CN205411569U - Recovered robot of low limbs - Google Patents

Recovered robot of low limbs Download PDF

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Publication number
CN205411569U
CN205411569U CN201620156150.6U CN201620156150U CN205411569U CN 205411569 U CN205411569 U CN 205411569U CN 201620156150 U CN201620156150 U CN 201620156150U CN 205411569 U CN205411569 U CN 205411569U
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CN
China
Prior art keywords
motor
service creeper
track
link
lower limb
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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.)
Expired - Fee Related
Application number
CN201620156150.6U
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Chinese (zh)
Inventor
韦建军
熊涛
张瑞兴
刘作凯
郭华
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Guangxi University of Science and Technology
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Guangxi University of Science and Technology
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Priority to CN201620156150.6U priority Critical patent/CN205411569U/en
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Publication of CN205411569U publication Critical patent/CN205411569U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model relates to a recovered robot of low limbs, including base, support column, service creeper, bracing piece and low limbs ectoskeleton, the base front portion be equipped with the support column, the rear portion is equipped with motor I and slide rail, the lower extreme of bracing piece install in the slide rail, the lower extreme interlock of motor I and bracing piece, feed movement is along the slide rail to the lower extreme of drive bracing piece, the upper end of support column be equipped with pivot I, the lower extreme of service creeper install on pivot I, the middle part of service creeper or rear portion are equipped with pivot II, the upper end of bracing piece install on pivot II, the low limbs ectoskeleton install and serve in the lower of service creeper. The utility model discloses can carry out the automatic of thigh connecting rod length, shank connecting rod length, service creeper length and inclination according to patient's height adjusts.

