little leg mechanism 62 comprises shank and drives electric cylinder 621, knee joint connector 622, knee joint rotating shaft 623, shank push rod 624, shank sleeve 625 and lower-leg length governor motion 626.Shank drives electric cylinder to be arranged on the thigh sleeve of large leg mechanism, one end and the shank of knee joint connector drive electric cylinder transmission to be connected, the other end is movably connected in thigh barrel forward end by knee joint rotating shaft, shank push rod is rotatably connected with thigh sleeve by knee joint rotating shaft, shank sleeve set is also connected with shank push rod scalable by lower-leg length governor motion on shank push rod, realize lower-leg length adjustable, described ankle joint mechanism and shank sleeve are movably connected.
Ankle joint mechanism 63 comprises ankle joint motor 631, deceleration force amplifier mechanism 632 and pedal 633, ankle joint motor is arranged on the outside of shank sleeve, deceleration force amplifier organization establishes is in shank sleeve and be connected with the transmission of ankle joint motor, and pedal is arranged on the inner side of shank sleeve and is connected with deceleration force amplifier mechanism driving.
Coordinate see Fig. 7, Fig. 8, this utility model is provided with ankle joint angle sensor 91 in the active connection part of ankle joint mechanism and little leg mechanism, knee joint angle sensor 92 is provided with in the active connection part of little leg mechanism and large leg mechanism, pressure transducer 93,94 is respectively equipped with in pedal two bottom sides, the base on two pedipulator fixed station sides is respectively equipped with pedipulator and moves spacing photoelectric sensor 95,96, ankle joint angle sensor 91 and ankle joint rotating shaft concentric fit, be used for measuring the movement angle of ankle portion in rotary course.Knee joint angle sensor 92 and knee joint rotating shaft concentric fit, be used for measurement mechanical lower limb leg portion and lower leg portion angulation in motor process.Pressure transducer 93,94 is used for measuring patient's plantar pressure in training process.Pedipulator moves two extreme position that spacing photoelectric sensor 95,96 is arranged on the movement of base corresponding pedipulator fixed station, on the fixing head of fixed station, rear side installs a small boss, when fixing head move to the widest and the narrowest position time, small boss and photoelectric sensor are just in correspondence, between distance within preset value, sensor sends signal, and fixing head drive motors stops operating, fixing head stop motion, reaches the effect of limit mechanical lower limb fixed station moving range.
Claims (8)
1. the turnable ectoskeleton pedipulator of lower limb rehabilitation robot, is characterized in that, comprising:
Base;
Hip joint width adjustment mechanism, to be erected on base and can left and right adjusting;
Pedipulator fixed station, totally two are connected to the left and right sides of hip joint width adjustment mechanism, and can move left and right along base under the adjustment of hip joint width adjustment mechanism;
Pedipulator, totally two are connected on two pedipulator fixed stations, and can move left and right with pedipulator fixed station;
In described two pedipulator fixed stations, the body of at least one pedipulator fixed station is divided into fixed station top and fixed station bottom, fixed station top is connected with fixed station lower rotatable and is provided with locking mechanism and mutually locks, and after unlocking, fixed station top can outwards be rotated; Corresponding pedipulator is connected with fixed station top movable.
2. the turnable ectoskeleton pedipulator of lower limb rehabilitation robot as claimed in claim 1, is characterized in that: described hip joint width adjustment mechanism comprises screw mandrel fixed station, screw mandrel, feed screw nut and motor transmission mechanism; Screw mandrel fixed station is arranged on base, screw mandrel is arranged through screw mandrel fixed station, the two ends, left and right of screw mandrel connect left and right feed screw nut respectively, motor transmission mechanism is arranged on screw mandrel fixed station and is also connected with screw rod transmission, left and right feed screw nut is fixedly linked with two, left and right pedipulator fixed station respectively, starter motor drive mechanism drives screw mandrel to rotate, realize two the pedipulator fixed stations in left and right in opposite directions or opposing motion, thus drive two pedipulators in left and right in opposite directions or opposing movement.
3. the turnable ectoskeleton pedipulator of lower limb rehabilitation robot as claimed in claim 1, it is characterized in that: described pedipulator fixed station comprises fixed station body, slide block is provided with in the bottom of fixed station body, top is provided with handrail, base is provided with linear guides, and pedipulator fixed station is moved left and right by the slide realization that is connected of slide block and linear guides; Described fixed station body comprises the two pieces of fixing heads in left and right, forms the space for installing pedipulator between the fixing head of two pieces, left and right.
4. the turnable ectoskeleton pedipulator of lower limb rehabilitation robot as claimed in claim 1, it is characterized in that: described pedipulator comprises large leg mechanism, little leg mechanism and ankle joint mechanism, large leg mechanism is flexibly connected with pedipulator fixed station, little leg mechanism is flexibly connected with large leg mechanism, and ankle joint mechanism is flexibly connected with little leg mechanism.
