CN215740274U - Lower limb exoskeleton rehabilitation robot - Google Patents
Lower limb exoskeleton rehabilitation robot Download PDFInfo
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- CN215740274U CN215740274U CN202121686234.8U CN202121686234U CN215740274U CN 215740274 U CN215740274 U CN 215740274U CN 202121686234 U CN202121686234 U CN 202121686234U CN 215740274 U CN215740274 U CN 215740274U
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Abstract
本实用新型涉及一种下肢外骨骼康复机器人，包括底座，所述底座上设有固定装置、调节装置和驱动装置，所述固定装置包括支撑架、滚轴、皮带和安装架，所述支撑架设有两个，且分别对称设置在所述底座的两侧，所述滚轴设有两个，且均两端和底座可转动地连接，所述皮带套接在两个滚轴的外部，所述安装架的两侧分别和两个所述支撑架连接。本实用新型中通过设置固定装置，可以将病人的腰部固定在支撑架上，防止其在行走过程中无法保持平衡，通过设置扶手，可以便于病人握持。
The utility model relates to a lower limb exoskeleton rehabilitation robot, comprising a base, a fixing device, an adjusting device and a driving device are arranged on the base, and the fixing device comprises a support frame, a roller, a belt and a mounting frame, and the support frame There are two, and they are symmetrically arranged on both sides of the base, the rollers are provided with two, and both ends are rotatably connected to the base, and the belt is sleeved on the outside of the two rollers, so Two sides of the mounting frame are respectively connected with the two supporting frames. In the utility model, by setting the fixing device, the waist of the patient can be fixed on the support frame to prevent the patient from being unable to keep balance during the walking process, and the armrest can be arranged to facilitate the patient to hold.
Description
Technical Field
The utility model relates to the technical field of rehabilitation instruments, in particular to a lower limb exoskeleton rehabilitation robot.
Background
The traditional rehabilitation training is started under the guidance of the hands of a professional doctor, and then the affected limb of the patient is repeatedly drawn by the healthy upper limb of the patient or the family members and nurses of the patient. With the development of science and technology, medical robot technology is rapidly developed, and a rehabilitation robot is a new application of the robot technology in rehabilitation medicine.
Patent No. CN202022354999.3 discloses an adjustable lower limb exoskeleton rehabilitation robot, in this patent, when a patient performs rehabilitation training, the patient is often limited by the field and needs to turn frequently, but for the patient who just starts to perform rehabilitation training, turning is difficult; in addition, for some patients with serious illness, the balance is not easy to control when in use; meanwhile, in the patent, the width of the hip joint is adjusted by a screw, and the adjusting mode is long in adjusting time, so that the utility model provides a new solution to the problems.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
Aiming at the problems in the prior art, the utility model provides a lower limb exoskeleton rehabilitation robot, which aims to solve the technical problems in the background technology.
(II) technical scheme
In order to achieve the purpose, the utility model provides the following technical scheme: the lower limb exoskeleton rehabilitation robot comprises a base, wherein a fixing device, an adjusting device and a driving device are arranged on the base, the fixing device comprises two support frames, two rolling shafts, two belts and a mounting frame, the two support frames are symmetrically arranged on two sides of the base respectively, two rolling shafts are arranged, two ends of each rolling shaft are rotatably connected with the base, the belts are sleeved outside the two rolling shafts, and two sides of the mounting frame are connected with the two support frames respectively; adjusting device includes first adjustment mechanism and second adjustment mechanism, first adjustment mechanism includes first motor, first lead screw, first guide bar and first removal seat, first lead screw and the equal both ends of first guide bar with the mounting bracket is connected, first motor and mounting bracket are connected, and the motor shaft run through the mounting bracket with first screw connection, first removal seat screw thread cup joints the outside of first lead screw, and cup joint slidable the outside of first guide bar.
