CN213100646U - Hip joint of lower limb rehabilitation training robot - Google Patents

Hip joint of lower limb rehabilitation training robot Download PDF

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Publication number
CN213100646U
CN213100646U CN202020541283.1U CN202020541283U CN213100646U CN 213100646 U CN213100646 U CN 213100646U CN 202020541283 U CN202020541283 U CN 202020541283U CN 213100646 U CN213100646 U CN 213100646U
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China
Prior art keywords
hip joint
patient
rehabilitation training
spherical
joint
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CN202020541283.1U
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Chinese (zh)
Inventor
蒋海义
车林仙
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Chongqing Vocational Institute of Engineering
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Chongqing Vocational Institute of Engineering
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Abstract

The utility model discloses a hip joint of a lower limb rehabilitation training robot, which comprises a rotating plate, a hip joint support eccentrically and rotationally matched with the rotating plate, and a towing rod matched with the hip joint support through a spherical pair; the utility model discloses a free rotation of tow bar can be realized to the hip joint structure to the motion of adaptation in patient's crotch, hip joint support rotates eccentric connection with the rotor plate, and adjustable hip joint support's vertical and horizontal relative position when the rotor plate rotates does benefit to adaptation patient crotch and shank position change, improves patient's use comfort, and makes patient crotch position reserve and have sufficient motion space, does benefit to patient's rehabilitation training.

Description

Hip joint of lower limb rehabilitation training robot
Technical Field
The utility model relates to a low limbs rehabilitation training technical field relates to a low limbs rehabilitation training robot hip joint.
Background
Stroke is one of the major causes of disability. With the improvement of medical care and medical technology, the survival rate of patients after the stroke is higher and higher, and the disability rate of the stroke is improved at the same time. Wherein, the limb movement dysfunction increases the heavy burden of the patient and the family after the stroke, and seriously influences the daily life of the patient. Therefore, how to effectively improve the walking ability and daily living and activity ability of the patient after stroke becomes a main target of the stroke rehabilitation research.
Based on the neural rehabilitation theory, the patients after the stroke can recover the limb functions through professional rehabilitation training; therefore, a lower limb rehabilitation training device is needed to be applied to the patients with lower limb movement dysfunction; the application of the device necessarily involves the movement of the leg space of the patient, so that a hip joint structure applied to the device for adapting to the leg movement of the patient is needed to improve the use comfort of the patient in the process of assisting rehabilitation training.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a lower limbs rehabilitation training robot hip joint, this hip joint structure adaptation is in patient's shank motion to improve the use comfort level of patient in the supplementary rehabilitation training process.
The utility model discloses a hip joint of a lower limb rehabilitation training robot, which comprises a rotating plate, a hip joint support which is eccentrically and rotationally matched with the rotating plate, and a towing rod which is matched with the hip joint support through a spherical pair.
Further, hip joint support includes joint base and joint lid, the last installation cavity that has of joint base, joint lid cover form spherical installation position on this installation cavity, the tow bar has a spherical installation department, spherical installation department installs in spherical installation position, open joint lid middle part has the via hole that supplies the tow bar to wear out.
Furthermore, the inner side surface of the joint cover and the bottom of the installation cavity are of hemispherical structures which are approximately concentric and have the same bending direction, the spherical installation part is of a thin-wall structure, and the hemispherical inner side surface and the hemispherical outer side surface of the spherical installation part are respectively attached to the inner side surface of the joint cover and the bottom of the installation cavity.
Furthermore, a flexible cushion layer is arranged between the bottom of the installation cavity and the spherical installation part.
Further, still include mounting substrate, the rotor plate normal running fit is installed on mounting substrate.
Furthermore, the rotating plate is eccentrically connected with a connecting sleeve, the joint base protrudes outwards to form an installation part, and the installation part is sleeved in the connecting sleeve and is connected with the connecting sleeve.
Further, the tow bar is still including connecting the connecting rod portion on spherical installation department and the tow bar main part that is the contained angle with connecting rod portion and is connected, connecting rod portion passes the via hole and the tow bar main part of joint lid and is connected.
