CN208573973U - Lower limb rehabilitation robot - Google Patents

Lower limb rehabilitation robot Download PDF

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Publication number
CN208573973U
CN208573973U CN201721641108.4U CN201721641108U CN208573973U CN 208573973 U CN208573973 U CN 208573973U CN 201721641108 U CN201721641108 U CN 201721641108U CN 208573973 U CN208573973 U CN 208573973U
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China
Prior art keywords
mounting plate
pedipulator
connect
skeleton
push rod
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CN201721641108.4U
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Chinese (zh)
Inventor
欧勇军
刘军
贺浩
颜丰华
李文山
丛明磊
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Hunan Miaoshou Robot Co Ltd
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Hunan Miaoshou Robot Co Ltd
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Abstract

The utility model provides a kind of lower limb rehabilitation robot, including rack, promotion loss of weight mechanism, pedipulator mobile mechanism, pedipulator movement mechanism, treadmill and treadmill elevating mechanism;Rack includes rack bottom frame, the support column that rack one end is arranged in, the support rail being arranged between support column and the support vertical pole being arranged in the middle part of support rail;Support vertical pole bottom is fixed on the horizontal frame of rack bottom frame;Treadmill is provided in rack bottom frame, treadmill lifting structure is arranged on the bottom plate of treadmill;Loss of weight mechanism is promoted to be arranged in support column side;Intermediate support rail side is arranged in pedipulator mobile mechanism, and both ends are fixed on the support columns by moving structure mounting plate;Pedipulator movement mechanism is arranged on the pedipulator mounting plate of pedipulator mobile mechanism.The robot of the utility model, the leg that can effectively adjust pedipulator is long, and can be adjusted according to the body width of patient keeps gait simulation more accurate, and structure is small and exquisite safely, and complete machine height maximumlly reduces.

Description

Lower limb rehabilitation robot
Technical field
The utility model belongs to technical field of medical rehabilitation machinery, and in particular to a kind of lower limb rehabilitation robot.
Background technique
Rehabilitation is the new treatment subject and a Men Xin for promoting to hurt patient and disabled person's body and mind functional rehabilitation Technology specialty.Its purpose is to enable people to recovery daily life, study, work or physical labor as much as possible, and society The ability of life, is socially reintegrated, quality of making the life better.
The practice of patient completion leg and trunk is generally assisted in traditional rehabilitation training by the medical worker of several professions.Or Diseased joints or muscle by nursing staff with hand to paresis patient are massaged, i.e., one-to-one rehabilitation, medical care people Member's not only large labor intensity, it is costly, and it is difficult to ensure that stablize duration training.Some lower limb are had been devised by present Healing robot mainly includes standing posture lower limb rehabilitation robot and sitting and lying formula lower limb rehabilitation robot.Number of patent application is 201210225997.1 utility model patent " sitting and lying formula lower limb rehabilitation robot ", including seat, mechanical arm, main industrial control box, Human-computer interaction interface, electro photoluminescence hand switch and electrode slice, electromyographic signal collection electrode slice, function sexual stimulus and electromyography signal are adopted Collect industrial control box, is one kind by specific seat, lower limb being driven to carry out by the mechanical arm above seat patient setup Rehabilitation training, but cannot achieve stand-type training and lack waist head, waist is born when training larger.Patent application A kind of number utility model patent " walk help lower limb of exoskeleton robot " for being 201510311272.8, is that a kind of combination intersects four The bio-mechanism of link mechanism design, meets human body knee joint physiological movement feature, can be improved the safety in utilization of ectoskeleton And wearing comfort, but only one piece of knee joint and it is mainly used for walk help, entire lower limb rehabilitation can not be coordinated.
Lower limbs rehabilitation training robot structure is more single at present, and existing lower limbs rehabilitation training robot requires patient By itself strength carry out standing, and for the patient in different rehabilitation stages, the especially patient at initial stage in rehabilitation stage and Speech, it is difficult to control itself standing balance and be easy to fall down and cause secondary injury;Waist and lower extremity movement are coordinated in rehabilitation training Not enough, it cannot achieve the comprehensive rehabilitation of lower limb.
Utility model content
In view of the deficiencies of the prior art, the utility model provides a kind of lower limb rehabilitation robot, it is intended to make the lower limb of patient Comprehensive rehabilitation training is carried out, stability training is effectively ensured, patient is avoided to occur when carrying out rehabilitation exercise unexpectedly Secondary injury.
