CN209203956U - A kind of multiple degrees of freedom movable lower limb healing robot - Google Patents
A kind of multiple degrees of freedom movable lower limb healing robot Download PDFInfo
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- CN209203956U CN209203956U CN201821682416.6U CN201821682416U CN209203956U CN 209203956 U CN209203956 U CN 209203956U CN 201821682416 U CN201821682416 U CN 201821682416U CN 209203956 U CN209203956 U CN 209203956U
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Abstract
The utility model provides a kind of multiple degrees of freedom movable lower limb healing robot, include: robot base, leg exercise part, ankle plantar flexion dorsiflex part, receive outreach part, foot support section, drive control part, handheld box and energy source and power part in ankle, in which: robot base is for carrying other building blocks；Leg exercise part is for realizing hip joint and kneed buckling stretching routine；Ankle plantar flexion dorsiflex part is for driving ankle plantar flexion dorsiflex to rotate；Outreach part is received in ankle to be used for receiving Outward Bound in ankle；The foot of foot support section immobilized patients, and be equipped with pressure sensor and Rehabilitation intention is differentiated；Drive control part is used for angle and speed drive control；Handheld box receives kinematic parameter and passes to drive control part to control the movement velocity and angle of each joint shaft；Energy source and power part provides electric power energy.The utility model structure is simple, and it is convenient to operate, and has and is widely popularized meaning.
Description
Technical field
The utility model relates to field of medical device, and in particular, to a kind of multiple degrees of freedom movable lower limb rehabilitation machine
People.
Background technique
Patients with cerebral apoplexy or the postoperative most effective restoration methods of limb injury patient are exactly rehabilitation training at present, and lower limb
Rehabilitation training is a link very crucial in limbs of patient rehabilitation exercise.
Also there is part lower limb rehabilitation robot in the prior art, for example application No. is CN201711011249.2, disclose
A kind of lower limb rehabilitation robot, including the support of pedestal, hip joint, big leg mechanism, knee joint, small leg mechanism, ankle-joint, vola
Part；The thigh slide bar of big leg mechanism is mounted on the axis one of hip joint by the key one of hip joint, and the rotation of axis one drives thigh
The movement of mechanism, kneed knee joint support are mounted on the thigh guide rail end of big leg mechanism, the shank slide bar of small leg mechanism
It is mounted on kneed axis two by kneed key two, the rotation of axis two drives the movement of small leg mechanism, vola supporting element
Directly interference fit is mounted on the axis three of ankle-joint, and the 5th stepper motor of ankle-joint passes through active small pulley, driven small band
Wheel belt moving axis three rotates, and the rotation of axis three drives the movement of vola supporting element.
But above-mentioned patent has the disadvantage that structure is complicated, volume is larger, it has not been convenient to be placed on progress rehabilitation instruction on bed
Practice, it is also not readily transportable, although the plantar flexion dorsiflex of hip joint and kneed buckling stretching routine and ankle-joint may be implemented
Movement, but cannot achieve to arms sideward lift is received in rehabilitation the technique especially ankle-joint of cerebral apoplexy postoperative rehabilitation most critical.
There is presently no a kind of mechanism appearance for facilitating carrying, effective multiple degrees of freedom to carry out patient's lower extremity movement, so that
Patient obtains effective multiple degrees of freedom lower limb rehabilitation training during rehabilitation exercise.
Utility model content
In view of the deficiencies of the prior art, the utility model provides a kind of multiple degrees of freedom movable lower limb healing robot, can
Efficiently to carry out the stretching, extension of hip joint buckling to patient's ankle, knee sprung stretching, extension, ankle-joint plantar flexion dorsiflex, receive in ankle-joint
The rehabilitations movement such as the independent rehabilitation exercise of outreach, the two-by-two coordinated movement of various economic factors, Three Degree Of Freedom linkage, can effectively carry out patient's lower limb
Rehabilitation training.
