CN217938633U - Multifunctional horizontal lower limb rehabilitation training robot - Google Patents
Multifunctional horizontal lower limb rehabilitation training robot Download PDFInfo
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- CN217938633U CN217938633U CN202220392893.9U CN202220392893U CN217938633U CN 217938633 U CN217938633 U CN 217938633U CN 202220392893 U CN202220392893 U CN 202220392893U CN 217938633 U CN217938633 U CN 217938633U
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Abstract
The utility model belongs to the technical field of physiotherapy rehabilitation equipment, concretely relates to multi-functional horizontal low limbs rehabilitation training robot. The utility model discloses a multi-functional horizontal low limbs rehabilitation training robot includes the base, shank training mechanism and foot training mechanism, shank training mechanism is used for making human hip joint and knee joint do the motion of bending and stretching, and foot training mechanism is used for making the swing of human foot, still includes hip joint training mechanism, and hip joint training mechanism is used for making pedal left and right sides translation so that the shank adduction and abduction, including mounting bracket and sharp translation mechanism, sharp translation mechanism is including controlling the drive arrangement of direction removal assembly sharp translation piece and the drive sharp translation piece on the mounting bracket. Because hip joint training mechanism can make foot training mechanism left and right sides translation, makes human shank adduction and abduction to can carry out adduction and abduction training to human hip joint, consequently, the utility model discloses a training robot can satisfy patient's all-round rehabilitation training needs.
Description
Technical Field
The utility model belongs to the technical field of physiotherapy rehabilitation equipment, concretely relates to multi-functional horizontal low limbs rehabilitation training robot.
Background
Horizontal lower limb rehabilitation training is one of lower limb rehabilitation training modes, and the rehabilitation training mode is very suitable for lower limb rehabilitation training of patients with serious illness and loss of lower limb walking ability, for example, patients with nerve function damage caused by cerebral apoplexy sequelae and various accidents do not have walking and standing abilities, and because the patients are not bedridden for a long time and lack activities of the lower limbs, the patients are further caused to have different degrees of muscular atrophy and joint adhesion, and the lower limbs of the patients lose the activity ability for a long time.
The horizontal lower limb rehabilitation training robot can enable the lower limbs of the patients to be fully moved in a lying state, so that the aim of rehabilitation is fulfilled, partial work of rehabilitation doctors can be replaced, the repetitive work of the rehabilitation doctors is reduced, and the economic burden of the patients is relieved. The existing rehabilitation robot mainly takes wearable rehabilitation training, most of the existing rehabilitation robots can realize the rehabilitation training of three joints of hip, knee and ankle of lower limb, but the rehabilitation training is mostly carried out in a sagittal plane, the rehabilitation training in a coronal plane cannot be realized, the adduction and abduction activities of hip joint of human body are the activities in the coronal plane, and the lower limb rehabilitation training in the coronal plane is very necessary for recovering the activity capability of hip joint of patient by comparing with the training method recommended by rehabilitation doctors.
Chinese utility model patent with publication number CN202437606U discloses a lower limb rehabilitation training device, which comprises a leg training mechanism and a foot training mechanism. The leg part training mechanism can make the hip joint and the knee joint of the human body do flexion and extension movement, and the foot part training mechanism can make the foot part do pitching swing (i.e. flexion and extension movement of the ankle) and left-right swing (i.e. adduction and abduction movement of the ankle), but can not realize the movement of the lower limb of the human body on the sagittal plane, especially the adduction and abduction movement of the hip joint, and further can not meet the requirement of the adduction and abduction movement rehabilitation training of the hip joint.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a multi-functional horizontal low limbs rehabilitation training robot to solve the technical problem that current low limbs rehabilitation training device can not satisfy hip joint's adduction abduction motion rehabilitation training needs.
