CN208511801U - Lower limb rehabilitation training assistant robot - Google Patents
Lower limb rehabilitation training assistant robot Download PDFInfo
- Publication number
- CN208511801U CN208511801U CN201820854760.2U CN201820854760U CN208511801U CN 208511801 U CN208511801 U CN 208511801U CN 201820854760 U CN201820854760 U CN 201820854760U CN 208511801 U CN208511801 U CN 208511801U
- Authority
- CN
- China
- Prior art keywords
- swing rod
- lower limb
- rehabilitation training
- spring
- limb rehabilitation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The utility model discloses a kind of lower limb rehabilitation training assistant robots, it is instructed for patient in doctor or household accompanies the autonomous lower limb rehabilitation training of lower progress, horizontal rotation, horizontal hunting and the side rotation for realizing human pelvis achieve the effect that tempering Patients' rights pelvis realizes lower limb balance.The robot is capable of providing kinetic damping, Auxiliary support, avoidance and auxiliary walking, standing balance training, walking muscle-setting exercise and walking three kinds of training methods of dynamic training are provided for patient, and training effect can be passed through man-machine interaction unit real-time display, to select corresponding training method for different rehabilitation Phase patients, rehabilitation training efficiency is improved.
Description
Technical field
The utility model relates to rehabilitation training auxiliary instrument technical fields, more particularly to a kind of lower limb rehabilitation training walk help
Robot.
Background technique
It is also more and more prominent by aging bring lower limb health problem with the intensification of China's aging process.It is old
People is since the decline of physiological function causes the flexibility of lower limb constantly to decline, in addition, because of the various diseases such as spinal cord injury, cerebral apoplexy
Caused by the patient of limb motion sexual dysfunction also dramatically increasing, therefore people more pay attention to lower limb rehabilitation field.
Pelvis is the hinge for connecting trunk, lower limb, studies have shown that tempering the motion control of patient's pelvis to patient's lower extremity movement
The recovery of ability has positive effect, and the ability by tempering raising Patients' rights pelvic movement is ground as lower limb rehabilitation robot
The emphasis studied carefully.
Therefore, how a kind of lower limb rehabilitation training assistant robot to assist pelvic movement is provided, assists patient complete
It is those skilled in the art's technical problem urgently to be resolved at lower limb rehabilitation training.
Utility model content
The purpose of the utility model is to provide a kind of lower limb rehabilitation training assistant robot, instruct for patient in doctor or
Household accompanies the autonomous lower limb rehabilitation training of lower progress, realizes horizontal rotation, horizontal hunting and the side rotation of human pelvis, reaches
To the effect for tempering Patients' rights pelvis realization lower limb balance.
To achieve the above object, the utility model provides following scheme:
The utility model discloses a kind of lower limb rehabilitation training assistant robots, including chassis mobile mechanism, supporting mechanism
With pelvis synkinesia mechanism；The supporting mechanism includes the support rod being set at left and right sides of the chassis mobile mechanism and sets
The column being placed on front side of the chassis mobile mechanism；The pelvis synkinesia mechanism includes balance training arm mechanism, pelvis
Side rotating mechanism and pelvis horizontal rotary mechanism；The balance training arm mechanism includes left side bar, right-hand rod and connection institute
The wing plate of left side bar and the right-hand rod is stated, the company to be connected with safety belt is provided on the left side bar and the right-hand rod
Binding structure；Pelvis side rotating mechanism includes housing, the horizontal axis being set in the housing and the first spring, the horizontal axis
It is horizontally placed in the housing along the longitudinal direction, the rear and front end of the horizontal axis passes through bearing and housing rotation connects
It connects, first spring provides impedance for the rotation of the horizontal axis；The pelvis horizontal rotary mechanism includes the first swing rod, second
The front end of swing rod, second spring and third spring, first swing rod and second swing rod is with the column with vertical side
It is rotatablely connected to for axis, the rear end of first swing rod and second swing rod is with the housing using vertical direction as axis
Rotation connection, first swing rod and second swing rod are arranged in parallel in same level, the both ends of the second spring
Connect respectively with the rear portion of the front of first swing rod and second swing rod, the both ends of the third spring respectively with it is described
The rear portion of first swing rod is connected with the front of second swing rod.
Preferably, further include locked bar, the both ends of the locked bar respectively with the middle part of first swing rod and described
It is fixedly connected in the middle part of two swing rods.
Preferably, the column is straight line mould group, and the front end of first swing rod and second swing rod is connected to described
On the slide of straight line mould group.
It preferably, further include man-machine interaction unit and control unit, the man-machine interaction unit is set to the straight line mould
In group, described control unit is electrically connected with the man-machine interaction unit, and the driving motor of the straight line mould group and the control are single
Member electrical connection.