In order to achieve the above object, the utility model provides a kind of multiple degrees of freedom movable lower limb healing robot, comprising: machine
Device people pedestal, ankle plantar flexion dorsiflex part, receives outreach part, foot support section, drive control in ankle at leg exercise part
Partially, handheld box and energy source and power part, in which:
Bracket of the robot base as entire healing robot, for carrying leg exercise part, ankle plantar flexion
Outreach part, foot support section, drive control part, handheld box and energy source and power part are received in dorsiflex part, ankle；
The leg exercise is partially installed on robot base, and the shank and thigh that leg exercise part carries patient are simultaneously
The shank and thigh for driving patient move back and forth, and realize hip joint and kneed buckling and stretching routine；
The ankle plantar flexion dorsiflex part is connect with leg exercise part, and the Pivot axle of ankle plantar flexion dorsiflex part
It coincides with the central axis of human ankle plantar flexion dorsiflex campaign, for driving the ankle of patient to carry out plantar flexion and dorsiflex rotation；
It receives outreach part in the ankle to connect with ankle plantar flexion dorsiflex part, and in ankle in the movement of receipts outreach part
Mandrel and the Pivot axle of ankle plantar flexion dorsiflex part are perpendicular, and outreach part is received in ankle and is connected by the way of crank rocker
Foot support section is connect, for receipts and Outward Bound in carrying out to patient's ankle；
The foot support section is connect with receipts outreach part in the ankle, and the foot support section is suffered from for fixed
The foot of person；
The drive control part, input terminal connect the handheld box, output end connected legs motion parts, ankle plantar flexion
Outreach part is received in dorsiflex part and ankle；
The handheld box is man-machine interactive interface, and the input terminal of handheld box is used for user setting parameter, and output end connection is driven
Dynamic control section, for exporting parameter to drive control part, thus drive control leg exercise part, ankle plantar flexion dorsiflex
The movement velocity and/or angle of outreach part are received in part and ankle；
The energy source and power part be used to receive for leg exercise part, ankle plantar flexion dorsiflex part, in ankle outreach part,
Foot support section, drive control part, handheld box provide electric power energy.
Preferably, the robot base includes: that pedestal base, base shell, moving handle, mobile pulley and pulley are received
Laying mechanism, in which:
The pedestal base is the benchmark of entire healing robot, and other components are all unfolded in pedestal base；Pedestal base
Seat is in rectangular parallelepiped structure, and one end of cuboid long side is fixedly connected with moving handle, and moving handle is convenient for users to grasping and make
The healing robot is mobile；The other end connection mobile pulley and pulley jack of cuboid long side；Base shell is used for
Drive control part, mobile pulley and pulley jack are protected；Pulley jack is for triggering and storing movement
Pulley, including torsional spring, trigger mechanism and retaining mechanism, torsional spring and trigger mechanism are used for the mobile cunning that will be accommodated in base shell
Wheel pop-up, retaining mechanism are used to for the mobile pulley flicked being accommodated into base shell and self-locking.
Preferably, there are two types of operating modes for the healing robot: rehabilitation modality and Move Mode；Wherein:
Under rehabilitation modality, mobile pulley is accommodated in inside base shell, in order to which patient will the entire rehabilitation machine
People is placed on bed and uses；
In transport mode, the trigger mechanism of mobile pulley jack is clicked to discharge mobile pulley, and in torsional spring power
Transmitting under mobile pulley is popped up, entire healing robot is placed in ground, the moving handle of pull-up pedestal base one end,
The mobile pulley of the pedestal base other end contacts ground, and user is facilitated by mobile pulley carries out the healing robot
It carries.
Preferably, the leg exercise part include: parts moving linearly, it is shank connecting component, toe raise component, big
Leg moving component, thigh stretching member and angular transducer component, in which:
The parts moving linearly is located in robot base, for providing linear reciprocating motion；
The shank connecting component and thigh moving component form parallelogram motion structure, while shank connecting component
It carries the shank of patient and is connected with parts moving linearly, for the linear motion of parts moving linearly to be converted into patient's hip
Joint and kneed buckling and stretching routine；
The toe raise component is used to finely tune lower leg portion and patient's leg length so that the entire healing robot
Degree matches；
The thigh of the thigh moving component carrying patient, thigh moving component four side parallel with shank connecting component composition
Shape structure and joint shaft when guaranteeing knee sprung and the stretching, extension of a joint shaft and patient in parallelogram sturcutre is same
The heart；
The thigh stretching member is for finely tuning so that the entire leg portion of the healing robot and the thigh of patient
Length matches；
The angular transducer component is used to detect angle when patient's knee sprung and stretching, extension, the i.e. movement of detection thigh
The angle of component and two sides that are coaxially connected with patient's knee joint joint shaft of the formed parallelogram of shank connecting component.
