CN110236885B - A rehabilitation robot with waist and lower limb training functions - Google Patents

Abstract

The invention discloses a rehabilitation robot with waist and lower limb training functions, comprising a base, a torsion training mechanism, a pitch training mechanism, a seat and two knee joint training mechanisms; A torsion motor and a horizontal torsion driven gear are arranged on the mounting seat, and a torsion driving gear meshed with the torsion driven gear is fixed on the output shaft of the torsion motor; the pitch training mechanism includes a pitch mount fixedly connected with the torsion driven gear , a pitching motor and a vertical pitching driven gear are arranged on the pitching mounting seat, a pitching driving gear that meshes with the pitching driven gear is fixed on the output shaft of the pitching motor, and the bottom end of the seat is fixedly connected with the pitching driven gear ; Two knee joint training institutions are arranged on both sides of the seat directly in front. The rehabilitation robot with the waist and lower limb training functions of the present invention can perform rehabilitation training on the patient's waist and lower limbs at the same time.

Description

A rehabilitation robot with waist and lower limb training functions

technical field

The invention relates to the technical field of medical equipment, in particular to a rehabilitation robot with waist and lower limb training functions.

Background technique

For patients with limb dysfunction, in addition to surgery and drug treatment, scientific, safe and reasonable rehabilitation training is a key process in the daily rehabilitation process, which can relieve symptoms or even fully recover. At present, physician-assisted therapy is often used for physical rehabilitation of patients. Patients or their family members assist in training and rehabilitation. This kind of treatment method is inefficient and wastes the physical strength and energy of family members. The use of rehabilitation robots for auxiliary training of patients is a more efficient training method, but the general rehabilitation robots have a single training function, generally only one part such as the upper limbs, lower limbs or waist can be exercised, and the general performance is poor.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a rehabilitation robot with waist and lower limb training functions, so as to solve the above-mentioned problems in the prior art and realize the simultaneous rehabilitation training of the patient's waist and lower limbs.

In order to achieve the above purpose, the present invention provides the following solutions: the present invention provides a rehabilitation robot with waist and lower limb training functions, including a base, a torsion training mechanism, a pitch training mechanism, a seat and two knee joint training mechanisms; the The torsion training mechanism includes a torsion mounting seat arranged on the base, a torsion motor and a horizontal torsion driven gear are arranged on the torsion mounting seat, and an output shaft of the torsion motor is fixed with the torsion driven gear. a twisting driving gear meshed with gears; the pitching training mechanism includes a pitching mounting seat fixedly connected with the twisting driven gear, the pitching mounting seat is provided with a pitching motor and a vertical pitching driven gear, the pitching motor A pitch driving gear meshing with the pitch driven gear is fixed on the output shaft of the seat, and the bottom end of the seat is fixedly connected with the pitch driven gear; the two knee joint training mechanisms are respectively arranged on the seat On both sides of the front of the chair, each knee joint training mechanism includes a vertical support frame, a first swing rod, a second swing rod and a horizontal rod, and a knee joint motor is fixed on the vertical support, and the knee joint motor is fixed on the vertical support frame. A knee joint active pulley is fixed on the output shaft of the knee joint motor, the top end of the first swing rod is connected with a knee joint driven pulley through a rotating shaft, the knee joint active pulley and the knee joint driven belt A timing belt is sleeved on the wheel, the top end of the second swing rod is connected with a knee joint position encoder through an auxiliary shaft, and the rotating shaft and the auxiliary shaft are respectively connected to the bearing seat on the top of the vertical support frame through a bearing. Rotationally connected, the two ends of the cross bar are respectively connected with the bottom ends of the first swing bar and the second swing bar, a pedal mounting frame and an ankle motor are fixed on the cross bar, and the pedal is installed A foot pedal is rotatably arranged on the frame, and the output shaft of the ankle motor is connected with the pedal shaft of the foot pedal through a coupling.

