CN212466516U

CN212466516U - Ankle movement mechanism of lower limb rehabilitation robot

Info

Publication number: CN212466516U
Application number: CN202020981688.7U
Authority: CN
Inventors: 牛栓柱; 李强; 谢大鹏; 王乾宝; 唐浩鹤; 王云松; 罗彬彬
Original assignee: Chuangshi Intelligent Robot Henan Co ltd
Current assignee: Chuangshi Intelligent Robot Henan Co ltd
Priority date: 2020-06-02
Filing date: 2020-06-02
Publication date: 2021-02-05
Anticipated expiration: 2030-06-02

Abstract

The utility model relates to a rehabilitation facility technical field, concretely relates to recovered robot ankle motion of low limbs, including ankle support and promotion subassembly, still include pendulum rod assembly, angle adjusting subassembly and fastening components, the ankle support is the U-shaped, is provided with promotion subassembly and fastening components on the ankle support, it drives the pendulum rod assembly swing to promote the subassembly, the pendulum rod assembly sets up in ankle support below, is connected with angle adjusting subassembly on the pendulum rod assembly, angle adjusting subassembly sets up in ankle support top. The utility model provides an ankle rehabilitation institution among the prior art have not corresponding safeguard measure, may cause secondary damage to the user to and adjust the problem that rotation angle is wasted time and energy, convenient to use.

Description

Ankle movement mechanism of lower limb rehabilitation robot

Technical Field

The utility model relates to a rehabilitation facility technical field, concretely relates to recovered robot ankle motion of low limbs.

Background

With the increase of the aging population in China, the aging problem is more and more concerned. In the aging population, there are a large number of patients who have lower limb movement disorders such as hemiplegia due to stroke, and in addition, the normal life of patients who have limb injuries or even hemiplegia due to traffic accidents is seriously affected. Such patients want to improve and recover the lower limb movement function, and need scientific and targeted rehabilitation therapy besides surgery and medical therapy, and the rehabilitation robot takes place at the same time, and ankle rehabilitation training is a very critical part of the rehabilitation robot.

There are also ankle rehabilitation mechanisms in the prior art, such as chinese patent application No. 2018216824325: an ankle rehabilitation mechanism comprising: a sole support portion, a sole securing portion, a calf securing portion and an ankle moving portion; the ankle-moving portion includes: an ankle inner and outer turning part and/or an ankle upper and lower turning part and/or an ankle rotating movement part; the sole support portion is for carrying a foot; the sole fixing part is used for fixing the foot and the mechanism; the lower leg fixing part is used for fixing the lower leg on the ankle moving part; the movement shaft of the ankle inner-outer overturning part is concentric with the movement shaft of the ankle upper-lower overturning part when the ankle is overturned inside and outside, and is concentric with the movement shaft of the ankle upper-lower overturning part when the ankle is overturned up and down; the movement axis of the ankle rotating movement part is concentric with the joint movement axis during the ankle rotating movement, so that the three-degree-of-freedom rehabilitation action of the ankle of the user can be realized.

But also there are some problems in the above-mentioned patent, the in-process that moves at user's ankle lacks protection device, because user's sole and shank position are fixed through the motion when recovered action, and usually by motor drive, if do not adopt the safeguard measure and probably cause secondary damage to user's wound when recovering, influence the recovery effect, angle modulation needs to rely on the motor to cooperate the execution simultaneously, the user need carry out upset angle modulation when using, the operation is difficult, waste time and energy.

Disclosure of Invention

There is not corresponding safeguard measure in order to solve the ankle rehabilitation mechanism among the prior art, may cause secondary damage to the user to and adjust the problem that rotation angle wastes time and energy, the utility model provides a recovered robot ankle motion of low limbs.

The utility model provides an ankle motion of recovered robot of low limbs, includes ankle support and promotion subassembly, still includes pendulum rod subassembly, angle adjusting part and fastening component, the ankle support is the U-shaped, is provided with promotion subassembly and fastening component on the ankle support, the promotion subassembly drives the swing rod subassembly swing, the pendulum rod subassembly sets up in ankle support below, is connected with angle adjusting part on the pendulum rod subassembly, angle adjusting part sets up in ankle support top.

