CN102068367B - Lower limb multi-training mode rehabilitation robot - Google Patents

Abstract

The invention discloses a lower limb multi-training mode rehabilitation robot, which comprises a pedal rotation mechanism, a knee and hip joint movement mechanism and an ankle joint movement mechanism. In the pedal rotation mechanism, one end of the pedal shaft is connected with the pedal, and the other end is connected with the leg-knee-hip joint motion mechanism and the ankle joint motion mechanism. The connecting rod in the knee-hip joint motion mechanism is fixedly connected with the end of the central shaft, the input end of the reduction transmission device is connected with the brake and the driving source, and the output end is connected with the central shaft. The left and right sleeves of the ankle joint movement mechanism are driven by transmission mechanisms with opposite transmission directions, the input transmission mechanism is connected with the driving source, and the output transmission mechanism is connected with the pedal shaft. This device realizes the transmission of the knee, hip and ankle joints around the same center line, adopts the real-time control of the brake and two driving sources, and realizes four rehabilitation training modes of passive, assisting, active and damping for the six joints of the patient's lower limbs. The structure is compact, the control is accurate, the operation is safe, and it is easy to realize mass production.

Description

Lower limb multi-training mode rehabilitation robot

technical field

The invention belongs to the field of rehabilitation medical machinery, and relates to a lower limb multi-training mode rehabilitation robot, in particular to a lower limb multi-training mode rehabilitation robot for patients with leg motor dysfunction caused by diseases, lower limb hemiplegia, various injuries and the like.

Background technique

With the development of society, the number of patients with limb movement disorders caused by aging population and various diseases and accidents is increasing. In addition to drug treatment or surgical treatment for such patients, scientific rehabilitation training is very important for improving the motor function of the affected limb. At the same time, with the development of science and technology and the continuous improvement of people's quality of life, people's requirements for medical care are getting higher and higher. In this context, limb rehabilitation robots, as a tool for rehabilitation therapy, have developed rapidly.

At present, there are more than ten laboratories in the world engaged in the research of lower limb rehabilitation robots, among which Japan and the United States are at the forefront. Japan has developed a rotary rehabilitation robot. Free University Berlin (FREE UNIVERSITY BERLIN) has carried out research on leg rehabilitation robots and developed a prototype of MGT rehabilitation robots. RUTGERS University in the United States has carried out research on foot rehabilitation robots and developed a prototype of the RUTGER foot rehabilitation training robot. The Swiss Federal Institute of Technology in Zurich exhibited a rehabilitation robot named LOKOMAT at the 2001 World Industry Exhibition in Hannover. The rehabilitation robot model of LOKOMAT uses an active gait correction device to drive the patient's leg steps to train on the pedal machine, while LOKOMAT assists The patient walks on the entire treadmill, and uses progressive functional movement therapy combined with the patient's assessment and feedback system. The research on rehabilitation robots in my country started relatively late, and there are relatively many research results on auxiliary rehabilitation robots, while there are relatively few research results on rehabilitation training robots. Tsinghua University took the lead in developing a prototype of a horizontal lower limb rehabilitation training robot in China.

The above-mentioned lower limb rehabilitation robot has the advantages of simple structure and easy control, but the degree of freedom of the robot is relatively small, and some important joint movements of the patient cannot be trained or corrected during gait training. At the same time, these lower limb rehabilitation robots have a single movement mode, mainly performing various types of CPM (Continuous Passive Motion, continuous passive motion), and a small number of lower limb rehabilitation robots can work in active mode. The latest research shows that rehabilitation training for patients with dysfunction or disabilities caused by factors such as accidents, birth defects, diseases, wars, and aging of the body usually requires four training modes, namely, passive training mode, power training mode, active training mode, Damping training mode. At present, there is no rehabilitation robot that supports the above-mentioned multi-joints and four rehabilitation training modes at the same time at home and abroad.

Contents of the invention

The purpose of the present invention is to provide a kind of rehabilitation training for the six joints of the lower limbs (left ankle joint, left knee joint, left hip joint, right ankle joint, right knee joint, right hip joint) for lower limb dysfunction or disabled patients, and It is a lower limb multi-training mode rehabilitation robot that realizes four rehabilitation training modes: passive training mode, power-assisted training mode, active training mode, and damping training mode.

