CN116392361B - Sitting type lower limb rehabilitation robot based on hybrid driving mode - Google Patents
Sitting type lower limb rehabilitation robot based on hybrid driving modeInfo
- Publication number
- CN116392361B CN116392361B CN202310426958.6A CN202310426958A CN116392361B CN 116392361 B CN116392361 B CN 116392361B CN 202310426958 A CN202310426958 A CN 202310426958A CN 116392361 B CN116392361 B CN 116392361B
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- motor
- ankle
- thigh
- stretching
- lower leg
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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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
-
- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- 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 sitting type lower limb rehabilitation robot based on a hybrid driving mode, which comprises a base, an ankle swinging mechanism, a lower leg stretching mechanism, a thigh inward-retracting and outward-expanding mechanism and a thigh stretching mechanism, wherein the thigh stretching mechanism is arranged on the base and used for driving the ankle swinging mechanism, the lower leg stretching mechanism and the thigh inward-retracting and outward-expanding mechanism to integrally ascend so as to realize the stretching and buckling movement of a hip joint, the thigh inward-retracting and outward-expanding mechanism is arranged on the thigh stretching mechanism and used for driving the ankle swinging mechanism and the lower leg stretching mechanism to integrally rotate around a disc of the thigh stretching mechanism so as to realize the inward-retracting/outward-expanding movement of the hip joint, the lower leg stretching mechanism is arranged on the thigh inward-retracting and outward-expanding mechanism and used for driving the ankle swinging mechanism to realize the stretching and buckling movement of a knee joint, and the ankle swinging mechanism is arranged on the lower leg stretching mechanism and used for realizing the plantar flexion/dorsiflexion and inward-retraction/outward-expanding combined movement of the ankle joint.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a sitting type lower limb rehabilitation robot based on a hybrid driving mode.
Background
In recent years, more and more people have a heavy burden on families and society due to lower limb movement dysfunction caused by stroke, nerve injury, spinal injury, orthopedic diseases and the like. In the face of these patients, surgery or medication is needed in the early stage, and scientific rehabilitation exercise training is needed in the later stage. At present, most hospitals still adopt traditional 'handle' mode to carry out rehabilitation exercise training to suffering limbs, and then cause rehabilitation doctors working strength big, and rehabilitation service object is limited to make many patients not obtain timely effectual rehabilitation exercise training treatment. The appearance of lower limb rehabilitation training robot relieves the working pressure of rehabilitation doctors to a certain extent, and can more effectively perform rehabilitation exercise training on patients.
However, the existing lower limb rehabilitation training robot has the following defects that 1, rehabilitation training actions are single, 2, rehabilitation exercise training ranges are smaller, 3, the small rehabilitation robot needs to rely on auxiliary rods to maintain body balance, balance is poor, 4, the large rehabilitation robot is large in mechanism, inconvenient to move and limited in use scene.
Disclosure of Invention
In order to solve the technical problems, the invention provides a sitting type lower limb rehabilitation robot based on a hybrid driving mode, which can realize multiple action training of lower limbs, and has the advantages of wide movement training range and good balance.
The technical scheme adopted by the invention is as follows:
A sitting-type lower limb rehabilitation robot based on a hybrid driving mode comprises a base, an ankle swinging mechanism, a lower leg stretching mechanism, a thigh inward-retracting and outward-expanding mechanism and a thigh stretching mechanism, wherein the thigh stretching mechanism is arranged on the base and used for driving the ankle swinging mechanism, the lower leg stretching mechanism and the thigh inward-retracting and outward-expanding mechanism to integrally ascend so as to realize the extending and buckling motions of hip joints, the thigh inward-retracting and outward-expanding mechanism is arranged on the thigh stretching mechanism and used for driving the ankle swinging mechanism and the lower leg stretching mechanism to integrally rotate around a disc of the thigh stretching mechanism so as to realize the inward-retracting and outward-expanding motions of hip joints, the lower leg stretching mechanism is arranged on the thigh inward-retracting and outward-expanding mechanism and used for driving the ankle swinging mechanism to realize the extending and buckling motions of knee joints, and the ankle swinging mechanism is arranged on the lower leg stretching mechanism and used for realizing the plantar-flexing/dorsiflexing and inward-retracting/outward combined motions of ankle joints.
Further, the thigh bending and stretching mechanism comprises a ball screw arranged on the base, a seventh motor for driving the ball screw to rotate, and a lifting table sleeved on the ball screw in a threaded manner, wherein the lifting table is used for fixing the thigh inward-folding and outward-stretching mechanism.