Further, the tow bar body includes an arc-shaped portion connected to the connection bar portion and bent toward the spherical mounting portion side, and a linear portion connected to a distal end of the arc-shaped portion.
This practical beneficial effect:
the hip joint structure of the utility model can realize the free rotation of the towing rod, thereby adapting to the movement of the crotch of the patient, the hip joint support is eccentrically connected with the rotating plate in a rotating way, the longitudinal and transverse relative positions of the hip joint support can be adjusted when the rotating plate rotates, the adaptation of the crotch of the patient and the change of the position of the leg are facilitated, the use comfort of the patient is improved, and enough movement space is reserved at the crotch of the patient, thereby facilitating the rehabilitation training of the patient;
the utility model has the advantages of the whole volume of the hip joint structure can be reduced by the spherical installation part and the spherical installation position of the thin-wall flat structure, the compactness of the whole hip joint structure is improved, the space layout is facilitated, enough space is easily reserved for the lateral direction of the hip part of a patient during the use, the material of the hip joint of the structure is saved, and the cost is reduced.
Drawings
The invention is further described with reference to the following figures and examples.
Fig. 1 is a structural schematic view of the utility model in a lying state;
FIG. 2 is a side view of the lying position;
fig. 3 is a schematic structural view of the standing state of the present invention;
FIG. 4 is a side view of the stand-up position;
FIG. 5 is a schematic view of a hip joint configuration;
fig. 6 is a schematic structural view of the cushion drive assembly;
FIG. 7 is a partial schematic view of the structure;
FIG. 8 is a schematic view of a lifting slider structure;
Detailed Description
Fig. 1 is a structural schematic view of the utility model in a lying state; FIG. 2 is a side view of the lying position; fig. 3 is a schematic structural view of the standing state of the present invention; FIG. 4 is a side view of the stand-up position; FIG. 5 is a schematic view of a hip joint configuration; fig. 6 is a schematic structural view of the cushion drive assembly; FIG. 7 is a partial schematic view of the structure; FIG. 8 is a schematic view of a lifting slider structure;
as shown in the figure: the hip joint of the utility model is applied to the parallel driving lower limb rehabilitation training robot, and the parallel driving lower limb rehabilitation training robot is exemplified as follows;
the embodiment provides a parallel drive lower limbs rehabilitation training robot, including cushion subassembly 10, connect a pair of lower limbs bracket component 20 that is used for fixed patient's shank respectively on the cushion subassembly and connect the deformation subassembly that is used for changing the two gesture in order to form the state of lying and the state of standing on cushion subassembly and lower limbs bracket component, the deformation subassembly includes lifting unit 30, cushion drive assembly 40 and lower limbs bracket drive assembly 50, lifting unit 30 connects in cushion subassembly 10 below, and cushion subassembly 10 is installed on lifting unit 30 with the mode that can vertically swing, and cushion drive assembly 40 connects and is used for driving cushion subassembly rotation on lifting unit, thereby lower limbs bracket drive assembly 50 connects and is used for driving the motion of lower limbs bracket component 20 on the lower limbs bracket and drives patient's shank motion. The longitudinal direction is the length direction, the transverse direction corresponds to the width direction, when a patient lies on the training robot, the longitudinal direction corresponds to the height direction of the patient, the transverse direction corresponds to the width direction of the patient, and the front side is one side of the robot which is longitudinally close to the head of the patient when the patient lies on the robot; the longitudinal swing means swinging by taking a transverse axis as a central axis, namely swinging in a plane in which the longitudinal direction is located, and the transverse rotation means rotating by taking the longitudinal axis as the central axis, namely rotating in the plane in which the transverse direction is located; referring to fig. 1 and 3, the back cushion assembly is used to support a patient, and in a lying state, the patient lies on the back cushion assembly, and in a standing state, the patient leans against the back cushion assembly, and a good support is provided for the patient through the back cushion assembly. Lower limbs bracket assembly connects and is used for fixed patient's shank in cushion subassembly bottom, when the state of lying, lower limbs bracket assembly is similar level, and drive the motion of lower limbs