The lower limb multi-training mode rehabilitation robot provided by the present invention includes a pedal rotation mechanism, a knee hip joint movement mechanism and an ankle joint movement mechanism,

The pedal rotation mechanism includes a pedal and a pedal shaft, one end of the pedal shaft is connected to the pedal, and the other end is connected to the knee-hip joint motion mechanism and the ankle joint motion mechanism, and the pedal rotation mechanisms are divided into two groups;

The knee-hip joint motion mechanism includes a central shaft, two connecting rods, a first clutch, a brake, a reduction transmission, a second clutch and a first drive motor, one end of the connecting rod is fixedly connected to the central shaft, and the other end has an end hole , the pedal shaft passes through the end hole and is flexibly connected with the connecting rod. The two connecting rods have the same structure and connection method, and are symmetrically arranged relative to the center point of the middle shaft. The input end of the reduction transmission device is connected with the brake through the first clutch, and the input end is also connected with the first drive motor through the second clutch; the output end of the reduction transmission device is fixedly connected with the middle shaft at the middle position, and the reduction transmission device can transmit in both forward and reverse directions;

The ankle joint motion mechanism includes a left sleeve, a right sleeve, an input transmission mechanism, a left transmission mechanism, a right transmission mechanism, two sets of output transmission mechanisms, a third clutch and a second drive motor, and the left and right sleeves are respectively placed on The two ends of the central axis can rotate around the central axis, the right end of the left sleeve is connected with the driven end of the left transmission mechanism, the left end of the left sleeve is connected with the driving end of a group of output transmission mechanisms through the third clutch and the second driving motor; the right The left end of the sleeve is connected to the driven end of the right transmission mechanism, and the right end of the right sleeve is connected to the driving end of another set of output transmission mechanisms. The transmission directions of the left and right transmission mechanisms are opposite, and the driven end of the input transmission mechanism is simultaneously connected with the The driving end of the left transmission mechanism and the right transmission mechanism are connected, the driving end of the input transmission mechanism is connected with the second driving source, the driven end of the output transmission mechanism is fixedly connected with the shaft end of the pedal shaft away from the pedal, the input transmission mechanism, the left The transmission mechanism, the right transmission mechanism and the two groups of output transmission mechanisms can all transmit in forward and reverse directions.

The lower limb multi-training mode rehabilitation robot is further characterized in that:

The reduction transmission device is composed of a gear transmission device composed of a gear shaft and a gear meshing with each other and a sprocket transmission device composed of a front sprocket and a rear sprocket meshing with a transmission chain. The input end of the reduction transmission device is a gear shaft , the output end is the rear sprocket, the left end of the gear shaft is connected with the brake through the first clutch, and the right end is connected with the first drive motor through the second clutch, and the gear and the front sprocket are fixedly connected on the same rear axle.

The left transmission mechanism is composed of a driven gear and a driving gear that mesh with each other; the right transmission mechanism is composed of a first driven synchronous pulley and a first driving synchronous pulley that mesh with the first synchronous belt; the input transmission mechanism is composed of a mutual meshing Composed of a worm gear and a worm, the driving gear, the driving synchronous pulley and the worm wheel are fixedly connected on the same lower shaft, the driving gear and the driving synchronous pulley are respectively located on both sides of the worm wheel, and the worm is connected with the second drive motor through the third clutch, the first The second driving motor rotates 180° reversely; the output transmission mechanism is composed of a second driving synchronous pulley and a second driven synchronous pulley meshing with the second synchronous belt.

The brake is a magnetic powder brake.

Two shaft end positioning parts are arranged on the central shaft, and the shaft end positioning parts are composed of locking retaining rings and set screws screwed into the locking retaining rings.

The left and right sleeves are connected to the middle shaft through bearings, and the bearings are located at both ends of the sleeves. The axial inner ring of the left bearing used to locate the left sleeve is positioned by the shaft end positioning part, and the outer ring is positioned by the inner steps of the sleeve; used for positioning The axial inner ring of the right bearing of the left sleeve is positioned by the step of the central shaft, and the outer ring is positioned by the inner step of the sleeve. The connection and positioning mode of the right sleeve and the central shaft is the same as that of the left sleeve and the central shaft.