Further, the thigh bending and stretching mechanism further comprises two lifting slide rails arranged on two sides of the ball screw, and two lifting slide blocks which are connected to the two lifting slide rails in a sliding manner and are connected with the lifting table together.
Further, the thigh adduction abduction mechanism comprises a thigh adduction abduction mechanism base fixedly connected with the thigh flexion and extension mechanism, a gear ring fixed disc fixed on the thigh adduction abduction mechanism base, a gear ring rotatably arranged on the gear ring fixed disc, a gear in meshed transmission connection with the gear ring, and a sixth motor for driving the gear to rotate.
Further, the lower leg bending and stretching mechanism comprises a lower leg bending and stretching mechanism base fixedly connected with a first motor seat of the thigh adduction and abduction mechanism, an arc-shaped sliding rail arranged on the lower leg bending and stretching mechanism base, a sliding block in sliding connection with the arc-shaped sliding rail, an ankle connecting fastener fixed on the sliding block, and a lower leg bending and stretching motor driving the sliding block to slide on the arc-shaped sliding rail through a rope.
The lower leg bending and stretching mechanism comprises a lower leg bending and stretching mechanism bottom plate and an upper leg bending and stretching mechanism bottom plate, the lower leg bending and stretching mechanism bottom plate and the upper leg bending and stretching mechanism bottom plate are connected through two arc-shaped sliding rails, the lower leg bending and stretching motor comprises a second motor, a third motor, a fourth motor and a fifth motor, output shafts of the fourth motor and the fifth motor are outwards and symmetrically fixedly arranged on the lower leg bending and stretching mechanism bottom plate, output shafts of the second motor and the third motor are outwards and symmetrically fixedly arranged on the lower leg bending and stretching mechanism bottom plate, a rope winding disc is coaxially and fixedly connected with an output shaft of each motor, ropes A and B wound on the rope winding disc of the second motor and the third motor are respectively fixed on one ends of two sliding blocks, and the other ends of the rope C and the rope winding disc D wound on the rope winding disc of the fourth motor and the fifth motor are respectively fixed on the other ends of the two sliding blocks.
Further, a plurality of pulley frames are arranged on each arc-shaped sliding rail at intervals, and pulleys for guiding ropes are arranged on the pulley frames.
Further, the ankle swinging mechanism comprises an ankle mechanism bottom plate, an ankle mechanism front end plate and an ankle mechanism rear end plate, a U-shaped ankle swinging mechanism base, a four-bar mechanism rotatably installed in a U-shaped cavity of the ankle swinging mechanism base, a first motor installed in the ankle mechanism rear end plate and used for driving the four-bar mechanism to rotate, a sole connecting piece installed in an arc-shaped chute of the ankle mechanism front end plate and driven by the four-bar mechanism to slide in the arc-shaped chute, and a sole supporting plate hinged with the front end of the sole connecting piece, wherein the rear end of the sole supporting plate is connected with a spring connecting piece through a ball pair connecting piece, and the other end of the spring connecting piece is fixed on the ankle mechanism front end plate.
Further, the four-bar linkage comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod which are sequentially hinged, the fourth connecting rod is provided with an arc-shaped rod connecting part, a first straight rod connecting part and a second straight rod connecting part, the middle part of the third connecting rod is hinged with the second connecting rod, the lower end of the third connecting rod is hinged with the lower end of the first straight rod connecting part of the fourth connecting rod, the upper end of the third connecting rod is connected with the free end of the arc-shaped rod connecting part of the fourth connecting rod through a clamping screw, and the upper end of the second straight rod connecting part of the fourth connecting rod is fixedly connected with a sole connecting piece.
Further, the first motor is arranged on the first motor frame, the first motor frame is fixedly arranged on the small belt pulley seat, the small belt pulley seat is fixedly arranged on the back surface of the rear end plate of the ankle mechanism, a small belt pulley is rotatably arranged in the small belt pulley seat, an output shaft of the ankle swinging motor is coaxially and fixedly connected with a wheel shaft of the small belt pulley, the small belt pulley is connected with a large belt pulley through belt transmission, and the large belt pulley is rotatably arranged below the small belt pulley
The invention has the beneficial effects that:
1. According to the sitting-type lower limb rehabilitation robot based on the hybrid driving mode, in the ankle swinging mechanism, the four connecting rods control the swinging amplitude through adjusting the clamping screw, and the sole is fixedly connected with the ball pair through the springs, so that ankle joints are more flexible during movement, arc track movement is provided for feet of a patient, and compound movement of two movement modes, namely plantar flexion/dorsiflexion and adduction/abduction of the ankle, is skillfully realized.
