CN207370865U - A kind of vertical lower limbs rehabilitation training robot - Google Patents
A kind of vertical lower limbs rehabilitation training robot Download PDFInfo
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- CN207370865U CN207370865U CN201720253642.1U CN201720253642U CN207370865U CN 207370865 U CN207370865 U CN 207370865U CN 201720253642 U CN201720253642 U CN 201720253642U CN 207370865 U CN207370865 U CN 207370865U
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Abstract
A kind of vertical lower limbs rehabilitation training robot, belong to technique of medical rehabilitation field, including foot treadmill, integral support, lifting center of gravity regulating system, adjustable ectoskeleton pedipulator and control system, and it is equipped with patient's both legs fixed structure and peripheral hardware loss of weight system.Foot treadmill is matched somebody with somebody by treadmill motor drive activity treadbelt and pedipulator moves, the time of day of Walk Simulation；Two ectoskeleton pedipulators are respectively provided with hip, knee, ankle three degree of freedom, and width, thigh pole length, the shank pole length of two pedipulators are adjustable and locked, distance of the ankle-joint away from sole is adjusted, and is stimulated with adapting to different building shape patient and providing foot；Lifting and center of gravity regulating system are changed using gas spring center-of-gravity regulating, and pressure sensor can gather related data in real time；Control system carries out patient information typing and parameter setting by peripheral hardware operation panel, and controls robot motion, rehabilitation data acquisition；The effective guarantees patient safety such as overload protection, emergency stop switch.
Description
Technical field
The utility model belongs to technique of medical rehabilitation field, more particularly to a kind of vertical lower limbs rehabilitation training robot.
Can be applied to the external force such as the cranial vascular diseases such as cerebral apoplexy and spinal injury, bone injury causes lower limb walking disorder patient's early stage health
Recovering technology field.
Background technology
At present, patients with cerebral apoplexy quantity increases year by year, cerebral apoplexy have simultaneously incidence is high, the death rate is high, disability rate is high,
The characteristics of high recurrence rate and more complication, so medical field is listed as its same coronary heart disease, cancer to threaten the three of human health
One of big disease, lower limb paralysis is the common syndrome of patients with cerebral apoplexy.Medical evidence, early stage carry out rehabilitation training to reducing
The disability rate of patients with cerebral apoplexy has important clinical meaning, can recover the function of its paralyzed limbs and daily to greatest extent
Life activity ability.In addition, the reasons such as traffic accident, industrial injury also result in lower limb paralysis patient populations increase, rehabilitation training pair
It is most important that lower limb walking disorder patient recovers locomotor activity.
Lower limb rehabilitation robot is the plasticity theory according to brain, real with rehabilitation medical core therapy " kinesiatrics "
A large amount of, repetition, accurate rehabilitation training are now carried out to lower limb walking disorder patient.At present for cranial vascular diseases such as cerebral apoplexies or
The central nervous system injuries patient such as spinal injury, bone injury, the man-to-man manipulation of generally use rehabilitation medical teacher cure rehabilitation
Treat that the gimmick of teacher is more demanding, and efficiency is low and great work intensity.Fully functional healing robot product is less on the market at present,
Most of function is single, bulky.To sum up, there are the following problems in lower limb rehabilitation medical field at present：1st, Traditional Rehabilitation doctor
One-to-one rehabilitation efficiency is low, great work intensity and of high cost；2nd, existing healing robot can not accurate simulation on the market
People's normal walking gait and foot stimulate；3rd, the more full healing robot of function is bulky, and patient is easily made to generate the feared state of mind.
Healing robot is mostly using sitting and lying formula at present, vertical two kinds of posture modes, according to base of principle of human engineering, vertical health
The enough more really and accurately simulation people's normal walkings of reactivation, it is more helpful to Rehabilitation.
The content of the invention
For traditional health rehabilitation medical method and on the market many deficiencies existing for existing healing robot, this practicality are new
Type provides a kind of vertical lower limbs rehabilitation training robot.The training posture that the recovery exercising robot is walked using standing, and have
It is standby claimed below：1) convenient adjustment mode adapts to different building shape patient；It 2) being capable of real simulation normal person's walking step state；3)
Have the function of that rehabilitation major parameter is adjusted；4) there is good security；5) operate steadily reliable.
The technical solution adopted in the utility model is：
The system is by foot treadmill, integral support, lifting center of gravity regulating system, ectoskeleton pedipulator and control system
Composition：
The foot treadmill, installation frame, treadmill motor, treadmill motor driver including fixation pass
Moving gear, active roller, roller follower, tension rollers, activity treadbelt, race plate, universal wheel, support base, exterior panel, shell
Parts are waited, universal wheel is mounted on installation frame, facilitates the mobile carrying of healing robot complete machine.Support base is mounted on installation
On frame, there is regulatory function, after robot is moved to designated position, adjust support base so that the rubber under support base connects
Tread surface makes universal wheel hanging, reaches robot fixation.Treadmill motor is mounted on motor mounting rack and is fixed on installation
On frame, treadmill motor driver driving treadmill motor rotates, and by gear drive active roller is driven to rotate, and speed is adjustable
Section, roller follower, tension rollers are mounted on installation frame.Activity treadbelt is driven by active roller, by roller follower, and is led to
Tension rollers position adjusting activity treadbelt pretightning force is overregulated, improves treadmill motor drive activity treadbelt stable movement accuracy.
