CN219090029U

CN219090029U - Robot for lower limb rehabilitation

Info

Publication number: CN219090029U
Application number: CN202122954506.4U
Authority: CN
Inventors: 康威; 朱鹏辉; 施永辉; 许红霞; 邢梦雪; 张志斌
Original assignee: Shanghai Nuohao Medical Technology Co ltd; Shanghai Dianji University
Current assignee: Shanghai Nuohao Medical Technology Co ltd; Shanghai Dianji University
Priority date: 2021-11-29
Filing date: 2021-11-29
Publication date: 2023-05-30
Anticipated expiration: 2031-11-29

Abstract

The utility model provides a robot for lower limb rehabilitation, including the chassis, articulated on the chassis has a movable frame, one side of movable frame is provided with two lower limb movement mechanism, arbitrary lower limb movement mechanism all includes a motor respectively, the fixed one side that sets up at the movable frame of motor, the below of motor is provided with a fixing base, rotate in the fixing base and be connected with a first lead screw, the lower extreme and the upper end of first lead screw of the output shaft of motor are connected, the below of first lead screw is provided with a guide holder, be provided with a guiding hole in the guide holder, be provided with a movable rod in the guiding hole, the movable rod constitutes the sliding pair with the guiding hole, be provided with a first screw hole in the up end of movable rod. The utility model aims at developing a model machine of a lower limb rehabilitation system by taking a weight-reducing gait training method as a technical starting point and performing biofeedback autonomous control after myoelectric signal analysis so as to realize active treatment and passive treatment on lower limbs of patients with different postures and different heights.

Description

Robot for lower limb rehabilitation

Technical Field

The utility model relates to a human living article, in particular to a medical instrument, and particularly relates to a robot for lower limb rehabilitation.

Background

The main causes of central nervous system injury include stroke and spinal cord injury, which often cause hemiplegia or paraplegia in patients, and further cause dysfunction of internal organs and a series of complications. A large number of clinical studies indicate that the central nervous system can realize a certain degree of structural reorganization or functional compensation through rehabilitation training. However, the traditional rehabilitation therapy is often realized by means of manual assistance or simple rehabilitation equipment, so that the training strength and accuracy are difficult to ensure, and the rehabilitation curative effect is not improved. The rehabilitation robot is used as an automatic and intelligent medical device, has strong advantages in the aspects of providing continuous and quantitative rehabilitation training, can effectively make up the defects in the traditional rehabilitation therapy, and is becoming a research hot spot in the field of nerve rehabilitation engineering.

Disclosure of Invention

The utility model aims to provide a robot for lower limb rehabilitation, which aims to solve the technical problems that rehabilitation treatment equipment in the prior art is difficult to ensure training strength and precision and is not beneficial to improving rehabilitation curative effect.

The utility model relates to a robot for lower limb rehabilitation, which comprises a chassis, wherein a movable frame is hinged on the chassis, a first electric push rod is arranged on the chassis, one end of the first electric push rod is hinged with the chassis, an output shaft at the other end of the first electric push rod is hinged with the movable frame, an angle meter is arranged on the movable frame,

the movable frame comprises a first cross beam and a second cross beam, the first cross beam is positioned at the top of the movable frame, the second cross beam is positioned below the first cross beam, a suspension bracket is arranged on the first cross beam and comprises two sliding rods which are arranged in parallel, two sliding holes are arranged on the first cross beam, the sliding rods are respectively arranged in the sliding holes, sliding pairs are formed by the sliding rods and the sliding holes, a cross rod is connected between the lower ends of the two sliding rods, a second electric push rod is arranged on the second cross beam, the upper end of an output shaft of the second electric push rod is connected with the cross rod through a pressure sensor,

two lower limb movement mechanisms are arranged on one side of the movable frame, each lower limb movement mechanism comprises a motor, the motors are fixedly arranged on one side of the movable frame, a fixed seat is arranged below the motors, a first screw rod is rotatably connected in the fixed seat, the lower end of an output shaft of each motor is connected with the upper end of the corresponding first screw rod, a guide seat is arranged below the corresponding first screw rod, a guide hole is arranged in the guide seat, a movable rod is arranged in the guide hole, the movable rod and the guide hole form a sliding pair, a first threaded hole is arranged in the upper end face of the movable rod, the lower end of the corresponding first screw rod is in threaded connection with the first threaded hole, an upper photoelectric sensor and a lower photoelectric sensor are respectively arranged on the upper end position and the lower end position of the corresponding first screw rod on the movable frame, a foot support plate is connected to the lower end of the corresponding movable rod, the outer side of the foot support plate is hinged with the lower end of the corresponding lower leg fixing rod, the upper end of the corresponding lower leg fixing rod is hinged with the lower end of the corresponding thigh fixing rod, the upper end of the corresponding thigh fixing rod is hinged with the movable frame,

