CN110353944A - Sitting posture joint driving lower limb rehabilitation robot - Google Patents

Abstract

The invention discloses a seated joint-driven lower limb rehabilitation robot, which includes a base, a thigh lifting mechanism, a calf stretching mechanism and a driving device. The base is provided with a seat; The rod swings along the left-right axis and is installed on the base; the calf stretching mechanism includes a second swing rod linked with the calf, and the second swing rod swings along the left-right axis and is installed on the first swing rod; the driving device respectively drives the first swing rod to swing up and down, The second fork swings back and forth. In the present invention, under the drive of the driving device, the first swing rod can drive the patient's thigh to perform rehabilitation training, and the second swing rod can drive the patient's calf to carry out stretch rehabilitation training, which enriches the diversity of rehabilitation training functions, thereby contributing to The rehabilitation training effect is optimized; and the patient does not need to carry heavy objects, which improves the comfort of the patient's rehabilitation training and has the advantages of simple structure and low economic cost.

Description

Seated Joint Drive Lower Limb Rehabilitation Robot

technical field

The invention relates to the technical field of medical robots, in particular to a seated combined drive lower limb rehabilitation robot.

Background technique

The continuous development of science and technology has continuously improved the medical level of human beings, extended the average life expectancy, and also made the population of the world tend to age. There are a large number of patients with cerebrovascular diseases or nervous system diseases in the elderly population. The most common clinical manifestation of these diseases is hemiplegia, which seriously affects the motor function and self-care ability of patients. Medical theory and clinical medicine have proved that in addition to receiving early surgical treatment and necessary drug treatment, scientific and reasonable rehabilitation training also plays a very important role in the recovery and improvement of limb motor function.

Traditional rehabilitation treatment is usually based on one-on-one adjuvant treatment by a rehabilitation physiotherapist, which is time-consuming and expensive. In order to solve the above problems, existing rehabilitation robots that combine rehabilitation engineering and robotics have emerged as the times require. Among them, rehabilitation robots that involve the movement of human hip joints, knee joints, and ankle joints need to be worn on the human body. The requirements for controlling and controlling the motor are high, so the cost is high; in addition, the range adjustment of each joint movement needs to be precisely controlled to prevent secondary injuries, so a total of four motor drives are installed to increase the weight of the exoskeleton; Rehabilitation robot for patients with weak lower limbs who are difficult to stand. The main body is a bed body, which makes the upper body of the patient lie flat, and the legs are driven by the mechanical structure of the exoskeleton to train the leg muscles. .

Contents of the invention

The main purpose of the present invention is to propose a seated combined drive lower limb rehabilitation robot, which aims to solve the problems of poor rehabilitation effect and high economic cost of traditional rehabilitation robots.

In order to achieve the above object, the present invention proposes a seated combined drive lower limb rehabilitation robot, including:

a base with a seat for the patient to sit on;

The thigh lifting mechanism includes a first swing link for linking the thighs, and the installation end of the first swing link is mounted on the base so as to be swingable up and down along the left-right axis;

The calf stretching mechanism includes a second swing link for linking the lower legs, the mounting end of the second swing link is mounted on the movable end of the first swing link so as to be swingable back and forth along the left-right axis; and,

The driving device is arranged on the base, and the driving device respectively drives and connects the thigh lifting mechanism and the calf stretching mechanism, so that the first swing rod swings up and down, and the second swing rod swings back and forth.

Optionally, the driving device has a rotary output shaft extending upward;

The thigh lift mechanism also includes a swing assembly comprising:

a worm, transmission-connected to the rotary output shaft, to rotate forward and backward along an up-down axis driven by the driving device; and,

The worm gear is meshed with the worm, and the side of the worm wheel away from the meshing place is fixedly connected to the installation end of the first swing rod.

Optionally, the swing assembly also includes:

The casing is arranged on the base, and the interior of the casing is formed with an installation cavity for the installation of the worm and the worm wheel. One side of the installation cavity is provided with an opening for the first The movable end of the swing rod protrudes outward from the installation cavity; and,

Two limiting plates protrude from the upper edge and the lower edge of the opening respectively, and are used to limit the swing angle of the first swing link.

