KR102132113B1 - Rehabilitation robot for gait assistant driven by a motor - Google Patents

Abstract

The present invention relates to a lower limb walking rehabilitation robot, in particular, to implement a user's walking trajectory by a multi-joint link driven by one motor, and further to a lower limb walking rehabilitation robot driven by one motor capable of interlocking with arm motion. It is about.

Description

REHABILITATION ROBOT FOR GAIT ASSISTANT DRIVEN BY A MOTOR, powered by a single motor

The present invention relates to a lower limb walking rehabilitation robot, and more specifically, to implement a user's walking trajectory by a multi-joint link driven by a single motor, and further, a lower limb walking driven by a single motor capable of interlocking with arm motion. Rehabilitation robot.

Recently, for walking training of severely disabled people such as stroke or lower limb paralysis, an active walking training device has been provided that implements a walking trajectory with an electric motor and links driven by the user while wearing it.

For example, in Korean Patent Registration No. 10-0907425'Rehabilitation device for human legs', a telescopic cylinder having a full length is installed between an upper frame and a rotating frame to implement a walking trajectory with a rotating frame.

In addition, in Korean Patent Registration No. 10-1537817'Upper and Lower Extremity Exercise Equipment for Rehabilitation', the driving force is simultaneously transmitted to the lower limb and upper limb parts through the main frame, servo motor, and driving timing belt.

However, the prior arts described above are expensive because they implement the user's gait using a large number of motors or cylinders, and are difficult to adopt in homes and medical institutions due to frequent failures of electronic equipment.

In addition, each user has different physical conditions, and despite the need to change the walking training intensity or posture as the condition improves, adaptive walking training optimized for each user is difficult.

In addition, it does not provide a precise and easy adjustment function according to the posture of the wearer, such as stride length and knee height, and there is a problem in that a single motor cannot interlock the upper limb arm movement with walking.

Korean Registered Patent No. 10-0907425 Korean Registered Patent No. 10-1537817

The present invention is to solve the problems as described above, by driving a multi-joint link with a single motor to realize a person's walking trajectory and at the same time, a lower limb walking driven by a single motor that implements a person's arm movement during walking. We want to provide a rehabilitation robot.

Furthermore, the stride and trajectory can be changed, speed change and impedance control can be implemented by controlling the motor, and even if the leg is not moved, the leg moves through the arm movements to perform various gait rehabilitation exercises. To provide a gait rehabilitation robot.

To this end, the lower limb walking rehabilitation robot driven by one motor according to the present invention includes a base frame having a pair of stands disposed on both left and right sides of a user; A single electric motor installed on the base frame; A shaft driven by the electric motor, the drive shaft of which both ends are rotatably coupled to the pair of stands, respectively; A pair of scaffolds on which the user's feet are placed; A multi-joint link, each of which is provided on the pair of stands, and made of a plurality of links to walk the scaffold as it is rotated by the drive shaft; A wire fastened to form a closed loop along a pulley provided on the stand and the articulated link; And a working arm provided on the pair of stands, each having a handle at the front end of the user side and a link interlocker connected to the articulated link at the rear end of the opposite side.

At this time, a flywheel fitted to the drive shaft; And an electromagnet that applies magnetic force to the flywheel; however, it is preferable that the electromagnet is configured to adjust the magnitude of the magnetic force applied to the flywheel.

In addition, the multi-joint link is connected to a drive shaft of the electric motor, and a first link rotated with the drive shaft as a pivot point; A second link having a joint at three points, the first joint being rotatably connected to the scaffold; A third link having one end rotatably connected to the stand and the other end rotatably connected to a second joint of the second link; One end is rotatably connected to the end of the first link, the other end is a fourth link connected between both ends of the third link; And one end is rotatably connected to the stand, the other end is a third link of the third link of the second link is movably connected to the front and rear; including, but, the step of walking the footrest according to the operation of the electric motor Preferably, the first link to the fifth link are connected to each other.

In addition, the fifth link is formed with a rail along the longitudinal direction, and as the scaffold is provided with wheels that engage with the rail and rolls, it is preferable that the scaffold moves along the longitudinal direction of the fifth link and draws a walking trajectory. Do.

In addition, the third link is provided with a plurality of connecting portions along the longitudinal direction, but it is possible to select the connecting length by connecting the second link to any one of the connecting portions of the third link, and the stand has a plurality of connecting portions along the height direction. It is provided with a connection portion of, but the connection provided by connecting the joint provided at one end of the fifth link to any one of the connection portion of the stand, the length of the wire by a length adjuster for adjusting the length of the wire It can be adjusted, it is preferable to adjust the stride length and knee height of the user by adjusting any one or more of the connection length of the second link, the connection height of the fifth link and the length of the wire.