bracket through lower limbs bracket drive assembly, can make the swing of lower limbs bracket, the gesture of wrench movement or imitation patient walking, and then drive the recovered motion of patient's shank, when the state of standing, same accessible lower limbs bracket drives patient's shank and carries out the rehabilitation training, perhaps resume under the prerequisite of certain action function at patient's shank, can relieve lower limbs bracket drive assembly driven driving function, make the patient self-propelled power realize the rehabilitation training. The deformation component can realize the deformation of the robot to change the posture of the whole robot, wherein the lifting component 30 can drive the cushion component to lift and further adjust the height of the cushion component to adapt to the back height of a patient when the patient stands and lies, meanwhile, the cushion driving component can drive the cushion component to rotate to keep horizontal when the patient lies, keep vertical when the patient stands or be in an inclined state to adjust the lying posture of the patient, the back posture of the patient when the patient stands and lies can be adapted through adjusting the cushion component, and the lower limb support component 20 can be rotatably installed on the cushion component in a matched mode or can be rigidly connected to the cushion component so that the posture of the cushion component can be correspondingly changed when the posture is changed to adapt to the legs of the patient; this robot has two kinds of training modes of lying and standing, can be applicable to the lower limbs rehabilitation training of patient's recovered initial stage under the state of lying, also can be applicable to the rehabilitation training of patient recovery part shank function later stage under the state of standing, be applicable to the rehabilitation training in the whole rehabilitation cycle of patient, it is recovered to synthesize supplementary patient, drive deformation through the deformation module does benefit to supplementary patient in the switching of the posture of lying and standing simultaneously, the angle modulation of cushion subassembly does benefit to the back gesture of adjusting the patient, support to the back when adjusting to lie or stand, do benefit to the adjustment of patient back gesture in the rehabilitation training process, improve because the fatigue that leads to the fact is kept for a long time in same gesture, improve patient use comfort.
In this embodiment, the lifting assembly 30 includes a bottom cross frame 32, a top cross frame 31, at least two scissors-type lifting structures connected between the bottom cross frame and the top cross frame and arranged in a transverse direction, the scissors-type lifting structures include two lifting rods 33 which are mutually crossed and are in a middle rotation fit, a lifting screw 34 which is in a longitudinal rotation fit on the bottom cross frame, and a lifting slider 35 which is in a threaded connection with the lifting screw, tops of the two lifting rods are in a rotation fit with the top cross frame, a bottom of one lifting rod is in a rotation fit with the bottom cross frame, a bottom of the other lifting rod is in a rotation fit with the lifting slider, and the back cushion is in a rotation fit with the top cross frame in a longitudinal swinging manner. Bottom crossbearer 32 is the bottommost layer part of low limbs rehabilitation training robot, bottom crossbearer 32 is H type structure, four universal gyro wheels 36 are installed to bottom crossbearer four corners department, and this universal gyro wheel should take braking system to in the state of keeping the robot, the universal gyro wheel that has braking system is prior art, specifically no longer gives details, and universal gyro wheel accessible leveling screw connects on the bottom crossbearer, can make low limbs rehabilitation training robot platform keep the level on uneven ground through leveling screw, improves the adaptability to the topography. The top crossbearer is rectangle square frame structure, and two longerons of bottom crossbearer 32 are vertical relative with two longerons of top crossbearer 31, respectively connect one set of scissors formula elevation structure between two pairs of vertical relative longerons, respectively install a vertical extension's lifting screw in two longerons inboards of bottom crossbearer 32, specifically be two screw rod mount pads 37 of the inboard inside outstanding formation of bottom crossbearer 32 longeron, screw rod mount pad 37 also is the bearing frame simultaneously, and the lifting screw both ends are installed on this screw rod mount pad through bearing normal running fit. Referring to fig. 8, the lifting slider 35 includes a lifting nut 35a in threaded engagement with the lifting screw, an auxiliary slider 35b in sliding engagement with the bottom cross frame 32 longitudinal beam, and a sliding platform 35c connected to the lifting nut and the auxiliary