CN208959236U - A kind of healing robot - Google Patents

Abstract

The utility model provides a kind of healing robot, including loss of weight system, leg training device, movement treadmill, virtual scene game system and therapist's operation interface；The loss of weight system includes cabinet, rope, pre- loss of weight system and rope length regulating device；The leg training device includes lower limb exoskeleton device and support device；The movement treadmill is located at the lower section of leg training device；The virtual scene game system includes processor, limb action acquisition device and virtual scene display screen, and processor is used to the identification establishing and showing rehabilitation game subsystem, complete the acquired data of limb action acquisition device；Control system is equipped in therapist's operation interface, the hydraulic screw rod, hydraulic cylinder, the first driving motor are connected to control system.The utility model functional diversities can carry out rehabilitation training to each joint of patient legs, while can increase the interest of patient's training, intelligent and high degree of automation by virtual scene game system.

Description

A kind of healing robot

Technical field

The utility model relates to medical rehabilitation engineering device technique fields, and in particular to a kind of healing robot.

Background technique

China patient that the lower extremity motor function as caused by the factors such as cerebral apoplexy, brain trauma, aging of population is damaged every year It is increasing, traditional artificial rehabilitation efficiency is lower, and therapist's large labor intensity is unable to satisfy the requirement of rehabilitation. Healing robot be based on neural plasticity principle, by largely repeat and targeted gait training, gradually restore patient by The function of damaging position, promotes the rehabilitation process of patient, can be used for the patient of the limitation of movement as caused by disease or unexpected injury Carry out rehabilitation.The existing most functions of the equipments of healing robot are single, and application range is only limitted to the rehabilitation in local joint, It not can be realized the integrated products of each joint recovering in leg, and intelligent and the degree of automation of existing product is not high, The higher cost of rehabilitation training, only seldom patient can adequately be treated.

Utility model content

The technical problem to be solved by the utility model is to existing healing robots to have a single function, and not be able to achieve leg The integrated products of each joint recovering in portion, and the intelligent and not high problem of the degree of automation.

The utility model solves above-mentioned technical problem using following technological means:

A kind of healing robot, including loss of weight system, leg training device, movement treadmill, virtual scene game system and Therapist's operation interface；

The loss of weight system includes cabinet, rope, pre- loss of weight system and rope length regulating device；

The pre- loss of weight system includes that first pulley group, first movement device, loss of weight spring, hydraulic screw rod and second are mobile Device；

The rope length regulating device includes third mobile device and jacking apparatus；

In cabinet upper end, first movement device upper end is equipped with first pulley group for the first movement device setting, under End is equipped with the second mobile device, and the loss of weight spring is parallel with hydraulic screw rod to be vertically fixed on first movement device and the second movement Between device, the third mobile device is arranged in cabinet lower end, and in the second mobile device lower end, the third mobile device Lower end is successively arranged second pulley group and jacking apparatus, and described rope one end is external by first pulley group outlet box, the other end First movement device, the second mobile device and third mobile device are sequentially passed through, and is fixed in third mobile device；

The leg training device includes lower limb exoskeleton device and support device；

The lower limb exoskeleton device is respectively arranged at the left and right sides of support plate, including robot thigh, robot are small Leg, the first drive screw, first driving device, the second drive screw, the second driving device, hip cross bar；

The hip cross bar is horizontally disposed, and the robot thigh is equipped with the first connecting pin of thigh, the machine National People's Congress The top of leg is equipped with thigh second connection end and thigh third connecting pin, and the top of the robot shank connects equipped with shank first Connect end and shank second connection end；

The front end of the thigh second connection end and the hip cross bar is rotatablely connected by rotary shaft, the shank first Connecting pin and the bottom end of the robot thigh are rotatablely connected by rotary shaft；

First drive screw includes the first screw jacket and the first screw rod；One end of first screw jacket and institute It states the first connecting pin of thigh to be rotatablely connected by rotary shaft, is fixed with nut in first screw jacket；First screw rod One end penetrate in first screw jacket and connect with the nut thread, institute from the other end of first screw jacket The other end and the shank second connection end for stating the first screw rod are rotatablely connected by rotary shaft；

The first driving device includes the first driving motor and the first transmission mechanism, the output of first driving motor Axis connects first screw rod by first transmission mechanism；

Second drive screw includes the second screw jacket and the second screw rod；One end of second screw jacket and institute The rear end for stating hip cross bar is rotatablely connected by rotary shaft, is fixed with nut in second screw jacket；Second screw rod One end penetrate in second screw jacket and connect with the nut thread, institute from the other end of second screw jacket The other end and thigh third connecting pin for stating the second screw rod are rotatablely connected by rotary shaft；

Second driving device includes the second driving motor and the second transmission mechanism, the output of second driving motor Axis connects second screw rod by second transmission mechanism；

The support device includes connecting rod, and connecting rod one end is connect with support plate, and the other end is connected to connecting plate；The support Plate is connect with hip cross bar, and the end of the connecting plate is connect with cabinet；

The movement treadmill is located at the lower section of leg training device；

The virtual scene game system includes processor, limb action acquisition device and virtual scene display screen, described Limb action acquisition device, virtual scene display screen are all connected on processor；Rehabilitation game subsystem is equipped in the processor System and human-machine interaction subsystem, rehabilitation game sub-system internal storage contain a plurality of rehabilitation Games Softwares, pass through human-machine interaction subsystem Data interaction is realized in processor；Processor is used to establish and show rehabilitation game subsystem, completes limb action acquisition dress Set the identification of acquired data；

Control system, the hydraulic screw rod, hydraulic cylinder, the connection of the first driving motor are equipped in therapist's operation interface To control system.

