CN112451320B - Weight-reduction supporting mechanism and lower limb rehabilitation robot comprising same - Google Patents
Weight-reduction supporting mechanism and lower limb rehabilitation robot comprising same Download PDFInfo
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- CN112451320B CN112451320B CN202011338311.0A CN202011338311A CN112451320B CN 112451320 B CN112451320 B CN 112451320B CN 202011338311 A CN202011338311 A CN 202011338311A CN 112451320 B CN112451320 B CN 112451320B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 61
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 31
- 208000016261 weight loss Diseases 0.000 title claims description 19
- 239000013585 weight reducing agent Substances 0.000 title description 8
- 238000006073 displacement reaction Methods 0.000 claims abstract description 19
- 230000004580 weight loss Effects 0.000 claims description 11
- 230000033001 locomotion Effects 0.000 abstract description 12
- 230000000694 effects Effects 0.000 abstract description 10
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 4
- 230000007704 transition Effects 0.000 description 4
- 230000036541 health Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 206010060820 Joint injury Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- Health & Medical Sciences (AREA)
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- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a weight-reducing supporting mechanism which is applied to a lower limb rehabilitation robot. By adopting the invention, when a patient performs rehabilitation training, the left support piece and the right support piece can move back and forth in a staggered way along with the movement of the patient, and the following and driven of the back and forth degree of freedom are realized, so that the walking posture of the person can be fitted, the patient can freely move the body, and the rehabilitation effect is improved. And the structure is simple and stable, the manufacturing cost is low, and the front-back displacement resistance is small.
Description
Technical Field
The invention relates to a weight-reducing supporting mechanism and a lower limb rehabilitation robot comprising the same.
Background
In recent years, along with the acceleration of the aging process of the population in China, patients with lower limb joint injuries caused by improper walking modes, industrial injuries and the like are more and more, physical rehabilitation training is generally required for the patients except for operations or drug treatment, and the lower limb rehabilitation robot can help the patients to maintain the balance state of the body when the patients are subjected to the physical rehabilitation training, so that the heavy training time of physical therapists is shortened.
At present, the lower limb rehabilitation robot is mainly in a suspension weight reduction and gait training mode, and the lower limb rehabilitation robot cannot completely fit the walking posture of a person due to larger constraint on the hip during rehabilitation training, so that a patient cannot freely move the body, and the rehabilitation effect of the patient is affected.
Disclosure of Invention
The invention aims to overcome the defect that a rehabilitation robot in the prior art has great constraint on lower limbs of a patient to influence the rehabilitation effect, and provides a weight-reducing supporting mechanism and a lower limb rehabilitation robot comprising the weight-reducing supporting mechanism.
The invention solves the technical problems by the following technical scheme:
a weight-reducing supporting mechanism is characterized in that the weight-reducing supporting mechanism is applied to a lower limb rehabilitation robot and comprises a bracket component, a left supporting piece, a right supporting piece and a rope assembly,
the left support piece and the right support piece are oppositely arranged at two ends of the bracket component and are respectively and movably connected with the bracket component, and two ends of the rope assembly are respectively connected with the left support piece and the right support piece, so that the left support piece and the right support piece are in staggered movement under the constraint of the rope assembly.
In this scheme, establish ties left support piece and right support piece through the rope assembly, when the patient carries out rehabilitation training, left support piece and right support piece can be along with patient's motion and the crisscross removal around, realize the follow driven of degree of freedom around to can fit the walking gesture of people, make the patient can freely move the health, promote recovered effect. And the structure is simple and stable, the manufacturing cost is low, and the front-back displacement resistance is small.
Preferably, the rope assembly comprises a rope and pulleys, wherein two ends of the rope are respectively connected with the left supporting piece and the right supporting piece, and the pulleys are connected with the rope and used for tensioning the rope.
In this scheme, establish ties left support and right support through the rope, through pulley tensioning rope, can make the rope follow left support and right support and remove to can retrain left support and right support's relative movement. In practice, the pulley can also change the direction of the rope depending on the particular construction, thus making the overall construction more compact.