It runs plate to be mounted on the inside of activity treadbelt, be contacted with treadbelt top, similar ground is provided for the patient in rehabilitation training
Support force and impact force are coordinated with ectoskeleton pedipulator by the movement of activity treadbelt, realize people in ground running effect, above-mentioned turn
It is dynamic secondary partly with the transmission of the parts such as bearing, bushing, ensure to rotate smooth, reduction in-fighting and noise.Shell is mounted on to rotate and tie
Structure is exposed to wait parts, and beautiful and guarantee is safe to use.
The integral support including both sides installation riser, is fixed with the exterior panel of treadmill, is adjusted for installing center of gravity
The parts such as system component, ectoskeleton pedipulator, power supply, control system, shell.
The lifting center of gravity regulating system, including lifting motor, lifting motor driver, retarder, band-type brake, lifting and driving
The parts such as axis, sprocket wheel, chain, guide rail, sliding block, gas spring, pressure sensor, connecting rod.It is living that lifting motor is fixed on foot
On corresponding mounting structure in dynamic flat-panel systems, lifting motor is driven by lifting motor driver, is passed by gear, retarder
It moves to the lifting and driving axis at both ends, lifting and driving axis passes through band-type brake, and is fixed with band-type brake movable part, and band-type brake is mounted on whole
In the installation riser of stent, lifting and driving axis both ends are respectively installed there are one sprocket wheel, and with sprocket wheel opposite turn not to occur for lifting and driving axis
It is dynamic, chain is installed between drive sprocket and driven sprocket, sprocket wheel drives chain to be moved in vertical direction, chain with and its is parallel
A sliding block 1 on the guide rail of installation is fixed by locking member so that band movable slider 1 moves up and down during chain movement, the sliding block
It is fixed with gas spring one end, the gas spring other end is fixed with another sliding block 3 on same root guide rail, is led on sliding block 3
It crosses connector and pressure sensor one end is installed, the pressure sensor other end passes through with the sliding block 4 on same root guide rail
Connector is fixed, and above-mentioned sprocket wheel, chain, guide rail, sliding block, gas spring and pressure sensor are arranged symmetrically in the installation riser of both sides.
Monosymmetric sliding block 2 is connected with sliding block 4 by connecting rod respectively, there is mounting hole in connecting rod, for installing ectoskeleton machinery
Leg.
The ectoskeleton pedipulator, two ectoskeleton pedipulators are respectively provided with three hip, knee, ankle joint freedom degrees, including
For driving the electric cylinder of joint motions, external mounting bracket, hip joint width adjustment mechanism, thigh and length adjustment mechanism, small
The structures such as leg and length adjustment mechanism, ankle-joint to sole distance adjusting mechanism, flexible mechanical foot, fixed cable tie：
The electric cylinder drives driving gear to rotate for servo motor output shaft, and driving gear engages biography with driven gear
Dynamic, Fixed Nut on driven gear carries out axially position by parts such as bearing, installed parts to screw, when rotating motor, band
Dynamic screw rotates, and is moved with the screw linear telescopic of screw cooperation；
Described external installed part one end is fixed with the mounting hole in the connecting rod of center of gravity regulating system, and the other end is equipped with hip
Joint width adjustment mechanism；
The hip joint width adjustment mechanism is mainly by guide rail, sliding block, gear, rack, locking member, both sides installing plate group
Into guide rail is mounted in the installation panel of pedipulator integral installation part, and two sliding blocks are installed by adapter and both sides pedipulator
Plate connects, and two toothed racks are separately mounted on two adapters, and gear drives two toothed racks synchronous closer or far from passing through rotation
The handle being connected with locking member changes gear and the axial gap of shaft end face, gear is locked and is discharged.To adapt to not
Same patient size when hip joint width is adjusted, unclamps set lever, and gear becomes free moving type from locking state
State to one side pedipulator installing plate applied force, while moving it, drives the rack movement on pinboard, due to gear shaft
Position is fixed, so gear rotates, and then drives the movement of opposite side rack linear, it is symmetrical to reach both sides pedipulator installing plate
Mobile effect, when adjusting to required width, stirs the set lever on locking member, gear is compressed, it is impossible to it rotates,
Make both sides installing plate distance locking.It is equipped on the both sides installing plate for the installation of fixed driving thigh movement electric cylinder tailstock
Part and hip joint shaft mounting hole；
The thigh and length adjustment mechanism, thigh bar one end are mounted on hip joint width adjusting machine by shaft and bearing
On the installing plate of structure, electric cylinder movable end is connected with thigh bar, when electric cylinder screw linear telescopic moves, thigh bar is driven to exist
It is swung in the range of certain angle, thigh has the function of convenient length adjustment, and it is long to adapt to different legs.The length adjustment mechanism,
The flange of installation and adjustment mechanism is carried on the thigh sliding sleeve slided with thigh bar cooperation, length adjustment shaft is mounted on flange,
The two can relatively rotate, and length adjustment shaft one end is fixed with bevel gear, and the other end is fixed with the handle with locking function, when
It when rotating handle, can be rotated with dynamic bevel gear, change handle position, you can locked bevel gear makes it that can not rotate.In thigh
Leading screw is fixed on sliding sleeve, leading screw is free to rotate, and one end is fixed with bevel gear, is engaged with the fixed bevel gear of handle, screw
On screw is installed, screw is fixed on thigh bar, so regulation handle, screw is driven to rotate, you can realizes screw in screw
Upper linear motion reaches and adjusts thigh bar telescopic effect in thigh sliding sleeve, after the completion of adjusting, changes handle position, locks cone
Gear, you can lock thigh length.There is installation driving shank to swing electric cylinder tailstock fixed structure and knee pass on thigh sliding sleeve
Save pivot structure.
