CN213697786U

CN213697786U - Lower limb rehabilitation training robot

Info

Publication number: CN213697786U
Application number: CN202021462352.6U
Authority: CN
Inventors: 郭广茂; 孙国顺; 郭宗岩
Original assignee: Leanmed Medical Guangzhou Co ltd
Current assignee: Leanmed Medical Guangzhou Co ltd
Priority date: 2020-07-22
Filing date: 2020-07-22
Publication date: 2021-07-16
Anticipated expiration: 2030-07-22

Abstract

The embodiment of the utility model discloses a lower limb rehabilitation training robot, which comprises a base, a multidirectional rotating mechanism, a pedal seat, a controller and a sensor mechanism; the multidirectional rotating mechanism is arranged on the base, and the pedal seat is arranged on the multidirectional rotating mechanism; the controller is respectively connected with the multidirectional rotating mechanism and the sensor mechanism; the sensor mechanism is disposed at the foot rest. The utility model discloses a low limbs rehabilitation training robot can drive the pedal seat from the multidirectional turned angle and rotate, realizes the multi-direction rotation rehabilitation training of patient's ankle joint to can respond to the stress that the patient sole was applyed according to sensor mechanism, with the operating condition who changes motion executive component.

Description

Lower limb rehabilitation training robot

Technical Field

The utility model relates to a rehabilitation apparatus field especially relates to a low limbs rehabilitation training robot.

Background

Rehabilitation is an essential rehabilitation training for patients after surgery or patients with physical dysfunction. In the existing market, the training instrument for the upper half of the human body is widely applied, the training equipment for the lower limbs of the human body is less, the general lower limb training equipment cannot be adjusted according to the rehabilitation degree of a patient, and the intelligent degree is low.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defects of the prior art, the embodiment of the utility model discloses a lower limb rehabilitation training robot, which comprises a base, a multidirectional rotating mechanism, a pedal seat, a controller and a sensor mechanism; the multidirectional rotating mechanism is arranged on the base, and the pedal seat is arranged on the multidirectional rotating mechanism; the controller is respectively connected with the multidirectional rotating mechanism and the sensor mechanism; the sensor mechanism is disposed at the foot rest.

As a further improvement of the embodiment of the present invention, the sensor mechanism includes a plurality of pressure sensors, the pressure sensors are disposed on the foot rest, the pressure sensors are connected to the controller.

As a further improvement, the sensor mechanism further comprises a pedal part, the pedal part is provided with a plurality of storage tanks, and the pressure sensor one-to-one is arranged in the storage tanks.

As a further improvement of the embodiment of the present invention, the sensor mechanism further includes a foot pad, and the foot pad is covered on the pedal portion; the pedal part and the foot pad are coated outside the pressure sensor.

As the embodiment of the utility model provides a further improvement, be provided with threely altogether pressure sensor, wherein two pressure sensor sets up side by side the one end of foot rest, another pressure sensor sets up the other end of foot rest.

As a further improvement of the embodiment of the present invention, the multi-directional rotating mechanism includes a transverse rotating component, a vertical rotating component and a longitudinal rotating component, the transverse rotating component is disposed on the base, the vertical rotating component is disposed on the transverse rotating component, the longitudinal rotating component is disposed on the vertical rotating component, and the pedal seat is disposed on the longitudinal rotating component; the transverse rotating assembly can drive the vertical rotating assembly to rotate in the transverse direction, the vertical rotating assembly can drive the longitudinal rotating assembly to rotate in the vertical direction, and the longitudinal rotating assembly can drive the pedal seat to rotate in the longitudinal direction.

As a further improvement of the embodiment of the utility model, the vertical rotating assembly includes vertical casing and vertical motor, vertical motor sets up in the vertical casing, the output shaft of vertical motor with the foot rest is fixed.

As a further improvement, the vertical rotating assembly further comprises a steering gear, a positioning gear and an angle sensor, wherein the steering gear is respectively engaged with the output gear of the vertical motor and the positioning gear, and the angle sensor is coaxially connected with the positioning gear.

As a further improvement of the embodiment of the present invention, the transverse rotation assembly includes a transverse housing, a transverse motor and a transverse bracket, the transverse motor is disposed at the transverse housing, and the transverse bracket is located outside the transverse housing and fixed with an output shaft of the transverse motor; the vertical rotating assembly is fixed with the transverse support.

As a further improvement of the embodiment of the present invention, the horizontal housing surface is provided with an angle scale, and the angle scale is around the output shaft of the horizontal motor is arranged.

The utility model discloses a low limbs rehabilitation training robot can drive the pedal seat from the multidirectional turned angle and rotate, realizes the multi-direction rotation rehabilitation training of patient's ankle joint to can respond to the stress that the patient sole was applyed according to sensor mechanism, with the operating condition who changes motion executive component.

For a better understanding and an implementation, the present invention is described in detail below with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic diagram of the present invention.

Fig. 2 is a schematic view of the present invention with a portion of the housing removed.