a robot for lower limb rehabilitation still include man-machine interaction device, controller, first electric putter control module, second electric putter control module, motor control module, man-machine interaction device, first electric putter control module, second electric putter control module, motor control module, angle gauge, first electric putter, second electric putter, pressure sensor, motor, go up photoelectric sensor, lower photoelectric sensor all respectively through its input/output end with the controller be connected.

Further, shank dead lever include a length adjustment mechanism, a length adjustment mechanism includes first connecting seat, be provided with first gear and second gear in the first connecting seat, the upper end of first connecting seat is articulated with the lower extreme of thigh dead lever, be provided with a first connecting axle in the lateral wall of first connecting seat, the outer end of first connecting axle is connected with a first adjust knob, the inner and the first gear connection of first connecting axle, first gear and second gear engagement, the second gear is connected with a second lead screw, the upper end rotation of second lead screw sets up in first connecting seat and is provided with first shell fragment, the below of first connecting seat is provided with first movable seat, the downside of first connecting seat is connected with first guide bar, first movable seat sets up on first guide bar, first movable seat constitutes the sliding pair with first guide bar, be provided with a second screw hole in the first movable seat upper surface, the lower extreme and the second screw thread connection of second lead screw, the bottom and the foot of first movable seat are connected with the backup pad.

Further, the thigh dead lever include second length adjustment mechanism, second length adjustment mechanism includes the second connecting seat, be provided with third gear and fourth gear in the second connecting seat, the upper end and the adjustable shelf of second connecting seat are articulated, be provided with a second connecting axle in the lateral wall of second connecting seat, the outer end of second connecting axle is connected with a second adjust knob, the inner and the third gear of second connecting axle are connected, third gear and fourth gear meshing, fourth gear and a third lead screw are connected, the upper end rotation of third lead screw sets up in the second connecting seat and is provided with the second shell fragment, the below of second connecting seat is provided with the second movable seat, the downside of second connecting seat is connected with the second guide bar, the second movable seat sets up on the second guide bar, second movable seat constitutes the sliding pair with the second guide bar, be provided with a third screw hole in the second movable seat upper surface, the lower extreme and the third screw thread connection of third lead screw, the bottom and the thigh dead lever of second movable seat are articulated.

Further, a surface myoelectricity acquisition module is arranged on the movable frame.

Compared with the prior art, the utility model has positive and obvious effects.

1. The standing lower limb is in rehabilitation exercise to simulate a normal walking standing state.

2. Provides the weight-reducing function, can reduce the weight of patients with different paralysis degrees to a certain extent, and lighten the plantar pressure.

3. Surface myoelectricity may be used as an active training conscious signal. Strengthen the active rehabilitation consciousness and more accord with clinical significance.

The utility model aims at taking a weight-reducing gait training method as a technical starting point, performing biofeedback autonomous control after myoelectric signal analysis, developing a model machine of a lower limb rehabilitation system, realizing active treatment and passive treatment of lower limbs of patients with different postures and different heights, performing multi-parameter intelligent analysis and evaluation on the lower limbs of the patients in the rehabilitation process, meeting the adaptability to individual differences of the patients and reducing the dependence on manual rehabilitation.

Drawings

Fig. 1 is a schematic structural view of a standing state of a robot for rehabilitation of lower limbs according to the present utility model.

Fig. 2 is a schematic view showing a lying state structure of a robot for rehabilitation of lower limbs according to the present utility model.

Fig. 3 is a schematic perspective view of a robot for rehabilitation of lower limbs according to the present utility model.

Fig. 4 is a schematic view showing a lifting state structure of a suspension of a robot for rehabilitation of lower limbs according to the present utility model.

Fig. 5 is a schematic diagram of a lower limb movement mechanism of a robot for lower limb rehabilitation according to the present utility model.

Fig. 6 is a schematic structural view of a length adjusting mechanism of a robot for rehabilitation of lower limbs according to the present utility model.

Fig. 7 is a schematic diagram of a movement process of a lower limb movement mechanism of a robot for lower limb rehabilitation according to the present utility model.

Fig. 8 is a schematic diagram showing the front view structure of a lower limb movement mechanism of a robot for rehabilitation of lower limbs according to the present utility model.

