CN115708753A - Closed-chain horizontal lower limb rehabilitation robot structure - Google Patents

Abstract

The invention relates to the technical field of medical rehabilitation instruments, in particular to a closed-chain horizontal lower limb rehabilitation robot structure which comprises a rack, a driving mechanism and a sagittal plane rehabilitation mechanism, wherein the sagittal plane rehabilitation mechanism is a movable Z-shaped mechanism, thighs, shanks and feet of a human body are respectively fixed on the sagittal plane rehabilitation mechanism, the driving mechanism is arranged on the rack and connected with the sagittal plane rehabilitation mechanism, and the sagittal plane rehabilitation mechanism rotates under the action of the driving mechanism to realize active and passive movement of hip joints and knee joints around a coronal axis of the human body so as to finish lower limb rehabilitation training. By adopting a double closed-loop closed-chain structure, under the action of a driving mechanism, active and passive movement of hip joints and knee joints around a human body coronal axis and active and passive movement of ankle joints around the human body coronal axis and a human body vertical axis are realized through innovative configuration design and a self-adaptive/impedance control system, so that the safety and the stability of a rehabilitation process are ensured, and the lower limb rehabilitation training is completed.

Description

A closed-chain horizontal lower limb rehabilitation robot structure

technical field

The invention relates to the technical field of medical rehabilitation equipment, in particular to a closed-chain horizontal lower limb rehabilitation robot structure.

Background technique

Nowadays, the aging situation in our country is severe. Elderly people aged 60 and above will gradually decrease in bone elasticity and toughness with age. In addition, it will cause high blood pressure, cerebral thrombosis, stroke and other symptoms, which will cause lower limb movement disorders. Traditional rehabilitation methods have problems such as a small number of rehabilitation physicians, high rehabilitation prices, and long rehabilitation cycles. The lower limb rehabilitation robot is an intelligent bionic that spans many disciplines such as rehabilitation medicine, mechanics, robotics, computer science, cybernetics, and artificial intelligence. Electrical Equipment.

Lower limb rehabilitation robots can meet different needs of patients or different rehabilitation stages of the same patient by adjusting the trajectory and providing different training modes. Wearable, sitting and lying, etc.

Suspended weight-reducing rehabilitation robots can detect, evaluate, and guide the training status of patients. They have strong functional adaptability and can provide corresponding gait patterns and programs according to different human body types. However, the dynamic model is more complicated and the control is more difficult; An independent wearable rehabilitation robot can provide energy through the power pair in the backpack, and drive the lower limb assist device through the motor at the joint to assist the patient to stand and walk, but crutches are needed to stabilize the patient's balance, and this structure is more used in the later stages of rehabilitation of patients stage.

Therefore, we designed a new closed-chain horizontal lower limb rehabilitation robot structure for the training and safety needs of patients in the early stage of lower limb rehabilitation.

Contents of the invention

In order to overcome the defects of the prior art, the object of the present invention is to provide a closed-chain horizontal lower limb rehabilitation robot structure, which has four different training modes, stable movement, and a lower limb that can meet the requirements of human lower limb joint rehabilitation training on the sagittal plane. Rehabilitation Robot.

For this reason, the present invention proposes a closed-chain horizontal lower limb rehabilitation robot structure, comprising a frame, a driving mechanism and a sagittal plane rehabilitation mechanism, the sagittal plane rehabilitation mechanism being a movable Z-shaped mechanism, human thighs, shanks, And the feet are respectively fixed on the sagittal plane rehabilitation mechanism, the driving mechanism is set on the frame and connected with the sagittal plane rehabilitation mechanism, and the sagittal plane rehabilitation mechanism rotates under the action of the driving mechanism to realize the hip joint and knee joint around the human body The active and passive movement of the coronal axis completes the rehabilitation training of the lower limbs.