It is highly preferred that the parts moving linearly is that linear motor or rotating electric machine drive screw structure or rotating electric machine
Drive one of gear & rack structure.
Preferably, the ankle plantar flexion dorsiflex part includes: plantar flexion dorsiflex rotating power source, inner frame member, in which:
The plantar flexion dorsiflex rotating power source is fixed on leg exercise part, and provides the rotation angle of inner frame member
Degree；
The inner frame member is driven by plantar flexion dorsiflex rotating power source to be rotated, and is carried and received outreach part and foot in ankle
The movement of portion's support section.
It is highly preferred that the plantar flexion dorsiflex rotating power source is rotating electric machine；The stator of the rotating electric machine is mounted on small
On leg stretching member end, the rotor of rotating electric machine connects inner frame member, and inner frame member is driven to rotate, to realize ankle
Plantar flexion dorsiflex movement.
Preferably, it includes: interior receipts outreach rotating power source and crank rocker component that outreach part point is received in the ankle,
In:
The interior receipts outreach rotating power source is fixed on ankle plantar flexion dorsiflex part and provides rotary power；
The crank rocker component matches with interior receipts outreach rotating power source, for receiving outreach rotating power source for interior
Rotary motion is converted to the reciprocating motion of set angle, to realize the movement of patient's ankle plantar flexion and dorsiflex.
It it is highly preferred that the interior receipts outreach rotating power source directly provides rotary motion for rotating electric machine, or is rotation
It is dynamic to provide rotation that motor matches one of RV retarder, harmonic speed reducer, nova gear reduction unit, worm type of reduction gearing
Power.
Preferably, the foot support section includes: foot portion frame, foot sizing adjusts component, foot binds component, preceding
Sole pressure sensor and hind paw pressure sensor, in which:
The foot portion frame is connect with receipts outreach part split-phase in ankle, and foot portion frame is L-shaped, is used to support foot binding portion
Part, foot sizing adjustment component, forefoot pressure sensor and hind paw pressure sensor；
Foot sizing adjustment component is tabular, adjusts the opposite of component and foot portion frame by adjusting foot sizing
It is moved to patients feet's size to match, and locks；
The foot binding component is used to mutually fix the foot of patient and foot sizing adjustment component；
The forefoot pressure sensor is located at the front of foot sizing adjustment component, for acquiring patient's forefoot to foot
The pressure of portion's support section；
The hind paw pressure sensor is located at the rear portion of foot sizing adjustment component, for acquiring patient's heel to foot
The pressure of support section.
It is highly preferred that the forefoot pressure sensor and hind paw pressure sensor are the pressure sensing for including spring
Device.
In the utility model, the lower limb rehabilitation movement, is hip and knee buckling stretching routine, ankle-joint plantar flexion dorsiflex
The independently moving or hip and knee buckling stretching routine, ankle plantar received in abduction exercise in movement and ankle-joint stoop
Bend the coordination linkage between any two or hip and knee buckling stretching routine, ankle received in abduction exercise in movement and ankle-joint
The abduction exercise coordinated movement of various economic factors together is received in joint plantar flexion dorsiflex campaign and ankle-joint.