Preferably, the second adjusting mechanism comprises a second motor, a second lead screw, a third lead screw, a guide rail and a second moving seat, the second motor and the guide rail are arranged on the first moving seat, the second lead screw is connected with the third lead screw, the other end of the second motor is connected with the first moving seat in a rotating mode, the number of the second moving seats is two, the second moving seats are respectively sleeved with the outer portions of the second lead screw and the third lead screw in a threaded mode, and the second moving seats are slidably connected with the guide rail. The second adjusting mechanism is designed to facilitate the adjustment of the width of the driving device according to the body types of different patients.
In a further preferred mode, the driving device comprises a back supporting plate, a first thigh support, a second thigh support, a first shank support, a second shank support, a foot support, a third motor and a third adjusting mechanism, the back supporting plate is connected with the second moving seat, the number of the third motors is three, one of the third motors is connected with the first thigh support, a motor shaft penetrates through the first thigh support and the back supporting plate to be connected, one of the third motors is connected with the second thigh support, the motor shaft penetrates through the second thigh support and the first shank support to be connected, the other third motor is connected with the second shank support, and the motor shaft penetrates through the second shank support and the foot support to be connected. The design of the driving device can be convenient for driving the leg of the patient to move for rehabilitation training.
Preferably, the third adjusting mechanism comprises a first threaded rod, a first adjusting nut, a second threaded rod and a second adjusting nut, one end of the first threaded rod is connected with the first thigh support, the other end of the first threaded rod is arranged in the second thigh support and is slidably connected with the second thigh support, the first adjusting nut is sleeved outside the first threaded rod and is rotatably connected with the second thigh support, one end of the second threaded rod is connected with the first shank support, the other end of the second threaded rod is arranged in the second shank support and is slidably connected with the second shank support, and the second adjusting nut is sleeved outside the second threaded rod and is rotatably connected with the second shank support. The third adjusting mechanism is designed to facilitate the adjustment of the height of the driving device according to the heights of different patients.
In a further preferred aspect, the support frame is provided with a handrail. The design of the handrail can be convenient for a patient to hold and keep balance when doing rehabilitation training.
In a further preferred embodiment, the driving device is provided with two sets, and the two back support plates are respectively connected with the two second movable seats. The design can be used for simultaneously carrying out rehabilitation training on two legs.
In a further preferred embodiment, the thread directions of the second threaded spindle and the third threaded spindle are opposite. The design that the direction of the thread is opposite can drive the second lead screw and the third lead screw to rotate simultaneously through the second motor, and drive the two second movable seats to be close to or far away from simultaneously.
In a further preferred embodiment, a fixing sleeve is provided on each of the first thigh support and the first shank support. The fixed cover is designed to facilitate the wearing of the patient.
In a further preferred embodiment, the fixing sleeve and the back support plate are provided with straps at both ends thereof. The strap is designed to facilitate the securing of the patient to the drive device.
(III) advantageous effects
Compared with the prior art, the utility model provides a lower limb exoskeleton rehabilitation robot, which has the following beneficial effects:
according to the utility model, the waist of the patient can be fixed on the support frame by arranging the fixing device, so that the situation that the waist cannot be balanced in the walking process is prevented, and the patient can conveniently hold the waist by arranging the handrail; in addition, the length of the thigh and shank support can be adjusted according to the heights of different patients by arranging the first adjusting device and the third adjusting device, and the width of the back support plate can be adjusted according to the body types of different patients by arranging the second adjusting device; meanwhile, by arranging the driving device, the third motor can drive the first thigh support, the second thigh support, the first shank support, the second shank support and the foot support to move, so that the legs of the patient are driven to move to perform rehabilitation training.
Drawings
Fig. 1 is a schematic overall structure diagram of a lower limb exoskeleton rehabilitation robot in the utility model;
FIG. 2 is a schematic structural diagram of a second adjustment mechanism according to the present invention;
fig. 3 is a schematic structural diagram of the driving device of the present invention.