The utility model discloses a multi-functional horizontal low limbs rehabilitation training robot's technical scheme is:
a multifunctional horizontal lower limb rehabilitation training robot comprises a base, a leg training mechanism and a foot training mechanism, wherein the leg training mechanism is used for enabling a hip joint and a knee joint of a human body to do bending and stretching motions, the foot training mechanism is used for enabling feet of the human body to swing, the leg training mechanism comprises a mechanical arm, the mechanical arm comprises at least two hinged movable joints, the foot training mechanism is arranged on the movable joints of the mechanical arm, and the foot training mechanism comprises a pedal and a foot driving mechanism for driving the pedal to swing; the multifunctional horizontal lower limb rehabilitation training robot further comprises a hip joint training mechanism, the hip joint training mechanism is used for enabling the pedals to translate left and right to enable the legs to contract inwards and expand outwards, the hip joint training mechanism comprises an installation frame and a linear translation mechanism, and the linear translation mechanism comprises a linear translation piece which is assembled on the installation frame in a left-right guide moving mode and a driving device for driving the linear translation piece;
the hip joint training mechanism is arranged on the base, the mounting frame of the linear translation mechanism is fixed on the base, the leg training mechanism is arranged on the linear translation piece, the foot training mechanism is arranged on a movable joint of the leg training mechanism, and the hip joint training mechanism realizes the left-right translation of the pedals of the foot training mechanism by enabling the leg training mechanism to translate left and right;
or the leg training mechanism is arranged on the base, the hip joint training mechanism is arranged between two adjacent movable joints of the leg training mechanism, and the foot training mechanism is arranged at the end part of the mechanical arm of the leg training mechanism, which is far away from the base;
or the leg training mechanism is arranged on the base, the hip joint training mechanism is arranged at the end part, far away from the base, of the mechanical arm of the leg training mechanism, and the foot training mechanism is arranged on the linear translation piece of the hip joint training mechanism;
or the leg training mechanism is arranged on the base, the foot training mechanism is arranged at the end part, far away from the mechanical arm of the base, of the leg training mechanism, and the hip joint training mechanism is arranged on the foot training mechanism.
The technical effects of the utility model are that: the utility model discloses a leg training mechanism of training robot can make human shank do the motion of bending and stretching, and human foot is every single move swing and horizontal hunting when foot training mechanism can, again because hip joint training mechanism can make foot training mechanism horizontal translation, makes human shank adduction and abduction to can adduction and abduction training to human hip joint, consequently, the utility model discloses a training robot can satisfy hip joint's adduction abduction motion rehabilitation training's needs, can also satisfy patient's all-round rehabilitation training needs.
Further, the driving device comprises a screw and nut mechanism and a driving motor, and the linear translation piece is driven by the screw and nut mechanism.
The beneficial effects are that: the screw nut mechanism is simple in structure and low in production cost.
Furthermore, the driving motor is in transmission connection with a lead screw of the lead screw nut mechanism, and the linear translation piece is driven by a nut of the lead screw nut mechanism.
The beneficial effects are that: the linear translation piece is driven by a nut of the screw-nut mechanism, the screw rod only needs to rotate, and the screw rod with larger length size does not need to perform translation motion, so that the space required by the screw-nut mechanism is saved.
Further, the mounting rack comprises a mounting cylinder, the screw nut mechanism is covered inside the mounting cylinder, and the linear translation piece comprises a guide rod in left-right guide sliding fit with the mounting cylinder.
The beneficial effects are that: the installation cylinder is in guide sliding fit with the guide rod, so that the extending end of the guide rod can enable the pedal to move horizontally left and right stably.
Further, the guide rods are at least provided with two.
The beneficial effects are that: the more the number of the guide rods is, the more stable the left-right translational motion output by the guide rods is.
Furthermore, the hip joint training mechanism also comprises a connecting disc connected with each guide rod, and nuts of the screw-nut mechanism are fixed on the connecting disc.
The beneficial effects are that: each guide rod is arranged on the connecting disc, the connecting disc is driven by the nut to drive the guide rods, and the motion stability of the linear translation piece can be further improved.
Furthermore, the foot driving mechanism comprises a foot pitching driving mechanism for driving the foot to pitch and swing and a foot left-right driving mechanism for driving the foot to swing left and right, the hip joint training mechanism is arranged between the pitching swinging mechanism and the left-right swinging mechanism, the mounting frame is arranged on the pitching swinging mechanism, and the guide rod extends out of the mounting barrel and is connected with the foot left-right driving mechanism.
The beneficial effects are that: the hip joint training mechanism is arranged on the foot pitching driving mechanism, and the guide rod extending out of the mounting cylinder drives the foot left-right driving mechanism to translate left and right, so that the structure is simple.