Optionally, the calf stretching mechanism further includes a lift assembly, wherein:

The upper end of the lifting assembly is fixedly connected to the movable end of the second swing rod, so as to drive the movable end of the second swing rod to rise or fall;

The lifting assembly is movably mounted on the base along the front and rear directions, so as to drive the movable end of the second swing rod to move along the front and rear directions.

Optionally, the lift assembly includes:

The bottom plate is movably mounted on the base along the front and rear directions, and the upper end of the bottom plate is provided with a fixed part and a moving part, and the moving part can move relative to the bottom plate;

Scissor-type lifting frame, the two upper ends are used to connect the movable end of the second swing rod, and the two lower ends are respectively rotatably connected to the fixed part and the moving part, so that when the moving part moves relative to the bottom plate, driving the movable end of the second swing rod up or down; and,

The electric driving part is arranged on the bottom plate and is used to drive the moving part to move.

Optionally, the driving device has a rotating output shaft extending forward;

The calf extension mechanism also includes:

A lead screw is arranged on the base, and the lead screw is connected to the rotating output shaft through transmission, so as to be driven by the drive device to rotate along the front-back axis; and,

A nut is threadedly connected to the lead screw, and the nut is fixedly connected to the lower end of the lifting assembly.

Optionally, the calf stretching mechanism further includes a pedal structure, and the pedal structure includes:

a sleeve, used to fix the feet, and the sleeve is installed on the upper end of the lifting assembly up and down along the left-right axis; and,

The reset member is arranged between the sleeve and the lifting assembly.

Optionally, the driving device includes:

A driving motor is provided on the base and has a power take-off shaft extending forward; and,

A steering assembly, which is in transmission connection with the power output shaft and the thigh lifting mechanism, and is used to form the rotating output shaft extending upward under the drive of the driving motor.

Optionally, the steering assembly includes:

The bevel gear set includes a driving bevel gear that rotates along the front-to-back axis, and a driven bevel gear that rotates along the up-down axis. The driven bevel gear is meshed with the driving bevel gear, and the rotation of the driven bevel gear shaft constitutes said rotary output shaft; and,

The synchronous belt is respectively wound around the power output shaft and the rotating shaft of the driving bevel gear.

Optionally, the length of the first swing link and/or the second swing link is adjustable.

In the technical solution provided by the present invention, when the patient sits on the seat and fixes the thigh and calf according to the setting, under the drive of the driving device, the first swing rod can drive the patient's thigh to carry out rehabilitation training, and the second swing rod It can drive the patient's calf to perform stretching rehabilitation training, which enriches the diversity of rehabilitation training functions, thereby helping to optimize the effect of rehabilitation training; and does not require the patient to carry heavy objects, which improves the comfort of the patient's rehabilitation training, and has a simple structure and economical Advantages of cost reduction.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those skilled in the art, other drawings can also be obtained according to the structures shown in these drawings without creative effort.

Fig. 1 is a three-dimensional schematic diagram of an embodiment of a sitting joint-driven lower limb rehabilitation robot provided by the present invention;

Fig. 2 is a schematic exploded view of the swing assembly in Fig. 1;

Fig. 3 is a three-dimensional schematic diagram of the lifting assembly in Fig. 1;

Fig. 4 is a three-dimensional schematic diagram of the pedal structure in Fig. 1;

FIG. 5 is a schematic structural diagram of the driving device in FIG. 1 .

Explanation of reference numbers:

label name label name 100 Seated Joint Drive Lower Limb Rehabilitation Robot 31 second lever 1 base 32 Bottom plate 11 seat 321 fixed part 2 thigh lift mechanism 322 mobile department twenty one first swing lever 33 Scissor lift 211 Score 34 electric drive 212 long hole 35 screw twenty two Worm 36 nut twenty three worm gear 37 carrier board twenty four case 38 sleeve 241 Mounting cavity 39 Reset 25 limit plate 4 drive unit 26 bearing 41 motor 27 connecting plate 42 Drive bevel gear 28 Install the baffle 43 driven bevel gear 3 Calf Stretcher 44 timing belt

The realization of the purpose of the present invention, functional characteristics and advantages will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Detailed ways

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

It should be noted that if there is a directional indication (such as up, down, left, right, front, back...) in the embodiment of the present invention, the directional indication is only used to explain the position in a certain posture (as shown in the accompanying drawing). If the specific posture changes, the directional indication will also change accordingly.