The shank and length adjustment mechanism, shank bar are installed by knee joint shaft and bearing with thigh sliding sleeve, driving
Shank swings electric cylinder movable end and is connected with shank bar, and shank is driven to swing, lower-leg length Principles of Regulation and thigh length adjustment
Principle is identical.
The ankle-joint and to sole distance adjusting mechanism, the electric cylinder fixing end that driving ankle-joint rotates is mounted on shank
On sliding sleeve, the sole active connection of telescopic movable end and ankle-joint is fixed, and electric cylinder stretching motion drives ankle-joint to rotate,
And then drive sole movement.Sliding block is installed on sole active connection, matched guide rail is mounted on sole installed part,
Flexible mechanical foot is fixed on sole installed part, and its object is to adapt to different patient's soles to ankle-joint distance and tying
Meeting impact under Rehabilitation walking process mesopodium on structure stimulates requirement.
The fixed cable tie, on thigh, shank, sole, for patient's both legs are corresponding with ectoskeleton pedipulator
It is fixed, and the fixed cable tie position-adjustable of thigh, shank.
Including turning the function element such as pressure, separated time, line arrangement, guarantor is provided for robot complete machine power supply for the power-supply system
Barrier.
The control system：Including host, operation panel, driver, upper computer software, rehabilitation assessment system, safety system
System etc., operating personnel by inputting rehabilitation information on the control panel, host Collaborative Control driver, drive each joint, treadmill,
Lifting motor moves, and adjusts loss of weight parameter, gathers the information such as pressure sensor, each motor load electric current in real time and carries out rehabilitation parameter
Adjustment and rehabilitation scale evaluation.Robot sets multiple emergency stop Operation switches, and operating personnel and patient can be square when pinpointing the problems
Just emergency stop button is timely pressed, protects patient's personal safety.
For the patient that can not be stood, the utility model is designed with loss of weight system or the other loss of weight products of collocation use.
The beneficial effects of the utility model：
1st, the utility model compared with prior art, using the vertical rehabilitation training of patient, and has perfect robot
Structure, two ectoskeleton pedipulators are respectively provided with hip, knee, three joints of ankle and cooperation foot treadmill, make the utility model
Vertical recovery exercising robot pedipulator can simulate human body lower limbs and walk out standard gait, when patient does rehabilitation exercise,
Foot treadmill can carry out patient foot stimulation and impact, ensure that intensity and the accuracy of exercise-based rehabilitation program on patients, and ankle
Joint freedom degrees are that have at present not available for the vertical lower limb rehabilitation robot of foot treadmill, for real simulation people
Walking step state plays a crucial role, it can make patient obtain more proper exercise sensory stimulis, be conducive to improve
Rehabilitation medical effect；
2nd, the utility model employs flexible regulative mode, adapts to different building shape patient, hip joint width is adjustable, greatly
Leg, lower-leg length are adjusted, and adjust, lock it is simple and convenient；
3rd, the utility model ankle-joint to sole distance can automatic adjusument, can fully adapt to different sufficient type patients,
And effectively provide the foot impact stimulation in rehabilitation training；
4th, the utility model detects patient's loss of weight parameter in real time using pressure sensor, it is convenient for different phase patient into
The reasonable rehabilitation of row；
5th, the utility model is adjusted using gas spring auxiliary center of gravity, according to the compressibility of gas spring, coordinates Rehabilitation
Gravity center shift in the process, more real simulation normal walking state；
6th, the utility model has pedipulator motor load current feedback assessment system, can be instructed according to different phase rehabilitation
The current parameters that experienced joint motor is fed back assess Rehabilitation degree.
Description of the drawings
Fig. 1 is foot treadmill structure diagram；
Fig. 2 is foot treadmill partial cross-sectional structural diagram；
Fig. 3 is electric cylinder structure diagram；
Fig. 4 is electric cylinder internal structure schematic diagram；
Fig. 5 is ectoskeleton pedipulator dimensional structure diagram；
Fig. 6 is ectoskeleton pedipulator positive structure diagram；
Fig. 7 is thigh expansion regulating mechanism and adjustable fixed cable tie schematic diagram；
Fig. 8 is ankle joint structure schematic diagram；
Fig. 9 is mechanical leg structure schematic diagram；
Figure 10 is vertical 1 viewing angle constructions schematic diagram of lower limbs rehabilitation training robot complete machine；
Figure 11 is vertical 2 viewing angle constructions schematic diagram of lower limbs rehabilitation training robot complete machine；
Figure 12 is vertical 3 viewing angle constructions schematic diagram of lower limbs rehabilitation training robot complete machine；
Wherein, 1- lifts drive sprocket；2- lifting and driving axis；3- universal wheels；4- active rollers；5- power supplys；6- treadmills electricity
Machine；7- treadmill transfer driven gears；8- treadmill transmission gears；9- support bases；10- roller followers；11- tension rollers；12-
Run plate；13- activity treadbelts；14- installation frames；15- treadmill shells；16- exterior panels；17- lifting and driving driven gears；
18- lifting and driving driving gears；19- lifting motors；20- worm type of reduction gearing；21- electric cylinders top installed part；22-