Further, the foot driving mechanism comprises a foot pitching driving mechanism for driving the pedals to pitch and swing and a foot left-right driving mechanism for driving the pedals to swing left and right, the foot pitching driving mechanism is arranged at the tail end of a movable joint of the leg training mechanism, the hip joint training mechanism is arranged on the foot pitching driving mechanism, and the foot left-right driving mechanism is arranged on a linear translation piece of the hip joint training mechanism.
The beneficial effects are that: the hip joint training mechanism is arranged on the foot pitching driving mechanism, so that when in use, the hip joint training mechanism only needs to drive the foot left and right driving mechanism to translate left and right, the work is less, the moment received by the hip joint training mechanism is smaller, the space above a sickbed occupied by the training robot is smaller, and the interference to patients is not easy to cause.
Furthermore, the foot left-right driving mechanism comprises a foot rack and a driving device for driving the foot pedal to swing left and right, a leg support capable of freely rotating in a pitching mode is arranged on the foot rack, and the rotating axis of the leg support coincides with the pitching swinging axis of the foot pedal.
The beneficial effects are that: the rotation axis that the leg held in the palm coincides with pedal every single move swing axis for the leg holds in the palm and pedal can simulate the sole and rotate this process around the small amplitude of ankle when the ankle every single move swings, and the leg holds in the palm and pedal motion that can be more close shank and sole like this, thereby can not lead to the fact the interference to the motion of shank and sole.
Further, actuating mechanism includes foot's frame and the pedal drive arrangement of horizontal hunting of drive about the foot, multi-functional horizontal low limbs rehabilitation training robot still includes shank bearing structure, shank bearing structure holds in the palm the support and fixes the leg that is used for supporting the shank on the leg holds in the palm the support including the leg that sets up in the foot frame and holds in the palm, and the leg holds in the palm the right branch who has the left branch who is used for supporting left leg to support the position and is used for supporting right leg to support the position, the leg holds in the palm to pass through the locking piece to be fixed on the leg holds in the palm the support, when the locking piece is relieved and is held in the palm the leg, the leg holds in the palm and can hold in the palm the support switching position for the leg.
The beneficial effects are that: : can adjust the position that the leg held in the palm through the pivoted mode when pulling out the locking piece, make the leg hold in the palm and be located left branch and support the position or support the position on the right side to the convenient robot that utilizes carries out the rehabilitation training to the leg that patient is different.
Drawings
Fig. 1 is a schematic structural view of the multifunctional horizontal lower limb rehabilitation training robot of the utility model;
FIG. 2 is a schematic illustration of the foot training mechanism and hip training mechanism of FIG. 1;
FIG. 3 is a schematic view of the structure of FIG. 2 with the mounting cartridge removed;
FIG. 4 is a schematic structural view of the lead screw-nut mechanism of FIG. 3 after the nut has moved a certain distance;
FIG. 5 is a schematic view of a portion of the second rotary drive between the first and second movable joints of FIG. 1;
FIG. 6 is an exploded view of the leg support structure of FIG. 1;
FIG. 7 is a schematic view illustrating a state of the multifunctional horizontal lower limb rehabilitation training robot in FIG. 1 in use;
FIG. 8 is a schematic view of the hip joint of the patient undergoing rehabilitation training based on FIG. 5;
in the figure: 1. a base; 2. a first movable section; 3. a second movable section; 4. pedaling; 5. a short arm; 6. mounting the cylinder; 7. a drive motor; 8. a lead screw; 9. a nut; 10. a connecting disc; 11. a guide bar; 12. a guide sleeve; 13. a foot frame; 131. a base plate; 132. a vertical plate; 14. a leg rest support; 15. a leg rest; 16. a leg support rotating shaft; 17. a translation plate; 18. a fourth rotary drive device; 19. a speed reducer; 20. a torque sensor; 21. a synchronous pulley; 22. a pivot flange; 23. a rotating pivot; 24. and an indexing pin.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention is further described in detail with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention, i.e., the described embodiments are merely illustrative of some, but not all, of the embodiments of the invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiment of the present invention, all other embodiments obtained by the person skilled in the art without creative work belong to the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, which may be present, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, elements recited by the phrases "comprising a," 8230, "" etc. are not intended to exclude processes, methods, and the like, in which such elements are included.