Further, the first movement device includes first base, the first slide bar, rectangle fixed block and corner block；Institute It states first base and is fixed on cabinet upper end, and both ends are respectively equipped with perforative first through hole up and down, the left end first through hole It is equipped with upper and lower perforative through-hole below, upper and lower perforative first square column hole, the first through hole are equipped among the first base The second through-hole is symmetrically arranged between square column hole, first slide bar passes through first base, and first the lower end of the slider connects square Shape fixed block, upper end fixed triangle block, the rectangle fixed block centre are equipped with annular through-hole, are equipped among the corner block top Groove.

Further, the first pulley group includes movable pulley and fixed pulley, and the movable pulley is fixed among corner block Groove, the fixed pulley is fixed on cabinet top.

Further, second mobile device includes second base, U-shaped top plate, the second slide bar and the second balladeur train；It is described Second base and U-shaped top plate are fixed among cabinet, and the same end is equipped with upper and lower perforative through-hole, and second slide bar is vertical It is fixed between second base and U-shaped top plate in parallel, second balladeur train is set between the second slide bar, in second balladeur train Between be equipped with the second square column hole.

Further, first connecting pin of thigh is located in the middle part of the front side of the robot thigh, the thigh second Connecting pin is located at right above the top of the robot thigh, and thigh third connecting pin is located at the top of the robot thigh On rear side of portion；First connecting pin of shank is located at right above the top of the robot shank, shank second connection end position In the top front side top of the robot shank.

Further, the robot thigh includes power device, thigh telescopic rod and thigh housing；

The thigh telescopic rod includes the first support, the first support plate, the first vertical bar, the first screw rod；

First support is equipped with upper and lower perforative first through hole；First vertical bar is fixed on first support Bottom end, the first strip through slot that front and back penetrates through is offered in first vertical bar, and first bottom end of vertical rod is equipped with upper Under perforative second through-hole, second through-hole and the first strip through slot penetrate through；First screw rod from top to bottom according to It is secondary to pass through first through hole, the first strip through slot and the second through-hole；

First support plate is fixed on the side of first support, and the power device is fixed on first support On plate, first screw rod is located at the part above first support and connects the power device；

The thigh housing includes thigh outer casing inner wall, the first connector, the first screw shell；

The thigh outer casing inner wall covers outside first vertical bar, thigh outer casing inner wall upper end fixed described first Connector, first screw shell are connect by first connector with the thigh outer casing inner wall, first screw thread Sleeve is arranged in the first strip through slot and connect with first wire rod thread；

First connecting pin of thigh is fixedly connected on the outer wall upper end of the thigh housing, first connecting pin of shank It is rotatablely connected with the bottom end of the thigh housing by rotary shaft.

Further, the robot shank includes power device, shank telescopic rod and shank housing；

The shank telescopic rod includes the second support, the second support plate, the second vertical bar and the second screw rod；

Second support is equipped with upper and lower perforative third through-hole；Second vertical bar is fixed on second support Bottom end, the second strip through slot that front and back penetrates through is offered in second vertical bar, and second bottom end of vertical rod is equipped with upper Under perforative fourth hole, the fourth hole and the second strip through slot penetrate through；Second screw rod from top to bottom according to It is secondary to pass through third through-hole, the second strip through slot and fourth hole；

Second support plate is fixed on the side of second support, and the power device is fixed on second support On plate, second screw rod is located at the part above second support and connects the power device；

The shank housing includes shank outer casing inner wall, the second connector, the second screw shell；

The shank outer casing inner wall covers outside second vertical bar, shank outer casing inner wall upper end fixed described second Connector, second screw shell are connect by second connector with the shank outer casing inner wall, second screw thread Sleeve is arranged in the second strip through slot and connect with second wire rod thread；

First connecting pin of shank and shank second connection end are respectively fixedly connected on the top of the shank telescopic rod.

Further, the power device includes motor, driving pulley, synchronous belt, passive belt wheel；The motor connection control System processed；The output shaft of the motor is connect with the driving pulley, and the driving pulley passes through described in the synchronous band connection Passive belt wheel.

Further, the lower limb exoskeleton device further includes leg position regulating device and arc plate；

The leg position regulating device includes tooth form motion bar and mobile device, the mobile device include regulation cock, Fixing card, set block, pedestal；

The tooth form motion bar runs through the set block；Set block side is equipped with circular hole, and bottom end is equipped with shrinkage pool；The adjusting Gear is equipped among bolt, the regulation cock is engaged through the shrinkage pool and with the tooth form motion bar gear；The fixing card is passed through Wear the circular hole；The set block is fixedly connected with the base；

The pedestal is fixedly connected with robot thigh or robot shank；The arc plate and the tooth form motion bar connect It connects.

Further, the tooth form motion bar includes front and back adjusting rod and left and right adjusting bar, the front and back adjusting rod and a left side Right adjusting rod is horizontally disposed and is mutually perpendicular to；A mobile device is respectively connected on the front and back adjusting rod and left and right adjusting bar, The pedestal for the mobile device being connected on the front and back adjusting rod is fixedly connected with robot thigh or robot shank, is connected to The pedestal of mobile device on the left and right adjusting bar is fixedly connected with the arc plate.

Utility model has the advantages that

For loss of weight system by the operation of control system, control hydraulic screw rod, which rotates, drives loss of weight telescopic spring, reaches pre- and subtracts The effect of gravity；Jacking apparatus is controlled simultaneously, so that the cord retraction between running block and fixed pulley group is mobile, reaches automatic Change operation and fast and accurately adjust rope length, achievees the effect that dual loss of weight.Loss of weight system can go up and down patient, for flesh The patient that meat strength is weaker, can not stand can make patient be in standing position by loss of weight system.