Description

Lower limb rehabilitation robot
Technical field
The utility model discloses a kind of lower limb rehabilitation robot, belong to medical rehabilitation apparatus automatic field.
Background technology
Along with scientific and technological progress and growth in the living standard, people's average life generally extends, and brings the further rising of various chronic disease sickness rate.Common slow sick apoplexy has become the first cause of the permanent limbs disturbance of patient, and the quadriplegia that post-stroke is left over has a strong impact on the daily life of patient, the most most basic walking and feed function and all can be severely impacted.On the other hand, along with developing rapidly of communications, because vehicle accident causes the number of quadriplegia being also continuously increased.Above-mentioned patient is in addition to the remedy measures such as specific Drug therapy and the most necessary operation, and rehabilitation training the most correct, science is significant for the recovery of patient limb motor function.
At present, Traditional Rehabilitation training the most labour-intensive pattern, particularly gait rehabilitation, need more than at least 3 therapist artificial assistance patients to complete the exercise of leg and trunk.Medical personnel's not only labor intensity is big, and it is difficult to ensure that stablizes persistence training.Healing robot is an emerging field, is a kind of effective solution of automatization's training, can solve that rehabilitation training labor intensity is big, rehabilitation technique personnel are few, the expense burden problem such as heavily.Lower limb rehabilitation practices robot the patient of dyskinesia mainly for lower limb, and Main Function is to aid in the patient of lower extremity motor function obstacle and completes various motion function rehabilitation training process.Lower limb rehabilitation robot existing procucts entrance clinic comes into operation at present.But current rehabilitation appliances can not meet far away the intellectuality needed for Rehabilitation, the requirement of human engineering.
Summary of the invention
In order to improve and improve the effect of each joint rehabilitation training of patient's lower limb, improve the enthusiasm of Rehabilitation training, this utility model provides a kind of lower limb rehabilitation robot, can be in the range of certain space, make patient complete the coordination gait motion of two legs, different height, the patient of different figure can also be met simultaneously.
The technical scheme that this utility model solution technical problem is used is as follows:
Lower limb rehabilitation robot of the present utility model, including base, support column, service creeper, support bar and lower limb exoskeleton,
Described base front portion is provided with support column, and rear portion is provided with motor I and slide rail;The lower end of described support bar is installed in slide rail, and described motor I interlocks with the lower end of support bar, drives the lower end of support bar to do feed motion along slide rail;The upper end of described support column is provided with rotating shaft I;The lower end of described service creeper is installed on rotating shaft I, and the middle part of service creeper or rear portion are provided with rotating shaft II, and the upper end of described support bar is installed on rotating shaft II;Described lower limb exoskeleton is installed on the lower end of service creeper.
Preferably, described base offers U-type groove, and the both sides inwall being positioned at U-type groove is respectively arranged with slide rail;Described support bar is parallel two piece, and the lower end of two support bars is connected by connecting rod, and the two ends of described connecting rod are respectively arranged on slide rail, and described motor I is connected with connecting rod by push rod, and drive link does feed motion along slide rail.
Preferably, described service creeper includes lower service creeper, upper service creeper, track I, motor II, feed screw nut pair I;The upper end of described lower service creeper is provided with track I, and described upper service creeper is installed on track I;Described lower service creeper bottom surface is provided with motor II, described motor II and is connected with upper service creeper by feed screw nut pair I, and in driving, service creeper does feed motion along track I.
Preferably, the middle part of described lower service creeper is provided with handrail, and the lower section of handrail is provided with waist and fixes bandage.
Preferably, described lower limb exoskeleton includes that hip joint seat and leg rod member, described hip joint seat include that transverse slat and riser, described transverse slat are parallel to lower service creeper horizontal direction;The two ends of described transverse slat are respectively perpendicular installation riser, and the end of described riser is provided with revolute pair I, and the upper end of described leg rod member is installed in revolute pair I;It is provided with retractor device, it is possible to control transverse slat and stretch in the middle part of described transverse slat.
Preferably, described leg rod member includes that thick link, shank link and sole support seat;The upper end of described thick link is connected with riser by revolute pair I, and the lower end of thick link is connected with the upper end of shank link by revolute pair II, and the lower end of described shank link supports seat by revolute pair III with sole and is connected.
Preferably, described thick link includes thick link top, thick link bottom, track II, motor III, feed screw nut pair II;Described upper end, thick link top is connected with riser by revolute pair I, and lower end is provided with track II;Described thick link bottom is installed on track II;Described motor III is installed on thick link top, is connected to thick link bottom by feed screw nut pair II, it is possible to drive thick link bottom to do feed motion along track II.
Preferably, described shank link includes shank link top, shank link bottom, track III, motor IV, feed screw nut pair III;Described upper end, shank link top is connected with thick link bottom by revolute pair II, and lower end is provided with track III;Described shank link bottom is installed on track III;Described motor IV is installed on shank link top, is connected to shank link bottom by feed screw nut pair III, it is possible to drive shank link bottom to do feed motion along track III.
Preferably, described thick link, shank link and sole supports and is respectively arranged with thigh fixed belt, little leg restraint webbing and sole fixing band on seat.
Preferably, described lower limb exoskeleton is provided with hip joint motor-driven rotation secondary I, knee joint motor-driven rotation secondary II, ankle joint motor-driven rotation secondary III;It is respectively arranged with torque sensor on described hip joint motor, knee joint motor and ankle joint motor.
Work process of the present utility model is: motor I passes through push rod, and drive link does feed motion along slide rail so that the support bar being connected with connecting rod drives service creeper to rotate upwardly and downwardly with rotating shaft II for axle center;Motor II passes through feed screw nut pair I, and in driving, service creeper does feed motion along track I, to change the length of service creeper;Width by retractor device regulation transverse slat;Motor III drives feed screw nut pair II, the length of regulation thick link;Motor IV drives feed screw nut pair III;The length of regulation shank link;Patient lies in and lies low on plate, fixes bandage with waist and fixes upper body, and thigh fixed belt, little leg restraint webbing and sole fixing band fix thigh, shank and sole respectively;Hip joint motor-driven rotation secondary I, drives thick link to rotate;Knee joint motor-driven rotation secondary II, drives shank link to rotate;Ankle joint motor-driven rotation secondary III, drives sole to prop up bearing and moves;And the output torque of each joint motor is measured by torque sensor.
The beneficial effects of the utility model are:
1, this utility model base arranges motor and drives push rod, has reached loss of weight purpose while service creeper tilt adjustment automatization;
2, this utility model service creeper utilizes motor to drive feed screw nut pair regulation length, while meeting different height patient's needs, it is achieved that the automatization of regulation;
3, the width of this utility model hip joint seat is regulated by the retractor device in the middle of transverse slat, can meet the patient of different building shape;
4, this utility model thick link and shank link all utilize motor drive feed screw nut pair to regulate length, while satisfied different height patient's needs, it is achieved that the automatization of regulation;
5, this utility model utilizes hip joint motor, knee joint motor and ankle joint motor, drive thick link, shank link and sole to support seat respectively to rotate, patient can be driven to carry out normal gait training, or the rehabilitation training of the aspect such as muscle strength, range of motion and harmony.
Accompanying drawing explanation
Fig. 1 is the overall structure figure of lower limb rehabilitation robot described in the utility model
Fig. 2 is service creeper structure figure described in the utility model
Fig. 3 is lower limb exoskeleton structure chart described in the utility model
In figure: 1-base;2-support column;3-service creeper;4-support bar;5-lower limb exoskeleton;6-motor I;7-slide rail;8-rotating shaft I;9-rotating shaft II;10-U type groove;11-connecting rod;12-push rod;Service creeper under 13-;The upper service creeper of 14-;15-track I;16-motor II;17-feed screw nut pair I;18-handrail;19-waist fixes bandage;20-hip joint seat;21-leg rod member;22-transverse slat;23-riser;24-revolute pair I;25-thick link;26-shank link;27-sole supports seat;28-revolute pair II;29-revolute pair III;30-thick link top;31-thick link bottom;32-track II;33-motor III;34-feed screw nut pair II;35-shank link top;36-shank link bottom;37-track III;38-motor IV;39-feed screw nut pair III;40-thigh fixed belt;The little leg restraint webbing of 41-;42-sole fixing band;43-hip joint motor;44-knee joint motor;45-ankle joint motor.
Detailed description of the invention
For making the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with specific embodiment, and reference
Accompanying drawing, further describes this utility model.
As shown in Figure 1, Figure 2, Figure 3 shows, lower limb rehabilitation robot of the present utility model, including base 1, support column 2, service creeper 3, support bar 4 and lower limb exoskeleton 5,
Described base 1 front portion is provided with support column 2, and rear portion is provided with motor I6 and slide rail 7;The lower end of described support bar 4 is installed in slide rail 7, and described motor I6 interlocks with the lower end of support bar 4, drives the lower end of support bar 4 to do feed motion along slide rail 7;The upper end of described support column 2 is provided with rotating shaft I8;The lower end of described service creeper 3 is installed on rotating shaft I8, and the middle part of service creeper 3 or rear portion are provided with rotating shaft II9, and the upper end of described support bar 4 is installed on rotating shaft II9;Described lower limb exoskeleton 5 is installed on the lower end of service creeper 3.
Described base 1 offers U-type groove 10, and the both sides inwall being positioned at U-type groove 10 is respectively arranged with slide rail 7;Described support bar 4 is parallel two piece, and the lower end of two support bars 4 is connected by connecting rod 11, and the two ends of described connecting rod 11 are respectively arranged on slide rail 7, and described motor I6 is connected with connecting rod 11 by push rod 12, and drive link 11 does feed motion along slide rail 7.
Described service creeper 3 includes lower service creeper 13, upper service creeper 14, track I15, motor II16, feed screw nut pair I17;The upper end of described lower service creeper 13 is provided with track I15, and described upper service creeper 14 is installed on track I15;Described lower service creeper 13 bottom surface is provided with motor II16, described motor II16 and is connected with upper service creeper 14 by feed screw nut pair I17, and in driving, service creeper 14 does feed motion along track I15.
The middle part of described lower service creeper 13 is provided with handrail 18, and the lower section of handrail 18 is provided with waist and fixes bandage 19.
Described lower limb exoskeleton 5 includes that hip joint seat 20 and leg rod member 21, described hip joint seat 20 include that transverse slat 22 and riser 23, described transverse slat 22 are parallel to lower service creeper 13 horizontal direction;The two ends of described transverse slat 22 are respectively perpendicular installation riser 23, and the end of described riser 23 is provided with revolute pair I24, and the upper end of described leg rod member 21 is installed in revolute pair I24;It is provided with retractor device, it is possible to control transverse slat 22 and stretch in the middle part of described transverse slat 22.
Described leg rod member 21 includes that thick link 25, shank link 26 and sole support seat 27;The upper end of described thick link 25 is connected with riser 23 by revolute pair I24, and the lower end of thick link 25 is connected with the upper end of shank link 26 by revolute pair II28, and the lower end of described shank link 26 supports seat 27 by revolute pair III29 with sole and is connected.
Described thick link 25 includes thick link top 30, thick link bottom 31, track II32, motor III33, feed screw nut pair II34;Described upper end, thick link top 30 is connected with riser 23 by revolute pair I24, and lower end is provided with track II32;Described thick link bottom 31 is installed on track II32;Described motor III33 is installed on thick link top 30, is connected to thick link bottom 31 by feed screw nut pair II34, it is possible to drive thick link bottom 31 to do feed motion along track II32.
Described shank link 26 includes shank link top 35, shank link bottom 36, track III37, motor IV 38, feed screw nut pair III39;Described upper end, shank link top 35 is connected with thick link bottom 31 by revolute pair II28, and lower end is provided with track III37;Described shank link bottom 36 is installed on track III37;Described motor IV 38 is installed on shank link top 35, is connected to shank link bottom 36 by feed screw nut pair III39, it is possible to drive shank link bottom 36 to do feed motion along track III37.
Described thick link 25, shank link 26 and sole supports and is respectively arranged with thigh fixed belt 40, little leg restraint webbing 41 and sole fixing band 42 on seat 27.
Described lower limb exoskeleton 5 is provided with hip joint motor 43 and drives revolute pair I24, knee joint motor 44 to drive revolute pair II28, ankle joint motor 45 to drive revolute pair III29;It is respectively arranged with torque sensor on described hip joint motor 43, knee joint motor 44 and ankle joint motor 45.
Work process of the present utility model is: motor I6 passes through push rod 12, and drive link 11 does feed motion along slide rail 7 so that the support bar 4 being connected with connecting rod 11 drives service creeper 3 to rotate upwardly and downwardly with rotating shaft II9 for axle center;Motor II16 passes through feed screw nut pair I17, and in driving, service creeper 13 does feed motion along track I15, to change the length of service creeper 3;Width by retractor device regulation transverse slat 22;Motor III33 drives feed screw nut pair II34, the length of regulation thick link 25;Motor IV 38 drives feed screw nut pair III39;The length of regulation shank link 26;Patient lies on service creeper 3, fixes bandage 19 with waist and fixes upper body, and thigh fixed belt 40, little leg restraint webbing 41 and sole fixing band 42 fix thigh, shank and sole respectively;Hip joint motor 43 drives revolute pair I24, drives thick link 25 to rotate;Knee joint motor 44 drives revolute pair II28, drives shank link 26 to rotate;Ankle joint motor 45 drives revolute pair III29, drives sole to prop up bearing 27 and moves;And the output torque of each joint motor is measured by torque sensor.