Bar；23- electric cylinders shell (1)；24- electric cylinder flanges；25- electric cylinders shell (2)；26- electric cylinder motors；27- electric cylinder masters
Moving gear；28- screws；29- electric cylinder driven gears；30- thigh sliding sleeves；31- hip joint shafts；32- pedipulator installing plates；
33- width adjusting pinboards；34- width adjusting gears；35- width adjusting shafts；36- width adjusting racks；37- width adjustings
Guide rail；38- width adjusting handles；39- width adjusting sliding blocks；40- thighs swing electric cylinder；41- thighs swing electric cylinder tailstock
Fixing piece；42- pedipulator integral installation parts；43- shank bars；44- shank sliding sleeves；45- machinery foot installed parts；Suffer from 46- thighs
Person's both legs fixing piece；47- flexible mechanical feet；48- shanks bar swings electric cylinder；49- knee joint shafts；50- ankle-joints；51- feet
Portion moves electric cylinder；52- patient's both legs secured adjusted mechanism；The long adjusting mechanism of leg at 53- thighs；54- thigh bars；55- screws
Upper flange；56- legs length adjusts screw；57- legs length adjusts screw；58- bevel gears (1)；59- regulation handle flanges；60- bevel gears
(2)；61- patient's both legs secured adjusted flange；62- patient's both legs secured adjusted pressure handle；It is flexible that 63- patient's both legs fix adjustment
Pad；64- patient's both legs secured adjusted bar；65- patient's both legs fix bandage installed part；The long regulation handle of 66- legs；67- legs length is adjusted
Save shaft；The long adjusting handle of 68- legs；The long adjusting handle axis of 69- legs；70- lower-leg length adjusting mechanisms；Patient is double at 71- shanks
Leg fixed structure；72- ankle-joint locating parts；73- ankle-joint swing components；74- machinery foot movable guiding rail installed parts；75- ankle-joints
Shaft；76- machinery foot movable sliders；77- machinery foot rail plates；78- gear outer covers；79- both sides installation riser；80- is lifted
Lower connecting rod；81- pressure sensors；82- lifts upper connecting rod；83- lifting sliders (1)；84- gas springs；85- lifting sliders
(2)；86- lifting sliders (3)；87- lifting sliders (4)；88- lifts driven sprocket；89- lifts driven sprocket installed part；90- chains
Item；91- peripheral hardware operation panels；92- control cabinets；93- industrial personal computers；94- emergency stop switch；95- power switches；96- band-type brakes；Outside 97-
Shell (1)；98- Aviation Connectors；99- shells (2).
Specific embodiment
The utility model is described further in the following with reference to the drawings and specific embodiments：
As shown in Figure 1 and Figure 2, it is a kind of vertical recovery exercising robot foot treadmill structure diagram, including lifting
Drive sprocket 1；Lifting and driving axis 2；Universal wheel 3；Active roller 4；Power supply 5；Treadmill motor 6；Treadmill transfer driven gear 7；It runs
Platform transmission gear 8；Support base 9；Roller follower 10；Tension rollers 11；Run plate 12；Activity treadbelt 13；Installation frame 14；It runs
Platform shell 15；Exterior panel 16；Lifting and driving driven gear 17；Lifting and driving driving gear 18；Lifting motor 19；Worm gear snail
Bar retarder 20.
Universal wheel 3 is fixed on the installation frame 14, vertical lower limbs rehabilitation training robot is facilitated to move, is installed simultaneously
There is support base 9, by adjusting 9 position of support base downwards, universal wheel 3 can be made to leave ground, 9 top flexible material of support base connects
Tread surface, to reach robot fixed position effect.Treadmill motor 6 is installed, treadmill motor 6 passes through treadmill on installation frame 14
Transmission gear 8 and treadmill transfer driven gear 7 drive active roller 4 to rotate, and active roller 4 passes through the biographies such as bearing, shaft
Dynamic component is mounted on installation frame 14, and roller follower 10 and tension rollers 11 are mounted on installation frame 14 by bearing, shaft
On, and position-adjustable, activity treadbelt 13 is installed between active roller 4, roller follower 10 and tension rollers 11, by right
The position of roller follower 10 and tension rollers 11 adjusts and activity treadbelt 13 is tensioned.Active roller 4 is driven by treadmill motor 6
Afterwards, you can drive activity treadbelt 13 moves.Power supply 5 is mounted on installation frame 14, for voltage conversion.Lifting motor 19 is fixed
On installation frame 14, lifting and driving driving gear 18 is installed on lifting motor 19, the rotation of lifting motor 19 drives lifting to pass
Dynamic driving gear 18 rotates, and then the lifting and driving driven gear 17 being engaged with is driven to rotate, lifting and driving driven gear 17
It is fixedly mounted on 20 input shaft of worm type of reduction gearing, worm type of reduction gearing 20 is fixed on installation frame 14, worm gear snail
20 output terminal of bar retarder, which is fixed on two 2 lifting and driving axis 2 of lifting and driving axis, is separately installed with lifting drive sprocket 1, when
When lifting motor 19 is rotated according to given parameters, by lifting and driving driving gear 18 and lifting and driving driven gear 17 by power
Worm type of reduction gearing 20 is transferred to, after deceleration, lifting and driving axis 2 is driven and then lifting drive sprocket 1 is driven to rotate.It is external
Installing plate 16 is fixed on installation frame 14, there is pin hole, cable hole and threaded mounting hole, convenience and two on exterior panel 16
Side installation riser 79 is installed.
As shown in Figure 3, Figure 4, it is a kind of vertical lower limbs rehabilitation training robot ectoskeleton pedipulator joint drive list
Member --- electric cylinder, including electric cylinder top installed part 21；Screw 22；Electric cylinder shell (1) 23；Electric cylinder flange 24；It is electronic
Cylinder shell (2) 25；Electric cylinder motor 26；Electric cylinder driving gear 27；Screw 28；Electric cylinder driven gear 29.