In order to solve the above technical problems, on the one hand, the utility model provides a kind of lower limb rehabilitation robot, including rack, Promote loss of weight mechanism, pedipulator mobile mechanism, pedipulator movement mechanism, treadmill and treadmill elevating mechanism;
The rack includes rack bottom frame, the support column that rack one end is arranged in, the support being arranged between support column cross Bar and the support vertical pole being arranged in the middle part of support rail;The support vertical pole bottom is fixed on the horizontal frame of rack bottom frame;
Treadmill is provided in the rack bottom frame, the treadmill lifting structure is arranged on the bottom plate of treadmill;
The promotion loss of weight mechanism is arranged in support column side;
Intermediate support rail side is arranged in the pedipulator mobile mechanism, and both ends are fixed by moving structure mounting plate On the support columns;
The pedipulator movement mechanism is arranged on the pedipulator mounting plate of pedipulator mobile mechanism.
Further, the treadmill lifting structure includes running machine supporting plate, elevating screw, lifting nut mounting plate, rises Feed screw nut, motor mounting plate, lifting motor and fixed plate drop;Described elevating screw one end is fixed on running machine supporting plate, separately One end is fixedly connected with motor mounting plate;The elevating screw nut is mounted in fixed plate;The elevating screw is through lifting The center of feed screw nut and lifting nut mounting plate;The fixed plate is arranged on the rack.
Further, the promotion loss of weight mechanism includes lifting guide pillar, lifting support, industrial push rod, preceding pivoted arm, rear turn Arm, dynamometry loss of weight mechanism and sunpender;
The lifting support setting is on lifting guide pillar top and can stretch above and below OQ t guide post;
Described industry push rod one end is arranged in lifting guide pillar, and the other end is mounted on pivoted arm mounting plate;
The pivoted arm mounting plate is arranged on lifting support, and pivoted arm push rod mounting base is provided on the pivoted arm mounting plate, The preceding pivoted arm is connect by preceding pivoted arm push rod with pivoted arm push rod mounting base;
Pivoted arm is connect by rear pivoted arm push rod with preceding pivoted arm after described;
Pivoted arm front end is connect with dynamometry loss of weight mechanism after described;
Dynamometry loss of weight mechanism is connect by hanger rod connecting piece with sunpender.
Further, dynamometry loss of weight mechanism includes sequentially connected tension dynamometer and loss of weight spring part, described Pivoted arm is connect by tension dynamometer connector with tension dynamometer afterwards;The loss of weight spring part passes through hanger rod connecting piece and sunpender Connection.
Further, the promotion loss of weight mechanism is fixed in rack bottom frame by going up and down column base plate connecting plate, passes through liter Drop column side plate connecting plate is fixed on rack support column.
Further, the pedipulator mobile mechanism includes moving left and right guide rod, moving left and right sliding block, move left and right and push away Bar moves up and down guide rod, moves up and down sliding block and moves up and down push rod;
It is described move left and right guide rod both ends and be connected to move up and down on sliding block mounting plate, and through moving left and right sliding block;
The sliding block that moves left and right is connect with pedipulator mounting plate;
The push rod that moves left and right is connect by moving left and right push rod connecting plate with pedipulator mounting plate;
The guide rod both ends that move up and down are fixedly connected on the casting lug thereon of moving structure mounting plate inner side edge;
The sliding block that moves up and down is through moving up and down guide rod;
The push rod that moves up and down is connect by moving up and down sliding block mounting plate with sliding block is moved up and down.
Further, the pedipulator movement mechanism include sole fixed frame, ankle-joint skeleton block, the first joint motor, Shank telescopic putter, knee joint skeleton block, second joint motor, thigh telescopic putter, hip joint skeleton block and third joint electricity Machine;
The sole fixed frame is connect with ankle-joint skeleton block;
The ankle-joint skeleton block is connect by the first joint motor with the first skeleton mounting plate;The first skeleton installation Plate side is connect by shank telescopic putter with knee joint skeleton block;The first skeleton mounting plate other side passes through the first skeleton Sliding block is connect through the first joint guide rod of the first skeleton sliding block with knee joint skeleton block;The knee joint skeleton block passes through the Two joint motors are connect with the second skeleton mounting plate;The second skeleton mounting plate side passes through thigh telescopic putter and hip joint The connection of skeleton block;It is closed by the second skeleton sliding block, through the second of the second skeleton sliding block the second skeleton mounting plate other side Section guide rod is connect with hip joint skeleton block;The hip joint skeleton block is connected by third joint motor and third skeleton mounting plate It connects;The third skeleton mounting plate, handrail and pedipulator installation part connect;
The pedipulator installation part is installed on pedipulator mounting plate.
Further, the sole fixed frame is U-shaped structure.
Further, the first skeleton mounting plate, be provided with through band fixed link on the second skeleton mounting plate The band fixing piece of connection.
Further, the push rod top that moves left and right of the pedipulator mobile mechanism is provided with electric box, described electrical Control circuit board, display screen and control system interconnected are provided in case, the treadmill, industrial push rod, preceding pivoted arm push away Bar rear pivoted arm push rod, tension dynamometer, moves left and right push rod, moves up and down push rod and connect with control circuit board;The control Circuit board is electric with lifting motor, the first joint motor, second joint motor and third joint respectively by AC motor drive Machine connection;Rehabilitation system software is installed, for rehabilitation parameter to be arranged by display screen in the control system.