In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" when they are used are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be connected internally or indirectly to each other. The specific meaning of the above terms in the present invention can be understood by those skilled in the art through specific situations.
In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the term "provided" may be used in a broad sense, for example, the object of "provided" may be a part of the body, or may be arranged separately from the body and connected to the body, and the connection may be a detachable connection or a non-detachable connection. The specific meaning of the above terms in the present invention can be understood by those skilled in the art from the specific situation.
The present invention will be described in further detail with reference to examples.
The utility model provides a multi-functional horizontal low limbs rehabilitation training robot's embodiment 1:
as shown in fig. 1, the utility model discloses a multi-functional horizontal low limbs rehabilitation training robot includes base 1, shank training mechanism, foot training mechanism and hip joint training mechanism, and wherein, shank training mechanism is used for making human hip joint and knee joint do the motion of bending and stretching, and foot training mechanism is used for making human foot do pitch swing and horizontal hunting, and hip joint training mechanism is used for making human shank adduction and abduction in order to carry out adduction and abduction rehabilitation training to the hip joint.
In this embodiment, base 1's bottom is equipped with two universal castor that have the locking function and two truckles that do not have the locking function, consequently the utility model discloses a robot can remove, and also can the locking be fixed. The base 1 is also provided with a human-computer interaction device and a robot control device, wherein the human-computer interaction device comprises a touch screen, a mouse, a keyboard and other interaction devices, an emergency stop button, a startup and shutdown button, an audible and visual alarm device and the like. The robot control equipment can realize the operations of active rehabilitation training, passive rehabilitation training and the like, and is matched with the human-computer interaction equipment to complete the control operation of the robot.
As shown in fig. 1, the leg training mechanism includes a mechanical arm, the mechanical arm includes a first movable joint 2 and a second movable joint 3 hinged to the first movable joint 2, wherein the first movable joint 2 is rotatably disposed on the right side surface of the base 1, a first rotation driving device for driving the first movable joint 2 to rotate relative to the base 1 is disposed on the base 1, the second movable joint 3 is rotatably disposed on the right side surface of one end of the first movable joint 2 far away from the base 1, and a second rotation driving device for driving the second movable joint 3 to rotate relative to the first movable joint 2 is disposed on the first movable joint 2. A foot training mechanism is arranged on the right side surface of one end of the second movable joint 3 far away from the first movable joint 2.
As shown in fig. 1 and fig. 2, the foot training mechanism comprises a foot pedal 4 and a foot driving mechanism for driving the foot pedal 4 to move, wherein the foot driving mechanism comprises a foot pitch driving mechanism and a foot left-right driving mechanism, the foot pitch driving mechanism is arranged on the second movable joint 3 and comprises a short arm 5 and a third rotation driving device, and the third rotation driving device is used for driving the short arm 5 to rotate relative to the second movable joint 3.
As shown in fig. 1 and fig. 3, the hip joint driving device is disposed at one end of the short arm 5 far from the second movable joint 3, the hip joint driving device includes a mounting frame and a linear translation mechanism, the linear translation mechanism includes a linear translation member mounted on the mounting frame in a left-right guiding and moving manner and a driving device for driving the linear translation member, in this embodiment, the mounting frame includes a mounting barrel 6 fixedly disposed on the right side surface of the short arm 5, the driving device of the linear translation mechanism includes a screw-nut mechanism, and further includes a driving motor 7 for driving a screw 8 of the screw-nut mechanism to rotate through a speed reducer, the screw-nut mechanism is covered by the mounting barrel 6, a connecting disk 10 is fixed on a nut 9 of the screw-nut mechanism, in this embodiment, the linear translation member includes four guide rods 11 and translation plates 17 respectively fixed on the ends of the guide rods 11 far from the short arm 5, wherein one ends of the four guide rods 11 near the short arm 5 are fixed on the connecting disk 10, four guide sleeves 12 for guiding and movably penetrating the guide rods 11 are fixedly disposed on an end surface of the mounting barrel 6 far from the outer side of the mounting barrel 6. The driving motor 7 drives the screw rod 8 to rotate, a connecting disc 10 fixedly connected with the nut 9 can move left and right, a guide rod 11 on the connecting disc 10 moves left and right in a guide sleeve 12 of the mounting cylinder 6 in a guide mode, and then the translation plate 17 translates left and right. In other embodiments, the number of guide rods 11 is three.