In addition, the operating arm is handled by the user; The handle is rotatably mounted to the end, the adjustment rod is adjusted in length through the inlet or out; And the link interlocker, wherein the link interlocker is fastened to the first pulley provided at the lower end of the adjustment rod, the second pulley connected to the rotation shaft of the third link, and the first pulley and the second pulley. It is preferred to include a belt.

As described above, the present invention realizes a person's gait trajectory by operating a multi-joint link structure with a single motor, and at the same time, implements a person's arm movement while walking. Therefore, it is possible to use a lot in homes and medical institutions through cost reduction and reduction of electronic equipment failures.

Furthermore, stride length and trajectory can be changed by adjusting the connection length, posture, and wire length of the multi-joint link. In addition, it is possible to implement speed change and impedance control with a single motor, and even if the leg is not moveable, leg movements are interlocked through arm movements to enable various gait rehabilitation exercises.

1 is a perspective view showing a walking gait rehabilitation robot according to the present invention.
2 is a view showing a driving unit of the lower limb walking rehabilitation robot according to the present invention.
3 is a front view of the lower limb walking rehabilitation robot according to the present invention.
4 is a view showing a footrest connection part of the lower limb walking rehabilitation robot according to the present invention.
5 is a view showing the operating arm of the lower limb walking rehabilitation robot according to the present invention.
6A to 6C are flowcharts of the operation of the lower limb walking rehabilitation robot according to the present invention.
7 is a view showing a walking trajectory of the lower limb walking rehabilitation robot according to the present invention.

Hereinafter, a lower limb walking rehabilitation robot driven by one motor according to the present invention will be described in detail with reference to the accompanying drawings.

As shown in FIG. 1, the lower limb walking rehabilitation robot driven by one motor according to the present invention includes a driving unit 100, a link mechanism 200, and a working arm 300 for walking a user's walking.

These components are installed symmetrically to the base frame (BF), the drive unit 100 includes a single electric motor 110 and a drive shaft 120, the link mechanism 200 is a footrest 210, a multi-joint Links 220, wires 230, and the like.

According to this configuration, when the drive shaft 120 is axially rotated by one electric motor 110 installed in the base frame BF, the multi-joint link 220 cranks (or similar operation) while walking along the walking trajectory ( 210).

In addition, the wire 230 forms a closed loop so as to be caught in at least one of the multi-joint links 220 together with the base frame BF to support the footrest 210 and adjust its trajectory. At this time, the working arm 300 for arm movement is interlocked with the above components.

Therefore, it is possible to implement the walking trajectory by operating the wire 230 and the link structure with one electric motor 110 and also implement arm movement during rehabilitation, so it is widely used in homes and medical institutions through cost reduction and reduction of electronic equipment failures. It makes possible.

Furthermore, it is possible to change the stride length and trajectory by adjusting the connection length, posture of the articulated link 220, and the length of the wire 230, it is possible to implement speed change or impedance control, and the movements of the arms and legs are interlocked. Enable walking rehabilitation.

To this end, the base frame (BF) stands on each of the left and right sides of the user so that various components of the present invention, including the footrest 210, the articulated link 220 and the wire 230, are installed and supported (ST: ST- IN, ST-OUY).

The stand ST is, for example, composed of a double structure of an inner stand (ST-IN) and an outer stand (ST-OUT), and the inner stand (ST-IN) includes a multi-joint link 220 and a wire 230. The same main components are installed, and the outer stand (ST-OUT) serves as a protective plate.

In addition, a connection pin 322a is provided at the bottom of the operating arm 300 on which the handle 310 is mounted, and the connection pins 322a are spaced apart from each other with an inner stand (ST-IN) and an outer stand (ST-OUT). ), both ends are rotatably installed on the stands ST.

The connecting pin 322a of the working arm 300 is axially coupled to the multi-joint link 220 as will be described later, so if the arm is held while holding the handle 310 of the working arm 300, through the connecting pin 322a The articulated link 220 is activated to eventually move the scaffold 210.

The above base frame (BF) connects between a pair of stands (ST) supported on the bottom surface in addition to a pair of left and right inner stands (ST-IN) and outer stands (ST-OUT) for installation of the device. It may further include a support to support.

2, the electric motor 110 is installed in the base frame BF to generate power, and drives the footrest 210 through the articulated link 220 and the wire 230. In particular, the present invention is composed of a single electric motor 110 compared to the conventional one having a plurality of motors or cylinders.