Compared with prior art, the technical solution of the utility model has the following beneficial effects:
The utility model provides a kind of lower limb rehabilitation robot, and the pedipulator movement mechanism of setting uses small and exquisite joint electricity The leg that function effectively adjusts pedipulator is long, and setting pedipulator mobile mechanism can be adjusted according to the body width of patient simulates gait More accurate, the promotion loss of weight mechanism of setting is promoted with industrial push rod, and structure is safer small and exquisite, and complete machine height maximumlly subtracts It is small;
Elevating movement by the way that treadmill elevating mechanism is arranged realizes the change curve of center of gravity when simulating human motion to promote The variation of center of gravity is experienced when patient being enable to move on a treadmill;
Each joint that people leg is simulated by each joint motor in setting pedipulator movement mechanism, according to normal The gait band of pedipulator movement mechanism simulation people is realized in the relative motion of the curve movement control joint motor of leg when people walks Dynamic patient legs' movement;By the length with the use of adjusting pedipulator of telescopic putter and joint guide rod, meet the leg of patient Accommodation accuracy is high simultaneously for long demand;
It is realized by the device that moves up and down of setting pedipulator mobile mechanism and machine is determined according to the wide situation of patient's body The precise displacement of tool leg movement mechanism can accurately understand movement using moving up and down push rod and moving left and right push rod offer power Distance, guarantee accurate simulation of the patient in rehabilitation exercise;
Promoting the industrial push rod in loss of weight mechanism by setting pushes the realization that moves up and down of pivoted arm mounting plate to promote loss of weight The raising and lowering of mechanism passes through the preceding pivoted arm push rod and the preceding pivoted arm of rear pivoted arm push rod realization promotion in setting lifting loss of weight mechanism With the rotation of rear pivoted arm, and then the rotation for promoting loss of weight mechanism is realized, patient is sling and moved by strong being implemented in combination with of the two To determining position, the workload of the mobile patient of medical staff is reduced, while patient being avoided to anticipate when carrying out rehabilitation exercise Outer secondary injury;
It feeds back the data of measurement in real time by promoting the dynamometry loss of weight mechanism being arranged in loss of weight mechanism, and then realizes real-time Adjustment promote loss of weight mechanism and rise or fall so that loss of weight value guarantees the smooth of rehabilitation exercise in a stable range It carries out.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the preferred embodiment of the utility model;
Fig. 2 is the rack of the preferred embodiment of the utility model and the structural schematic diagram of treadmill installation;
Fig. 3 is the structural schematic diagram of the treadmill lifting structure of the preferred embodiment of the utility model;
Fig. 4 is the structural schematic diagram of the promotion loss of weight mechanism of the preferred embodiment of the utility model;
Fig. 5 is the structural schematic diagram of the pedipulator mobile mechanism of the preferred embodiment of the utility model;
Fig. 6 is the structural schematic diagram of the pedipulator movement mechanism of the preferred embodiment of the utility model.
In figure:
1. 101. rack bottom frame of rack, 102. support column, 103. support rail 104. supports the horizontal frame 2. of vertical pole 105. 6. motor mounting plate of treadmill 3. elevating screw, 4. elevating screw nut, 5. lifting motor, 7. lifting nut mounting plate 8. Running 9. pedipulator installation part of machine supporting plate, 10. third joint motor, 11. thigh telescopic putter, 12. hip joint skeleton block 13. 16. sole fixed frame of knee joint skeleton block 14. shank telescopic putter, 15. ankle-joint skeleton block, 17. first skeleton sliding block 18. 19. band fixed link of the first joint guide rod, 20. band fixing piece 21. moves left and right push rod 22. and moves left and right push rod company 23. pedipulator mounting plate 24. of fishplate bar moves left and right sliding block 25. and moves left and right guide rod 26. to move up and down push rod 27. mobile Structure mounting plate 28. moves up and down guide rod 30. and moves up and down sliding block mounting plate 29. with moving up and down 31. lifting column of sliding block 35. lifting support of the industrial push rod of 32. 33. lifting guide pillar of lifting column side plate connecting plate of plate connecting plate 34., 36. pivoted arm installation 42. pulling force of pivoted arm after pivoted arm push rod 41. after pivoted arm 40. before pivoted arm push rod 39. before 37. pivoted arm push rod mounting base 38. of plate 46. sunpender of dynamometer connector 43. tension dynamometer, 44. loss of weight spring part, 45. hanger rod connecting piece, 47. electric box 48. Pedipulator movement mechanism 49. promotes 50. treadmill elevating mechanism of loss of weight mechanism.
Specific embodiment
The utility model is further described with specific embodiment below, but the utility model is not by following embodiments Restriction.