Fig. 3 is a schematic diagram of the sensor mechanism of the present invention.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

Referring to fig. 1-3, an embodiment of the present invention discloses a lower limb rehabilitation training robot, which includes a base 100, a multi-directional rotating mechanism, a foot rest 200, a controller and a sensor mechanism; the multidirectional rotating mechanism is arranged on the base 100, and the pedal seat 200 is arranged on the multidirectional rotating mechanism; the controller is respectively connected with the multidirectional rotating mechanism and the sensor mechanism; the sensor mechanism is provided at the foot rest 200. The patient places the foot on pedal 200, and equipment passes through the pressure size of sensor mechanism response patient to different positions on pedal 200 to can the requirement of recovered plan let the controller adjust multidirectional slewing mechanism's rotation amplitude and required dynamics when rotating for patient's low limbs rehabilitation speed.

In this embodiment, the sensor mechanism includes a plurality of pressure sensors 420, the pressure sensors 420 are disposed on the foot rest 200, and the pressure sensors 420 are connected to the controller. The foot rest 200 is matched with the outline of the sole of a human body, the pressure sensors 420 are distributed on the foot rest 200, when the sole of a patient applies pressure to the foot rest 200, the pressure sensors 420 at different positions can sense the pressure, the pressure sensors 420 transmit pressure signals to the controller, and the controller controls the movement of the multi-direction rotating mechanism according to program setting, so that the requirements of different patients are met. In this embodiment, three pressure sensors 420 are provided, two of the pressure sensors 420 are arranged side by side at one end of the foot rest 200, the other pressure sensor 420 is arranged at the other end of the foot rest 200, two of the pressure sensors 420 arranged side by side are located at positions corresponding to the soles of the feet of the patient on the foot rest 200, the other pressure sensor 420 is located at positions corresponding to the heels of the patient, and the force applied to the soles of the feet of the patient can be detected more accurately by the three pressure sensors 420.

In this embodiment, the sensor mechanism further includes a pedal portion 410, the pedal portion 410 is provided with a plurality of accommodating grooves 411, and the pressure sensors 420 are correspondingly arranged in the accommodating grooves 411 one by one. In this embodiment, the pedal portion 410 is made of breathable diving cloth, and is breathable and waterproof. In this embodiment, the sensor mechanism further includes a foot pad 430, and the foot pad 430 is covered on the pedal portion 410; the foot rest portion 410 and the foot pad 430 are coated outside the pressure sensor 420, the foot pad 430 is a breathable anti-slip silica gel pad, and the foot of a patient is in contact with the foot pad 430 in the rehabilitation process so as to avoid relative sliding.

In this embodiment, the multi-direction rotating mechanism includes a transverse rotating component, a vertical rotating component 520 and a longitudinal rotating component, the transverse rotating component is disposed on the base 100, the vertical rotating component 520 is disposed on the transverse rotating component, the longitudinal rotating component is disposed on the vertical rotating component 520, and the foot rest 200 is disposed on the longitudinal rotating component; the horizontal rotating assembly can drive the vertical rotating assembly 520 to rotate in the horizontal direction, the vertical rotating assembly 520 can drive the vertical rotating assembly to rotate in the vertical direction, and the vertical rotating assembly can drive the pedal seat 200 to rotate in the vertical direction. Through such setting, multidirectional slewing mechanism can drive from horizontal, vertical and vertical three dimension the pedal seat 200 rotates for patient's low limbs can suitably rotate, reaches recovered effect.

The longitudinal rotating assembly comprises a longitudinal housing 531, a longitudinal motor 532, a steering gear 533, a positioning gear 534 and an angle sensor 535, wherein the longitudinal motor 532 is arranged in the longitudinal housing 531, an output shaft of the longitudinal motor 532 is fixed with the pedal base 200, the steering gear 533 is respectively meshed with the output gear of the longitudinal motor 532 and the positioning gear 534, and the angle sensor 535 is coaxially connected with the positioning gear 534. When the output shaft of the longitudinal motor 532 rotates, the pedal base 200 can be driven to rotate in the longitudinal direction by taking the output shaft of the longitudinal motor 532 as an axis. The output gear of the longitudinal motor 532 is fixed at the output shaft of the longitudinal motor 532, when the output gear of the longitudinal motor 532 rotates, the steering gear 533 can be driven to rotate, and then the positioning gear 534 is driven to rotate by the steering gear 533, the rotation angle of the positioning gear 534 is transmitted to the angle sensor 535, and the angle sensor 535 can transmit the rotation angle of the foot rest 200 to the controller.

In this embodiment, the transverse rotation assembly includes a transverse housing 511, a transverse motor 512 and a transverse bracket 513, wherein the transverse motor 512 is disposed at the transverse housing 511, and the transverse bracket 513 is located outside the transverse housing 511 and is fixed with an output shaft of the transverse motor 512; the vertical pivoting assembly 520 is fixed to the lateral bracket 513. The end of the output shaft of the horizontal motor 512 extends out of the horizontal housing 511, the output shaft of the horizontal motor 512 is fixed to the horizontal bracket 513, and the horizontal bracket 513 can rotate around the output shaft of the horizontal motor 512, so as to drive the vertical rotating assembly 520 to rotate in the horizontal direction. The surface of the transverse housing 511 is provided with an angle scale which is arranged around the output shaft of the transverse motor 512, so that the user can conveniently observe the rotation angle of the transverse bracket 513 to judge the motion condition of the equipment.