slider, wherein the bottom cross frame 32 longitudinal beam is rectangular, the sliding platform 35c is a channel steel structure, the sliding platform 35c is fastened to the bottom cross frame 32 longitudinal beam and can slide longitudinally, the lifting slider 35 of the structure has good motion stability, the top ends of two lifting rods in the scissor type lifting structure are rotatably engaged with the longitudinal beam of the top cross frame 31, the bottom end of one lifting rod is rotatably engaged with the longitudinal beam of the bottom cross frame 32, the bottom end of the other lifting rod is rotatably engaged with the sliding platform 35c, and the lifting screw is rotated to drive the longitudinal sliding of the lifting nut to drive the two scissor type lifting rods to swing for lifting, wherein the lifting screw can be driven to rotate manually or can be driven by the lifting driving structure, in this embodiment, a lifting driving structure is added, wherein the lifting driving structure can be formed by two motors respectively and independently driving the two lifting screws in a transmission matching manner, or can simultaneously drive the two lifting screws to rotate through one motor and a gear transmission system or a belt pulley transmission system, in this embodiment, the synchronous rotation of the two lifting screws is realized by using one motor and the belt pulley transmission system, and the lifting driving member is similar to the structure of the cushion driving assembly 40, and is not described herein again; the lifting assembly of this structure cooperates scissor type's lifter, longitudinal arrangement's lifting screw and sliding block to realize the lift of cushion subassembly, and this structure does benefit to the spatial layout before bottom crossbearer 32 and top crossbearer 31, and the increase is gone up and down highly, and reserves more spaces in bottom crossbearer department and is convenient for installing of track subassembly 70.
In this embodiment, the cushion assembly 10 includes a cushion 11, armrests 12 attached to both lateral sides of the cushion, and a headrest 13 fixed to the cushion 11. Referring to fig. 1, the armrest comprises a stop block 12a connected to two lateral sides of the back cushion and a U-shaped handle 12b connected to a front side of the stop block, the U-shaped handle 12b facilitates a hand-held force application by a patient, the stop block 12a laterally blocks two lateral sides of the patient to protect the patient, and the stop block is used as an installation position of the lower limb support assembly 20, the headrest 13 is sleeved on the back cushion through an elastic bandage, in order to ensure comfort of the patient, soft materials such as sponge or cotton wool are arranged on the upper surface of the back cushion, and in order to facilitate the operation of the patient, an installation position of an operation panel is reserved on the stop block 12a, an operation panel 14 is installed on the installation position to realize the control of the robot, and an operation panel is provided Position sensors and control systems, etc.;
in this embodiment, the deformation assembly further includes a parallel platform assembly 60, the parallel platform assembly includes a parallel support connected in parallel with the lifting assembly to realize linkage lifting and a support platform 61 connected to the parallel support, the lower limb bracket driving assembly 50 is fixed on the support platform, and the output end of the lower limb bracket driving assembly is detachably connected to the lower limb bracket assembly 20. The parallel support comprises a plurality of parallel swing rods 62 connected between the bottom of the lifting assembly and the supporting platform and a linkage rod 63 connected between one of the parallel swing rods and the back cushion assembly 10, two ends of the parallel swing rods are respectively in rotating fit with the bottom of the lifting assembly and the supporting platform, and two ends of the linkage rod are respectively in rotating fit with one of the parallel swing rods and the back cushion assembly. The lower limb bracket driving component is linked with the lifting component through the parallel platform component, the linkage is irrelevant to the driving of the lower limb bracket driving component on the lower limb bracket component, and the linkage means that the direction change of the lower limb bracket driving component can be driven by the movement of the lifting component; as shown in fig. 1 to 4 and 7, the two longitudinal beams of the bottom cross frame are respectively connected with parallel platform components to adapt to the two lower limb support assemblies 20, each group of parallel platform components comprises two parallel swing rods, wherein the parallel swing rods are rotatably matched with the bottom of the longitudinal support 64, the support platform 61 is connected to the longitudinal support 64 in a transverse rotatable manner, the linkage rod 