Compared with prior art, the utility model have it is below the utility model has the advantages that
The utility model convenient transportation can be stretched out mobile pulley by pulley jack from robot base,
Hauling moving handle can be realized fast transfer.The utility model is easy to operate, only needs patient that leg is put into leg exercise portion
Point, foot is put into foot support section and is fixed, and hip joint buckling stretching routine not only may be implemented, knee sprung is stretched
Exhibition movement and ankle-joint plantar flexion dorsiflex campaign, can also realize the interior receipts abduction exercise of ankle-joint, can satisfy more rehabilitations
Demand.The utility model structure is simple, and it is convenient to operate, and has and is widely popularized meaning.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model
Sign, objects and advantages will become more apparent upon:
Fig. 1 is the structural schematic diagram of one preferred embodiment of the utility model,
In figure: 010- robot base, 020- leg exercise part, 030- ankle plantar flexion dorsiflex part, in 040- ankle
Receive outreach part, 050- foot support section, 060- drive control part, 070- handheld box, 080- energy source and power part；
Fig. 2 is the robot base structural schematic diagram of one preferred embodiment of the utility model,
In figure: 011- pedestal base, 012- base shell, 013- moving handle, 014- mobile pulley, 015- pulley folding and unfolding
Mechanism；
Fig. 3 a, Fig. 3 b are respectively mobile pulley pop-up and the storage movement schematic diagram of one preferred embodiment of the utility model；
Fig. 4 is the leg exercise partial structure diagram of one preferred embodiment of the utility model,
In figure: 021- parts moving linearly, 022- shank connecting component, 023- toe raise component, the movement of 024- thigh
Component, 025- thigh stretching member, 026- angular transducer component；
Fig. 5 a, Fig. 5 b are respectively the leg exercise portions flex stretching routine signal of one preferred embodiment of the utility model
Figure；
Fig. 6 is the ankle plantar flexion dorsiflex partial structure diagram of one preferred embodiment of the utility model,
In figure: 031- plantar flexion dorsiflex rotating power source, 032- inner frame member；
Fig. 7 a, Fig. 7 b are respectively that the ankle plantar flexion dorsiflex part plantar flexion dorsiflex campaign of one preferred embodiment of the utility model is shown
It is intended to；
Fig. 8 is that outreach partial structure diagram is received in the ankle of one preferred embodiment of the utility model,
In figure: receiving outreach rotating power source, 042- crank rocker component in 041-；
Fig. 9 a, Fig. 9 b are respectively to receive receipts abduction exercise in outreach part in the ankle of one preferred embodiment of the utility model to show
It is intended to；
Figure 10 is the foot support section structural schematic diagram of one preferred embodiment of the utility model,
In figure: 051- foot portion frame, 052- foot sizing adjust component, and 053- foot binds component, 054- forefoot pressure
Force snesor, 055- hind paw pressure sensor.
Specific embodiment
The utility model is described in detail combined with specific embodiments below.Following embodiment will be helpful to this field
Technical staff further understands the utility model, but does not limit the utility model in any form.It should be pointed out that ability
For the those of ordinary skill in domain, without departing from the concept of the premise utility, various modifications and improvements can be made.
These are all within the protection scope of the present invention.
As shown in Figure 1, a kind of multiple degrees of freedom movable lower limb healing robot, comprising: robot base 010, leg fortune
Dynamic part 020, ankle plantar flexion dorsiflex part 030, the interior receipts outreach part 040, foot support section 050, drive control part of ankle
Divide 060, handheld box 070 and energy source and power part 080, in which:
Bracket of the robot base 010 as entire healing robot, for carrying leg exercise part 020, foot
Outreach part 040, foot support section 050, drive control part 060, handheld box are received in ankle plantar flexion dorsiflex part 030, ankle
070 and energy source and power part 080；
The leg exercise part 020 drives a rocker device and four-bar mechanism by a straight-line motion mechanism, into
Row is moved back and forth to realize patient's hip joint and kneed buckling and stretching routine, to realize the rehabilitation instruction of thigh and shank
Practice；
The ankle plantar flexion dorsiflex part 030 is connect with leg exercise part 020, the rotation of ankle plantar flexion dorsiflex part 030
The central axis for turning central axis and human ankle plantar flexion dorsiflex campaign coincides, and the band by way of rotating electric machine acceleration and deceleration device
Dynamic patient's ankle carries out plantar flexion and dorsiflex rotation, plays rehabilitative action；
Outreach part 040 is received in the ankle to connect with ankle plantar flexion dorsiflex part 030, and outreach part is received in ankle
040 centre of motion axis and the centre of motion axis of ankle plantar flexion dorsiflex part 030 are perpendicular, are connected by the way of crank rocker
Foot support section 050 carries out interior receipts and Outward Bound to patient's ankle；
The foot of 050 immobilized patients of foot support section, and be equipped with pressure sensor and Rehabilitation is intended to carry out
Differentiate；
The drive control part 060 is a set of computer system with certain computing capability, for leg exercise
Rotating electric machine required for outreach part 040 is received in part 020, ankle plantar flexion dorsiflex part 030 and ankle carries out angle and speed
The drive control of degree；
The handheld box 070 is man-machine interactive interface, carries out wireless and wired communication with drive control part 060, connects
The kinematic parameter of user setting is received, and kinematic parameter is passed into drive control part 060 to control leg exercise part
020, ankle plantar flexion dorsiflex part 030 and the interior movement velocity and movement for receiving rotating electric machine required for outreach part 040 of ankle
Angle；
The energy source and power part 080 provides electric power energy for healing robot, can be with lead-acid accumulator, lithium battery
The mode of equal batteries exists, and can also provide the energy by extraneous power supply adaptor, can also directly be connected with alternating current.