The electric cylinder motor 26 is fixed on electric cylinder flange 24, and electric cylinder driving gear 27 is mounted on electric cylinder motor
On 26 on output shaft, electric cylinder driven gear 29 is fixed on screw 28, and screw 28 is coordinated by bearing and electric cylinder flange 24
Installation, electric cylinder driving gear 27 coordinate with 29 engaged transmission of electric cylinder driven gear, screw 22 with screw 28, two electric cylinders
Shell 23,25 is separately mounted on electric cylinder flange 24, when electric cylinder motor 26 rotates, drives 27 turns of electric cylinder driving gear
It is dynamic, and then electric cylinder driven gear 29 is driven to rotate so that screw 28 coordinates rotation on electric cylinder flange 24, and screw 28 is done
Axial limiting when screw 28 rotates, limits the screw 22 of rotation in rectilinear direction stretching motion, electric cylinder top installed part 21
Screw mandrel top is fixed on, it is convenient to be hinged with swing component.
It is a kind of vertical lower limbs rehabilitation training robot ectoskeleton pedipulator knot as shown in Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9
Composition and Local map, including thigh sliding sleeve 30；Hip joint shaft 31；Pedipulator installing plate 32；Width adjusting pinboard 33；Width
Adjustment gear 34；Width adjusting shaft 35；Width adjusting rack 36；Width adjusting guide rail 37；Width adjusting handle 38；Width tune
Save sliding block 39；Thigh swings electric cylinder 40；Thigh swings electric cylinder tailstock fixing piece 41；Pedipulator integral installation part 42；Shank
Bar 43；Shank sliding sleeve 44；Mechanical foot installed part 45；Patient's both legs fixing piece 46 at thigh；Flexible mechanical foot 47；Shank bar is swung
Electric cylinder 48；Knee joint shaft 49；Ankle-joint 50；Foot motion electric cylinder 51；Patient's both legs secured adjusted mechanism 52；At thigh
The long adjusting mechanism 53 of leg；Thigh bar 54；Screw upper flange 55；Leg length adjusts screw 56；Leg length adjusts screw 57；Bevel gear (1)
58；Regulation handle flange 59；Bevel gear (2) 60；Patient's both legs secured adjusted flange 61；Patient's both legs secured adjusted pressure handle 62；
Patient's both legs fix adjustment flexible pad 63；Patient's both legs secured adjusted bar 64；Patient's both legs fix bandage installed part 65；Leg length is adjusted
Save handle 66；Leg length adjusts shaft 67；The long adjusting handle 68 of leg；The long adjusting handle axis 69 of leg；Lower-leg length adjusting mechanism 70；It is small
Patient's both legs fixed structure 71 at leg；Ankle-joint locating part 72；Ankle-joint swing component 73；Mechanical foot movable guiding rail installed part 74；
Ankle-joint shaft 75；Mechanical foot movable slider 76；Mechanical foot rail plate 77.
There are corresponding peripheral hardware mounting hole and position limiting structure, two width adjusting guide rails on the pedipulator integral installation part 42
37 location and installations are each there are two width adjusting sliding block 39 on every width adjusting guide rail 37 on pedipulator integral installation part 42,
Width adjusting sliding block 39 is separately fixed on the two width adjusting pinboards 33 in left and right, and two width adjusting pinboards 33 are solid respectively
Surely there are the two pedipulator installing plates 32 in left and right, two width adjusting racks 36 are separately fixed at two width adjusting change-over panels 33
On, width adjusting gear 34 is engaged with two width adjusting racks 36, and width adjusting shaft 35 passes through width adjusting gear 34
Centre bore is coordinated by screw thread pair and pedipulator integral installation part 42, and one end of width adjusting shaft 35 is with boss, limit
Width adjusting gear 34 processed is axially moved and locks the moment for compressing, and the other end is fixed with width adjusting handle 38, works as needs
When adjusting the width between two pedipulators to adapt to different building shape patient, width adjusting handle 38 is unclamped, pulls one side machinery
Leg installing plate 32, you can drive rack-and-pinion, and then drive 32 symmetric motion of opposite side pedipulator installing plate, needed for moving to
During position, rotation width adjusting handle 38 drives width adjusting axis 35 to rotate, by thread fitting, is being axially moved, and compresses wide
Adjustment gear 35 is spent, two pedipulator positions are locked.The thigh swings electric cylinder tailstock fixing piece 41 and is fixed on machine
On tool leg installing plate 32, thigh swings the fixing end of electric cylinder 40 and thigh swings electric cylinder tailstock fixing piece 41 and is hinged, silk
Output terminal at the top of bar is hinged with thigh bar 54, and thigh bar 54 is matched somebody with somebody with pedipulator installing plate 32 by hip joint shaft 31 and bearing
Installation is closed, the two can relatively rotate in certain angle, when thigh swings 40 stretching motion of electric cylinder, thigh bar 54 be driven to put
It is dynamic.The thigh sliding sleeve 30 is installed with the cooperation of thigh bar 54, and the fixing end that shank bar swings electric cylinder 48 is pacified by articulated manner
On thigh sliding sleeve 30, the screw output terminal that shank bar swings electric cylinder 48 is installed by articulated manner and shank bar 43, small
Coordinated between leg bar 43 and thigh sliding sleeve 30 by parts such as knee joint shaft 49 and bearings and installed, make the two can be in certain angle
In the range of relatively rotate, when shank bar swings 48 screw stretching motion of electric cylinder, you can shank bar 43 is driven to swing.It is described small
