CN207370865U - A kind of vertical lower limbs rehabilitation training robot - Google Patents

Abstract

A vertical lower limb rehabilitation training robot, which belongs to the field of rehabilitation medical technology, includes a foot movable plate, an overall support, a lifting center of gravity adjustment system, an adjustable exoskeleton mechanical leg and a control system, and is equipped with a fixed structure for the patient's legs and peripheral weight reduction system. The underfoot movable plate drives the movable running belt and mechanical legs through the treadmill motor to simulate the real state of walking; the two exoskeleton mechanical legs have three degrees of freedom of the hip, knee and ankle respectively, and the width of the two mechanical legs, the thigh The length of the rod and the length of the calf rod can be adjusted and locked, and the distance between the ankle joint and the sole of the foot can be adjusted to adapt to patients of different sizes and provide foot stimulation; the lifting and center of gravity adjustment system uses gas springs to adjust the center of gravity change, and the pressure sensor can collect data in real time Relevant data; the control system performs patient information input and parameter setting through the peripheral operation panel, and controls the movement of the robot, and collects rehabilitation data; overload protection, emergency stop switch, etc. effectively guarantee patient safety.

Description

A vertical lower limb rehabilitation training robot

technical field

The utility model belongs to the technical field of rehabilitation medicine, in particular to a vertical lower limb rehabilitation training robot. It can be applied to the field of early rehabilitation technology for patients with stroke and other cerebrovascular diseases, and external forces such as spinal injuries and bone injuries that cause walking disabilities in the lower limbs.

Background technique

At present, the number of stroke patients is increasing year by year. Stroke has the characteristics of high morbidity, high mortality, high disability rate, high recurrence rate and many complications. One of the three major health diseases, lower limb paralysis is a common complication in stroke patients. It has been proved by medicine that early rehabilitation training has important clinical significance in reducing the disability rate of stroke patients, and can restore the functions of paralyzed limbs and activities of daily living to the maximum extent. In addition, traffic accidents, industrial injuries and other reasons have also caused an increase in the number of patients with lower limb paralysis. Rehabilitation training is very important for patients with lower limb walking impairment to recover their walking ability.

The lower limb rehabilitation robot is based on the plasticity theory of the brain, and uses the core therapy of rehabilitation medicine "exercise therapy" to achieve a large number of repetitive and accurate rehabilitation training for patients with walking impairments in the lower limbs. At present, for patients with cerebrovascular diseases such as stroke or central nervous system injuries such as spinal injuries and bone injuries, one-on-one manipulation by rehabilitation physicians is usually used for treatment, which has high requirements for the techniques of rehabilitation physicians, low efficiency and high work intensity. At present, there are few rehabilitation robot products with complete functions on the market, most of which have single functions and are bulky. To sum up, the current lower limb rehabilitation medical field has the following problems: 1. Traditional rehabilitation physicians have low efficiency, high work intensity and high cost of one-on-one rehabilitation treatment; 2. The existing rehabilitation robots on the market cannot accurately simulate the normal walking gait and Stimulate the feet; 3. Compared with the full-function rehabilitation robot, it is bulky and easy to cause fear in patients.

At present, rehabilitation robots mostly adopt two postures: sitting, lying and vertical. According to the principles of ergonomics, vertical rehabilitation can more realistically and accurately simulate the normal walking of a human being, which is more helpful for the rehabilitation of patients.

Contents of the invention

Aiming at the shortcomings of traditional rehabilitation medical methods and existing rehabilitation robots on the market, the utility model provides a vertical lower limb rehabilitation training robot. The rehabilitation training robot adopts the training posture of standing and walking, and has the following requirements: 1) convenient adjustment method, suitable for patients of different sizes; 2) can truly simulate the walking gait of normal people; 3) has the function of adjusting the main parameters of rehabilitation; 4 ) has good security; 5) runs smoothly and reliably.