Further, the ankle support comprises a rectangular first fixing plate, a second fixing plate and a third fixing plate are arranged on two sides of the first fixing plate respectively, and a swing rod assembly is rotatably connected below the second fixing plate and the third fixing plate.

Further, the lifting assembly comprises a lifting motor, a hoisting roller, a pull rope, a first pulley and a second pulley, the lifting motor and the hoisting roller are arranged behind the first fixing plate, the output end of the lifting motor is connected to the hoisting roller, the pull rope is arranged on the hoisting roller, the pull rope sequentially bypasses the first pulley and the second pulley and is connected to the swing rod assembly, and the first pulley and the second pulley are arranged on one side of the second fixing plate.

Further, the swing rod assembly comprises a side plate and an arc plate, the arc plate is a U-shaped plate, one end of the arc plate is connected with the lower portion of the third fixing plate through a bearing, the other end of the arc plate is connected to the side plate, the side plate is arranged below the second fixing plate through a bearing, a first swing rod is arranged at the end portion of the side plate, a second swing rod is arranged at the end portion of the arc plate, the end portion of the first swing rod is connected with the pull rope, an angle adjusting assembly is connected onto the second swing rod, a fixing bandage is arranged between the first swing rod and the second swing rod, and the fixing bandage is used for fixing a sole of a user.

Further, the angle adjusting assembly comprises a supporting arm, a supporting beam, an adjusting rope, an adjusting buckle and a tension spring, wherein the supporting arm is vertically arranged above the second fixing plate, the supporting beam is arranged at the upper end of the supporting arm, the other end of the supporting beam is connected with the adjusting rope, the lower end of the adjusting rope is connected with the second swing rod, and the adjusting buckle and the tension spring are arranged on the adjusting rope.

Furthermore, fastening device includes curved fixed plate, regulation pole, fixing base and chucking piece, the tip of fixed plate is provided with the bandage, and the middle part of fixed plate is connected with the regulation pole, adjust the pole and wear to set up in the fixing base, the fixing base sets up in first fixed plate top middle part, is provided with the chucking piece on the fixing base, the chucking piece is used for the chucking to adjust the pole.

Furthermore, a limit sensor is arranged at a bearing where the side plate is connected with the second fixing plate.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model comprises a swing rod component, an angle adjusting component and a fastening component, wherein the swing rod component converts power into swinging actions of a first swing rod and a second swing rod, and is matched with the motion law of ankles, so that a user can conveniently perform rehabilitation training on ankles; the angle adjusting component can adjust the initial lifting angle of the sole according to the specific conditions of a user, and is convenient to install and adjust; the fastening component is convenient for fixing the limbs of the user and driving the lower limbs of the user to perform rehabilitation training.

The lifting assembly comprises a lifting motor, a hoisting roller and a pull rope, and can convert the pulling force of the lifting motor into the swinging motion of the first swing rod and the second swing rod through the hoisting roller and stretching, and perform rehabilitation training by combining with the ankle of a user; the swing rod mechanism also comprises a first pulley and a second pulley, so that the stable transmission of power is ensured, and the stable movement of the swing rod mechanism is ensured; the swing rod assembly comprises a side plate and an arc-shaped plate, the arc-shaped plate is connected with the first fixing plate through a bearing, and the first swing rod and the second swing rod are driven by the arc-shaped plate to swing conveniently; a fixing bandage is arranged between the first swing rod and the second swing rod, so that the sole of a user can be conveniently fixed, a certain support is provided for the sole of the user, and the rehabilitation training is conveniently carried out.

The angle adjusting component comprises a supporting arm, a supporting beam and an adjusting rope, an adjusting buckle and an elastic spring are arranged on the adjusting rope, the initial angle of the first swing rod and the initial angle of the second swing rod can be adjusted by adjusting the tightness of the adjusting rope through the adjusting buckle, and then the initial angle of the sole of a user is adjusted, so that the angle adjusting component is convenient to use; the adjusting spring can provide the motion lifting force for the first swing rod and the second swing rod, the sole of a user is buffered, and secondary damage to the user in the rehabilitation process is avoided.