This low limbs rehabilitation training robot aims at carrying out complementary rehabilitation training to patient's ankle joint, and whole equipment includes three independent motor drive module, drives the rotation of pedal seat 200 through the rotational degree of freedom in horizontal, vertical and vertical three different planes, drives the eversion, the plantarflex dorsiflexion and the abduction of realizing patient's ankle joint through the rotation of each motor to reach ankle joint rehabilitation training effect.

The device has the function of detecting the movement spasm, senses the pressure applied by a patient through a pressure sensor 420 on the sole of the foot, transmits a pressure signal to the controller, and then outputs a driving signal to the three movement execution parts through the controller. When the patient spasm occurs in the rehabilitation training process, the sole of the patient can instantaneously generate a large stress on the pedal seat 200, and when the controller senses the suddenly increased stress, the controller immediately sends out stop signals to each driving motor, so that the patient is prevented from being injured by equipment.

The apparatus is provided with an active mode and a resistive mode. In the active mode, the device does not apply resistance to the motion of the patient's hitch. Under the resistance mode, equipment is in quiescent condition, and when the plantar stress of gathering is greater than the settlement threshold value (set up in advance), equipment moves to corresponding dimension according to the atress condition intelligence, and when plantar stress is less than the settlement threshold value (set up in advance), equipment stops the motion. The device is also provided with an electrical stimulation module, and electrical stimulation with proper intensity can be applied to the lower limbs of the patient in the rehabilitation exercise process of the patient to help the patient to exercise.

Other arrangements of the apparatus may refer to the chinese utility model patent application No. 201721928018.3.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and to simplify the description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered limiting of the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The present invention is not limited to the above embodiment, and if various modifications or variations of the present invention do not depart from the spirit and scope of the present invention, they are intended to be covered if they fall within the scope of the claims and the equivalent technology of the present invention.

Claims

1. Lower limbs rehabilitation training robot, its characterized in that: comprises a base, a multidirectional rotating mechanism, a pedal seat, a controller and a sensor mechanism; the multidirectional rotating mechanism is arranged on the base, and the pedal seat is arranged on the multidirectional rotating mechanism; the controller is respectively connected with the multidirectional rotating mechanism and the sensor mechanism; the sensor mechanism is disposed at the foot rest.

2. The lower limb rehabilitation training robot of claim 1, wherein: the sensor mechanism comprises a plurality of pressure sensors, the pressure sensors are arranged on the pedal seat, and the pressure sensors are connected with the controller.

3. The lower limb rehabilitation training robot of claim 2, wherein: the sensor mechanism further comprises a pedal part, the pedal part is provided with a plurality of accommodating grooves, and the pressure sensors are arranged in the accommodating grooves in a one-to-one correspondence mode.

4. The lower limb rehabilitation training robot of claim 3, wherein: the sensor mechanism further comprises a foot pad, and the foot pad is covered on the pedal part; the pedal part and the foot pad are coated outside the pressure sensor.

5. The lower limb rehabilitation training robot of claim 2, wherein: the pressure sensors are arranged in three, wherein two pressure sensors are arranged at one end of the pedal seat side by side, and the other pressure sensor is arranged at the other end of the pedal seat.

6. The lower limb rehabilitation training robot of claim 1, wherein: the multidirectional rotating mechanism comprises a transverse rotating assembly, a vertical rotating assembly and a longitudinal rotating assembly, the transverse rotating assembly is arranged on the base, the vertical rotating assembly is arranged on the transverse rotating assembly, the longitudinal rotating assembly is arranged on the vertical rotating assembly, and the pedal seat is arranged on the longitudinal rotating assembly; the transverse rotating assembly can drive the vertical rotating assembly to rotate in the transverse direction, the vertical rotating assembly can drive the longitudinal rotating assembly to rotate in the vertical direction, and the longitudinal rotating assembly can drive the pedal seat to rotate in the longitudinal direction.

7. The lower limb rehabilitation training robot of claim 6, wherein: the longitudinal rotating assembly comprises a longitudinal shell and a longitudinal motor, the longitudinal motor is arranged in the longitudinal shell, and an output shaft of the longitudinal motor is fixed with the pedal seat.

8. The lower limb rehabilitation training robot of claim 7, wherein: the longitudinal rotating assembly further comprises a steering gear, a positioning gear and an angle sensor, the steering gear is meshed with the output gear of the longitudinal motor and the positioning gear respectively, and the angle sensor is coaxially connected with the positioning gear.

9. The lower limb rehabilitation training robot of claim 6, wherein: the transverse rotating assembly comprises a transverse shell, a transverse motor and a transverse bracket, wherein the transverse motor is arranged at the transverse shell, and the transverse bracket is positioned outside the transverse shell and is fixed with an output shaft of the transverse motor; the vertical rotating assembly is fixed with the transverse support.

10. The lower limb rehabilitation training robot of claim 9, wherein: the surface of the transverse shell is provided with angle scales which are arranged around the output shaft of the transverse motor.