The technical scheme that the utility model adopts is:

The system consists of a movable plate under the foot, an overall bracket, a lifting center of gravity adjustment system, an exoskeleton mechanical leg and a control system:

The movable flat plate under one's feet includes a fixed installation frame, a treadmill motor, a treadmill motor driver, transmission gears, driving rollers, driven rollers, tension rollers, movable running belts, running boards, and universal wheels , supporting base, external mounting plate, shell and other components, and universal wheels are installed on the mounting frame to facilitate the movement and handling of the rehabilitation robot. The support seat is installed on the installation frame and has an adjustment function. When the robot moves to the designated position, adjust the support seat so that the rubber under the support seat touches the ground, and the universal wheel is suspended in the air to achieve the robot's fixing effect. The treadmill motor is installed on the motor mounting frame and fixed on the installation frame. The treadmill motor driver drives the treadmill motor to rotate, and drives the active roller to rotate through gear transmission, and the speed can be adjusted. The driven roller and the tension roller are installed on the mounting frame. The movable running belt is driven by the active roller, passes through the driven roller, and adjusts the pretension force of the movable running belt by adjusting the position of the tension roller, so as to improve the stability and accuracy of the movable running belt driven by the treadmill motor. The running board is installed on the inner side of the active running belt and contacts with the upper side of the running belt to provide ground-like support and impact for patients during rehabilitation training. Through the cooperation of the active running belt and the mechanical legs of the exoskeleton, people can walk on the ground As a result, the above-mentioned rotary pair is driven by bearings, bushings and other parts to ensure smooth rotation and reduce internal friction and noise. The shell is installed on the exposed part of the rotating structure, which is beautiful and ensures safe use.

The overall bracket includes vertical plates installed on both sides, which are fixed with the external mounting plate of the running platform, and are used to install components such as center of gravity adjustment system components, exoskeleton mechanical legs, power supply, control system, and shell.

The lifting center of gravity adjustment system includes lifting motors, lifting motor drivers, reducers, brakes, lifting drive shafts, sprockets, chains, guide rails, sliders, gas springs, pressure sensors, connecting rods and other components. The lifting motor is fixed on the corresponding installation structure on the movable plate system under the foot, the lifting motor is driven by the driver of the lifting motor, and is transmitted to the lifting transmission shaft at both ends through the gear and reducer. The lifting transmission shaft passes through the brake and moves with the brake The parts are fixed, the brake is installed on the installation vertical plate of the overall bracket, and a sprocket is installed at both ends of the lifting transmission shaft. The lifting transmission shaft and the sprocket do not rotate relative to each other. The chain, the sprocket drives the chain to move in the vertical direction, the chain and a slider 1 on the guide rail installed parallel to it are fixed by a locking piece, so that when the chain moves, the slider 1 moves up and down, and the slider is connected to the gas spring at one end Fixed, the other end of the gas spring is fixed with another slider 3 installed on the same guide rail, one end of the pressure sensor is installed on the slider 3 through a connector, and the other end of the pressure sensor passes through the slider 4 installed on the same guide rail The connectors are fixed, and the sprockets, chains, guide rails, sliders, gas springs and pressure sensors are symmetrically arranged on the vertical plates on both sides. The two symmetrical sliders 2 and 4 are respectively connected by connecting rods, and there are mounting holes on the connecting rods for installing mechanical legs of the exoskeleton.

The exoskeleton mechanical legs, the two exoskeleton mechanical legs have three joint degrees of freedom of hip, knee and ankle respectively, including electric cylinders for driving joint movement, external mounting brackets, hip joint width adjustment mechanisms, thighs and length adjustment Mechanism, calf and length adjustment mechanism, ankle-to-foot distance adjustment mechanism, flexible mechanical feet, fixed cable ties and other structures:

The electric cylinder is driven by the output shaft of the servo motor to rotate the driving gear, the driving gear and the driven gear are meshed for transmission, the screw nut is fixed on the driven gear, and the screw nut is axially positioned by bearings, mounting parts and other parts, so that , to drive the screw nut to rotate, and the screw rod that cooperates with the screw nut moves linearly and flexibly;