Leg training device drives drive screw by driving motor, can quickly and easily drive hip joint and knee joint Movement；By motor drives screw mandrel, it can rapidly and accurately adjust thigh leg length or shank leg is long；It is adjusted and is filled by leg position It sets and arc plate, adjust thigh support position with can be convenient；High degree of automation, it is easy to operate, it is easily controllable, be in control Under the control of system, normal person's walking step state can be simulated.

Movement treadmill is supported patient part's weight, while can increase patient's foot sole stimulation, instructs the rehabilitation of patient Practice experience and is more nearly true " on foot ".

Virtual scene game system increases the interest of patient's training by way of game or animation, improves patient master The dynamic wish for participating in rehabilitation training.

Therapist's operation interface makes therapist that parameter can be arranged on interface, such as walking speed etc. controls rehabilitation machine The relevant action of people.

Healing robot functional diversities provided by the utility model can carry out rehabilitation instruction to each joint of patient legs Practice, while the interest of patient's training, intelligent and high degree of automation can be increased by virtual scene game system.

Detailed description of the invention

Fig. 1 is the structure chart of healing robot in the utility model embodiment, and virtual scene game system is not shown in the figure；

Fig. 2 is the structural schematic diagram of loss of weight system in the utility model embodiment；

Fig. 3 is the structural schematic diagram of first movement device in the utility model embodiment；

Fig. 4 is the structural schematic diagram of the second mobile device in the utility model embodiment；

Fig. 5 is the structural schematic diagram of rope length regulating device in the utility model embodiment；

Fig. 6 is the structural schematic diagram of lower limb exoskeleton device in the utility model embodiment；

Fig. 7 is the structural schematic diagram of the first drive screw and first driving device in the utility model embodiment；

Fig. 8 is the structural schematic diagram of the second drive screw and the second driving device in the utility model embodiment；

Fig. 9 is the structural schematic diagram of thigh telescopic rod in the utility model embodiment；

Figure 10 is the partial cutaway view of the outer set upper side of thigh in the utility model embodiment；

Figure 11 is the structural schematic diagram of shank telescopic rod in the utility model embodiment；

Figure 12 is the partial cutaway view of shank housing upper end in the utility model embodiment；

Figure 13 is the sectional view of power device in the utility model embodiment；

Figure 14 is the structural schematic diagram of leg position regulating device and arc plate in the utility model embodiment；

Figure 15 is the structural schematic diagram that block is covered in the utility model embodiment；

Figure 16 is the structure chart of support device in the utility model embodiment；

Figure 17 is the structure chart of virtual scene game system in the utility model embodiment.

Specific embodiment

In order to the utility model structure feature and it is reached the effect of have a better understanding and awareness, using compared with Good examples and drawings are described in detail, specific as follows:

A kind of healing robot, as shown in Figure 1, including loss of weight system 1, leg training device 2, movement treadmill 3, virtual field Scape game system and therapist's operation interface 5；

As shown in Figure 2-5, loss of weight system 1 includes cabinet 11, rope 12, pre- loss of weight system and rope length regulating device；

The pre- loss of weight system includes first pulley group 13, first movement device 14, loss of weight spring 15,16 and of hydraulic screw rod Second mobile device 17；

The rope length regulating device includes third mobile device 18 and jacking apparatus 19；

In 11 upper end of cabinet, 14 upper end of first movement device is equipped with first pulley for the setting of first movement device 14 Group 13, lower end are equipped with the second mobile device 17, and the loss of weight spring 15 is parallel with hydraulic screw rod 16 to be vertically fixed on first movement Between device 14 and the second mobile device 17, the third mobile device 18 is arranged in 11 lower end of cabinet, and in the second mobile dress 17 lower ends are set, 18 lower end of third mobile device is successively arranged second pulley group 185 and jacking apparatus 19, the rope 12 1 End is drawn outside cabinet 11 by first pulley group 13, and the other end sequentially passes through first movement device 14,17 and of the second mobile device Third mobile device 18, and be fixed in third mobile device 18.

Further, the first movement device 14 includes first base 141, the first slide bar 142, rectangle fixed block 143 With corner block 144；The first base 141 is fixed on 11 upper end of cabinet, and both ends are respectively equipped with perforative first through hole up and down 1411, it is equipped with upper and lower perforative through-hole behind the left end first through hole 1411, is equipped with up and down among the first base 141 Perforative first square column hole 1412 is symmetrically arranged with the second through-hole 1413, institute between the first through hole 1411 and square column hole 1412 The first slide bar 142 is stated across first base 141,142 lower end of the first slide bar connects rectangle fixed block 143, and upper end fixes three Hornblock 144 is equipped with annular through-hole 1431 among the rectangle fixed block 143, is equipped with groove among 144 top of corner block 1441。

Further, the first pulley group 13 includes movable pulley 131 and fixed pulley 132, and the movable pulley 131 is fixed on Groove 1441 among corner block 144, the fixed pulley 132 are fixed on 11 top of cabinet.

Further, second mobile device 17 includes second base 171, U-shaped top plate 172, the second slide bar 173 and the Two balladeur trains 174；The second base 171 and U-shaped top plate 172 are fixed among cabinet 11, and the same end is equipped with and runs through up and down Through-hole, second slide bar 173 is vertically fixed between second base 171 and U-shaped top plate 172 in parallel, second balladeur train 174 are set between the second slide bar 173, and the second square column hole 1741 is equipped among second balladeur train 174.

Further, 172 upper end of U-shaped top plate is equipped with the first U-board 110, and lower end is equipped with the second U-board 111, described First U-board 110 and the second U-board 111 are each attached in cabinet 11 and the same end is equipped with perforative through-hole up and down.