The sagittal plane rehabilitation mechanism includes a thigh rod, a calf rod, a thigh leg support and a calf leg support; the driving mechanism includes a first steering gear, a first power arm, a first power arm pull rod, a second steering gear, a second power arm and a Two power arm rods; among them, the thigh rod, calf rod, second power arm rod, and second power arm form a double crank mechanism, and the second steering gear drives the second power arm to swing, thereby driving the calf rod to swing relative to the thigh rod , to realize the active and passive movement of the knee joint; the frame, the thigh rod, the first power arm, and the first power arm pull rod also form a double crank mechanism, and the first power arm drives the first power arm pull rod to swing, and then drives the thigh rod to move relative to each other. The rack swings to realize the active and passive movement of the hip joint.

Further, the thigh rod includes a thigh rod fixing part and a thigh rod sliding part, both of which are slidably connected; at the same time, the second power arm pull rod also includes two parts, a pull rod fixing part and a pull rod sliding part, so that the working length of the thigh rod can be adjusted and can be combined with Human thigh length matches.

Further, one side of the thigh rod is provided with a thigh telescopic mechanism, one end of the thigh telescopic mechanism is connected to the second power arm, and the other end of the thigh telescopic mechanism is respectively connected to the thigh rod sliding part and the pull rod sliding part.

Further, the thigh telescopic mechanism includes a parallel lifting mechanism, a manual push rod, a telescopic rod sleeve and a thumb screw; the manual push rod is slidingly connected to the telescopic rod sleeve, and both are locked by a thumb screw; The push rod is hinged, and the two ends of the parallel lifting mechanism are respectively hinged with the sliding part of the thigh rod and the sliding part of the pull rod.

Further, both the sliding part of the thigh rod and the sliding part of the tie rod include a piston cylinder and a sliding piston, the parallel lifting mechanism and the piston cylinder are connected through a non-penetrating hinge, and a thrust ball bearing is arranged between the parallel lifting mechanism and the piston cylinder.

Further, a calf telescopic mechanism is arranged on the calf rod, and a pedal is installed on the slider of the calf telescopic mechanism, and the working length of the calf rod is adjusted by adjusting the position of the pedal.

Further, the frame includes a motor end frame, a locking end frame and frame connectors, the first steering gear and the second steering gear are respectively connected to the motor end frame through mounting flanges, the first power arm, the second The two ends of the power arm are respectively rotationally connected with the frame of the motor end and the frame of the locking end through deep groove ball bearings.

Further, the outer ends of the first power arm and the second power arm are respectively provided with hexagonal key shafts, and two locking flanges are provided outside the frame at the locking end, and the locking flanges are connected with the hexagonal key shafts. And there is a thrust ball bearing between the locking flange and the locking end frame, so that the locking flange can rotate together with the power arm.

Further, the frame further includes fixing fixtures, which are respectively connected with the motor end frame and the locking end frame, and are used to install and fix the entire lower limb rehabilitation robot mechanism.

The closed-chain horizontal lower limb rehabilitation robot structure provided by the present invention can realize normal gait movement, knee tuck movement, Four rehabilitation training modes of hip joint independent movement and knee joint independent movement; double closed-loop closed-chain structure is adopted to improve the stability and safety of the driving mechanism during movement, and improve the accuracy of movement; under the action of the driving mechanism, through innovation Sexual configuration design and self-adaptive/impedance control system realize the active and passive movement of the hip joint and knee joint around the coronal axis of the human body, and the active and passive movement of the ankle joint around the coronal axis and vertical axis of the human body, ensuring the safety and stability of the rehabilitation process Sex, complete lower limb rehabilitation training.

In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. Hereinafter, the present invention will be described in further detail with reference to the drawings.