As shown in fig. 3 and 4, the left and right foot driving mechanism of the foot training mechanism includes a foot frame 13 and a fourth rotation driving device 18, in this embodiment, the first rotation driving device, the second rotation driving device, the third rotation driving device and the fourth rotation driving device have the same structure, and include a motor, a speed reducer, an encoder, a torque sensor and other components, and the motor drives an output shaft of the speed reducer to rotate through a synchronous pulley.
As shown in fig. 3 and 4, the foot frame 13 includes a bottom plate 131 and a vertical plate 132 arranged in a T shape, and the bottom plate 131 is fixed to the translation plate 17 to drive the foot left-right driving mechanism to the hip joint driving device. The fourth rotary driving device 18 is fixed at the rear side of the vertical plate 132, and the output shaft of the speed reducer extends forward from the through hole of the vertical plate 132, and the pedals 4 are arranged on the output shaft of the extended speed reducer, and the speed reducer drives the pedals 4 to swing left and right.
As shown in fig. 2 and 4, a leg supporting device is further disposed on the leg training mechanism, the leg supporting device includes a leg support bracket 14 and a leg support 15 fixed on the leg support bracket 14, the leg support 15 is used for supporting a lower leg of a patient, the leg support bracket 14 includes a vertical section and a horizontal section arranged in an L shape, the vertical section is hinged to a bottom plate 131 of the foot frame 13, the vertical sections of the leg support bracket 15 and the leg support bracket 14 can rotate freely around a leg support rotating shaft 16 on the bottom plate 131, specifically, a shaft sleeve is sleeved on the leg support rotating shaft 16, a through hole for a screw to pass through is disposed on the vertical section of the leg support bracket 14, the screw fixes the leg support bracket 14 on the shaft sleeve on the leg support rotating shaft 16, the shaft sleeve can rotate freely around the leg support rotating shaft 16 to achieve free rotation of the leg support 15, and the shaft sleeve can increase a contact area between the rotating member and the leg support rotating shaft 16 to enable rotation of the leg support 15 to be more stable. The rotation axis of the leg support rotating shaft 16 coincides with the rotation axis of the short arm 5, and then the rotation axis of the leg support 15 coincides with the pitching swinging axis of the foot rest 4, so that the leg support 15 and the foot rest 4 can simulate the process that the lower leg rotates around the ankle in a small amplitude when the sole swings around the ankle in a pitching manner, the leg support and the foot rest can be closer to the motion of the lower leg and the sole, and the interference on the motion of the lower leg and the sole can be avoided.
As shown in fig. 5, a pivot flange 22 is fixed on the horizontal section of the leg rest support 14, a rotation pivot 23 is fixed on the leg rest 15, a pin hole penetrating through the rotation pivot 23 is arranged on the rotation pivot 23, the leg rest 15 is fixed on the upper surface of the rotation pivot 23, a flange through hole corresponding to the pin hole is arranged on the pivot flange 22, an indexing pin 24 is arranged in the flange through hole and the pin hole in a penetrating manner, the indexing pin 24 forms a locking piece for fixing the rotation pivot on the pivot flange so as to fix the leg rest 15 on the leg rest support 14, the position of the leg rest 15 in fig. 2 is defined as a left support position for supporting the left leg, when the indexing pin 24 is pulled out, the leg rest can be rotated 180 degrees so that the rotation pivot is rotated 180 degrees in the pivot flange, and at the same time, the indexing pin 24 is inserted into the flange through hole and the pin hole, the leg rest 15 can be fixed again, and the position of the leg rest 15 is a right support position for supporting the right leg.
Fig. 6 shows a state diagram of a patient when the left leg is rehabilitated, when the right leg is required to be replaced for rehabilitation training, the rehabilitation state needs to be set on the human-computer interaction system, the first movable joint 2 and the second movable joint 3 are adjusted to be in a vertical state, the indexing pin 24 is pulled out at the same time, after the leg support 15 rotates 180 degrees, the indexing pin 24 is inserted to fix the leg support so that the leg support is positioned in a right supporting position, then the foot pedal 4 rotates 180 degrees by utilizing a left-right driving mechanism of the foot, meanwhile, the mechanical arm extends out in the direction opposite to the extending direction of the mechanical arm when the left leg training is carried out, then the robot is adjusted to a proper position of a sickbed, and the right leg rehabilitation training can be carried out.