In addition, if there are descriptions involving "first", "second" and so on in the embodiments of the present invention, the descriptions of "first", "second" and so on are only for descriptive purposes, and should not be interpreted as indicating or implying Its relative importance or implicitly indicates the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the meaning of "and/or" appearing in the whole text includes three parallel schemes, taking "A and/or B" as an example, including scheme A, scheme B, or schemes that both A and B satisfy. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist , nor within the scope of protection required by the present invention.

Traditional rehabilitation treatment is usually based on one-on-one adjuvant treatment by a rehabilitation physiotherapist, which is time-consuming and expensive. In order to solve the above problems, existing rehabilitation robots that combine rehabilitation engineering and robotics have emerged as the times require. Among them, rehabilitation robots that involve the movement of human hip joints, knee joints, and ankle joints need to be worn on the human body. The requirements for controlling and controlling the motor are high, so the cost is high; in addition, the range adjustment of each joint movement needs to be precisely controlled to prevent secondary injuries, so a total of four motor drives are installed to increase the weight of the exoskeleton; Rehabilitation robot for patients with weak lower limbs who are difficult to stand. The main body is a bed body, which makes the upper body of the patient lie flat, and the legs are driven by the mechanical structure of the exoskeleton to train the leg muscles. .

In view of this, the present invention provides a seated combined drive lower limb rehabilitation robot, and FIG. 1 to FIG. 5 are specific embodiments of the seated combined drive lower limb rehabilitation robot provided by the present invention.

Please refer to Fig. 1, a kind of seated combined drive lower limb rehabilitation robot 100 provided by the present invention includes a base 1, a thigh lifting mechanism 2, a calf stretching mechanism 3 and a driving device 4, wherein the base 1 is provided with a seat 11, for the patient to sit; the thigh lifting mechanism 2 includes a first swing rod 21 for linking the thighs, and the installation end of the first swing rod 21 is installed on the base 1 so as to be swingable up and down along the left-right axis The calf stretching mechanism 3 includes a second swing rod 31 for linking the calf, and the installation end of the second swing rod 31 is mounted on the movable end of the first swing rod 21 so as to be swingable back and forth along the left-right axis; The driving device 4 is arranged on the base 1, and the driving device 4 respectively drives and connects the thigh lifting mechanism 2 and the calf stretching mechanism 3, so that the first swing bar 21 swings up and down, and the second swing rod 21 swings up and down. Fork 31 swings back and forth.

In the technical solution provided by the present invention, when the patient sits on the seat 11 and fixes the thigh and calf according to the settings, driven by the driving device 4, the first swing link 21 can drive the patient's thigh For lifting rehabilitation training, the second swing rod 31 can drive the patient's calf to carry out stretching rehabilitation training, which enriches the diversity of rehabilitation training functions, thereby helping to optimize the rehabilitation training effect; and does not require the patient to carry heavy objects, improving the patient's rehabilitation. While providing high training comfort, the utility model has the advantages of simple structure and reduced economic cost.

It should be noted that this design does not limit the specific form of expression of the base 1, and the base 1 can provide an installation platform for the thigh lifting mechanism 2 and the calf stretching mechanism 3 to be installed, and can also provide an accommodation cavity It is used for installation of electric control components and transmission components in the driving device 4 to play the role of support and isolation protection. In addition, the style of the seat 11 can be specifically set according to actual needs, for example, the seat 11 has a seat board and a backrest, and can also have armrests to improve the sitting comfort of the patient when performing rehabilitation training; and preferably , the height of the seat 11 in this design can be adjusted, for example, it can be realized by arranging telescopic rods and fastening screws, so as to adapt to different sitting heights of different patients, so that patients can sit in a more comfortable and natural sitting position. Undertake rehabilitation training. At this time, the setting of the seat 11 can uniquely determine the sitting posture of the patient. In order to facilitate a better understanding of the technical solution, the following uniformly defines the patient's face orientation and back orientation when sitting, which respectively correspond to the sitting posture. Drive the front and rear directions of the lower limb rehabilitation robot 100;