In the figure: 1. a base; 2. a support frame; 3. a roller; 4. a belt; 5. a mounting frame; 6. a first motor; 7. a first lead screw; 8. a first guide bar; 9. a first movable base; 10. a second motor; 11. a second lead screw; 12. a third lead screw; 13. a guide rail; 14. a second movable base; 15. a back support plate; 16. a first thigh support; 17. a second thigh support; 18. a first shank cradle; 19. a second shank cradle; 20. a foot support; 21. a third motor; 22. a first threaded rod; 23. a first adjusting nut; 24. a second threaded rod; 25. a second adjusting nut; 26. a handrail; 27. fixing a sleeve; 28. and (4) binding the bands.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
referring to fig. 1-3, the lower limb exoskeleton rehabilitation robot comprises a base 1, wherein a fixing device, an adjusting device and a driving device are arranged on the base 1, the fixing device comprises two support frames 2, two rolling shafts 3, two belts 4 and a mounting frame 5, the two support frames 2 are respectively and symmetrically arranged on two sides of the base 1, the two rolling shafts 3 are respectively and rotatably connected with the base 1 at two ends, the belts 4 are sleeved outside the two rolling shafts 3, and two sides of the mounting frame 5 are respectively connected with the two support frames 2; adjusting device includes first adjustment mechanism and second adjustment mechanism, first adjustment mechanism includes first motor 6, first lead screw 7, first guide bar 8 and first removal seat 9, first lead screw 7 and the equal both ends of first guide bar 8 with mounting bracket 5 connects, first motor 6 and mounting bracket 5 connect, and the motor shaft run through mounting bracket 5 with first lead screw 7 connects, first removal seat 9 screw thread cup joints the outside of first lead screw 7, and cup joints slidable the outside of first guide bar 8. The armrest 26 is arranged on the support frame 2.
In this embodiment, the second adjusting mechanism includes second motor 10, second lead screw 11, third lead screw 12, guide rail 13 and second removal seat 14, second motor 10 and guide rail 13 all set up on the first removal seat 9, second lead screw 11 and third lead screw 12 are connected, and all the other end with first removal seat 9 rotationally connects, second removal seat 14 is equipped with two, and respectively the screw thread cup joints the outside of second lead screw 11 and third lead screw 12, and can connect with guide rail 13 slidable. The thread directions of the second lead screw 11 and the third lead screw 12 are opposite. When the device is used, the second motor 10 is started to drive the second lead screw 11 and the third lead screw 12 to rotate, and due to the fact that the thread directions of the second lead screw 11 and the third lead screw 12 are opposite, the two second moving seats 14 are driven to move along the direction of the guide rail 13 and simultaneously approach to or depart from each other.
In this embodiment, the driving device includes a back support plate 15, a first thigh support 16, a second thigh support 17, a first shank support 18, a second shank support 19, a foot support 20, a third motor 21 and a third adjusting mechanism, the back support plate 15 is connected to the second movable base 14, the number of the third motors 21 is three, one of the third motors 21 is connected to the first thigh support 16, and a motor shaft penetrates through the first thigh support 16 and the back support plate 15, one of the third motors 21 is connected to the second thigh support 17, and the motor shaft penetrates through the second thigh support 17 and the first shank support 18, the other third motor 21 is connected to the second shank support 19, and the motor shaft penetrates through the second shank support 19 and the foot support 20. Two sets of driving devices are provided, and two back support plates 15 are respectively connected to the two second movable seats 14. When the leg support is used, the first thigh support 16, the first shank support 18 and the foot support 20 are driven to rotate through the third motor 21, so that the walking of a human body is simulated, and the rehabilitation training of a patient is driven.
