CN100548256C - A kind of wheel chair type robot for walking training of paraplegia patient - Google Patents

Abstract

Wheel chair type robot for walking training of paraplegia patient disclosed by the invention comprises wheelchair system, lower limb exoskeleton system, damping support system and controller.This robot is with the walking brace of flexible lower limb exoskeleton system as the patients ' recovery training, situation according to patient, by adjusting control, can realize the active gait, be controlled training functions such as gait, the adjustable gait of passive damping and balance training by power each joint motor on the exoskeleton system.Wheel chair type robot for walking training of paraplegia patient of the present invention can satisfy patient in sitting and the two kinds of physical training conditions of standing, and is suitable for the different rehabilitation stage lower limb rehabilitation trainings of paralytic patient and the function that realizes walking.

Description

A walking training robot for wheelchair-type paraplegics

technical field

The invention relates to a wheelchair-type walking training robot for paraplegic patients, which belongs to the field of rehabilitation medical equipment. It is suitable for lower limb rehabilitation training and walking function of paraplegic patients in different rehabilitation stages.

Background technique

With the increase of traffic and industrial accidents in modern society, the sudden occurrence of natural disasters and the aging of society, paraplegic patients have gradually become a common group in modern society. In addition to drug treatment or surgical treatment, scientific Rehabilitation training is very important for improving the motor function of the affected limb. Existing wheelchair mainly is made up of big wheel, little wheel, push handle frame, backrest, cushion and armrest, and this wheelchair has only walking-replacing function. For paraplegic patients, doctors, PTs, and OTs usually pull specific muscle groups hand in hand, and use the standing bed to gradually carry out standing training. This kind of passive rehabilitation training has high work intensity and cannot meet the needs of more patients. The training effect is closely related to the medical practitioner's technical proficiency, and it is difficult to accurately maintain the consistency of rehabilitation training actions for different patients. In addition, most general walking braces for paraplegic patients can only assist the patient to do some simple walking training, but cannot carry out targeted rehabilitation training according to the situation of the patient in different stages. There is a lack of a walking aid for rehabilitation training that can combine rehabilitation training and daily walking aids.

Contents of the invention

The purpose of the present invention is to provide a walking training robot for wheelchair-type paraplegics.

The wheelchair-type paraplegic walking training robot of the present invention comprises a wheelchair system with large wheels, small wheels, a push handle frame, a backrest, a cushion and an armrest, and is characterized in that it also includes a lower extremity exoskeleton system, a damping support system and a controller;

Lower extremity exoskeleton system: including hip rod, thigh rod and calf rod, the end of the hip rod is fixedly connected with the backrest of the wheelchair system, the other end of the hip rod is hinged with the thigh rod to form the hip joint, and the thigh rod and the calf rod are hinged to form The knee joint and the end of the calf rod are fixed with a foot plate, and the two ends of the first ball screw are respectively hinged with the end of the hip rod and the upper end of the thigh rod, and the rotating shaft of the first motor passes through the synchronous belt pulley and the first ball screw. The two ends of the second ball screw are respectively hinged with the upper ends of the thigh rod and the lower leg rod. The rotating shaft of the second motor is connected with the nut of the second ball screw through a synchronous pulley, and the first leg is fixed on the thigh rod. The lower leg support is fixed on the calf bar with a second leg support;

Damping support system: including a parallelogram connecting rod, a damper and a linear drive, one vertical side of the parallelogram connecting rod is fixed to the seat back, the other vertical side is fixed to a vertical bracket, and the lower end of the bracket is equipped with wheels and a damper One end of the linear drive is hinged to the upper link of the parallelogram connecting rod, the other end of the damper is hinged to the bracket, one end of the linear drive is hinged to the seat cushion of the wheelchair system, and the other end is hinged to the bottom frame, and the bottom frame and the bracket are fixedly connected into one;

The controller is installed on the armrest of the wheelchair;

In order to ensure that the patient maintains the balance of the body during standing and walking training, a sling frame is usually fixed on the backrest of the wheelchair.

The wheelchair-type paraplegic walking training robot of the present invention can be switched between two training states of "sitting and standing" by adjusting the linear driver under the seat cushion.

The beneficial effects of the present invention are:

The walking training robot for wheelchair-type paraplegic patients of the present invention uses the flexible lower limb exoskeleton system as the walking support for the patient's rehabilitation training. According to the patient's condition, by adjusting the control of each joint motor on the exoskeleton system, active gait and passive force can be realized. Training functions such as gait control, passive damping adjustable gait, and balance training achieve the purpose of helping paraplegic patients walk. Since the wheelchair-type paraplegic patient walking training robot has two training methods, sitting posture training and walking training, it can help paraplegic patients in different rehabilitation stages carry out rehabilitation training and realize the function of walking.

Description of drawings

Fig. 1 is a schematic structural representation of a wheelchair-type paraplegic patient's walking training robot, (shown as being used for sitting posture training state);

Fig. 2 is a schematic diagram of the structure of the lower extremity exoskeleton system;

Fig. 3 is a parallelogram mechanism diagram;

Fig. 4 is a schematic diagram of a wheelchair-type paraplegic patient's walking training robot for standing posture training;

Fig. 5 is a training schematic diagram of a wheelchair-type paraplegic walking training robot equipped with a treadmill.

Detailed ways

The present invention is illustrated below in conjunction with accompanying drawing.

Referring to Fig. 1, Fig. 2, Fig. 3, the wheelchair-type paraplegic walking training robot includes a wheelchair system with a large wheel 10, a small wheel 13, a push handle frame 5, a backrest 7, a cushion 11 and an armrest 8, a lower extremity exoskeleton system, and a damping support system and controller.

Lower extremity exoskeleton system: including hip rod 15, thigh rod 20 and calf rod 23, the end of the hip rod is fixedly connected with the backrest 7 of the wheelchair system, the other end of the hip rod 15 is hinged with the thigh rod 20 to form the hip joint, the thigh Bar 20 and calf bar 23 are hinged to form knee joint, and the end of calf bar is fixed with pedal board 24, and the two ends of the first ball screw 19 are hinged with the end of hip bar 15 and the upper end of thigh bar respectively, the first motor 16 The rotating shaft is connected with the nut of the first ball screw 19 through the synchronous pulley, and the two ends of the second ball screw 22 are respectively hinged with the upper ends of the thigh bar 20 and the calf bar, and the rotating shaft of the second motor 21 is connected with the second motor 21 through the synchronous pulley. The nuts of the ball screw 22 are connected, a first leg support 17 is fixed on the thigh bar, and a second leg support 18 is fixed on the calf bar.

Damping support system: including a parallelogram connecting rod 1, a damper 2 and a linear driver 14, one vertical side of the parallelogram connecting rod 1 is fixed to the seat back 7, the other vertical side is fixed to the vertical bracket 3, and the bracket 3 The lower end of the wheel 4 is installed, one end of the damper 2 is hinged with the upper link of the parallelogram connecting rod 1, the other end of the damper is hinged with the bracket 3, one end of the linear drive 14 is hinged with the seat cushion 11 of the wheelchair system, and the other end is hinged with the bottom The frame 12 is hinged, and the bottom frame 12 is fixedly connected with the support 3 as a whole.

Controller 9 is installed on the armrest of wheelchair.

In the illustrated example, a sling frame 6 is fixed on the backrest 7 of the wheelchair.

In normal times, this wheelchair system is like a general wheelchair, and the patient can move freely while sitting in the wheelchair. In the initial training stage of paraplegic patients, training can be carried out in a sitting position. The patient sits in a wheelchair and the lower limb exoskeleton system drives the patient's calf to swing. Along with the deepening of rehabilitation training, if the patient wants to carry out the gait training of standing posture, he can control the linear driver fixed under the cushion frame by the controller 9 on the armrest, so that the wheelchair is in an upright state (referring to Fig. 4 ), The patient can then perform walking training in a standing state. The sling frame is used to suspend the patient to ensure that the patient maintains the balance of the body during standing and walking training. Since during standing and walking training, the patient's body will fluctuate up and down with the alternation of gait, the damper can play a role of buffering, and can also play a role of partially supporting the body.

Pushing handle frame 5 is used for when wheelchair state, other people pushes wheelchair and moves forward. When standing and walking, the robot is equivalent to a walking aid, helping paraplegics and disabled people walk on the ground. Realize the combination of trainer and walking aid.

Controller 9 is installed on the armrest of wheelchair, can control motor speed easily, the switching of motor torque size and training attitude.

When the patient carries out rehabilitation training at home, also can as shown in Figure 5, treadmill 25 is placed under the wheelchair type paraplegia walking training robot in order to adapt to the narrow space in the home.

Claims (2)

1. a wheelchair type paraplegic walking training robot, comprising a wheelchair system with large wheels (10), small wheels (13), push handle frame (5), backrest (7), cushion (11) and armrests (8), It is characterized in that it also includes a lower extremity exoskeleton system, a damping support system and a controller; Lower limb exoskeleton system: including hip bar (15), thigh bar (20) and calf bar (23), the end of hip bar is fixedly connected with the backrest (7) of wheelchair system, the other end of hip bar (15) Hinged with the thigh bar (20) to form the hip joint, the thigh bar (20) and the shank bar (23) are hinged to form the knee joint, the end of the shank bar is fixed with a pedal (24), the two ends of the first ball screw (19) Respectively hinged with the end of the hip bar (15) and the upper end of the thigh bar, the rotating shaft of the first motor (16) links to each other with the nut of the first ball screw (19) through the synchronous pulley, and the second ball screw (22) One end of one end is hinged with the upper end of the thigh bar (20), the other end of the second ball screw (22) is hinged with the upper end of the calf bar, and the rotating shaft of the second motor (21) is connected to the second ball screw (22) through a synchronous pulley. ) nuts are connected, the first leg support (17) is fixed on the thigh bar, and the second leg support (18) is fixed on the calf bar; Damping support system: including a parallelogram connecting rod (1), a damper (2) and a linear drive (14), one vertical side of the parallelogram connecting rod (1) is fixed to the seat back (7), and the other vertical side The side is fixed with the vertical support (3), the lower end of the vertical support (3) is equipped with wheels (4), one end of the damper (2) is hinged with the upper link of the parallelogram connecting rod (1), and the other end of the damper Hinged with the vertical bracket (3), one end of the linear drive (14) is hinged with the seat cushion (11) of the wheelchair system, and the other end is hinged with the bottom frame (12), and the bottom frame (12) is fixedly connected with the vertical bracket (3) into one; Controller (9) is installed on the armrest of wheelchair. 2. The wheelchair-type paraplegic walking training robot according to claim 1, characterized in that the backrest (7) of the wheelchair is fixed with a suspension rope frame (6).

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