Preferably, the left side bar and the right-hand rod include longitudinal pipe interconnected and transverse pipe, the longitudinal direction
Pipe is set on rear side of the transverse pipe, and weighing sensor is provided in the transverse pipe, and the weighing sensor is passed by weighing
Sensor mounting base is fixedly connected with the wing plate, and the weighing sensor is electrically connected with the man-machine interaction unit.
Preferably, optical axis is provided in the longitudinal pipe along the longitudinal direction, sliding is provided with linear bearing on the optical axis,
The linear bearing is connected by spherical hinge with the connection structure, and the opposite side of two longitudinal pipes is provided with for the ball
The sliding slot that hinge slides along the longitudinal direction, the front and rear sides of the linear bearing are respectively arranged with the 4th spring and the 5th spring,
Be respectively arranged with pressure sensor on front side of 4th spring and on rear side of the 5th spring, the pressure sensor with it is described
Control unit electrical connection；
The chassis mobile mechanism includes left side brackets, right side bracket and the connection left side brackets and the right side bracket
Front end connection transverse slat, driving wheel and described to drive is provided in the middle part of the left side brackets and the right side bracket
The driving structure of driving wheel, the front end of the chassis mobile mechanism are provided with universal wheel, be provided on rear side of the driving wheel from
Driving wheel, the driving structure are electrically connected with the control unit.
Preferably, the laser to detect rear obstacle is provided on rear side of the left side brackets and the right side bracket
Rangefinder, it is described to connect the laser range finder being provided on transverse slat to detect front obstacle, the laser range finder and institute
State control unit electrical connection.
Preferably, the opposite side of the left side brackets and the right side bracket is provided with the gait to measure gait parameter
Laser range finder, the gait laser range finder are electrically connected with the man-machine interaction unit.
It preferably, further include rotating horizontally encoder and side rotary encoder, first swing rod and second pendulum
The both ends of bar all have the portion of protruding above and lower protrusion, are provided with difference on the slide of the straight line mould group and on the housing
Portion and the matched bearing of lower protrusion are protruded above with described, portion and the lower protrusion of protruding above passes through limit end cap
It is fixed, the positive stop end on the slide, which covers, is provided with the horizontal rotation encoder, compiles with the horizontal rotation
The corresponding positive stop end of code device covers the through-hole being provided with to monitor corner, and the side rotary encoder is set to described
In housing, corner of the side rotary encoder to monitor the horizontal axis, the horizontal rotation encoder and the side
Rotary encoder is electrically connected with the man-machine interaction unit.
Preferably, the upper surface of the housing is provided with left plunger knob and right plunger knob, the left plunger knob and
The lower end of the right plunger knob rotates angle to limit the side of the left side bar and the right-hand rod respectively.
The utility model achieves following technical effect compared with the existing technology:
Lower limb rehabilitation training assistant robot provided by the utility model, for patient in the case where doctor instructs or household accompanies
Autonomous lower limb rehabilitation training is carried out, horizontal rotation, horizontal hunting and the side rotation of human pelvis is realized, reaches and temper patient
The effect that pelvis realizes lower limb balance is controlled, training process is conveniently, safely.The robot is capable of providing kinetic damping, auxiliary branch
Support, avoidance and auxiliary walking provide standing balance training, walking muscle-setting exercise and walking three kinds of training of dynamic training for patient
Mode, and can be by training effect by man-machine interaction unit real-time display, thus corresponding for different rehabilitation Phase patients selection
Training method, improve rehabilitation training efficiency.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model
Some embodiments for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other attached drawings.
