CN219700440U - Two-degree-of-freedom air bag lower limb rehabilitation robot - Google Patents
Two-degree-of-freedom air bag lower limb rehabilitation robot Download PDFInfo
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- CN219700440U CN219700440U CN202320134547.5U CN202320134547U CN219700440U CN 219700440 U CN219700440 U CN 219700440U CN 202320134547 U CN202320134547 U CN 202320134547U CN 219700440 U CN219700440 U CN 219700440U
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Abstract
The utility model discloses a two-degree-of-freedom airbag lower limb rehabilitation robot, which comprises: the two-degree-of-freedom mechanical module is connected with the lower leg air bag module, the lower leg air bag module massages the lower limb, and the two-degree-of-freedom mechanical module performs bending and stretching and overturning training on the lower limb. According to the utility model, according to the research on the ankle rehabilitation training mode, based on the modern rehabilitation theory related to active movement and passive movement, the ankle joint injury patient is helped to simulate the natural movement of the ankle joint, and meanwhile, the electrode plate is arranged to provide low-frequency electric stimulation for the patient, stimulate the muscle nerve of the patient and accelerate metabolism in combination with the traditional Chinese medicine physiotherapy theory. Preventing deep vein thrombosis of lower limbs, and the air sac massage function can help calf gastrocnemius muscle to shrink and promote venous blood backflow.
Description
Technical Field
The utility model relates to the technical field of lower limb rehabilitation, in particular to a two-degree-of-freedom air bag lower limb rehabilitation robot.
Background
Ankle joint injury can cause dyskinesia to patients, seriously affect normal life of the patients, and cause patients and family members to feel trouble.
For this purpose, chinese patent application publication No. CN111956448A discloses a kinesthesis control method for a lower limb rehabilitation robot, which includes: s1: judging whether the current state of the spinal cord injury patient is a preset early rehabilitation state or not; s2: if the current state of the patient with the spinal cord injury is a preset early recovery state, performing motion inverse solution on the lower limb recovery robot according to a preset passive training scheme, and driving the lower limb recovery robot to drive the patient with the spinal cord injury to move according to a corresponding passive training flow after the motion inverse solution; s3: if the current state of the patient with the spinal cord injury is not the preset early recovery state, the lower limb recovery robot is subjected to motion positive solution according to a preset active training scheme, and the lower limb recovery robot is driven to drive the patient with the spinal cord injury to move according to an active training process corresponding to the motion positive solution.
Chinese patent application publication No. CN102716000A discloses a sitting and lying type lower limb rehabilitation robot and a corresponding power-assisted training control method. The robot comprises a seat, a mechanical arm, a man-machine interaction interface, a main industrial control box, an electric stimulation hand-held switch, an electric stimulation electrode slice, a functional electric stimulation industrial control box and a functional electric stimulation instrument. When assisting a patient to carry out power-assisted training, the motion trail of the tail end of the robot is set according to clinical requirements, a host in a main industrial control box solves the motion trail of each joint through inverse kinematics, and a corresponding motion control card, a joint driver and a motor/encoder are used for controlling a mechanical arm to drive two lower limbs on the two sides of the patient to carry out rehabilitation training.
The utility model patent application publication No. CN102727361A discloses a sitting and lying type lower limb rehabilitation robot which can respectively perform passive training, power-assisted training or active training according to the injury degree or rehabilitation stage of a patient. The robot comprises a seat, a mechanical arm, a main industrial control box, a man-machine interaction interface, an electric stimulation hand-held switch, an electric stimulation electrode plate, an electromyographic signal acquisition electrode plate, a functional electric stimulation and electromyographic signal acquisition industrial control box. During passive training, the lower limbs of the patient are trained according to the set motion trail; during power-assisted training, electric stimulation pulses are applied to main muscle groups of lower limbs of a patient, and time sequence control is carried out on the electric stimulation pulses according to the motion trail of the tail end, so that the power-assisted training is completed; during active training, myoelectric signals of corresponding muscles of a patient are collected, and active training of driving the robot by the patient is achieved according to different control algorithms.