In this embodiment, the third adjusting mechanism includes a first threaded rod 22, a first adjusting nut 23, a second threaded rod 24 and a second adjusting nut 25, one end of the first threaded rod 22 is connected to the first thigh support 16, the other end is disposed in the second thigh support 17, and is slidably connected to the second thigh support 17, the first adjusting nut 23 is threadedly sleeved on the outside of the first threaded rod 22, and is rotatably connected to the second thigh support 17, one end of the second threaded rod 24 is connected to the first shank support 18, the other end is disposed in the second shank support 19, and is slidably connected to the second shank support 19, and the second adjusting nut 25 is threadedly sleeved on the outside of the second threaded rod 24, and is rotatably connected to the second shank support 19. In use, the first threaded rod 22 is moved within the second thigh support 17 by rotating the first adjustment nut 23, thereby adjusting the distance between the first thigh support 16 and the second thigh support 17, and the second threaded rod 24 is moved within the second calf support 19 by rotating the second adjustment nut 25, thereby adjusting the gap between the first calf support 18 and the second calf support 19.
In this embodiment, a harness 27 is provided on each of the first thigh support 16 and the first shank support 18. Both ends of the fixing sleeve 27 and both ends of the back support plate 15 are provided with a binding band 28. In use, the patient is secured to the drive unit by the harness 27 and strap 28.
Example 2:
in summary, when in use, the distance between the two back support plates 15, the distance between the first thigh support 16 and the second thigh support 17, and the distance between the first shank support 18 and the second shank support 19 are adjusted according to the hip joint, the thigh length and the shank length of a patient, when the distance between the two back support plates 15 is adjusted, the second motor 10 is started to drive the second lead screw 11 and the third lead screw 12 to rotate, and due to the fact that the thread directions of the second lead screw 11 and the third lead screw 12 are opposite, the two second movable seats 14 are driven to move along the direction of the guide rail 13 and simultaneously approach or depart from each other; when adjusting the distance between the first and second thigh supports 16, 17, the first threaded rod 22 is moved in the second thigh support 17 by rotating the first adjusting nut 23, thereby adjusting the distance between the first and second thigh supports 16, 17; when the distance between the first lower leg link 18 and the second lower leg link 19 is adjusted, the second screw rod 24 is moved in the second lower leg link 19 by rotating the second adjusting nut 25, and the gap between the first lower leg link 18 and the second lower leg link 19 is adjusted.
Example 3:
in conclusion, when the leg rehabilitation training device is used, the third motor 21 is externally connected with a PLC control system, after the adjustment is completed, the first motor 6 is started, the first motor drives the first lead screw 7 to rotate, the first movable seat 9 is further driven to move downwards along the direction of the first guide rod 8 until the foot support 20 is contacted with the belt 4, the medical staff assists a patient to move to the foot support 20, legs are placed in the fixed sleeve 27 and are fixed through the bandage 28, after the fixation is completed, the third motor 21 is started, the external PLC control system controls the third motor 21 to drive the first thigh support 16, the first shank support 18 and the foot support 20 to move according to a walking curve, and the legs of the patient are driven to perform rehabilitation training.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a recovered robot of lower limbs ectoskeleton, includes base (1), its characterized in that: the fixing device comprises two supporting frames (2), two rolling shafts (3), a belt (4) and a mounting frame (5), the two supporting frames (2) are symmetrically arranged on two sides of the base (1) respectively, the two rolling shafts (3) are arranged, two ends of each rolling shaft are rotatably connected with the base (1), the belt (4) is sleeved on the outer portions of the two rolling shafts (3), and two sides of the mounting frame (5) are connected with the two supporting frames (2) respectively; adjusting device includes first adjustment mechanism and second adjustment mechanism, first adjustment mechanism includes first motor (6), first lead screw (7), first guide bar (8) and first removal seat (9), first lead screw (7) and the equal both ends of first guide bar (8) with mounting bracket (5) are connected, first motor (6) and mounting bracket (5) are connected, and the motor shaft run through mounting bracket (5) with first lead screw (7) are connected, first removal seat (9) screw thread cup joints the outside of first lead screw (7), and cup joint slidable the outside of first guide bar (8).