Fig. 1 is lower limb rehabilitation training assistant robot axonometric drawing provided by the utility model；
Fig. 2 is lower limb rehabilitation training assistant robot rearview provided by the utility model；
Fig. 3 is lower limb rehabilitation training assistant robot left view provided by the utility model；
Fig. 4 is lower limb rehabilitation training assistant robot provided by the utility model chassis mobile mechanism shaft side figure；
Fig. 5 is lower limb rehabilitation training assistant robot provided by the utility model chassis moving mechanism section cross-sectional view；
Fig. 6 is lower limb rehabilitation training assistant robot column shaft side figure provided by the utility model；
Fig. 7 is lower limb rehabilitation training assistant robot column cross-sectional view provided by the utility model；
Fig. 8 is lower limb rehabilitation training assistant robot balance training arm mechanism shaft side figure provided by the utility model；
Fig. 9 is lower limb rehabilitation training assistant robot balance training arm mechanism top view provided by the utility model；
Figure 10 is one visual angle of lower limb rehabilitation training assistant robot balance training arm mechanism provided by the utility model
Partial sectional view；
Figure 11 is another view of lower limb rehabilitation training assistant robot balance training arm mechanism provided by the utility model
The partial sectional view at angle；
In figure: 1- man-machine interaction unit, 2- bracket, 3- bend pipe, 4- column cap, 5- tank chain, 6- control unit housing,
7- laser range finder, 8- right support bar, 9- switch, 10- indigo plant wave switch, the storage of 11- semicircular ring, 12- scram button, 13- cable
Box, 14- pedestal, 15- laser range finder housing, 16- left side brackets, the second package board of 17-, 18- driving wheel housing, 19- connection
Transverse slat, 20- bracket for laser range finder, 21- universal wheel, the extended segment 22-, bracket on the right side of 23-, 24- driving wheel, 25- support spring,
26- steel bushing, 27- sleeve, 28- stepper motor, 29- speed reducer, 30- right angle reductor, 31- lithium battery, 32- deck, the left branch of 33-
Strut, 34- attachment base, 35- slide, 36- straight line mould group, 37- retarder, 38- driving motor, 39- connection structure, the inside 40-
Second package board, 41- cover board, 42- spherical hinge, housing, 44- mounting base, 45- abnormity bend pipe, 46-90 degree bend pipe connect on the outside of 43-
Head, 47- transverse pipe, 48- rotate horizontally encoder, 49- foam-rubber cushion, 50- housing, 51- weighing sensor mounting base, 52- plunger
Knob, 53- lifting bolt, 54- limit end cap, 55- knob, the first swing rod of 56-, 57- second spring, 58- third spring, 59-
Locked bar, 60- gasket, the second swing rod of 61-, 62- pressure sensor, the 5th spring of 63-, 64- linear bearing, the 4th spring of 65-,
66- optical axis, the shaft end 67-, the side 68- rotary encoder, 69- horizontal axis, 70- wing plate, 71- weighing sensor, the first spring of 72-.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
The lower limb rehabilitation training assistant robot that the purpose of the utility model is to provide a kind of to assist pelvic movement, association
Patient is helped to complete lower limb rehabilitation training.
To keep the above objects, features, and advantages of the utility model more obvious and easy to understand, with reference to the accompanying drawing and have
Body embodiment is described in further detail the utility model.
As shown in figs. 1-11, the present embodiment provides a kind of lower limb rehabilitation training assistant robot, including chassis mobile mechanism,
Supporting mechanism and pelvis synkinesia mechanism.
Supporting mechanism includes before being set to the support rod at left and right sides of the mobile mechanism of chassis and being set to chassis mobile mechanism
The column of side, wherein support rod includes left support bar 33 and right support bar 8, for carrying out the protection of the left and right sides, and as hand
It slaps grip structure and provides support for patient；Column is to fixed pelvis synkinesia mechanism.
Pelvis synkinesia mechanism includes that balance training arm mechanism, pelvis side rotating mechanism and pelvis rotate horizontally machine
Structure, wherein balance training arm mechanism is to be connected to human body waist two sides by safety belt, when human pelvis carries out horizontal rotation
When turning with side rotation, passes through safety belt and balance training arm mechanism drives pelvis horizontal rotary mechanism and pelvis side to rotate
Mechanism action, pelvis horizontal rotary mechanism and pelvis side rotating mechanism provide damping force, to carry out rehabilitation training.
Balance training arm mechanism includes the wing plate 70 of left side bar, right-hand rod and connection left side bar and right-hand rod, left side bar
With the connection structure 39 to be connected with safety belt is provided on right-hand rod.
Further, left side bar and right-hand rod include longitudinal pipe interconnected and transverse pipe 47, and longitudinal pipe is set to
47 rear side of transverse pipe, longitudinal pipe are connected with transverse pipe 47 by 90 degree of union elbows 46.Longitudinal pipe includes and 90 degree of union elbows
46 connected special-shaped bend pipes 45 and the longitudinal tail pipe being connected with special-shaped bend pipe 45, the rear end of special-shaped bend pipe 45 are higher than front end, abnormity
Bend pipe 45 is connected with longitudinal tail pipe by mounting base 44.
Pelvis side rotating mechanism includes housing 50, the horizontal axis being set in housing 50 69 and the first spring 72, horizontal axis 69
It being horizontally placed in housing 50 along the longitudinal direction, the rear and front end of horizontal axis 69 passes through bearing and housing 50 is rotatablely connected, and first
Spring 72 provides impedance for the rotation of horizontal axis 69.
Further, the first spring 72 is deformed spring, and one end of the first spring 72 is fixed on housing 50, the first spring
72 other end is fixed on horizontal axis 69, and when horizontal axis 69 and housing 50 relatively rotate, the first spring 72 will generate damping
Power.