In the description of the present invention, it should be understood that term " longitudinal direction ", " transverse direction ", "upper", "lower", " preceding ", The orientation or positional relationship of the instructions such as " rear ", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" be based on Orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than instruction or dark Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair The limitation of the utility model.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and should not be understood as referring to Show or imply relative importance.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example Point is contained at least one embodiment or example of the utility model.In the present specification, to the schematic table of above-mentioned term Stating may not refer to the same embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be It can be combined in any suitable manner in any one or more embodiment or examples.
In the description of the present invention, unless otherwise specified and limited, it should be noted that term " installation ", " phase Even ", " connection " shall be understood in a broad sense, for example, it may be mechanical connection or electrical connection, the company being also possible to inside two elements It is logical, it can be directly connected, can also indirectly connected through an intermediary, for the ordinary skill in the art, it can To understand the concrete meaning of above-mentioned term as the case may be.
Embodiment 1
Refering to fig. 1~Fig. 6, the utility model provide a kind of lower limb rehabilitation robot, including rack 1, promotion loss of weight machine Structure 49, pedipulator mobile mechanism, pedipulator movement mechanism 48, treadmill 2 and treadmill elevating mechanism 50;
The rack 1 include rack bottom frame 101, rack one end is set support column 102, setting support column 102 it Between support rail 103 and the support vertical pole 104 at the middle part of support rail 103 is set;104 bottom of support vertical pole is fixed On the horizontal frame 105 of rack bottom frame 101;Preferably, the support column 102 is vertically built up in 101 two sides of rack bottom frame;The branch Support cross bar 103 is vertically set between support rod 102, and parallel with horizontal frame 105;The support vertical pole 104 is parallel to support column 102 set up;
Treadmill 2 is provided in the rack bottom frame 101, the bottom of treadmill 2 is arranged in the treadmill lifting structure 50 On plate;
The promotion loss of weight mechanism 49 is arranged in 102 side of support column;
Intermediate 103 side of support rail is arranged in the pedipulator mobile mechanism, and both ends pass through moving structure mounting plate 27 are fixed on support column 102;
The pedipulator movement mechanism 48 is arranged on the pedipulator mounting plate 23 of pedipulator mobile mechanism.
Preferably, the treadmill lifting structure 50 include running machine supporting plate 8, elevating screw 3, lifting nut mounting plate 7, Elevating screw nut 5, motor mounting plate 6, lifting motor 5 and fixed plate;Described 3 one end of elevating screw is fixed on running machine supporting plate On 8, the other end is fixedly connected with motor mounting plate 6;The elevating screw nut 4 is mounted in fixed plate;The elevating screw 3 Through the center of elevating screw nut 4 and lifting nut mounting plate 7;The fixed plate is arranged in rack 1.Pass through lifting motor 5 work drive elevating screw 3 to move up and down, and realize moving up and down for running machine supporting plate 8, and then realize the lifting of treadmill;This Elevating screw nut 4 and 7 fixed bit of elevating screw nut mounting plate are placed in fixed plate during one, are remained stationary, it is ensured that are risen Drop screw rod 3 is gone up and down within the limits prescribed.
Preferably, the promotion loss of weight mechanism 49 includes lifting guide pillar 33, lifting support 35, industrial push rod 34, preceding pivoted arm 39, rear pivoted arm 41, dynamometry loss of weight mechanism and sunpender 46;
The lifting support 35 setting 33 top of lifting guide pillar and can about 33 OQ t guide post it is flexible;
Described industry 34 one end of push rod passes through industrial push rod connector and is arranged in lifting guide pillar 33, and the other end, which is mounted on, to be turned On arm mounting plate 36;
The pivoted arm mounting plate 36 is arranged on lifting support 35, and pivoted arm push rod peace is provided on the pivoted arm mounting plate 36 Seat 37 is filled, the preceding pivoted arm 39 is connect by preceding pivoted arm push rod 38 with pivoted arm push rod mounting base 37;
Pivoted arm 41 is connect by rear pivoted arm push rod 40 with preceding pivoted arm 39 after described;
41 front end of pivoted arm is connect with dynamometry loss of weight mechanism after described;
Dynamometry loss of weight mechanism is connect by hanger rod connecting piece 45 with sunpender 46.
Preferably, dynamometry loss of weight mechanism includes sequentially connected tension dynamometer 43 and loss of weight spring part 44, described Pivoted arm 41 is connect by tension dynamometer connector 42 with tension dynamometer 43 afterwards;The loss of weight spring part 44 is connected by sunpender Part 45 is connect with sunpender 46.The dynamometry loss of weight mechanism that tension dynamometer 43 and loss of weight spring part 44 connect and compose, when generation pulling force When by loss of weight spring part provide a reaction force, tension dynamometer 43 can feed back the data of measurement in real time, according to control The loss of weight value of default, control system adjust industrial push rod to promotion loss of weight by the data that tension dynamometer 43 detects in real time The value for realizing the dynamics of real-time control loss of weight, that is, the decrement of loss of weight spring part 44 is adjusted in the height of mechanism, makes to subtract Weight values meet the value of control system setting, are at a stable range.Preferably, the setting of loss of weight spring part 44 exists In cylinder.