Preferably, the rope assembly comprises a first rope and a second rope, two ends of the first rope are respectively connected with the left supporting piece and the right supporting piece, two ends of the second rope are respectively connected with the left supporting piece and the right supporting piece, and the first rope, the second rope, the left supporting piece and the right supporting piece form closed loop connection.
In this scheme, constitute the series connection of closed loop through first rope, second rope, left support piece and right support piece, its joint strength is higher, and the structure is more stable to the atress on the single rope is less.
Preferably, the rope assembly further comprises a first sheave and a second sheave; the first pulley is connected with the first rope and is used for tensioning the first rope; the second pulley is connected with the second rope for tensioning the second rope.
Preferably, the first rope is connected with the left support member and the right support member around the outer side of the bracket assembly, respectively; the second rope is respectively connected with the left supporting piece and the right supporting piece around the inner side of the bracket component; the portion of the first rope between the left support and the right support and the portion of the second rope between the left support and the right support are on the same side.
In this scheme, the part that first rope and second rope lie in between left support piece and the right support piece can be in same one side, for example can set up in the one side that left support piece and right support piece were connected with the bracket component to can make the structure of subtracting heavy supporting mechanism compacter, also can make and leave the opening between left support piece and the right support piece, be convenient for the patient and use.
Preferably, the left support member and the right support member are respectively provided with a displacement sensor for respectively detecting the displacement of the left support member and the right support member relative to the bracket assembly.
In the scheme, the displacement sensor is connected with the left support piece and the right support piece and is used for acquiring displacement data of the front and back degrees of freedom of a patient during rehabilitation training, so that important rehabilitation information of the patient is displayed according to the displacement data, and the front and back degrees of freedom information is displayed.
Preferably, force sensors are respectively arranged at the tail end of the left support piece and the tail end of the right support piece and are used for acquiring force data of lower limbs of a patient during training.
In the scheme, force sensors are arranged on the left support piece and the right support piece, so that force data of lower limbs in patient training are detected, and corresponding weight reduction values are adjusted. In a specific implementation, the force sensor can be a triaxial force sensor, and the force data of the hip of the patient is mainly acquired during rehabilitation training.
Preferably, the bracket assembly comprises a main supporting plate, a left bracket and a right bracket, wherein a first guide rail is arranged on the main supporting plate, and the left bracket and the right bracket are sleeved on the first guide rail; the left support piece is movably connected with the left support, and the right support piece is movably connected with the right support.
In the scheme, the load of a patient can be born through the structural forms of the main support plate, the left support and the right support, and corresponding supporting force is provided for the patient. And the left support and the right support are sleeved on the first guide rail on the main support plate, so that the relative positions of the left support and the right support can be adjusted, and the relative positions of the left support piece and the right support piece can be adjusted, and the lower limb width of different patients can be adapted.
Preferably, the left support and the right support are respectively provided with a second guide rail, and the left support and the right support are respectively sleeved on the corresponding second guide rails.
In the scheme, through setting up corresponding second guide rail on left socle and right branch frame to make left support piece and right support piece cover locate on corresponding second guide rail, can make left support piece and right support piece respectively relative left socle and right branch frame back-and-forth movement, thereby realize the removal of fore-and-aft degree of freedom.
Preferably, the weight-reducing support mechanism further comprises an adjusting assembly, wherein the left support piece and the right support piece are respectively connected with the adjusting assembly, and the adjusting assembly is used for adjusting the relative positions of the left support piece and the right support piece.
In the scheme, the relative positions of the left support piece and the right support piece can be adjusted through the adjusting assembly, so that the weight-reducing support mechanism can adapt to hip widths of different patients. In a specific implementation, the adjusting component can adjust the relative positions of the left support and the right support by adjusting the relative positions of the left support and the right support.
Preferably, the adjusting component is a ball screw, and the left support piece and the right support piece are respectively connected with balls of the ball screw.