Aiming at the problems that the prior art product is relatively single, cannot be directly fused with multiple functions, the movement speed and time are relatively fixed in a movement mode, the ankle inflation extrusion strength and time are relatively fixed, the suitability adjustment cannot be carried out according to the actual requirement of a patient, the stress stimulation cannot be generated on the sole, the equipment is relatively heavy and inconvenient to carry, and the household use is difficult, the multifunctional ankle pump stress trainer disclosed in the Chinese patent application publication No. CN216455934U is provided with the following scheme, which comprises a base, the top of the base is fixedly connected with a connecting seat, and a limiting ring is arranged on the base.
The utility model discloses a single-joint active training control method based on sEMG and a corresponding rehabilitation robot, wherein the single-joint active training control method is used for a rehabilitation robot with an sEMG acquisition system and comprises the steps of acquiring sEMG signals of a patient by using the sEMG acquisition system, and then converting the sEMG signals into single-joint active training control signals by the rehabilitation robot to control the single-joint active training of the patient. The method comprises two strategies, namely damping type active training and spring type active training, wherein the damping type active training utilizes sEMG to control the movement speed of the joint; the latter uses sEMG to control joint angular displacement.
Chinese patent application publication No. CN113520792A discloses a robot for assisting a patient with drop foot to perform rehabilitation training based on electromyographic signals, which comprises a walking aid, a sensing module and boots. The walking aid mainly comprises an actuator main body plate, a foot connecting piece and a driving device, wherein the actuator main body plate is connected with the rear end part of the foot connecting piece by means of a first connecting shaft. The sensing module comprises a myoelectric sensor and a mounting bottom plate thereof. The boot is utilized to support and decorate the walking aid mechanism, so as to achieve the beautifying effect. In control, the exercise intention of a patient is predicted based on the law of electromyographic signals between the thighs and the shanks of the human body, the pose required to be reached by dorsiflexion or plantarflexion exercise of the human body is identified through the electromyographic signal value of the front side of the thighs of the patient, and the robot is controlled to assist the patient to complete the training of the preset action, so that the drop foot rehabilitation training is realized.
The lower limb rehabilitation robot has the problems of complex structure and high cost.
Disclosure of Invention
The utility model aims to provide a two-degree-of-freedom air bag lower limb rehabilitation robot with a simple structure and low cost, aiming at the problems of complex structure and high cost of the existing lower limb rehabilitation robot.
In order to achieve the purpose of the utility model, the technical scheme adopted is as follows:
a two degree of freedom airbag lower limb rehabilitation robot comprising: the two-degree-of-freedom mechanical module is connected with the lower leg air bag module, the lower leg air bag module massages lower limbs, and the two-degree-of-freedom mechanical module performs bending and stretching and overturning training on the lower limbs.
In a preferred embodiment of the present utility model, the lower leg airbag module includes an outer airbag wall and an inner airbag provided on an inner surface of the outer airbag wall, inflation and deflation of the inner airbag being controlled by a built-in system built in the outer airbag wall; the internal air bag is used for massaging the lower limbs through inflation and deflation.
In a preferred embodiment of the present utility model, the built-in system includes an air pump and an air pump control device, the air pump control device controls the opening and closing of the air pump, and the air pump controls the inflation and deflation of the internal air bag. In a preferred embodiment of the utility model, a mounting electrode pad is provided on the surface of the inner balloon, the electrode pad providing low frequency electrical stimulation to the patient.
In a preferred embodiment of the utility model, the internal balloon is sequentially inflated from the distal end to the proximal end to a fixed pressure, then sequentially deflated from the distal end to the proximal end to form a stepwise progressive pressure change, and this process is repeated regularly.
In a preferred embodiment of the utility model, the two-degree-of-freedom mechanical module comprises:
one end of the connecting bracket is connected with the outer wall of the air bag;
a bending and stretching motor arranged at the other end of the connecting bracket;
a subframe connected to the drive end of Qu Shenma;
a turnover motor mounted on the subframe;
a bidirectional expansion block mounted on a transmission shaft of the turnover motor;
one end of the connecting rod is hinged with the bidirectional expansion block;
a turnover band plate with one end hinged with the auxiliary frame;
and one side of the foot bottom plate is fixedly connected with the overturning band plate, and the other side of the foot bottom plate is hinged with the other end of the connecting rod.
In a preferred embodiment of the present utility model, an inner cavity is provided in the bi-directional expansion block, the flipping motor is disposed in the inner cavity of the bi-directional expansion block, a transmission shaft of the flipping motor passes through the bi-directional expansion block and is disposed along an axial direction of the bi-directional expansion block, and the transmission shaft of the flipping motor drives the bi-directional expansion block to move.