Pelvis horizontal rotary mechanism include the first swing rod 56, the second swing rod 61, second spring 57 and third spring 58, first
The front end of swing rod 56 and the second swing rod 61 is rotatablely connected with column by axis of vertical direction, the first swing rod 56 and the second swing rod
61 rear end is rotatablely connected with housing 50 by axis of vertical direction, and the first swing rod 56 and the second swing rod 61 are in same level
On be arranged in parallel, the both ends of second spring 57 are connect with the rear portion of the front of the first swing rod 56 and the second swing rod 61 respectively, third
The both ends of spring 58 are connect with the front at the rear portion of the first swing rod 56 and the second swing rod 61 respectively.When pelvis carries out horizontal rotation instruction
When practicing, the first swing rod 56, the second swing rod 61, housing 50 and column form parallelogram mechanism.In the first swing rod 56 and second
When swing rod 61 is swung, the distance between the front of the first swing rod 56 and the rear portion of the second swing rod 61 will change, the first swing rod 56
Rear portion and the second swing rod 61 front between distance opposite variation will occur, to drive second spring 57 and third spring
58 generate deformation, provide damping force for pelvis horizontal rotation.
Further, in order to reduce frictional force, the rotating manner of the front-end and back-end of the first swing rod 56 and the second swing rod 61
To be rotatablely connected by bearing.
In order to limit the swing of the first swing rod 56 and the second swing rod 61, the present embodiment is additionally provided with locked bar 59, locked bar
59 both ends are fixedly connected with the middle part at the middle part of the first swing rod 56 and the second swing rod 61 respectively.
Further, 59 one end of locked bar is fixed on the second swing rod 61 by hexagon socket head cap screw and gasket 60, locked bar
59 other ends connect knob 55, and 55 bottom of knob heads into the groove on the first swing rod 56.When screwing hexagon socket head cap screw and knob
After 55, the first swing rod 56 and the second swing rod 61 are locked, and can not be rotated.
To prevent the pelvis for influencing patient because of leg power deficiency from resuming training progress, the present embodiment sets straight for column
The front end of line mould group 36, the first swing rod 56 and the second swing rod 61 is connected on the slide 35 of straight line mould group 36, can be adjusted as needed
The vertical height of whole slide 35, and then adjustable support force is provided for patient.
Further, straight line mould group 36 is that KK6005 goes up and down mould group, including driving motor 38 and the transmission of driving motor 38 connect
The retarder 37 that connects, the lead screw being sequentially connected with retarder 37 and the slide 35 being connect with threads of lead screw.Driving motor 38 is straight
The bottom of flow servo motor, straight line mould group 36 is pedestal 14, and driving motor 38 is fixed on pedestal 14, and pedestal 14 is fixed on chassis
In mobile mechanism.
In order to keep the elevating control of pedestal 14 more convenient, the present embodiment is additionally provided with man-machine interaction unit 1 and control unit,
Man-machine interaction unit 1 is set in straight line mould group 36, and control unit is electrically connected with man-machine interaction unit 1, the drive of straight line mould group 36
Dynamic motor 38 is electrically connected with control unit.
Further, man-machine interaction unit 1 is tablet computer, and man-machine interaction unit 1 is fixed on straight line mould group by bracket 2
36 tops.Control unit is set in the mobile mechanism of chassis, is provided with control unit housing 6, control unit on the outside of control unit
Housing 6 is fixed in the mobile mechanism of chassis, to protect control unit.It is provided on control unit housing 6 for straight line mould group 36
The through-hole passed through, pedestal 14 are fixed in the mobile mechanism of chassis and the through-hole corresponding position.The top of straight line mould group 36 is arranged
There are the bend pipe 3 passed through for cable and the cable storage box 13 to accommodate cable, the part cable in control unit passes through bend pipe 3
It is connected with cable storage box 13 with man-machine interaction unit 1, to realize that signal transmits.It is provided with tank chain 5 on front side of straight line mould group 36,
It is provided with column cap 4 on front side of tank chain 5, to protect cable, avoids cable exposed outside.On control unit housing 6 also
It is provided with switch 9 and red blue wave switch 10, the display of switch and power supply state for controlling robot.
In order to improve the intelligence and automation that slide 35 highly adjusts, the present embodiment is provided with weighing in transverse pipe 47
Sensor 71, weighing sensor 71 are fixedly connected by weighing sensor mounting base 51 with wing plate 70, weighing sensor 71 and people
Machine interactive unit 1 is electrically connected.Weighing sensor 71 can be by the Auxiliary support power sensed (i.e. patient be applied to device pressure)
Data are transferred to man-machine interaction unit 1, are shown by man-machine interaction unit 1, and patient passes through human-computer interaction list after reading data
Member 1 changes the position of slide 35；Can also be previously stored in controller and control program, when weighing sensor 71 sense it is auxiliary
After helping support force to reach a certain setting value, automatic lifting slide 35.
Further, two groups of bolts hole are set in weighing sensor mounting base 51, and two groups of bolts hole can be solid by bolt
Surely wing plate 70 is connected, for adapting to the patient of different figures, adjusts the distance between left side bar and right-hand rod.