Preferably, the promotion loss of weight mechanism 49 is fixed in rack bottom frame 101 by going up and down column base plate connecting plate 31, is led to Lifting column side plate connecting plate 32 is crossed to be fixed on 1 support column 102 of rack.There are weight (patient), dynamometry by hanging oneself in sunpender 46 Loss of weight mechanism measures the weight of weight, pushes pivoted arm mounting plate 36 to move up and down by industrial push rod 34, realizes lifting support 35 Flexible up and down, preceding pivoted arm push rod 38 pushes preceding pivoted arm 39, and then pivoted arm 41 after promotion, drives the rotation of dynamometry loss of weight mechanism, realizes Weight (patient) is moved to treadmill by sunpender 46.Lifted by crane by patient from the side of robot provided by the utility model, Industrial push rod 34 pushes realization to shift people onto certain altitude, before realizing together using preceding pivoted arm push rod 38 and rear pivoted arm push rod 40 People is moved to certain position by pivoted arm 39, the rotation of rear pivoted arm 41.By promoting the center of loss of weight mechanism lifts people, and tie Close the transformation with the use of realization lower limb rehabilitation training function of pedipulator mobile mechanism and pedipulator movement mechanism.In addition, logical The data of the real-time feed back motion process measurement of dynamometry loss of weight mechanism are crossed, a loss of weight value can also be set by control system, it is real Industrial push rod 34 is now adjusted in real time and adjusts moving up and down for lifting support 35, and then adjusts the decrement of loss of weight spring part 44, Make loss of weight value in certain range, is conducive to patient and carries out rehabilitation exercise.
Preferably, the pedipulator mobile mechanism includes moving left and right guide rod 25, moving left and right sliding block 24, move left and right and push away Bar 21 moves up and down guide rod 28, moves up and down sliding block 29 and moves up and down push rod 26;
It is described move left and right 25 both ends of guide rod and be connected to move up and down on sliding block mounting plate 29, and through moving left and right sliding block 24;
The sliding block 24 that moves left and right is connect with pedipulator mounting plate 23;
The push rod 21 that moves left and right is connect by moving left and right push rod connecting plate 22 with pedipulator mounting plate 23;
28 both ends of guide rod that move up and down are fixedly connected on the casting lug thereon of 27 inner side edge of moving structure mounting plate;
The sliding block 29 that moves up and down is through moving up and down guide rod 28;
The push rod 26 that moves up and down is connect by moving up and down sliding block mounting plate 30 with sliding block 29 is moved up and down.
The side-to-side movement on moving left and right guide rod 25 of sliding block 24 is moved left and right by moving left and right the promotion of push rod 21, i.e. left and right Mobile putter, which provides power, moves left and right sliding block and moves left and right guide rod, carries out the left and right fortune that guiding realizes pedipulator mounting plate 23 It is dynamic;Sliding block 29 is moved up and down on moving up and down guide rod 28 by moving up and down the drive of push rod 26 to move up and down, be moved down in realization Movable slider mounting plate 29 moves up and down, that is, move up and down push rod provide power, move up and down sliding block and move up and down guide rod into Row is oriented to and then realizes moving up and down for pedipulator mounting plate 23;The two is implemented in combination with pedipulator mounting plate 23 up and down It is mobile, the precise displacement of control system control pedipulator can be used, be conducive to patient and adjusted according to the ideal interval of the wide progress of itself body Whole, subsequent gait simulation is more accurate.
Preferably, the pedipulator movement mechanism 48 includes sole fixed frame 16, ankle-joint skeleton block 15, the first joint electricity Machine, shank telescopic putter 14, knee joint skeleton block 13, second joint motor, thigh telescopic putter 11,12 and of hip joint skeleton block Third joint motor 10;
The sole fixed frame 16 is connect with ankle-joint skeleton block 15;Preferably, the sole fixed frame 16 is U-shaped knot Structure;
The ankle-joint skeleton block 15 is connect by the first joint motor with the first skeleton mounting plate;The first skeleton peace Loading board side is connect by shank telescopic putter 14 with knee joint skeleton block 13;The first skeleton mounting plate other side passes through the One skeleton sliding block 17 is connect through the first joint guide rod 18 of the first skeleton sliding block 17 with knee joint skeleton block 13;The knee closes Section skeleton block 13 is connect by second joint motor with the second skeleton mounting plate;The second skeleton mounting plate side passes through thigh Telescopic putter 11 is connect with hip joint skeleton block 12;The second skeleton mounting plate other side passes through the second skeleton sliding block, runs through The second joint guide rod of second skeleton sliding block is connect with hip joint skeleton block 12;The hip joint skeleton block 12 passes through third joint Motor 10 is connect with third skeleton mounting plate;The third skeleton mounting plate, handrail and pedipulator installation part 9 connect;
The pedipulator installation part 9 is installed on pedipulator mounting plate 23.