Preferably, the weight-reducing support mechanism further comprises a tensioning adjustment mechanism, and the tensioning adjustment mechanism is connected with the rope assembly.
In this scheme, adjust the position of rope in the rope assembly through tensioning adjustment mechanism, when reducing the weight mechanism and adjusting the width, make the rope can realize corresponding regulation along with left support piece and right support piece, keep the tensioning of rope. In practice, the rope may be tensioned by adjusting the position of the pulley relative to the bracket assembly.
The lower limb rehabilitation robot is characterized by comprising the weight-reducing supporting mechanism.
Preferably, the lower limb rehabilitation robot further comprises a stand column, and the weight-reducing support mechanism is connected with the stand column and can move up and down along the stand column.
The invention has the positive progress effects that: the left support piece and the right support piece are connected in series through the rope assembly, when a patient performs rehabilitation training, the left support piece and the right support piece can move back and forth in a staggered manner along with the movement of the patient, the following driven of the front and back degrees of freedom is realized, the walking posture of the person can be fitted, the patient can freely move, and the rehabilitation effect is improved. And the structure is simple and stable, the manufacturing cost is low, and the front-back displacement resistance is small.
Drawings
Fig. 1 is a schematic structural diagram of a weight-reducing support mechanism according to an embodiment of the present invention when applied to a lower limb rehabilitation robot;
fig. 2 is a schematic structural diagram of a weight-reducing support mechanism according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a weight-reducing support mechanism according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a weight-reducing support mechanism according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a weight-reducing support mechanism according to an embodiment of the present invention;
fig. 6 is a schematic diagram of another weight-reducing support mechanism according to an embodiment of the present invention.
Description of the reference numerals
Lower limb rehabilitation robot 1
Weight-loss support mechanism 10
Bracket assembly 100
Main support plate 110
First guide rail 111
Left bracket 120
Second guide rail 121
Right bracket 130
First main support 140
Second main support 150
Left support 200
Boss 210
Right support 300
Rope assembly 400
Rope 411
Pulley 412
First rope 421
Second rope 422
First pulley 423
Second pulley 424
Transition pulley 425
Adjustment assembly 500
Ball screw 510
Displacement sensor 600
Force sensor 700
Gear 800
Column 20
Detailed Description
The invention is further illustrated by means of the following examples, which are not intended to limit the scope of the invention.
The embodiment of the invention provides a weight-reducing support mechanism, as shown in fig. 1, which is a schematic structural diagram of the weight-reducing support mechanism 10 when applied to a lower limb rehabilitation robot 1. The weight-reducing support mechanism 10 may be connected to the upright post 20 of the lower limb rehabilitation robot 1 through other mechanisms, and may move up and down relative to the upright post 20 to provide a supporting force for the patient, so as to achieve weight-reducing support for the patient. It should be noted that the present invention can be used not only for the weight reduction support of the lower limb rehabilitation robot 1, but also for other devices when the weight reduction support is required, the present invention can be used correspondingly according to the situation. The following is an example of the lower limb rehabilitation robot 1 applied to support the hip of a patient.
As shown in fig. 2 and 3, which are schematic structural views of a weight-reducing support mechanism 10 according to an embodiment of the present invention, the weight-reducing support mechanism 10 includes a bracket assembly 100, a left support 200, a right support 300 and a rope assembly 400, wherein the left support 200 and the right support 300 are disposed at two ends of the bracket assembly 100, and are movably connected to the bracket assembly 100, and two ends of the rope assembly 400 are connected to the left support 200 and the right support 300, respectively, so that the left support 200 and the right support 300 are moved in a staggered manner under the constraint of the rope assembly 400. In this scheme, link up left support 200 and right support 300 through rope assembly 400, when the patient carries out rehabilitation training, left support 200 and right support 300 are used for supporting patient's hip to can be along with the motion of patient's hip and the back and forth staggered movement, realize the follow-up of fore-and-aft degree of freedom, thereby can fit the walking gesture of people, make the patient can freely move the health, promote recovered effect. And the structure is simple and stable, the manufacturing cost is low, and the front-back displacement resistance is small.