Above-mentioned straight line mould group 36 can only provide the support force of vertical direction when patient walks, in order to further assist suffering from
Advance, retrogressing and the go to action of person, what the advance, retrogressing and steering that the present embodiment is correspondingly provided with to incude patient were intended to
Induction structure and the driving structure to complete auxiliary movement.
Specifically, the present embodiment is provided with optical axis 66 along the longitudinal direction in longitudinal tail pipe, slides and be provided on optical axis 66
Linear bearing 64, linear bearing 64 are connected by spherical hinge 42 with connection structure 39, and the opposite side of two longitudinal pipes is provided with confession
The sliding slot that spherical hinge 42 slides along the longitudinal direction, the front and rear sides of linear bearing 64 are respectively arranged with the 4th spring 65 and the 5th bullet
The rear side of spring 63,65 front side of the 4th spring and the 5th spring 63 is respectively arranged with pressure sensor 62, pressure sensor 62 and control
Unit electrical connection processed.The spring pressure that pressure sensor 62 is sensed is transferred to control unit, by control unit to patient
Movement intention judged, and control the driving structure that is set in the mobile mechanism of chassis and complete auxiliary movement.If linear axis
The 4th spring 65 and the 5th spring 63 are natural length when holding 64 in equilbrium position, then when the 4th spring 65 in left side and the right side
Patient is intended to turn right when the 5th 63 pressure-bearing of spring of side；Suffer from when the 4th 65 pressure-bearing of spring on the 5th spring 63 in left side and right side
Person is intended to turn left；When the 4th 65 pressure-bearing of spring of two sides, patient is intended to advance；The patient when the 5th 63 pressure-bearing of spring of two sides
It is intended to retreat.
Further, which is metal spigot, is connected to the end with safety belt.Longitudinal tail pipe is by outside
Housing 43, the first package board of inside, the second package board of inside 40 and cover board 41 are assembled, in order to longitudinal tail pipe internal structure
Assembly.Two the second package boards 40 of inside are located at the front and rear sides of the first package board of inside, for spherical hinge 42 along front and back
The sliding slot of direction sliding is set in the first package board of inside, and cover board 41 is set to the rear end of longitudinal tail pipe.
Specifically, chassis mobile mechanism includes left side brackets 16, right side bracket 23 and connection 16 front end of left side brackets and the right side
The middle part of the connection transverse slat 19 of 23 front end of side stand, left side brackets 16 and right side bracket 23 is provided with driving wheel 24 and to drive
The driving structure of dynamic driving wheel 24, the front end of chassis mobile mechanism are provided with universal wheel 21, the rear side of driving wheel 24 be provided with from
Driving wheel, driving structure are electrically connected with control unit.By the way that driving wheel 24 is set to centre, universal wheel 21 is set in front side,
Driven wheel is arranged in rear side, stationarity can be improved, preventing chassis mobile mechanism, two sides are toppled forwards, backwards.
Further, left side brackets 16 and right side bracket 23 are rectangle steel, the phase of left side brackets 16 and right side bracket 23
Opposite side is provided with the sealing plate being detachably connected, in order to which driving structure to be assembled in rectangle steel.Driving structure includes successively passing
Stepper motor 28, speed reducer 29 and the right angle reductor 30 of dynamic connection, right angle reductor 30 drive driving wheel 24 to rotate.Left side branch
It is additionally provided with lithium battery 31 in frame 16 and right side bracket 23, to provide power for driving structure.Driving wheel 24 is rubber wheel, main
Driving wheel housing 18 is provided on the outside of driving wheel 24.
Further, the front end of left side brackets 16 and right side bracket 23 all has extended segment 22, and connection transverse slat 19 is fixed on
On extended segment 22.Universal wheel 21 is fixed on extended segment 22 by sleeve 27 and steel bushing 26, universal wheel 21 and extended segment 22 it
Between support spring 25 is installed, support spring 25 has buffer function, to improve the operation stability of robot.
The movement that above structure can incude patient is intended to and assists execution, but cannot be timely when facing barrier
Stop motion.Therefore, in order to improve safety, the present embodiment the rear side of left side brackets 16 and right side bracket 23 be provided with to
The laser range finder 7 for detecting rear obstacle is provided with the laser ranging to detect front obstacle on connection transverse slat 19
Instrument 7, laser range finder 7 are electrically connected with control unit.When chassis mobile mechanism moves towards barrier, and chassis mobile mechanism
With when being less than safe distance at a distance from barrier, control unit will stop the movement of driving structure immediately.
Further, in order to protect to laser range finder 7, the rear end of left side brackets 16 and right side bracket 23 is provided with
Laser range finder housing 15, the laser range finder 7 to detect rear obstacle are set in laser range finder housing 15.To
The laser range finder 7 of detection front obstacle is set in control unit housing 6, and is fixed on by bracket for laser range finder 20
It connects on transverse slat 19.