The fastening mechanism comprises an arc-shaped fixing plate, and the shape of the fixing plate is combined with the shape of the legs of the human body, so that the fixing is convenient; the middle part of fixed plate is provided with the regulation pole, and the regulation pole passes to wear to establish on the fixing base, is provided with the chucking piece on the fixing base, can adjust fixed position according to user's different situation, is convenient for adapt to different user's the condition.

The bearing department that curb plate and second fixed plate are connected is provided with spacing sensor, can play the restriction effect to the swing angle of pendulum rod subassembly, avoids the angle undersize to lead to recovered effect not good or the angle too big leads to user's secondary injury.

Drawings

Fig. 1 is a schematic structural diagram of an ankle movement mechanism of a lower limb rehabilitation robot of the present invention.

Fig. 2 is a schematic structural diagram of a lifting assembly of the ankle movement mechanism of the lower limb rehabilitation robot of the present invention.

Fig. 3 is a schematic structural diagram of the swing link assembly of the ankle movement mechanism of the lower limb rehabilitation robot of the present invention.

Fig. 4 is a schematic structural diagram of the angle adjusting assembly of the ankle moving mechanism of the lower limb rehabilitation robot of the present invention.

Fig. 5 is a schematic structural diagram of a fastening assembly of an ankle movement mechanism of a lower limb rehabilitation robot according to the present invention.

The reference numbers are: 1 is ankle support, 2 is the lifting unit, 3 is the pendulum rod subassembly, 4 is the angle adjustment subassembly, 5 is the fastening subassembly, 6 is spacing sensor, 101 is first fixed plate, 102 is the second fixed plate, 103 is the third fixed plate, 201 is the hoisting motor, 202 is the hoist cylinder, 203 is the stay cord, 204 is first pulley, 205 is the second pulley, 301 is the curb plate, 302 is the arc, 303 is first pendulum rod, 304 is the second pendulum rod, 305 is fixing strap, 401 is the support arm, 402 is a supporting beam, 403 is the regulation rope, 404 is the regulation knot, 405 is the elasticity spring, 501 is the fixed plate, 502 is the regulation pole, 503 is the fixing base, 504 is the chucking piece.

Detailed Description

The invention will be further explained with reference to the following figures and specific examples:

as shown in fig. 1-5, an ankle movement mechanism of a lower limb rehabilitation robot comprises an ankle support 1, a lifting assembly 2, a swing rod assembly 3, an angle adjusting assembly 4 and a fastening assembly 5, wherein the ankle support 1 is U-shaped, the lifting assembly 2 and the fastening assembly 5 are arranged on the ankle support 1, the lifting assembly 2 drives the swing rod assembly 3 to swing, the swing rod assembly 3 is arranged below the ankle support 1, the angle adjusting assembly 4 is connected onto the swing rod assembly 3, and the angle adjusting assembly 4 is arranged above the ankle support 1.

The ankle support 1 comprises a rectangular first fixing plate 101, a second fixing plate 102 and a third fixing plate 103 are arranged on two sides of the first fixing plate 101 respectively, a swing rod assembly 3 is rotatably connected below the second fixing plate 102 and the third fixing plate 103, the lifting assembly 2 comprises a lifting motor 201, a lifting roller 202, a pull rope 203, a first pulley 204 and a second pulley 205, the lifting motor 201 and the lifting roller 202 are arranged behind the first fixing plate 101, the output end of the lifting motor 201 is connected to the lifting roller 202, the lifting roller 202 is provided with the pull rope 203, the pull rope 203 sequentially bypasses the first pulley 204 and the second pulley 205 and is connected to the swing rod assembly 3, and the first pulley 204 and the second pulley 205 are arranged on one side of the second fixing plate 102.