It is fixed it is further preferred that being provided on the first skeleton mounting plate, the second skeleton mounting plate by band The band fixing piece 19 that bar 20 connects.By the way that the sole of people to be fixed on sole fixed frame 16, according to the lower-leg length of patient Adjust the position of shank telescopic putter 14 and the first joint guide rod, according to patient thigh's length adjustment thigh telescopic putter and second The position of joint guide rod realizes that the length of pedipulator movement mechanism 48 is consistent with the leg of patient length, finally by the leg band of people Fixing piece 19 and pedipulator movement mechanism 48 are fixed, pass through the first joint motor, second joint motor and third joint motor 10 The movement in each joint of people leg is realized in relative motion between three, thus the movement with moving leg.First joint electricity The leg that the compact structure of machine, second joint motor and third joint motor 10 can be realized very accurate adjusting pedipulator is long, Power is provided by thigh telescopic putter 11, shank telescopic putter 14, the first joint guide rod 18, second joint guide rod are oriented to Realize the adjusting of the length of pedipulator.
It is further preferred that 21 top of push rod that moves left and right of the pedipulator mobile mechanism is provided with electric box 47, institute It states and is provided with control circuit board, display screen and control system interconnected in electric box 47, the treadmill 2, industrial push rod 34, preceding pivoted arm push rod 38, rear pivoted arm push rod 40, tension dynamometer 43, move left and right push rod 21, move up and down push rod 26 with control Circuit board connection processed;The control circuit board by AC motor drive respectively with lifting motor 5, the first joint motor, the Two joint motors and third joint motor 10 connect;Rehabilitation system software is installed, for passing through display in the control system Screen setting rehabilitation parameter.It is preferred that control system is host computer etc..
By the parameter for being sized different each components of control system, to adapt to the patient in different rehabilitation stages, and Different gaits can be selected by different upper computer softwares.Control circuit board controls all electric pushrods, right Treadmill carries out speed control, controls pedipulator joint motions.
The specific course of work of lower limb rehabilitation robot described in the utility model is as follows:
Corresponding parameter is inputted in display screen by the weight and height of patient, in electric box 47 control system according to The order of subsequent input is handled.Patient is pushed into beside lower limb rehabilitation robot with wheelchair, clothing will be hung and be connected with sunpender 46, It pushes pivoted arm mounting plate 36 to move down by adjusting industrial push rod 34, realizes that lifting support 35 is flexible downwards, loss of weight will be promoted Mechanism 49 is adjusted to suitable height, and medical staff helps patient to put on and hangs clothing;Industrial push rod 34 is adjusted again, realizes lifting support 35 rise to suitable height upwards, so that pivoted arm 41 rises to certain height after realizing;Pivoted arm push rod 38 is flexible before adjusting pushes Preceding pivoted arm 39 rotates, and realizes the rotation of pivoted arm 41 after adjusting, and then realizes that sunpender 46 transfers patient to two pedipulator fitness machines Between structure.It promotes loss of weight mechanism 49 and suitable position is adjusted to according to the height of patient, the long adjustment of leg further according to patient is mechanical The leg of patient and pedipulator movement mechanism are fixed by the length of leg movement mechanism, medical staff, promoted loss of weight mechanism 49 into The sole that one step drops to patient just contacts the treadmill of treadmill 2.
The sole of patient is fixed on sole fixed frame 16, shank telescopic putter 14 is adjusted according to the lower-leg length of patient With the position of the first joint guide rod, according to the position of patient thigh's length adjustment thigh telescopic putter and second joint guide rod, reality The length of existing pedipulator movement mechanism 48 is consistent with the leg of patient length, finally transports the leg of people band fixing piece 19 and pedipulator Motivation structure 48 is fixed, passes through the relative motion between 10 three of the first joint motor, second joint motor and third joint motor The movement in each joint with moving leg is realized, so that the leg of people be promoted to carry out rehabilitation exercise.It is adjusted according to the height of patient Pedipulator mobile mechanism, i.e.,;By move up and down push rod 26 drive move up and down sliding block 29 on moving up and down guide rod 28 up and down Mobile, realization moves up and down moving up and down for sliding block mounting plate 29, realizes moving up and down for pedipulator mounting plate 23;According to patient The wide adjustment pedipulator mobile mechanism of body, i.e., move left and right sliding block 24 by moving left and right the promotion of push rod 21 and moving left and right guide rod Moving left and right for pedipulator mounting plate 23 is realized in side-to-side movement on 25;The two is comprehensive to realize the left up and down of pedipulator mounting plate 23 It moves right so that height, spacing between two pedipulators meet the needs of Patient height and body are wide, conducive to successive patients in rehabilitation The gait simulation of pedipulator is more accurate when movement.