In order to understand patient's lower limb rehabilitation situation in time in rehabilitation training, the present embodiment is in left side brackets 16 and the right side
The opposite side of side stand 23 is provided with the gait laser range finder to measure gait parameter, gait laser range finder and man-machine friendship
Mutual unit 1 is electrically connected, gait parameter can on man-machine interaction unit 1 real-time display.
Meanwhile in order to understand the horizontal rotation ability of patient's pelvis and side rotatory power in time, the present embodiment is in slide
It is provided on limit end cap 54 on 35 and rotates horizontally encoder 48, on limit end cap 54 corresponding with encoder 48 is rotated horizontally
It is provided with the through-hole to monitor 61 corner of the first swing rod 56 or the second swing rod, side rotary encoder 68 is set to housing 50
Interior, corner of the side rotary encoder 68 to monitor horizontal axis 69, rotates horizontally encoder 48 and side rotary encoder 68 is equal
It is electrically connected with man-machine interaction unit 1.
It is assessed, is had by the horizontal rotation ability and side rotatory power of gait parameter, patient's pelvis to patient
Conducive to further rehabilitation.
Further, the present embodiment is provided with plunger knob 52, including left plunger knob and the right side in the upper surface of housing 50
The lower end of plunger knob, left plunger knob and right plunger knob is rotated to limit the maximum side of left side bar and right-hand rod respectively
Angle, to carry out incremental exercise according to the actual body situation of patient.
User security is protected in patient's body hypsokinesis when carrying out rehabilitation training in order to prevent, and the present embodiment is on housing 50
It is provided with lifting bolt 53, lifting bolt 53 is connected by rope with patient above the waist.Meanwhile patient is being moved through in order to prevent
Bump against in journey with housing 50, the present embodiment is provided with foam-rubber cushion 49 in 50 rear end of housing.
In order to improve integrally-built stability, the lower end of two support rods passes through deck 32 respectively and is fixed on left side brackets
16 and right side bracket 23 on, the upper ends of two support rods is connected by attachment base 34, and attachment base 34 is fixed in straight line mould group 36,
Semicircular ring 11 is provided on attachment base 34, semicircular ring 11 is fixedly connected with bracket 2, so that the upper end of support rod and column be made to fix
Together.Scram button 12 is provided on support rod, scram button 12 is electrically connected with control unit, guarantees in case of emergency
Quickly stop, guaranteeing user security.
Above-mentioned first spring 72, second spring 57, third spring 58, the 4th spring 65 and the 5th spring 63 are offset from by position
The distance set is remoter, provides that impedance is also bigger, and then the horizontal hunting of Patients' rights pelvis can be helped to find equalization point, bullet
Property coefficient can be selected according to actual needs.
Patient carry out rehabilitation training when, can by man-machine interaction unit 1 select training mode, including standing balance training,
Walking muscle-setting exercise and walking dynamic training.In the training process, patient or entourage can be real by man-machine interaction unit 1
When check gait parameter and motion profile in patient's training process, after training, patient and medical staff can be according to man-machine
The training effect shown in interactive unit 1 carries out the rehabilitation training of next step.
When patient carries out standing balance training, the driving structure in the mobile mechanism of chassis does not work, and universal wheel 21 locks,
Robot remains static relative to ground, and patient's waist is connected on balance training arm mechanism by safety belt, patient
Three kinds of motion controls balance arm of waist pelvis does corresponding movement.The impedance that balance training arm mechanism provides helps patient
Equilbrium position is found, when the distance that patient deviates equalization point is remoter, the impedance provided is bigger, and patient is then compared with malleable midstance
To reach standing balance.Meanwhile left plunger knob, right plunger knob and 59 limiting balance of locked bar training arm mechanism can be passed through
Movement in corresponding freedom degree changes the complexity of training according to Rehabilitation state.By controlling straight line mould group 36, knot
Conjunction weighing sensor 71 and control unit regulation machine are supplied to service hoisting power when patient stand, and ascending amount is more, patient
It will be easier to carry out standing, to step up the balance control ability of patient.
After patient obtains certain rehabilitation efficacy, walking muscle-setting exercise can be carried out.At this point, at balance training arm mechanism
In stationary state, 21 activity of universal wheel, driving structure is in running order, and driving robot advances.Patient can voluntarily manipulate machine
Device people walking, the walking of patient are intended to pass to control unit by the pressure sensor 62 in longitudinal tail pipe, and control signal will
It controls two driving structures and drives two synchronous rotations of driving wheels 24 or differential rotation, robot will be kept straight on accordingly or be turned
It is curved.In addition, the movement of robot can also be controlled by medical staff, patient is assisted to walk static instruction by machine
Practice, steps up the free walking ability of patient.