In a preferred embodiment of the utility model, a magic tape is arranged on the inner side of one end of each connecting bracket, and the inner side of each connecting bracket is tightly attached to the outer wall of the air bag through the magic tape.
In a preferred embodiment of the present utility model, a plurality of ventilation holes are provided in the sole plate.
In a preferred embodiment of the utility model, an embedding slider is integrated on the outer wall of the air bag, and the whole two-degree-of-freedom air bag lower limb rehabilitation robot is embedded into rehabilitation equipment through the embedding slider.
Due to the adoption of the technical scheme, according to the research on the ankle rehabilitation training mode, based on the modern rehabilitation theory related to active movement and passive movement, the ankle injury patient is helped to simulate the natural movement of the ankle, and meanwhile, the traditional Chinese medicine physiotherapy theory is combined, and the electrode slice is arranged to provide low-frequency electric stimulation for the patient, stimulate the muscle nerve of the patient and accelerate metabolism. Preventing deep vein thrombosis of lower limbs, and the air sac massage function can help calf gastrocnemius muscle to shrink and promote venous blood backflow. The lower limb joint rehabilitation device designed by the utility model can provide rehabilitation treatment for patients from multiple aspects, relieve the pain of the patients, improve the life quality of the patients, reduce nursing burden, reduce medical expense and save medical resources. The utility model has the beneficial effects that:
1. simulating the actions of rehabilitation doctors to replace manual work to perform more efficient periodic rehabilitation training
2. The length design of running-board is 280mm, and the width is 120mm, adopts 8mm thick aluminium alloy plate to guarantee the bearing capacity of running-board, has designed 15 circular apertures that radius is 8mm simultaneously, plays ventilative effect, simultaneously, lightens the total weight of low limbs joint rehabilitation ware.
3. The internal air bag is sequentially inflated from the distal end to the proximal end to a fixed pressure, and then sequentially deflated from the distal end to the proximal end to form a stepwise progressive pressure change, and the process is regularly repeated, so that calf gastrocnemius contraction is assisted, blood flows back to the heart, coagulation factor adhesion aggregation is prevented, circulation of a lymphatic system is promoted, thrombus formation in blood vessels of lower limbs is effectively prevented, and lower limb edema of a patient is prevented.
4. The damping sensor and the angle sensor can be adopted, the motion condition of the robot is detected in real time in training, the measured data is recorded and calculated in real time through the singlechip, and the training level is adjusted in real time.
Drawings
FIG. 1 is a schematic diagram of the structure of the present utility model.
Fig. 2 is a schematic structural diagram of the second embodiment of the present utility model.
Fig. 3 is a schematic diagram of a third embodiment of the present utility model.
Fig. 4 is a schematic structural diagram of the present utility model.
Fig. 5 is a schematic diagram of a structure of the present utility model.
Fig. 6 is a schematic diagram of a structure of the present utility model.
Fig. 7 is a schematic diagram of a structure of the present utility model.
Detailed Description
The present utility model will be further described in detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the detailed description and specific examples, while indicating the utility model, are intended for purposes of illustration only and are not intended to limit the scope of the utility model. In addition, in the following structures, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the concepts of the present utility model.
In the description of the present utility model, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate an orientation or a positional relationship based on the orientation or the positional relationship shown in the drawings, and are merely for convenience of description of the present utility model and simplification of the description. Rather than indicating or implying that the apparatus or elements herein referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the utility model. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Referring to fig. 1 to 7, there is shown a two-degree-of-freedom airbag lower limb rehabilitation robot comprising: a two degree of freedom mechanical module 10 and a calf air bag module 20.
The lower leg air sac module 20 is mainly used for massaging lower limbs and electrically stimulating low frequency according to the traditional Chinese medicine physiotherapy theory, stimulating muscle nerves of a patient and accelerating metabolism. Preventing deep vein thrombosis of lower limbs, and the air sac massage function can help calf gastrocnemius muscle to shrink and promote venous blood backflow.