When the electric motor 110 is driven, the footrest 210 on which the user lifts the foot by the multi-joint link 220 and the wire 230 moves along the walking trajectory. In addition, even when the electric motor 110 is stopped or at 0% resistance (impedance), the footrest 210 may be moved by the working arm 300 interlocked with the articulated link 220.

At this time, the drive shaft 120 is to transmit the power of the electric motor 110, as shown, when the electric motor 110 is installed between a pair of stands (ST), both ends of each pair of stands (ST) The shaft is rotatably coupled to.

The electric motor 110 and the drive shaft 120 are connected to each other through various gears, pulleys, belts, etc., through which the drive shaft 120 is rotated by the electric motor 110. The axial rotation is transmitted to the first link 221 among the articulated links 220 as described later, so that the entire link moves.

The flywheel 130 fitted to the drive shaft 120 and the electromagnet 140 that applies magnetic force to the flywheel 130 are for varying the resistance applied to the footrest 210, and the electromagnet 140 is connected to the flywheel 130. It is configured to adjust the magnitude of the magnetic force applied to the flywheel 130 in a variety of ways, such as the approach or distance.

The footrest 210 is to allow a user to put on the foot and perform a walking rehabilitation exercise, and a non-slip protrusion may be provided on the sole side, and may also include a strap for holding the back of the foot.

The footrest 210 is composed of a pair of left and right on the inner stand (ST-IN) and the outer stand (ST-OUT) for both feet of the user, each of which is an inner stand (ST-IN) through the multi-joint link 220 ) And spaced apart on the front side of the outer stand (ST-OUT).

As shown in Figure 3, the multi-joint link 220 is provided on each of a pair of stands ST spaced apart from each other on the left and right sides of the user, and is a footrest as it is operated by the electric motor 110 and the drive shaft 120 It consists of a plurality of links to walk 210.

The multi-joint link 220 may be variously selected from the number, length and type of links if the footrest 210 can be operated according to the walking trajectory during the user's rehabilitation exercise, but preferably the first links 221 to It consists of a fifth link (225).

When the multi-joint link 220 is composed of five, the first link 221 to the fifth link 225 are connected to each other such that the footrest 210 is walking according to the operation of the electric motor 110, and the links Rotation and sliding methods are used for the connection.

To this end, as the first link 221 is connected to the drive shaft 120 of the electric motor 110, the drive shaft 120 is rotated as a rotation center point, and the size of the entire device and subsequent second links 222 to 1 4 The length is determined in consideration of the relationship with the links 224.

Specifically, the first link 221 uses a linear rod-shaped link, but as it is connected to the drive shaft 120 in the stand ST (inner stand, to be precise), it circularly moves with a connection point with the drive shaft 120 as a rotation center. .

The second link 222 is installed to be spaced apart from the first link 221, which is the starting point, as described above, and is connected to the scaffold 210 provided at the shortest part in operation, supporting other links and the scaffold 210 in a joint type. do.

4, the second link 222 has a joint at three points, for example. The three joints include a first joint (J1), a second joint, and a third joint, and use triangular links to efficiently place the three joints.

At this time, the first joint J1 is rotatably connected to the center of the footrest 210 to maintain posture when walking. The second joint J2 is connected to the third link 223, and the third joint J3 is connected to the fifth link 225 which is raised and lowered along the circumferential direction.

On the other hand, the third link 223 is to form a walking trajectory of the footrest 210 through a crank motion or a similar motion thereof, one end being rotatably connected to the stand ST, and the other end of the second link 222 It is rotatably connected to the second joint (J2).

The third link 223 is, for example, a long rod-shaped link is used, the upper end is connected to the upper end of the stand ST on which the working arm 300 is installed, and the second link 222 is connected. A plurality of connecting portions 223a are provided at the bottom.

The plurality of connecting portions 223a provided in the third link 223 each serve as a joint to which the second link 222 is connected, for example, a plurality of pins spaced one after the other along the length direction of the third link 223. And a hole (or vice versa).

Accordingly, when the second joint J2 of the second link 222 is positioned at any one of the plurality of connecting portions 223a, when the pin is coupled to the connecting portion of the selected third link 223, the connection length is adjusted and at the same time Rotational coupling between links is achieved.

The fourth link 224 connects between the first link 221 and the third link 223, one end being rotatably connected to the end of the first link 221, and the other end of the third link 223 ) Between the two ends (ie, the part spaced inwardly from the longitudinal leading end).

In addition, the fourth link 224 is provided with a pulley or roller to which the wire 230 to be described later is rotatably supported to support the wire 230, and the upper side from the lower end in the longitudinal direction of the third link 223 to implement a walking trajectory. It is connected to the spaced part.