63 is in an L-shaped structure, one end of the linkage rod 63 is rotatably matched with the middle part of the front parallel swing rod, and the other end of the linkage rod 63 is rotatably matched with the bottom of the back cushion 11, as shown in fig. 2 and 4, when the lifting assembly 30 is lifted and the back cushion driving assembly 40 drives the back cushion 11 to swing to form an upright state, the back cushion 11 drives the parallel swing rods 62 to swing and lift through the linkage rod 63, and the robot forms a standing state as; when a patient performs standing rehabilitation training, the leg of the patient tends to recover certain mobility, and the rehabilitation training can be performed without external force, as shown in figure 3, when the standing state is formed, the output end of the lower limb bracket driving component is detached and separated from the lower limb bracket component 20, at the moment, the rotating supporting platform 61 swings outwards to form the standing state, and the lower limb bracket driving component swings to the outer side, the inner side of the supporting platform is flat and positioned at the two sides of the legs of the patient to protect the legs of the patient, and the transverse space of the leg part is kept, at the moment, the stop blocks 12a are positioned at the two sides of the upper body of the patient to form lateral protection for the upper body of the patient, in fig. 3, the patient has his hands supported on the U-shaped handles 12b, his back resting on the back cushion 11, and his legs fixed to the lower limb bracket assembly for rehabilitation training by functional movement of the patient, which provides good protection for the patient in his standing position.
In this embodiment, the lower limb support assembly 20 comprises a thigh support bar 21, a lower leg support bar 22 rotatably coupled to a bottom end of the thigh support bar, a foot support bracket 23 rotatably coupled to a bottom end of the lower leg support bar, and a binding 24 connected to the thigh support bar and the lower leg support bar, the top of the thigh support bar being connected to the cushion assembly 10 via a hip joint. Thigh bracing piece 21 forms the knee joint with the articulated department of shank bracing piece 22, shank bracing piece 22 forms the ankle joint with the articulated department of foot support bracket 23, this structure adaptation is in each joint of human shank, tie up the preferred belt of tie up and tie up the structure, can adopt the magic to paste the mode that bonds and realize tying up so that patient's shank is fixed in lower limbs bracket assembly to the shank, for improving lower limbs bracket assembly's application scope, thigh bracing piece 21 all adopts extending structure with shank bracing piece 22, specifically can adopt mechanical type manual flexible, linear motor is electronic flexible or fluid pressure type extending structure, length through adjusting thigh bracing piece 21 and shank bracing piece 22 is with the different patient's of adaptation shank length.
In this embodiment, the hip joint comprises a rotating plate 25 connected with the stopper 12a in a longitudinally rotatable manner, a hip joint support 26 eccentrically and rotatably engaged with the rotating plate, and a towing bar 27 engaged with the hip joint support through a spherical pair, and the end of the thigh support bar 21 is rotatably engaged with the towing bar 27. The rotation direction of the longitudinal rotation is similar to the direction of the longitudinal swing, which is not described in detail; referring to fig. 5, the rotating plate has a disc-shaped structure, and the towing bar 27 and the hip joint support can be spherically matched through a universal ball, wherein the towing bar is connected to the ball, and a base of the universal ball is mounted on the hip joint support, or the towing bar 27 and the hip joint support can adopt other existing spherical pair matching modes, which is not described in detail; when the device is used, the rotating plate is arranged on the inner side of the stop block 12a in a rotating fit mode, specifically, the rotating plate is arranged on the central shaft in a transmission fit mode, and the central shaft is arranged on the stop block 12a in a rotating fit mode, which is not described in detail; the free rotation of the towing rod 27 is facilitated through the spherical pair matching structure, so that the hip joint support is adaptive to the movement of the crotch of a patient, the hip joint support is eccentrically connected with the rotating plate in a rotating mode, the longitudinal and transverse relative positions of the hip joint support can be adjusted when the rotating plate rotates, the adaptation of the change of the crotch of the patient and the change of the positions of the legs are facilitated, the use comfort of the patient is improved, sufficient movement space is reserved at the crotch of the patient, and the rehabilitation training of the patient is facilitated.