Leg sliding sleeve 44 coordinates adjustment length with shank bar 43, and the fixing end of foot motion electric cylinder 51 is mounted on shank by articulated manner
On sliding sleeve 44, screw output terminal is mounted on by articulated manner on ankle-joint swing component 73, and ankle-joint swing component 73 is closed by ankle
Save shaft 75 and bearing fit installation.Ankle-joint locating part 72 is fixed on shank sliding sleeve 44, by the pendulum of ankle-joint swing component 73
It is dynamic to be limited in the range of certain angle, when foot motion 51 stretching motion of electric cylinder, ankle-joint swing component 73 will be driven
It is swung in the range of certain angle.Ankle-joint shaft 50 follows ankle-joint swing component 73 to rotate, ankle-joint shaft 75 and mechanical foot
Movable guiding rail installed part 74 is fixedly mounted, and the two does not relatively rotate, and mechanical foot movable slider 76 is fixed on mechanical foot activity
On guide track mount 74, mechanical foot rail plate 77 is fixed on mechanical foot installed part 45, has correspondence on mechanical foot installed part 45
Position limiting structure limitation relative mechanical foot movable guiding rail installed part 74 relative position, flexible mechanical foot 47 is fixed on mechanical foot peace
The bandage of immobilized patients foot is carried in piece installing 45, and on flexible mechanical foot 47, when 51 stretching motion of foot motion electric cylinder
When, you can flexible mechanical foot 47 is driven to swing.The thigh of two ectoskeleton pedipulators, lower-leg length can be adjusted by flexible
It saves mechanism to adjust, concrete mode is fixed on for screw upper flange 55 on thigh sliding sleeve 30, and leg length adjusts 56 upper end of screw and screw
The shaft hole matching of upper flange 55 and /V, leg length adjust screw 56 and can be freely rotated, and it is long that leg length adjusting screw 57 is mounted on leg
It adjusts on screw 56, and is fixed on thigh bar 54, leg length adjusts 56 lower end of screw and is fixed with bevel gear (1) 58, and passes through
Shaft, which grows leg, on regulation handle flange 59 adjusts 56 axial limiting of screw, and leg length adjusts shaft 67 and regulation handle flange 59 is right
Shaft hole matching is answered, and can be freely rotated, leg length adjusts 67 one end of shaft and is fixed with bevel gear (2) 60, and the other end passes through axis pin
The long regulation handle 66 of leg is installed, which is eccentric cam, and realization can adjust hand by adjusting leg length
The angle of handle 66 adjusts compression degree, release or locked bevel gear (2) 60, and then unclamps or lock thigh length, and leg length is adjusted
Handwheel 68 is mounted on by the long adjusting handle axis 69 of leg in the long regulation handle 66 of leg, and doctor is facilitated to capture rotation.When needing to adjust
During thigh length, the long regulation handle 66 of leg is adjusted to released position, the long regulation handle 66 of rotatable leg, is grown by leg and adjusts shaft
67 band dynamic bevel gears (2) 60 rotate, and then drive the bevel gear (1) 58 that is engaged with and long with (1) 58 fixed leg of bevel gear
It adjusts screw 56 to rotate, adjusting 58 axial position of screw is grown due to leg and is fixed so that leg length adjusts screw 57 and 54 phase of thigh bar
Thigh sliding sleeve 30 is moved, 70 principle of lower-leg length adjusting mechanism is same.With trouble on two ectoskeleton pedipulators
Person's both legs secured adjusted mechanism 52, exemplified by thigh, patient's both legs regulating flange 61 is mounted on regulation handle flange 59, can
To relatively move but can not relatively rotate, patient's both legs fix adjustment flexible pad 63 and are mounted on patient's both legs secured adjusted flange 61
Interior, patient's both legs secured adjusted bar 64 is mounted on patient's both legs and fixes in adjustment flexible pad 63, patient's both legs secured adjusted bar 64
It can move axially, patient's both legs secured adjusted pressure handle 62 is mounted on patient's both legs secured adjusted flange 61 by articulated manner
On, outer profile is eccentric cam at the lower rotary shaft of patient's both legs secured adjusted pressure handle 62, can be consolidated by squeezing patient's both legs
Whole flexible pad 63 of setting the tone is compressed or discharged to patient's both legs secured adjusted bar 64, and trouble is fixed on patient's both legs secured adjusted bar 64
Person's both legs fix bandage installed part 65, and can install different patterns on patient's both legs fixation bandage installed part 65 according to demand ties up
Band.When in use, patient's both legs secured adjusted pressure handle 62 is unclamped, you can adjust patient's both legs secured adjusted bar 64 and patient's both legs
61 position of secured adjusted flange to adapt to different building shape patient, after adjustment is suitable, compresses patient's both legs secured adjusted pressure handle
62, deformation compression patient's both legs secured adjusted bar 64 that adjustment flexible pad 63 is fixed by both legs locks position.
As Figure 10, Figure 11, Figure 12 show vertical lower limbs rehabilitation training robot complete machine structure figure, middle gear outer cover 78
Mounted on the width adjusting gear parts of ectoskeleton pedipulator, clothing is into wherein during preventing Rehabilitation.It installs both sides
Riser 79 is fixed on exterior panel 16, for installing the lifting of healing robot and center of gravity regulating system.