Description of drawings

The accompanying drawings constituting a part of the present application are used to provide a further understanding of the present invention, and the schematic embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

Fig. 1 is a structural schematic diagram 1 of the closed-chain horizontal lower limb rehabilitation robot structure of the present invention;

Fig. 2 is the structural schematic diagram II of the closed-chain horizontal lower limb rehabilitation robot structure of the present invention;

Fig. 3 is the schematic structural view of the thigh stretching mechanism in the structure of the closed-chain horizontal lower limb rehabilitation robot of the present invention;

Fig. 4 is a cross-sectional view of the parallel lifting mechanism in the structure of the closed-chain horizontal lower limb rehabilitation robot of the present invention;

Fig. 5 is a schematic diagram of the calf stretching mechanism in the structure of the closed-chain horizontal lower limb rehabilitation robot of the present invention;

Fig. 6 is a cross-sectional view of the structure at the first steering gear in the closed-chain horizontal lower limb rehabilitation robot structure of the present invention;

Fig. 7 is a sectional view of the connection mode between the first power arm and the first power arm pull rod in the rehabilitation robot structure of the present invention;

Fig. 8 is a cross-sectional view of the connection mode between the second power arm and the second power arm pull rod in the structure of the rehabilitation robot of the present invention.

Explanation of reference signs

1. The first steering gear; 2. The first power arm; 3. The first power arm tie rod; 4. The second steering gear; 5. The second power arm; 6. The second power arm pull rod; 6-A. The tie rod is fixed 6-B, pull rod sliding part; 7, mounting flange; 8, thigh rod; 8-A, thigh rod fixing part; 8-B, thigh rod sliding part; 9, calf rod; 10, thigh leg support; 11. Calf leg support; 12. Foot pedal; 13. Thigh telescopic mechanism; 14. Calf telescopic mechanism; 15. Motor end rack; 16. Rack connector; 17. Locking end rack; 18. Fixing fixture ;19, locking flange; 20, manual push rod; 21, thumb screw; 22, telescopic rod sleeve; 23, parallel lifting mechanism; 24, installation hinge; 25, stepper motor; 26, slider; 27 , track; 28, linear slide rail; 29, deep groove ball bearing; 30, thrust ball bearing; 31, hexagonal key shaft; 32, countersunk head screw; 33, set screw; 34, hinge locking device; 35 , non-penetrating hinge; 36, sliding piston.

Detailed ways

It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and examples.

As shown in Figures 1 to 8, the structure of the closed-chain horizontal lower limb rehabilitation robot of the present invention includes a frame, a driving mechanism, a sagittal plane rehabilitation mechanism and a length adjustment assembly, one end of the driving mechanism is fixedly mounted on the frame, and the other One end is connected to the sagittal plane rehabilitation mechanism, and the human leg is fixed on the sagittal plane rehabilitation mechanism. Under the action of the driving mechanism, the active and passive movement of the hip joint and knee joint around the coronal axis of the human body is realized, and the ankle joint around the coronal axis of the human body and The active and passive movement of the vertical axis completes the rehabilitation training of the lower limbs.

Specifically, as shown in Figures 1-2, the frame includes a motor end frame 15, a locking end frame 17, and a frame connector 16; the driving mechanism includes a first steering gear 1, a first power arm 2, a first The power arm pull rod 3, the second steering gear 4, the second power arm 5 and the second power arm pull rod 6; the first steering gear 1 is fixedly connected to the motor end frame 15 through the mounting flange 7, and the first steering gear 1 outputs The shaft is connected coaxially with the first power arm 2 through the output end of the mounting flange 7; a deep groove ball bearing 29 is arranged at the connection between the first power arm 2 and the frame to reduce friction during operation; one end of the first power arm pull rod 3 It is hinged with the first power arm 2, and the other end is fixed on the sagittal plane rehabilitation mechanism; the second steering gear 4 and the second power arm 5 are connected to the frame with the same structure.

As shown in Figures 3 to 4, the sagittal plane rehabilitation mechanism includes a thigh bar 8, a calf bar 9, a thigh leg support 10, a calf leg support 11 and a foot pedal 12; the length adjustment assembly includes a thigh telescopic mechanism 13 and a calf telescopic mechanism 14. Its function is to realize the rehabilitation training of the main joints of the lower limbs of the human body on the sagittal plane under the action of the driving mechanism.