Preferably, it also includes a lift assembly, the lift assembly includes a lift mount, the lift mount includes a horizontal plate and two vertical and spaced vertical plates, the bottom ends of the two vertical plates It is fixedly connected with the top surface of the horizontal plate, the inner sides of the two vertical plates are respectively provided with a vertical lifting guide rail, and the two sides of the torsion mounting seat are respectively provided with a vertical lifting guide rail which is slidably matched with the lifting guide rail. Lifting sliders, the two lifting sliders are in one-to-one correspondence with the two lifting guide rails, the horizontal plate is provided with a vertical electric telescopic rod, and the top of the electric telescopic rod is connected to the end of the torsion mounting seat. The bottom ends are fixedly connected, and the torsion mounting base and the electric telescopic rod are both located between the two vertical plates.

Preferably, the base is provided with two seat adjustment guide rails, and the lift mounting base is provided with only two seat adjustment sliders which are respectively slidably matched with the two seat adjustment guide rails. A plurality of seat positioning holes are evenly arranged on the seat, and the seat adjustment sliders are connected by screwing the seat positioning holes.

Preferably, the bottom end of the vertical support frame is fixedly connected with the base, and a reinforcing rod is connected between the bottom of the vertical support frame and the base; the ankle joint motor is also electrically connected with an ankle joint position an encoder, and the bottom end of the seat is fixedly connected with the pitch driven gear through a seat connecting plate.

Preferably, the torsion driven gear is provided with a torsion limit slot, the torsion limit slot is arc-shaped, the torsion limit slot is coaxial with the torsion driven gear, and the top end of the torsion mounting seat A vertical twist limiting pin is fixed, and the twist limiting pin passes through the twist limiting groove.

Preferably, the pitch driven gear is provided with a pitch limit slot, the pitch limit slot is arc-shaped, and the pitch limit slot is coaxial with the pitch driven gear, and the side of the pitch mount is A horizontal pitch limit pin is fixed on the wall, and the pitch limit pin passes through the pitch limit slot.

Preferably, the footboard is further provided with a fixing belt for fixing the patient's foot, the ankle motor is connected to the crossbar through an ankle motor mounting bracket, and the knee motor is installed through the knee motor The frame is connected with the vertical support frame.

Preferably, the bottom of the first swing rod and the bottom of the second swing rod are uniformly provided with several cross-bar positioning holes, and both ends of the cross-bar are connected to the cross-bar positioning holes by bolts.

Compared with the prior art, the rehabilitation robot with waist and lower limb training functions of the present invention has achieved the following technical effects:

The rehabilitation robot with the waist and lower limb training functions of the present invention can perform rehabilitation training on the patient's waist and lower limbs at the same time. The rehabilitation robot with waist and lower limb training functions of the present invention can realize the synchronous coordinated training or independent training of waist pitch, twist, knee joint and ankle joint, and has simple structure and low cost. The rehabilitation robot with waist and lower limb training functions of the present invention can adjust the height of the seat through the electric telescopic rod, adjust the front and rear position of the seat through the seat positioning hole, and place the feet through the crossbar positioning hole. The height can be adjusted to adapt to patients of different heights. The rehabilitation robot with waist and lower limb training functions of the present invention adopts a seat-type rehabilitation training structure, which reduces the pressure burden of body weight on the patient's waist and legs, and contributes to a better training effect on the waist and legs. The rehabilitation robot with waist and lower limb training functions of the present invention is provided with a limit structure for both the pitch training mechanism and the torsion training mechanism of the waist training, so as to ensure the safety of training. The angle of joint rotation, once the signal is abnormal, stop the rehabilitation training in time, which is safe and reliable, and will not cause secondary damage to the patient.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic structural diagram of a rehabilitation robot with waist and lower limb training functions according to the present invention;

2 is a partial structural schematic diagram 1 of a rehabilitation robot with waist and lower limb training functions according to the present invention;

3 is a second partial structural schematic diagram of a rehabilitation robot with waist and lower limb training functions according to the present invention;

4 is a schematic structural diagram of a knee joint training mechanism in a rehabilitation robot with waist and lower limb training functions according to the present invention;

5 is a partial structural schematic diagram of a knee joint training mechanism in a rehabilitation robot with waist and lower limb training functions according to the present invention;

6 is a first structural schematic diagram of an ankle joint training mechanism in a rehabilitation robot with waist and lower limb training functions according to the present invention;