Further, 144 bottom end of corner block is fixed in described 15 one end of loss of weight spring, and the other end sequentially passes through the second through-hole 1413, annular through-hole 1431 and U-shaped top plate 172 and parallel it is fixed on 174 upper end of the second balladeur train；Described 16 one end of hydraulic screw rod is logical It crosses bolt to be fixed in the first square column hole 1412, the other end sequentially passes through annular through-hole 1431 and U-shaped top plate 172 and passes through bolt It is fixed in the second square column hole 1741.

Further, the third mobile device 18 includes third pedestal 181, third top plate 182, third slide bar 183, the Three balladeur trains 184, second pulley group 185；The third pedestal 181 and third top plate 182 are each attached to 11 lower end of cabinet, and described L shape block 1811 is fixed in three pedestals, 181 one end, and upper and lower perforative third through-hole 1812 is equipped among the third pedestal 181, described 1812 both ends of third through-hole are respectively equipped with perforative first through slot 1813 up and down, and described 182 one end of third top plate is equipped with and passes through up and down The through-hole worn, the third slide bar 183 are fixed in parallel between third pedestal 181 and third top plate 182, the third balladeur train 184 are set on third slide bar 183, and the third balladeur train 184 is equipped with the second through slot 1841,184 lower end of third balladeur train Equipped with concave block 1842, the second pulley group 185 includes fixed pulley group 1851 and running block 1852, the fixed pulley group 1851 are respectively provided in L shape block 1811 and the first through slot 1813, and the running block 1852 is located in the second through slot 1841.

Further, the jacking apparatus 19 includes hydraulic cylinder 191 and mandril 192；The hydraulic cylinder 191 is solid by bolt It is scheduled on 181 lower end of third pedestal, 191 top of hydraulic cylinder is equipped with mandril 192, and the mandril 192 passes through third from the bottom up Through-hole 1812, and it is directed at the bottom of the concave block 1842.

Further, the hydraulic screw rod 16 and hydraulic cylinder 191 are all connected with control system (not shown), realize brakingization Operation.

Further, the through-hole radius is all the same, and is same axis, and the rope 12 sequentially passes through logical from top to bottom Hole is connected to second pulley group 185.

1 working principle of loss of weight system is: by the rope 12 outside cabinet 11 by gravity, rope 12 bypasses first pulley Group 13 drives the second balladeur train 174 on the first slide bar 142 and the second mobile device 17 on first movement device 14 to slide up It is dynamic, at the same the pre- loss of weight power of realization but also loss of weight spring 15 stretches, hydraulic screw rod 16 is controlled by control system and is rotated, and it is hydraulic 16 upper end of lead screw is fixed in first base 141, and bottom end is fixed on the second balladeur train 174, so that the first slide bar 142 moves up and down It is moved up and down with the second balladeur train 174 in the second slide bar 173, so that loss of weight spring 15 further stretches, it is further to realize Pre- loss of weight power；It controls hydraulic cylinder 191 by control system again to operate, so that mandril 192 is gone up and down, and mandril 192 acts on spill 1842 bottom of block, concave block 1842 is fixed on 184 bottom end of third balladeur train, so that third balladeur train 184 moves down on third slide bar 183 It is dynamic, so that fixed pulley group 1851 and 1852 spacing of running block increase or reduce, and 12 one end of rope is fixed on second On pulley blocks 185, the elongation for realizing rope 12 is adjusted, to achieve the effect that dual loss of weight.

As shown in Figure 1, the leg training device 2 includes lower limb exoskeleton device 202 and support device 201；

As shown in Fig. 6-15, lower limb exoskeleton device 202 includes robot thigh 21, the transmission of robot shank 22, first Screw rod 23, first driving device 24, the second drive screw 25, the second driving device 26, hip cross bar 27, leg position adjust dress Set 2600, arc plate 2700.

Robot thigh 21 includes power device 2100, thigh telescopic rod 2200, thigh housing 2300.

Thigh telescopic rod 2200 includes the first support 2201, the first support plate 2202, the first vertical bar 2203, the first screw rod 2204。

First support 2201 is equipped with upper and lower perforative first through hole 22011；First vertical bar 2203 is fixed on first 2201 bottom ends of seat offer the first strip through slot 22031 that front and back penetrates through, the first vertical bar 2203 in the first vertical bar 2203 Bottom end is equipped with upper and lower perforative second through-hole 22032, and the second through-hole 22032 and the first strip through slot 22031 penetrate through；First Bar 2204 sequentially passes through first through hole 22011, the first strip through slot 22031 and the second through-hole 22032 from top to bottom.

First through hole 22011 and 22032 middle line of the second through-hole are same axis, and radius is identical, prevents the first screw rod 2204 shake deviation in rotation.

First vertical bar, 2203 side is provided along its length the first graduated scale 22033.

First support plate 2202 is fixed on the side of the first support 2201, and power device 2100 is fixed on by fixing bolt In first support plate 2202, loosening when preventing from operating, the part connection that the first screw rod 2204 is located at 2201 top of the first support is moved Power device 2100.

Thigh housing 2300 includes thigh outer casing inner wall 2301, the first connector 2302, the first screw shell 2303.

2301 sets of thigh outer casing inner wall outside the first vertical bar 2203, the first connection is fixed in 2301 upper end of thigh outer casing inner wall Part 2302, the first connector 2302 are mutually perpendicular to 2203 axis of the first vertical bar, and the first screw shell 2303 connects by first Fitting 2302 is connect with thigh outer casing inner wall 2301, and the first screw shell 2303 is arranged in the first strip through slot 22031 simultaneously It is threadedly coupled with the first screw rod 2204.

The company of first screw shell 2303 and the first connector 2302, the first connector 2302 and thigh outer casing inner wall 2301 The mode of connecing is welding, so that thigh outer casing inner wall 2301 is not easy and the first screw shell when thigh housing 2300 moves up and down 2303 fractures.

Robot shank 22 includes power device 2100, shank telescopic rod 2400, shank housing 2500.