Wherein, the thigh rod 8, the calf rod 9, the second power arm pull rod 6, and the second power arm 5 form a double crank mechanism, and the second steering gear 4 drives the second power arm 5 to swing, thereby driving The calf bar 9 swings relative to the thigh bar 8 to realize the active and passive motion of the knee joint; the frame, the thigh bar 8, the first power arm 2, and the first power arm pull bar 3 also form a double crank mechanism , the first power arm 2 drives the first power arm pull rod 3 to swing, and then drives the thigh rod 8 to swing relative to the frame, so as to realize the active and passive movement of the hip joint.

The thigh rod 8 is divided into a thigh rod fixing part 8-A and a thigh rod sliding part 8-B. Meanwhile, the second power arm pull rod 6 also includes two parts, the pull rod fixing part 6-A and the pull rod sliding part 6-B. The rod sliding part 8-B and the pull rod sliding part 6-B are connected with the thigh stretching mechanism 13; the working length of the thigh rod 8 can be adjusted and matched with the length of the human thigh.

Wherein, the thigh telescopic mechanism 13 includes a central telescopic mechanism and a parallel lifting mechanism 23 . The central telescopic mechanism includes a manual push rod 20, a telescopic rod sleeve 22 and a thumb screw 21, the manual push rod 20 is slidably connected to the telescopic rod sleeve 22, and both are locked by the thumb screw 21; The telescopic rod sleeve 22 is fixed at the middle position of the second power arm 5 through the installation hinge 24, and is used to adjust the length of the second power arm pull rod sliding part 6-B and the thigh rod sliding part 8-B, thereby adjusting the length of the second power arm during the rehabilitation training process. Working length of the thigh bar.

The two ends of the parallel lifting mechanism 23 are respectively hinged with the thigh rod sliding part 8-B and the second power arm pull rod 6-B; The piston 36 is a piston cylinder outside; therefore, a non-penetrating hinge 35 is provided at the thigh rod sliding part 8-B and the second power arm pull rod 6-B, and the non-penetrating hinge 35 is connected with the parallel lifting mechanism 23 . The parallel lifting mechanism 23 at the 35 places of the non-penetrating hinge is axially locked through the internal thread, and the rigidity of the rod is used to fix it with the embedded boss. In order to minimize the plane contact friction, thrust ball bearings are embedded between the rods 30.

As shown in Figure 5, calf rod 9 is provided with calf telescopic mechanism 14, and calf telescopic mechanism 14 comprises stepper motor 25, slide block 26, track 27 and linear slide rail 28, and pedal 12 is fixed on the slide block 26, Wherein the linear slide rail 28 adopts a screw guide rail, which can realize self-locking. The position of the pedal 12 is adjusted by the action of the stepping motor 25 to adjust the length of the calf.

As shown in Figure 6, the output shaft of the first steering gear 1 is coaxial with the first power arm 2 through the output end of the mounting flange 7, and the power is transmitted to the first power arm 2; the connection between the first power arm 2 and the frame is set There are deep groove ball bearings 29 to reduce the friction during operation; the end of the locking flange 19 of the first power arm 2 is provided with a hexagonal key shaft 31, and the hexagonal key shaft 31 is connected with the locking flange 19, Driving the locking flange 19 to rotate; aligning the frame with the holes of the locking flange 19 can achieve the purpose of restricting the rotation of the first power arm 2 .

As shown in Figure 7, a deep groove ball bearing 29 is provided at the interlayer between the first power arm pull rod 3 and the first power arm 2 to reduce rotational friction and facilitate installation and disassembly. A countersunk screw 32 is passed inside the double-layer rod Lock the axial position;

As shown in Figure 8, a hinge locking device 34 is provided between the second power arm 5 and the second power arm pull rod 6, which constrains the pull rod axially, and can quickly install another connecting rod at the hinge as conveniently as possible. , in order to prevent the hinge lock device 34 from loosening and falling off, a set screw 33 is provided between the hinge lock device 34 and the second power arm pull rod 6, wherein the set screw 33 extends radially along the hinge lock device 34; For reducing the rotation resistance, deep groove ball bearings 29 are arranged between the surfaces to reduce the rotation friction resistance.