The movement of lower limb rehabilitation described in the present embodiment, can be hip and knee buckling stretching routine, ankle-joint plantar flexion dorsiflex
Movement and ankle-joint in receive abduction exercise in independently moving, can also above-mentioned coordination linkage between any two, be also possible to above-mentioned
Three kinds of movement coordinated movements of various economic factors together.
In a preferred embodiment, between the handheld box 070 and the drive control part 060 by RS232,
RS485, USB, CAN bus, spi bus, I2C bus wired forms carry out data communication, or by bluetooth, ZIGBEE,
The wireless of WIFI, 13.56MHZ, 433MHZ carry out data communication.
As shown in Fig. 2, in a preferred embodiment, the robot base 010 includes: pedestal base 011, outside pedestal
Shell 012, moving handle 013, mobile pulley 014 and pulley jack 015, in which:
Pedestal base 011 is the benchmark of entire healing robot, and all other components are opened up in pedestal base 011
It opens；Pedestal base 011 is whole to be presented rectangle, and in rectangular long side both ends: one end is equipped with moving handle 013, the other end
Mobile pulley 014 and pulley jack 015 be installed, drive control part 060 be placed in pedestal base 011 and by pedestal outside
Shell 012 is protected；
Base shell 012 is for protecting drive control part 060, mobile pulley 014 and pulley jack 015
Come；
Moving handle 013 is located at long side one end of pedestal base 011, convenient when healing robot is in moving condition
User grasps and moves it；
Mobile pulley 014 is located at the long side other end of pedestal base 011, can hide and be contained in inside base shell 012,
Base shell 012 can be popped up in order to movement；
Pulley jack 015 includes torsional spring, triggering for triggering and storing mobile pulley 014, pulley jack 015
The mobile pulley 014 being accommodated in base shell 012 is popped up by torsional spring and trigger mechanism, passes through lock by mechanism, retaining mechanism
The mobile pulley 014 flicked is accommodated into base shell 012 and self-locking by tight mechanism.
As shown in Figure 3a, 3b, there are two types of operating modes for the healing robot: rehabilitation modality and Move Mode, in which:
Under rehabilitation modality, mobile pulley 014 is accommodated in inside base shell 012, is convenient for patient by entire rehabilitation machine
People, which is placed on bed, to be used (in such as Fig. 3 shown in (b))；
In transport mode, the trigger mechanism of pulley jack 015 is clicked, discharges mobile pulley 014, and in torsional spring power
Transmitting under mobile pulley 014 is popped up, and entire healing robot is placed in ground, 011 one end of pull-up pedestal base
The mobile pulley 014 of moving handle 013,011 other end of pedestal base contacts ground, and user can pass through mobile pulley
014 easily carries (in such as Fig. 3 shown in (a)) healing robot.
As shown in Fig. 4 and Fig. 5 a, Fig. 5 b, in a preferred embodiment, the leg exercise part 020 includes: straight line
Moving component 021, shank connecting component 022, toe raise component 023, thigh moving component 024,025 and of thigh stretching member
Angular transducer component 026, in which: parts moving linearly 021 is located in robot base 010, and provides reciprocal straight line fortune
It is dynamic；Shank connecting component 022 and thigh moving component 024 form parallelogram motion structure, and shank connecting component 022 is used for
It carries the shank of patient and is connected with parts moving linearly 021, for the linear motion of parts moving linearly 021 to be converted into
Patient's hip joint and kneed buckling and stretching routine；Toe raise component 023 can be manually finely adjusted, and make entire rehabilitation
The lower leg portion of robot and the lower-leg length of patient match；Thigh moving component 024 and the composition of shank connecting component 022 are flat
Row quadrilateral structure, and when guaranteeing knee sprung and the stretching, extension of a joint shaft and patient in parallelogram sturcutre
Joint shaft is same, while carrying the thigh of patient；Thigh stretching member 025 can be manually finely adjusted, and make entire healing robot
Leg portion and the thigh length of patient match；Angular transducer component 026 is for detecting patient's knee sprung and stretching
Angle when exhibition, i.e. detection thigh moving component 024 and the formed parallelogram of shank connecting component 022 are closed with patient's knee
Save two corner degree that joint shaft is coaxially connected.The angle information of these detections can be used as the reference of rehabilitation parameter setting.
