CN215021707U - Intelligent rope traction parallel robot for lower limb rehabilitation training - Google Patents
Intelligent rope traction parallel robot for lower limb rehabilitation training Download PDFInfo
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- CN215021707U CN215021707U CN202120623338.8U CN202120623338U CN215021707U CN 215021707 U CN215021707 U CN 215021707U CN 202120623338 U CN202120623338 U CN 202120623338U CN 215021707 U CN215021707 U CN 215021707U
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Abstract
The utility model discloses an intelligence rope pulls parallel robot for low limbs rehabilitation training, include: a frame; a seat; the rope tying mechanism comprises a lower limb fixing device fixed on the leg of the user and four traction ropes, wherein one end of each traction rope is connected to the lower limb fixing device; the transmission mechanism comprises four transmission assemblies and four fixed pulleys; one end of each traction rope, which is not connected with the lower limb fixing device, penetrates through the corresponding fixed pulley to be horizontally connected with the corresponding transmission assembly, and each traction rope is in a tightened state under the action of the gravity of the leg of the user; the driving mechanism comprises four servo motors; the servo motor adjusts the rotating speed of an output shaft of the servo motor according to an external control instruction, drives the transmission assembly to move horizontally and pulls the traction rope, and the leg of the user moves under the action of the pulling force of the traction rope. The utility model discloses can alleviate the burden of low limbs rehabilitation training to the patient, strengthen the security among the rehabilitation process and can provide good recovered effect to patient's low limbs.
Description
Technical Field
The utility model relates to a robot and rehabilitation medical technology field particularly relate to an intelligence rope pulls parallel robot for low limbs rehabilitation training.
Background
At present, the number of disabled people in China exceeds 8500 ten thousand, and the large population continuously expands the rehabilitation requirement. The number of professional rehabilitation personnel is small and not enough to meet the requirements of people, so that the rehabilitation robot is produced at the same time. The rehabilitation robot can be divided into 4 types, namely a function replacement type, a function auxiliary type, a function recovery and auxiliary composite type and the like according to functions, and achieves the rehabilitation training effect by assisting a human body to complete corresponding limb actions. The rehabilitation robot is an important branch of medical robots, is a high-tech product integrating rehabilitation medicine, biomedicine, mechanics, electronics, materials, control technology, robot technology and the like, and has become a research hotspot in the field of international robots. At present, the rehabilitation robot is widely applied to the aspects of rehabilitation nursing, artificial limbs, rehabilitation treatment and the like.
At present, most of devices for performing rehabilitation training on the lower limbs of patients enable the patients to be in a standing state, and the rehabilitation training effect is achieved by assisting the patients to simulate walking posture tracks of normal people, but the devices still have great burden on the patients with serious symptoms.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an intelligence rope pulls parallel robot for low limbs rehabilitation training can alleviate low limbs rehabilitation training to patient's burden, strengthens the security among the rehabilitation process and can provide good recovered effect to patient's low limbs.
In order to achieve the above object, the utility model provides an intelligence rope pulls parallel robot for low limbs rehabilitation training, the robot includes:
the frame is in a cuboid shape, and an access channel is arranged right in front of the frame;
the seat is arranged in the right center of the frame;
the rope tying mechanism comprises a lower limb fixing device fixed on the leg of the user and four traction ropes, wherein one end of each traction rope is connected to the lower limb fixing device;
the transmission mechanism comprises four transmission assemblies and four fixed pulleys, wherein two transmission assemblies are horizontally arranged on the top of the frame and are respectively arranged in two side areas of the top of the seat, and the other two transmission assemblies are horizontally arranged in the middle of the frame and are respectively arranged in two side areas of the middle of the seat; the transmission assembly and the fixed pulleys have a position corresponding relationship, one end of each traction rope, which is not connected with the lower limb fixing device, penetrates through the corresponding fixed pulley to be horizontally connected with the corresponding transmission assembly, and each traction rope is in a tightened state under the action of the gravity of the leg of the user;
the driving mechanism comprises four servo motors, wherein two servo motors are horizontally arranged at the top of the rack, and the other two servo motors are horizontally arranged in the middle of the rack;
the transmission assembly and the servo motor are in corresponding relation, the servo motor adjusts the rotating speed of an output shaft of the servo motor according to an external control instruction, the transmission assembly is driven to move horizontally, the traction rope is pulled, and the legs of a user move under the action of the tension of the traction rope.