The pedal shaft is connected with the pedal through a flat key and a set screw, the flat key is used for radial positioning of the connection, and the set screw is used for axial positioning of the connection.

The transmission ratio of the reduction transmission device is 8, the transmission ratio of the left and right transmission mechanisms is 1.5, and the transmission ratio of the output transmission mechanism is 1.

The lower limb multi-training mode rehabilitation robot also includes a box for placing the entire mechanism, except that the pedal rotation mechanism, connecting rod, and output transmission mechanism are exposed outside the box, and all other mechanisms are sealed in the box.

The present invention has the following advantages due to the adoption of the above technical scheme:

1. The present invention adopts the mechanism form in which the rear shaft drives the central shaft to rotate, the two ends of the central shaft are movably linked to the two sleeves, and the lower shaft drives the two sleeves to rotate around the central shaft, realizing the knee and hip joint movement around the same central line And the transmission of the ankle joint movement realizes the rehabilitation training of the six joints of the patient's lower limbs. The structure is compact and the space is fully utilized. At the same time, the use of chain transmission makes the position of each transmission mechanism more reasonable, the overall structure is more compact, and the space is fully utilized.

2. The lower limb multi-training mode rehabilitation robot provided by the present invention has multiple degrees of freedom, adopts the real-time control of the brake and two drive motors, and realizes four training modes of passive, assist, active and damping for the six joints of the patient's lower limbs, and the control is accurate , safe operation.

3. More than 85% of the parts of the lower limb multi-training mode rehabilitation robot provided by the present invention are standard parts, which are easy to achieve mass production, update and upgrade, and reduce costs.

Description of drawings

Fig. 1 is the three-dimensional schematic view of the rehabilitation robot with multiple training modes for the lower limbs of the present invention;

Fig. 2 is a half-sectional view of a partial mechanism of the lower limb multi-training mode rehabilitation robot of the present invention.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.

As shown in Figure 1, the lower limb multi-training mode rehabilitation robot includes a pedal rotation mechanism, a knee-hip joint movement mechanism and an ankle joint movement mechanism.

The pedal rotation mechanism includes a pedal 31 and a pedal shaft 32 . One end of the pedal shaft 32 is connected with the pedal 31 through a flat key 33 and a set screw 34. The flat key 33 is used for radial positioning of the connection, and the set screw 34 is used for axial positioning of the connection. The other end of the pedal shaft 32 is connected to the knee hip joint. The kinematic mechanism is connected with the ankle joint kinematic mechanism. There are two groups of pedal rotating mechanisms in this device.

The knee-hip joint motion mechanism includes a center shaft 1 , two connecting rods 2 , a first clutch 111 , a magnetic powder brake 10 , a reduction transmission, a second clutch 112 and a first drive motor 121 .

As shown in Figure 2, one end of the connecting rod 2 is fixedly connected to the end of the central shaft 1, and the other end of the connecting rod 2 has an end hole, and the pedal shaft 32 passes through the end hole and is movably connected with the connecting rod 2 through a bearing 93, two The connecting rod 2 has the same structure and connection mode, and is arranged symmetrically with respect to the central point of the central axis 1 .

Two shaft end positioning parts 15 are arranged on the central shaft 1, and the shaft end positioning parts 15 are composed of locking retaining rings and set screws screwed into the locking retaining rings.

The reduction transmission device is made up of the gear shaft 41, the gear 42, the front sprocket 43 and the rear sprocket 44 which are mutually meshed with the transmission chain 45. The transmission ratio of the reduction transmission device is 8:1. The left end of the gear shaft 41 is connected with the magnetic powder brake 10 through the first clutch 111, and the right end is connected with the first drive motor 121 through the second clutch 112. The gear 42 and the front sprocket 43 are fixedly connected on the same rear axle 14. The rear sprocket 44 It is fixedly connected with the central axis 1 at the middle position.

The ankle joint motion mechanism includes a left sleeve 51 , a right sleeve 52 , an input transmission mechanism, a left transmission mechanism, a right transmission mechanism, two sets of output transmission mechanisms, a third clutch 113 and a second driving motor 122 .