In this design, both the first swing link 21 and the second swing link 31 have opposite installation ends and movable ends, and the first swing link 21 is preferably arranged in front of the seat 11, so The second swing rod 31 is preferably arranged in front of the first swing rod 21 to adapt to the position of the patient's thigh and calf after sitting. In addition, the length of the first swing rod 21 and/or the second swing rod 31 can be adjusted to adapt to different thigh lengths and/or calf lengths of different patients, thereby helping to improve the sitting joint. Drive the matching between the lower limb rehabilitation robot 100 and the patient to optimize the effect of rehabilitation training. Taking the first swing rod 21 as an example, the first swing rod 21 may include two sub-rods 211 that are nested with each other along the length direction. By adjusting the socket depth between the two sub-rods 211 , the Correspondingly adjust the length of the first swing rod 21; further, the corresponding positions of the two sub-rods 211 are provided with elongated holes 212, and then a threaded piece is inserted and fitted with the two elongated holes 212, Realize the fixing of the first swing rod 21 at the desired length. The length adjustment structure of the second swing link 31 is the same as that of the first swing link 21 , and will not be repeated here.

In addition, the first swing link 21 and the second swing link 31 may be provided with elastic straps, still taking the first swing link 21 as an example, the elastic straps expand under the action of external force for The patient's thigh passes through smoothly, and then when the external force is removed, the elastic strap elastically shrinks to exert an elastic compressive force on the patient's thigh, ensuring good fixation of the patient's thigh and effectively avoiding abrasion to the patient's skin discomfort.

Specifically, referring to Fig. 1 and Fig. 2, in this embodiment, when the driving device 4 has an upwardly extending rotation output shaft, the thigh lifting mechanism 2 further includes a swing assembly, and the swing assembly includes a worm 22 and a worm wheel 23, wherein, the worm 22 is transmission-connected to the rotating output shaft, so as to rotate forward and backward along the up and down axis under the drive of the driving device 4; the worm wheel 23 is meshed with the worm 22, and the The side of the worm wheel 23 away from the meshing part is fixedly connected to the mounting end of the first swing rod 21 . The cooperation between the worm 22 and the worm wheel 23 has a relatively large transmission ratio to improve the structural compactness of the swing assembly; it also has good self-locking properties to prevent the worm wheel 23 from driving the worm in reverse 22 rotations play a protective role.

Further, in this embodiment, the swing assembly further includes a housing 24 and two limiting plates 25, wherein the housing 24 is arranged on the base 1, and the inside of the housing 24 is formed with An installation cavity 241 for the worm 22 and the worm wheel 23 to be installed, one side of the installation cavity 241 is provided with an opening, and the opening allows the movable end of the first swing rod 21 to go from the inside of the installation cavity 241 to the outside stick out. Of course, the installation cavity 241 can also be provided with an installation opening and an installation baffle 28, the installation opening is convenient for the installation and removal of the worm 22 and the worm wheel 23, and the installation baffle 28 is used when the After the worm 22 and the worm wheel 23 are installed in place in the installation cavity 241, the installation opening is covered and set to play the role of isolation protection; in addition, the installation end of the first swing rod 21 can be directly connected to the The worm wheel 23 can also be fixedly connected to the worm wheel 23 through a connecting plate 27. The connecting plate 27 is not limited to a flat plate shape, and can be set to be adapted to the worm wheel 23 and the first swing rod 21. shape, when the connecting plate 27 is connected to the end face of the worm wheel 23, a bearing 26, such as an angular contact bearing, can also be set between the connecting plate 27 and the worm wheel 23; the connecting plate 27 and The first swing rods 21 can be screwed and fixed by screw joints. The two limiting plates 25 protrude from the upper edge and the lower edge of the opening respectively, and are used to limit the swing angle of the first swing link 21 . It can further be set that the two limiting plates 25 can be slidably arranged relative to the housing 24, so that the limit positions of the first swing link 21 to swing up and down can be adjusted, thereby realizing the first swing The swing angle range of the rod 21 can be adjusted, which helps to ensure that the patient's thigh is lifted within an appropriate range, and avoids secondary injury to the patient.