Shank telescopic rod 2400 includes the second support 2401, the second support plate 2402, the second vertical bar 2403, the second screw rod 2404。

Second support 2401 is equipped with upper and lower perforative third through-hole 24011；Second vertical bar 2403 is fixed on second 2401 bottom ends of seat offer the second strip through slot 24031 that front and back penetrates through, the second vertical bar 2403 in the second vertical bar 2403 Bottom end is equipped with upper and lower perforative fourth hole 24032, and fourth hole 24032 and the second strip through slot 24031 penetrate through；Second Bar 2404 sequentially passes through third through-hole 24011, the second strip through slot 24031 and fourth hole 24032 from top to bottom.

Third through-hole 24011 and 24032 middle line of fourth hole are same axis, and radius is identical, prevents the second screw rod 2404 shake deviation in rotation.

Second vertical bar, 2403 side is provided along its length the second graduated scale 24033.

Second support plate 2402 is fixed on the side of the second support 2401, and power device 2100 is fixed on by fixing bolt In second support plate 2402, loosening when preventing from operating, the part connection that the second screw rod 2404 is located at 2401 top of the second support is moved Power device 2100.

Shank housing 2500 includes shank outer casing inner wall 2501, the second connector 2502, the second screw shell 2503.

2501 sets of shank outer casing inner wall outside the second vertical bar 2403, the second connection is fixed in 2501 upper end of shank outer casing inner wall Part 2502, the second connector 2502 are mutually perpendicular to 2403 axis of the second vertical bar, and the second screw shell 2503 connects by second Fitting 2502 is connect with shank outer casing inner wall 2501, and the second screw shell 2503 is arranged in the second strip through slot 24031 simultaneously It is threadedly coupled with the second screw rod 2404.

The company of second screw shell 2503 and the second connector 2502, the second connector 2502 and shank outer casing inner wall 2501 The mode of connecing is welding, so that shank outer casing inner wall 2501 is not easy and the second screw shell when shank housing 2500 moves up and down 2503 fractures.

Power device 2100 includes motor 2101, driving pulley 2102, synchronous belt 2103, passive belt wheel 2104, motor box 2105；Motor 2101 connects control system；The output shaft of motor 2101 is connect with driving pulley 2102, and driving pulley 2102 passes through Synchronous belt 2103 connects passive belt wheel 2104, and synchronous belt 2103 is gear synchronous band；It is fixed on dynamic in the first support plate 2202 The passive belt wheel 2104 of power device 2100 connects the first screw rod 2204, the power device 2100 being fixed in the second support plate 2402 Passive belt wheel 2104 connect the second screw rod 2404；Motor box 2105 is fixedly connected by fixing bolt with motor 2101.

Robot thigh 21 is equipped with the first connecting pin of thigh 211, and the first connecting pin of thigh 211 is fixedly connected on outside thigh The outer wall upper end of set 2300, the first connecting pin of thigh 211 is located at the front side of thigh housing 2300；The top of robot thigh 21 is set There are thigh second connection end 212 and thigh third connecting pin 213, thigh second connection end 212 and thigh third connecting pin 213 are divided It is not fixedly connected on the top of thigh telescopic rod 2200 and is structure as a whole with thigh telescopic rod 2200, thigh second connection end 212 are located at right above the top of robot thigh 21, and thigh third connecting pin 213 is located at the top rear of robot thigh 21.

The top of robot shank 22 is equipped with the first connecting pin of shank 221 and shank second connection end 222, and shank first connects Connect end 221 and shank second connection end 222 be respectively fixedly connected with shank telescopic rod 2400 top and with shank telescopic rod 2400 are structure as a whole, and the first connecting pin of shank 221 is located at right above the top of shank telescopic rod 2400, shank second connection end 222 are located at the top front side top of shank telescopic rod 2400.

Hip cross bar 27 is horizontally disposed, and the length direction of hip cross bar 27 moves forward and backward direction along robot thigh 21, The front end of thigh second connection end 212 and hip cross bar 27 is rotatablely connected by rotary shaft.

The first connecting pin of shank 221 and the bottom end of thigh housing 2300 are rotatablely connected by rotary shaft.

First drive screw 23 includes the first screw jacket 231 and the first screw rod 232；One end of first screw jacket 231 It is rotatablely connected with the first connecting pin of thigh 211 by rotary shaft, is fixed with nut in the first screw jacket 231；First screw rod 232 One end penetrate in the first screw jacket 231 and connect with nut thread, the first screw rod from the other end of the first screw jacket 231 232 other end and shank second connection end 222 is rotatablely connected by rotary shaft.

First driving device 24 includes the first driving motor 241, the first transmission mechanism 242, first motor bracket 243, the The output shaft of one driving motor 241 connects the first screw rod 232 by the first transmission mechanism 242, and first motor bracket 243 passes through solid Determine bolt to be fixed on the first screw jacket 231, the first driving motor 241 is fixed on first motor bracket by fixing bolt On 243, loosening when preventing from operating.

First driving motor 241 connects control system.

First transmission mechanism 242 include first gear 2421, first gear synchronous belt 2422, second gear 2423, first The output shaft of driving motor 241 is connect with first gear 2421, and first gear 2421 is connected by first gear synchronous belt 2422 Second gear 2423, second gear 2423 connect the first screw rod 232.

Second drive screw 25 includes the second screw jacket 251 and the second screw rod 252；One end of second screw jacket 251 It is rotatablely connected with the rear end of hip cross bar 27 by rotary shaft, is fixed with nut in the second screw jacket 251；Second screw rod 252 One end penetrate in the second screw jacket 251 and connect with nut thread, the second screw rod from the other end of the second screw jacket 251 252 other end and thigh third connecting pin 213 are rotatablely connected by rotary shaft.