The left and right sleeves 51, 52 are connected to the center shaft 1 through bearings, and the bearings are located at both ends of the sleeves, wherein the left bearing 91 for positioning the left sleeve 51 is positioned by the shaft end positioning part 15 on the axial inner ring, and the outer ring is positioned by the shaft end positioning part 15. The inner step of the sleeve is positioned, and the axial inner ring of the right bearing 92 used to locate the left sleeve 51 is positioned by the step of the central shaft 1, and the outer ring is positioned by the inner step of the sleeve. The connection and positioning method of the right sleeve 52 and the central shaft 1 is the same as The connection and positioning mode of the left sleeve 51 and the central shaft 1 is the same.

The left transmission mechanism is made up of a driven gear 62 and a driving gear 61 that are externally meshed with each other. The right transmission mechanism is made up of the driven synchronous pulley 64 and the driving synchronous pulley 63 which are mutually meshed with the synchronous belt 65 . The input transmission mechanism is composed of a worm wheel 72 and a worm 71 which mesh with each other. Wherein, the driven gear 62 is fixedly connected to the right end of the left sleeve 51, the driven synchronous pulley 64 is fixedly connected to the left end of the right sleeve 52, and the driving gear 61, the driving synchronous pulley 63 and the worm wheel 72 are fixedly connected to the same lower shaft 13 Above, the driving gear 61 and the driving synchronous pulley 63 are respectively located on both sides of the worm wheel 72, the worm 71 is connected with the second driving motor 122 through the third clutch 113, and the motor reverses direction every 180°.

The transmission ratio of the left transmission mechanism and the transmission ratio of the right transmission mechanism are both 1.5:1. The worm gear of the input transmission mechanism is a non-self-locking worm gear.

The output transmission mechanism is composed of a driving synchronous pulley 81 and a driven synchronous pulley 82 meshing with the synchronous belt 83. The two driving synchronous pulleys 81 of the two sets of output transmission mechanisms are respectively connected to the left end of the left sleeve 51 and the right end of the right sleeve 52. Fixedly connected, the driven synchronous pulley 82 is fixedly connected with the pedal shaft 32 away from the pedal 34 shaft end, and the transmission ratio of the output transmission mechanism is 1:1.

In the lower limb multi-training mode rehabilitation robot of the present invention, the transmission combination in the reduction transmission device can be replaced by a single or combined transmission such as belt pulley transmission, gear transmission, and sprocket transmission that meet the space requirements and deceleration requirements. The gear transmission of the left transmission mechanism can be replaced by transmissions such as sprocket transmission, pulley transmission, etc., and the belt pulley transmission of the corresponding right transmission mechanism can be replaced by transmissions such as gear transmission and gear transmission. The non-self-locking worm gear transmission of the input transmission mechanism can be replaced by spur gear transmission, bevel gear transmission, sprocket transmission or various reduction transmissions. The pulley drive of the output drive mechanism can be replaced by gear drive or sprocket drive. The first driving motor and the second driving motor can be replaced by other single or combined driving devices. The magnetic powder brake can be replaced by other brakes that can adjust the dynamic torque.

The lower limb multi-training mode rehabilitation robot of the present invention can be located in the middle of the left sleeve 51, the middle of the right sleeve 52, the two shaft ends of the lower shaft 13, the two shaft ends of the rear shaft 14, the two shaft ends of the worm 71, and the two shaft ends of the gear shaft 41. The positioning bearing at the shaft end places the whole mechanism in the box. The whole mechanism is exposed outside the casing except that the pedal rotation mechanism, the connecting rod 2 and the output transmission mechanism are exposed, and all other mechanisms are sealed in the casing.

In this embodiment, the lower limb multi-training mode rehabilitation robot is placed in front of the wheelchair, the patient sits on the wheelchair, and the feet are placed on the pedals as an example. joint, left hip joint, right ankle joint, right knee joint, right hip joint) four training modes: passive, assist, active, damping:

(1) Passive training mode

The first driving motor 121 is working, the second clutch 112 is working in the engaged state, the reduction transmission device in the knee-hip joint motion mechanism drives the central shaft 1 to rotate, and the output torque of the first driving motor 121 is smoothly transmitted to the connecting rod 2, and the connecting rod 2 is connected The rod 2 drives the patient's legs to move in close gait, thereby rehabilitation training the patient's knee joint and hip joint. Simultaneously, the second drive motor 122 works, the third clutch 113 works in the engaged state, the left and right transmission mechanisms in the ankle joint movement mechanism drive the left and right sleeves 51, 52 to rotate around the central axis 1, and then the output transmission mechanism will The output torque of the second drive motor 122 is smoothly transmitted to the pedal 31, and the pedal 31 and the pedal shaft 32 rotate together in the end hole of the connecting rod 2. Since the gear transmission of the left transmission mechanism is an external meshing transmission, the pulley transmission of the right transmission mechanism It is an internal meshing transmission, the rotation direction of the two sleeves is just opposite, so that the rotation direction of the two pedals 31 is opposite, and the second drive motor rotates 180° in the opposite direction, and the pedal 31 drives the patient's foot to do foot posture movements, thereby rehabilitation training the patient's ankle joint. The rotation angle and revolution angle of pedal 31 anthropomorphic ankle joint motion are controlled in real time by two driving motors.

(2) Assist training mode

The first driving motor 121 and the second driving motor 122 are in the working state, the second clutch 112 and the third clutch 113 are working in the combined state, and detect the myoelectric signal of the neuromuscular of the patient's lower limbs to control the first driving motor 121 and the second driving motor. The magnitude and direction of the output torque of the driving motor 122, the reduction transmission device in the knee-hip joint motion mechanism drives the central axis 1 to rotate, and smoothly transmits the output torque of the first driving motor 121 to the connecting rod 2, and the connecting rod 2 exerts pressure on the patient At the same time, the left and right transmission mechanisms in the ankle joint movement mechanism drive the left and right sleeves 51, 52 to rotate around the central axis 1, and the output torque of the second drive motor 122 is smoothly transmitted through the output transmission mechanism. To the pedal 31, the pedal 31 exerts a force in the same direction as the patient's ankle attempting to move, helping the patient's lower limbs to perform rehabilitation training.

(3) Active training mode

The first drive motor 121 and the second drive motor 122 stop working, and the second clutch 112 and the third clutch 113 work in a disengaged state. Since the reduction transmission device, the left transmission mechanism, the right transmission mechanism and the output transmission mechanism can all transmit in forward and reverse directions The worm gear and worm of the input transmission mechanism adopts non-self-locking worm gear and worm, and the input transmission mechanism can also be transmitted in forward and reverse directions. The central axis 1 is in the state of free rotation, and the pedal 31 is also in the state of free rotation. The feet can be placed on the pedals 31 for active rehabilitation training without damping of the lower limbs.

(4) Damping training mode

In the active training mode, the magnetic powder brake 10 works, the first clutch 111 works in the engaged state, and the pedal 31 can rotate freely. By controlling the current of the magnetic powder brake 10, the resistance distance is applied to the gear shaft 41 to adjust the resistance torque of the control axis 1 At this time, the foot of the patient who has recovered to a certain degree can be placed on the pedal 31 to carry out rehabilitation training with damping for the lower limbs.

The present invention is not limited to the specific embodiments described above. Those skilled in the art can implement the present invention by adopting various other specific embodiments according to the disclosed content of the present invention. Changes or modified designs all fall within the protection scope of the present invention.

Claims (8)

1. lower limb multi-training mode rehabilitation robot is characterized in that: comprise pedal rotating mechanism, knee hip joint motion and ankle arthrosis motion,

Described pedal rotating mechanism comprises pedal (31) and pedal shaft (32), and pedal shaft (32) one ends are connected with pedal (31), and the other end is connected with the ankle arthrosis motion with knee hip joint motion, and described pedal rotating mechanism is two groups;

Described knee hip joint motion comprises axis (1), two connecting rods (2), first clutch (111), brake (10), speed reduction gearing, second clutch (112) and the first drive motors (121), one end of connecting rod (2) is fixedly connected with the end of axis (1), the other end has a stomidium, pedal shaft (32) passes stomidium and connecting rod (2) is flexibly connected, two connecting rods (2) structure is identical with connected mode, and the central point of axis (1) is arranged relatively; The input of speed reduction gearing is connected with brake (10) by first clutch (111), and described input also is connected with the first drive motors (121) by second clutch (112) simultaneously; The output of speed reduction gearing is fixedly connected with in the centre position with axis (1), and described speed reduction gearing can positive and negative both direction transmission;