Since the installation end of the second fork 31 is movably installed on the first fork 21, if a transmission element is set at the installation end of the second fork 31 with reference to the first fork 21, then As a result, the overall mass of the first swing rod 21 and the second swing rod 31 increases, which intensifies the load on the legs of the patient during rehabilitation training and affects the effect of rehabilitation training. Therefore, please refer to Fig. 1 and Fig. 3, in this embodiment, the calf stretching mechanism 3 also includes a lift assembly, the upper end of the lift assembly is fixedly connected to the movable end of the second swing rod 31 to drive the The movable end of the second swing rod 31 rises or falls; the lifting assembly is movably mounted on the base 1 along the front and rear directions, so as to drive the movable end of the second swing rod 31 to move forward and backward. By combining the lifting and lowering of the lifting assembly, and moving forward and backward, the second swing bar 31 can finally swing back and forth; and the lifting assembly is movably arranged on the base 1, that is, the gravity is concentrated on the base 1, so that no gravity load is imposed on the patient's legs, so that the patient can complete leg rehabilitation training efficiently and orderly.

Of course, there are many technical solutions for the lifting assembly, and in this embodiment, the lifting assembly includes a base plate 32, a scissor lift frame 33 and an electric drive member 34, and the base plate 32 can move forward and backward. Installed on the base 1, the upper end of the bottom plate 32 is provided with a fixed portion 321 and a moving portion 322, the moving portion 322 can move relative to the bottom plate 32, specifically, the fixed portion 321 is, for example, The bottom plate 32 is integrally formed with a boss structure; a chute can be set on the bottom plate 32, and the moving part 322 is a slider structure slidingly matched with the chute; the scissor lift frame 33 can refer to existing In the prior art, there are generally two supporting legs, the two upper ends of the two supporting legs are used to connect the movable end of the second swing link 31, and the two lower ends of the two supporting legs are respectively rotatably connected to the fixed part 321 and the The moving part 322 is used to drive the movable end of the second swing bar 31 to rise or fall when the moving part 322 moves relative to the bottom plate 32; at this time, the lifting assembly can also include a loading plate 37, The movable end of the second swing bar 31 is fixedly connected to the upper end of the loading plate 37, and the lower end surface of the loading plate 37 can refer to the bottom plate 32 to be provided with a fixed matching portion (not shown in the drawings) and a movable A matching part (not shown in the drawings), the two upper ends of the two legs are respectively rotatably connected to the fixed matching part and the moving matching part, and the moving matching part moves passively with the movement of the moving part 322 , to realize the steady rise and fall of the loading plate 37 . The electric driving member 34 is disposed on the bottom plate 32 for driving the moving part 322 to move. There are multiple technical solutions for the electric driver 34, for example, the electric driver 34 can be a linear cylinder, and the linear cylinder has a telescopic push rod, and the telescopic push rod is connected to the moving part 322; The driver 34 can be the cooperation of a motor, a sleeve rod and a screw rod, one end of the screw rod is provided with an external thread, one end of the sleeve rod is connected to the output shaft of the motor, and the other end of the sleeve rod is provided with a The internal thread cooperating with the screw rod drives the moving part 322 to move relative to the bottom plate 32 by adjusting the screw connection depth between the sleeve rod and the screw rod.

Next, referring to Fig. 1 and Fig. 5, in this embodiment, the driving device 4 has a rotating output shaft extending forward; the calf stretching mechanism 3 also includes a lead screw 35 and a nut 36, and the lead screw 35 Located on the base 1, the lead screw 35 is transmission-connected to the rotation output shaft so as to rotate along the front-back axis under the drive of the driving device 4; the nut 36 is threadedly connected to the lead screw 35, so that The nut 36 is fixedly connected to the lower end of the lifting assembly. The base 1 may be correspondingly provided with a mounting groove, and the lead screw 35 is arranged in the mounting groove. Driven by the driving device 4, the lead screw 35 is screwed to the nut 36. Since the position of the lead screw 35 is fixed, the nut 36 can move along the extending direction of the lead screw 35, thereby Driving the lifting assembly or the bottom plate 32 to move forward and backward has the advantages of simple structure and low cost.