Second driving device 26 includes the second driving motor 261, the second transmission mechanism 262, the second electric machine support 263, the The output shaft of two driving motors 261 connects the second screw rod 252 by the second transmission mechanism 262, and the second electric machine support 263 passes through solid Determine bolt to be fixed on the second screw jacket 251, the second driving motor 261 is fixed on the second electric machine support by fixing bolt On 263, loosening when preventing from operating.

Second driving motor 261 connects control system.

Second transmission mechanism 262 include third gear 2621, second gear synchronous belt 2622, the 4th gear 2623, second The output shaft of driving motor 261 is connect with third gear 2621, and third gear 2621 is connected by second gear synchronous belt 2622 4th gear 2623, the 4th gear 2623 connect the second screw rod 252.

Leg position regulating device 2600 includes tooth form motion bar 2601 and mobile device, and mobile device includes regulation cock 2602, fixing card 2603, set block 2604, pedestal 2605, cover board 2606.

Tooth form motion bar 2601 is through set block 2604；It covers 2604 side of block and is equipped with circular hole 26041, bottom end is equipped with shrinkage pool 26042；Gear is equipped among regulation cock 2602, regulation cock 2602 is nibbled through shrinkage pool 26042 and with 2601 gear of tooth form motion bar It closes；Fixing card 2603 runs through circular hole 26041；Set block 2604 is fixedly connected with pedestal 2605, and the top of regulation cock 2602 is embedded in bottom In cylindrical hole on seat 2605；Cover board 2606 is connect by fixing bolt with pedestal 2605, regulation cock 2602 and fixing card 2603 It is installed in the lateral surface of cover board 2606.

Gasket 26031 is equipped between fixing card 2603 and circular hole 26041, gasket 26031 is plastic spacer, when preventing from tightening Tooth form motion bar 2601 is damaged.

Tooth form motion bar 2601 includes front and back adjusting rod and left and right adjusting bar, and front and back adjusting rod and left and right adjusting bar are horizontal It is arranged and is mutually perpendicular to, forms integrated L shape；A mobile device is respectively connected on front and back adjusting rod and left and right adjusting bar, is connected The pedestal 2605 of mobile device on the adjusting rod of front and back is fixedly connected with robot thigh 21 or robot shank 22, is connected to The pedestal 2605 of mobile device on left and right adjusting bar is fixedly connected with the back side of arc plate 2700, and arc plate 2700 just faces Answer user's leg position.

The side of front and back adjusting rod and left and right adjusting bar is equipped with third graduated scale 26011.

There are three leg position regulating device 2600 is set altogether, three leg position regulating devices 2600 are connected to machine The middle part of National People's Congress's leg 21, robot shank 22 middle part, the lower end of robot shank 22, in each leg position regulating device 2600 It is connected separately with arc plate 2700.

By rotating regulation cock 2602, so that tooth form motion bar 2601 and mobile device relative motion, to control circular arc The position all around of plate 2700, adjusts thigh support position in which can be convenient.

Control system controls the first driving motor 241 and rotates forward the drive rotation of first gear 2421, and same by first gear Step band 2422 passes to second gear 2423, so that the first screw rod 232 rotates, by the rotation of the first screw rod 232 so that first 232 opposing nut of screw rod is moved to outside the first screw jacket 231, so that the first drive screw 23 be made to extend, band mobile robot is small Leg 22 moves backward；Same control system controls the reversion of the first driving motor 241, the first drive screw 23 can be made to shorten, band Mobile robot shank 22 travels forward；Healing robot is driven by the cooperation of the forward and reverse of the first driving motor 241 Motion of knee joint.

Control system controls the second driving motor 261 and rotates forward the drive rotation of third gear 2621, and same by second gear Step band 2622 passes to the 4th gear 2623, so that the second screw rod 252 rotates, by the rotation of the second screw rod 252 so that second 252 opposing nut of screw rod is moved to outside the second screw jacket 251, so that the second drive screw 25 be made to extend, band mobile robot is big Leg 21 travels forward；Same control system controls the reversion of the second driving motor 261, the second drive screw 25 can be made to shorten, band Mobile robot thigh 25 moves backward；Healing robot is driven by the cooperation of the forward and reverse of the second driving motor 261 Hip joint movement.

Control system control motor 2101 rotate forward drive driving pulley 2102 rotate, and by synchronous belt 2103 pass to by Movable belt pulley 2104, so that the first screw rod 2204 or the rotation of the second screw rod 2404, pass through the first screw rod 2204 or the second screw rod 2404 Rotation so that the first screw shell 2303 is up moved relative to the first screw rod 2204 or the second screw shell 2503 opposite second Screw rod 2404 up moves, so that thigh housing 2300 or shank housing 2500 be made up to move；Same control system control electricity Machine 2101 inverts, and thigh housing 2300 or shank housing 2500 can be made to move down；By the initial input of control system to big Leg leg is long to be controlled with shank leg length, realizes automation and rapidly and accurately adjusting thigh leg is long or shank leg is long.

As shown in Fig. 1, Figure 16, the support device 201 includes connecting rod 2011, support plate 2012, connecting plate 2013.

Connecting rod 2011 is horizontally disposed, and one end is connect with support plate 2012, and the other end is connected to connecting plate 2013；

Support plate 2012 is vertically arranged, left and right ends flange forward, is formed U-board, is connected with third between two lateral flanges Screw rod 20121, the end of third screw rod 20121 are equipped with rotating handles 20122, and the end of the hip cross bar 27 passes through connection spiral shell Female (figure does not indicate) connect with third screw rod 20121.Rotating handles 20122 are respectively arranged at the both ends of support plate 2012, respectively For adjusting the position of the lower limb exoskeleton device 202 of the left and right sides.The forward, central part of support plate 2012 is additionally provided with back and leans on Pad 20133.Preferably, regulating device 20134 is arranged in 20133 back of back-rest, for adjusting the front and back of back-rest 20133 Position, regulating device 20134 are mounted on connecting rod 2011.