When patient carries out walking dynamic training, balance training arm mechanism and universal wheel 21 are in active state, drive
Dynamic arrangement works.Patient will not only control balance training arm mechanism and find equalization point when using machine, while still need to carry out
The Walking of lower limb.
It should be noted that above-mentioned three kinds of training methods carry out game training in combination with VR technology, patient's training is being promoted
Rehabilitation efficacy is improved while interest.
It applies specific case in this specification to be expounded the principles of the present invention and embodiment, the above reality
The explanation for applying example is merely used to help understand the method and its core concept of the utility model；Meanwhile for the general of this field
Technical staff, based on the idea of the present invention, there will be changes in the specific implementation manner and application range.To sum up institute
It states, the content of the present specification should not be construed as a limitation of the present invention.
Claims (10)
1. a kind of lower limb rehabilitation training assistant robot, which is characterized in that auxiliary including chassis mobile mechanism, supporting mechanism and pelvis
Help movement mechanism；The supporting mechanism includes the support rod being set at left and right sides of the chassis mobile mechanism and is set to described
Column on front side of the mobile mechanism of chassis；The pelvis synkinesia mechanism includes balance training arm mechanism, the rotation of pelvis side
Mechanism and pelvis horizontal rotary mechanism；The balance training arm mechanism includes left side bar, right-hand rod and the connection left side bar
With the wing plate of the right-hand rod, the connection structure to be connected with safety belt is provided on the left side bar and the right-hand rod；
Pelvis side rotating mechanism includes housing, the horizontal axis being set in the housing and the first spring, and the horizontal axis is along front and back
Direction is horizontally placed in the housing, and the rear and front end of the horizontal axis passes through bearing and the housing is rotatablely connected, described
First spring provides impedance for the rotation of the horizontal axis；The pelvis horizontal rotary mechanism includes the first swing rod, the second swing rod, the
The front end of two springs and third spring, first swing rod and second swing rod is with the column using vertical direction as axis
The rear end of rotation connection, first swing rod and second swing rod, which is rotated using vertical direction as axis with the housing, to be connected
Connect, first swing rod and second swing rod are arranged in parallel in same level, the both ends of the second spring respectively with
The front of first swing rod is connected with the rear portion of second swing rod, and the both ends of the third spring are put with described first respectively
The rear portion of bar is connected with the front of second swing rod.
2. lower limb rehabilitation training assistant robot according to claim 1, which is characterized in that it further include locked bar, it is described
The both ends of locked bar are fixedly connected in the middle part of the middle part of first swing rod and second swing rod respectively.
3. lower limb rehabilitation training assistant robot according to claim 1, which is characterized in that the column is straight line mould
The front end of group, first swing rod and second swing rod is connected on the slide of the straight line mould group.
4. lower limb rehabilitation training assistant robot according to claim 3, which is characterized in that further include man-machine interaction unit
And control unit, the man-machine interaction unit are set in the straight line mould group, described control unit and the human-computer interaction list
Member electrical connection, the driving motor of the straight line mould group are electrically connected with the control unit.
5. lower limb rehabilitation training assistant robot according to claim 4, which is characterized in that the left side bar and the right side
Side lever includes longitudinal pipe interconnected and transverse pipe, and the longitudinal pipe is set on rear side of the transverse pipe, the transverse pipe
It is inside provided with weighing sensor, the weighing sensor is fixedly connected by weighing sensor mounting base with the wing plate, described
Weighing sensor is electrically connected with the man-machine interaction unit.
6. lower limb rehabilitation training assistant robot according to claim 5, which is characterized in that along front and back in the longitudinal pipe
Direction is provided with optical axis, and sliding is provided with linear bearing on the optical axis, and the linear bearing passes through spherical hinge and the connection
Structure is connected, and the opposite side of two longitudinal pipes is provided with the sliding slot slided along the longitudinal direction for the spherical hinge, described straight
The front and rear sides that spool is held are respectively arranged with the 4th spring and the 5th spring, the 4th spring front side and the 5th spring
Rear side is respectively arranged with pressure sensor, and the pressure sensor is electrically connected with the control unit；
Before the chassis mobile mechanism includes left side brackets, right side bracket and connects the left side brackets and the right side bracket
Driving wheel is provided in the middle part of the connection transverse slat at end, the left side brackets and the right side bracket and to drive the active
The driving structure of wheel, the front end of the chassis mobile mechanism are provided with universal wheel, are provided with driven wheel on rear side of the driving wheel,
The driving structure is electrically connected with the control unit.
7. lower limb rehabilitation training assistant robot according to claim 6, which is characterized in that left side brackets and described
It is provided with the laser range finder to detect rear obstacle on rear side of the bracket of right side, is provided on the connection transverse slat to visit
The laser range finder of front obstacle is surveyed, the laser range finder is electrically connected with the control unit.