In addition, please refer to FIG. 1 and FIG. 4 , in this embodiment, the calf stretching mechanism 3 also includes a pedal structure, the pedal structure includes a sleeve 38 and a reset member 39, and the sleeve 38 is used to fix the foot , the specific form of expression of the sleeve 38 is not limited in this design, and all sleeves 38 that can be used to fix the feet are within the protection scope of this design. The sleeve 38 is installed on the upper end of the lifting assembly in a turnable up and down direction along the left and right axis. Since the patient sits on the seat 11 during calf extension rehabilitation training, it is equivalent to taking the knee joint as the center of the circle and swinging back and forth with the calf as the radius. The reversible setting of the sleeve 38 is used to accommodate The different angles formed between the foot and the different degrees of stretching can make the patient's ankle joint flexibly rotate, and play the purpose of exercising the ankle joint; the reset member 39 is arranged between the sleeve 38 and the lifting assembly between. The reset member 39 is, for example, a spring. When the sleeve 38 is overturned by an external force, the spring is stretched or compressed and deformed; The sleeve 38 is reset to its original state.

In the above embodiment, the thigh lifting mechanism 2 needs an upwardly disposed rotation output shaft, and the calf stretching mechanism 3 needs a forwardly disposed rotation output shaft. At this time, the thigh lifting mechanism 2 and the The calf stretching mechanism 3 is respectively equipped with a motor to realize the independent start and stop of the two, but in consideration of resource saving, in this embodiment, it is preferred that the drive device 4 only includes a drive motor 41, and the drive motor 41 is located at The base 1 has a power output shaft extending forward, and the power output shaft of the drive motor 41 can directly drive the screw 35 in the calf extension mechanism 3 to rotate; in addition, the drive device 4 also includes a steering assembly, which is drivingly connected to the power output shaft and the thigh lifting mechanism 2, and is used to form the rotating output shaft extending upward under the drive of the driving motor 41. With such arrangement, one drive motor 41 can be used to provide power source for the thigh lifting mechanism 2 and the calf stretching mechanism 3 at the same time, which helps to simplify the overall structure of the sitting combined drive lower limb rehabilitation robot 100, And reduce economic costs.

Of course, there are many technical solutions for the steering assembly, but in this embodiment, please refer to Fig. 1 and Fig. 5, the steering assembly includes a bevel gear set and a synchronous belt 44, and the bevel gear set includes The driving bevel gear 42 that rotates to the axis, and the driven bevel gear 43 that rotates up and down to the axis, the driven bevel gear 43 is meshed with the driving bevel gear 42, and the rotating shaft of the driven bevel gear 43 constitutes The rotation output shaft, in this way, can realize the conversion of the rotation output extending in the front and rear directions into the rotation output extending in the up and down direction; the synchronous belt 44 is respectively wound around the power output shaft and the driving bevel gear 42 The rotating shaft is used to synchronize the rotation of the power output shaft to the driving bevel gear 42 . At this time, the base 1 can be provided with a guide channel corresponding to the synchronous belt 44, and a mounting structure can be provided at the bevel gear set, so as to play a role of support and protection while avoiding damage to the patient's rehabilitation training action. interference.

It should be noted that, in the above, this embodiment provides power to the thigh lifting mechanism 2 and the calf stretching mechanism 3 at the same time through one drive motor 41, but this does not limit the thigh lifting mechanism 2 and the The movement rate of the calf stretching mechanism 3 needs to be kept consistent. For example, the speed actually obtained by the thigh lifting mechanism 2 can be adjusted by adjusting the gear ratio matched in the bevel gear set; in addition, in order to ensure that the rehabilitation training process is more in line with the human body Engineering, it is necessary to pre-configure the transmission ratios of the thigh lifting mechanism 2 and the calf stretching mechanism 3 so that during the rehabilitation training process, when the thigh is lifted to the highest point, the calf swings to the rearmost position and the The lifting assembly is at the highest position; when the thigh is lowered to the lowest position, the calf swings to the frontmost position and the lifting assembly is at the lowest position.

The above is only a preferred embodiment of the present invention, and does not therefore limit the patent scope of the present invention. Under the inventive concept of the present invention, the equivalent structural transformation made by using the description of the present invention and the contents of the accompanying drawings, or direct/indirect use All other relevant technical fields are included in the patent protection scope of the present invention.