2. The lower extremity exoskeleton rehabilitation robot of claim 1, wherein: the second adjusting mechanism comprises a second motor (10), a second lead screw (11), a third lead screw (12), a guide rail (13) and a second moving seat (14), wherein the second motor (10) and the guide rail (13) are arranged on the first moving seat (9), the second lead screw (11) is connected with the third lead screw (12), the other end of the second lead screw is connected with the first moving seat (9) in a rotatable mode, the second moving seat (14) is provided with two parts, and the two parts are respectively in threaded sleeve connection with the outer portions of the second lead screw (11) and the third lead screw (12) and can be connected with the guide rail (13) in a slidable mode.
3. The lower extremity exoskeleton rehabilitation robot of claim 2, wherein: the driving device comprises a back supporting plate (15), a first thigh support (16), a second thigh support (17), a first shank support (18), a second shank support (19), a foot support (20), a third motor (21) and a third adjusting mechanism, the back support plate (15) is connected with the second movable seat (14), three third motors (21) are arranged, wherein a third motor (21) is connected with the first thigh bracket (16), and a motor shaft penetrates through the first thigh bracket (16) and is connected with the back support plate (15), wherein a third motor (21) is connected with the second thigh bracket (17), and a motor shaft penetrates through the second thigh bracket (17) and is connected with the first shank bracket (18), the other third motor (21) is connected with the second lower leg bracket (19), and the motor shaft penetrates through the second lower leg bracket (19) and is connected with the foot bracket (20).
4. The lower extremity exoskeleton rehabilitation robot of claim 3, wherein: the third adjusting mechanism comprises a first threaded rod (22), a first adjusting nut (23), a second threaded rod (24) and a second adjusting nut (25), one end of the first threaded rod (22) is connected with the first thigh support (16), the other end is arranged in the second thigh support (17), and is connected with the second thigh bracket (17) in a sliding way, the first adjusting nut (23) is sleeved outside the first threaded rod (22) in a threaded way, and is rotatably connected with a second thigh support (17), one end of the second threaded rod (24) is connected with the first shank support (18), the other end is arranged in the second shank support (19), and the second adjusting nut (25) is sleeved outside the second threaded rod (24) in a threaded manner and is rotatably connected with the second lower leg support (19).
5. The lower extremity exoskeleton rehabilitation robot of claim 1, wherein: the support frame (2) is provided with a handrail (26).
6. The lower extremity exoskeleton rehabilitation robot of claim 3, wherein: the driving devices are provided with two groups, and the two back supporting plates (15) are respectively connected with the two second movable seats (14).
7. The lower extremity exoskeleton rehabilitation robot of claim 2, wherein: the thread directions of the second lead screw (11) and the third lead screw (12) are opposite.
8. The lower extremity exoskeleton rehabilitation robot of claim 3, wherein: the first thigh support (16) and the first shank support (18) are both provided with a fixing sleeve (27).
9. The lower extremity exoskeleton rehabilitation robot of claim 8, wherein: and binding bands (28) are arranged at the two ends of the fixing sleeve (27) and the two ends of the back support plate (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121686234.8U CN215740274U (en) | 2021-07-23 | 2021-07-23 | Lower limb exoskeleton rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121686234.8U CN215740274U (en) | 2021-07-23 | 2021-07-23 | Lower limb exoskeleton rehabilitation robot |
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| Publication Number | Publication Date |
|---|---|
| CN215740274U true CN215740274U (en) | 2022-02-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121686234.8U Active CN215740274U (en) | 2021-07-23 | 2021-07-23 | Lower limb exoskeleton rehabilitation robot |
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|---|---|
| CN (1) | CN215740274U (en) |
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2021
- 2021-07-23 CN CN202121686234.8U patent/CN215740274U/en active Active
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Address after: 201315 No. 12, Xiu Pu Road, Pudong New Area, Shanghai, 1st floor, Room 101, 2nd floor Patentee after: Shanghai Fourier Intelligent Technology Co.,Ltd. Country or region after: China Address before: Room 101, 1st and 2nd floors, Building 12, No. 2388 Xiupu Road, Pudong New Area, Shanghai Patentee before: SHANGHAI FOURIER INTELLIGENCE Co.,Ltd. Country or region before: China |