2. The sitting-type lower limb rehabilitation robot based on the hybrid driving mode provided by the invention has the advantages that under the support of the lower leg flexion and extension mechanism, the pulley combinations are symmetrically distributed on two sides of the assembly, 6 pulleys are distributed on each side, and the lower leg flexion and extension mechanism is driven to slide along the arc-shaped track by rope driving, so that the knee joint flexion/extension is realized.
3. The sitting type lower limb rehabilitation robot based on the hybrid driving mode provided by the invention has the advantages that under the support of the thigh flexion and extension mechanism, the ball screw drives the sliding block to slide up and down through the nut seat, so that the flexion/extension rehabilitation movement of the hip joint is realized.
4. The sitting-type lower limb rehabilitation robot based on the hybrid driving mode provided by the invention has the advantages that the ankle swinging mechanism, the lower leg bending and stretching mechanism, the thigh bending and stretching mechanism and the thigh inward-folding and outward-stretching mechanism are in modularized design, the connection part of the ankle swinging mechanism and the lower leg bending and stretching mechanism is spliced, the connection parts of other components are connected by bolts, and the ankle swinging mechanism is convenient to disassemble and assemble and convenient to move and transport.
Drawings
Fig. 1 is a schematic structural diagram of a sitting-type lower limb rehabilitation robot based on a hybrid driving mode.
Fig. 2 is a schematic view of an ankle swing mechanism according to the present invention.
Fig. 3 is a schematic structural view of the ankle swing mechanism according to the present invention.
Fig. 4 is a schematic structural view of the four-bar linkage mechanism of the present invention.
Fig. 5 is a schematic structural view of the lower leg flexion and extension mechanism and the thigh inward-extension mechanism of the present invention.
Fig. 6 is a schematic view showing the connection structure of the slider and ankle connecting fastener of the lower leg bending and stretching mechanism of the present invention.
Fig. 7 is a schematic view of the structure of the ring gear of the thigh inward folding and outward stretching mechanism of the present invention.
Fig. 8 is a schematic view of the base structure of the thigh inward-folding and outward-unfolding mechanism of the present invention.
Fig. 9 is a schematic view of the thigh flexion and extension mechanism and the base of the present invention.
Reference numerals illustrate:
100-base; 200-ankle swing mechanism; 201-ankle mechanism base plate; 202-ankle mechanism front plate; 203-an ankle mechanism rear end plate; 204-four bar linkage; 2041-a first link; 2042-a second link; 2043-a third link; 2044-fourth link; 205-clamping screws; 206-sole connection; 207-sole support plates; 208-ball pair connection; 209-spring connector; 210-small belt wheel seat; 211-a first motor; 212-a first motor mount; 213-large pulleys; 215-a belt; 216-ankle clasp; 300-shank flexion and extension mechanism; 301-lower bottom plate of lower leg flexion and extension mechanism; 302-winding a rope reel; 303-a second motor; 304-a third motor; 305-rope; 306-a slider; 307-pulley frame; 308-motor stand; 309-fourth motor; 310-a fifth motor; 311-upper bottom plate of lower leg flexion and extension mechanism; 312-pulleys; 313-ankle connection fastener; 314-pulley seat; 315-arc slide rail; 400-thigh adduction abduction mechanism; 401-a lower leg adduction and abduction mechanism base; 402-a sixth motor; 403-a ring gear fixed disc; 404-a gear ring; 405-motor base; 406-a gear shaft; 407-gear; 500-thigh flexion and extension mechanisms; 501-a screw rod supporting seat; 502-lifting slide rails; 503-screw rod fixing seat; 504-motor base; 505-seventh motor; 506-ball screw; 507-nut seat; 508-a gear motor; 509-lifting table; 510 lifting slide blocks.
Detailed Description
The invention will be further described with reference to specific examples to facilitate an understanding of the invention, but are not intended to limit the invention thereto.
Referring to fig. 1, the hybrid driving mode-based sitting-type lower limb rehabilitation robot provided by the invention comprises a base 100, an ankle swing mechanism 200, a lower leg flexion and extension mechanism 300, a thigh flexion and extension mechanism 500 and a thigh inward-extension and outward-extension mechanism 400.
