CN201012158Y - Pneumatic multi-position exoskeleton lower limb rehabilitation training robot - Google Patents

Abstract

The utility model relates to a pneumatic multi-position exoskeleton lower limb rehabilitation training robot, which belongs to the field of rehabilitation medical equipment. It includes machine base, guardrail, suspension system, exoskeleton training device and computer control system. Through the analysis of the international general Brunnstrom training method, combined with "physical therapy (PT) and occupational therapy (OT)" for stroke patients with paralyzed lower limbs, the robot has established different Lower limb training rehabilitation robot for stroke patients with incentive levels and multiple training modes. At the same time, according to different stroke patients, various incentive training modes can be realized in different courses of treatment, including active gait, passive force control gait, passive damping adjustable gait and other modes, so as to achieve the best effect of rehabilitation exercise. The system can meet the three training states of sitting, standing and lying down, and is suitable for lower limb rehabilitation training of stroke patients at different rehabilitation stages.

Description

Pneumatic multi-position exoskeleton lower limb rehabilitation training robot

technical field

The utility model relates to a pneumatic multi-position exoskeleton lower limb rehabilitation training robot, which belongs to the field of rehabilitation medical equipment. It is suitable for lower limb rehabilitation training for patients with stroke and other cardiovascular and cerebrovascular diseases and patients with spinal injuries.

Background technique

With the aging of modern society and the increase of traffic and industrial accidents, patients with cardiovascular diseases such as stroke and patients with spinal injuries have gradually become a common group in modern society. In addition to drug treatment or surgical treatment, scientific Rehabilitation training is very important for improving the motor function of the affected limb. At present, doctors, PT therapists, and OT therapists usually use selective manipulations to pull specific muscle groups on paraplegic patients, and gradually carry out standing training by using standing beds. This kind of passive rehabilitation training has high work intensity and cannot meet the needs of more patients. The training effect is closely related to the medical practitioner's technical proficiency, and it is difficult to accurately maintain the consistency of rehabilitation training actions for different patients. Therefore, many rehabilitation robots that can replace doctors to independently train patients have been developed. However, these rehabilitation robots generally can only train patients in a single position, and cannot simultaneously meet the rehabilitation training requirements of patients in different rehabilitation stages.

Contents of the invention

The purpose of the utility model is to provide a pneumatic multi-position exoskeleton lower limb rehabilitation training robot that can help patients with stroke and other cardiovascular and cerebrovascular diseases and patients with spinal injuries to perform rehabilitation training.

The pneumatic multi-position exoskeleton lower limb rehabilitation training robot of the utility model includes a base, a guardrail, a suspension system, an exoskeleton training device and a computer control system;

Base: including the chassis that carries the entire machine, the treadmill and the bracket, the treadmill is placed on the chassis, and the bracket is fixed at the rear end of the chassis;

Guardrail: composed of poles, cross bars and handrails, installed on the stationary seat of the treadmill;

Suspension system: including the load-bearing camisole, the suspension cable connected with the camisole, the counterweight and the pulley set on the bracket, the suspension cable is wound on the pulley, one end of the cable is connected with the suspension cable, and the other end is connected with the counterweight;

Exoskeleton training device: including exoskeleton lower limbs, seat cushion and back hinged seat, four-sided hinged parallelogram connecting rod and damper, one vertical side of the parallelogram connecting rod is fixed to the seat back, and the other vertical side is connected to the seat back. The bracket is fixed, one end of the damper is hinged to the upper link of the parallelogram connecting rod, and the other end of the damper is hinged to the bracket; the lower limb of the exoskeleton includes a hip rod, a thigh rod and a calf rod, and the hip rod and the thigh rod are hinged to form the hip joint. Joint, the thigh rod and the calf rod are hinged to form the knee joint, the hip joint at the upper end of the thigh rod is hinged to the piston rod of the first cylinder, the cylinder barrel of the first cylinder is hinged to the rear end of the hip rod, and the thigh rod has a protrusion perpendicular to the thigh rod Rod, the lower end of the calf rod is hinged with the piston rod of the second cylinder, and the cylinder barrel of the second cylinder is hinged with the extension rod of the thigh rod;

Computer control system: including host computer, display screen and controller, the controller is installed on the crossbar of the guardrail, and the display screen is fixed on the chassis.

For patients in different rehabilitation training stages, the utility model can create different rehabilitation environments by adjusting the gas flow to adjust the speed of the piston rod, the torque of the cylinder and the posture of the mechanical body, so that the rehabilitation training of patients is more targeted .

The utility model analyzes the international general Brunnstrom training method, combines "Physical Therapy (PT) and Occupational Therapy (OT)" for stroke patients with paralyzed lower limbs, and aims at the rehabilitation training requirements of stroke patients at different stages and positions, and establishes a Rehabilitation robot for lower limb training of stroke patients with different excitation levels and multiple training modes. At the same time, according to different stroke patients, various incentive training modes can be realized in different courses of treatment, including active gait, passive force control gait, passive damping adjustable gait and other modes, so as to achieve the best effect of rehabilitation exercise.

Description of drawings

Fig. 1 is a structural schematic diagram of a pneumatic multi-position exoskeleton lower limb rehabilitation training robot;

Fig. 2 is a parallelogram mechanism diagram;

Fig. 3 is a schematic diagram of the structure of the lower extremity of the exoskeleton.

Detailed ways

Illustrate the utility model below in conjunction with accompanying drawing.