Claims (10)

1. a lower limb rehabilitation robot, including base (1), support column (2), service creeper (3), support bar (4) and lower limb exoskeleton (5), it is characterised in that:
Described base (1) front portion is provided with support column (2), and rear portion is provided with motor I(6) and slide rail (7);The lower end of described support bar (4) is installed in slide rail (7), described motor I(6) and the lower end gearing of support bar (4), drive the lower end of support bar (4) to do feed motion along slide rail (7);The upper end of described support column (2) is provided with rotating shaft I(8);The lower end of described service creeper (3) is installed on rotating shaft I(8) on, middle part or the rear portion of service creeper (3) are provided with rotating shaft II(9), the upper end of described support bar (4) is installed on rotating shaft II(9) on;Described lower limb exoskeleton (5) is installed on the lower end of service creeper (3).
Lower limb rehabilitation robot the most according to claim 1, it is characterised in that: described base (1) offers U-type groove (10), and the both sides inwall being positioned at U-type groove (10) is respectively arranged with slide rail (7);Described support bar (4) is parallel two piece, the lower end of two support bars (4) is connected by connecting rod (11), the two ends of described connecting rod (11) are respectively arranged on slide rail (7), described motor I(6) it is connected with connecting rod (11) by push rod (12), drive link (11) does feed motion along slide rail (7).
Lower limb rehabilitation robot the most according to claim 1, it is characterised in that: described service creeper (3) includes lower service creeper (13), upper service creeper (14), track I(15), motor II(16), feed screw nut pair I(17);The upper end of described lower service creeper (13) is provided with track I(15), described upper service creeper (14) is installed on track I(15) on;Described lower service creeper (13) bottom surface is provided with motor II(16), described motor II(16) by feed screw nut pair I(17) be connected with upper service creeper (14), in driving, service creeper (14) is along track I(15) do feed motion.
Lower limb rehabilitation robot the most according to claim 3, it is characterised in that: the middle part of described lower service creeper (13) is provided with handrail (18), and the lower section of handrail (18) is provided with waist and fixes bandage (19).
Lower limb rehabilitation robot the most according to claim 1, it is characterized in that: described lower limb exoskeleton (5) includes hip joint seat (20) and leg rod member (21), described hip joint seat (20) includes that transverse slat (22) and riser (23), described transverse slat (22) are parallel to lower service creeper (13) horizontal direction;The two ends of described transverse slat (22) are respectively perpendicular installation riser (23), and the end of described riser (23) is provided with revolute pair I(24), the upper end of described leg rod member (21) is installed on revolute pair I(24) on;Described transverse slat (22) middle part is provided with retractor device, it is possible to controls transverse slat (22) and stretches.
6. according to lower limb rehabilitation robot according to claim 5, it is characterised in that: described leg rod member (21) includes that thick link (25), shank link (26) and sole support seat (27);Revolute pair I(24 is passed through in the upper end of described thick link (25)) it is connected with riser (23), revolute pair II(28 is passed through in the lower end of thick link (25)) it is connected with the upper end of shank link (26), revolute pair III(29 is passed through in the lower end of described shank link (26)) be connected with sole support seat (27).
7. according to lower limb rehabilitation robot according to claim 6, it is characterised in that: described thick link (25) includes thick link top (30), thick link bottom (31), track II(32), motor III(33), feed screw nut pair II(34);Revolute pair I(24 is passed through in described thick link top (30) upper end) it is connected with riser (23), lower end is provided with track II(32);Described thick link bottom (31) is installed on track II(32) on;Described motor III(33) be installed on thick link top (30), by feed screw nut pair II(34) it is connected to thick link bottom (31), it is possible to drive thick link bottom (31) along track II(32) do feed motion.
8. according to lower limb rehabilitation robot according to claim 6, it is characterised in that: described shank link (26) includes shank link top (35), shank link bottom (36), track III(37), motor IV (38), feed screw nut pair III(39);Revolute pair II(28 is passed through in described shank link top (35) upper end) it is connected with thick link bottom (31), lower end is provided with track III(37);Described shank link bottom (36) is installed on track III(37) on;Described motor IV (38) is installed on shank link top (35), by feed screw nut pair III(39) it is connected to shank link bottom (36), it is possible to drive shank link bottom (36) along track III(37) do feed motion.
Lower limb rehabilitation robot the most according to claim 6, it is characterised in that: described thick link (25), shank link (26) and sole supports and is respectively arranged with thigh fixed belt (40), little leg restraint webbing (41) and sole fixing band (42) on seat (27).
Lower limb rehabilitation robot the most according to claim 6, it is characterized in that: described lower limb exoskeleton (5) is provided with hip joint motor (43) and drives revolute pair I(24), knee joint motor (44) drives revolute pair II(28), ankle joint motor (45) drives revolute pair III(29);It is respectively arranged with torque sensor on described hip joint motor (43), knee joint motor (44) and ankle joint motor (45).
CN201620156150.6U 2016-03-02 2016-03-02 Recovered robot of low limbs Expired - Fee Related CN205411569U (en)