The base 100 is an L-shaped seat body composed of a vertical bottom plate and a horizontal bottom plate, and four corners of the horizontal bottom plate are provided with bolt mounting holes.
Referring to fig. 2 and 3, the ankle swing mechanism 200 includes an ankle swing mechanism base, a four bar mechanism 204, a clamping screw 205, a sole connector 206, a sole support plate 207, a ball pair connector 208, a spring connector 209, a small pulley seat 210, a first motor 211, a first motor frame 212, a small pulley and a large pulley 213.
The ankle swing mechanism base is composed of an ankle mechanism bottom plate 201, an ankle mechanism front end plate 202 and an ankle mechanism rear end plate 203, the ankle mechanism front end plate 202 and the ankle mechanism rear end plate 203 being vertically disposed above the ankle mechanism bottom plate 201, a space for accommodating the four-bar mechanism 204 being formed between the ankle mechanism front end plate 202 and the ankle mechanism rear end plate 203. An arc chute is provided at the top of the ankle mechanism front end plate 202. One ankle button 216 is mounted on each side of the upper end of the ankle mechanism rear end plate 203.
The first motor 211 is arranged on the first motor frame 212, the first motor frame 212 is fixedly arranged on the small belt pulley seat 210, the small belt pulley seat 210 is fixedly arranged on the back surface of the ankle mechanism rear end plate 203, a small belt pulley is rotatably arranged in the small belt pulley seat 210, an output shaft of the first motor 211 is coaxially and fixedly connected with a wheel shaft of the small belt pulley, a large belt pulley 213 is rotatably arranged below the small belt pulley, and the large belt pulley 213 is in transmission connection with the small belt pulley through a belt 215.
Referring to fig. 4, the axle 2131 of the large pulley 213 is rotatably fixedly connected to the first link 2041 of the four-bar linkage 204 through the ankle mechanism rear end plate 203 for driving the rotation of the four-bar linkage 204. The four-bar linkage 204 is rotatably mounted between the ankle mechanism front end plate 202 and the ankle mechanism rear end plate 203.
In a specific implementation, the four-bar linkage 204 includes a first link 2041, a second link 2042, a third link 2043, and a fourth link 2044, where the first link 2041, the second link 2042, the third link 2043, and the fourth link 2044 are sequentially hinged, the fourth link 2044 is provided with an arc-shaped bar connecting portion, a first straight bar connecting portion, and a second straight bar connecting portion, the fixed connection of the first straight bar connecting portion and the second straight bar connecting portion is in a V shape, the arc-shaped bar connecting portion is connected to the upper end of the first straight bar connecting portion near the second straight bar connecting portion, the middle of the third link 2043 is hinged to the second link 2042, the lower end of the third link 2043 is hinged to the lower end of the first straight bar connecting portion of the fourth link 2044, the upper end of the third link 2043 is provided with a U-shaped groove, and the free end of the arc-shaped bar connecting portion of the fourth link 2044 is inserted into the U-shaped groove and connected to the third link 2043 by a clamping screw 205, and the upper end of the second straight bar connecting portion of the fourth link 2044 is fixedly connected to the sole connecting member 206. The range of oscillation of the plantar link 206 is adjusted by controlling the arc segment extension of the fourth link 2044 by the clamping screw 205.
The sole connecting piece 206 is slidably arranged in an arc-shaped chute of the ankle mechanism front end plate 202, the rear end of the sole connecting piece 206 is connected with the four-bar mechanism 204, the four-bar mechanism 204 drives the sole connecting piece 206 to swing left and right in the arc-shaped chute, the front end of the sole connecting piece 206 is hinged with the front end of the bottom of the sole supporting plate 207, the rear end of the bottom of the sole supporting plate 207 is connected with the spring connecting piece 209 through the ball pair connecting piece 208, the other end of the spring connecting piece 209 is fixed on the ankle mechanism front end plate 202, and preferably the spring connecting piece 209 is a tension coil spring. The sole support plate 207 is a U-shaped support plate with a bottom plate. The sole connector 206 is preferably a round bar with an outer diameter that matches the inner diameter of the arcuate chute.
The first motor 211 drives the small belt to rotate, the belt 215 drives the large belt pulley 213 to rotate, the large belt pulley 213 drives the four-bar linkage 204 to rotate, and the swing rod of the four-bar linkage 204 drives the sole connecting piece 206 to slide in the arc-shaped chute.