The swing link assembly 3 includes a side plate 301 and an arc plate 302, the arc plate 302 is a U-shaped plate, one end of the arc plate 302 is connected to the lower side of the third fixing plate 103 through a bearing, and the other end is connected to the side plate 301, the side plate 301 is disposed below the second fixing plate 102 through a bearing, and a connection is provided with a limit sensor 6, specifically, the limit sensor 6 in this embodiment is an angular displacement sensor, the end of the side plate 301 is provided with a first swing link 303, the end of the arc plate 302 is provided with a second swing link 304, the end of the first swing link 303 is connected to the pull rope 203, the second swing link 304 is connected to an angle adjusting assembly 4, a fixing strap 305 is disposed between the first swing link 303 and the second swing link 304, the fixing strap 305 is used for fixing the sole of a user, and specifically, the fixing strap 305 in this embodiment is an elastic hook.

The angle adjusting assembly 4 comprises a supporting arm 401, a supporting beam 402, an adjusting rope 403, an adjusting buckle 404 and a tension spring 405, wherein the supporting arm 401 is vertically arranged above the second fixing plate 102, the supporting beam 402 is arranged at the upper end of the supporting arm 401, the other end of the supporting beam 402 is connected with the adjusting rope 403, the lower end of the adjusting rope 403 is connected with a second swing rod 304, and the adjusting buckle 404 and the tension spring 405 are arranged on the adjusting rope 403.

The fastening mechanism 5 comprises an arc-shaped fixing plate 501, an adjusting rod 502, a fixing seat 503 and a clamping block 504, wherein a binding band is arranged at the end of the fixing plate 501 and used for fixing the lower leg of a user, the adjusting rod 502 is connected to the middle of the fixing plate 501, the adjusting rod 502 is arranged in the fixing seat 503 in a penetrating mode, the fixing seat 503 is arranged in the middle above the first fixing plate 101, the clamping block 504 is arranged on the fixing seat 503, and the clamping block 504 is used for clamping the adjusting rod 502.

The utility model discloses before using, the staff is according to user's health condition angle regulation subassembly 4, the angle that needs to lift up with cooperation user's sole carries out the rehabilitation training, specifically, the staff is detained 404 through the regulation and is increased or reduce the length of adjusting rope 403, the tip of adjusting rope 403 is connected with second pendulum rod 304, second pendulum rod 304 is connected with arc 302, the arc 302 other end is connected with first pendulum rod 303 through curb plate 301, be provided with the fixed bandage 305 that is used for fixed user's sole between first pendulum rod 303 and the second pendulum rod 304, finally, the realization is adjusted the initial angle of user's sole.

The utility model discloses when using, the user need wear this device and carry out gait rehabilitation training on motion platform, need the staff to assist the user and go on, the staff is fixed in user's low limbs earlier this device, specifically, the staff adjusts fastening component 5 earlier in order to adapt to user's condition, specifically, the staff opens chucking piece 504, through increasing or shortening the length of adjusting pole 502 in fixing base 503, adjust the position of fixed plate 501, guarantee that fixed plate 501 can stably support user's shank, then open fixed bandage 305 and put into user's sole, guarantee that fixed bandage 305 elasticity is suitable, fix user's shank through the bandage at last;

when a user uses the device to perform rehabilitation training, the lifting motor 201 works and drives the lifting roller 202 to rotate forwards or backwards, the lifting roller 202 rotates and drives the pull rope 203 arranged on the lifting roller to contract or extend, the pull rope 203 drives the first swing link 303 to move, specifically, the lifting motor 201 in the embodiment is a 25GST2R82 type motor, the lifting motor 201 simulates the movement law of human ankles to work, the first swing link 303 is connected to the arc-shaped plate 302 through the side plate 301, the second swing link 304 is arranged at the other end of the arc-shaped plate 302, so that the first swing link 303 and the second swing link 304 move together, the sole of the user is arranged on the fixing strap 305 between the first swing link 303 and the second swing link 304 and has a certain initial angle, the position where the first swing link 303 and the second fixing plate 102 are connected is provided with the limit sensor 6, specifically, the limit sensor 6 in the embodiment is an EE-SX952R type sensor, the limiting sensor 6 is used for limiting the sole of a user to swing in a certain angle, so that the use safety of the user is guaranteed, the sole of the user can swing continuously along with the movement law of the ankle of the human body in a certain angle, and the ankle rehabilitation training of the user is realized.