7 is a second structural schematic diagram of an ankle joint training mechanism in a rehabilitation robot with waist and lower limb training functions according to the present invention;

Among them, 1-base, 2-seat, 21-seat connecting plate, 3-knee joint training mechanism, 30-cross bar, 31-vertical support frame, 32-bearing seat, 33-knee joint motor mounting frame, 34- Knee joint motor, 35- Knee joint driving pulley, 36- Knee joint driven pulley, 37- Timing belt, 38- First swing rod, 39- Second swing rod, 310- Knee joint position encoder, 311-crossbar positioning hole, 312-auxiliary shaft, 4-pitch training mechanism, 41-pitch mount, 42-pitch motor, 43-pitch driving gear, 44-pitch driven gear, 441-pitch limit slot, 45 - pitch limit pin, 5- twist training mechanism, 51 - twist mount, 52 - twist motor, 53 - twist drive gear, 54 - twist driven gear, 541 - twist limit slot, 55 - twist limit pin, 6-Ankle joint assembly, 61-Pedal mount, 62-Ankle joint motor mount, 63-Ankle joint motor, 64-Pedal shaft, 65-Foot pedal, 66-Retaining belt, 67-Ankle joint position encoder, 68-Coupling, 7-Lifting assembly, 71-Lifting mounting seat, 72-Lifting guide rail, 73-Electric telescopic rod, 74-Lifting slider, 75- Telescopic rod mounting shaft, 8-Seat adjustment rail, 81- Seat positioning hole, 9-seat adjustment slider, 11-reinforcing rod.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

The purpose of the present invention is to provide a rehabilitation robot with waist and lower limb training functions, so as to solve the above-mentioned problems in the prior art and realize the simultaneous rehabilitation training of the patient's waist and lower limbs.

In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

As shown in Figures 1-7, this embodiment provides a rehabilitation robot with waist and lower limb training functions, including a base 1, a lifting assembly 7, a torsion training mechanism 5, a pitch training mechanism 4, a seat 2 and two knee joints training facility 3.

1-3 , the torsion training mechanism 5 includes a torsion mounting seat 51 . The torsion mounting seat 51 is provided with a torsion motor 52 and a horizontal torsion driven gear 54 , and the torsion driven gear is fixed on the output shaft of the torsion motor 52 . 54 meshing torsion driving gear 53, the torsion driving gear 53 is coaxial with the output shaft of the torsion motor 52, and the torsion motor 52 is connected to the torsion mounting seat 51 through an L-shaped mounting plate; the torsion driven gear 54 is provided with a torsion limit Slot 541, the twist limiting slot 541 is arc-shaped and the twist limiting slot 541 is coaxial with the twist driven gear 54, the top end of the twist mounting seat 51 is fixed with a vertical twist limit pin 55, the twist limit pin 55 Pass through the twist limit slot 541 .

The lift assembly 7 includes a lift mount 71, the lift mount 71 includes a horizontal plate and two vertical vertical plates with intervals, the bottom ends of the two vertical plates are fixedly connected with the top surface of the horizontal plate, and the two vertical plates are The inner side of the vertical plate is respectively provided with a vertical lifting guide rail 72 , the two sides of the twist mounting base 51 are respectively provided with a lifting sliding block 74 which is slidingly matched with the lifting guide rail 72 , and the two lifting sliding blocks 74 are connected with the two lifting guide rails. 72 correspond one by one, a vertical electric telescopic rod 73 is arranged on the horizontal plate, the top of the electric telescopic rod 73 is fixedly connected with the bottom end of the torsion mounting seat 51, and the torsion mounting seat 51 and the electric telescopic rod 73 are located in two vertical between the boards. The bottom end of the twist mount 51 and the lift mount 71 are provided with a telescopic rod mounting shaft 75 , and the electric telescopic rod 73 is respectively mounted on the twist mount 51 and the lift mount 71 through the telescopic rod mounting shaft 75 .

The base 1 is provided with two seat adjustment guide rails 8 , and the lift mounting base 71 is provided with only two seat adjustment sliders 9 which are respectively slidably matched with the two seat adjustment guide rails 8 . There are seat positioning holes 81 , and the seat adjustment slider 9 is connected through the screw seat positioning holes 81 .