Referring to fig. 5, the lower leg bending and stretching mechanism 300 includes a second motor 303, a third motor 304, a fourth motor 309, a fifth motor 310, a motor base 308, a rope reel 302, a rope 305, a pulley 312, a pulley base 314, a pulley frame 307, a slider 306, an arc-shaped sliding rail 315, an ankle connecting fastener 313, and a lower leg bending and stretching mechanism base.
The lower leg bending and stretching mechanism base comprises a lower leg bending and stretching mechanism base plate 301 and an upper leg bending and stretching mechanism base plate 311, the lower leg bending and stretching mechanism base plate 301 is vertically arranged, the upper leg bending and stretching mechanism base plate 311 is horizontally arranged, and the lower leg bending and stretching mechanism base plate 301 and the upper leg bending and stretching mechanism base plate 311 are connected through two arc-shaped sliding rails 315 which are arranged in parallel. The lower bottom plate 301 of the lower leg bending and stretching mechanism and the upper bottom plate 311 of the lower leg bending and stretching mechanism are respectively provided with a notch for avoiding the ankle swinging mechanism 200.
Two pulley frames 307 are arranged on each arc-shaped sliding rail 315 at intervals, and pulleys 312 are arranged on the pulley frames 307. The pulley frames on the two arc-shaped sliding rails are arranged in one-to-one correspondence. The left side and the right side of the lower bottom plate 301 of the lower leg bending and stretching mechanism and the upper bottom plate 311 of the lower leg bending and stretching mechanism are respectively provided with a plurality of pulley seats 314, and the pulley seats 314 are provided with pulleys 312. Two sliding blocks 306 are respectively and slidably connected to the two arc-shaped sliding rails 315. Referring to fig. 5, two ankle connecting fasteners 313 are respectively and fixedly connected to two opposite sides of the two sliders 306, and the two ankle connecting fasteners 313 are correspondingly arranged and are respectively provided with a socket for connecting the ankle swinging mechanism 200. The top surfaces of the two sliders 306 are provided with two circular ring-shaped fasteners for fixing the ropes 305. Ankle swing mechanism 200 is fastened to ankle connecting clasp 313 via ankle clasp 216.
The output shafts of the fourth motor 309 and the fifth motor 310 are outwards and symmetrically fixedly arranged on the upper bottom plate 311 of the lower leg bending and stretching mechanism, the output shafts of the second motor 303 and the third motor 304 are outwards and symmetrically fixedly arranged on the lower bottom plate 301 of the lower leg bending and stretching mechanism, and the output shafts of the motors are coaxially and fixedly connected with a rope winding disc 302 through a coupler, and ropes 305 are wound on the rope winding disc 302.
The rope A wound on the rope reel A connected with the third motor 304 is fixed on the rope reel A, the other end of the rope A is guided by the pulley 312 and then fixed on the annular fastener of the left slider 306, the rope B wound on the rope reel B connected with the second motor 303 is fixed on the rope reel B, the other end of the rope B is guided by the pulley 312 and then fixed on the annular fastener of the right slider 306, the rope C wound on the rope reel C connected with the fourth motor 309 is fixed on the rope reel C, the other end of the rope C is guided by the pulley 312 and then fixed on the other annular fastener of the left slider 306, the rope D wound on the rope reel D connected with the fifth motor 310 is fixed on the rope reel D, and the other end of the rope D is guided by the pulley 312 and then fixed on the other annular fastener of the right slider 306.
When the third motor 304 drives the rope winding disk A to wind the rope A, the second motor 303 drives the rope winding disk B to wind the rope B, the fourth motor 309 drives the rope winding disk C to release the rope C, the fifth motor 310 drives the rope winding disk D to release the rope D, the two sliding blocks 306 simultaneously drive the ankle swinging mechanism 200 to move towards the thigh inward-folding and outward-unfolding mechanism 400, when the third motor 304 drives the rope winding disk A to release the rope A and the second motor 303 drives the rope winding disk B to release the rope B, the fourth motor 309 drives the rope winding disk C to wind the rope C, the fifth motor 310 drives the rope winding disk D, and the two sliding blocks 306 simultaneously drive the ankle swinging mechanism 200 to move away from the thigh inward-folding and outward-unfolding mechanism 400, so that the lower leg bending movement of a patient is realized.
Referring to fig. 5, 7 and 8, the thigh inward-folding and outward-unfolding mechanism 400 includes a thigh inward-folding and outward-unfolding mechanism base 401, a sixth motor 402, a motor base 405, a gear shaft 406, a gear 407, a gear ring 404 and a gear ring fixing disk 403.