The calf air bag module 21 comprises an air bag outer wall 21 and an inner air bag 22 arranged on the inner surface of the air bag outer wall 21, and the inflation and deflation of the inner air bag 22 are controlled by a built-in system built in the air bag outer wall 21; the internal bladder 22 massages the lower limb by inflating and deflating. The built-in system comprises an air pump and an air pump control device, wherein the air pump control device controls the air pump to be started and stopped, and the air pump controls the inflation and deflation of the internal air bag 22. After the internal air bag 22 is sequentially inflated from the distal end to the proximal end to a fixed pressure, the internal air bag is sequentially deflated from the distal end to the proximal end to form a stepwise progressive pressure change, and the process is regularly repeated, so that the calf gastrocnemius muscle is helped to shrink, blood flows back to the heart, the adhesion and aggregation of coagulation factors are prevented, the circulation of a lymphatic system is promoted, thrombus formation in blood vessels of lower limbs is effectively prevented, and edema of lower limbs of a patient is prevented.
An electrode pad (not shown) is provided on the surface of the inner balloon 22 to provide low frequency electrical stimulation to the patient.
An embedded sliding block 23 is integrated on the outer wall 21 of the air bag, and the whole two-degree-of-freedom air bag lower limb rehabilitation robot is embedded into rehabilitation equipment through the embedded sliding block 23, so that suspension training of the device is realized.
The two-degree-of-freedom mechanical module 10 mainly performs flexion and extension and overturn training, namely ankle rehabilitation training, on lower limbs. The two-degree-of-freedom mechanical module 10 includes: a pair of connecting brackets 11, one or two flexion and extension motors 12, a subframe 13, a roll motor 14, a bi-directional expansion block 15, a pair of connecting rods 16, a roll band plate 17 and a sole plate 18.
A magic tape (not shown) is provided on the inner side of one end of each connecting bracket 11, and the inner side of each connecting bracket is tightly attached to the outer wall 21 of the air bag through the magic tape. The other ends of the two connecting brackets 11 are respectively arranged at two sides of the auxiliary frame 13. Therefore, the two-degree-of-freedom mechanical module 10 can be used for training independently, and the shank airbag module 20 can be attached through the magic tape, so that the massage training integrated type is realized.
One flexion and extension motor 12 is installed in the other end of each of the two connection brackets 11 (of course, only one flexion and extension motor may be installed on one connection bracket 11). A transmission shaft (Qu Shenma to 12 drive section) of Qu Shenma to 12 is hinged with the auxiliary frame 13 to drive the auxiliary frame 13 to perform bending and stretching motions.
A turnover motor 14 is installed at one side of the sub-frame 13, an inner cavity (not shown in the figure) is provided at the bi-directional expansion block 15, the turnover motor 13 is disposed in the inner cavity of the bi-directional expansion block 15, a transmission shaft of the turnover motor passes through the bi-directional expansion block 15 and is disposed along an axial direction of the bi-directional expansion block 15, and the transmission shaft of the turnover motor 13 drives the bi-directional expansion block 15 to move.
One end (upper end) of the pair of connecting rods 16 is hinged to the two-way expansion block 15 through a pivot bearing 16a, and one end (upper end) of the flip band plate 17 is hinged to the sub-frame 13 through a flip bearing. The other end (lower end) of the pair of connecting rods 16 and the other end (lower end) of the flip band plate 17 are connected to the sole plate 18 by a rotation shaft and a set screw 19, respectively. The sole plate 18 is made of aluminum alloy plates with the length of 280mm, the width of 120mm and the thickness of 8mm, so that the bearing capacity of the sole plate 18 is improved. Meanwhile, 15 round small holes 18a with the radius of 8mm are designed on the sole 18, so that the ventilation effect is achieved, and meanwhile, the total weight of the lower limb joint rehabilitation device is reduced.
The air pump, flexion and extension motor 12, and the roll motor 14, and the electrode pads are powered by batteries, such as lightweight lithium batteries.
The angle of ankle training can be estimated by measuring the angle of rotation of the flexion and extension motor 12 as dorsiflexion (0-45 °)/plantarflexion (0-45 °). The ankle training angle was evaluated as eversion (0 ° -45 °)/varus (0 ° -45 °) by measuring the angle of rotation of the eversion motor 14. In addition, the rehabilitation process of each degree of freedom can be further evaluated through a damping sensor and an angle sensor.