As a preferable example, a plurality of universal casters are distributed and mounted at the bottom of the rack.
As a preferable example, the universal caster is provided with a brake device.
As a preferable example, the seat is a lifting seat, and the height of the seat cushion is adjusted according to the instruction of a user.
As a preferable example, armrests are installed on both sides of the seat.
As a preferable example, the four hauling ropes are positioned in the same vertical horizontal plane.
As a preferred example, the lower limb fixing device is annular and is sleeved on the leg of the user; four haulage ropes are circumferentially connected on the outer side wall of the lower limb fixing device.
As a preferable example, the transmission assembly comprises a quincuncial cross coupling and a ball screw;
one end of the ball screw is connected with an output shaft of the servo motor through a quincuncial cross coupling, and the other end of the ball screw is horizontally connected with one end of a traction rope penetrating through the fixed pulley; the ball screw moves horizontally under the action of the servo motor.
As a preferable example, safety handrails are arranged on two sides of the access passage.
Above the technical scheme of the utility model, compare with current, its beneficial effect who is showing lies in:
1. the utility model discloses a thereby make the people can easily remove rehabilitation training device at frame bottom four corners installation universal pulley.
2. The utility model discloses a research to the tether structure makes the patient can select suitable training intensity according to self condition.
3. By adopting the rope system structure, the system has simple structure and good dynamic performance, and can increase the translational working space, reduce the rotational inertia and ensure the stability of the robot system.
4. Through adopting rope driven flexible drive mode, alleviateed robot system's mechanical structure quality, solved the relatively poor problem of physical system compliance, guaranteed security, travelling comfort and the compliance of patient's training, prevent that the patient from receiving secondary damage in the rehabilitation training.
5. The utility model discloses a combine together rehabilitation training and intelligent seat for the patient can carry out the rehabilitation training of low limbs with the form of position of sitting, and the training range is less, and the serious patient of especially adapted symptom can alleviate patient's burden greatly and improve security and travelling comfort in the patient's rehabilitation training.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of the present disclosure unless such concepts are mutually inconsistent. In addition, all combinations of claimed subject matter are considered a part of the inventive subject matter of this disclosure.
The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of the specific embodiments in accordance with the teachings of the present invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 is a schematic structural view of an intelligent rope traction parallel robot for lower limb rehabilitation training according to the embodiment of the present invention.
Fig. 2 is a three-view illustration of a tethering mechanism in accordance with an embodiment of the present invention.
Detailed Description
For a better understanding of the technical content of the present invention, specific embodiments are described below in conjunction with the accompanying drawings.
Fig. 1 is a schematic structural view of an intelligent rope traction parallel robot for lower limb rehabilitation training according to the embodiment of the present invention. The embodiment of the utility model provides a thereby pull the lifting of the rope that is fixed in patient's low limbs through actuating mechanism and drive mechanism and control patient's low limbs, reach rehabilitation training's effect, it is high to have factor of safety, and is little to the patient burden, advantage such as comfort level.
As shown in fig. 1, the robot includes at least a frame 6, a seat 9, a tether mechanism, a transmission mechanism, and a drive mechanism.
The frame 6 is cuboid and can be built by square aluminum section, and an access passage 1 is arranged right in front of the frame. Preferably, safety handrails are arranged on both sides of the access passage 1 to ensure the access safety of users. More preferably, the access passage 1 can be arranged on a slope, and a wheelchair temporary storage area and the like are reserved in the rack 6, so that the robot is more convenient for wheelchair users to use.
As a preferred example, a plurality of casters 8 are distributed on the bottom of the rack 6, so that the rack 6 can have high mobility. For safety, the universal caster 8 is provided with a brake device, so that the phenomenon that the vibration of the frame 6 is caused by the shaking of the frame under the action of external force to cause the vibration of the user inside the frame or even the danger of the user is avoided.
(II) seat 9
The seat 9 is arranged in the center of the frame 6. In the embodiment of the application, the user can sit on the seat 9 in the whole course to complete the rehabilitation training, and the burden of the patient is greatly reduced.
As one preferable example, the seat 9 is a lifting seat 9, and the height of the seat cushion is adjusted according to the user instruction. In the embodiment of the present application, the seat 9 may be any liftable seat 9 in the prior art, and is not limited to a certain type.
As another preferable example, armrests are mounted on both sides of the seat 9. In the rehabilitation process, the patient holds the handrails with both hands to ensure the safety of the patient in the training process.