The elevating mechanism drives chain 90 to move by lifting drive sprocket 1.Lifting driven sprocket installed part 89 is installed
In both sides installation riser 79, for installing lifting driven sprocket 88 and tension chain 90, chain 90 is solid with lifting slider (1) 83
Fixed, i.e. the movement of chain 90 drives lifting slider (1) 83 to move, and one end of gas spring 84 is mounted on lifting slider by articulated manner
On (1) 83,84 other end of gas spring is mounted on lifting slider (3) 86, and pressure sensing is equipped on both sides lifting slider (3) 86
81 one end of device, the other end are mounted on lifting slider (4) 87, and the lifting slider (4) 87 of both sides is connected by lifting upper connecting rod 82
It connects, the lifting slider (2) of both sides is connected by lifting lower connecting rod 80, is had mounting hole in two lifting connecting rods 80,82, is used for
Pedipulator integral installation part 42 is installed, when lifting motor 19 rotates lifting drive sprocket 1 is driven to rotate, lifts 1 band of drive sprocket
Dynamic chain 90 moves, and then drives fixed 84 elevating movement of gas spring on lifting slider (1) 83, and then drives lifting slider
(3) 86 move up and down, and the pressure sensor 81 between lifting slider (3) 86 and lifting slider (4) 87 can detect ectoskeleton machine
Tool leg and patient weight and loss of weight amount, each lifting slider movement drive ectoskeleton pedipulator elevating movement.Gas spring 84 has can
Compressibility can adapt to adjust according to the variation of patient's center of gravity in rehabilitation course.Band-type brake 96 is fixed on exterior panel 16,
Lifting and driving axis 2 coordinates installation through band-type brake 96 and with its internal activities element, i.e., band-type brake 96 can unclamp or locking lifting passes
Moving axis 2, for fixing lifting position.On the vertical lower limbs rehabilitation training robot there is control cabinet 92, included in control cabinet
The control elements such as industrial personal computer 93 and motor driver, power panel, Aviation Connector 98 by the power supply of ectoskeleton pedipulator electric cylinder and
Element conductive in control line and control cabinet 92, power switch 95 and emergency stop switch 94 for robot power supply break-make and run into it is special
Emergency stop during situation.Peripheral hardware operation panel 91 is by signal wire or wireless telecommunications, and the convenient staff around robot is to suffering from
Person carries out the operations such as parameter typing, robot parameter regulation.Robot also has shell (1) 97 and shell (2) 99, makes patient
And other people injure simultaneously from structure and sharp parts, reach aesthetic effect.
The vertical lower limbs rehabilitation training robot, when carrying out rehabilitation training to lower limb walking disorder patient, according to not
Same conditions of patients and rehabilitation stage, loss of weight system need to be equipped with, using suspension and reclining loss in weight, loss of weight system can be in this reality
It is installed with correspondence position on a kind of new vertical lower limbs rehabilitation training robot, while the existing loss of weight in market can also be utilized to produce
Product.
Claims (10)
1. a kind of vertical lower limbs rehabilitation training robot, which is characterized in that the robot includes foot treadmill, whole branch
Frame, lifting center of gravity regulating system, ectoskeleton pedipulator and control system composition, wherein：
The foot Treadmill System is located at vertical lower limbs rehabilitation training robot bottom, included by foot treadmill
It is fixed on installation frame for the universal wheel of robot movement and for the fixed adjustable support seat of robot location, installation
Active roller, roller follower and tension rollers are installed, the activity treadbelt for coordinating patient's Walking is mounted on frame
Between three, activity treadbelt bottom is equipped with race plate, and for providing impact force and holding power for patient, treadmill motor is fixed on peace
It frames up on frame, is driven by driver, through actuated element active roller is driven to rotate, and then drive treadbelt movement；
The integral support is mounted under the robot foot on the outer mounting structure of treadmill, for mounting robot liter
The structures such as center of gravity mediation system, ectoskeleton pedipulator, control system, handrail and shell drop；
The lifting center of gravity regulating system, the lifting motor mounted on the robot bottom is driven by lifting and driving component to be risen
It drops structure to move in vertical direction, ectoskeleton pedipulator is mounted on by pressure sensor and gas spring on lifting structure, you can
It is moved by adjusting lifting motor, adjusts ectoskeleton pedipulator and moved in vertical direction；
The ectoskeleton pedipulator includes pedipulator installation pedestal, is attached for two between pedipulator and lifting structure,
Two ectoskeleton pedipulators are respectively provided with three degree of freedom, above foot treadmill, for immobilized patients lower limb, and every
Pedipulator includes 3 joints of hip, knee, ankle being operated alone by each different electric cylinders, corresponds to 3 passes of human body lower limbs respectively
Section, and distance between two pedipulators can be symmetrically adjusted at hip joint, thigh lower-leg length is adjustable, ankle-joint to vola distance
It is adjustable；
The control system：Including industrial personal computer, driver and peripheral hardware operation panel, peripheral hardware operation panel shows healing robot
Host computer operates software interface, is selected for patient information typing, rehabilitation modality, parameter adjustment etc., and passes information to work
Control machine, industrial personal computer pass through the feedbacks such as electric cylinder, pressure sensor by controlling the elements such as driver that electric cylinder is controlled to move
Data carry out integration processing, also using the load current of pedipulator motor feedback, carry out Rehabilitation recruitment evaluation.
2. robot according to claim 1, which is characterized in that the roller follower, the position-adjustable of tension rollers are led to
Overregulate the two position adjustment activity treadbelt pretightning force.
3. robot according to claim 1, which is characterized in that in the lifting center of gravity regulating system, lifting motor passes through
Power transmission to two lifting and driving axis is equipped with band-type brake movable end, the installation of band-type brake fixing end by retarder on lifting and driving axis
On the robot integral support, it can disconnect by controlling band-type brake power on/off or locking carrys out solid mechanical leg lifting position.