The above-mentioned embodiments are merely preferred embodiments of the present invention, and not intended to limit the scope of the present invention, so that equivalent changes or modifications made by the structure, features and principles of the present invention should be included in the claims of the present invention.

Claims

1. The utility model provides a recovered robot ankle motion of low limbs, includes ankle support (1) and promotion subassembly (2), its characterized in that still includes pendulum rod subassembly (3), angle adjusting part (4) and fastening components (5), ankle support (1) is the U-shaped, is provided with promotion subassembly (2) and fastening components (5) on ankle support (1), promotion subassembly (2) drive pendulum rod subassembly (3) swing, pendulum rod subassembly (3) set up in ankle support (1) below, are connected with angle adjusting part (4) on pendulum rod subassembly (3), angle adjusting part (4) set up in ankle support (1) top.

2. The lower limb rehabilitation robot ankle movement mechanism according to claim 1, wherein the ankle support (1) comprises a rectangular first fixing plate (101), a second fixing plate (102) and a third fixing plate (103) are respectively arranged on two sides of the first fixing plate (101), and a swing rod assembly (3) is rotatably connected below the second fixing plate (102) and the third fixing plate (103).

3. The lower limb rehabilitation robot ankle movement mechanism according to claim 2, wherein the lifting assembly (2) comprises a lifting motor (201), a winding roller (202), a pull rope (203), a first pulley (204) and a second pulley (205), the lifting motor (201) and the winding roller (202) are both arranged behind the first fixing plate (101), the output end of the lifting motor (201) is connected to the winding roller (202), the pull rope (203) is arranged on the winding roller (202), the pull rope (203) sequentially bypasses the first pulley (204) and the second pulley (205) and is connected to the swing rod assembly (3), and the first pulley (204) and the second pulley (205) are arranged on one side of the second fixing plate (102).

4. The ankle movement mechanism of a lower limb rehabilitation robot according to claim 3, the swing rod assembly (3) comprises a side plate (301) and an arc-shaped plate (302), the arc-shaped plate (302) is a U-shaped plate, one end of the arc-shaped plate (302) is connected with the lower part of the third fixing plate (103) through a bearing, the other end of the arc-shaped plate is connected to the side plate (301), the side plate (301) is arranged below the second fixing plate (102) through a bearing, a first swing rod (303) is arranged at the end part of the side plate (301), a second swing rod (304) is arranged at the end part of the arc-shaped plate (302), the end part of the first swing rod (303) is connected with the pull rope (203), the second swing rod (304) is connected with an angle adjusting component (4), a fixing bandage (305) is arranged between the first swing rod (303) and the second swing rod (304), and the fixing bandage (305) is used for fixing the sole of a user.

5. The ankle moving mechanism of a lower limb rehabilitation robot as claimed in claim 4, wherein the angle adjusting assembly (4) comprises a supporting arm (401), a supporting beam (402), an adjusting rope (403), an adjusting buckle (404) and a tension spring (405), the supporting arm (401) is vertically arranged above the second fixing plate (102), the supporting beam (402) is arranged at the upper end of the supporting arm (401), the adjusting rope (403) is connected to the other end of the supporting beam (402), the lower end of the adjusting rope (403) is connected with the second swing rod (304), and the adjusting buckle (404) and the tension spring (405) are arranged on the adjusting rope (403).

6. The ankle movement mechanism of the lower limb rehabilitation robot as claimed in claim 2, wherein the fastening assembly (5) comprises an arc-shaped fixing plate (501), an adjusting rod (502), a fixing seat (503) and a clamping block (504), a binding belt is arranged at the end of the fixing plate (501), the adjusting rod (502) is connected to the middle of the fixing plate (501), the adjusting rod (502) is arranged in the fixing seat (503) in a penetrating mode, the fixing seat (503) is arranged in the middle above the first fixing plate (101), the clamping block (504) is arranged on the fixing seat (503), and the clamping block (504) is used for clamping the adjusting rod (502).

7. The ankle movement mechanism of the lower limb rehabilitation robot as claimed in claim 4, wherein a limit sensor (6) is arranged at a bearing where the side plate (301) is connected with the second fixing plate (102).