Among them, the entire rehabilitation mechanism is formed by stacking five layers of rods. The first power arm 2, the second power arm rod 6 and the thigh rod 8 are designed as single-layer rods. The first power arm rod 3, the second power arm 5 and the lower leg The rod 9 is a double-layer rod design; the interlayer design of the calf rod 9 and the thigh rod 8 is the same as the design of the interlayer between the first power arm pull rod 3 and the first power arm 2 .

The second power arm is a double-layer rod structure, and a thrust ball bearing 30 and a small shoulder are designed to reduce the friction between surfaces; the follower rod of the second power arm 5 is locked by the locking flange 19, which can limit the second The purpose of the rotation of the power arm 5; the first power arm 2, the second power arm 5 and the rack can realize four kinds of normal gait movement, knee tuck movement, hip joint independent movement and knee joint independent movement by locking the angles in pairs Rehabilitation training mode.

In this program, the lower limb rehabilitation robot also includes a fixing fixture 18, which is connected to the motor end frame 15 and the locking end frame 17 respectively, and the fixing fixture 18 can be clamped on a certain fixing plate, and the whole mechanism Install and fix.

It should be noted that different structures can also be used to realize the expansion and contraction of thighs and shanks. The central expansion mechanism in the thigh expansion mechanism 13 can be replaced by mechanisms such as cylinders, electric expansion rods, and servo slides; It can be replaced by mechanisms such as cylinders, manual telescopic rods, and servo slides.

The working principle and working process of the closed-chain horizontal lower limb rehabilitation robot structure of the present invention will be briefly described below in conjunction with the accompanying drawings.

When the rehabilitation robot is working, by locking the angle between the first power arm 2, the second power arm 5 and the frame in pairs, normal gait training, knee tuck training, hip joint independent training and knee joint independent training can be realized. A rehabilitation training mode, the specific implementation is as follows:

Within the movement range of the mechanism, according to the normal gait of the human body, the end trajectory is given, and the normal two-degree-of-freedom gait training is realized by controlling the swing angle of the first steering gear and the second steering gear;

When the first dynamic arm 2 moves normally, the second dynamic arm 5 is locked, so that the mechanism operates with a single degree of freedom in the sagittal plane, realizing knee tuck training;

When the second dynamic arm 5 moves normally, the first dynamic arm 2 is locked, so that the mechanism operates with a single degree of freedom in the sagittal plane, realizing independent training of the knee joint;

Locking the included angle between the first dynamic arm 2 and the second dynamic arm 5 is 90°, so that the mechanism operates with a single degree of freedom in the sagittal plane, realizing independent training of the hip joint.

The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. The closed-chain horizontal lower limb rehabilitation robot structure is characterized by comprising a rack, a driving mechanism and a sagittal plane rehabilitation mechanism, wherein the sagittal plane rehabilitation mechanism is a movable Z-shaped mechanism, thighs, shanks and feet of a human body are respectively fixed on the sagittal plane rehabilitation mechanism, the driving mechanism is arranged on the rack and connected with the sagittal plane rehabilitation mechanism, and the sagittal plane rehabilitation mechanism rotates under the action of the driving mechanism to realize active and passive movement of hip joints and knee joints around a human coronal axis so as to finish lower limb rehabilitation training.