Patient from lower limb rehabilitation robot provided by the utility model lift by crane and moving process in, dynamometry loss of weight mechanism survey The weight of patient out.Patient generates pulling force and loss of weight spring part is made to obtain a reaction force, 43 Real-time Feedback of tension dynamometer The data of measurement, and adjust industrial push rod in real time according to data and realization real-time control is adjusted to the height for promoting loss of weight mechanism The value of the dynamics of loss of weight, that is, the decrement of loss of weight spring part 44 make loss of weight value meet the value of control system setting, make at its In a stable range.When patient carries out rehabilitation exercise, according to the dynamics that patient legs can use, tension dynamometer 43 The data corresponding change of detection, also corresponding change, promotion loss of weight mechanism subtract the decrement of loss of weight spring part 44 according to data adjusting The value of the dynamics of weight.
After completing adjustment, patient treadmill 2, pedipulator drive under carry out rehabilitation exercise, while starting treadmill liter Gravity center shift when drop structure mould personification is walked, the posture for making patient walk when walking on a treadmill close to normal person.
After treatment end, the motor on treadmill 2 and pedipulator movement mechanism is closed, promotion loss of weight mechanism is adjusted and passes through work Industry push rod 34 it is flexible rise to certain altitude after stop, medical staff unclamp patient's leg on band fixing piece, pass through machinery Leg mobile mechanism or so, which moves up and down, takes away patient legs for pedipulator movement mechanism;Pivoted arm push rod 38 drives preceding pivoted arm before adjusting It is rotated with rear pivoted arm and patient is transferred from lower limb rehabilitation robot, after ready wheelchair is placed on designated position by medical staff, It adjusts general who has surrendered patient under promotion loss of weight mechanism to be placed on wheelchair, medical staff takes off the clothing that hangs of patient, treatment end.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.

Claims (10)

1. a kind of lower limb rehabilitation robot, which is characterized in that including rack, promote loss of weight mechanism, pedipulator mobile mechanism, machinery Leg movement mechanism, treadmill and treadmill elevating mechanism;
The rack include rack bottom frame, the support column that rack one end is set, the support rail being arranged between support column and Support vertical pole in the middle part of support rail is set;The support vertical pole bottom is fixed on the horizontal frame of rack bottom frame;
Treadmill is provided in the rack bottom frame, the treadmill lifting structure is arranged on the bottom plate of treadmill;
The promotion loss of weight mechanism is arranged in support column side;
Intermediate support rail side is arranged in the pedipulator mobile mechanism, and both ends are fixed on branch by moving structure mounting plate On dagger;
The pedipulator movement mechanism is arranged on the pedipulator mounting plate of pedipulator mobile mechanism;
The promotion loss of weight mechanism includes lifting guide pillar, lifting support, industrial push rod, preceding pivoted arm, rear pivoted arm, dynamometry loss of weight mechanism And sunpender;
The lifting support setting is on lifting guide pillar top and can stretch above and below OQ t guide post;
Described industry push rod one end is arranged in lifting guide pillar, and the other end is mounted on pivoted arm mounting plate;
The pivoted arm mounting plate is arranged on lifting support, and pivoted arm push rod mounting base is provided on the pivoted arm mounting plate, described Preceding pivoted arm is connect by preceding pivoted arm push rod with pivoted arm push rod mounting base;
Pivoted arm is connect by rear pivoted arm push rod with preceding pivoted arm after described;
Pivoted arm front end is connect with dynamometry loss of weight mechanism after described;
Dynamometry loss of weight mechanism is connect by hanger rod connecting piece with sunpender.
2. lower limb rehabilitation robot according to claim 1, which is characterized in that the treadmill lifting structure includes running Machine supporting plate, elevating screw, lifting nut mounting plate, elevating screw nut, motor mounting plate, lifting motor and fixed plate;It is described Elevating screw one end is fixed on running machine supporting plate, and the other end is fixedly connected with motor mounting plate;The elevating screw nut peace In fixed plate;The elevating screw runs through the center of elevating screw nut and lifting nut mounting plate;The fixed plate is set It sets on the rack.
3. lower limb rehabilitation robot according to claim 1, which is characterized in that dynamometry loss of weight mechanism includes successively connecting The tension dynamometer and loss of weight spring part connect, the rear pivoted arm are connect by tension dynamometer connector with tension dynamometer;Institute Loss of weight spring part is stated to connect by hanger rod connecting piece with sunpender.
4. lower limb rehabilitation robot according to claim 1, which is characterized in that the promotion loss of weight mechanism passes through lifting column Bottom plate connecting plate is fixed in rack bottom frame, is fixed on rack support column by lifting column side plate connecting plate.