Fig. 9 is a schematic diagram of an electrical control principle of a robot for rehabilitation of lower limbs according to the present utility model.

Detailed Description

The present utility model is further described below with reference to the drawings and examples, but the present utility model is not limited to the examples, and all the similar structures and similar variations using the present utility model should be included in the protection scope of the present utility model. The use of the directions of up, down, front, back, left, right, etc. in the present utility model is only for convenience of description, and is not a limitation of the technical scheme of the present utility model.

Example 1

As shown in fig. 1 to 9, the robot for rehabilitation of lower limbs of the present utility model comprises a chassis 1, a movable frame 2 hinged on the chassis 1, a first electric push rod 3 arranged on the chassis 1, one end of the first electric push rod 3 hinged with the chassis 1, the other end output shaft of the first electric push rod 3 hinged with the movable frame 2, an angle meter 4 arranged on the movable frame 2,

the movable frame 2 comprises a first cross beam 5 and a second cross beam 6, the first cross beam 5 is positioned at the top of the movable frame 2, the second cross beam 6 is positioned below the first cross beam 5, a suspension bracket 7 is arranged on the first cross beam 5, the suspension bracket 7 comprises two sliding rods 8 which are arranged in parallel, two sliding holes are arranged on the first cross beam 5, the sliding rods 8 are respectively arranged in the sliding holes, the sliding rods 8 and the sliding holes form a sliding pair, a cross rod 10 is connected between the lower ends of the two sliding rods 8, a second electric push rod 11 is arranged on the second cross beam 6, the upper end of an output shaft of the second electric push rod 11 is connected with the cross rod 10 through a pressure sensor 12,

two lower limb movement mechanisms are arranged on one side of the movable frame 2, each lower limb movement mechanism comprises a motor 13, the motor 13 is fixedly arranged on one side of the movable frame 2, a fixed seat 14 is arranged below the motor 13, a first screw rod 15 is rotatably connected in the fixed seat 14, the lower end of an output shaft of the motor 13 is connected with the upper end of the first screw rod 15, a guide seat 16 is arranged below the first screw rod 15, a guide hole is arranged in the guide seat 16, a movable rod 17 is arranged in the guide hole, the movable rod 17 and the guide hole form a sliding pair, a first threaded hole is arranged in the upper end face of the movable rod 17, the lower end of the first screw rod 15 is in threaded connection with the first threaded hole, an upper photoelectric sensor 18 and a lower photoelectric sensor 19 are respectively arranged on the movable frame 2 at the upper end position and the lower end position of the first screw rod 15, a foot supporting plate 20 is hinged with the lower end of the movable rod 17, the outer side of the foot supporting plate 20 is connected with the lower end of a small fixed rod 21, the upper end of the small leg fixed rod 21 is hinged with the upper end of the fixed leg 22 of the movable frame 2, the upper end of the movable leg 21 is hinged with the upper end of the fixed leg 22 of the movable frame 2,

the robot for lower limb rehabilitation further comprises a man-machine interaction device 23, a controller 24, a first electric push rod control module 25, a second electric push rod control module 26 and a motor control module 27, wherein the man-machine interaction device 23, the first electric push rod control module 25, the second electric push rod control module 26, the motor control module 27, the angle meter 4, the first electric push rod 3, the second electric push rod 11, the pressure sensor 12, the motor 13, the upper photoelectric sensor 18 and the lower photoelectric sensor 19 are respectively connected with the controller 24 through input and output ends thereof.

Further, the shank fixing rod 21 includes a first length adjusting mechanism, the first length adjusting mechanism includes a first connecting seat 28, a first gear 29 and a second gear 30 are disposed in the first connecting seat 28, the upper end of the first connecting seat 28 is hinged to the lower end of the thigh fixing rod 22, a first connecting shaft 31 is disposed in the side wall of the first connecting seat 28, the outer end of the first connecting shaft 31 is connected with a first adjusting knob 32, the inner end of the first connecting shaft 31 is connected with the first gear 29, the first gear 29 is meshed with the second gear 30, the second gear 30 is connected with a second screw rod 33, the upper end of the second screw rod 33 is rotatably disposed in the first connecting seat 28 and is provided with a first elastic piece 34, a first movable seat 35 is disposed below the first connecting seat 28, the lower side of the first connecting seat 28 is connected with a first guide rod 36, the first movable seat 35 and the first guide rod 36 form a sliding pair, a first threaded hole is disposed in the upper surface of the first movable seat 35, the lower end of the second screw rod 33 is connected with the first support plate 20.