Taking the second rotation driving device as an example, the working process of the rotation driving device is described, as shown in fig. 5, the second rotation driving device directly outputs the power of the motor to the speed reducer 19 through the synchronous belt and the synchronous belt wheel 21, and outputs the power after the speed reducer 19 reduces the speed and increases the torque, so as to drive the second movable joint 3 to rotate relative to the first movable joint 2, wherein the torque sensor 20 can detect the torque change of the second movable joint 3 relative to the first movable joint 2, and can monitor whether the robot collides or has abnormal rehabilitation action according to the torque change of the robot, so as to take measures in time to avoid the robot from hurting the patient.
The multifunctional horizontal lower limb rehabilitation training robot of the embodiment is used as follows:
as shown in fig. 7, the patient lies on the back on the sickbed, the rehabilitation training robot is moved to the side of the sickbed, and the universal caster is locked, so that the position of the rehabilitation training robot is fixed. When patient left side low limbs need rehabilitation training, assign the demand instruction of recovered left side low limbs through human-computer interaction equipment, the rehabilitation training robot expandes arm to recovered preparation position, places patient's left foot on pedal 4, places patient's left shank on leg support 15, then fixes patient's left foot and left shank with the bandage.
The first movable joint 2 of shank training mechanism and the combination rotary motion of second movable joint 3 can realize patient's hip joint, the bucking of knee joint and straightening rehabilitation training, foot every single move actuating mechanism's short arm 5 can independent rotary motion, make 4 pitching motions of pedal, thereby can transmit the motion for patient's foot, realize patient's ankle joint's bucking and straightening training (the every single move swing of foot promptly), actuating mechanism can drive 4 horizontal hunting of pedal about the foot, thereby can transmit the motion for patient's foot, realize patient's ankle joint's adduction abduction motion. As shown in fig. 8, the guide rod 11 of the hip joint training mechanism can drive the left and right foot driving mechanism to move linearly, so as to drive the pedals 4 to move linearly left and right, and the legs of the patient can be adducted and abducted, so that the adduction and abduction rehabilitation training of the hip joint of the patient is realized. Therefore, the multifunctional horizontal lower limb rehabilitation training robot can meet the requirement of all-dimensional rehabilitation training of patients.
The utility model provides a multi-functional horizontal low limbs rehabilitation training robot's embodiment 2:
in embodiment 1, the leg training mechanism is provided on the base, the hip joint training mechanism is provided on the leg pitch drive mechanism of the leg training mechanism, and the leg right-left drive mechanism is provided on the hip joint training mechanism. In this embodiment, unlike embodiment 1, the hip joint training mechanism is provided on the base, the mounting frame of the linear translation mechanism is fixed to the base, the leg training mechanism is provided on the linear translation member, the foot training mechanism is provided on the movable joint of the leg training mechanism, and the hip joint training mechanism realizes the left-right translation of the pedals of the foot training mechanism by translating the leg training mechanism left and right.
The utility model provides a concrete embodiment 3 of multi-functional horizontal low limbs rehabilitation training robot:
in example 1, the hip joint training mechanism was provided in the foot pitch drive mechanism of the foot training mechanism, and the foot right-left drive mechanism was provided in the hip joint training mechanism. In this embodiment, unlike embodiment 1, the hip joint training mechanism is provided between two adjacent movable joints of the leg training mechanism, and the foot training mechanism is provided at an end of the leg training mechanism remote from the robot arm of the base.
The utility model provides a multi-functional horizontal low limbs rehabilitation training robot's embodiment 4:
in example 1, the hip joint training mechanism was provided in the foot pitch drive mechanism of the foot training mechanism, and the foot right-left drive mechanism was provided in the hip joint training mechanism. In this embodiment, unlike embodiment 1, the hip joint training mechanism is provided at an end of the robot arm of the leg training mechanism remote from the base, and the foot training mechanism is provided on the linear translator of the hip joint training mechanism.