As a preferred embodiment, as shown in fig. 2, the stent assembly 100 includes a main support plate 110, a left stent 120 and a right stent 130, and the left stent 120 and the right stent 130 are respectively disposed at both ends of the main support plate 110, thereby providing support strength to a patient. Also, the left support 200 is movably coupled to the left bracket 120, and the right support 300 is movably coupled to the right bracket 130, so that the left support 200 and the right support 300 can move with respect to the bracket assembly 100.
As a preferred embodiment, as shown in fig. 2, the main support plate 110 is further provided with a first guide rail 111, and the left bracket 120 and the right bracket 130 are sleeved on the first guide rail 111; so that the relative positions of the left and right brackets 120 and 130, and thus the left and right supports 200 and 300, can be adjusted to accommodate hip widths of different patients.
As a preferred embodiment, as shown in fig. 2, the bracket assembly 100 further includes a first main bracket 140 and a second main bracket 150, the left bracket 120 is connected to the first rail 111 through the first main bracket 140, the first main bracket 140 is sleeved on the first rail 111, and the left bracket 120 is connected to the first main bracket 140; the right bracket 130 is connected with the first guide rail 111 through the second main bracket 150, the second main bracket 150 is sleeved on the first guide rail 111, and the right bracket 130 is connected with the second main bracket 150.
As a preferred embodiment, as shown in fig. 2, the weight-reducing support mechanism 10 further includes an adjusting assembly 500, and the left support member 200 and the right support member 300 are respectively connected to the adjusting assembly 500, and the adjusting assembly 500 is used for adjusting the relative positions of the left support member 200 and the right support member 300.
In particular implementations, the adjustment assembly 500 may enable adjustment of the relative positions of the left support 200 and the right support 300 by adjusting the relative positions of the left bracket 120 and the right bracket 130.
As a specific embodiment, as shown in fig. 2, the adjusting assembly 500 is a ball screw 510, and the left bracket 120 and the right bracket 130 are respectively connected with balls in the ball screw 510, so that the left bracket 120 and the right bracket 130 can relatively move along with the action of the ball screw 510, thereby driving the adjustment of the relative positions of the left support member 200 and the right support member 300.
In addition, as shown in fig. 2, two balls are disposed on the ball screw 510, the head end of the left bracket 120 is connected with one of the balls and the first guide rail 111, and the head end of the right bracket 130 is connected with the other ball and the first guide rail 111, so that the ball screw 510 and the first guide rail 111 are connected with the main support plate 110, the connection strength is higher, the force transmission effect is better, and the use stability of the weight-reducing support device can be improved.
In an embodiment, the left bracket 120 may be connected to one ball of the ball screw 510 and the first guide rail 111 through the first main bracket 140, and the right bracket 130 may be connected to the other ball of the ball screw 510 and the first guide rail 111 through the second main bracket 150. The screw rod rotates under the action of the corresponding driving mechanism, so that the two balls are driven to rotate, the relative distance between the left bracket 120 and the right bracket 130 is adjusted, and the relative distance between the left support piece 200 and the right support piece 300 is further adjusted, so that hip requirements of different patients can be met.
In specific implementation, other mechanisms may be used to adjust the relative positions of the left bracket 120 and the right bracket 130, for example, a limiting mechanism, a clamping slot, and other structures are arranged at the corresponding positions. The ball screw 510 is used for adjusting, on one hand, the self-locking can be realized to avoid the danger of sliding, and on the other hand, the continuous adjustment can be realized to adapt to the requirements of different patients.
As a preferred embodiment, the left bracket 120 and the right bracket 130 are respectively provided with a second guide rail 121, and the left support 200 and the right support 300 are respectively sleeved on the corresponding second guide rails 121.
In this embodiment, by providing the corresponding second guide rails 121 on the left bracket 120 and the right bracket 130 and sleeving the left support 200 and the right support 300 on the corresponding second guide rails 121, the left support 200 and the right support 300 can move back and forth relative to the left bracket 120 and the right bracket 130, respectively, so as to realize the movement of the back and forth degrees of freedom.