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CN201620156150.6U CN205411569U (en) 2016-03-02 2016-03-02 Recovered robot of low limbs

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Application Number Priority Date Filing Date Title
CN201620156150.6U CN205411569U (en) 2016-03-02 2016-03-02 Recovered robot of low limbs

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105769506A (en) * 2016-03-02 2016-07-20 广西科技大学 Lower limb rehabilitation robot
CN109953761A (en) * 2017-12-22 2019-07-02 浙江大学 A kind of lower limb rehabilitation robot sensory perceptual system and motion intention inference method
CN110063871A (en) * 2018-10-24 2019-07-30 河北省体育科学研究所 A kind of knee joint training equipment and training method restored for knee injuries

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105769506A (en) * 2016-03-02 2016-07-20 广西科技大学 Lower limb rehabilitation robot
CN105769506B (en) * 2016-03-02 2018-01-16 广西科技大学 Lower limb rehabilitation robot
CN109953761A (en) * 2017-12-22 2019-07-02 浙江大学 A kind of lower limb rehabilitation robot sensory perceptual system and motion intention inference method
CN109953761B (en) * 2017-12-22 2021-10-22 浙江大学 Lower limb rehabilitation robot movement intention reasoning method
CN110063871A (en) * 2018-10-24 2019-07-30 河北省体育科学研究所 A kind of knee joint training equipment and training method restored for knee injuries

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Granted publication date: 20160803

Termination date: 20180302