Further, the parts moving linearly 021 drives lead screw or electric rotating using linear motor, rotating electric machine
Machine drives one of rack-and-pinion to realize.
As shown in Fig. 6 and Fig. 7 a, Fig. 7 b, in a preferred embodiment, the ankle plantar flexion dorsiflex part 030 includes:
Plantar flexion dorsiflex rotating power source 031, inner frame member 032, in which: plantar flexion dorsiflex rotating power source 031 is fixed on leg exercise
On the toe raise component 023 of part 020, and provide the rotation angle of inner frame member 032 Yu toe raise component 023, plantar
The rotating power source 031 in the wrong that stoops is that rotating electric machine directly provides rotary motion or rotating electric machine matching RV retarder, harmonic wave
One of retarder, nova gear reduction unit, worm type of reduction gearing provide rotary power；Inner frame member 032 is by plantar
The rotating power source 031 in the wrong that stoops drives rotation, and carries the movement that outreach part 040 and foot support section 050 are received in ankle,
Specific: the stator of 031 motor of plantar flexion dorsiflex rotating power source is mounted on 023 end of toe raise component, plantar flexion dorsiflex rotation
The rotor of rotatory force source motor 031 connects inner frame member 032, and inner frame member 032 is driven to rotate, and realizes the plantar flexion of ankle
Dorsiflex movement.
As shown in Fig. 8 and Fig. 9 a, Fig. 9 b, receiving outreach part 040 in a preferred embodiment, in the ankle includes:
Interior receipts outreach rotating power source 041 and crank rocker component 042, in which: interior receipts outreach rotating power source 041 is fixed on ankle plantar
It stoops on the inner frame member 032 of part 030 in the wrong, and rotary motion is provided, crank rocker component 042 and the rotation of interior receipts outreach are dynamic
Power source 041 matches, the angled reciprocal fortune of the rotation motion for providing interior receipts outreach rotating power source 041
It is dynamic, to realize the movement of patient's ankle plantar flexion and dorsiflex.
Further, the interior receipts outreach rotating power source 041 is rotating electric machine, and rotating electric machine directly provides rotation fortune
Dynamic or rotating electric machine matching RV retarder, harmonic speed reducer, nova gear reduction unit, one in worm type of reduction gearing
Kind is to provide rotary power.
As shown in Figure 10, in a preferred embodiment, the foot support section 050 includes: foot portion frame 051, foot
Portion's size adjusting part 052, foot binding component 053, forefoot pressure sensor 054 and hind paw pressure sensor 055,
In: foot portion frame 051 is connected with 042 output end of crank rocker component for receiving outreach part 040 in ankle, foot portion frame 051
It is whole L-shaped, be used to support foot binding component 053, foot sizing adjustment component 052, forefoot pressure sensor 054 and after
Sole pressure sensor 055；It is tabular that foot sizing, which adjusts component 052, adjusts component 052 by manual adjustment foot sizing
With the relative movement of foot portion frame 051, adjusting is made to match and lock to patients feet's size；Foot binding component 053 is adopted
With velcro, magic tape, or in such a way that bandage, nylon tape are inserted and buckled, by the foot of patient and foot sizing adjustment section
052 phase of part is fixed；Forefoot pressure sensor 054 is located at the front of foot sizing adjustment component 052, includes spring, and adopt
Patient's forefoot is acquired with pressure sensor to the pressure of foot support section 050；Hind paw pressure sensor 055 is located at foot
The rear portion of portion's size adjusting part 052 includes spring, and acquires patient's heel to foot support sector using pressure sensor
Divide 050 pressure.Forefoot pressure sensor 054, hind paw pressure sensor 055 testing result can be used as rehabilitation parameter
The reference of setting.
Healing robot described in the utility model is easy to operate, only needs patient that leg is put into leg exercise part 020, foot
Portion is put into foot support section 050 and is fixed, so that it may realize that the stretching, extension of hip joint buckling, knee sprung stretching, extension, ankle close
The movement such as outreach is received in section plantar flexion dorsiflex, ankle-joint, plays the role of lower limb rehabilitation.The utility model structure is simple, and operation is just
Victory has and is widely popularized meaning.
Specific embodiment of the utility model is described above.It is to be appreciated that the utility model not office
It is limited to above-mentioned particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims,
This has no effect on the substantive content of the utility model.