Further, the thigh dead lever 22 include second length adjustment mechanism, second length adjustment mechanism includes the second connecting seat, be provided with third gear and fourth gear in the second connecting seat, the upper end and the adjustable shelf 2 of second connecting seat are articulated, be provided with a second connecting axle in the lateral wall of second connecting seat, the outer end of second connecting axle is connected with a second adjust knob, the inner and the third gear of second connecting axle are connected, third gear and fourth gear meshing, fourth gear and a third lead screw are connected, the upper end rotation of third lead screw sets up in the second connecting seat and is provided with the second shell fragment, the below of second connecting seat is provided with the second movable seat, the downside of second connecting seat is connected with the second guide bar, the second movable seat sets up on the second guide bar, second movable seat constitutes the sliding pair with the second guide bar, be provided with a third screw hole in the second movable seat upper surface, the lower extreme and the third screw thread connection of third lead screw, the bottom of second movable seat articulates with thigh dead lever 22.

Further, the movable frame 2 is provided with a surface myoelectricity acquisition module 37.

Specifically, the electric putter, the angle gauge 4, the pressure sensor 12, the motor 13, the photoelectric sensor, the man-machine interaction device 23, the controller 24, the first electric putter control module 25, the second electric putter control module 26, the motor control module 27, the first elastic sheet 34 and the like in this embodiment all adopt the known schemes in the prior art, which are known to those skilled in the art, and are not repeated here.

The working principle of the embodiment is as follows:

1. principle of lying standing: the first electric push rod 3 pushes the movable frame 2 to realize the function of adjusting the lying standing.

2. Weight reduction functional principle: the second electric push rod 11 and the pressure sensor 12 are used for realizing that the pressure sensor 12 can measure and record the weight of the weight reduction, and the second electric push rod 11 can control the weight reduction degree. After the patient is fixed on the suspension bracket 7 through a hanging belt, the movement of the suspension bracket 7 can drive the body of the patient to move so as to relieve the sole pressure, thereby realizing the weight reduction function.

3. Lower limb movement principle: the motor 13 rotates, and the foot supporting plate 20 is driven to move up and down by the first screw rod 15 and the movable rod 17, and when the foot supporting plate 20 moves up, the thigh fixing rod 22 and the shank fixing rod 21 are bent to form an angle as shown in fig. 7. Otherwise, the movement direction is opposite.

4. Telescoping adjustment principle: as shown in fig. 6, the first adjusting knob 32 of the first length adjusting mechanism is turned to drive the first gear 29 to link with the second gear 30, and the second gear 30 drives the second screw 33 to rotate. The first spring 34 locks a section and cannot move. The second screw rod 33 drives the first movable seat 35 to move up and down when rotating, so that the length adjusting function of the shank fixing rod 21 is realized, and the principle of the second length adjusting mechanism is the same as that of the first length adjusting mechanism.

5. Electric control principle: (1) The human-machine interaction means 23 are used for user control of the system and some settings of the system.

(2) The angle meter 4 can instruct the user to control the stand to display the angle in real time when the first electric push rod 3 works.

(3) The pressure sensor 12 is used to display and control references in real time to the weight of the patient as the weight is reduced.

(4) The upper photoelectric sensor 18 and the lower photoelectric sensor 19 are used for detecting and protecting the movement of the lower limbs, when the motor 13 controls the movable rod 17 to drive the legs to move to the uppermost position, the upper photoelectric sensor 18 is triggered, and the MCU controller 24 immediately stops or reverses the movement of the motor 13 to enable the motor to move downwards. The principle of operational feedback of the lower photosensor 19 is identical to that of the upper photosensor 18.

(6) The surface myoelectricity acquisition module 37 is used for acquiring myoelectricity signals of motor nerves and main control signals for active movement.

The utility model has the beneficial effects that:

Claims

1. A robot for lower limb rehabilitation, its characterized in that: comprises a chassis (1), a movable frame (2) is hinged on the chassis (1), a first electric push rod (3) is arranged on the chassis (1), one end of the first electric push rod (3) is hinged with the chassis (1), the output shaft of the other end of the first electric push rod (3) is hinged with the movable frame (2), an angle meter (4) is arranged on the movable frame (2),

the movable frame (2) comprises a first cross beam (5) and a second cross beam (6), the first cross beam (5) is positioned at the top of the movable frame (2), the second cross beam (6) is positioned below the first cross beam (5), a suspension bracket (7) is arranged on the first cross beam (5), the suspension bracket (7) comprises two parallel sliding rods (8), two sliding holes are arranged on the first cross beam (5), the sliding rods (8) are respectively arranged in the sliding holes, the sliding rods (8) and the sliding holes form sliding pairs, a cross rod (10) is connected between the lower ends of the two sliding rods (8), a second electric push rod (11) is arranged on the second cross beam (6), the upper end of an output shaft of the second electric push rod (11) is connected with the cross rod (10) through a pressure sensor (12),

two lower limb movement mechanisms are arranged on one side of the movable frame (2), each lower limb movement mechanism comprises a motor (13), the motors (13) are fixedly arranged on one side of the movable frame (2), a fixed seat (14) is arranged below the motors (13), a first screw rod (15) is rotationally connected to the fixed seat (14), the lower end of an output shaft of the motors (13) is connected with the upper end of the first screw rod (15), a guide seat (16) is arranged below the first screw rod (15), a guide hole is arranged in the guide seat (16), a movable rod (17) is arranged in the guide hole, a sliding pair is formed by the movable rod (17) and the guide hole, a first threaded hole is arranged in the upper end surface of the movable rod (17), the lower end of the first screw rod (15) is in threaded connection with the first threaded hole, an upper photoelectric sensor (18) and a lower photoelectric sensor (19) are respectively arranged on the movable frame (2) at the upper end position and the lower end position of the first screw rod (15), a lower support plate (20) is connected with the upper thigh (21) of the lower support plate (20), the lower thigh (21) is connected with the upper thigh (21) of the lower thigh (20), the thigh (21) is fixedly connected with the thigh (21) of the lower thigh, the thigh (21) is fixedly connected with the thigh (21),

a robot for lower limb rehabilitation still include human-computer interaction device (23), controller (24), first electric putter control module (25), second electric putter control module (26), motor control module (27), human-computer interaction device (23), first electric putter control module (25), second electric putter control module (26), motor control module (27), angle meter (4), first electric putter (3), second electric putter (11), pressure sensor (12), motor (13), go up photoelectric sensor (18), lower photoelectric sensor (19) all respectively through its input/output with controller (24) be connected.

2. A robot for rehabilitation of lower limbs according to claim 1, wherein: the shank fixing rod (21) comprises a first length adjusting mechanism, the first length adjusting mechanism comprises a first connecting seat (28), a first gear (29) and a second gear (30) are arranged in the first connecting seat (28), the upper end of the first connecting seat (28) is hinged with the lower end of the thigh fixing rod (22), a first connecting shaft (31) is arranged in the side wall of the first connecting seat (28), the outer end of the first connecting shaft (31) is connected with a first adjusting knob (32), the inner end of the first connecting shaft (31) is connected with the first gear (29), the first gear (29) is meshed with the second gear (30), the second gear (30) is connected with a second screw rod (33), the upper end of the second screw rod (33) is rotatably arranged in the first connecting seat (28) and provided with a first elastic piece (34), the lower side of the first connecting seat (28) is provided with a first movable seat (35), the lower side of the first connecting seat (28) is connected with a first guide rod (36), the first movable seat (35) is arranged on the upper surface of the first guide rod (35) and is in threaded hole (33) in the first movable seat (35) in a first sliding mode, the bottom of the first movable seat (35) is connected with the foot supporting plate (20).

3. A robot for rehabilitation of lower limbs according to claim 1, wherein: the thigh dead lever (22) include second length adjustment mechanism, second length adjustment mechanism includes the second connecting seat, be provided with third gear and fourth gear in the second connecting seat, the upper end and the adjustable shelf (2) of second connecting seat are articulated, be provided with a second connecting axle in the lateral wall of second connecting seat, the outer end of second connecting axle is connected with a second adjust knob, the inner and the third gear of second connecting axle are connected, third gear and fourth gear meshing, the fourth gear is connected with a third lead screw, the upper end rotation of third lead screw sets up in the second connecting seat and is provided with the second shell fragment, the below of second connecting seat is provided with the second movable seat, the downside of second connecting seat is connected with the second guide bar, the second movable seat sets up on the second guide bar, second movable seat constitutes the sliding pair with the second guide bar, be provided with a third screw hole in the second movable seat upper surface, the lower extreme and the third screw threaded connection of third lead screw, the bottom and thigh dead lever (22) of second movable seat are articulated.

4. A robot for rehabilitation of lower limbs according to claim 1, wherein: the movable frame (2) is provided with a surface myoelectricity acquisition module (37).