Referring to Fig. 1, the pneumatic multi-position exoskeleton lower limb rehabilitation training robot includes a base, a guardrail, a suspension system, an exoskeleton training device and a computer control system.

Frame: including the chassis 4 carrying the whole machine, the treadmill 3 and the support 1, the treadmill 3 is placed on the chassis 4, and the support 1 is fixed at the rear end of the chassis 4.

Guardrail: composed of upright bar 7, cross bar 6 and handrail 5, installed on the static seat of treadmill 3;

Suspension system: including a load-bearing camisole 10, a suspension cable 9 connected to the camisole, a counterweight 2 and a pulley 8 arranged on the support 1, the suspension cable is wound on the pulley 8, one end of the cable is connected with the suspension cable 9, and the other One end is connected with counterweight 2. The suspension system is used to suspend the patient to maintain the balance of the body. When the patient wears the camisole and performs rehabilitation training in a standing state, the patient is placed in a suspended position by adjusting the counterweight on the counterweight system and tightening the suspension cable. Hanging state to maintain balance.

Exoskeleton training device: comprise exoskeleton lower limbs 18, seat cushion 17 and backrest 15 hinged seats, parallelogram connecting rod 16 and damper 19 of four-side hinge, a vertical limit of parallelogram connecting rod 16 is fixed with seat back 15 , the other vertical side is fixed with the support 1, one end of the damper 19 is hinged with the upper link of the parallelogram connecting rod 16, and the other end of the damper is hinged with the support 1 (as shown in Figure 2), due to standing and walking training When walking, the patient's body will fluctuate up and down with the alternation of gait, and the damper can play a role in buffering and partially supporting the body. The exoskeleton lower limb 18 (as shown in Figure 3 ) comprises a hip bar 20, a thigh bar 23 and a calf bar 24, the hip bar 20 and the thigh bar 23 are hinged to form a hip joint, and the thigh bar 23 and the calf bar 24 are hinged to form a knee joint, The hip joint at the upper end of the thigh bar 23 is hinged to the piston rod of the first cylinder 22, and the cylinder barrel of the first air cylinder 22 is hinged with the rear end of the hip bar 20. The lower end is hinged with the piston rod of the second air cylinder 25, and the cylinder barrel of the second air cylinder is hinged with the extension rod 21 of the thigh bar.

During rehabilitation training, the seat can be made upright through the linear actuator installed under the seat cushion and backrest, which is suitable for the training of the patient's standing posture, and can also be turned into a "recliner", which is suitable for the training of the patient's lying posture. In the seat state Down, suitable for training when the patient is seated. Through the transformation of posture, multi-position training is realized. During rehabilitation training, people's thigh and shank are respectively fixed on the thigh bar 23 and the calf bar 24, and when the cylinder drives the thigh bar 23 and the calf bar 24 to move, it can drive the patient's lower limbs for rehabilitation training.

Computer control system: including a host computer, a display screen 12 and a controller 11, the controller 11 is installed on the crossbar 6 of the guardrail 2, and the display screen 12 is fixed on the chassis 3. A computerized control system is used to control all the drive systems, which can control the air cylinders located on the exoskeleton's hip and thigh rods, as well as the linear drives located on the seat back and under the seat cushion. The display screen allows patients to clearly see various conditions of their training. The controller can control the conversion of the three body positions of "sitting, standing and lying down", and adjust the training speed and the size of the cylinder torque. When the patient is standing for training, the controller can be placed on the armrest of the railing, and when the patient is training in a sitting posture and lying flat, the controller can be placed on the armrest of the seat.

Claims (1)

1. Pneumatic multi-position exoskeleton lower limb rehabilitation training robot is characterized in that it includes a machine base, a guardrail, a suspension system, an exoskeleton training device and a computer control system; Support: comprise the chassis (4) that carries whole machine, treadmill (3) and support (1), treadmill (3) is placed on chassis (4), is fixed with support ( 1); Guardrail: it is made up of pole (7), cross bar (6) and handrail (5), is installed on the stationary seat of treadmill (3); Suspension system: including the load-bearing camisole (10), the suspension cable (9) connected with the camisole, the counterweight (2) and the pulley (8) arranged on the bracket (1), the suspension cable is wound on the pulley (8) On, one end of the cable is connected with the suspension cable (9), and the other end is connected with the counterweight (2); Exoskeleton training device: comprising exoskeleton lower limbs (18), seat cushion (17) and backrest (15) hinged seat, parallelogram connecting rod (16) and damper (19) of four-sided hinge, parallelogram connecting rod (16 ) is fixed to the seat back (15), the other vertical side is fixed to the bracket (1), one end of the damper (19) is hinged to the upper link of the parallelogram connecting rod (16), and the damper The other end of the exoskeleton is hinged with the support (1); the exoskeleton lower limb (18) includes a hip bar (20), a thigh bar (23) and a calf bar (24), and the hip bar (20) and the thigh bar (23) are hinged to form Hip joint, thigh bar (23) and shank bar (24) are hinged to form knee joint, and thigh bar (23) upper end hip joint is hinged the piston rod of first cylinder (22), and the cylinder barrel of first air cylinder (22) and hip The rod (20) rear end is hinged, and the thigh rod (23) has an extension rod (21) perpendicular to the thigh rod, and the lower end of the calf rod (24) is hinged with the piston rod of the second cylinder (25). The extension rod (21) of cylinder barrel and thigh rod is hinged; Computer control system: including a host computer, a display screen (12) and a controller (11), the controller (11) is installed on the crossbar (6) of the guardrail (2), and the display screen (12) is fixed on the chassis (3) .

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