The thigh adduction abduction mechanism base 401 is composed of a base plate and a rectangular frame perpendicular to the base plate.
The sixth motor 402 is fixedly mounted on the lower plate 301 of the lower leg flexion and extension mechanism through a motor mount 405. The output shaft of the sixth motor 402 is coaxially and fixedly connected with a gear shaft 406, and a sleeved gear 407 is fixedly arranged on the gear shaft 406. The bottom of the gear ring 404 is vertically and fixedly arranged on the lower bottom plate 301 of the lower leg bending and stretching mechanism through bolts, the gear 407 is in meshed transmission connection with the gear ring 404, and the gear ring 404 is in rotary connection with the gear ring fixing disc 403. The ring gear fixing disk 403 is fixed to the upper end of the rectangular frame of the thigh-in-out mechanism base 401. In specific implementation, the gear ring 404 is a sector gear ring comprising internal teeth, and is provided with a spoke, the center part of the spoke is provided with a mounting hole, the gear ring fixing disc 403 is a disc provided with a step surface, the center part of the disc is provided with a round table in running fit with the mounting hole of the gear ring, the gear ring 404 is rotatably mounted on the gear ring fixing disc 403 through the mounting hole, and the outer edge part of the gear ring 404 is in running connection with the step surface of the disc. Referring to fig. 7 and 8, the ring gear fixing disk 403 is fixed on top of the rectangular frame of the thigh-adduction and abduction mechanism base 401 by bolts, and the disk surface of the ring gear fixing disk 403 is parallel to the rectangular frame of the thigh-adduction and abduction mechanism base 401.
Referring to fig. 9, the thigh flexion and extension mechanism 500 includes a seventh motor 505, a motor base 504, a screw rod fixing base 503, a ball screw 506, a nut base 507, a gear motor 508, a lifting table 509, a screw rod supporting base 501, a lifting slide rail 502, and a lifting slider 510.
The seventh motor 505 is fixedly installed on the vertical bottom plate of the base 100 through the motor seat 504, the gear motor 508 is fixedly installed below the seventh motor 505, the input end of the gear motor is fixedly connected with the output shaft of the seventh motor 505, the ball screw 506 is rotatably installed on the vertical bottom plate of the base 100 through the screw fixing seat 503 and the screw supporting seat 501, and the upper end of the ball screw 506 is fixedly connected with the output end of the gear motor 508. Two lifting slide rails 502 are arranged on two sides of the ball screw 506 in parallel, the two lifting slide rails 502 are fixed on the vertical bottom plate of the base 100 through screws, each lifting slide rail 502 is connected with a lifting slide block 510 in a sliding mode, and the two lifting slide blocks 510 are fixedly connected with a lifting table 509. The lifting table 509 is screw-fitted over the ball screw 506.
The thigh-adduction and abduction mechanism base 401 is fixedly mounted on the elevating table 509 through a bottom plate, and the rectangular frame of the thigh-adduction and abduction mechanism base 401 is parallel to the horizontal bottom plate of the base 100. The seventh motor 505 drives the ball screw 506 to rotate through the gear motor 508 to drive the lifting table 509 to move up and down on the lifting slide rail 502, so as to realize the flexion and extension movement of the thighs of the patient.
The application is used when:
The base 100 is fixed to the ground by installing anchor bolts in four bolt installation holes of a horizontal bottom plate thereof. The patient's foot is placed on the plantar support plate 207 and secured by velcro or straps, and then the following rehabilitation exercises are achieved by means of terminal traction:
The ankle joint drives the four-bar mechanism 204 to move through the first motor 211, and drives the sole connecting piece 206 to slide left and right in the arc-shaped groove, so that the sole supporting plate 207 is driven to do arc-shaped movement, and further the plantar flexion/dorsiflexion and adduction/abduction compound movement of the ankle joint is realized;
The two sliding blocks 306 drive the ankle swinging mechanism 200 to move forwards to realize the extension movement of the knee joint, and conversely, the two sliding blocks move backwards to realize the buckling movement of the knee joint;
The bottom of the gear ring 404 is fixedly arranged on the lower bottom plate 301 of the lower leg flexion and extension mechanism through bolts, and the sixth motor 402 drives the gear ring 404 to rotate, so that the lower leg flexion and extension mechanism 300 and the ankle swing mechanism 200 are driven to integrally rotate around a disc on the base 401 of the thigh flexion and extension mechanism, and further the inward folding/outward unfolding movement of the hip joint is realized;
the thigh flexion and extension mechanism base 401 is fixedly installed on the lifting platform 509 of the thigh flexion and extension mechanism 500 through bolts, the seventh motor 505 drives the ball screw 506 to rotate through the gear motor 508, and the sliding block 510 drives the lifting platform 509 to move upwards on the lifting sliding rail 502, so that the ankle swing mechanism 200, the shank flexion and extension mechanism 300 and the thigh inward-extension mechanism 400 are driven to integrally rise, and further the hip joint stretching movement is realized, and otherwise the buckling movement is realized.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention and remain within the scope of the invention.