The fifth link 225 supports the footrest 210 together with the third link 223 and guides the walking trajectory, so that one end is rotatably connected to the stand ST so as to guide the forward and backward movement of the footrest 210. , The second link 222 is connected to the other end.

That is, the third joint J3 of the three joints provided in the second link 222 is movably connected to the fifth link 225 in the front-rear direction, so that the footrest 210 installed on the second link 222 is removed. 5 The reciprocating motion is made forward and backward along the link 225.

The fifth link 225 is not particularly limited in its structure as long as it can guide the scaffold 210 connected through the second link 222 to move in the front-rear direction, but the preferred embodiment is a rail structure having a predetermined length.

4, a rail is formed along the longitudinal direction on the upper surface of the fifth link 225, and the third joint J3 of the second link 222 is formed of a wheel structure engaged with the rail. Therefore, the footrest 210 is reciprocated back and forth along the walking trajectory on the rail.

On the other hand, the wire 230 is to support the footrest 210 installed on the above-described link and guide the walking trajectory, the closed loop along the pulley provided on the stand ST and the articulated link 220. It is fastened to form.

In the present invention, the wire 230, despite its name, includes all wires capable of supporting the scaffold 210, including a chain or a belt, and supports all rotating supports capable of rotating and supporting the wire 230, including a loosening roller. Includes.

As shown in Figure 3, the rotating support is made of three examples, for example, the first pulley provided on the stand ST and the second pulley provided on the fourth link 224 and the fifth link 225. A triangular loop is constructed including the third pulley.

Each of the first pulley to the third pulley constituting the vertex of the triangle is arranged in the order of the second pulley, the first pulley and the third pulley based on the height, and the length of each side of the wire 230 according to the walking motion as described below Constantly changes.

However, the first pulley connected to the stand ST is provided with a length adjuster 231 such as a winding drum so that the wire 230 can be wound or unwound, so that the length surrounding the pulleys is wound or unwound by winding the wire 230. Adjust the length of the closed loop or the entire side.

Accordingly, the gait characteristics (eg, stride length, trajectory, etc.) are adjusted by adjusting the length of the wire 230 according to the gait characteristics according to the physical characteristics of the user's height, lower limbs, and upper limbs, or changes in rehabilitation conditions as rehabilitation progresses. Make changes possible.

As described above with the same purpose, the third link 223 of the multi-joint link 220 is provided with a plurality of connecting portions 223a along the longitudinal direction, and the second link 222 is any one of the connecting portions 223a. You can choose the connection length by connecting to.

In addition, the stand ST is provided with a plurality of pinhole connecting portions H along the height direction, but the joint provided at one end of the fifth link 225 is connected to any one of the pinhole connecting portions H of the stand ST. Connection height can be selected.

Accordingly, the present invention adjusts any one or more of the connection length of the second link 222, the connection height of the fifth link 225, and the length of the wire 230 to make the stride and knee height of the user more precise and diverse. It can be adjusted.

On the other hand, the working arm 300 is for upper limb movement, and is provided on each of a pair of left and right stands ST for both arms, provided with a handle 310 at the user's front end and a multi-joint link at the opposite rear end ( 220) is provided.

As shown in FIG. 5, there is no particular limitation on the shape of the handle 310, but includes a grip portion held in the hand so that the user can firmly hold it by hand, and the handle 310 is provided with an adjustment rod 330 through shaft coupling or the like. It is assembled rotatably on the top.

The adjustment rod 330 is a length member constituting the handle 310 and serves as a rotation shaft, and the handle 310 is mounted at the end. In addition, the length is adjusted through the intake or withdrawal, and for this purpose, it consists of multiple stages 331 and 332, and the rod 331 at the end is drawn in/out.

The link interlocker 320 is for transmitting the rotational movement of the working arm 300 to the articulated link 220, and more precisely, the working arm 300 as it is connected on the coaxial line at the top of the third link 223 The rotational motion of the body is transmitted to the footrest 210.

Various gears, shafts, and belt structures may be used as the link interlocker 320 to achieve the above object, but the present invention is not limited to the first pulley 321 provided at the bottom of the adjustment rod 330 ), a second pulley 322 connected to the rotation shaft of the third link 223 and a belt 323 fastened thereto.

According to this configuration, the second pulley 322 is rotated by the belt 323 connected to the first pulley 321 when the user grasps the handle 310 and rotates the adjustment rod 330 forward or backward. The shaft pin 322a protruding from the rotation center of the pulley 322 rotates the third link 223.

Therefore, even when the electric motor 110 does not operate, when the user holds the handle 310 and operates the operating arm 300, the footrest 210 automatically moves along the trajectory, thereby enabling the lower leg walking rehabilitation exercise.