As a preferred embodiment, as shown in fig. 6, the rope assembly 400 includes a rope 411 and a pulley 412, both ends of the rope 411 are connected to the left support 200 and the right support 300, respectively, and the pulley 412 is connected to the rope 411 for tensioning the rope 411. In connection with fig. 2, the left and right supports 200 and 300 may be connected in series by a single rope 411, and tensioning the rope 411 by a pulley 412 may enable the rope 411 to move with the left and right supports 200 and 300 and may restrict the relative movement of the left and right supports 200 and 300. In practice, the pulley 412 may also change the direction of the rope 411 depending on the particular configuration, thereby making the overall structure more compact.
In practice, the rope 411 may be connected to the left and right supports 200 and 300 around the outer sides of the left and right brackets 120 and 130, respectively, and the pulleys 412 may be provided on the left and right brackets 120 and 130, or on the main support plate 110 or other members to tension the rope 411 and change the direction of the rope 411 at the corresponding positions.
As another preferred embodiment, as shown in fig. 2 to 5, the rope assembly 400 includes a first rope 421 and a second rope 422, both ends of the first rope 421 are connected to the left support 200 and the right support 300, respectively, and both ends of the second rope 422 are connected to the left support 200 and the right support 300, respectively, and the first rope 421, the second rope 422, the left support 200, and the right support 300 form a closed loop connection. The first rope 421, the second rope 422, the left supporting member 200 and the right supporting member 300 form a closed loop series connection, so that the connection strength is higher, and the structure is more stable.
As shown in fig. 5, the closed loop connection means that both ends of the first rope 421 and both ends of the second rope 422 are connected to the left support 200 and the right support 300, respectively, and the first rope 421, the right support 300, the second rope 422, and the left support 200 can be connected end to end in this order, thereby forming a closed loop connection. However, in practical implementation, it is not absolutely necessary to connect the first rope 421 to the front ends of the left and right supporting members 200 and 300, respectively, and the second rope 422 may be connected to the middle portions of the left and right supporting members 200 and 300, respectively.
As a preferred embodiment, as shown in fig. 3, the rope assembly 400 further includes a first pulley 423 and a second pulley 424; the first pulley 423 is connected to the first rope 421 for tensioning the first rope 421; a second pulley 424 is connected to the second rope 422 for tensioning the second rope 422.
As a preferred embodiment, as shown in fig. 2 and 3, a first rope 421 is connected with the left and right supporters 200 and 300, respectively, around the outside of the bracket assembly 100; the second rope 422 is connected to the left and right supporters 200 and 300, respectively, around the inside of the bracket assembly 100; the portion of the first rope 421 between the left support 200 and the right support 300 and the portion of the second rope 422 between the left support 200 and the right support 300 are on the same side. In specific implementation, the support device may be disposed on one side of the left support 200 and the right support 300, where the support device is connected to the bracket assembly 100, so that the structure of the weight-reducing support mechanism 10 is more compact, and an opening is left between the left support 200 and the right support 300, which is convenient for a patient to use.
As a specific embodiment, as shown in fig. 3, one end of the first rope 421 is connected to the left supporter 200 around the outside of the left bracket 120, and the other end of the first rope 421 is connected to the right supporter 300 around the outside of the right bracket 130 after passing through the first and second main brackets 140 and 150; the first ropes 421 are arranged in a center-symmetrical arrangement. One end of the second wire 422 is connected to the boss 210 on the left supporter 200 around the inside of the left bracket 120, and after passing through the first and second main brackets 140 and 150, the other end of the second wire 422 is connected to the boss 210 on the right supporter 300 around the inside of the right bracket 130; the second rope 422 is arranged in a central symmetry. The central symmetry layout mode is also beneficial to enabling the left support piece 200 and the right support piece 300 to be synchronously adjusted when the relative positions of the left support piece 200 and the right support piece 300 are adjusted, keeping the positions of the symmetry centers unchanged and being beneficial to rehabilitation of patients.