The utility model provides a multi-functional horizontal low limbs rehabilitation training robot's embodiment 5:
in embodiment 1, the driving device of the linear translation mechanism of the hip joint training mechanism includes a screw-nut mechanism, and the linear translation member is fixedly disposed on a nut of the screw-nut mechanism so as to be driven by the nut to move in a left-right guiding manner. In this embodiment, unlike embodiment 1, the driving device of the linear translation mechanism includes a hydraulic cylinder, and the linear translation member is fixed to an end of a piston rod of the hydraulic cylinder. In other embodiments, the hydraulic rod may be replaced by a cylinder, the linear translator being fixed at the end of the piston rod of the cylinder.
The utility model provides a multi-functional horizontal low limbs rehabilitation training robot's embodiment 6:
in example 1, the robotic arm comprises two articulated joints. In this embodiment, unlike embodiment 1, the robot arm includes three movable joints, and the first movable joint is hinged to the second movable joint, and the second movable joint is hinged to the third movable joint.
The utility model provides a multi-functional horizontal low limbs rehabilitation training robot's embodiment 7:
in embodiment 1, the mounting bracket includes an installation cylinder, the screw nut mechanism is covered inside the installation cylinder, and four guide sleeves for guiding the guide rods to movably penetrate are fixedly arranged on the end face of one end of the installation cylinder far away from the short arm. In this embodiment, different from embodiment 1, the mounting frame includes a mounting frame, the mounting frame includes three pillars, one end of each of the three pillars is fixed on the short arm, the other end of each of the three pillars is fixed with a guide plate, and the guide plate is provided with four guide holes for the guide rods to movably penetrate and mount in a corresponding guiding manner.
The utility model provides a multi-functional horizontal low limbs rehabilitation training robot's embodiment 8:
in embodiment 1, a screw of the screw-nut mechanism is driven by a motor to rotate, a connecting plate is fixed on a nut of the screw-nut mechanism, a guide rod is connected with the connecting plate, and the nut drives the connecting plate and further drives the guide rod to move. In this embodiment, unlike embodiment 1, a nut of a screw-nut mechanism is driven by a motor to rotate, a connecting plate is fixed to an end of a screw of the screw-nut mechanism, a guide rod is connected to the connecting plate, and the screw drives the connecting plate and further drives the guide rod to move.
Finally, it should be noted that the above mentioned embodiments are only preferred embodiments of the present invention, and not intended to limit the present invention, and although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that the technical solutions described in the foregoing embodiments may be modified without inventive effort, or some technical features may be substituted equally. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A multifunctional horizontal lower limb rehabilitation training robot comprises a base (1), a leg training mechanism and a foot training mechanism, wherein the leg training mechanism is used for enabling a hip joint and a knee joint of a human body to do bending and stretching motions, the foot training mechanism is used for enabling feet of the human body to swing, the leg training mechanism comprises a mechanical arm, the mechanical arm comprises at least two hinged movable joints, the foot training mechanism is arranged on the movable joints of the mechanical arm, and the foot training mechanism comprises a pedal (4) and a foot driving mechanism for driving the pedal (4) to swing; the multifunctional horizontal lower limb rehabilitation training robot is characterized by further comprising a hip joint training mechanism, wherein the hip joint training mechanism is used for enabling a pedal (4) to translate left and right to enable a leg to contract and expand, the hip joint training mechanism comprises an installation frame and a linear translation mechanism, and the linear translation mechanism comprises a linear translation piece which is assembled on the installation frame in a left-right guide moving mode and a driving device for driving the linear translation piece;
the hip joint training mechanism is arranged on the base (1), a mounting frame of the linear translation mechanism is fixed on the base (1), the leg training mechanism is arranged on the linear translation piece, the foot training mechanism is arranged on a movable joint of the leg training mechanism, and the hip joint training mechanism realizes the left-right translation of a pedal (4) of the foot training mechanism by enabling the leg training mechanism to translate left and right;
or the leg training mechanism is arranged on the base (1), the hip joint training mechanism is arranged between two adjacent movable joints of the leg training mechanism, and the foot training mechanism is arranged at the end part of the leg training mechanism, which is far away from the mechanical arm of the base (1);
or the leg training mechanism is arranged on the base (1), the hip joint training mechanism is arranged at the end part, far away from the base (1), of the mechanical arm of the leg training mechanism, and the foot training mechanism is arranged on the linear translation piece of the hip joint training mechanism;
or the leg training mechanism is arranged on the base (1), the foot training mechanism is arranged at the end part, far away from the mechanical arm of the base (1), of the leg training mechanism, and the hip joint training mechanism is arranged on the foot training mechanism.