One end of the external mounting part is fixed to the mounting hole on the connecting rod of the center of gravity adjustment system, and the other end is equipped with a hip joint width adjustment mechanism;

The hip joint width adjustment mechanism is mainly composed of guide rails, sliders, gears, racks, locking parts, and mounting plates on both sides. The guide rails are installed on the mounting panels of the overall mounting parts of the mechanical legs. It is connected with the mounting plates of the mechanical legs on both sides, and the two racks are respectively installed on the two adapters. The gear drives the two racks to approach or move away synchronously. Axial play to lock and release the gear. In order to adapt to different patient sizes, when adjusting the width of the hip joint, loosen the locking handle, the gear will change from a locked state to a freely movable state, and apply force to the mounting plate of one mechanical leg to make it move while driving the transfer The rack on the board moves, because the position of the gear shaft is fixed, so the gear rotates, and then drives the rack on the other side to move linearly, achieving the effect of symmetrical movement of the mounting plates on both sides of the mechanical legs. The locking handle on the locking piece compresses the gear so that it cannot rotate, so that the distance between the mounting plates on both sides is locked. The mounting plates on both sides are equipped with mounting parts for fixing the tailstock of the electric cylinder for driving the thigh movement and mounting holes for the hip joint shaft;

In the thigh and length adjustment mechanism, one end of the thigh rod is installed on the mounting plate of the hip joint width adjustment mechanism through a rotating shaft and a bearing, and the movable end of the electric cylinder is connected with the thigh rod. Swing within a certain angle range, the thigh has a convenient length adjustment function to adapt to different leg lengths. The length adjustment mechanism has a flange for installing the adjustment mechanism on the thigh sliding sleeve that cooperates with the thigh rod to slide. The length adjustment shaft is installed on the flange. The two can rotate relatively. One end of the length adjustment shaft is fixed with a bevel gear. One end is fixed with a handle with a locking function. When the handle is rotated, the bevel gear can be driven to rotate, and the position of the handle can be changed to lock the bevel gear so that it cannot rotate. A lead screw is fixed on the thigh sliding sleeve, the lead screw can rotate freely, one end is fixed with a bevel gear, which meshes with the bevel gear fixed on the handle, and a screw nut is installed on the screw rod, which is fixed on the thigh rod, so the handle can Drive the screw to rotate to realize the linear movement of the nut on the screw to achieve the effect of adjusting the telescopic effect of the thigh rod in the thigh sliding sleeve. After the adjustment is completed, change the position of the handle and lock the bevel gear to lock the length of the thigh. The thigh sliding sleeve is equipped with a tailstock fixing structure and a knee joint rotating shaft structure for driving the shank to swing the electric cylinder.

In the calf and length adjustment mechanism, the calf rod is installed with the thigh sliding sleeve through the knee joint shaft and bearing, and the movable end of the driven calf swing electric cylinder is connected with the calf rod to drive the calf to swing.

The ankle joint and the foot plate distance adjustment mechanism, the fixed end of the electric cylinder that drives the ankle joint to rotate is installed on the calf sliding sleeve, the telescopic movable end is fixed with the foot plate movable joint of the ankle joint, and the telescopic movement of the electric cylinder drives the ankle joint to rotate, and then Drive the movement of the feet. The sliding block is installed on the movable joint of the foot plate, and the guide rail matched with it is installed on the foot plate mounting part, and the flexible mechanical foot is fixed on the foot plate mounting part. Foot impact stimulation requirements during rehabilitation walking.

The fixing straps are installed on the thighs, calves, and feet, and are used to fix the patient's legs and the exoskeleton mechanical legs correspondingly, and the positions of the fixing straps of the thighs and lower legs can be adjusted.

The power supply system includes functional components such as voltage conversion, branching, and line layout, which provide guarantee for the power supply of the robot.