In this embodiment, the hip joint support 26 includes a joint base 26a and a joint cover 26b, the joint base 26a has an installation cavity, the joint cover 26b covers the installation cavity to form a spherical installation position, the towing bar 27 has a spherical installation portion 27a, the spherical installation portion 27a is installed in the spherical installation position, and the middle of the joint cover 26b is provided with a through hole for the towing bar to pass through. The joint cover 26b can be fixed on the joint base 26a through bolts, the spherical mounting position and the spherical mounting part are not limited to a spherical structure, and can also be a hemisphere or a structure with a hemisphere surface, and the towing rod can rotate in the spherical mounting position through the spherical mounting part so as to be adapted to the movement of the hip of the patient.
In this embodiment, the inner side surface of the joint cover 26b and the bottom of the installation cavity are of hemispherical structures which are approximately concentric and have the same bending direction, the spherical installation part 27a is of a thin-wall structure, and the hemispherical inner side surface and the hemispherical outer side surface of the spherical installation part 27a are respectively attached to the inner side surface of the joint cover 26b and the bottom of the installation cavity. The approximate concentricity means that a certain installation error is allowed on the basis of concentricity, and the bending directions of the inner side surface of the joint cover 26b and the bottom of the installation cavity are the same, so that the two surround the installation position which is in a flat structure; as shown in a combined figure 5, the spherical mounting position is a flat structure formed by the inner side surface of the joint cover and the bottom of the mounting cavity, the shape of a spherical cavity of the spherical mounting position is matched with that of the spherical mounting part, the inner cavity of the spherical mounting position is larger than the spherical mounting part so that the spherical mounting part can rotate in the spherical mounting position, the motion center point of the spherical mounting part is superposed with the hip joint of a patient, the whole volume of the hip joint structure can be reduced by the spherical mounting part and the spherical mounting position of the thin-wall flat structure, the compactness of the whole hip joint structure is improved, the space layout is facilitated, enough space is easily reserved for the lateral direction of the crotch of the patient during use, the material of the hip joint of the structure is saved.
In this embodiment, a flexible cushion layer 28 is padded between the bottom of the mounting cavity and the spherical mounting part 27 a. The flexible cushion layer can adopt structures such as a paper cushion layer or a foam cushion layer, and the flexible cushion layer is filled between the bottom of the spherical installation part and the installation cavity, so that the compactness of the installation of the spherical installation part is improved, the hip joint has certain elastic resilience through the flexible cushion layer, the use comfort of a patient is improved, and secondary injury possibly caused to the patient due to rigid rehabilitation training can be effectively prevented.
In this embodiment, the device further comprises a mounting substrate 29, and the rotating plate 25 is installed on the mounting substrate in a rotating fit manner. As shown in fig. 5, the rotating plate may be installed on the mounting substrate in a rotationally-matched manner through the central shaft, or the mounting substrate is provided with a circular groove, the rotating plate is installed in the circular groove and is packaged in the circular groove through a cover plate to achieve rotationally-matched manner, and the mounting substrate is installed on the inner side of the stopper 12a through a bolt, so that the robot hip joint can be installed, and the robot hip joint has high integration level and strong versatility.
In this embodiment, a connecting sleeve 25a is eccentrically connected to the rotating plate 25, an installation portion 26c is formed on the joint base 26a and protrudes outwards, and the installation portion 26c is sleeved in the connecting sleeve 25a and is connected with the connecting sleeve. Installation department 26c is axle column structure, installation department and the rotatable cooperation of adapter sleeve, also can fixed connection, specifically for the two can weld, threaded connection or connect through connection modes such as joint, the cooperation structure through adapter sleeve and installation department endotheca is convenient for joint base and rotor plate be connected, has improved the connection stability of the two again.
In this embodiment, the tow bar 27 further comprises a connecting rod portion 27b connected to the spherical mounting portion 27a and a tow bar main body connected with the connecting rod portion at an included angle, and the connecting rod portion penetrates through a via hole of the joint cover to be connected with the tow bar main body. As shown in connection with fig. 1 and 5, the connecting rod portion extends horizontally in a lateral direction, and the tow bar body is approximately perpendicular to the connecting rod portion such that the tow bar body is parallel to the leg of the patient.