The pitch training mechanism 4 includes a pitch mount 41 that is fixedly connected with the torsion driven gear 54. The pitch mount 41 is provided with a pitch motor 42 and a vertical pitch driven gear 44, and an output shaft of the pitch motor 42 is fixed with a pitch motor 42. The pitch driving gear 43 meshed with the pitch driven gear 44, the output shaft of the pitch drive gear 43 and the pitch motor 42 is coaxial, and is fixedly connected with the bottom end of the seat 2 and the pitch driven gear 44; the pitch driven gear 44 is provided with a pitch The limit slot 441, the pitch limit slot 441 is arc-shaped and the pitch limit slot 441 is coaxial with the pitch driven gear 44, and a horizontal pitch limit pin 45 is fixed on the side wall of the pitch mount 41. The position pin 45 passes through the pitch limit slot 441 .

The two knee joint training mechanisms 3 are located on both sides of the seat 2 directly in front of each other; The knee joint motor 34 is fixed on the bracket, the knee joint driving pulley 35 is fixed on the output shaft of the knee joint motor 34, the knee joint driving pulley 35 is coaxial with the output shaft of the knee joint motor 34, and the first swing rod The top end of 38 is connected with the knee joint driven pulley 36 through the rotating shaft, the knee joint driving pulley 35 and the knee joint driven pulley 36 are sleeved with a synchronous belt 37, and the top end of the second swing rod 39 is connected with the auxiliary shaft 312. The knee joint position encoder 310, the rotating shaft and the auxiliary shaft 312 are respectively rotatably connected to the bearing seat 32 on the top of the vertical support frame 31 through a bearing. The bottom end is connected, a pedal mounting frame 61 and an ankle joint motor 63 are fixed on the cross bar 30, a foot pedal 65 is rotatably provided on the pedal mounting frame 61, and the output shaft of the ankle joint motor 63 is connected to the foot pedal through a coupling 68. The pedal shaft 64 of 65 is connected.

The bottom end of the vertical support frame 31 is fixedly connected with the base 1, and a reinforcing rod 11 is connected between the bottom of the vertical support frame 31 and the base 1; the ankle joint motor 63 is also electrically connected with an ankle joint position encoder 67, and the seat 2 Its bottom end is fixedly connected with the pitch driven gear 44 through the seat connecting plate 21 . The foot pedal 65 is also provided with a fixing belt 66 for fixing the patient's foot, the ankle motor 63 is connected to the cross bar 30 through the ankle motor mounting frame 62, and the knee motor 34 is connected to the vertical through the knee motor mounting frame 33. Support frame connection. The bottom of the first swing rod 38 and the bottom of the second swing rod 39 are evenly provided with several cross-bar positioning holes 311 . Different crossbar positioning holes 311 are fixed to adjust the height of the ankle joint assembly 6 .

In order to ensure the safety of the patient during the rehabilitation training process, an emergency stop switch is provided on the armrest of the seat 2. The patient can press the emergency stop switch by himself if he has any discomfort. The emergency stop switch is connected to the knee motor 34, ankle motor 63, The electric telescopic rod 73 , the pitch motor 42 and the torsion motor 52 are electrically connected, and the knee joint motor 34 , the ankle joint motor 63 , the electric telescopic rod 73 , the pitch motor 42 and the torsion motor 52 can be directly turned off after pressing the emergency stop switch.

In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "front", "top", "bottom", "vertical", "horizontal", etc. is based on the orientation or position shown in the drawings The relationship is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

In the present invention, specific examples are used to illustrate the principles and implementations of the present invention, and the descriptions of the above embodiments are only used to help understand the method and the core idea of the present invention; There will be changes in the specific implementation manner and application scope of the idea of the invention. In conclusion, the contents of this specification should not be construed as limiting the present invention.