described ankle arthrosis motion comprises left sleeve (51), right sleeve (52), input driver structure, Left Drive mechanism, right transmission mechanism, two groups of outputs transmission mechanism, three-clutch (113) and second drive motors (122), left and right sleeve (51,52) is placed in respectively axis (1) two ends and can rotates around axis (1), left sleeve (51) right-hand member is connected with the driven end of Left Drive mechanism, and left sleeve (51) left end is connected with the drive end of one group of output transmission mechanism, right sleeve (52) left end is connected with the driven end of right transmission mechanism, right sleeve (52) right-hand member is connected with the drive end of another group output transmission mechanism, a described left side, the transmission direction of right transmission mechanism is opposite, driven end while and the Left Drive mechanism of input driver structure, the drive end of right transmission mechanism connects, the drive end of input driver structure is connected with the second drive motors (122) by three-clutch (113), the driven end of output transmission mechanism is fixedly connected with the axle head of pedal shaft (32) away from pedal (31), described input driver structure, Left Drive mechanism, right transmission mechanism, two groups of output transmission mechanisms can both positive and negative both direction transmission.

2. lower limb multi-training mode rehabilitation robot according to claim 1, it is characterized in that: the gear drive that described speed reduction gearing is comprised of gear shaft (41) and the gear (42) of mutual external toothing and forming with sprocket transmission device that the intermeshing front sprocket wheel of driving-chain (45) (43) and rear sprocket wheel (44) form, the input of speed reduction gearing is gear shaft (41), output is rear sprocket wheel (44), gear shaft (41) left end is connected with brake (10) by first clutch (111), right-hand member is connected with the first drive motors (121) by second clutch (112), gear (42) is fixedly connected on same rear axle (14) with front sprocket wheel (43).

3. lower limb multi-training mode rehabilitation robot according to claim 1 and 2 is characterized in that: Left Drive mechanism is comprised of driven gear (62) and the driving gear (61) of mutual external toothing, right transmission mechanism is by forming with the first Timing Belt (65) the intermeshing first driven synchronous pulley (64) and the first active synchronization belt wheel (63), the input driver structure is comprised of intermeshing worm gear (72) and worm screw (71), driving gear (61), the first active synchronization belt wheel (63) and worm gear (72) are fixedly connected on same lower shaft (13), driving gear (61), the first active synchronization belt wheel (63) lays respectively at worm gear (72) both sides, worm screw (71) is connected with the second drive motors (122) by three-clutch (113), the second drive motors (122) often turns 180 ° oppositely, the output transmission mechanism is by forming with intermeshing the second active synchronization belt wheel (81) of the second Timing Belt (83) and the second driven synchronous pulley (82).

4. lower limb multi-training mode rehabilitation robot according to claim 1 and 2, it is characterized in that: described brake (10) is magnetic powder brake.

5. lower limb multi-training mode rehabilitation robot according to claim 1 is characterized in that: be provided with two axle head location divisions (15) on axis (1), described axle head location division (15) is comprised of locking back-up ring and the holding screw that screws in the locking back-up ring.

6. lower limb multi-training mode rehabilitation robot according to claim 5, it is characterized in that: left and right sleeve (51,52) is connected with axis (1) by bearing, bearing is positioned at sleeve two ends, wherein be used for the axial inner ring of left bearing (91) of location left sleeve (51) by location, axle head location division (15), the outer ring is by step location in left sleeve; The axial inner ring of right bearing (92) that is used for location left sleeve (51) is located by axis (1) step, the outer ring is by step location in left sleeve, the connection locate mode of right sleeve (52) and axis (1) and left sleeve (51) and axis (1) to be connected locate mode identical.

7. lower limb multi-training mode rehabilitation robot according to claim 1, it is characterized in that: pedal shaft (32) is connected with pedal (31) by flat key (33), holding screw (34), flat key (33) has connected radial location to this, and holding screw (34) has connected axial location to this.

8. lower limb multi-training mode rehabilitation robot according to claim 1, it is characterized in that: the gearratio of described speed reduction gearing is 8, and the gearratio of described left and right transmission mechanism is 1.5, the gearratio of described output transmission mechanism is 1.

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