4. robot according to claim 1, which is characterized in that in the lifting center of gravity regulating system, through lifting motor band
Two dynamic lifting and driving shaft ends are separately installed with sprocket wheel and vertically-mounted chain, and every chain one side is on integral support
Guide rail and 4 sliding blocks are separately installed with, both sides chain is fixed respectively with the 1st sliding block of number from bottom to top on two guide rails, together
When the sliding block on be fixed with one end of gas spring, the gas spring other end is separately fixed on the 3rd sliding block of number from bottom to top, and should
Pressure sensor one end is fixed on sliding block, the 4th sliding block of the pressure sensor other end and number from bottom to top is fixed, and the of both sides
4 sliding blocks are linked together by connecting rod, and the 2nd sliding block of number is fixed together by connecting rod from bottom to top for both sides, two
Connecting rod is linked together by fixed plate, for installing the ectoskeleton pedipulator, when control lifting motor rotation, drives two
The 1st sliding block of number and gas spring are moved in vertical direction from bottom to top on side rails, and then drive the 3rd sliding block of number from bottom to top
Moved in vertical direction, by pressure sensor drive from bottom to top the 4th sliding block of number and connecting rod move, number the from bottom to top
2 sliding blocks and connecting rod will follow movement, realize and ectoskeleton pedipulator is driven to be moved in vertical direction；
The gas spring, elongation can follow the real-time adjust automatically of gravity center shift in Rehabilitation training process；
The pressure sensor is capable of detecting when the support force that pedipulator, patient weight and foot treadmill provide, and by number
According to industrial personal computer is transferred to, adjusted for rehabilitation assessment and rehabilitation programme.
5. robot according to claim 1, which is characterized in that it is described can be right by gear ＆ rack structure at hip joint
Claiming to adjust the width between two pedipulators, gear shaft is installed on a mounting board by screw thread pair, by handle turning gear wheel shaft,
It adjusts axial position gear is unclamped or locked, two toothed racks are engaged with gear, are separately fixed at two pedipulator peaces
It fills on component, one side movement can drive opposite side symmetrically to move.
6. robot according to claim 1, which is characterized in that the thigh length and lower-leg length pass through screw, screw
Cooperation is adjusted, and screw is mounted on thigh or shank bar, and screw is mounted on thigh or shank sliding sleeve, is turned by adjusting screw
It is dynamic, you can to realize that screw is moved relative to screw, and then adjust thigh bar, shank bar stroke, it is long to change leg.
7. robot according to claim 1, which is characterized in that the ankle-joint can pass through guide rail slide block tune away from vola distance
Section, sliding block and matched guide rail are separately mounted to consolidating on the fixed installing plate of ankle-joint output shaft and with flexible sole
On fixed installed part, for adapting to the different ankle-joint of patient to sole distance and meeting in gait rehabilitation training process
The structural requirement stimulated foot impact.
8. robot according to claim 1, which is characterized in that there are adjustable patient's both legs to consolidate on the ectoskeleton pedipulator
Determine structure, adjustment position is unclamped or locking adapts to different building shape patient, and bandage immobilized patients both legs are equipped in the structure, flexible
There is bandage on mechanical foot, for immobilized patients foot.
9. robot according to claim 1, which is characterized in that the healing robot also has loss of weight system, passes through trouble
Person's seating formula or patient's hang.
10. robot according to claim 1, which is characterized in that the robot in positions such as robot handrail, shells all
It is provided with emergency stop switch.
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| CN108852758A (en) * | 2018-08-02 | 2018-11-23 | 陈熹 | A kind of new-type falling-resistant leg recovery exercising robot |
| CN109330824A (en) * | 2018-11-28 | 2019-02-15 | 燕山大学 | A kind of height-adjustable lower limb rehabilitation machinery leg |
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| CN110251371A (en) * | 2019-06-20 | 2019-09-20 | 哈工大机器人（合肥）国际创新研究院 | Mounting rack, method and its lower limb rehabilitation device is adjusted in a kind of lower limb exoskeleton |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108852758A (en) * | 2018-08-02 | 2018-11-23 | 陈熹 | A kind of new-type falling-resistant leg recovery exercising robot |
| CN108852758B (en) * | 2018-08-02 | 2020-09-15 | 李建国 | Prevent falling shank rehabilitation training robot |
| CN109330824A (en) * | 2018-11-28 | 2019-02-15 | 燕山大学 | A kind of height-adjustable lower limb rehabilitation machinery leg |
| CN110063822A (en) * | 2019-04-30 | 2019-07-30 | 上海应用技术大学 | The test macro of artificial limb knee-joint |
| CN110251371A (en) * | 2019-06-20 | 2019-09-20 | 哈工大机器人（合肥）国际创新研究院 | Mounting rack, method and its lower limb rehabilitation device is adjusted in a kind of lower limb exoskeleton |
| CN110370249A (en) * | 2019-07-31 | 2019-10-25 | 深圳职业技术学院 | Wearable robot waist back width adjustment mechanism |
| CN110559163A (en) * | 2019-09-06 | 2019-12-13 | 山东中医药大学附属医院 | Gait walking rehabilitation training device |
| CN110801238A (en) * | 2019-11-20 | 2020-02-18 | 上海交通大学 | Lower limb multi-joint constant-speed training testing device |
| CN113230096A (en) * | 2021-05-11 | 2021-08-10 | 刘延鹏 | Exoskeleton rehabilitation robot |
| CN114129389A (en) * | 2021-12-03 | 2022-03-04 | 山西工程职业学院 | Knee joint osteoarthritis gait monitoring device and analysis method |
| CN114129389B (en) * | 2021-12-03 | 2023-08-29 | 山西工程职业学院 | Gait monitoring device and analysis method for knee osteoarthritis |
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