Claims (4)

1. A rehabilitation robot with waist and lower limb training function is characterized in that: comprising a base, a torsion training mechanism, a pitch training mechanism, a seat and two knee joint training mechanisms; The torsion mounting seat on the torsion mounting seat is provided with a torsion motor and a horizontal torsion driven gear, and a torsion driving gear meshing with the torsion driven gear is fixed on the output shaft of the torsion motor; the torsion driven gear; The pitch training mechanism includes a pitch mounting seat fixedly connected with the torsion driven gear, the pitch mounting seat is provided with a pitch motor and a vertical pitch driven gear, and an output shaft of the pitch motor is fixed with the pitch motor. The pitch driving gear meshed with the pitch driven gear, the bottom end of the seat is fixedly connected with the pitch driven gear; the two knee joint training mechanisms are respectively arranged on both sides in front of the seat, each The knee joint training mechanisms all include a vertical support frame, a first swing rod, a second swing rod and a horizontal rod. A knee joint motor is fixed on the vertical support, and an output shaft of the knee joint motor is fixed on the output shaft. There is a knee joint active pulley, the top end of the first swing rod is connected with a knee joint driven pulley through a rotating shaft, and a synchronous belt is sleeved on the knee joint active pulley and the knee joint driven pulley, so The top end of the second swing rod is connected with a knee joint position encoder through an auxiliary shaft, the rotating shaft and the auxiliary shaft are respectively rotatably connected with the bearing seat on the top of the vertical support frame through a bearing, and the two sides of the horizontal rod are connected in rotation. The ends are respectively connected with the bottom ends of the first swing rod and the second swing rod, a pedal mounting frame and an ankle joint motor are fixed on the horizontal rod, and a foot pedal is rotatably arranged on the pedal mounting frame, The output shaft of the ankle motor is connected with the pedal shaft of the foot pedal through a coupling; Also includes a lift assembly, the lift assembly includes a lift mount, the lift mount includes a horizontal plate and two vertical and spaced vertical plates, the bottom ends of the two vertical plates and the The top surfaces of the horizontal plates are fixedly connected, the inner sides of the two vertical plates are respectively provided with a vertical lifting guide rail, and the two sides of the torsion mounting base are respectively provided with a lifting slider which is slidably matched with the lifting guide rails. , the two lifting sliders are in one-to-one correspondence with the two lifting guide rails, the horizontal plate is provided with a vertical electric telescopic rod, and the top end of the electric telescopic rod is fixed to the bottom end of the torsion mounting seat connected, the torsion mount and the electric telescopic rod are both located between the two vertical plates; The base is provided with two seat adjustment guide rails, the lift mounting seat is provided with only two seat adjustment sliders which are respectively slidably matched with the two seat adjustment guide rails, and the seat adjustment guide rails are evenly arranged on the seat adjustment guide rails. There are several seat positioning holes, and the seat adjustment slider is connected by screwing the seat positioning holes; The bottom end of the vertical support frame is fixedly connected with the base, and a reinforcing rod is connected between the bottom of the vertical support frame and the base; the ankle joint motor is also electrically connected with an ankle joint position encoder, The bottom end of the seat is fixedly connected with the pitch driven gear through a seat connecting plate; The torsion driven gear is provided with a torsion limit slot, the torsion limit slot is arc-shaped and the torsion limit slot is coaxial with the torsion driven gear, and the top end of the torsion mounting seat is fixed with a A vertical twist limiting pin, the twist limiting pin passing through the twist limiting slot. 2 . The rehabilitation robot with waist and lower limb training functions according to claim 1 , wherein: the pitch driven gear is provided with a pitch limit slot, the pitch limit slot is arc-shaped and the pitch The limit slot is coaxial with the pitch driven gear, a horizontal pitch limit pin is fixed on the side wall of the pitch mount, and the pitch limit pin passes through the pitch limit slot. 3 . The rehabilitation robot with waist and lower limb training function according to claim 1 , wherein the footrest is further provided with a fixing belt for fixing the patient's foot, and the ankle motor passes through the ankle joint. 4 . The motor mounting frame is connected with the cross bar, and the knee joint motor is connected with the vertical support frame through the knee joint motor mounting frame. 4 . The rehabilitation robot with waist and lower limb training function according to claim 1 , wherein the bottom of the first swing bar and the bottom of the second swing bar are uniformly provided with several cross bar positioning holes. 5 . , the two ends of the horizontal bar are connected to the positioning hole of the horizontal bar through bolts.

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