Third rope tying mechanism
The rope tying mechanism comprises a lower limb fixing device 7 fixed on the leg of the user and four traction ropes with one ends connected to the lower limb fixing device 7. Fig. 2 is a three-dimensional view of a rope tying mechanism according to an embodiment of the present invention, in which a pulling rope 11 and a pulling rope 12 are disposed on both sides of the center of a frame 6, and a pulling rope 13 and a pulling rope 14 are disposed on the upper layer of the frame 6. As one preferable example, the lower limb fixing device 7 is annular and is sleeved on the leg of the user; four hauling ropes are circumferentially connected on the outer side wall of the lower limb fixing device 7.
According to the embodiment of the application, the lower limbs of the rehabilitation training patient are trained to different degrees by driving the length of the traction rope to change; in order to improve the traction efficiency, the four traction ropes are positioned in the same vertical horizontal plane, so that the legs of a user can perform rehabilitation movement in any direction in the vertical horizontal plane. When the rope is static and moving, the 4 traction ropes are always in a tightening state, and a complete rope system actuating mechanism is formed. The embodiment of the application has alleviateed robot system's mechanical structure quality through adopting rope driven flexible drive mode, has solved the relatively poor problem of physical system compliance, has guaranteed security, travelling comfort and the compliance of patient's training, prevents that the patient from receiving the secondary damage in the rehabilitation training.
(IV) Transmission mechanism
The transmission mechanism comprises four transmission assemblies and four fixed pulleys 2, wherein two transmission assemblies are horizontally arranged at the top of the frame 6 and are respectively arranged in the areas on two sides of the top of the seat 9, and the other two transmission assemblies are horizontally arranged in the middle of the frame 6 and are respectively arranged in the areas on two sides of the middle of the seat 9; the transmission assembly and the fixed pulleys 2 have a position corresponding relation, one end of each traction rope, which is not connected with the lower limb fixing device 7, penetrates through the corresponding fixed pulley 2 to be horizontally connected with the corresponding transmission assembly, and each traction rope is in a tightening state under the action of the gravity of the legs of a user.
As a preferable example of the above, the transmission assembly includes a spider cross coupling and a ball screw 3; one end of the ball screw 3 is connected with an output shaft of the servo motor 5 through a quincuncial cross coupling, and the other end of the ball screw is horizontally connected with one end of a traction rope penetrating through the fixed pulley 2; the ball screw 3 moves horizontally by the servo motor 5. Optionally, a movable sliding block 4 is fixed at the moving end of the ball screw 3, and one end of the traction rope can also be fixed on the movable sliding block 4, so that resistance factors such as friction force are further reduced.
(V) drive mechanism
The driving mechanism comprises four servo motors 5, wherein two servo motors 5 are horizontally arranged at the top of the rack 6, and the other two servo motors 5 are horizontally arranged in the middle of the rack 6; the transmission assembly and the servo motor 5 are in corresponding relation, the servo motor 5 adjusts the rotating speed of an output shaft of the servo motor according to an external control instruction, the transmission assembly is driven to move horizontally, the traction rope is pulled, and the legs of a user move under the action of the tension of the traction rope.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily defined to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any implementation. Additionally, some aspects of the present disclosure may be used alone or in any suitable combination with other aspects of the present disclosure.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention. The present invention is intended to cover by those skilled in the art various modifications and adaptations of the invention without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention is subject to the claims.
Claims (9)
1. A smart rope traction parallel robot for lower limb rehabilitation training, the robot comprising:
the frame is in a cuboid shape, and an access channel is arranged right in front of the frame;
the seat is arranged in the right center of the frame;
the rope tying mechanism comprises a lower limb fixing device fixed on the leg of the user and four traction ropes, wherein one end of each traction rope is connected to the lower limb fixing device;
the transmission mechanism comprises four transmission assemblies and four fixed pulleys, wherein two transmission assemblies are horizontally arranged on the top of the frame and are respectively arranged in two side areas of the top of the seat, and the other two transmission assemblies are horizontally arranged in the middle of the frame and are respectively arranged in two side areas of the middle of the seat; the transmission assembly and the fixed pulleys have a position corresponding relationship, one end of each traction rope, which is not connected with the lower limb fixing device, penetrates through the corresponding fixed pulley to be horizontally connected with the corresponding transmission assembly, and each traction rope is in a tightened state under the action of the gravity of the leg of the user;
the driving mechanism comprises four servo motors, wherein two servo motors are horizontally arranged at the top of the rack, and the other two servo motors are horizontally arranged in the middle of the rack;
the transmission assembly and the servo motor are in corresponding relation, the servo motor adjusts the rotating speed of an output shaft of the servo motor according to an external control instruction, the transmission assembly is driven to move horizontally, the traction rope is pulled, and the legs of a user move under the action of the tension of the traction rope.