Claims (8)
1. A sitting-type lower limb rehabilitation robot based on a hybrid driving mode is characterized by comprising a base (100), an ankle swinging mechanism (200), a lower leg bending and stretching mechanism (300), a thigh inward-folding and outward-stretching mechanism (400) and a thigh bending and stretching mechanism (500);
The thigh bending and stretching mechanism (500) is arranged on the base (100) and is used for driving the ankle swinging mechanism (200), the shank bending and stretching mechanism (300) and the thigh inward-folding and outward-stretching mechanism (400) to integrally ascend so as to realize the extending and bending movements of the hip joint;
The thigh inward-folding and outward-unfolding mechanism (400) is arranged on the thigh flexing and extending mechanism (500) and is used for driving the ankle swinging mechanism (200) and the shank flexing and extending mechanism (300) to integrally rotate around a disc of the thigh flexing and extending mechanism (500), so as to realize inward-folding/outward-unfolding movement of the hip joint;
The lower leg flexion and extension mechanism (300) is arranged on the thigh adduction and abduction mechanism (400) and is used for driving the ankle swinging mechanism (200) to realize the extension and flexion movements of the knee joint;
The ankle swinging mechanism (200) is arranged on the shank flexion and extension mechanism (300) and is used for realizing plantarflexion/dorsiflexion and adduction/abduction compound movement of the ankle joint;
The thigh inward-folding and outward-unfolding mechanism (400) comprises a thigh inward-folding and outward-unfolding mechanism base (401) fixedly connected with the thigh flexion and extension mechanism (500), a gear ring fixing disc (403) fixed on the thigh inward-folding and outward-unfolding mechanism base (401), a gear ring (404) rotatably installed on the gear ring fixing disc (403), a gear (407) in meshed transmission connection with the gear ring (404), and a sixth motor (402) for driving the gear (407) to rotate;
The lower leg bending and stretching mechanism (300) comprises a lower leg bending and stretching mechanism base fixedly connected with a first motor seat of the thigh adduction and abduction mechanism (400), an arc-shaped sliding rail (315) arranged on the lower leg bending and stretching mechanism base, a sliding block (306) in sliding connection with the arc-shaped sliding rail (315), an ankle connecting fastener (313) fixed on the sliding block (306), and a lower leg bending and stretching motor driving the sliding block (306) to slide on the arc-shaped sliding rail (315) through a rope.
2. The sitting-type lower limb rehabilitation robot based on the hybrid driving mode according to claim 1, wherein the thigh flexion-extension mechanism (500) comprises a ball screw (506) mounted on the base (100), a seventh motor (505) driving the ball screw (506) to rotate, and a lifting table (509) screw-fitted on the ball screw (506), the lifting table (509) being used for fixing the thigh adduction-abduction mechanism (400).
3. The sitting-type lower limb rehabilitation robot based on the hybrid driving mode according to claim 2, wherein the thigh bending and stretching mechanism (500) further comprises two lifting slide rails (502) arranged at two sides of the ball screw (506), and two lifting slide blocks (510) which are slidingly connected on the two lifting slide rails (502) and are commonly connected with the lifting table (509).
4. The sitting-type lower limb rehabilitation robot based on the hybrid driving mode according to claim 1, wherein the lower leg bending and stretching mechanism base comprises a lower leg bending and stretching mechanism base plate (301) and an upper leg bending and stretching mechanism base plate (311), the lower leg bending and stretching mechanism base plate (301) and the upper leg bending and stretching mechanism base plate (311) are connected through two arc-shaped sliding rails (315), the lower leg bending and stretching motor comprises a second motor (303), a third motor (304), a fourth motor (309) and a fifth motor (310), output shafts of the fourth motor (309) and the fifth motor (310) are outwards and symmetrically fixedly arranged on the lower leg bending and stretching mechanism base plate (311), output shafts of the second motor (303) and the third motor (304) are outwards and symmetrically fixedly arranged on the lower leg bending and stretching mechanism base plate (301), a rope winding disc (302) is coaxially and fixedly connected to the output shaft of each motor, a rope winding A and a rope B wound on the rope winding disc (302) of the second motor (303) and the rope winding disc B on the third motor (304) are fixedly arranged on the other ends of the rope winding disc (306) and the other rope winding disc (306) respectively, and the other end of the rope winding disc C (306) are fixedly arranged on the other ends of the rope winding disc (310) respectively.