In this embodiment, the drawbar main body includes an arc-shaped portion 27c connected to the connection rod portion and bent toward the spherical mounting portion 27a side, and a linear portion 27d connected to a distal end of the arc-shaped portion. The curved structure of the arc-shaped portion 27c can avoid the spherical mounting portion 27a and the hip joint support, and the straight portion 27d is approximately perpendicular to the connecting rod portion and connected with the thigh support to keep parallel with the legs of the patient.
In this embodiment, the cushion drive assembly 40 includes a mounting bracket 41 transversely connected to the top cross frame and longitudinally and rotatably engaged with the top cross frame, a cushion drive rod 42 connected to the mounting bracket, and a cushion drive member 43 mounted to the mounting bracket for driving the cushion drive rod to move axially, the cushion drive rod being rotatably engaged with the cushion at its head. Axial motion refers to cushion actuating lever along its length direction motion, and when cushion actuating lever was the cylinder pole, along its axis motion promptly, through cushion driving piece drive cushion actuating lever axial motion flexible and then support drive cushion swing regulation gesture on the cushion, the cushion actuating lever can adopt hydraulic drive, perhaps the rotation of accessible screw rod turns into axial motion and realizes the drive, specifically does not describe at any length.
In this embodiment, the mounting bracket 41 includes a middle cross beam 41a, vertical mounting plates 41b connected to two ends of the middle cross beam, and a rotating shaft 41c connected to the outer sides of the vertical mounting plates and extending transversely, and the rotating shaft is installed on the top cross frame in a rotating fit manner. As shown in fig. 6, the middle cross beam 41a and the vertical mounting plate 41b form an approximately U-shaped structure, and two rotating shafts 41c are rotatably mounted on two longitudinal beams of the top cross frame in a matching manner, so that the cushion driving member 43 and the cushion driving rod swing along with the mounting plate 41 to adjust the posture of the cushion.
In this embodiment, two cushion driving rods 42 are connected to the middle cross beam in an axial sliding manner, two driving nuts 44 in threaded fit with the two cushion driving rods are further installed on the middle cross beam in a rotating fit manner, two synchronizing wheels 45 matched with the driving nuts one by one are arranged at the output end of the cushion driving piece in a transmission fit manner, and the synchronizing wheels are in transmission fit with the driving nuts through a synchronous belt 46. The cushion driving rod can directly adopt a screw rod structure, or can be locally screwed on the excircle of the polished rod to be in threaded connection with the driving nut, the synchronous extension of the two cushion driving rods is realized by adjusting the screw thread turning directions of the two cushion driving rods, the middle part of the middle cross beam 41a is widened to form two cushion driving rod installation parts which are transversely centrosymmetric, the screw rod installation parts are provided with slide holes for being in sliding fit with the cushion driving rods, the driving nut is installed on the cushion driving rod installation parts in a rotating fit manner, the excircle of the driving nut can be arranged into a stepped shaft structure, the cushion driving rod installation parts are provided with circular sunk grooves which are coaxial with the slide holes, wherein the large-diameter sections of the driving nut penetrate through the circular sunk grooves, the inner circles of the circular sunk grooves are provided with clamping grooves, the clamping springs are installed in the clamping grooves and are propped against the shaft shoulders of the, cushion driving piece 43 drive synchronizing wheel drives hold-in range and drive nut and rotates, and wherein drive nut rotational motion turns into the axial motion of cushion actuating lever, promotes the cushion swing through the cushion actuating lever, and this structure is through two cushion actuating lever synchronous motion of single motor synchronous drive, realizes stable regulation to the cushion, and this structure adjusts the precision height.