2. The closed chain horizontal lower limb rehabilitation robot structure according to claim 1, characterized in that the sagittal plane rehabilitation mechanism comprises a thigh bar (8), a shank bar (9), a thigh leg rest (10) and a shank leg rest (11); the driving mechanism comprises a first steering engine (1), a first power arm (2), a first power arm pull rod (3), a second steering engine (4), a second power arm (5) and a second power arm pull rod (6);

the thigh rod (8), the shank rod (9), the second power arm pull rod (6) and the second power arm (5) form a double-crank mechanism, the second steering engine (4) drives the second power arm (5) to swing, and then the shank rod (9) is driven to swing relative to the thigh rod (8), so that active and passive movement of a knee joint is achieved;

the machine frame, the thigh rod (8), the first power arm (2) and the first power arm pull rod (3) also form a double-crank mechanism, the first power arm (2) drives the first power arm pull rod (3) to swing, and then the thigh rod (8) is driven to swing relative to the machine frame, and active and passive movement of the hip joint is achieved.

3. The closed chain horizontal lower limb rehabilitation robot structure according to claim 2, characterized in that the thigh bar (8) comprises a thigh bar fixing part and a thigh bar sliding part, both of which are slidably connected; meanwhile, the second power arm pull rod (6) also comprises a pull rod fixing part and a pull rod sliding part, so that the working length of the thigh rod (8) can be adjusted and can be matched with the length of a thigh of a human body.

4. The closed chain horizontal type lower limb rehabilitation robot structure according to claim 3, characterized in that a thigh telescoping mechanism (13) is arranged on one side of the thigh rod (8), one end of the thigh telescoping mechanism (13) is connected with the second power arm (5), and the other end of the thigh telescoping mechanism (13) is connected with the thigh rod sliding part and the pull rod sliding part respectively.

5. The closed chain horizontal lower limb rehabilitation robot structure according to claim 4, characterized in that the thigh telescoping mechanism (13) comprises a parallel lifting mechanism (23), a manual push rod (20), a telescopic rod sleeve (22) and a hand screw (21); the manual push rod (20) is connected with the telescopic rod sleeve (22) in a sliding mode and locked through the hand-screwed screw (21); the middle part of the parallel lifting mechanism (23) is hinged with the manual push rod (20), and two ends of the parallel lifting mechanism (23) are hinged with the thigh rod sliding part and the pull rod sliding part respectively.

6. The closed chain horizontal lower limb rehabilitation robot structure according to claim 5, characterized in that the thigh bar sliding part and the pull bar sliding part each comprise a piston cylinder and a sliding piston (36), the parallel lifting mechanism (23) is connected with the piston cylinder through a non-through hinge (35), and a thrust ball bearing (30) is arranged between the parallel lifting mechanism (23) and the piston cylinder.

7. The closed chain horizontal lower limb rehabilitation robot structure according to claim 2, characterized in that a lower leg stretching mechanism (14) is arranged on the lower leg rod (9), a pedal (12) is mounted on a slide block (26) of the lower leg stretching mechanism (14), and the working length of the lower leg rod (9) is adjusted by adjusting the position of the pedal (12).

8. The closed-chain horizontal lower limb rehabilitation robot structure according to claim 2, characterized in that the frame comprises a motor end frame (15), a locking end frame (17) and a frame connecting piece (16), the first steering engine (1) and the second steering engine (4) are respectively connected to the motor end frame (15) through mounting flanges (7), and two ends of the first power arm (2) and the second power arm (5) are respectively connected with the motor end frame (15) and the locking end frame (17) in a rotating mode through deep groove ball bearings (29).

9. The closed chain horizontal type lower limb rehabilitation robot structure as claimed in claim 8, wherein the outer ends of the first power arm (2) and the second power arm (5) are respectively provided with a hexagonal key shaft (31), two locking flanges (19) are arranged on the outer sides of the locking end frames (17), the locking flanges (19) are connected with the hexagonal key shafts (31), and a thrust ball bearing (30) is arranged between the locking flanges (19) and the locking end frames (17) so that the locking flanges (19) can rotate along with the power arm.

10. The closed chain horizontal lower limb rehabilitation robot structure according to claim 8, characterized in that the frame further comprises a fixing clamp (18), and the fixing clamp (18) is respectively connected with the motor end frame (15) and the locking end frame (17) for installing and fixing the whole lower limb rehabilitation robot mechanism.

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