The outer side and the inner side of the bracket assembly 100 are defined with respect to the structure of the weight-reducing support mechanism 10, and as shown in fig. 3 to 5, the weight-reducing support mechanism 10 is integrally formed with a frame structure having an opening at one end, the outer side of the frame is taken as the outer side of the bracket assembly 100, and the inner side of the frame is taken as the inner side of the bracket assembly 100.
And, a plurality of pulleys are provided on the connection path of the first and second ropes 421 and 422, such as pulleys are provided at the end of the left bracket 120 and the top of the first main bracket 140, and pulleys are symmetrically provided at the end of the right bracket 130 and the top of the second main bracket 150, which not only can tension the ropes 411, but also can change the connection direction of the ropes 411, so that the overall structure is more compact.
Further, as shown in fig. 2 and 3, a transition pulley 425 is further provided between the left bracket 120 and the right bracket 130, and the transition pulley 425 is capable of tensioning the first and second ropes 421 and 422 in a relatively compact space. In particular, as shown in fig. 3 and 4, the transition pulley 425 includes a first pulley 423 for tensioning the first rope 421 and a second pulley 424 for tensioning the second rope 422, the first pulley 423 and the second pulley 424 being disposed so as to be staggered in a longitudinal space so that the first rope 421 and the second rope 422 can be tensioned on the same side and so as to be staggered in the longitudinal space without affecting each other.
Thus, in the above embodiment of the present invention, on the one hand, the left support 200 and the right support 300 can be connected in series through the rope 411, and when the patient performs rehabilitation training, the left support 200 and the right support 300 are used for supporting the hip of the patient, and can move back and forth in a staggered manner along with the movement of the hip of the patient, so as to realize the following and following of the front and back degrees of freedom, thereby being capable of fitting the walking posture of the person, enabling the patient to freely move the body, and improving the rehabilitation effect. On the other hand, the structure has small front-back displacement resistance, is simple, compact and stable and has low manufacturing cost.
As a preferred embodiment, as shown in fig. 2, displacement sensors 600 are provided on the left and right supports 200 and 300, respectively, for detecting the displacement of the left and right supports 200 and 300, respectively, with respect to the bracket assembly 100. So that some important rehabilitation information of the patient is displayed according to the displacement data, such as front and back freedom degree information.
As a preferred embodiment, as shown in fig. 2, the distal ends of the left support 200 and the right support 300 are respectively provided with force sensors 700 for acquiring force data of the lower limb of the patient training, thereby detecting the force data of the lower limb of the patient training, and adjusting the corresponding weight loss value. In particular implementations, the force sensor 700 may be a three-axis force sensor 700 that obtains force data of the patient's hip primarily during rehabilitation training.
As a preferred embodiment, the weight-loss support mechanism 10 further includes a tensioning adjustment mechanism coupled to the rope assembly 400. By adjusting the position of the rope 411 in the rope assembly 400 by the tension adjustment mechanism, the rope 411 can be correspondingly adjusted along with the left support 200 and the right support 300 when the weight reduction mechanism adjusts the width, and the tension of the rope 411 is maintained. In practice, the cable 411 may be tensioned by adjusting the position of the pulley 412 relative to the bracket assembly 100, or the cable 411 may be tensioned by adjusting the relative position between the left support 200 and the right support 300.
As a preferred embodiment, as shown in fig. 2, the tensioning adjustment mechanism may be a gear set provided at an end portion, and the gear rotation drives the ball screw to rotate, thereby adjusting the relative position between the left support 200 and the right support 300, and tensioning the first and second ropes 421 and 422.
The embodiment of the invention also provides a lower limb rehabilitation robot 1, and the lower limb rehabilitation robot 1 comprises the weight-reduction supporting mechanism 10.