6A to 6C, the movement of the scaffold 210 according to the operation of the electric motor 110 and the articulated link 220 is sequentially illustrated as described above, and FIG. 7 walks the scaffold 210 accordingly. The trajectory is shown. At this time, it can be seen that the operating arm 300 is also interlocked with the footrest 210.

In the above, specific examples of the present invention have been described above. However, the spirit and scope of the present invention are not limited to these specific embodiments, and various modifications and variations are possible within a range that does not change the gist of the present invention. If you grow up, you will understand.

Therefore, the above-described embodiments are provided to fully inform the person of ordinary skill in the art to which the present invention pertains, the scope of the invention, and should be understood as illustrative in all respects and not restrictive. The invention is only defined by the scope of the claims.

100: driving unit for realizing the user's walking
110: electric motor
120: drive shaft
130: flywheel
140: electromagnet
200: link mechanism
210: scaffold
220: articulated links
230: wire
300: includes a working arm (300).
310: handle
320: link interlock
330: adjustable rod

Claims (6)

A base frame (BF) having a pair of stands (ST) disposed on both left and right sides of the user;
A single electric motor 110 installed in the base frame BF;
A shaft is rotated by the electric motor 110, the drive shaft 120, both ends of which are rotatably coupled to the pair of stands ST respectively;
A pair of footrests 210 on which the user's feet are placed;
A multi-joint link 220 each of which is provided on the pair of stands ST and composed of a plurality of links to walk the footrest 210 as it is rotated by the drive shaft 120;
A wire 230 fastened to form a closed loop along a pulley provided on each of the stand ST and the articulated link 220; And
Each of the pair of stands ST is provided with a handle 310 at the front end of the user side and a link interlock 320 connected to the articulated link 220 at the rear end of the opposite side. Working arm 300; includes,
The articulated link 220,
A first link 221 connected to the drive shaft 120 of the electric motor 110 and rotated by using the drive shaft 120 as a pivot center point;
A second link 222 having a joint at three points, the first joint J1 being rotatably connected to the scaffold 210;
One end is rotatably connected to the stand (ST), the other end is a third link (223) rotatably connected to the second joint (J2) of the second link (222);
One end is rotatably connected to the end of the first link 221, the other end is a fourth link 224 connected between both ends of the third link 223; And
One end is rotatably connected to the stand (ST), the other end of the second link 222, the third joint (J3) is movably connected to the front and rear fifth link (225); includes,
In accordance with the operation of the electric motor 110, the first link 221 to the fifth link 225 is connected to each other so that the footrest 210 is walking, the lower limb driven by a single motor Gait rehabilitation robot. According to claim 1,
A flywheel 130 fitted to the drive shaft 120; And
The flywheel 130, the electromagnet 140 for applying a magnetic force; further includes,
The electromagnet 140 is a lower leg walking rehabilitation robot driven by a motor, characterized in that it is configured to adjust the magnitude of the magnetic force applied to the flywheel (130). delete According to claim 1,
The fifth link 225 is formed with a rail along the longitudinal direction, and the scaffold 210 is provided with a wheel J3 that is engaged with the rail and rolls, so that the scaffold 210 has a fifth link 225. The lower limb walking rehabilitation robot driven by one motor, characterized by drawing a walking trajectory while moving along the longitudinal direction of the. According to claim 1,
The third link 223 is provided with a plurality of connecting portions 223a along the length direction, but the second link 222 is connected to any one of the connecting portions 223a of the third link 223 to connect the length. You can choose,
The stand ST is provided with a plurality of connecting portions H along the height direction, but a joint provided at one end of the fifth link 225 is connected to any one of the connecting portions H of the stand ST. You can choose the connection height,
The length of the wire 230 may be adjusted by a length adjuster 231 that adjusts the length of the wire 230,
Characterized in that the step length and knee height of the user are adjusted by adjusting any one or more of the connection length of the second link 222, the connection height of the fifth link 225, and the length of the wire 230. A lower limb walking rehabilitation robot driven by a single motor. According to claim 1,
The working arm 300,
A handle 310 held by the user;
The handle 310 is rotatably mounted to the end, the adjustment rod 330 is adjusted in length through the intake or out; And
It includes; the link interlocker 320;
The link interlocker 320 includes a first pulley 321 provided at a lower end of the adjustment rod 330, a second pulley 322 connected to the rotation shaft of the third link 223, and the first pulley ( 321) and the second pulley 322, the lower leg walking rehabilitation robot driven by a motor, characterized in that it comprises a belt 323 fastened.

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