2. The multifunctional horizontal lower limb rehabilitation training robot of claim 1, wherein the driving device comprises a screw-nut mechanism and a driving motor (7), and the linear translation member is driven by the screw-nut mechanism.
3. The multifunctional horizontal lower limb rehabilitation training robot of claim 2, characterized in that the driving motor (7) is in transmission connection with a lead screw (8) of a lead screw-nut mechanism, and the linear translation member is driven by a nut (9) of the lead screw-nut mechanism.
4. The multifunctional horizontal type lower limb rehabilitation training robot as claimed in claim 3, wherein the mounting frame comprises a mounting cylinder (6), the screw-nut mechanism is covered inside the mounting cylinder (6), and the linear translation member comprises a guide rod (11) which is in sliding fit with the mounting cylinder (6) in a left-right guiding manner.
5. The multifunctional horizontal lower limb rehabilitation training robot according to claim 4, wherein at least two guide rods (11) are provided.
6. The multifunctional horizontal lower limb rehabilitation training robot of claim 5, wherein the hip joint training mechanism further comprises a connecting disc (10) connected with each guide rod (11), and the nut (9) of the screw-nut mechanism is fixed on the connecting disc (10).
7. The multifunctional horizontal lower limb rehabilitation training robot as claimed in claim 4, wherein the foot driving mechanism comprises a foot pitching driving mechanism for driving the pedals (4) to pitch and swing and a foot left-right driving mechanism for driving the pedals (4) to swing left and right, the hip joint training mechanism is arranged between the pitching swinging mechanism and the left-right swinging mechanism, the mounting frame is arranged on the pitching swinging mechanism, and the guide rod (11) extends out of the mounting barrel (6) and is connected with the foot left-right driving mechanism.
8. The multifunctional horizontal lower limb rehabilitation training robot according to any one of claims 1-6, wherein the foot driving mechanism comprises a foot pitching driving mechanism for driving the pedals (4) to pitch and swing and a foot left-right driving mechanism for driving the pedals (4) to swing left and right, the foot pitching driving mechanism is arranged at the tail end of a movable joint of the leg training mechanism, the hip joint training mechanism is arranged on the foot pitching driving mechanism, and the foot left-right driving mechanism is arranged on a linear translation part of the hip joint training mechanism.
9. The multifunctional horizontal lower limb rehabilitation training robot as claimed in claim 8, wherein the foot left-right driving mechanism comprises a foot frame (13) and a driving device for driving the pedals (4) to swing left and right, a leg support (15) capable of freely pitching and rotating is arranged on the foot frame (13), and the rotation axis of the leg support (15) is overlapped with the pitching and swinging axis of the pedals (4).
10. The multifunctional horizontal lower limb rehabilitation training robot according to claim 8, wherein the left and right foot driving mechanism comprises a foot frame (13) and a driving device for driving the pedals (4) to swing left and right, the multifunctional horizontal lower limb rehabilitation training robot further comprises a leg support structure, the leg support structure comprises a leg support bracket (14) arranged on the foot frame (13) and a leg support (15) fixed on the leg support bracket (14) and used for supporting the lower leg, the leg support (15) is provided with a left support position used for supporting the left leg and a right support position used for supporting the right leg, the leg support (15) is fixed on the leg support bracket (14) through a locking piece, and when the locking piece is unlocked for the leg support (15), the leg support (15) can be switched to the position relative to the leg support bracket (14).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220392893.9U CN217938633U (en) | 2022-02-25 | 2022-02-25 | Multifunctional horizontal lower limb rehabilitation training robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220392893.9U CN217938633U (en) | 2022-02-25 | 2022-02-25 | Multifunctional horizontal lower limb rehabilitation training robot |
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| CN217938633U true CN217938633U (en) | 2022-12-02 |
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| CN (1) | CN217938633U (en) |
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