WO2021249314A1 - 康复机器人 - Google Patents

康复机器人 Download PDF

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Publication number
WO2021249314A1
WO2021249314A1 PCT/CN2021/098473 CN2021098473W WO2021249314A1 WO 2021249314 A1 WO2021249314 A1 WO 2021249314A1 CN 2021098473 W CN2021098473 W CN 2021098473W WO 2021249314 A1 WO2021249314 A1 WO 2021249314A1
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WO
WIPO (PCT)
Prior art keywords
axis
rehabilitation
foot
arm
rotating
Prior art date
Application number
PCT/CN2021/098473
Other languages
English (en)
French (fr)
Inventor
宋涛
高志军
李志青
田恬
Original Assignee
上海神泰医疗科技有限公司
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Application filed by 上海神泰医疗科技有限公司 filed Critical 上海神泰医疗科技有限公司
Publication of WO2021249314A1 publication Critical patent/WO2021249314A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0244—Hip
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H2001/0203—Rotation of a body part around its longitudinal axis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/08—Trunk
    • A61H2205/088—Hip
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg

Definitions

  • the invention relates to the field of robot-assisted rehabilitation systems and methods, in particular to a rehabilitation robot.
  • Sports rehabilitation therapy is an effective method to improve patients' motor dysfunction caused by stroke, spinal cord injury, brain injury and other reasons. Medical research shows that early bedside rehabilitation is more helpful to improve the damaged limb function of patients with stroke and other diseases, reduce the degree of disability, and improve the quality of life.
  • rehabilitation physicians There is a large demand for rehabilitation in my country, and there is a shortage of rehabilitation physicians.
  • Traditional sports rehabilitation uses medical staff to assist patients in completing physical training. The labor intensity is high and there is an urgent need for intelligent rehabilitation equipment with electromechanical integration.
  • sports rehabilitation equipment is limited to allowing patients' lower limbs to perform in-plane rehabilitation exercises parallel to the sagittal plane, and cannot achieve multi-directional rehabilitation exercises for each joint.
  • the existing automated and intelligent rehabilitation equipment is large in size, complicated in mechanism, and inflexible in usage scenarios, and cannot meet the needs of patients for early bedside treatment.
  • the purpose of the present invention is to provide a rehabilitation robot to solve the problem that the existing patient's early bedside rehabilitation equipment mechanism is limited to rehabilitation movement in the sagittal plane.
  • the present invention provides a rehabilitation robot, which includes: a robot body, a mechanical arm, a rehabilitation equipment terminal assembly, and a driving component;
  • the mechanical arm is rotatably connected with the robot main body in a horizontal direction, and rotates under the drive of the driving component;
  • the end assembly of the rehabilitation equipment is rotatably connected to the mechanical arm in a horizontal direction and rotates under the drive of the driving part; the end assembly of the rehabilitation equipment has a degree of freedom of rotation, and the rotation axis of the degree of rotation is connected to Arranged at an angle in the horizontal direction.
  • the mechanical arm includes: a first arm and a second arm;
  • the drive component includes a first drive assembly, a first transmission assembly, and a second drive assembly;
  • the first arm is rotatably connected with the robot body around a first axis
  • the second arm is rotatably connected with the first arm around a second axis
  • the rehabilitation device terminal assembly is connected to the second arm.
  • Arm connection; the first axis and the second axis are both arranged in a horizontal direction;
  • the first drive assembly is arranged on the robot body and is connected to the first arm in transmission for driving the first arm to rotate; the second drive assembly is arranged on the robot body and passes through the The first transmission component is in transmission connection with the second arm, and is used to drive the second arm to rotate; the first transmission component is arranged on the first arm.
  • the rehabilitation robot further includes: a first joint and a second joint;
  • the first joint includes a first rotating part and a first fixing part, the first rotating part is rotatably penetrated in the first fixing part, and the first rotating part is fixedly connected to the first arm ,
  • the first fixing part is fixedly connected to the robot main body; the rotation axis of the first rotating part coincides with the first axis;
  • the second joint includes a second rotating part and a second fixing part, the second rotating part rotatably penetrates the second fixing part, and the second rotating part is fixedly connected to the second arm ,
  • the second fixing member is fixedly connected with the first arm; the rotation axis of the second rotating member coincides with the second axis.
  • the first joint further includes a third rotating member
  • the third rotating member is rotatably inserted in the first fixing member; one end of the third rotating member is in transmission connection with the second drive assembly, and the other end of the third rotating member is connected to the The first transmission assembly is in transmission connection.
  • the rotation axis of the third rotating member coincides with the first axis.
  • the end component of the rehabilitation equipment includes: a foot rotating slide rail, a leg rotating mechanism, a foot positioning member, and a leg positioning member;
  • the leg positioning member is rotatably connected with the leg rotation mechanism around a third axis;
  • the foot rotation slide rail extends around a fourth axis, the foot positioning member is movably connected to the foot rotation slide rail along the extension direction of the foot rotation slide rail, and the fourth axis is connected to the foot rotation slide rail.
  • the third axis intersects or overlaps;
  • the degree of rotational freedom is configured to include rotation of the leg positioning member about the third axis, and movement of the foot positioning member along the foot rotating slide rail about the fourth axis.
  • the rehabilitation equipment terminal assembly further includes: a foot mechanism connector and a leg mechanism connector;
  • the foot rotating slide rail is connected with the foot mechanism connector, and the foot mechanism connector is rotatably arranged around the fifth axis and connected with the mechanical arm;
  • the leg rotation mechanism is connected with the leg mechanism connector, and the leg mechanism connector is rotatably arranged around the fifth axis and connected with the mechanical arm;
  • the fifth axis is arranged along the horizontal direction.
  • the third axis intersects and is perpendicular to the fifth axis
  • the fourth axis intersects and is perpendicular to the fifth axis.
  • the driving component further includes: a third driving component and a fourth driving component;
  • the third driving assembly is connected with the mechanical arm and is in transmission connection with the leg mechanism connector, and is used to drive the leg rotation mechanism to rotate around the fifth axis;
  • the fourth driving assembly is connected with the mechanical arm and is in transmission connection with the foot mechanism connector, and is used for driving the foot rotating slide rail to rotate around the fifth axis.
  • the rehabilitation robot further includes: a third joint;
  • the third joint includes a fourth rotating part, a fifth rotating part, and a third fixing part, and the third fixing part is fixedly connected to the mechanical arm; the fourth rotating part and the fifth rotating part can be respectively Rotatably pass through the third fixing part;
  • One end of the fourth rotating member is in transmission connection with the third drive assembly, and the other end of the fourth rotation member is in transmission connection to one of the leg mechanism connecting member and the foot mechanism connecting member;
  • One end of the fifth turning member is drivingly connected to the fourth drive assembly, and the other end of the fifth turning member is drivingly connected to the other of the leg mechanism connecting member and the foot mechanism connecting member.
  • the rotation axis of the fourth rotator coincides with the rotation axis of the fifth rotator.
  • the robot body includes a base and a chassis; the base is rotatably connected to the chassis in a vertical direction, and rotates under the drive of the driving component; rotation of the end assembly of the rehabilitation equipment
  • the degree of freedom is passively adapted to the rotation of the base.
  • the rehabilitation robot further includes a lifting component; the lifting component is connected to the chassis in a vertical direction so as to be liftable, the base is connected to the lifting component, and the lifting component is connected to The chassis is connected.
  • the robot body is configured to be rotatable about a vertical direction and/or liftable in the vertical direction, and is driven by the driving component to rotate and/or lift.
  • the rehabilitation robot includes: a robot main body, a mechanical arm, a rehabilitation equipment terminal assembly, and a driving part; the mechanical arm is rotatably connected to the robot main body in a horizontal direction , And rotate under the drive of the driving part; the end assembly of the rehabilitation equipment is rotatably connected to the mechanical arm in a horizontal direction, and rotates under the drive of the driving part; the end assembly of the rehabilitation equipment has a rotation The degree of freedom, the rotation axis of the rotation degree of freedom is arranged at an angle to the horizontal direction.
  • the rehabilitation robot can drive the patient's lower limbs to move in directions other than the sagittal plane, including driving the hip joint adduction and abduction movement, combined with the rotation of the mechanical arm around the horizontal direction
  • the movement of the lower limbs in the sagittal plane is driven to form a spatial three-dimensional rehabilitation movement of the lower limbs, which provides a better rehabilitation treatment effect.
  • Fig. 1 is a schematic diagram of a rehabilitation robot provided by an embodiment of the present invention
  • Figure 2 is a partial cross-sectional view of a rehabilitation robot provided by an embodiment of the present invention.
  • Figure 3 is a partial cross-sectional view of a base and a lifting column provided by an embodiment of the present invention
  • FIG. 4 is a schematic diagram of a chassis provided by an embodiment of the present invention.
  • Fig. 5 is a schematic diagram of a terminal assembly of a rehabilitation device provided by an embodiment of the present invention.
  • 6a and 6b are schematic top views of the end component of the rehabilitation device rotating around the base according to an embodiment of the present invention.
  • Fig. 7 is a schematic view from another angle of the end assembly of the rehabilitation device provided by an embodiment of the present invention.
  • 10-Rehabilitation equipment terminal components 11-foot positioning parts; 12-foot rotating slides; 13-foot mechanism connectors; 14a-linear slides; 14b-sliders; 14c-locking pins; 15-legs Positioning member; 16-leg rotating mechanism; 17-leg mechanism connecting piece; 18-fifth axis; 19-third axis; 20-fourth axis;
  • 21-first drive assembly 21-first drive assembly; 211-first servo motor; 212-first synchronous belt; 22-second drive assembly; 221-second servo motor; 222-second synchronous belt; 23-third drive assembly; 231 -The third servo motor; 232-the fourth synchronous belt; 24-the fourth drive assembly; 241-the fourth servo motor; 242-the fifth synchronous belt; 251-the base drive motor; 252-the sixth synchronous belt;
  • the singular forms “a”, “an” and “the” include plural objects.
  • the term “or” is usually used to include “and/or”, and the term “several” It is usually used to include “at least one”, and the term “at least two” is usually used to include “two or more”.
  • the terms “first” and “first” Two” and “third” are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as “first”, “second”, and “third” may explicitly or implicitly include one or at least two of these features.
  • proximal end usually refers to the end close to the operator.
  • Remote usually refers to the end near the patient's lesion.
  • One end and “the other end” and “proximal end” and “distal” usually refer to the corresponding two parts, which include not only the end point, unless the content clearly indicates otherwise. outside.
  • the terms “installed”, “connected”, and “connected” should be understood in a broad sense, for example, they may be fixedly connected, detachably connected, or integrated; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be a connection between two components or an interaction relationship between two components.
  • connection, coupling, matching or transmission relationship between the two elements, and the two elements can be directly or indirectly through an intermediate element.
  • the specific meanings of the above-mentioned terms in the present invention can be understood according to specific situations.
  • the core idea of the present invention is to provide a rehabilitation robot to solve the problem that the existing rehabilitation equipment mechanism is limited to rehabilitation movement in the sagittal plane.
  • Figure 1 is a schematic diagram of a rehabilitation robot provided by an embodiment of the present invention
  • Figure 2 is a partial cross-sectional view of a rehabilitation robot provided by an embodiment of the present invention
  • Figure 3 is provided by an embodiment of the present invention
  • Fig. 4 is a schematic diagram of a chassis provided by an embodiment of the present invention
  • Fig. 5 is a schematic diagram of a terminal assembly of a rehabilitation device provided by an embodiment of the present invention
  • Fig. 6a and Fig. 6b are a The top view schematic diagram of the end assembly of the rehabilitation equipment provided by the embodiment rotating around the base
  • FIG. 7 is a schematic view of the end assembly of the rehabilitation equipment provided by an embodiment of the present invention from another angle.
  • An embodiment of the present invention provides a rehabilitation robot, which is used to perform rehabilitation training on the lower limbs of a patient.
  • the rehabilitation robot includes: a robot body 01, a mechanical arm 02, a rehabilitation equipment terminal assembly 10, and a driving component.
  • the mechanical arm 02 is rotatably connected to the robot main body 01 in a horizontal direction, and rotates under the drive of the driving part;
  • the rehabilitation equipment terminal assembly 10 is rotatably connected to the mechanical arm 02 in a horizontal direction , And rotate under the drive of the driving component;
  • the rehabilitation equipment terminal assembly 10 has a degree of freedom of rotation, and the rotation axis of the degree of freedom of rotation is arranged at an angle to the horizontal direction.
  • the rehabilitation robot can drive the patient's lower limbs to move in directions other than the sagittal plane, including driving the hip joint adduction and abduction movement, combined with the mechanical arm 02 around the horizontal direction
  • the rotation of the lower limbs drives the movement of the lower limbs in the sagittal plane, forming a spatial three-dimensional rehabilitation movement of the lower limbs, providing a better rehabilitation treatment effect.
  • the mechanical arm 02 includes: a first arm 7 and a second arm 8; and the driving component includes a first driving assembly 21, a first transmission assembly 31 and a second driving assembly 22.
  • the first arm 7 is rotatably connected to the robot body 01 around a first axis 410
  • the second arm 8 is rotatably connected to the first arm 7 around a second axis 420
  • the end of the rehabilitation device The assembly 10 is connected to the second arm 8;
  • the first axis 410 and the second axis 420 are both arranged in a horizontal direction;
  • the first driving assembly 21 is arranged on the robot body 01 and is connected to the first axis
  • An arm 7 is in a transmission connection for driving the first arm 7 to rotate;
  • the second drive assembly 22 is arranged on the robot body 01 and is in transmission connection with the second arm 8 through the first transmission assembly 31 ,
  • the first transmission assembly 31 is arranged on the first arm 7.
  • the first drive assembly 21 and the second drive assembly 22 are respectively arranged on the robot body 01, the first transmission assembly 31 is arranged on the first arm 7, and most of the drive components are arranged on the robot body 01, which is beneficial to improve the stability of the rehabilitation robot Therefore, the volume and weight of the first arm 7 and the second arm 8 are reduced, which facilitates the early bedside treatment of patients at the bedside.
  • the patient can lie flat on a hospital bed or sit on a chair, and fix the affected side's lower limbs to the end assembly 10 of the rehabilitation equipment.
  • the first arm 7 rotates relative to the robot body 01
  • the second arm 8 rotates relative to the first arm 7, thereby realizing the stretching and stretching training of the patient's lower limbs in the sagittal plane.
  • the robot body 01 includes a base 4 and a chassis 2; the base 4 is rotatably connected to the chassis 2 in a vertical direction, and rotates under the drive of the driving component;
  • the end component 10 of the rehabilitation equipment is passively adapted to the rotation of the base 4.
  • the rehabilitation robot further includes: casters 1 and locking pedals 3.
  • the chassis 2 is used to house electronic devices such as control devices to realize the control of the entire device.
  • the chassis 2 is also used to carry the weight of the base 4, the first arm 7, the second arm 8, the end assembly 10 of the rehabilitation equipment, and the lower limbs of the human body. ;
  • a number of casters 1 are installed at the bottom of the chassis 2 to facilitate the movement of the rehabilitation robot.
  • the locking pedal 3 is installed on the chassis 2 to realize the one-foot locking of multiple casters 1 to ensure the stability of the equipment during operation.
  • the entire robot body 01 is configured to be rotatable about a vertical direction, and is driven by the driving member to rotate.
  • the rehabilitation robot further includes: a first joint 41 and a second joint 42;
  • the first joint 41 includes a first rotating part 411 and a first fixing part 412, the first rotating part 411 is rotatably inserted in the first fixing member 412, the first rotating member 411 is fixedly connected to one end of the first arm 7, and the first fixing member 412 is fixedly connected to the robot body 01 ,
  • the rotation axis of the first rotating member 411 coincides with the first axis 410;
  • the second joint 42 includes a second rotating member 421 and a second fixing member 422, the first Two rotating members 421 rotatably pass through the second fixing member 422, the second rotating member 421 is fixedly connected to one end of the second arm 8, and the second fixing member 422 is connected to the first The other end of the arm 7 is fixedly connected;
  • the rotation axis of the second rotating member 421 coincides with the second axis 420.
  • the first joint 41 and the second joint 42 are revolving joints.
  • the first joint 41 is taken as an example for description.
  • the first fixing member 412 has a through hole that penetrates along the direction of the first axis 410, and the first rotating member 411 passes through The bearing rotatably passes through the through hole of the first fixing member 412. With the first rotating member 411 fixedly connected to the first arm 7, the first fixing member 412 is fixedly connected to the base 4, the first rotating member 411 is rotatably connected to the first fixing member 412, and the first arm 7 can be relative to the base 4 Rotate.
  • the structure of the second joint 42 and the first joint 41 may be the same or similar, and the configuration can be made with reference to the first joint 41.
  • the first joint 41 further includes a third rotating member 413; the third rotating member 413 rotatably penetrates the first fixing member 412; one end of the third rotating member 413 is connected to The second driving assembly 22 is drivingly connected, and the other end of the third rotating member 413 is drivingly connected to the first driving assembly 31.
  • the third rotating member 413 is also inserted in the first fixing member 412, which uses space more effectively and makes the structure of the first arm 7 more compact.
  • the rotation axis of the third rotating member 413 coincides with the first axis 410, and the third rotating member 413 and the first rotating member 411 are substantially coaxial. Such a configuration is more conducive to improving the transmission stability of the first transmission assembly 31 and reducing the overall size of the first joint 41.
  • the first rotating member 411 includes a shaft hole penetrating in the axial direction, the third rotating member 413 is inserted in the shaft hole of the first rotating member 411, and the first rotating member 411 is inserted in the first rotating member 411.
  • the first rotating part 411 and the third rotating part 413 can rotate independently without mutual influence.
  • the first rotating part 411 and the third rotating part 413 are respectively connected to the first fixing part 412 through different bearings.
  • the first drive assembly 21 includes a first servo motor 211, a first synchronous wheel, a first synchronous belt 212, and a second synchronous wheel.
  • the first synchronous wheel is fixed on the output shaft of the first servo motor 211
  • the second synchronous wheel is fixed on the output shaft of the first servo motor 211.
  • the synchronous wheel is fixed on the side of the first rotating part 411 facing the base 4, and the first synchronous belt 212 connects the first synchronous wheel and the second synchronous wheel to realize the transmission connection between the first servo motor 211 and the first rotating part 411, and then The rotation of the first arm 7 is driven by the first servo motor 211.
  • the second drive assembly 22 includes a second servo motor 221, a third synchronous wheel, a second synchronous belt 222, and a fourth synchronous wheel.
  • the third synchronous wheel is fixed on the output shaft of the second servo motor 221, and the fourth synchronous wheel is fixed on the output shaft of the second servo motor 221.
  • the third rotating member 413 faces one side of the base 4, and the second timing belt 222 connects the third synchronous wheel and the fourth synchronous wheel to realize the driving connection between the second servo motor 221 and the third rotating member 413.
  • the two servo motors are respectively connected to different rotating parts through different timing belts to realize the decoupling of the rotation of the first rotating part 411 and the third rotating part 413, and the two rotating parts can rotate independently.
  • the first transmission assembly 31 includes a fifth synchronous wheel 311, a third synchronous belt 312, and a sixth synchronous wheel 313.
  • the fifth synchronous wheel 311 is fixedly arranged on the side of the second rotating member 421 facing the first arm 7.
  • the sixth synchronous wheel 313 is fixedly arranged on the side of the third rotating part 413 facing the first arm 7, and the third synchronous belt 312 connects the fifth synchronous wheel 311 and the sixth synchronous wheel 313 to realize the third rotating part 413 and the second rotation
  • the transmission connection of the member 421 further realizes the transmission connection of the second servo motor 221 and the second rotating member 421, so that the second servo motor 221 drives the second arm 8 to rotate.
  • the first drive assembly 21, the second drive assembly 22, and the first drive assembly 31 each further include at least one tensioning wheel.
  • the tensioning wheel is used to tension the timing belt to maintain a proper tightness of the timing belt.
  • Those skilled in the art can select the appropriate number, position and diameter of the tensioning wheel according to the different configuration of the timing belt and the timing wheel, which will not be repeated here.
  • first drive assembly 21, the second drive assembly 22, and the first drive assembly 31 are not limited to being connected by a timing belt. In some other embodiments, the first drive assembly 21, the second drive assembly 22, and the first drive assembly A transmission assembly 31 can also realize transmission connection through gear transmission, belt transmission, chain transmission, or friction wheel transmission.
  • connection relationship between the first revolving member 411 and the third revolving member 413 is not limited to the first revolving member 411 sleeved on the outside of the third revolving member 413, and the third revolving member 413 may also be provided with a shaft hole, and the first revolving member The member 411 is inserted in the shaft hole of the third rotating member 413, which is not limited in the present invention.
  • the rehabilitation equipment end assembly 10 includes: a foot guiding mechanism, a leg rotating mechanism 16, a foot positioning member 11 and a leg positioning member 15; the leg The positioning member 15 is rotatably connected to the leg rotation mechanism 16 about a third axis 19, and the foot positioning member 11 is movably connected to the foot guiding mechanism about a fourth axis 20.
  • the four axis 20 intersects or coincides with the third axis 19.
  • the foot guiding mechanism is used to guide the movement direction of the foot positioning member 11.
  • the foot guiding mechanism includes a foot rotating slide 12, which surrounds The fourth axis 20 extends, and the foot positioning member 11 is movably connected to the foot rotary slide 12 along the extension direction of the foot rotary slide 12.
  • the rotational freedom is configured to include the rotation of the leg positioning member 15 about the third axis 19, and the foot positioning member 11 about the fourth axis 20 along the foot rotating slide rail 12 Mobile. It should be noted that since the feet and legs of the rehabilitation subject can be relatively rotated, the angles of the third axis 19 and the fourth axis 20 can also be adjusted, rather than fixed. Preferably, under the traction of the mechanical arm 02, the leg positioning member 15 passively moves around the third axis 19, and the foot positioning member 11 passively moves around the fourth axis 20.
  • FIG. 5 illustrates the state of the rehabilitation device terminal assembly 10 in this special case.
  • the leg positioning member 15 and the foot positioning member 11 can rotate in the same direction (clockwise or counterclockwise) around the third axis 19 and the fourth axis 20, respectively, so as to passively adapt to the rotation of the base 4 .
  • FIGS. 6a and 6b show the change of the degree of freedom of rotation when the base 4 rotates at a certain angle.
  • the straight line T represents the lower limbs of the rehabilitation subject
  • the lower end point O represents the hip joint.
  • the leg positioning member 15 and the foot positioning member 11 are driven by the mechanical arm 02 to rotate around the rotation axis of the base 4, and at the same time
  • the ⁇ angle produces direction and displacement changes, and the movement of the leg positioning member 15 and the foot positioning member 11 about the third axis 19 forms the rotational freedom.
  • the leg positioning member 15 is used to fix and support the patient's legs, for example, it may be a leg support
  • the foot positioning member 11 is used to fix and support the patient's feet, for example, it may be a foot support.
  • the foot positioning member 11 and the leg positioning member 15 can respectively move around the fourth axis 20 and the third axis 19, the patient's legs can be not limited to movement in the sagittal plane, but can be adapted to the base 4
  • the active rotation of the hip joint can realize the rehabilitation training action of hip joint abduction and adduction, and it can also be adapted to the multi-joint compound action of hip joint abduction and adduction.
  • the foot guiding mechanism includes a foot linear slide rail extending on a plane parallel to the fourth axis 20, and the projection of the fourth axis 20 on the plane is linear with the foot
  • the extension direction of the slide rail is perpendicular
  • the linear foot slide rail is arranged telescopically with respect to the fourth axis 20
  • the foot positioning member 11 is movable along the linear foot slide rail, so configured, the foot positioning member 11 While moving along the linear foot slide rail, the distance between the foot linear slide rail and the fourth axis 20 changes, so that the foot positioning member 11 can move circumferentially around the fourth axis 20.
  • the rotation of the leg positioning member 15 about the third axis 19 and the movement of the foot positioning member 11 about the fourth axis 20 are preferably performed synchronously in the same direction.
  • the leg positioning piece 15 can be positioned with the foot The member 11 is configured to move synchronously.
  • the leg positioning member 15 rotates around the third axis 19, the patient’s ankle joint will move together and drive the foot positioning member 11 to rotate synchronously around the fourth axis 20, thus forming A passive movement that matches the abduction and adduction movement of the hip joint.
  • the fourth axis 20 intersects or coincides with the third axis 19, and the leg positioning member 15 and the foot positioning member 11 respectively independently surround the third axis 19 And the fourth axis 20 are rotatable.
  • the foot positioning member 11 moves independently with respect to the leg positioning member 15, for example, when the foot positioning member 11 rotates relatively independently around the fourth axis 20, and the leg positioning member 15 When not rotating, it can drive the movement of the ankle joint's varus and valgus. Thereby, the patient's ankle joint can be rehabilitated.
  • the third axis 19 is perpendicular to the first axis 410 and/or the second axis 420.
  • first axis 410 and the second axis 420 are both arranged in a horizontal direction, and the third axis 19 is arranged in a vertical direction, which is especially suitable for patients who are lying flat in the early stage of rehabilitation. Three-dimensional rehabilitation of lower limbs.
  • the rehabilitation equipment terminal assembly 10 further includes: a foot mechanism connector 13 and a leg mechanism connector 17; the foot guiding mechanism is connected to the foot mechanism connector 13, and the foot
  • the mechanism connecting member 13 is rotatably arranged around the fifth axis 18 and connected to the mechanical arm 02; the leg rotating mechanism 16 is connected to the leg mechanism connecting member 17, and the leg mechanism connecting member 17 is rotatable
  • the ground is arranged around the fifth axis 18 and connected to the mechanical arm 02.
  • the foot mechanism connecting member 13 and the leg mechanism connecting member 17 are connected to the second arm 8 respectively.
  • the foot positioning member 11 can also rotate with the foot mechanism connector 13 about the fifth axis 18.
  • the leg positioning member 15 can rotate around the third axis 19 as well as with the leg mechanism.
  • the connecting member 17 rotates around the fifth axis 18, whereby the foot positioning member 11 and the leg positioning member 15 can be relatively rotated in the sagittal plane of the patient, thereby driving the patient's ankle, knee, or hip joints to move .
  • the fifth axis 18 may extend horizontally. It should be noted that in some cases, the foot positioning member 11 and the leg positioning member 15 can rotate in the same direction synchronously around the fifth axis 18, so as to be adapted to the rehabilitation training of the knee joint or the hip joint, while in other cases Next, the foot positioning member 11 and the leg positioning member 15 can relatively independently rotate around the fifth axis 18 to adapt to the rehabilitation training of the ankle joint.
  • the foot mechanism connector 13 and the leg mechanism connector 17 are arranged coaxially (that is, both around the fifth axis 18).
  • the foot mechanism connecting member 13 and the leg mechanism connecting member 17 are not limited to being coaxially arranged. In some other embodiments, the two may also be arranged independently of each other.
  • the foot mechanism connector 13 is used to connect with at least one drive assembly, and the foot mechanism connector 13 is used to drive the at least one drive assembly.
  • the foot guide mechanism rotates around the fifth axis 18; the leg mechanism connector 17 is used to connect to at least another drive assembly, and the leg mechanism connector 17 is used to connect to the at least another drive assembly. Driven by, the leg rotating mechanism 16 is driven to rotate around the fifth axis 18.
  • the rehabilitation robot further includes: a third drive assembly 23 and a fourth drive assembly 24, the third drive assembly 23 is connected to the mechanical arm 02 and is connected to the leg mechanism connector 17
  • the transmission connection is used to drive the leg rotation mechanism 16 to rotate around the fifth axis 18
  • the fourth drive assembly 24 is connected to the mechanical arm 02 and is connected to the foot mechanism connector 13 in transmission, It is used to drive the foot rotating slide rail 12 to rotate around the fifth axis 18.
  • the third drive assembly 23 and the fourth drive assembly 24 are both connected to the second arm 8.
  • Two mutually independent drive components arranged on the second arm 8 respectively drive the foot rotating slide rail 12 and the leg rotating mechanism 16 to realize the foot positioning member 11 and the leg positioning member 15 in the sagittal plane of the patient.
  • the internal relative rotation can drive the patient's ankle joint to move.
  • the rehabilitation robot further includes: a third joint 43; the third joint 43 includes a fourth rotating part 431, a fifth rotating part 432, and a third fixing part 433.
  • the third fixing part 433 is connected to the The mechanical arm 02 is fixedly connected, such as fixedly connected to the second arm 8; the fourth rotating part 431 and the fifth rotating part 432 are respectively rotatably penetrated in the third fixing part 433; the fourth One end of the revolving member 431 is in transmission connection with the third drive assembly 23, the other end of the fourth revolving member 431 is in transmission connection with the leg mechanism connector 17; one end of the fifth revolving member 432 is connected to the The fourth driving assembly 24 is drivingly connected, and the other end of the fifth rotating member 432 is drivingly connected to the foot mechanism connecting member 13.
  • the third joint 43 is a revolving joint
  • the third fixing member 433 has a through hole penetrating in the direction of the sixth axis 430
  • the fourth rotating member 431 and the fifth rotating member 432 respectively pass through the third fixing rotatably through bearings.
  • the sixth axis 430 is parallel to the first axis 410 and the second axis 420.
  • the rotation axis of the fourth rotation member 431 and the rotation axis of the fifth rotation member 432 both coincide with the sixth axis 430.
  • This configuration can make more effective use of space, make the structure of the third joint 43 more compact, and is more conducive to improving the transmission stability of the third joint 43 and reducing the overall size of the third joint 43.
  • the fourth revolving member 431 includes a shaft hole penetrating in the axial direction, the fifth revolving member 432 passes through the shaft hole of the fourth revolving member 431, and the fourth revolving member 431 passes through the third fixing member.
  • the fourth rotating member 431 and the fifth rotating member 432 can rotate independently without mutual influence.
  • the fourth revolving member 431 and the fifth revolving member 432 are connected to the third fixing member 433 through different bearings, respectively.
  • One side of the fourth turning member 431 faces the rehabilitation device terminal assembly 10, and is used to connect with one of the foot mechanism connecting member 13 and the leg mechanism connecting member 17; the other side of the fourth turning member 431 faces the second arm 8 , Used for transmission connection with the third drive assembly 23.
  • One side of the fifth turning member 432 faces the rehabilitation device terminal assembly 10, and is used to connect with the other of the foot mechanism connecting member 13 and the leg mechanism connecting member 17; the other side of the fifth turning member 432 faces the second arm 8. It is used for transmission connection with the fourth drive assembly 24.
  • the third drive assembly 23 includes a third servo motor 231, a seventh synchronous wheel, a fourth synchronous belt 232, and an eighth synchronous wheel.
  • the seventh synchronous wheel is fixed on the output shaft of the third servo motor 231, and the eighth synchronous wheel is fixed on the output shaft of the third servo motor 231.
  • the synchronous wheel is fixed on the side of the fourth rotating part 431 facing the second arm 8.
  • the fourth synchronous belt 232 connects the seventh synchronous wheel and the eighth synchronous wheel to realize the transmission connection between the third servo motor 231 and the fourth rotating part 431.
  • the third servo motor 231 drives the leg mechanism connector 17 to rotate.
  • the fourth drive assembly 24 includes a fourth servo motor 241, a ninth synchronous wheel, a fifth synchronous belt 242, and a tenth synchronous wheel.
  • the ninth synchronous wheel is fixed on the output shaft of the fourth servo motor 241, and the tenth synchronous wheel is fixed on the output shaft of the fourth servo motor 241.
  • the fifth rotating member 432 faces the side of the second arm 8, and the fifth timing belt 242 connects the ninth and tenth synchronous wheels to realize the transmission connection of the fourth servo motor 241 and the fifth rotating member 432, thereby realizing the passage of the
  • the four servo motors 241 drive the foot mechanism connector 13 to rotate.
  • the two servo motors of the third drive assembly 23 and the fourth drive assembly 24 are respectively connected to different rotating parts through different timing belts to realize the decoupling of the rotation of the fourth rotating part 431 and the fifth rotating part 432.
  • the rotating parts can rotate independently.
  • the third drive assembly 23 and the fourth drive assembly 24 may each include at least one tensioning wheel; the third drive assembly 23 and the fourth drive assembly 24 are not limited to being connected by a timing belt transmission, in some other embodiments , It can also realize the transmission connection through gear transmission, belt transmission, chain transmission or friction wheel transmission.
  • the connection relationship between the fourth rotating member 431 and the fifth rotating member 432 is not limited to the fourth rotating member 431 sleeved on the outer side of the fifth rotating member 432. It may also be that the fifth rotating member 432 is provided with a shaft hole, and the fourth rotating member 432 is provided with a shaft hole. The member 431 is inserted in the shaft hole of the fifth rotating member 432, which is not limited in the present invention.
  • the rehabilitation equipment terminal assembly 10 includes a position adjustment assembly, the foot positioning member 11 is connected to the foot rotating slide 12 through the position adjustment assembly, and the position adjustment assembly is used to adjust the The position of the foot positioning member 11 relative to the foot rotating slide rail 12.
  • the position adjustment assembly includes a linear slide rail 14a and a sliding block 14b that cooperate with each other, and the linear slide rail 14a is disposed on one of the foot positioning member 11 and the foot rotating slide rail 12.
  • the sliding block 14b is arranged on the other of the foot positioning member 11 and the foot rotating slide rail 12, and the extension direction of the linear slide rail 14a is the same as that of the foot rotating slide rail 12.
  • the extension planes are arranged at an angle.
  • the extension plane of the foot rotating slide rail 12 refers to a plane where the extension direction of the foot rotating slide rail 12 is located, which is parallel to the fourth axis 20.
  • the extending direction of the linear slide rail 14 a is parallel to the fourth axis 20 and/or perpendicular to the fifth axis 18.
  • the foot positioning member 11 can also change the posture of the left and right feet through the movement of the sliding block 14b along the linear slide rail 14a, so as to adapt to the left foot or the right foot.
  • the linear slide rail 14a and the The slider 14b is locked by the locking pin 14c.
  • the position adjustment component is not limited to the linear slide rail 14a and the sliding block 14b, and it can also be a position adjustment component commonly used in the art, and those skilled in the art can choose according to actual conditions.
  • different foot positioning parts for the left and right feet can also be used. When performing rehabilitation training on the left and right feet, the corresponding foot positioning parts are adaptively assembled, which is not limited by the present invention.
  • the leg positioning member 15 independently moves around the third axis 19 for adjusting the position of the leg positioning member 15 relative to the leg rotation mechanism 16.
  • the position of the leg positioning member 15 relative to the leg rotation mechanism 16 can be further adjusted.
  • the position of 15 relative to the leg rotation mechanism 16 mainly refers to the angular position of the leg positioning member 15 around the third axis 19.
  • the leg positioning member 15 independently rotates around the third axis 19 and can be adapted to the left and right feet.
  • the robot body 01 is configured to be rotatable about a vertical direction and/or liftable in the vertical direction, and is driven by the driving component to rotate and/or lift.
  • the rehabilitation robot further includes a lifting assembly 6; the lifting assembly 6 is vertically connected to the chassis 2 and the base 4 is connected to the The lifting assembly 6 is connected to and can be connected to the chassis 2 through the lifting assembly 6 in a liftable manner.
  • the lifting assembly 6 includes a lifting column, and the lifting column is communicatively connected with the control device, and realizes lifting under the control of the control device.
  • the lifting column can also be manually adjusted to achieve lifting.
  • the height of the rehabilitation robot during treatment is adjusted to adapt to the position of the patient's lower limbs.
  • an edge sensor (not shown) is provided between the first arm 7 and the second arm 8 to prevent the first arm 7 and the second arm 8 from accidentally pinching some undesired parts when they rotate with each other, such as a patient Or the operator's hand, etc.
  • the entire robot body 01 is configured to be liftable in a vertical direction, or rotatable around the vertical direction, and is lifted or rotated under the drive of the driving member.
  • the driving component further includes a base driving motor 251 and a sixth synchronous belt 252 fixedly arranged inside the chassis 2.
  • the base driving motor 251 passes through the sixth synchronous belt 252
  • the base 4 is driven to rotate, combined with the movement of the first arm 7, the second arm 8 and the end assembly 10 of the rehabilitation device, to realize the adduction and abduction rehabilitation treatment of the hip joint.
  • At least one of the first servo motor 211, the second servo motor 221, the third servo motor 231, the fourth servo motor 241, and the base drive motor 251 can feed back at least one of a current signal, a position signal, and a speed signal. kind.
  • an absolute encoder is installed on at least one of the first servo motor 211, the second servo motor 221, the third servo motor 231, the fourth servo motor 241, and the base drive motor 251, which can record the rotation of the motor Position, speed, acceleration and other motion information; the servo driver of the servo motor can realize torque control and position control.
  • the rehabilitation robot further includes a touch screen 5, and the touch screen 5 is in communication connection with the control device.
  • the operator can input the motion trajectory parameters through the touch screen 5, and display the motion trajectory parameters and the like through the touch screen 5.
  • the motion trajectory parameters input by the touch screen 5 can be controlled by the control device to control the motor motions of several joints to realize the trajectory expressed by the motion trajectory parameters.
  • the control device can read the state parameters of at least one of the first servo motor 211, the second servo motor 221, the third servo motor 231, the fourth servo motor 241, and the base drive motor 251, so as to realize the passive training and assistance of the patient Training, rehabilitation evaluation and other functions do not need to add other force sensors, reducing the cost of investment.
  • Drag control The operator drags the rehabilitation robot (mainly the end component 10 of the rehabilitation equipment) and connects the patient's lower limbs to move, records and plans the movement trajectory, which can realize the rehabilitation of the patient's lower limbs in any movement posture, with high flexibility, Simple and convenient operation;
  • the rehabilitation robot drives the patient's lower limbs to perform passive rehabilitation exercises, which can achieve joint motions such as ankle dorsiflexion and plantar flexion, ankle joint varus and valgus, knee extension and flexion, hip extension and flexion, and hip adduction and abduction. , And the compound exercise of all the above exercises; in this training mode, the patient can realize exercise under the drive of the rehabilitation robot without any effort, which is suitable for early treatment;
  • Power-assisted training After passive training, the patient can take the initiative to perform rehabilitation exercises after regaining a certain degree of autonomy. This function can assist the patient to complete the same or similar rehabilitation actions as the above-mentioned passive training; the control device collects the state parameters of the motor and judges The patient’s exercise intention, to provide the driving force to assist the patient in completing the rehabilitation exercise, and to better help the patient to recover;
  • control device can identify the patient’s identity information, and record the patient’s motor operating parameters under various rehabilitation exercises, and compare and analyze these operating parameters to assess the patient’s exercise performance Rationale for evaluation.
  • this embodiment also provides a rehabilitation equipment, which includes the above-mentioned rehabilitation equipment terminal assembly 10 and a rehabilitation equipment main body.
  • the rehabilitation equipment main body is rotatably arranged around a vertical direction.
  • the rehabilitation equipment terminal assembly 10 is connected to the rehabilitation equipment main body, and is configured such that under the rotation of the rehabilitation equipment main body, the leg positioning member 15 passively rotates around the third axis 19, and the foot positioning The piece 11 passively moves around the fourth axis 20.
  • the rehabilitation robot includes: a robot main body, a mechanical arm, a rehabilitation equipment terminal assembly, and a driving part; the mechanical arm is rotatably connected to the robot main body in a horizontal direction , And rotate under the drive of the driving part; the end assembly of the rehabilitation equipment is rotatably connected to the mechanical arm in a horizontal direction, and rotates under the drive of the driving part; the end assembly of the rehabilitation equipment has a rotation The degree of freedom, the rotation axis of the rotation degree of freedom is arranged at an angle to the horizontal direction.
  • the rehabilitation robot can drive the patient's lower limbs to move in directions other than the sagittal plane, such as driving the hip joint adduction and abduction movement, combined with the rotation of the mechanical arm around the horizontal direction
  • the movement of the lower limbs in the sagittal plane is driven to form a spatial three-dimensional rehabilitation movement of the lower limbs, which provides a better rehabilitation treatment effect.

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Abstract

一种康复机器人，包括：机器人主体（01）、机械臂（02）、康复设备末端组件（10）以及驱动部件；机械臂（02）绕水平方向可转动地与机器人主体（01）连接，并在驱动部件的驱动下转动；康复设备末端组件（10）绕水平方向可转动地与机械臂（02）连接，并在驱动部件的驱动下转动；康复设备末端组件（10）具有转动自由度，转动自由度的转动轴线与水平方向成角度地布置。如此配置，通过康复设备末端组件（10）的转动自由度，可实现康复机器人驱动患者的下肢在矢状面以外方向上的运动，包括驱动髋关节内收外展的运动，结合机械臂（02）绕水平方向的转动而驱动下肢于矢状面的运动，形成下肢的空间三维康复运动，提供了更好的康复治疗效果。

Description

康复机器人 技术领域
本发明涉及机器人辅助康复系统和方法领域，特别涉及一种康复机器人。
背景技术
运动康复治疗是改善因脑卒中、脊髓损伤、脑外伤等原因造成的患者肢体运动功能障碍的有效手段。医学研究表明，早期的床边康复更有助于改善脑卒中等疾病患者受损的肢体功能，减轻残疾的程度，提高生存质量。我国康复治疗需求量大，康复医师人员紧缺，而传统运动康复治疗通过医务人员协助患者完成肢体训练，劳动强度大，亟需机电一体化的智能康复设备。目前运动康复设备均局限于使患者下肢肢体进行与矢状面平行的面内康复运动，无法实现各关节多方向的康复运动。此外，现有的自动化智能化康复设备，体积较大，机构繁杂，使用场景不够灵活，无法满足患者早期的床边治疗的需求。
发明内容
本发明的目的在于提供一种康复机器人，以解决现有的患者早期床边康复设备机构局限于矢状面内康复运动的问题。
为解决上述技术问题，本发明提供一种康复机器人，其包括：机器人主体、机械臂、康复设备末端组件以及驱动部件；
所述机械臂绕水平方向可转动地与所述机器人主体连接，并在所述驱动部件的驱动下转动；
所述康复设备末端组件绕水平方向可转动地与所述机械臂连接，并在所述驱动部件的驱动下转动；所述康复设备末端组件具有转动自由度，所述转动自由度的转动轴线与水平方向成角度地布置。
可选的，所述机械臂包括：第一臂、第二臂；所述驱动部件包括第一驱动组件、第一传动组件及第二驱动组件；
所述第一臂围绕第一轴线可转动地与所述机器人主体连接，所述第二臂 围绕第二轴线可转动地与所述第一臂连接，所述康复设备末端组件与所述第二臂连接；所述第一轴线和所述第二轴线均沿水平方向设置；
所述第一驱动组件设置于所述机器人主体，并与所述第一臂传动连接，用于驱动所述第一臂转动；所述第二驱动组件设置于所述机器人主体，并通过所述第一传动组件与所述第二臂传动连接，用于驱动所述第二臂转动；所述第一传动组件设置于所述第一臂。
可选的，所述康复机器人还包括：第一关节及第二关节；
所述第一关节包括第一回转件与第一固定件，所述第一回转件可转动地穿设于所述第一固定件中，所述第一回转件与所述第一臂固定连接，所述第一固定件与所述机器人主体固定连接；所述第一回转件的转动轴线与所述第一轴线重合；
所述第二关节包括第二回转件与第二固定件，所述第二回转件可转动地穿设于所述第二固定件中，所述第二回转件与所述第二臂固定连接，所述第二固定件与所述第一臂固定连接；所述第二回转件的转动轴线与所述第二轴线重合。
可选的，所述第一关节还包括第三回转件；
所述第三回转件可转动地穿设于所述第一固定件中；所述第三回转件的一端与所述第二驱动组件传动连接，所述第三回转件的另一端与所述第一传动组件传动连接。
可选的，所述第三回转件的转动轴线与所述第一轴线重合。
可选的，所述康复设备末端组件包括：脚部旋转滑轨、腿部旋转机构、脚部定位件及腿部定位件；
所述腿部定位件围绕第三轴线可转动地与所述腿部旋转机构连接；
所述脚部旋转滑轨围绕第四轴线延伸，所述脚部定位件沿所述脚部旋转滑轨的延伸方向可移动地与所述脚部旋转滑轨连接，所述第四轴线与所述第三轴线相交或重合；
所述转动自由度被配置为包括所述腿部定位件围绕所述第三轴线的转动，以及所述脚部定位件沿所述脚部旋转滑轨围绕所述第四轴线的移动。
可选的，所述康复设备末端组件还包括：脚部机构连接件以及腿部机构连接件；
所述脚部旋转滑轨与所述脚部机构连接件连接，所述脚部机构连接件可转动地围绕第五轴线设置并与所述机械臂连接；
所述腿部旋转机构与所述腿部机构连接件连接，所述腿部机构连接件可转动地围绕所述第五轴线设置并与所述机械臂连接；
所述第五轴线沿水平方向设置。
可选的，所述第三轴线与所述第五轴线相交且垂直，且所述第四轴线与所述第五轴线相交且垂直。
可选的，所述驱动部件还包括：第三驱动组件和第四驱动组件；
所述第三驱动组件与所述机械臂连接，并与所述腿部机构连接件传动连接，用于驱动所述腿部旋转机构围绕所述第五轴线转动；
所述第四驱动组件与所述机械臂连接，并与所述脚部机构连接件传动连接，用于驱动所述脚部旋转滑轨围绕所述第五轴线转动。
可选的，所述康复机器人还包括：第三关节；
所述第三关节包括第四回转件、第五回转件与第三固定件，所述第三固定件与所述机械臂固定连接；所述第四回转件与所述第五回转件分别可转动地穿设于所述第三固定件中；
所述第四回转件的一端与所述第三驱动组件传动连接，所述第四回转件的另一端传动连接至所述腿部机构连接件和所述脚部机构连接件中的一个；
所述第五回转件的一端与所述第四驱动组件传动连接，所述第五回转件的另一端传动连接至所述腿部机构连接件和所述脚部机构连接件中的另一个。
可选的，所述第四回转件的转动轴线与所述第五回转件的转动轴线重合。
可选的，所述机器人主体包括基座和机箱；所述基座绕竖直方向可转动地与所述机箱连接，并在所述驱动部件的驱动下转动；所述康复设备末端组件的转动自由度被动适配于所述基座的转动。
可选的，所述康复机器人还包括升降组件；所述升降组件沿竖直方向可 升降地与所述机箱连接，所述基座与所述升降组件连接并通过所述升降组件可升降地与所述机箱连接。
可选的，所述机器人主体被配置为绕竖直方向可转动和/或沿竖直方向可升降，且在所述驱动部件的驱动下转动和/或升降。
综上所述，在本发明提供的康复机器人中，所述康复机器人包括：机器人主体、机械臂、康复设备末端组件以及驱动部件；所述机械臂绕水平方向可转动地与所述机器人主体连接，并在所述驱动部件的驱动下转动；所述康复设备末端组件绕水平方向可转动地与所述机械臂连接，并在所述驱动部件的驱动下转动；所述康复设备末端组件具有转动自由度，所述转动自由度的转动轴线与水平方向成角度地布置。
如此配置，通过康复设备末端组件的转动自由度，可实现康复机器人驱动患者的下肢在矢状面以外方向上的运动，包括驱动髋关节内收外展的运动，结合机械臂绕水平方向的转动而驱动下肢于矢状面的运动，形成下肢的空间三维康复运动，提供了更好的康复治疗效果。
附图说明
本领域的普通技术人员将会理解，提供的附图用于更好地理解本发明，而不对本发明的范围构成任何限定。其中：
图1是本发明一实施例提供的康复机器人的示意图；
图2是本发明一实施例提供的康复机器人的局部剖视图；
图3是本发明一实施例提供的基座和升降立柱的局部剖视图；
图4是本发明一实施例提供的机箱的示意图；
图5是本发明一实施例提供的康复设备末端组件的示意图；
图6a和图6b是本发明一实施例提供的康复设备末端组件绕基座转动的俯视示意图；
图7是本发明一实施例提供的康复设备末端组件的另一角度的示意图。
附图中：
01-机器人主体；02-机械臂；
1-脚轮；2-机箱；3-锁定踏板；4-基座；5-触摸屏；6-升降组件；7-第一臂；8-第二臂；
10-康复设备末端组件；11-脚部定位件；12-脚部旋转滑轨；13-脚部机构连接件；14a-直线滑轨；14b-滑块；14c-锁定销；15-腿部定位件；16-腿部旋转机构；17-腿部机构连接件；18-第五轴线；19-第三轴线；20-第四轴线；
21-第一驱动组件；211-第一伺服电机；212-第一同步带；22-第二驱动组件；221-第二伺服电机；222-第二同步带；23-第三驱动组件；231-第三伺服电机；232-第四同步带；24-第四驱动组件；241-第四伺服电机；242-第五同步带；251-基座驱动电机；252-第六同步带；
31-第一传动组件；311-第五同步轮；312-第三同步带；313-第六同步轮；
41-第一关节；410-第一轴线；411-第一回转件；412-第一固定件；413-第三回转件；42-第二关节；420-第二轴线；421-第二回转件；422-第二固定件；43-第三关节；430-第六轴线；431-第四回转件；432-第五回转件；433-第三固定件。
具体实施方式
为使本发明的目的、优点和特征更加清楚，以下结合附图和具体实施例对本发明作进一步详细说明。需说明的是，附图均采用非常简化的形式且未按比例绘制，仅用以方便、明晰地辅助说明本发明实施例的目的。此外，附图所展示的结构往往是实际结构的一部分。特别的，各附图需要展示的侧重点不同，有时会采用不同的比例。
如在本发明中所使用的，单数形式“一”、“一个”以及“该”包括复数对象，术语“或”通常是以包括“和/或”的含义而进行使用的，术语“若干”通常是以包括“至少一个”的含义而进行使用的，术语“至少两个”通常是以包括“两个或两个以上”的含义而进行使用的，此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”、“第三”的特征可以明示或者隐含地包括一个或者至少两个该特征，术语“近端”通 常是靠近操作者的一端，术语“远端”通常是靠近患者靠近病灶的一端，“一端”与“另一端”以及“近端”与“远端”通常是指相对应的两部分，其不仅包括端点，除非内容另外明确指出外。如在本发明中所使用的，除非另外明确指出外，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。此外，如在本发明中所使用的，一元件设置于另一元件，通常仅表示两元件之间存在连接、耦合、配合或传动关系，且两元件之间可以是直接的或通过中间元件间接的连接、耦合、配合或传动，而不能理解为指示或暗示两元件之间的空间位置关系，即一元件可以在另一元件的内部、外部、上方、下方或一侧等任意方位，除非内容另外明确指出外。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
本发明的核心思想在于提供一种康复机器人，以解决现有的康复设备机构局限于矢状面内康复运动的问题。
以下参考附图进行描述。
请参考图1至图7，其中，图1是本发明一实施例提供的康复机器人的示意图；图2是本发明一实施例提供的康复机器人的局部剖视图；图3是本发明一实施例提供的基座和升降立柱的局部剖视图；图4是本发明一实施例提供的机箱的示意图；图5是本发明一实施例提供的康复设备末端组件的示意图；图6a和图6b是本发明一实施例提供的康复设备末端组件绕基座转动的俯视示意图；图7是本发明一实施例提供的康复设备末端组件的另一角度的示意图。
本发明一实施例提供一种康复机器人，其用于对一患者的下肢实施康复训练。
如图1和图2所示，所述康复机器人包括：机器人主体01、机械臂02、康复设备末端组件10以及驱动部件。所述机械臂02绕水平方向可转动地与 所述机器人主体01连接，并在所述驱动部件的驱动下转动；所述康复设备末端组件10绕水平方向可转动地与所述机械臂02连接，并在所述驱动部件的驱动下转动；所述康复设备末端组件10具有转动自由度，所述转动自由度的转动轴线与水平方向成角度地布置。
如此配置，通过康复设备末端组件10的转动自由度，可实现康复机器人驱动患者的下肢在矢状面以外方向上的运动，包括驱动髋关节内收外展的运动，结合机械臂02绕水平方向的转动而驱动下肢于矢状面的运动，形成下肢的空间三维康复运动，提供了更好的康复治疗效果。
优选的，所述机械臂02包括：第一臂7、第二臂8；所述驱动部件包括第一驱动组件21、第一传动组件31及第二驱动组件22。所述第一臂7围绕第一轴线410可转动地与所述机器人主体01连接，所述第二臂8围绕第二轴线420可转动地与所述第一臂7连接，所述康复设备末端组件10与所述第二臂8连接；所述第一轴线410和所述第二轴线420均沿水平方向设置；所述第一驱动组件21设置于所述机器人主体01，并与所述第一臂7传动连接，用于驱动所述第一臂7转动；所述第二驱动组件22设置于所述机器人主体01，并通过所述第一传动组件31与所述第二臂8传动连接，用于驱动所述第二臂8转动；所述第一传动组件31设置于所述第一臂7。第一驱动组件21和第二驱动组件22分别设置在机器人主体01，第一传动组件31设置于第一臂7，将大部分的驱动部件设置在机器人主体01上，有利于提高康复机器人的稳定性，减小第一臂7和第二臂8的体积和重量，便于在床边对患者开展早期的床边治疗。
使用中，患者可以平躺于病床上或者坐在座椅上，将患侧下肢固定于康复设备末端组件10上。第一臂7相对机器人主体01转动，第二臂8相对第一臂7转动，由此实现对患者下肢在矢状面内的牵拉伸展训练。
在一个示范例中，所述机器人主体01包括基座4和机箱2；所述基座4绕竖直方向可转动地与所述机箱2连接，并在所述驱动部件的驱动下转动；所述康复设备末端组件10被动适配于所述基座4的转动。进一步的，所述康复机器人还包括：脚轮1及锁定踏板3。机箱2用于容置控制装置等电子器件， 以实现整个设备的控制，此外机箱2还用于承载基座4、第一臂7、第二臂8、康复设备末端组件10以及人体下肢的重量；机箱2的底部安装有多个脚轮1，方便康复机器人的移动。锁定踏板3安装在机箱2上，可实现多个脚轮1的一脚锁定，保证设备运行时的稳定。在其他的示范例中，所述机器人主体01整体被配置为绕竖直方向可转动，且在所述驱动部件的驱动下转动。
进一步的，请参考图2，所述康复机器人还包括：第一关节41及第二关节42；所述第一关节41包括第一回转件411与第一固定件412，所述第一回转件411可转动地穿设于所述第一固定件412中，所述第一回转件411与所述第一臂7的一端固定连接，所述第一固定件412与所述机器人主体01固定连接，如与基座4固定连接；所述第一回转件411的转动轴线与所述第一轴线410重合；所述第二关节42包括第二回转件421与第二固定件422，所述第二回转件421可转动地穿设于所述第二固定件422中，所述第二回转件421与所述第二臂8的一端固定连接，所述第二固定件422与所述第一臂7的另一端固定连接；所述第二回转件421的转动轴线与所述第二轴线420重合。
实际中，第一关节41及第二关节42为转动关节，以下以第一关节41为例进行说明，第一固定件412具有沿第一轴线410方向贯通的通孔，第一回转件411通过轴承可转动地穿过第一固定件412的通孔。通过第一回转件411与第一臂7固定连接，第一固定件412与基座4固定连接，第一回转件411与第一固定件412可转动连接，第一臂7即可相对基座4转动。第二关节42与第一关节41的结构可以是相同或相似的，可参考第一关节41进行配置。
更进一步的，所述第一关节41还包括第三回转件413；所述第三回转件413可转动地穿设于所述第一固定件412中；所述第三回转件413的一端与所述第二驱动组件22传动连接，所述第三回转件413的另一端与所述第一传动组件31传动连接。第三回转件413也穿设在第一固定件412中，更有效地利用空间，使第一臂7的结构更为紧凑。优选的，所述第三回转件413的转动轴线与所述第一轴线410重合，第三回转件413与第一回转件411实质上是共轴线的。如此配置，更有利于提高第一传动组件31传动的稳定性，减小第一关节41的整体尺寸。
以下通过一示范性的实施例进行详细说明。
在一个示范性的实施例中，第一回转件411包括沿轴向贯通的轴孔，第三回转件413穿设于第一回转件411的轴孔中，第一回转件411穿设于第一固定件412中，第一回转件411和第三回转件413能够独立地转动而不产生相互影响。较佳的，第一回转件411和第三回转件413分别通过不同的轴承与第一固定件412连接。
可选的，第一驱动组件21包括第一伺服电机211、第一同步轮、第一同步带212和第二同步轮，第一同步轮固定于第一伺服电机211的输出轴上，第二同步轮固定于第一回转件411朝向基座4的一侧，第一同步带212连接第一同步轮和第二同步轮，实现第一伺服电机211与第一回转件411的传动连接，进而实现通过第一伺服电机211驱动第一臂7转动。第二驱动组件22包括第二伺服电机221、第三同步轮、第二同步带222和第四同步轮，第三同步轮固定于第二伺服电机221的输出轴上，第四同步轮固定于第三回转件413朝向基座4的一侧，第二同步带222连接第三同步轮和第四同步轮，实现第二伺服电机221与第三回转件413的传动连接。两个伺服电机分别通过不同的同步带与不同的回转件传动连接，实现第一回转件411和第三回转件413的转动相互解耦，两个回转件能够独立转动。
进一步的，第一传动组件31包括第五同步轮311、第三同步带312和第六同步轮313，第五同步轮311固定设置于第二回转件421之朝向第一臂7的一侧，第六同步轮313固定设置于第三回转件413朝向第一臂7的一侧，第三同步带312连接第五同步轮311和第六同步轮313，实现第三回转件413与第二回转件421的传动连接，进而实现第二伺服电机221与第二回转件421的传动连接，实现通过第二伺服电机221驱动第二臂8转动。
较佳的，第一驱动组件21、第二驱动组件22和第一传动组件31还分别包括至少一个张紧轮，张紧轮用于张紧同步带，使同步带保持合适的松紧度。本领域技术人员可根据同步带和同步轮的不同配置情况，选择合适的张紧轮的数量、位置和直径，这里不再赘述。
需要理解的，第一驱动组件21、第二驱动组件22和第一传动组件31不 限于通过同步带传动连接，在其它的一些实施例中，第一驱动组件21、第二驱动组件22和第一传动组件31还可以通过齿轮传动、皮带传动、链条传动或摩擦轮传动等方式实现传动连接。此外第一回转件411与第三回转件413的连接关系也不限于第一回转件411套在第三回转件413的外侧，也可以是第三回转件413设有轴孔，而第一回转件411穿设在第三回转件413的轴孔中，本发明对此不作限制。
优选的，请参考图5、图6a和图6b，所述康复设备末端组件10包括：脚部导引机构、腿部旋转机构16、脚部定位件11及腿部定位件15；所述腿部定位件15围绕第三轴线19可转动地与所述腿部旋转机构16连接，所述脚部定位件11围绕第四轴线20可移动地与所述脚部导引机构连接，所述第四轴线20与所述第三轴线19相交或重合。脚部导引机构用于引导脚部定位件11的移动方向，在一个示范性的实施例中，所述脚部导引机构包括脚部旋转滑轨12，所述脚部旋转滑轨12围绕第四轴线20延伸，所述脚部定位件11沿所述脚部旋转滑轨12的延伸方向可移动地与所述脚部旋转滑轨12连接。
所述转动自由度被配置为包括所述腿部定位件15围绕所述第三轴线19的转动，以及所述脚部定位件11沿所述脚部旋转滑轨12围绕所述第四轴线20的移动。需要说明的，由于康复对象的脚部与腿部之间可以相对转动，第三轴线19与第四轴线20的角度亦可调节地设置，而非固定。优选的，在机械臂02的牵引下，所述腿部定位件15被动地围绕所述第三轴线19运动，所述脚部定位件11被动地围绕所述第四轴线20运动。
特别的，当康复对象的脚部与腿部呈90°时，第三轴线19与第四轴线20相重合，图5即示意了这种特殊情况时康复设备末端组件10的状态。如此配置，腿部定位件15和脚部定位件11可以分别围绕第三轴线19和第四轴线20沿相同的方向(顺时针或逆时针)转动，以被动地适配于基座4的转动。具体的，请参考图6a和图6b，其示出了基座4在转动一定角度下时，所述转动自由度的变化情况。图6a和图6b中，直线T代表康复对象的下肢，下方的端点O代表髋关节。当基座4由图6a所示的状态逆时针转动一定角度后，腿部定位件15和脚部定位件11在被机械臂02驱动牵引下而围绕基座4的转 动轴线转动的同时，还围绕第三轴线19相应地进行被动地转动，α角产生了方向和位移变化，腿部定位件15和脚部定位件11围绕第三轴线19的运动即形成了所述转动自由度。
实际中，腿部定位件15用于固定和支承患者的腿部，例如可以是腿部托板，而脚部定位件11则用于固定和支承患者的脚部，例如可以是脚部托板。由于脚部定位件11和腿部定位件15可以分别围绕第四轴线20和第三轴线19运动，因此可以使患者的腿部不局限于矢状面内运动，而可以适配于基座4的主动转动而实现髋关节外展和内收的康复训练动作，也可以适配于髋关节外展内收的多关节复合动作。
在一些其它的实施例中，脚部导引机构包括在平行于第四轴线20的一个平面上延伸的脚部直线滑轨，且第四轴线20在该平面上的投影与所述脚部直线滑轨的延伸方向相垂直，所述脚部直线滑轨相对于第四轴线20的距离可伸缩地设置，脚部定位件11沿脚部直线滑轨可移动，如此配置，脚部定位件11沿脚部直线滑轨移动的同时，脚部直线滑轨相对于第四轴线20的距离产生变化，从而实现脚部定位件11围绕第四轴线20形成周向的移动。
进一步的，所述腿部定位件15围绕第三轴线19的转动与所述脚部定位件11围绕第四轴线20的移动优选沿相同的方向同步地进行。由于对髋关节进行外展内收训练时，实际上腿部和脚部是需要同步运动的，因此在实现对髋关节进行外展内收训练时，可将腿部定位件15与脚部定位件11配置为同步运动，当腿部定位件15围绕第三轴线19的转动时，患者的踝关节会跟随一起移动，并带动脚部定位件11围绕第四轴线20同步地转动，如此即形成了配合髋关节的外展内收运动的被动运动。
在其它的一些实施例中，所述第四轴线20与所述第三轴线19相交或重合，所述腿部定位件15与所述脚部定位件11分别独立地围绕所述第三轴线19和所述第四轴线20可转动，当脚部定位件11相对于腿部定位件15单独进行运动时，如当脚部定位件11相对独立地围绕第四轴线20转动，而腿部定位件15不转动时，可实现驱动踝关节的内翻和外翻的运动。从而可以对患者的踝关节进行康复治疗。优选的，第三轴线19垂直于第一轴线410和/或第二 轴线420。在一个优选示例中，所述第一轴线410和所述第二轴线420均沿水平方向设置，且所述第三轴线19沿竖直方向设置，尤其适用于康复初期阶段对平躺位的患者的下肢三维空间康复治疗。
更进一步的，所述康复设备末端组件10还包括：脚部机构连接件13以及腿部机构连接件17；所述脚部导引机构与所述脚部机构连接件13连接，所述脚部机构连接件13可转动地围绕第五轴线18设置并与所述机械臂02连接；所述腿部旋转机构16与所述腿部机构连接件17连接，所述腿部机构连接件17可转动地围绕所述第五轴线18设置并与所述机械臂02连接。在一个示例中，脚部机构连接件13和腿部机构连接件17分别与第二臂8连接。脚部定位件11除了可以围绕第四轴线20转动，还可以随脚部机构连接件13围绕第五轴线18转动，腿部定位件15除了可以围绕第三轴线19转动，还可以随腿部机构连接件17围绕第五轴线18转动，由此，脚部定位件11和腿部定位件15可以在患者的矢状面内相对转动，从而可以带动患者的踝关节、膝关节或髋关节进行运动。较佳的，第五轴线18如可沿水平向延伸布置。需要说明的，一些情况下，脚部定位件11和腿部定位件15可以沿相同的方向同步地围绕第五轴线18转动，以适应于对膝关节或髋关节的康复训练，而另一些情况下，脚部定位件11和腿部定位件15可以相对独立地围绕第五轴线18转动，以适应于对踝关节的康复训练。
为便于简化康复机器人的机构，在该示范性实施例中，将脚部机构连接件13与腿部机构连接件17同轴(即均围绕第五轴线18)设置。但本领域技术人员可以理解，该脚部机构连接件13与腿部机构连接件17并不局限于同轴设置，在其它的一些实施例中，两者还可以是相互独立进行设置。
优选的，请继续参考图2，所述脚部机构连接件13用于与至少一个驱动组件连接，所述脚部机构连接件13用于在所述至少一个驱动组件的驱动下，带动所述脚部导引机构围绕所述第五轴线18转动；所述腿部机构连接件17用于与至少另一个驱动组件连接，所述腿部机构连接件17用于在所述至少另一个驱动组件的驱动下，带动所述腿部旋转机构16围绕所述第五轴线18转动。在一个实施例中，所述康复机器人还包括：第三驱动组件23和第四驱动 组件24，所述第三驱动组件23与所述机械臂02连接，并与所述腿部机构连接件17传动连接，用于驱动所述腿部旋转机构16围绕所述第五轴线18转动；所述第四驱动组件24与所述机械臂02连接，并与所述脚部机构连接件13传动连接，用于驱动所述脚部旋转滑轨12围绕所述第五轴线18转动。在一个实施例中，第三驱动组件23和第四驱动组件24均与第二臂8连接。由设置在第二臂8上的两个相互独立的驱动组件分别驱动脚部旋转滑轨12和腿部旋转机构16，可以实现脚部定位件11和腿部定位件15在患者的矢状面内相对转动，从而可以带动患者的踝关节等进行运动。
进一步的，所述康复机器人还包括：第三关节43；所述第三关节43包括第四回转件431、第五回转件432与第三固定件433，所述第三固定件433与所述机械臂02固定连接，如与第二臂8固定连接；所述第四回转件431与所述第五回转件432分别可转动地穿设于所述第三固定件433中；所述第四回转件431的一端与所述第三驱动组件23传动连接，所述第四回转件431的另一端与所述腿部机构连接件17传动连接；所述第五回转件432的一端与所述第四驱动组件24传动连接，所述第五回转件432的另一端与所述脚部机构连接件13传动连接。
优选的，第三关节43为转动关节，第三固定件433具有沿第六轴线430方向贯通的通孔，第四回转件431和第五回转件432分别通过轴承可转动地穿过第三固定件433的通孔。可选的，第六轴线430平行于第一轴线410和第二轴线420。
更进一步的，所述第四回转件431的转动轴线与所述第五回转件432的转动轴线均重合于第六轴线430。如此配置可以更有效地利用空间，使第三关节43的结构更为紧凑，更有利于提高第三关节43传动的稳定性，减小第三关节43的整体尺寸。
在一个示范例中，第四回转件431包括沿轴向贯通的轴孔，第五回转件432穿设于第四回转件431的轴孔中，第四回转件431则穿设于第三固定件433的通孔中，第四回转件431和第五回转件432能够独立地转动而不产生相互影响。较佳的，第四回转件431和第五回转件432分别通过不同的轴承与 第三固定件433连接。第四回转件431的一侧朝向康复设备末端组件10，用于与脚部机构连接件13和腿部机构连接件17中的一个连接；第四回转件431的另一侧朝向第二臂8，用于与第三驱动组件23传动连接。第五回转件432的一侧朝向康复设备末端组件10，用于与脚部机构连接件13和腿部机构连接件17中的另一个连接；第五回转件432的另一侧朝向第二臂8，用于与第四驱动组件24传动连接。
可选的，第三驱动组件23包括第三伺服电机231、第七同步轮、第四同步带232和第八同步轮，第七同步轮固定于第三伺服电机231的输出轴上，第八同步轮固定于第四回转件431朝向第二臂8的一侧，第四同步带232连接第七同步轮和第八同步轮，实现第三伺服电机231与第四回转件431的传动连接，进而实现通过第三伺服电机231驱动腿部机构连接件17转动。第四驱动组件24包括第四伺服电机241、第九同步轮、第五同步带242和第十同步轮，第九同步轮固定于第四伺服电机241的输出轴上，第十同步轮固定于第五回转件432朝向第二臂8的一侧，第五同步带242连接第九同步轮和第十同步轮，实现第四伺服电机241与第五回转件432的传动连接，进而实现通过第四伺服电机241驱动脚部机构连接件13转动。第三驱动组件23和第四驱动组件24的两个伺服电机分别通过不同的同步带与不同的回转件传动连接，实现第四回转件431和第五回转件432的转动相互解耦，两个回转件能够独立转动。
同样的，第三驱动组件23和第四驱动组件24可分别包括至少一个张紧轮；第三驱动组件23和第四驱动组件24也不限于通过同步带传动连接，在其它的一些实施例中，还可以通过齿轮传动、皮带传动、链条传动或摩擦轮传动等方式实现传动连接。此外第四回转件431和第五回转件432的连接关系也不限于第四回转件431套在第五回转件432的外侧，也可以是第五回转件432设有轴孔，而第四回转件431穿设在第五回转件432的轴孔中，本发明对此不作限制。
可选的，所述康复设备末端组件10包括位置调节组件，所述脚部定位件11通过所述位置调节组件与所述脚部旋转滑轨12连接，所述位置调节组件用 于调节所述脚部定位件11相对于所述脚部旋转滑轨12的位置。在一个示例中，所述位置调节组件包括相互配合的直线滑轨14a与滑块14b，所述直线滑轨14a设置于所述脚部定位件11和所述脚部旋转滑轨12中的一个上，所述滑块14b设置于所述脚部定位件11和所述脚部旋转滑轨12中的另一个上，且所述直线滑轨14a的延伸方向与所述脚部旋转滑轨12的延伸平面成角度布置。这里脚部旋转滑轨12的延伸平面指脚部旋转滑轨12的延伸方向所在的平面，其平行于第四轴线20。优选的，所述直线滑轨14a的延伸方向平行于所述第四轴线20和/或垂直于所述第五轴线18。通过调节滑块14b于直线滑轨14a上的位置，可以使脚部定位件11被动地配合腿部位置而适配地进行上下移动，以更好地适配于髋关节外展内收的动作。此外，脚部定位件11还可以通过滑块14b沿直线滑轨14a的移动而变换左右脚使用姿态，以适配于左脚或右脚，可选的，所述直线滑轨14a与所述滑块14b通过锁定销14c锁定。当然位置调节组件并不局限于直线滑轨14a和滑块14b，其还可以是本领域常用的位置调节组件，本领域技术人员可以根据实际进行选用。此外在另外的一些示例中，还可以使用左右脚不同的脚部定位件，在对左右脚进行康复训练时，适应性地装配对应的脚部定位件，本发明对此不作限制。
优选的，所述腿部定位件15独立围绕第三轴线19运动，用于调节所述腿部定位件15相对于所述腿部旋转机构16的位置。为适应于左右脚的不同生理形态，除了脚部定位件11需进行适应性地调整，还可以进一步对腿部定位件15相对于所述腿部旋转机构16的位置进行调整，腿部定位件15相对于所述腿部旋转机构16的位置主要指腿部定位件15围绕第三轴线19的角度位置。腿部定位件15独立地围绕所述第三轴线19转动，可以适配于左右脚使用。
可选的，所述机器人主体01被配置为绕竖直方向可转动和/或沿竖直方向可升降，且在所述驱动部件的驱动下转动和/或升降。在一个示范例中，请参考图3和图4，所述康复机器人还包括升降组件6；所述升降组件6沿竖直方向可升降地与所述机箱2连接，所述基座4与所述升降组件6连接并通过所述升降组件6可升降地与所述机箱2连接。优选的，升降组件6包括升降立 柱，升降立柱与控制装置通信连接，并在控制装置的控制下实现升降。当然在其它的实施例中，升降立柱也可以通过手动调节的方式实现升降。由此调整康复机器人治疗时的高度，适应患者下肢的位置。优选的，第一臂7和第二臂8之间设置有触边传感器(未图示)，防止第一臂7和第二臂8在相互转动时意外夹住一些不期望的部位，如患者或操作者的手等。在其他的示范例中，所述机器人主体01整体被配置为沿竖直方向可升降，或者绕竖直方向可转动，且在所述驱动部件的驱动下升降或转动。
如图3所示，在一个具体的实施例中，所述驱动部件还包括固定设置于机箱2内部的基座驱动电机251和第六同步带252，基座驱动电机251通过第六同步带252驱动基座4转动，结合第一臂7、第二臂8和康复设备末端组件10的运动，实现髋关节的内收外展康复治疗。
优选的，第一伺服电机211、第二伺服电机221、第三伺服电机231、第四伺服电机241及基座驱动电机251中的至少一个能够反馈电流信号、位置信号和速度信号中的至少一种。可选的，第一伺服电机211、第二伺服电机221、第三伺服电机231、第四伺服电机241及基座驱动电机251中的至少一个上安装有绝对值编码器，可记录电机的旋转位置、速度、加速度等运动信息；伺服电机的伺服驱动器可实现力矩控制和位置控制。
可选的，康复机器人还包括触摸屏5，触摸屏5与控制装置通信连接。操作者可通过触摸屏5输入运动轨迹参数，以及通过触摸屏5显示运动轨迹参数等内容。触摸屏5所输入的运动轨迹参数可通过控制装置控制若干个关节的电机运动，实现该运动轨迹参数所表达的轨迹。
控制装置可读取第一伺服电机211、第二伺服电机221、第三伺服电机231、第四伺服电机241及基座驱动电机251中的至少一个的状态参数，以实现患者的被动训练、助力训练，康复评估等功能，并无需增加其他力传感器，减少了成本的投入。以下示例性地列举康复机器人的若干操作方式：
1.拖动控制：操作者拖动康复机器人(主要是康复设备末端组件10)并连带患者的下肢进行运动，记录并规划运动轨迹，可实现患者下肢任意运动位姿的康复，灵活性高，操作简单方便；
2.被动训练：康复机器人带动患者下肢进行被动康复运动，可实现踝关节背伸跖屈、踝关节内翻外翻、膝关节伸展屈曲、髋关节伸展屈曲、髋关节内收外展等关节运动，以及所有以上运动的复合运动；在该训练模式下，患者可以不用力而在康复机器人的带动下实现运动，适用于早期的治疗；
3.助力训练：经过被动训练，患者恢复一定程度的自主能力后可主动进行康复运动，该功能可协助患者完成与上述被动训练相同或相似的康复动作；控制装置采集电机的状态参数，并判断患者的运动意图，提供驱动力协助患者完成康复运动，更好的帮助患者康复；
4.康复评估：以上任一项康复训练模式下，控制装置可以识别患者的身份信息，并记录患者各种康复运动下的电机的运行参数，将这些运行参数进行比较分析，对患者的运动能理进行评估。
基于上述康复设备末端组件10，本实施例还提供一种康复设备，其包括如上所述的康复设备末端组件10以及康复设备主体，所述康复设备主体围绕竖直方向可转动地设置，所述康复设备末端组件10与所述康复设备主体连接，且被配置为在所述康复设备主体的转动下，所述腿部定位件15被动地围绕所述第三轴线19转动，所述脚部定位件11被动地围绕所述第四轴线20移动。
综上所述，在本发明提供的康复机器人中，所述康复机器人包括：机器人主体、机械臂、康复设备末端组件以及驱动部件；所述机械臂绕水平方向可转动地与所述机器人主体连接，并在所述驱动部件的驱动下转动；所述康复设备末端组件绕水平方向可转动地与所述机械臂连接，并在所述驱动部件的驱动下转动；所述康复设备末端组件具有转动自由度，所述转动自由度的转动轴线与水平方向成角度地布置。
如此配置，通过康复设备末端组件的转动自由度，可实现康复机器人驱动患者的下肢在矢状面以外方向上的运动，例如驱动髋关节内收外展的运动，结合机械臂绕水平方向的转动而驱动下肢于矢状面的运动，形成下肢的空间三维康复运动，提供了更好的康复治疗效果。
上述描述仅是对本发明较佳实施例的描述，并非对本发明范围的任何限定，本发明领域的普通技术人员根据上述揭示内容做的任何变更、修饰，均 属于权利要求书的保护范围。

Claims (14)

  1. 一种康复机器人，其特征在于，包括：机器人主体、机械臂、康复设备末端组件以及驱动部件；
    所述机械臂绕水平方向可转动地与所述机器人主体连接，并在所述驱动部件的驱动下转动；
    所述康复设备末端组件绕水平方向可转动地与所述机械臂连接，并在所述驱动部件的驱动下转动；所述康复设备末端组件具有转动自由度，所述转动自由度的转动轴线与水平方向成角度地布置。
  2. 根据权利要求1所述的康复机器人，其特征在于，所述机械臂包括：第一臂、第二臂；所述驱动部件包括第一驱动组件、第一传动组件及第二驱动组件；
    所述第一臂围绕第一轴线可转动地与所述机器人主体连接，所述第二臂围绕第二轴线可转动地与所述第一臂连接，所述康复设备末端组件与所述第二臂连接；所述第一轴线和所述第二轴线均沿水平方向设置；
    所述第一驱动组件设置于所述机器人主体，并与所述第一臂传动连接，用于驱动所述第一臂转动；所述第二驱动组件设置于所述机器人主体，并通过所述第一传动组件与所述第二臂传动连接，用于驱动所述第二臂转动；所述第一传动组件设置于所述第一臂。
  3. 根据权利要求2所述的康复机器人，其特征在于，所述康复机器人还包括：第一关节及第二关节；
    所述第一关节包括第一回转件与第一固定件，所述第一回转件可转动地穿设于所述第一固定件中，所述第一回转件与所述第一臂固定连接，所述第一固定件与所述机器人主体固定连接；所述第一回转件的转动轴线与所述第一轴线重合；
    所述第二关节包括第二回转件与第二固定件，所述第二回转件可转动地穿设于所述第二固定件中，所述第二回转件与所述第二臂固定连接，所述第二固定件与所述第一臂固定连接；所述第二回转件的转动轴线与所述第二轴 线重合。
  4. 根据权利要求3所述的康复机器人，其特征在于，所述第一关节还包括第三回转件；
    所述第三回转件可转动地穿设于所述第一固定件中；所述第三回转件的一端与所述第二驱动组件传动连接，所述第三回转件的另一端与所述第一传动组件传动连接。
  5. 根据权利要求4所述的康复机器人，其特征在于，所述第三回转件的转动轴线与所述第一轴线重合。
  6. 根据权利要求1所述的康复机器人，其特征在于，所述康复设备末端组件包括：脚部旋转滑轨、腿部旋转机构、脚部定位件及腿部定位件；
    所述腿部定位件围绕第三轴线可转动地与所述腿部旋转机构连接；
    所述脚部旋转滑轨围绕第四轴线延伸，所述脚部定位件沿所述脚部旋转滑轨的延伸方向可移动地与所述脚部旋转滑轨连接，所述第四轴线与所述第三轴线相交或重合；
    所述转动自由度被配置为包括所述腿部定位件围绕所述第三轴线的转动，以及所述脚部定位件沿所述脚部旋转滑轨围绕所述第四轴线的移动。
  7. 根据权利要求6所述的康复机器人，其特征在于，所述康复设备末端组件还包括：脚部机构连接件以及腿部机构连接件；
    所述脚部旋转滑轨与所述脚部机构连接件连接，所述脚部机构连接件可转动地围绕第五轴线设置并与所述机械臂连接；
    所述腿部旋转机构与所述腿部机构连接件连接，所述腿部机构连接件可转动地围绕所述第五轴线设置并与所述机械臂连接；
    所述第五轴线沿水平方向设置。
  8. 根据权利要求7所述的康复机器人，其特征在于，所述第三轴线与所述第五轴线相交且垂直，且所述第四轴线与所述第五轴线相交且垂直。
  9. 根据权利要求7所述的康复机器人，其特征在于，所述驱动部件还包括：第三驱动组件和第四驱动组件；
    所述第三驱动组件与所述机械臂连接，并与所述腿部机构连接件传动连 接，用于驱动所述腿部旋转机构围绕所述第五轴线转动；
    所述第四驱动组件与所述机械臂连接，并与所述脚部机构连接件传动连接，用于驱动所述脚部旋转滑轨围绕所述第五轴线转动。
  10. 根据权利要求9所述的康复机器人，其特征在于，所述康复机器人还包括：第三关节；
    所述第三关节包括第四回转件、第五回转件与第三固定件，所述第三固定件与所述机械臂固定连接；所述第四回转件与所述第五回转件分别可转动地穿设于所述第三固定件中；
    所述第四回转件的一端与所述第三驱动组件传动连接，所述第四回转件的另一端传动连接至所述腿部机构连接件和所述脚部机构连接件中的一个；
    所述第五回转件的一端与所述第四驱动组件传动连接，所述第五回转件的另一端传动连接至所述腿部机构连接件和所述脚部机构连接件中的另一个。
  11. 根据权利要求10所述的康复机器人，其特征在于，所述第四回转件的转动轴线与所述第五回转件的转动轴线重合。
  12. 根据权利要求1所述的康复机器人，其特征在于，所述机器人主体包括基座和机箱；所述基座绕竖直方向可转动地与所述机箱连接，并在所述驱动部件的驱动下转动；所述康复设备末端组件的转动自由度被动适配于所述基座的转动。
  13. 根据权利要求12所述的康复机器人，其特征在于，所述康复机器人还包括升降组件；所述升降组件沿竖直方向可升降地与所述机箱连接，所述基座与所述升降组件连接并通过所述升降组件可升降地与所述机箱连接。
  14. 根据权利要求1所述的康复机器人，其特征在于，所述机器人主体被配置为绕竖直方向可转动和/或沿竖直方向可升降，且在所述驱动部件的驱动下转动和/或升降。
PCT/CN2021/098473 2020-06-09 2021-06-04 康复机器人 WO2021249314A1 (zh)

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