Claims (10)
1. a kind of multiple degrees of freedom movable lower limb healing robot characterized by comprising robot base, leg exercise portion
Point, ankle plantar flexion dorsiflex part, that outreach part, foot support section, drive control part, handheld box and the energy are received in ankle is dynamic
Power part, in which:
Bracket of the robot base as entire healing robot, for carrying leg exercise part, ankle plantar flexion dorsiflex
Partially, outreach part, foot support section, drive control part, handheld box and energy source and power part are received in ankle；
The leg exercise is partially installed on robot base, and the shank and thigh of leg exercise part carrying patient simultaneously drive
The shank and thigh of patient moves back and forth, and realizes hip joint and kneed buckling and stretching routine；
The ankle plantar flexion dorsiflex part is connect with leg exercise part, and the Pivot axle of ankle plantar flexion dorsiflex part and people
The central axis of body ankle plantar flexion dorsiflex campaign coincides, for driving the ankle of patient to carry out plantar flexion and dorsiflex rotation；
Outreach part is received in the ankle to connect with ankle plantar flexion dorsiflex part, and the centre of motion axis of outreach part is received in ankle
It is perpendicular with the Pivot axle of ankle plantar flexion dorsiflex part, outreach part is received in ankle, and foot is connected by the way of crank rocker
Portion's support section, for receipts and Outward Bound in being carried out to patient's ankle；
The foot support section is connect with receipts outreach part in the ankle, and the foot support section is for immobilized patients
Foot；
The drive control part, input terminal connect the handheld box, output end connected legs motion parts, ankle plantar flexion dorsiflex
Outreach part is received in part and ankle；
The handheld box is man-machine interactive interface, and the input terminal of handheld box is used for user setting parameter, output end connection driving control
Part processed, for exporting parameter to drive control part, thus drive control leg exercise part, ankle plantar flexion dorsiflex part
With the movement velocity and/or angle for receiving outreach part in ankle；
The energy source and power part is used to receive outreach part, foot in leg exercise part, ankle plantar flexion dorsiflex part, ankle
Support section, drive control part, handheld box provide electric power energy.
2. a kind of multiple degrees of freedom movable lower limb healing robot according to claim 1, which is characterized in that the robot
Pedestal includes: pedestal base, base shell, moving handle, mobile pulley and pulley jack, in which: pedestal base is whole
The benchmark of a healing robot, pedestal base are in rectangular parallelepiped structure, and one end of cuboid long side is fixedly connected with moving handle, long
The other end connection mobile pulley and pulley jack of cube long side；Base shell is used for drive control part, mobile cunning
Wheel and pulley jack protect；Pulley jack is for triggering and storing mobile pulley, the pulley jack packet
Torsional spring, trigger mechanism and retaining mechanism are included, the mobile pulley that torsional spring and trigger mechanism are used to be accommodated in base shell pops up,
Retaining mechanism is used to for the mobile pulley flicked being accommodated into base shell and self-locking.
3. a kind of multiple degrees of freedom movable lower limb healing robot according to claim 1, which is characterized in that the leg fortune
Dynamic part include: parts moving linearly, shank connecting component, toe raise component, thigh moving component, thigh stretching member and
Angular transducer component, in which:
The parts moving linearly is located in robot base, for providing linear reciprocating motion；
The shank connecting component and thigh moving component form parallelogram motion structure, while shank connecting component carries
The shank of patient is simultaneously connected with parts moving linearly, for the linear motion of parts moving linearly to be converted into patient's hip joint
With kneed buckling and stretching routine；
The toe raise component is used to finely tune lower leg portion and patient's lower-leg length phase so that the entire healing robot
Matching；
The thigh of the thigh moving component carrying patient, thigh moving component and shank connecting component form parallelogram knot
Structure and joint shaft when guaranteeing knee sprung and the stretching, extension of a joint shaft and patient in parallelogram sturcutre is concentric；
The thigh stretching member is for finely tuning so that the entire leg portion of the healing robot and the thigh length of patient
Match；
The angular transducer component is used to detect angle when patient's knee sprung and stretching, extension, i.e. detection thigh moving component
With the angle on two sides that are coaxially connected with patient's knee joint joint shaft of the formed parallelogram of shank connecting component.