5. the turnable ectoskeleton pedipulator of lower limb rehabilitation robot as claimed in claim 4, is characterized in that: described large leg mechanism comprises thigh and drives electric cylinder, thick link, thigh push rod, thigh sleeve, lower limb holder and thigh length adjustment mechanism; Thigh drives electric cylinder to be flexibly connected with two pieces, the left and right fixing head of pedipulator fixed station, thick link and thigh drive electric cylinder transmission to be connected, thigh push rod is fixedly linked with thick link and is flexibly connected with two pieces, the left and right fixing head of pedipulator fixed station, thigh sleeve set is also connected with thigh push rod scalable by thigh length adjustment mechanism on thigh push rod, realize thigh adjustable length, lower limb holder is arranged on the inner side of thigh sleeve; Described little leg mechanism and thigh sleeve are movably connected.
6. the turnable ectoskeleton pedipulator of lower limb rehabilitation robot as claimed in claim 4, is characterized in that: described little leg mechanism comprises shank and drives electric cylinder, knee joint connector, knee joint rotating shaft, shank push rod, shank sleeve and lower-leg length governor motion; Shank drives electric cylinder to be arranged on large leg mechanism, one end and the shank of knee joint connector drive electric cylinder transmission to be connected, the other end is movably connected in thigh barrel forward end by knee joint rotating shaft, shank push rod is rotatably connected with thigh sleeve by knee joint rotating shaft, shank sleeve set is also connected with shank push rod scalable by lower-leg length governor motion on shank push rod, realize lower-leg length adjustable, described ankle joint mechanism and shank sleeve are movably connected.
7. the turnable ectoskeleton pedipulator of lower limb rehabilitation robot as claimed in claim 4, it is characterized in that: described ankle joint mechanism comprises ankle joint motor, deceleration force amplifier mechanism and pedal, ankle joint motor is arranged on the outside of shank sleeve, deceleration force amplifier organization establishes is in shank sleeve and be connected with the transmission of ankle joint motor, and pedal is arranged on the inner side of shank sleeve and is connected with deceleration force amplifier mechanism driving.
8. the turnable ectoskeleton pedipulator of lower limb rehabilitation robot as claimed in claim 1, it is characterized in that: be provided with ankle joint angle sensor in the active connection part of ankle joint mechanism and little leg mechanism, knee joint angle sensor is provided with in the active connection part of little leg mechanism and large leg mechanism, be respectively equipped with pressure transducer in pedal two bottom sides, the base on two pedipulator fixed station sides be respectively equipped with pedipulator and move spacing photoelectric sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520719498.7U CN205073233U (en) | 2015-09-17 | 2015-09-17 | Recovered robot of low limbs is with rotatable formula ectoskeleton mechanical legs |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520719498.7U CN205073233U (en) | 2015-09-17 | 2015-09-17 | Recovered robot of low limbs is with rotatable formula ectoskeleton mechanical legs |
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| CN205073233U true CN205073233U (en) | 2016-03-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520719498.7U Expired - Fee Related CN205073233U (en) | 2015-09-17 | 2015-09-17 | Recovered robot of low limbs is with rotatable formula ectoskeleton mechanical legs |
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| CN (1) | CN205073233U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106074084A (en) * | 2016-06-13 | 2016-11-09 | 姜兆亮 | The recovering aid instrument of fractured leg |
| CN106109175A (en) * | 2016-07-15 | 2016-11-16 | 江苏大学 | A kind of exoskeleton-type knee joint and ankle joint rehabilitation device |
| CN106344344A (en) * | 2016-09-22 | 2017-01-25 | 清华大学 | Human foot bionic exoskeleton system |
| CN106539659A (en) * | 2015-09-17 | 2017-03-29 | 上海理工大学 | Lower limb rehabilitation robot is with turnable ectoskeleton pedipulator |
| CN111588587A (en) * | 2020-05-08 | 2020-08-28 | 燕山大学 | Lower limb rehabilitation robot capable of balancing dead weight and using method thereof |
-
2015
- 2015-09-17 CN CN201520719498.7U patent/CN205073233U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106539659A (en) * | 2015-09-17 | 2017-03-29 | 上海理工大学 | Lower limb rehabilitation robot is with turnable ectoskeleton pedipulator |
| CN106074084A (en) * | 2016-06-13 | 2016-11-09 | 姜兆亮 | The recovering aid instrument of fractured leg |
| CN106109175A (en) * | 2016-07-15 | 2016-11-16 | 江苏大学 | A kind of exoskeleton-type knee joint and ankle joint rehabilitation device |
| CN106344344A (en) * | 2016-09-22 | 2017-01-25 | 清华大学 | Human foot bionic exoskeleton system |
| CN106344344B (en) * | 2016-09-22 | 2018-08-28 | 清华大学 | A kind of human foot's bionic exoskeleton system |
| CN111588587A (en) * | 2020-05-08 | 2020-08-28 | 燕山大学 | Lower limb rehabilitation robot capable of balancing dead weight and using method thereof |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160309 Termination date: 20190917 |