The other end of connecting rod 2011 is connect by support column 2014 with connecting plate 2013, and support column 2014 is Hollow Pillar, The end of connecting rod 2011 is fixed on the inside of support column 2014, and support column 2014 is connected to the end of connecting plate 2013, connecting plate The middle part of 2013 other end and cabinet 11 is slidably connected, and upright slide rail (not shown) is equipped on the outer surface of cabinet 11, When training, connecting plate 2013 can be adjusted along upright slide rail and slides into suitable height according to the height of patient.Connecting plate 2013 with Cabinet 11 and support column 2014 are articulated and connected.

As shown in Figure 1, the movement treadmill 3 is located at the lower section of leg training device 2, and with the cabinet of loss of weight system 1 11 Bottom be fixedly connected.

As shown in Fig. 1, Figure 17, the virtual scene game system includes processor, limb action acquisition device and virtual Scene display screen, the limb action acquisition device, virtual scene display screen are all connected on processor；It is set in the processor There are rehabilitation game subsystem and human-machine interaction subsystem, rehabilitation game sub-system internal storage contains a plurality of rehabilitation Games Softwares, passes through Human-machine interaction subsystem realizes data interaction in processor；Processor is used to establish and show rehabilitation game subsystem, completes The identification of the acquired data of limb action acquisition device；Limb action acquisition device needs to be installed on rehabilitation training according to game and suffers from The each position of the lower limb of person.

Therapist's operation interface 5 is mounted on 11 outer surface of cabinet, is equipped with control system in therapist's operation interface 5, The hydraulic screw rod, hydraulic cylinder, the first driving motor are all connected to control system.

Basic principles, main features, and advantages of the present invention has been shown and described above.Current row The technical staff of industry is described in above embodiments and description it should be appreciated that the present utility model is not limited to the above embodiments Only the principles of the present invention, the utility model also has respectively on the premise of not departing from the spirit and scope of the utility model Kind changes and improvements, these changes and improvements are both fallen in the range of claimed invention.The requires of the utility model Protection scope defined by appended claims and its equivalent.

Claims (10)

1. a kind of healing robot, which is characterized in that including loss of weight system, leg training device, movement treadmill, virtual scene trip Play system and therapist's operation interface；

The loss of weight system includes cabinet, rope, pre- loss of weight system and rope length regulating device；

The pre- loss of weight system includes first pulley group, first movement device, loss of weight spring, hydraulic screw rod and the second mobile dress It sets；

The rope length regulating device includes third mobile device and jacking apparatus；

The first movement device setting is in cabinet upper end, and first movement device upper end is equipped with first pulley group, and lower end is set There is the second mobile device, the loss of weight spring is parallel with hydraulic screw rod to be vertically fixed on first movement device and the second mobile device Between, the third mobile device is arranged in cabinet lower end, and in the second mobile device lower end, third mobile device lower end It is successively arranged second pulley group and jacking apparatus, described rope one end is external by first pulley group outlet box, and the other end is successively Across first movement device, the second mobile device and third mobile device, and it is fixed in third mobile device；

The leg training device includes lower limb exoskeleton device and support device；

The lower limb exoskeleton device is respectively arranged at the left and right sides of support plate, including robot thigh, robot shank, One drive screw, first driving device, the second drive screw, the second driving device, hip cross bar；

The hip cross bar is horizontally disposed, and the robot thigh is equipped with the first connecting pin of thigh, the robot thigh Top is equipped with thigh second connection end and thigh third connecting pin, and the top of the robot shank is equipped with the first connecting pin of shank With shank second connection end；

The front end of the thigh second connection end and the hip cross bar is rotatablely connected by rotary shaft, and the shank first connects End and the bottom end of the robot thigh are rotatablely connected by rotary shaft；

First drive screw includes the first screw jacket and the first screw rod；One end of first screw jacket and described big The first connecting pin of leg is rotatablely connected by rotary shaft, is fixed with nut in first screw jacket；The one of first screw rod End penetrates in first screw jacket from the other end of first screw jacket and connect with the nut thread, and described the The other end of one screw rod and the shank second connection end are rotatablely connected by rotary shaft；

The first driving device includes the first driving motor and the first transmission mechanism, and the output shaft of first driving motor is logical It crosses first transmission mechanism and connects first screw rod；

Second drive screw includes the second screw jacket and the second screw rod；One end of second screw jacket and the hip The rear end of portion's cross bar is rotatablely connected by rotary shaft, is fixed with nut in second screw jacket；The one of second screw rod End penetrates in second screw jacket from the other end of second screw jacket and connect with the nut thread, and described the The other end of two screw rods and thigh third connecting pin are rotatablely connected by rotary shaft；

Second driving device includes the second driving motor and the second transmission mechanism, and the output shaft of second driving motor is logical It crosses second transmission mechanism and connects second screw rod；

The support device includes connecting rod, and connecting rod one end is connect with support plate, and the other end is connected to connecting plate；The support plate with The connection of hip cross bar, the end of the connecting plate is connect with cabinet；

The movement treadmill is located at the lower section of leg training device；

The virtual scene game system includes processor, limb action acquisition device and virtual scene display screen, the limbs Movement acquisition device, virtual scene display screen are all connected on processor；Be equipped in the processor rehabilitation game subsystem and Human-machine interaction subsystem, rehabilitation game sub-system internal storage contain a plurality of rehabilitation Games Softwares, are being located by human-machine interaction subsystem It manages and realizes data interaction in device；

Control system is equipped in therapist's operation interface, the hydraulic screw rod, hydraulic cylinder, the first driving motor are connected to control System processed.