4. a kind of multiple degrees of freedom movable lower limb healing robot according to claim 3, which is characterized in that the straight line fortune
Dynamic component is linear motor or rotating electric machine drives screw structure or rotating electric machine to drive one of gear & rack structure.
5. a kind of multiple degrees of freedom movable lower limb healing robot according to claim 1, which is characterized in that the ankle plantar
Stoop the inner frame portion for including: partially plantar flexion dorsiflex rotating power source and connecting with the plantar flexion dorsiflex rotating power source
Part, in which:
The plantar flexion dorsiflex rotating power source is fixed on leg exercise part, provides the rotation angle of inner frame member；
The inner frame member is driven by plantar flexion dorsiflex rotating power source to be rotated, and is carried and received outreach part and foot branch in ankle
Hold the movement of part.
6. a kind of multiple degrees of freedom movable lower limb healing robot according to claim 5, which is characterized in that the plantar flexion back
Bending rotating power source is rotating electric machine；The stator of the rotating electric machine is mounted on the toe raise component end in leg exercise part
On end, the rotor of rotating electric machine connects inner frame member, and inner frame member is driven to rotate, and the plantar flexion dorsiflex to realize ankle is dynamic
Make.
7. a kind of multiple degrees of freedom movable lower limb healing robot according to claim 1, which is characterized in that in the ankle
Receiving outreach part point includes: interior receipts outreach rotating power source and crank rocker component, in which:
The interior receipts outreach rotating power source is fixed on ankle plantar flexion dorsiflex part and provides rotary power；
The crank rocker component is connect with the foot support section, and is matched with interior receipts outreach rotating power source, is used for
The interior rotary motion for receiving outreach rotating power source is converted to the reciprocating motion of set angle, to realize patient's ankle plantar flexion and back
Movement in the wrong.
8. a kind of multiple degrees of freedom movable lower limb healing robot according to claim 7, which is characterized in that outside the interior receipts
Exhibition rotating power source is rotating electric machine.
9. any one of -8 a kind of multiple degrees of freedom movable lower limb healing robot according to claim 1, which is characterized in that institute
State foot support section include: foot portion frame, foot sizing adjustment component, foot binding component, forefoot pressure sensor and
Hind paw pressure sensor, in which:
The foot portion frame is connect with receipts outreach part split-phase in ankle, is used to support foot binding component, foot sizing adjustment section
Part, forefoot pressure sensor and hind paw pressure sensor；
The foot sizing adjustment component is tabular, and the relative movement of component and foot portion frame is adjusted by adjusting foot sizing
Match to patients feet's size, and locks；
The foot binding component is used to mutually fix the foot of patient and foot sizing adjustment component；
The forefoot pressure sensor is located at the front of foot sizing adjustment component, for acquiring patient's forefoot to foot branch
Hold the pressure of part；
The hind paw pressure sensor is located at the rear portion of foot sizing adjustment component, supports for acquiring patient's heel foot
Partial pressure.
10. a kind of multiple degrees of freedom movable lower limb healing robot according to claim 9, which is characterized in that the front foot
It slaps pressure sensor and hind paw pressure sensor is the pressure sensor for including spring.
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| CN201821682416.6U CN209203956U (en) | 2018-10-17 | 2018-10-17 | A kind of multiple degrees of freedom movable lower limb healing robot |
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| CN201821682416.6U CN209203956U (en) | 2018-10-17 | 2018-10-17 | A kind of multiple degrees of freedom movable lower limb healing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110584951A (en) * | 2019-09-29 | 2019-12-20 | 赤峰学院 | Rehabilitation physiotherapy training device for acroparalysis |
| CN117618223A (en) * | 2024-01-12 | 2024-03-01 | 北京大学第三医院（北京大学第三临床医学院） | Static progressive drafting trainer of knee joint of integrated signal detecting system |
-
2018
- 2018-10-17 CN CN201821682416.6U patent/CN209203956U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110584951A (en) * | 2019-09-29 | 2019-12-20 | 赤峰学院 | Rehabilitation physiotherapy training device for acroparalysis |
| CN117618223A (en) * | 2024-01-12 | 2024-03-01 | 北京大学第三医院（北京大学第三临床医学院） | Static progressive drafting trainer of knee joint of integrated signal detecting system |
| CN117618223B (en) * | 2024-01-12 | 2024-03-26 | 北京大学第三医院（北京大学第三临床医学院） | Static progressive drafting trainer of knee joint of integrated signal detecting system |
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