Claims (10)

1. a kind of sitting posture joint driving lower limb rehabilitation robot characterized by comprising

Pedestal is equipped with seat, so that patient takes a seat；

Thigh lifting mechanism, including the first swing rod for the thigh that links, the installation end edge of first swing rod is controlled to axis The pedestal can be installed on swinging up and down；

Toe raise mechanism, including the second swing rod for the shank that links, the installation end edge of second swing rod is controlled to axis It can be installed on to swing the movable end of first swing rod；And

Driving device is set to the pedestal, and the driving device, which respectively drives, connects the thigh lifting mechanism and the shank Extension means, so that first swing rod is swung up and down, the second swing rod swing.

2. sitting posture joint driving lower limb rehabilitation robot as described in claim 1, which is characterized in that the driving device has The rotary output axis extended upward；

The thigh lifting mechanism further includes wobble component, and the wobble component includes:

Worm screw, be sequentially connected the rotary output axis, to rotate before and after upward and downward axis under the driving of the driving device； And

Worm gear is meshed with the worm screw, and the side on the worm gear far from engagement place is fixedly connected with the peace of first swing rod Fill end.

3. sitting posture joint driving lower limb rehabilitation robot as claimed in claim 2, which is characterized in that the wobble component also wraps It includes:

Shell, is set to the pedestal, and the inside of the shell is formed with the installation cavity installed for the worm screw and the worm gear, institute The side for stating installation cavity is equipped with opening, and the opening is stretched out for the movable end of first swing rod from the installation cavity from inside to outside； And

Two limit plates are protrudingly placed on the upper end edge and lower end edge of the opening respectively, to limit the swing of first swing rod Angle.

4. sitting posture joint driving lower limb rehabilitation robot as described in claim 1, which is characterized in that the toe raise mechanism It further include lifting assembly, in which:

The upper end of the lifting assembly is fixedly connected with the movable end of second swing rod, to drive the movable end of second swing rod Rise or declines；

The lifting assembly along front and back to being slidably mounted on the pedestal, to drive the movable end of second swing rod before It is backward mobile.

5. sitting posture joint driving lower limb rehabilitation robot as claimed in claim 4, which is characterized in that the lifting assembly packet It includes:

Bottom plate is equipped with a fixed part and a moving portion to the pedestal, the upper end of the bottom plate is slidably mounted on along front and back, The moving portion can be mobile relative to the bottom plate；

Scissors type elevating frame, two upper ends are used to connect the movable end of second swing rod, and two lower ends are rotatablely connected described solid respectively Portion and the moving portion are determined, to drive the movable end of second swing rod when the moving portion is mobile relative to the bottom plate Rise or declines；And

Electric drive is set to the bottom plate, for driving the moving portion mobile.

6. sitting posture joint driving lower limb rehabilitation robot as claimed in claim 4, which is characterized in that the driving device has The rotary output axis extended forward；

The toe raise mechanism further include:

Lead screw is set to the pedestal, and the lead screw transmission connects the rotary output axis, under the driving of the driving device It is rotated along front and back to axis；And

Nut, is threadedly coupled the lead screw, and the nut is fixedly connected on the lower end of the lifting assembly.

7. sitting posture joint driving lower limb rehabilitation robot as claimed in claim 4, which is characterized in that the toe raise mechanism It further include pedal structure, the pedal structure includes:

Sleeve, is used for fixed foot portion, and the sleeve can be installed on the upper of the lifting assembly to axis along left and right with spinning upside down End；And

Return unit is set between the sleeve and the lifting assembly.

8. sitting posture joint driving lower limb rehabilitation robot as claimed in claim 2, which is characterized in that the driving device packet It includes:

Driving motor is set to the pedestal, and has the power output shaft extended forward；And

Steering assembly, the steering assembly transmission connection power output shaft and the thigh lifting mechanism, for described Under the driving of driving motor, the rotary output axis extended upward is formed.

9. sitting posture joint driving lower limb rehabilitation robot as claimed in claim 8, which is characterized in that the steering assembly packet It includes:

Bevel gear set, including the drive bevel gear rotated along front and back to axis and vertically to the slave mantle tooth of axis rotation Wheel, the driven wheel of differential are meshed with the drive bevel gear, and it is defeated that the rotary shaft of the driven wheel of differential constitutes the rotation Shaft；And

Synchronous belt, rotating around the rotary shaft for being set to the power output shaft and the drive bevel gear.

10. sitting posture as described in claim 1 joint driving lower limb rehabilitation robot, which is characterized in that first swing rod and/ Or the adjustable in length of second swing rod.