The foregoing has shown and described the basic principles and features of the utility model and advantages of the utility model. It will be understood by those skilled in the art that the present utility model is not limited to the foregoing embodiments, which have been described in the foregoing embodiments and description merely illustrates the principles of the utility model, and that various changes and modifications may be effected therein without departing from the spirit and scope of the utility model as defined in the appended claims and their equivalents.
Claims (10)
1. Two-degree-of-freedom airbag lower limb rehabilitation robot is characterized by comprising: the two-degree-of-freedom mechanical module is connected with the lower leg air bag module, the lower leg air bag module massages lower limbs, and the two-degree-of-freedom mechanical module performs bending and stretching and overturning training on the lower limbs.
2. The two-degree-of-freedom airbag lower limb rehabilitation robot according to claim 1, wherein the lower leg airbag module comprises an airbag outer wall and an inner airbag provided on an inner surface of the airbag outer wall, and inflation and deflation of the inner airbag are controlled by a built-in system built in the airbag outer wall; the internal air bag is used for massaging the lower limbs through inflation and deflation.
3. The two-degree-of-freedom airbag lower limb rehabilitation robot of claim 2, wherein the built-in system comprises an air pump and an air pump control device, the air pump control device controls the opening and closing of the air pump, and the air pump controls the inflation and deflation of the internal airbag.
4. The two-degree-of-freedom airbag lower limb rehabilitation robot according to claim 2, wherein an electrode sheet is mounted on the surface of the inner airbag, and the electrode sheet provides low-frequency electrical stimulation for a patient.
5. A two degree of freedom balloon lower limb rehabilitation robot according to claim 2, wherein the internal balloon is sequentially inflated from the distal end to the proximal end to a fixed pressure, sequentially deflated from the distal end to the proximal end to form a stepwise progressive pressure change, and the process is repeated regularly.
6. A two degree of freedom airbag lower limb rehabilitation robot according to any of claims 1 to 5, wherein the two degree of freedom mechanical module comprises:
one end of the connecting bracket is connected with the outer wall of the air bag;
a bending and stretching motor arranged at the other end of the connecting bracket;
a subframe connected to the drive end of Qu Shenma;
a turnover motor mounted on the subframe;
a bidirectional expansion block mounted on a transmission shaft of the turnover motor;
one end of the connecting rod is hinged with the bidirectional expansion block;
a turnover band plate with one end hinged with the auxiliary frame;
and one side of the foot bottom plate is fixedly connected with the overturning band plate, and the other side of the foot bottom plate is hinged with the other end of the connecting rod.
7. The two-degree-of-freedom airbag lower limb rehabilitation robot according to claim 6, wherein an inner cavity is formed in the two-way expansion block, the overturning motor is arranged in the inner cavity of the two-way expansion block, a transmission shaft of the overturning motor penetrates through the two-way expansion block and is arranged along the axial direction of the two-way expansion block, and the transmission shaft of the overturning motor drives the two-way expansion block to move.
8. The two-degree-of-freedom airbag lower limb rehabilitation robot according to claim 6, wherein a magic tape is arranged on the inner side of one end of each connecting bracket, and the inner side of each connecting bracket is tightly attached to the outer wall of the airbag through the magic tape.
9. The two-degree-of-freedom airbag lower limb rehabilitation robot according to claim 6, wherein a plurality of ventilation holes are formed in the foot sole plate.
10. The two-degree-of-freedom airbag lower limb rehabilitation robot according to claim 6, wherein an embedded slider is integrated on the outer wall of the airbag, and the entire two-degree-of-freedom airbag lower limb rehabilitation robot is embedded on rehabilitation equipment through the embedded slider.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320134547.5U CN219700440U (en) | 2023-02-07 | 2023-02-07 | Two-degree-of-freedom air bag lower limb rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320134547.5U CN219700440U (en) | 2023-02-07 | 2023-02-07 | Two-degree-of-freedom air bag lower limb rehabilitation robot |
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| Publication Number | Publication Date |
|---|---|
| CN219700440U true CN219700440U (en) | 2023-09-19 |
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|---|---|---|---|
| CN202320134547.5U Active CN219700440U (en) | 2023-02-07 | 2023-02-07 | Two-degree-of-freedom air bag lower limb rehabilitation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219700440U (en) |
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2023
- 2023-02-07 CN CN202320134547.5U patent/CN219700440U/en active Active
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