2. The intelligent rope-traction parallel robot for lower limb rehabilitation training according to claim 1, wherein a plurality of universal casters are distributed and mounted at the bottom of the rack.
3. The intelligent rope-traction parallel robot for lower limb rehabilitation training as claimed in claim 2, wherein the casters are provided with brake devices.
4. The intelligent rope-traction parallel robot for lower limb rehabilitation training according to claim 1, wherein the seat is a lifting seat, and the height of the seat cushion is adjusted according to a user instruction.
5. The intelligent rope-traction parallel robot for lower limb rehabilitation training according to claim 1, wherein armrests are mounted on two sides of the seat.
6. The intelligent rope-traction parallel robot for lower limb rehabilitation training according to claim 1, wherein the four traction ropes are located in the same vertical horizontal plane.
7. The intelligent rope traction parallel robot for lower limb rehabilitation training according to claim 1, wherein the lower limb fixing device is annular and is sleeved on the leg of the user; four haulage ropes are circumferentially connected on the outer side wall of the lower limb fixing device.
8. The intelligent rope-traction parallel robot for lower limb rehabilitation training of claim 1, wherein the transmission assembly comprises a quincuncial cross-shaped coupling and a ball screw;
one end of the ball screw is connected with an output shaft of the servo motor through a quincuncial cross coupling, and the other end of the ball screw is horizontally connected with one end of a traction rope penetrating through the fixed pulley; the ball screw moves horizontally under the action of the servo motor.
9. The intelligent rope traction parallel robot for lower limb rehabilitation training as claimed in claim 1, wherein safety handrails are arranged on two sides of the access passage.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120623338.8U CN215021707U (en) | 2021-03-26 | 2021-03-26 | Intelligent rope traction parallel robot for lower limb rehabilitation training |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120623338.8U CN215021707U (en) | 2021-03-26 | 2021-03-26 | Intelligent rope traction parallel robot for lower limb rehabilitation training |
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| CN215021707U true CN215021707U (en) | 2021-12-07 |
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| CN202120623338.8U Active CN215021707U (en) | 2021-03-26 | 2021-03-26 | Intelligent rope traction parallel robot for lower limb rehabilitation training |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114241843A (en) * | 2021-12-21 | 2022-03-25 | 中国人民解放军92228部队 | Battle damage operation simulation method for amphibious equipment training |
| CN115245444A (en) * | 2022-07-15 | 2022-10-28 | 天津大学 | Parallel flexible cable driven lower limb rehabilitation robot |
-
2021
- 2021-03-26 CN CN202120623338.8U patent/CN215021707U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114241843A (en) * | 2021-12-21 | 2022-03-25 | 中国人民解放军92228部队 | Battle damage operation simulation method for amphibious equipment training |
| CN114241843B (en) * | 2021-12-21 | 2023-07-18 | 中国人民解放军92228部队 | Combat damage operation simulation method for amphibious equipment training |
| CN115245444A (en) * | 2022-07-15 | 2022-10-28 | 天津大学 | Parallel flexible cable driven lower limb rehabilitation robot |
| CN115245444B (en) * | 2022-07-15 | 2024-06-04 | 天津大学 | Parallel flexible cable driven lower limb rehabilitation robot |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Nanjing Institute of Engineering Technical Service Co.,Ltd. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2023980035197 Denomination of utility model: An intelligent rope traction parallel robot for lower limb rehabilitation training Granted publication date: 20211207 License type: Common License Record date: 20230506 |
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| EC01 | Cancellation of recordation of patent licensing contract | ||
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: Nanjing Institute of Engineering Technical Service Co.,Ltd. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2023980035197 Date of cancellation: 20240301 |
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| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Nanjing Chuangxin Technology Co.,Ltd. Assignor: NANJING INSTITUTE OF TECHNOLOGY Contract record no.: X2024980002730 Denomination of utility model: An intelligent rope traction parallel robot for lower limb rehabilitation training Granted publication date: 20211207 License type: Common License Record date: 20240312 |