Through adopting foretell weight-reducing supporting mechanism 10, its rope assembly 400 establishes ties left support 200 and right support 300, and when the patient carries out rehabilitation training, left support 200 and right support 300 can be along with patient's motion and the crisscross removal around, realize the follow-up of degree of freedom around to can fit the walking gesture of people, make the patient can freely move the health, promote recovered effect. And the structure is simple and stable, the manufacturing cost is low, and the front-back displacement resistance is small. In addition, the displacement sensor 600 can also detect the displacement information of the front and back degrees of freedom during the patient training, and can display some rehabilitation information of the patient.
As a preferred embodiment, as shown in fig. 1, the lower limb rehabilitation robot 1 further includes a column 20, and the weight-reducing support mechanism 10 is connected to the column 20 and can move up and down along the column 20.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the principles and spirit of the invention, but such changes and modifications fall within the scope of the invention.
Claims (13)
1. A weight-reducing supporting mechanism is characterized in that the weight-reducing supporting mechanism is applied to a lower limb rehabilitation robot and comprises a bracket component, a left supporting piece, a right supporting piece and a rope assembly,
the left support piece and the right support piece are oppositely arranged at two ends of the bracket assembly and are respectively movably connected with the bracket assembly, and two ends of the rope assembly are respectively connected with the left support piece and the right support piece, so that the left support piece and the right support piece are staggered and move under the constraint of the rope assembly;
the rope assembly comprises a first rope and a second rope, wherein two ends of the first rope are respectively connected with the left supporting piece and the right supporting piece, two ends of the second rope are respectively connected with the left supporting piece and the right supporting piece, and the first rope, the second rope, the left supporting piece and the right supporting piece form closed loop connection.
2. The weight-reducing support mechanism of claim 1, wherein the rope assembly comprises a rope and a pulley, both ends of the rope being connected to the left support member and the right support member, respectively, and the pulley being connected to the rope for tensioning the rope.
3. The weight-reducing support mechanism of claim 1, wherein the rope assembly further comprises a first sheave and a second sheave; the first pulley is connected with the first rope and is used for tensioning the first rope; the second pulley is connected with the second rope for tensioning the second rope.
4. The weight-reducing support mechanism of claim 1, wherein the first rope is connected to the left support member and the right support member, respectively, around an outside of the bracket assembly; the second rope is respectively connected with the left supporting piece and the right supporting piece around the inner side of the bracket component; the portion of the first rope between the left support and the right support and the portion of the second rope between the left support and the right support are on the same side.
5. The weight-loss support mechanism of claim 1, wherein displacement sensors are provided on the left support member and the right support member, respectively, for detecting displacement of the left support member and the right support member, respectively, relative to the bracket assembly.
6. The weight-loss support mechanism of claim 1, wherein the distal end of the left support member and the distal end of the right support member are respectively provided with force sensors for acquiring force data of the lower limb of the patient during training.
7. The weight-loss support mechanism of claim 1, wherein the bracket assembly comprises a main support plate, a left bracket and a right bracket, a first guide rail is arranged on the main support plate, and the left bracket and the right bracket are sleeved on the first guide rail; the left support piece is movably connected with the left support, and the right support piece is movably connected with the right support.
8. The weight-loss support mechanism of claim 7, wherein the left bracket and the right bracket are respectively provided with a second guide rail, and the left support member and the right support member are respectively sleeved on the corresponding second guide rails.
9. The weight-loss support mechanism of claim 1, further comprising an adjustment assembly to which the left and right supports are respectively connected, the adjustment assembly for adjusting the relative positions of the left and right supports.
10. The weight-loss support mechanism of claim 9, wherein the adjustment assembly is a ball screw, and the left support member and the right support member are respectively coupled to balls of the ball screw.
11. The weight-loss support mechanism of claim 1, further comprising a tension adjustment mechanism coupled to the rope assembly.
12. A lower limb rehabilitation robot, characterized in that it comprises a weight-reducing support mechanism according to any one of claims 1-11.
13. The lower limb rehabilitation robot of claim 12, further comprising a column, wherein the weight-loss support mechanism is coupled to the column and is movable up and down along the column.
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