In this embodiment, the lower limb bracket driving assembly 50 includes at least two driving rod assemblies, the driving rod assembly includes a base 51 and a telescopic driving assembly 52 which are connected to the supporting platform in a horizontally rotatable manner, the telescopic driving assembly is rotatably matched with the base in a manner of swinging perpendicular to a horizontal plane, an output end of the driving assembly is connected to an upper platform 53 through a spherical pair, and the upper platform is detachably connected with the lower limb bracket assembly 20. The horizontal rotation and the horizontal plane are relative to the lying posture of the robot, namely when the robot is in a lying state, the supporting platform is in an approximately horizontal structure, and the base is rotatably arranged on the supporting platform and rotates by taking a vertical axis as a central line; referring to fig. 7, three driving rod assemblies are disposed on the supporting platform, wherein the telescopic driving assembly 52 may be a hydraulic cylinder or a linear motor, in this embodiment, a hydraulic cylinder is employed, a cylinder body of the hydraulic cylinder is hinged to the base 51, an output shaft of the hydraulic cylinder is connected to the upper platform 53 through a spherical pair, the spherical pair may also use a universal ball or other known matching methods, and details are not repeated; the upper platform 53 can be connected to the lower leg support through bolts, the multi-degree-of-freedom movement of the upper platform can be realized through the driving of the three driving rod assemblies, the swinging or twisting action of the lower limb bracket assembly 20 is further realized, the specific movement track can be set according to the training condition of the patient, and the comprehensive rehabilitation training of the patient is facilitated.
In this embodiment, the bottom cross frame 32 has a track assembly 70 mounted thereon for supporting the patient in a standing position for walking rehabilitation training. Referring to fig. 3, the track assembly includes a track and a roller supporting the track, the track assembly may have a structure similar to that of a treadmill, and the track assembly has an existing structure, which is not described in detail, and facilitates rehabilitation training of a patient for simulating upright walking.
Finally, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the present invention can be modified or replaced by other means without departing from the spirit and scope of the present invention, which should be construed as limited only by the appended claims.

Claims (8)

1. The utility model provides a lower limbs rehabilitation training robot hip joint which characterized in that: comprises a rotating plate, a hip joint support eccentrically and rotationally matched with the rotating plate, and a towing rod matched with the hip joint support through a spherical pair.
2. The lower limb rehabilitation training robot hip joint of claim 1, characterized in that: the hip joint support comprises a joint base and a joint cover, wherein the joint base is provided with an installation cavity, the joint cover covers the installation cavity to form a spherical installation position, the towing rod is provided with a spherical installation part, the spherical installation part is installed in the spherical installation position, and the middle part of the joint cover is provided with a via hole for the towing rod to penetrate out.
3. The lower limb rehabilitation training robot hip joint of claim 2, characterized in that: the inner side surface of the joint cover and the bottom of the installation cavity are of approximately concentric hemispherical structures with the same bending direction, the spherical installation part is of a thin-wall structure, and the hemispherical inner side surface and the hemispherical outer side surface of the spherical installation part are respectively attached to the inner side surface of the joint cover and the bottom of the installation cavity.
4. The lower limb rehabilitation training robot hip joint of claim 3, characterized in that: and a flexible cushion layer is arranged between the bottom of the mounting cavity and the spherical mounting part.
5. The lower limb rehabilitation training robot hip joint of claim 1, characterized in that: the rotary plate is installed on the installation substrate in a rotating fit mode.
6. The lower limb rehabilitation training robot hip joint of claim 3, characterized in that: the rotating plate is eccentrically connected with a connecting sleeve, the joint base protrudes outwards to form an installation part, and the installation part is sleeved in the connecting sleeve and is connected with the connecting sleeve.
7. The lower limb rehabilitation training robot hip joint of claim 3, characterized in that: the mop rod is still including connecting the connecting rod portion on spherical installation department and being the mop rod main part that the contained angle is connected with connecting rod portion, connecting rod portion passes the via hole and the mop rod main part of joint lid and is connected.
8. The lower limb rehabilitation training robot hip joint of claim 7, characterized in that: the tow bar main body comprises an arc-shaped part and a straight line part, wherein the arc-shaped part is connected to the connecting bar part and is bent towards the spherical mounting part side, and the straight line part is connected to the tail end of the arc-shaped part.
CN202020541283.1U 2020-04-14 2020-04-14 Hip joint of lower limb rehabilitation training robot Active CN213100646U (en)

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