2. a kind of healing robot according to claim 1, which is characterized in that the first movement device includes the first bottom Seat, the first slide bar, rectangle fixed block and corner block；The first base is fixed on cabinet upper end, and both ends are respectively equipped with up and down Perforative first through hole is equipped with upper and lower perforative through-hole behind the left end first through hole, is equipped among the first base Upper and lower perforative first square column hole, is symmetrically arranged with the second through-hole, first slide bar is worn between the first through hole and square column hole Cross first base, first the lower end of the slider connects rectangle fixed block, upper end fixed triangle block, sets among the rectangle fixed block There is annular through-hole, is equipped with groove among the corner block top.

3. a kind of healing robot according to claim 1 or 2, which is characterized in that the first pulley group includes dynamic slides Wheel and fixed pulley, the movable pulley are fixed on the groove among corner block, and the fixed pulley is fixed on cabinet top.

4. a kind of healing robot according to claim 1, which is characterized in that second mobile device includes the second bottom Seat, U-shaped top plate, the second slide bar and the second balladeur train；The second base and U-shaped top plate are fixed among cabinet, and the same end is equal Equipped with upper and lower perforative through-hole, second slide bar is vertically fixed between second base and U-shaped top plate in parallel, and described second is sliding Frame is set between the second slide bar, and the second square column hole is equipped among second balladeur train.

5. a kind of healing robot according to claim 1, which is characterized in that first connecting pin of thigh is located at described In the middle part of the front side of robot thigh, the thigh second connection end is located at right above the top of the robot thigh, described big Leg third connecting pin is located at the top rear of the robot thigh；First connecting pin of shank is located at the robot shank Top right above, the shank second connection end is located at the top front side top of the robot shank.

6. a kind of healing robot according to claim 1, which is characterized in that the robot thigh includes power dress It sets, thigh telescopic rod and thigh housing；

The thigh telescopic rod includes the first support, the first support plate, the first vertical bar, the first screw rod；

First support is equipped with upper and lower perforative first through hole；First vertical bar is fixed on first support bottom It holds, the first strip through slot that front and back penetrates through is offered in first vertical bar, first bottom end of vertical rod is equipped with up and down Perforative second through-hole, second through-hole and the first strip through slot penetrate through；First screw rod is from top to bottom successively Across first through hole, the first strip through slot and the second through-hole；

First support plate is fixed on the side of first support, and the power device is fixed on first support plate On, first screw rod is located at the part above first support and connects the power device；

The thigh housing includes thigh outer casing inner wall, the first connector, the first screw shell；

The thigh outer casing inner wall covers outside first vertical bar, fixed first connection in thigh outer casing inner wall upper end Part, first screw shell are connect by first connector with the thigh outer casing inner wall, first screw shell It is arranged in the first strip through slot and is connect with first wire rod thread；

First connecting pin of thigh is fixedly connected on the outer wall upper end of the thigh housing, first connecting pin of shank and institute The bottom end for stating thigh housing is rotatablely connected by rotary shaft.

7. a kind of healing robot according to claim 1, which is characterized in that the robot shank includes power dress It sets, shank telescopic rod and shank housing；

The shank telescopic rod includes the second support, the second support plate, the second vertical bar and the second screw rod；

Second support is equipped with upper and lower perforative third through-hole；Second vertical bar is fixed on second support bottom It holds, the second strip through slot that front and back penetrates through is offered in second vertical bar, second bottom end of vertical rod is equipped with up and down Perforative fourth hole, the fourth hole and the second strip through slot penetrate through；Second screw rod is from top to bottom successively Across third through-hole, the second strip through slot and fourth hole；

Second support plate is fixed on the side of second support, and the power device is fixed on second support plate On, second screw rod is located at the part above second support and connects the power device；

The shank housing includes shank outer casing inner wall, the second connector, the second screw shell；

The shank outer casing inner wall covers outside second vertical bar, fixed second connection in shank outer casing inner wall upper end Part, second screw shell are connect by second connector with the shank outer casing inner wall, second screw shell It is arranged in the second strip through slot and is connect with second wire rod thread；

First connecting pin of shank and shank second connection end are respectively fixedly connected on the top of the shank telescopic rod.

8. a kind of healing robot according to claim 6 or 7, which is characterized in that the power device includes motor, master Movable belt pulley, synchronous belt, passive belt wheel；The motor connects control system；The output shaft of the motor and the driving pulley connect It connects, the driving pulley passes through passive belt wheel described in the synchronous band connection.

9. a kind of healing robot according to claim 1, which is characterized in that the lower limb exoskeleton device further includes leg Portion's apparatus for adjusting position and arc plate；

The leg position regulating device includes tooth form motion bar and mobile device, and the mobile device includes regulation cock, fixation Card, set block, pedestal；

The tooth form motion bar runs through the set block；Set block side is equipped with circular hole, and bottom end is equipped with shrinkage pool；In the regulation cock Between be equipped with gear, the regulation cock with the tooth form motion bar gear through the shrinkage pool and engaging；The fixing card runs through institute State circular hole；The set block is fixedly connected with the base；

The pedestal is fixedly connected with robot thigh or robot shank；The arc plate is connect with the tooth form motion bar.

10. a kind of healing robot according to claim 9, which is characterized in that the tooth form motion bar includes front and back tune Pole and left and right adjusting bar, the front and back adjusting rod and left and right adjusting bar are horizontally disposed and are mutually perpendicular to；The front and back is adjusted A mobile device is respectively connected on bar and left and right adjusting bar, is connected to the pedestal and machine of the mobile device on the front and back adjusting rod Device National People's Congress leg or robot shank are fixedly connected, and are connected to the pedestal and the circular arc of the mobile device on the left and right adjusting bar Plate is fixedly connected.