8. lower limb rehabilitation training assistant robot according to claim 6, which is characterized in that left side brackets and described
The opposite side of right side bracket is provided with the gait laser range finder to measure gait parameter, the gait laser range finder and institute
State man-machine interaction unit electrical connection.
9. lower limb rehabilitation training assistant robot according to claim 4, which is characterized in that further include rotating horizontally coding
The both ends of device and side rotary encoder, first swing rod and second swing rod all have the portion of protruding above and lower protrusion,
It is provided on the slide of the straight line mould group and on the housing and protrudes above portion and the lower protrusion matches with described respectively
Bearing, it is described protrude above portion and the lower protrusion by limit end cap be fixed, the positive stop end on the slide
It covers and is provided with the horizontal rotation encoder, it is useful that the positive stop end corresponding with the horizontal rotation encoder covers setting
To monitor the through-hole of corner, the side rotary encoder is set in the housing, and the side rotary encoder is to supervise
The corner of the horizontal axis is surveyed, the horizontal rotation encoder and the side rotary encoder are electric with the man-machine interaction unit
Connection.
10. lower limb rehabilitation training assistant robot according to claim 4, which is characterized in that the upper surface of the housing
It is provided with left plunger knob and right plunger knob, the lower end of the left plunger knob and the right plunger knob is respectively to limit
The side of the left side bar and the right-hand rod rotates angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820854760.2U CN208511801U (en) | 2018-06-04 | 2018-06-04 | Lower limb rehabilitation training assistant robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820854760.2U CN208511801U (en) | 2018-06-04 | 2018-06-04 | Lower limb rehabilitation training assistant robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208511801U true CN208511801U (en) | 2019-02-19 |
Family
ID=65339186
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820854760.2U Active CN208511801U (en) | 2018-06-04 | 2018-06-04 | Lower limb rehabilitation training assistant robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208511801U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110013648A (en) * | 2019-05-14 | 2019-07-16 | 上海大学 | A kind of man-machine interactive system and method for lower limbs rehabilitation training robot |
| CN111013084A (en) * | 2019-12-26 | 2020-04-17 | 上海金矢机器人科技有限公司 | Spring damping system for pelvic rehabilitation training |
-
2018
- 2018-06-04 CN CN201820854760.2U patent/CN208511801U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110013648A (en) * | 2019-05-14 | 2019-07-16 | 上海大学 | A kind of man-machine interactive system and method for lower limbs rehabilitation training robot |
| CN111013084A (en) * | 2019-12-26 | 2020-04-17 | 上海金矢机器人科技有限公司 | Spring damping system for pelvic rehabilitation training |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108744416A (en) | Lower limb rehabilitation training assistant robot | |
| US7544172B2 (en) | Walking and balance exercise device | |
| CN107537136B (en) | A kind of rehabilitation training device and method | |
| CN103934823B (en) | A kind of 6-PTRT type parallel robot with self calibrating function | |
| US6689075B2 (en) | Powered gait orthosis and method of utilizing same | |
| US9907721B2 (en) | Control system and device for patient assist | |
| CN105476821B (en) | Wire driven robot six-freedom parallel convalescence device | |
| CN107149539B (en) | Lower limb rehabilitation walking-aid robot supporting omnidirectional movement and control method | |
| CN208511801U (en) | Lower limb rehabilitation training assistant robot | |
| CN110812130B (en) | Pelvic auxiliary walking rehabilitation training robot | |
| CN105832496A (en) | Novel lower extremity exoskeleton rehabilitation training device and training method | |
| CN107224385A (en) | Active/passive both arms upper limb rehabilitation robot | |
| CN107874984A (en) | The rehabilitation of multifunctional lower limb gait improves with walking machine device apparatus structure | |
| CN209092068U (en) | A kind of upper limb comprehensive assessment and recovery exercising robot | |
| CN101590311B (en) | Rehabilitation robot | |
| CN2558375Y (en) | Lower extremity recovery training robot | |
| CN111449913A (en) | Lower limb rehabilitation training device and double-foot end actuator thereof | |
| CN110974633A (en) | Intelligent walking aid rehabilitation training robot | |
| CN104921905A (en) | Gait rehabilitation training device | |
| CN1875904A (en) | Partial weight-reducing support device with gravity center adjustment function | |
| CN211382530U (en) | Intelligent walking aid rehabilitation training robot | |
| CN113442114A (en) | Waist assistance exoskeleton and control method thereof | |
| CN110890148B (en) | Safety protection system and method based on rehabilitation training device | |
| CN209048607U (en) | A kind of lower limbs rehabilitation training robot with overturning-preventing function | |
| CN110368268A (en) | A kind of walk supporting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |