CN101984946A - Sitting exoskeleton lower limb rehabilitation robot - Google Patents

Abstract

A sitting exoskeleton lower limb rehabilitation robot in the field of medical rehabilitation technology, comprising: a sitting auxiliary mechanism, a lower limb rehabilitation mechanism and an exoskeleton shield mechanism, the sitting auxiliary mechanism is connected with the lower limb rehabilitation mechanism, and the exoskeleton shield mechanism is respectively connected to the sitting The auxiliary mechanism is connected with the lower limb rehabilitation mechanism. The invention integrates the sitting auxiliary mechanism, the lower limb rehabilitation mechanism and the exoskeleton shield mechanism, drives the patient's leg training through the motor drive in the lower limb rehabilitation mechanism, and has active and passive training modes to meet the needs of different patients for lower limb rehabilitation. training requirements. Moreover, during the training process, by binding the patient's lower limbs on the exoskeleton shield mechanism, the patient's legs will not move sideways or turn over during the training process to ensure the correct training posture. At the same time, the structure of the present invention is simple and compact. The low-cost equipment can realize scientific rehabilitation training for the patient's lower limbs, and is suitable for popularization.

Description

Seated exoskeleton lower limb rehabilitation robot

technical field

The invention relates to a device in the technical field of medical rehabilitation, in particular to a sitting exoskeleton lower limb rehabilitation robot.

Background technique

In recent years, a lower limb rehabilitation robot for rehabilitation training for the elderly and patients with lower limb movement disorders has been applied and promoted. This robot takes into account the actual situation of the patient, and generally uses an external power device to drive the patient's lower limbs for rehabilitation. train.

After searching the prior art documents, it is found that Chinese Patent No. 200320105183.0 discloses a bedridden lower limb rehabilitation device for providing rehabilitation training for patients. The apparatus includes a bed resting device and a pedal device, and is simple to manufacture, but the patient's movement is driven by the strength of his own legs to drive the pedals to rotate, so it is not suitable for paralyzed patients.

Chinese Patent No. 200620140778.3 discloses a wheelchair-type walking training robot for paraplegics, including a wheelchair system, a lower limb exoskeleton system, a damping support system and a controller. The robot realizes the lower limb training function by controlling the operation of the motors on each joint of the exoskeleton system. The robot controls the four joints of the exoskeleton at the same time, the operation is complicated, the cost is high, and it is not suitable for popularization.

Contents of the invention

Aiming at the above-mentioned deficiencies in the prior art, the present invention provides a seated exoskeleton lower limb rehabilitation robot, which integrates a sitting auxiliary mechanism, a lower limb rehabilitation mechanism and an exoskeleton shield mechanism, and is driven by a motor in the lower limb rehabilitation mechanism. For leg training of patients, the training modes are divided into active and passive modes to meet the requirements of lower limb rehabilitation training for different patients. Moreover, during the training process, by binding the patient's lower limbs to the exoskeleton shield mechanism, the patient's legs will not move sideways or turn over during the training process to ensure the correct training posture. One of the most important features of the present invention is that the structure is simple and compact, and low-cost equipment can be used to realize scientific rehabilitation training for the patient's lower limbs, which is suitable for popularization.

The present invention is achieved through the following technical solutions. The present invention includes: a sitting auxiliary mechanism, a lower limb rehabilitation mechanism and an exoskeleton shield mechanism, wherein: the sitting auxiliary mechanism is connected with the lower limb rehabilitation mechanism, and the exoskeleton shield mechanism is respectively connected with the sitting The auxiliary mechanism is connected with the lower limb rehabilitation mechanism.

The sitting auxiliary mechanism includes: a first universal wheel with brakes, a second universal wheel with brakes, a chair frame, a third universal wheel with brakes, a fourth universal wheel with brakes, a left armrest, a chair cushion, Right armrest, wherein: the first universal wheel with brake, the second universal wheel with brake, the third universal wheel with brake and the fourth universal wheel with brake are fixedly connected with the chair frame respectively, the chair cushion, the left armrest and the right The armrests are fixedly connected with the chair frames respectively.

The lower limb rehabilitation mechanism includes: left pedal shaft, left pedal, left crank, pedal box left plate, first synchronous pulley, pedal box main shaft, pedal box rear plate, pedal box front plate, motor Fixed seat, second synchronous pulley, stepper motor, synchronous belt, pedal box bottom plate, right pedal shaft, right pedal, right crank, right pedal box plate, pedal box top plate. Wherein the left plate of the pedal box, the right plate of the pedal box, the front plate of the pedal box, the rear plate of the pedal box, the bottom plate of the pedal box, and the top plate of the pedal box are respectively fixedly connected to form a closed pedal box. The stepping motor is fixedly connected with the motor fixing base, the motor fixing base is fixedly connected with the bottom plate of the pedal box, the stepping motor is fixedly connected with the second synchronous pulley, the second synchronous pulley is connected with the first synchronous pulley through the timing belt, and the second A synchronous pulley is fixedly connected with the main shaft of the pedal box, and the main shaft of the pedal box is movably connected with the left plate of the pedal box and the right plate of the pedal box. Fixedly connected, the left crank is fixedly connected with the left pedal shaft, the left pedal is movably connected with the left pedal shaft, the right crank is fixedly connected with the right pedal shaft, and the right pedal is movably connected with the right pedal shaft.

The exoskeleton shield mechanism includes: hip toothed parts, hip joint movable parts, hip joint movable part fixing rods, hip joint shafts, hip joint nuts, hip joint joints, thigh parts, thigh shields, thigh shields Nut, thigh shield shaft, 1st knee joint, knee joint shaft, 2nd knee joint, calf piece, calf shield, calf shield shaft, calf shield nut, ankle joint, thigh shield retainer, Thigh guard bearings, knee joint nuts, calf guard mounts, calf guard bearings. Among them: the fixed rod of the hip joint movable part is fixedly connected with the hip joint movable part, the hip joint movable part is connected with the hip tooth tooth through the hip joint movable part fixed rod, the hip joint axis is fixedly connected with the hip joint movable part, the hip joint It is movably connected with the hip joint shaft, the hip joint nut is fixedly connected with the hip joint shaft, the hip joint is fixedly connected with the thigh piece, the thigh shield shaft is fixedly connected with the thigh piece, the thigh shield is fixedly connected with the thigh shield fixing piece, and the thigh shield is fixedly connected with the thigh shield shaft. The cover fixing part is movably connected with the shaft of the thigh shield through the thigh shield bearing, the nut of the thigh shield is fixedly connected with the shaft of the thigh shield, the thigh part is fixedly connected with the first knee joint joint, and the first knee joint joint is connected with the second knee joint joint The knee joint shaft is movably connected, the knee joint nut is fixedly connected to the knee joint shaft, the second knee joint joint is fixedly connected to the calf part, the calf shield shaft is fixedly connected to the calf part, and the calf shield is fixedly connected to the calf shield fixing part. The calf shield fixing part is movably connected with the calf shield shaft through the calf shield bearing, the calf shield nut is fixedly connected with the calf shield shaft, and the calf part is fixedly connected with the ankle joint joint.

For the mechanisms of the various parts mentioned above, the exoskeleton shield mechanism is fixedly connected with the armrest of the sitting auxiliary mechanism through its hip joint teeth, and the exoskeleton shield mechanism is movably connected with the pedal shaft of the lower limb rehabilitation mechanism through the ankle joint joint. The rehabilitation mechanism is fixedly connected with the chair frame of the sitting auxiliary mechanism through the foot box bottom plate.

When the lower limb rehabilitation mechanism is working: the stepping motor rotates to drive the second synchronous pulley to rotate, the second synchronous pulley drives the first synchronous pulley to rotate through the synchronous belt, the first synchronous belt wheel drives the main shaft of the pedal box to rotate, and the main shaft of the pedal box The rotation drives the left crank and the right crank to rotate at the same time, and the left crank drives the left pedal shaft to rotate, so that the left pedal can move together with the left pedal shaft, and at the same time, the right crank drives the right pedal shaft to rotate, and the right pedal follows Move together with the right pedal shaft.

When the exoskeleton shield mechanism is working: when the lower limb rehabilitation mechanism is working, it drives the exoskeleton shield mechanism to move.

Compared with the prior art, the present invention has the following advantages: by using the exoskeleton shield mechanism to bind the lower limbs of the paralyzed patient, the patient's legs will not move sideways or turn over during the training process to ensure the correct training posture, and During the training process, the patient's thigh and calf can be relatively rotated around the exoskeleton shield mechanism, making the patient's exercise process more comfortable. The exoskeleton prosthetic mechanism has a compact design structure and a large rotation range of each joint, which can meet the actual movement requirements of the human body. The lower limb rehabilitation mechanism only uses a stepper motor to directly control the movement of the ankle joint, thereby driving the movement of the patient's two legs, and the purpose of rehabilitation training for the patient's legs can be completed with low-cost equipment. Moreover, the sitting auxiliary mechanism that the patient sits on can be moved, and the different positions of the patient in the sitting auxiliary mechanism can be realized by adjusting the position of the hip joint movable part in the exoskeleton shield mechanism relative to the hip joint tooth. When the patient is sitting in different positions, the hip joint of the exoskeleton can move with the different positions of the patient's hip joint, which can make the exoskeleton more accurately imitate the patient's legs.

Description of drawings

Fig. 1 is a schematic diagram of the present invention;

Fig. 2 is a side view of the present invention;

Fig. 3 is a schematic diagram of the sitting auxiliary mechanism of the present invention;

Fig. 4 is a schematic diagram of the lower limb rehabilitation mechanism of the present invention;

Fig. 5 is a schematic diagram of the exoskeleton shield mechanism of the present invention;

Wherein: Fig. 5a is a three-dimensional schematic diagram, and Fig. 5b is a front view.

Detailed ways

The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.

As shown in Fig. 1 and Fig. 2, the present embodiment includes: a sitting auxiliary mechanism 1, a lower limb rehabilitation mechanism 2 and an exoskeleton shield mechanism 3, wherein: the sitting auxiliary mechanism 1 is connected with the lower limb rehabilitation mechanism 2, and the exoskeleton shield The mechanism 3 is connected with the sitting auxiliary mechanism 1 and the lower limb rehabilitation mechanism 2 respectively.

As shown in Figure 3, the seated auxiliary mechanism 1 includes: the first universal wheel with brake 4, the second universal wheel with brake 5, the chair frame 6, the third universal wheel with brake 7, the fourth universal wheel with brake Wheel 8, left armrest 9, chair cushion 10, right armrest 11, of which: the first universal wheel with brake 4, the second universal wheel with brake 5, the third universal wheel with brake 7, the fourth universal wheel with brake The wheels 8 are fixedly connected with the chair frame 6 respectively, the left armrest 9 and the right armrest 11 are fixedly connected with the chair frame 6 respectively, and the chair cushion 10 is fixedly connected with the chair frame 6 .

As shown in Figure 4, the lower limb rehabilitation mechanism 2 includes: left pedal shaft 12, left pedal 13, left crank 14, pedal box left plate 15, first synchronous pulley 16, pedal box main shaft 17, pedal box Rear plate 18, pedal box front plate 19, motor holder 20, second synchronous pulley 21, stepper motor 22, synchronous belt 23, pedal box bottom plate 24, right pedal shaft 25, right pedal 26, right Crank 27, pedal box right plate 28, pedal box top plate 29. Wherein the pedal box left plate 15, the pedal box right plate 28, the pedal box front plate 19, the pedal box rear plate 18, the pedal box bottom plate 24, the pedal box top plate 29 are respectively fixed and connected to form a closed pedal box . The stepper motor 22 is fixedly connected with the motor holder 20, the motor holder 20 is fixedly connected with the pedal box base plate 24, the stepper motor 22 is fixedly connected with the second synchronous pulley 21, and the second synchronous pulley 21 is connected with the timing belt 23. The first synchronous pulley 16 is connected, and the first synchronous pulley 16 is fixedly connected with the pedal box main shaft 17, and the left and right shaft ends of the pedal box main shaft 17 are connected with the left board 15 of the pedal box and the right side of the pedal box through angular contact ball bearings respectively. Plate 28 is flexibly connected, the left shaft end of pedal box main shaft 17 is fixedly connected with left crank 14, left crank 14 is fixedly connected with left pedal shaft 12, left pedal 13 is flexibly connected with left pedal shaft 12 through angular contact ball bearings , the right shaft end of pedal box main shaft 17 is fixedly connected with right crank 27, and right crank 27 is fixedly connected with right pedal shaft 25, and right pedal 26 is movably connected with right pedal shaft 25 by angular contact ball bearings.

Wherein the left pedal 13 and the right pedal 26 are used to support the patient's feet, and the patient's feet are bound to the left pedal 13 and the right pedal 26, so that the lower limb rehabilitation mechanism 2 can drive the patient when it is working. Legs for exercise training.

As shown in Figure 5a and Figure 5b, the exoskeleton shield mechanism 3 includes: hip joint teeth 30, hip joint movable part 31, hip joint movable part fixed rod 32, hip joint shaft 33, hip joint nut 34, hip joint Joint 35, thigh piece 36, thigh shield 37, thigh shield nut 38, thigh shield shaft 39, first knee joint 40, knee joint shaft 41, second knee joint 42, lower leg piece 43, lower leg shield 44, calf shield shaft 45, calf shield nut 46, ankle joint 47, thigh shield fixture 48, thigh shield bearing 49, knee joint nut 50, calf shield fixture 51, calf shield bearing 52. Wherein: the fixed rod 32 of the hip joint movable part is fixedly connected with the hip joint movable part 31, the hip joint movable part 31 is movably connected with the hip joint toothed part 30 through the hip joint movable part fixed rod 32, the hip joint axis 33 is connected with the hip joint movable part 31 is fixedly connected, the hip joint 35 is movably connected with the hip joint shaft 33, the hip joint nut 34 is fixedly connected with the hip joint shaft 33 to limit the movement of the hip joint 35 within the required small range, and the hip joint 35 is fixed to the thigh member 36 Link to each other, thigh shield shaft 39 is fixedly connected with thigh piece 36, thigh shield 37 is fixedly connected with thigh shield fixture 48, thigh shield fixture 48 links to each other with thigh shield shaft 39 activities through thigh shield bearing 49, thigh The shield nut 38 is fixedly connected with the thigh shield shaft 39 to limit the movement of the thigh shield fixture 48 in the required small range, the thigh part 36 is fixedly connected with the first knee joint 40, and the first knee joint 40 is connected with the second knee joint. The knee joint 42 is movably connected through the knee joint shaft 41, and is fixedly connected with the knee joint shaft 41 through the knee joint nut 50, so as to ensure that the first knee joint 40 and the second knee joint 42 can move within the required small range, The second knee joint 42 is fixedly connected with the calf part 43, the calf shield shaft 45 is fixedly connected with the calf part 43, the calf shield 44 is fixedly connected with the calf shield fixing part 51, and the calf shield fixing part 51 passes through the calf shield bearing 52 is movably connected with shank shield shaft 45, and shank shield nut 46 is fixedly connected with shank shield shaft 45 to limit the movement of shank shield fixture 51 in the required small range, and shank part 43 is fixedly connected with ankle joint 47.

Among them, the thigh guard 37 is used to bind the patient's thigh, protect the patient's thigh, and drive the thigh to move, and the calf guard 44 is used to bind the patient's calf, protect the patient's calf, and drive the calf to move, so that the patient's leg follows the exoskeleton guard. The cover mechanism 3 moves. During the movement, the thigh shield 37 can be rotated around the thigh shield shaft 39 according to the actual movement position, that is, the thigh member 36 is rotated. Similarly, the calf shield 44 can also be rotated around the calf Part 43 is rotated to make the patient more comfortable during rehabilitation training. Before the training starts, according to the position of the patient in the sitting auxiliary mechanism 1, the exoskeleton shield mechanism 3 can match the actual leg position of the patient by adjusting the relative positions of the hip joint movable part and the hip joint tooth-shaped part .

When the lower limb rehabilitation mechanism 2 of this embodiment works: the stepping motor 22 rotates to drive the second synchronous pulley 21 to rotate, and the second synchronous pulley 21 drives the first synchronous pulley 16 to rotate through the synchronous belt 23, and the first synchronous pulley 16 Drive the pedal box main shaft 17 to rotate, and the pedal box main shaft 17 rotates and drives the left crank 14 and the right crank 27 to rotate simultaneously, and the left crank 14 drives the left pedal shaft 12 to rotate, so that the left pedal 13 can follow the left pedal shaft 12 moves together, and right crank 27 drives right pedal shaft 25 to rotate simultaneously, and right pedal 26 moves together with right pedal shaft 25, and in motion process, left pedal 13 and right pedal 26 pass angular contact ball respectively The bearing can also rotate relatively around the left pedal shaft 12 and the right pedal shaft 25 .

When the exoskeleton shield mechanism 3 works: when the lower limb rehabilitation mechanism 2 works, its left pedal shaft 12 and right pedal shaft 25 have started to rotate, and two sets of the same exoskeleton shield mechanism 3 (respectively used as the left and right sides of the patient) The exoskeleton shield of leg) is respectively movably connected with the left pedal shaft 12 and the right pedal shaft 25 by its ankle joint joint 47, so the ankle joint joint 47 can be driven to rotate relatively when the pedal shaft rotates, and the ankle joint joint 47 The movement drives the calf member 43, the calf shield 44 and the second knee joint 42 to rotate around the pedal shaft, because the position of the hip joint shaft 33 remains unchanged relative to the sitting auxiliary mechanism 1 during the movement, so the second knee joint Joint 42 drives first knee joint joint 40, thigh part 36, thigh guard 37 and hip joint 35 to carry out relative rotation around hip joint shaft 33 through knee joint shaft 41, and thigh guard 37 and calf guard 44 just drive like this The patient flexes and stretches the thigh and calf.

When the seated auxiliary mechanism 1 moves, it is only necessary to untie the first universal wheel 4 with brakes, the second universal wheel 5 with brakes, the third universal wheel 7 with brakes, and the universal wheel 8 with brakes for the fourth. Wheel lock, the equipment can be pushed to any place and placed. Before the rehabilitation training of the patient, any universal wheel with brake can be locked to keep the equipment in place to ensure the safety of the patient.

Claims (5)

1. A seated exoskeleton lower limb rehabilitation robot is characterized in that it includes: a seated auxiliary mechanism, a lower limb rehabilitation mechanism and an exoskeleton shield mechanism, wherein: the seated auxiliary mechanism is connected with the lower limb rehabilitation mechanism, and the exoskeleton shield mechanism They are respectively connected with the sitting auxiliary mechanism and the lower limb rehabilitation mechanism. 2. The seated exoskeleton lower limb rehabilitation robot according to claim 1, wherein the seated auxiliary mechanism comprises: a first universal wheel with brakes, a second universal wheel with brakes, a chair frame, a second universal wheel with brakes, Three universal wheels with brakes, the fourth universal wheels with brakes, left armrest, chair cushion, right armrest, of which: the first universal wheel with brakes, the second universal wheel with brakes, the third universal wheel with brakes and The fourth universal wheel with brake is fixedly connected with the chair frame respectively, and the chair cushion, the left armrest and the right armrest are fixedly connected with the chair frame respectively. 3. The seated exoskeleton lower limb rehabilitation robot according to claim 1, wherein said lower limb rehabilitation mechanism comprises: left pedal shaft, left pedal, left crank, pedal box left plate, first synchronous Pulley, pedal box main shaft, pedal box rear plate, pedal box front plate, motor fixing seat, second timing pulley, stepping motor, timing belt, pedal box bottom plate, right pedal shaft, right pedal , the right crank, the right board of the pedal box, and the top board of the pedal box. Wherein the left plate of the pedal box, the right plate of the pedal box, the front plate of the pedal box, the rear plate of the pedal box, the bottom plate of the pedal box, and the top plate of the pedal box are respectively fixedly connected to form a closed pedal box. The stepping motor is fixedly connected with the motor fixing base, the motor fixing base is fixedly connected with the bottom plate of the pedal box, the stepping motor is fixedly connected with the second synchronous pulley, the second synchronous pulley is connected with the first synchronous pulley through the timing belt, and the second A synchronous pulley is fixedly connected with the main shaft of the pedal box, and the main shaft of the pedal box is movably connected with the left plate of the pedal box and the right plate of the pedal box. Fixedly connected, the left crank is fixedly connected with the left pedal shaft, the left pedal is movably connected with the left pedal shaft, the right crank is fixedly connected with the right pedal shaft, and the right pedal is movably connected with the right pedal shaft. 4. The seated exoskeleton lower limb rehabilitation robot according to claim 1, wherein the exoskeleton shield mechanism comprises: hip toothed parts, hip joint movable parts, hip joint movable parts fixing rods, hip joint movable parts Articulation axis, hip nut, hip joint, thigh piece, thigh shield, thigh shield nut, thigh shield axle, 1st knee joint, knee pivot, 2nd knee joint, calf piece, calf shield , calf shield shaft, calf shield nut, ankle joint, thigh shield fixture, thigh shield bearing, knee nut, calf shield fixture, calf shield bearing. Among them: the fixed rod of the hip joint movable part is fixedly connected with the hip joint movable part, the hip joint movable part is connected with the hip tooth tooth through the hip joint movable part fixed rod, the hip joint axis is fixedly connected with the hip joint movable part, the hip joint It is movably connected with the hip joint shaft, the hip joint nut is fixedly connected with the hip joint shaft, the hip joint is fixedly connected with the thigh piece, the thigh shield shaft is fixedly connected with the thigh piece, the thigh shield is fixedly connected with the thigh shield fixing piece, and the thigh shield is fixedly connected with the thigh shield shaft. The cover fixing part is movably connected with the shaft of the thigh shield through the thigh shield bearing, the nut of the thigh shield is fixedly connected with the shaft of the thigh shield, the thigh part is fixedly connected with the first knee joint joint, and the first knee joint joint is connected with the second knee joint joint The knee joint shaft is movably connected, the knee joint nut is fixedly connected to the knee joint shaft, the second knee joint joint is fixedly connected to the calf part, the calf shield shaft is fixedly connected to the calf part, and the calf shield is fixedly connected to the calf shield fixing part. The calf shield fixing part is movably connected with the calf shield shaft through the calf shield bearing, the calf shield nut is fixedly connected with the calf shield shaft, and the calf part is fixedly connected with the ankle joint joint. 5. The seated exoskeleton lower limb rehabilitation robot according to claim 4, characterized in that, the exoskeleton shield mechanism is fixedly connected with the sitting auxiliary mechanism armrest through its hip joint teeth, and the exoskeleton shield mechanism The ankle joint is movably connected with the pedal shaft of the lower limb rehabilitation mechanism, and the lower limb rehabilitation mechanism is fixedly connected with the chair frame of the sitting auxiliary mechanism through the pedal box bottom plate.

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