5. lower limb rehabilitation robot according to claim 1, which is characterized in that the pedipulator mobile mechanism includes left and right Moving leader moves left and right sliding block, moves left and right push rod, moves up and down guide rod, moves up and down sliding block and move up and down push rod;
It is described move left and right guide rod both ends and be connected to move up and down on sliding block mounting plate, and through moving left and right sliding block;
The sliding block that moves left and right is connect with pedipulator mounting plate;
The push rod that moves left and right is connect by moving left and right push rod connecting plate with pedipulator mounting plate;
The guide rod both ends that move up and down are fixedly connected on the casting lug thereon of moving structure mounting plate inner side edge;
The sliding block that moves up and down is through moving up and down guide rod;
The push rod that moves up and down is connect by moving up and down sliding block mounting plate with sliding block is moved up and down.
6. lower limb rehabilitation robot according to claim 1, which is characterized in that the pedipulator movement mechanism includes sole Fixed frame, ankle-joint skeleton block, the first joint motor, shank telescopic putter, knee joint skeleton block, second joint motor, thigh Telescopic putter, hip joint skeleton block and third joint motor;
The sole fixed frame is connect with ankle-joint skeleton block;
The ankle-joint skeleton block is connect by the first joint motor with the first skeleton mounting plate;The first skeleton mounting plate one Side is connect by shank telescopic putter with knee joint skeleton block;The first skeleton mounting plate other side is sliding by the first skeleton Block is connect through the first joint guide rod of the first skeleton sliding block with knee joint skeleton block;The knee joint skeleton block passes through second Joint motor is connect with the second skeleton mounting plate;The second skeleton mounting plate side passes through thigh telescopic putter and hip joint bone The connection of frame block;The second skeleton mounting plate other side passes through the second skeleton sliding block, through the second joint of the second skeleton sliding block Guide rod is connect with hip joint skeleton block;The hip joint skeleton block is connect by third joint motor with third skeleton mounting plate; The third skeleton mounting plate, handrail and pedipulator installation part connect;
The pedipulator installation part is installed on pedipulator mounting plate.
7. lower limb rehabilitation robot according to claim 6, which is characterized in that the sole fixed frame is U-shaped structure.
8. lower limb rehabilitation robot according to claim 6, which is characterized in that the first skeleton mounting plate, the second bone The band fixing piece connected by band fixed link is provided on frame mounting plate.
9. any lower limb rehabilitation robot according to claim 1~8, which is characterized in that the pedipulator mobile mechanism The push rod top that moves left and right be provided with electric box.
10. lower limb rehabilitation robot according to claim 9, which is characterized in that be provided in the electric box and mutually interconnect Control circuit board, display screen and the control system connect, the treadmill, preceding pivoted arm push rod, rear pivoted arm push rod, are drawn industrial push rod Power dynamometer moves left and right push rod, moves up and down push rod and connect with control circuit board;The control circuit board passes through alternating current Machine driver is connect with lifting motor, the first joint motor, second joint motor and third joint motor respectively;The control system Rehabilitation system software is installed, for rehabilitation parameter to be arranged by display screen in system.
CN201721641108.4U 2017-11-30 2017-11-30 Lower limb rehabilitation robot Active CN208573973U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107854281A (en) * 2017-11-30 2018-03-30 湖南妙手机器人有限公司 Lower limb rehabilitation robot
CN110960403A (en) * 2019-12-31 2020-04-07 布法罗机器人科技(成都)有限公司 Walking safety support and exoskeleton robot
CN111568693A (en) * 2020-05-15 2020-08-25 燕山大学 Planar two-degree-of-freedom leg unfolding mechanism and control method
CN111588589A (en) * 2020-05-15 2020-08-28 燕山大学 Three-degree-of-freedom leg unfolding mechanism
CN113226243A (en) * 2019-07-01 2021-08-06 株式会社海科识 Extended wearable robot system

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107854281A (en) * 2017-11-30 2018-03-30 湖南妙手机器人有限公司 Lower limb rehabilitation robot
CN113226243A (en) * 2019-07-01 2021-08-06 株式会社海科识 Extended wearable robot system
CN113226243B (en) * 2019-07-01 2023-09-22 株式会社海科识 Extension type wearable robot system
CN110960403A (en) * 2019-12-31 2020-04-07 布法罗机器人科技(成都)有限公司 Walking safety support and exoskeleton robot
CN110960403B (en) * 2019-12-31 2021-08-24 布法罗机器人科技(成都)有限公司 Walking safety support and exoskeleton robot
CN111568693A (en) * 2020-05-15 2020-08-25 燕山大学 Planar two-degree-of-freedom leg unfolding mechanism and control method
CN111588589A (en) * 2020-05-15 2020-08-28 燕山大学 Three-degree-of-freedom leg unfolding mechanism
CN111588589B (en) * 2020-05-15 2021-02-26 燕山大学 Three-degree-of-freedom leg unfolding mechanism
CN111568693B (en) * 2020-05-15 2021-03-02 燕山大学 Planar two-degree-of-freedom leg unfolding mechanism and control method

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