5. The sitting-type lower limb rehabilitation robot based on the hybrid driving mode according to claim 4, wherein a plurality of pulley frames (307) are arranged on each arc-shaped sliding rail (315) at intervals, and pulleys (312) for guiding the ropes (305) are arranged on the pulley frames (307).
6. The sitting-type lower limb rehabilitation robot based on the hybrid driving mode according to claim 1, wherein the ankle swing mechanism (200) comprises an ankle swing mechanism base formed by an ankle mechanism base plate (201), an ankle mechanism front end plate (202) and an ankle mechanism rear end plate (203), a four-bar linkage (204) rotatably installed in a U-shaped cavity of the ankle swing mechanism base, a first motor (211) installed in the ankle mechanism rear end plate (203) and used for driving the four-bar linkage (204) to rotate, a sole connecting piece (206) installed in an arc chute of the ankle mechanism front end plate (202) and driven by the four-bar linkage (204) to slide in the arc chute, and a sole supporting plate (207) hinged with the front end of the sole connecting piece (206), wherein the rear end of the sole supporting plate (207) is connected with a spring connecting piece (209) through a ball pair connecting piece (208), and the other end of the spring connecting piece (209) is fixed on the ankle mechanism front end plate (202).
7. The sitting-type lower limb rehabilitation robot based on the hybrid driving mode according to claim 6, wherein the four-bar linkage mechanism (204) comprises a first connecting bar (2041), a second connecting bar (2042), a third connecting bar (2043) and a fourth connecting bar (2044) which are sequentially hinged, the fourth connecting bar (2044) is provided with an arc-shaped bar connecting portion, a first straight bar connecting portion and a second straight bar connecting portion, the middle portion of the third connecting bar (2043) is hinged with the second connecting bar (2042), the lower end of the third connecting bar (2043) is hinged with the lower end of the first straight bar connecting portion of the fourth connecting bar (2044), the upper end of the third connecting bar (2043) is connected with the free end of the arc-shaped bar connecting portion of the fourth connecting bar (2044) through a clamping screw (205), and the upper end of the second straight bar connecting portion of the fourth connecting bar (2044) is fixedly connected with the sole connecting piece (206).
8. The sitting-type lower limb rehabilitation robot based on the hybrid driving mode according to claim 6, wherein the first motor (211) is installed on the first motor frame (212), the first motor frame (212) is fixedly installed on the small belt wheel seat (210), the small belt wheel seat (210) is fixedly installed on the back surface of the ankle mechanism rear end plate (203), the small belt wheel is rotatably installed in the small belt wheel seat (210), an output shaft of the ankle swing motor is fixedly connected with an axle of the small belt wheel coaxially, the small belt wheel is connected with the large belt wheel (213) through a belt transmission, and the large belt wheel (213) is rotatably installed below the small belt wheel.
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| CN202310426958.6A CN116392361B (en) | 2023-04-20 | 2023-04-20 | Sitting type lower limb rehabilitation robot based on hybrid driving mode |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101810532A (en) * | 2010-04-28 | 2010-08-25 | 河北工业大学 | Lower limbs rehabilitation training robot |
| CN114733145A (en) * | 2022-04-02 | 2022-07-12 | 深圳市人民医院 | Intelligent multifunctional lower limb rehabilitation training integrated machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2018094397A (en) * | 2016-12-12 | 2018-06-21 | 学校法人帝京大学 | Talocrural joint automatic movement support device and straight leg raising movement support device |
| CN209203956U (en) * | 2018-10-17 | 2019-08-06 | 苏州帝维达生物科技有限公司 | A kind of multiple degrees of freedom movable lower limb healing robot |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101810532A (en) * | 2010-04-28 | 2010-08-25 | 河北工业大学 | Lower limbs rehabilitation training robot |
| CN114733145A (en) * | 2022-04-02 | 2022-07-12 | 深圳市人民医院 | Intelligent multifunctional lower limb rehabilitation training integrated machine |
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