The control system: includes the host computer, operation panel, driver, host computer software, rehabilitation evaluation system, safety system, etc. The operator inputs rehabilitation information on the control panel, and the host computer cooperates to control the driver to drive each joint, treadmill, and lifting motor Exercise, adjust weight loss parameters, and collect information such as pressure sensors and motor load currents in real time to adjust rehabilitation parameters and evaluate the degree of rehabilitation. The robot is equipped with multiple emergency stop operation switches, and the operator and patients can conveniently and timely press the emergency stop button when they find a problem, so as to protect the personal safety of the patient.

For patients who cannot stand, the utility model is designed with a weight loss system or used in conjunction with other weight loss products.

The beneficial effects of the utility model:

1. Compared with the prior art, this utility model adopts vertical rehabilitation training for patients, and has a perfect robot structure. The two exoskeleton mechanical legs have three joints of hip, knee and ankle respectively, and cooperate with the movable plate under the foot, so that The mechanical leg of the vertical rehabilitation training robot of the utility model can simulate the standard gait of the lower limbs of the human body. When the patient is doing rehabilitation exercise, the foot movable plate can stimulate and impact the patient's foot, ensuring the intensity and accuracy of the patient's rehabilitation exercise. , and the degree of freedom of the ankle joint is not available in the vertical lower limb rehabilitation robot with a movable plate at present. It plays a vital role in the real simulation of human walking gait, and it can enable patients to obtain more correct motor sensory stimulation. , which is conducive to improving the effect of rehabilitation medical treatment;

2. The utility model adopts a flexible adjustment method to adapt to patients with different body types. The width of the hip joint is adjustable, and the length of the thigh and calf is adjustable, and the adjustment and locking are simple and convenient;

3. The distance from the ankle joint to the sole of the foot of the utility model can be adjusted adaptively, which can fully adapt to patients with different foot shapes, and effectively provide the impact stimulation of the foot during the rehabilitation training process;

4. The utility model uses a pressure sensor to detect the patient's weight loss parameters in real time, which is convenient for reasonable rehabilitation treatment for patients at different stages;

5. The utility model adopts the gas spring to assist the adjustment of the center of gravity. According to the compressibility of the gas spring, it cooperates with the change of the center of gravity during the rehabilitation process of the patient, and more realistically simulates the normal walking state;

6. The utility model has a mechanical leg motor load current feedback evaluation system, which can evaluate the degree of rehabilitation of the patient according to the current parameters fed back by the joint motors in different stages of rehabilitation training.

Description of drawings

Fig. 1 is a schematic diagram of the structure of a movable plate under one foot;

Fig. 2 is a partial cross-sectional structural schematic diagram of the movable plate under the foot;

Fig. 3 is a schematic diagram of the structure of the electric cylinder;

Figure 4 is a schematic diagram of the internal structure of the electric cylinder;

5 is a schematic diagram of the three-dimensional structure of the exoskeleton mechanical leg;

Figure 6 is a schematic diagram of the front view of the exoskeleton mechanical leg;

Fig. 7 is a schematic diagram of the telescopic adjustment mechanism of the thigh and the adjustable fixing tie;

Figure 8 is a schematic diagram of the structure of the ankle joint;

Fig. 9 is a schematic diagram of the structure of the mechanical foot;

Fig. 10 is a schematic structural diagram of the vertical lower limb rehabilitation training robot machine 1 perspective;

Fig. 11 is a schematic structural diagram of the vertical lower limb rehabilitation training robot from two perspectives;

Figure 12 is a schematic diagram of the structure of the vertical lower limb rehabilitation training robot from three perspectives;

Among them, 1-lift driving sprocket; 2-lift drive shaft; 3-universal wheel; 4-driving roller; 5-power supply; 6-running platform motor; 7-running platform drive driven gear; Drive driving gear; 9-support seat; 10-driven roller; 11-tension roller; 12-running board; 13-movable running belt; 14-installation frame; ; 17- driven gear for lifting transmission; 18- driving gear for lifting transmission; 19- lifting motor; 20- worm gear reducer; 21- top mounting part of electric cylinder; 24-Electric cylinder flange; 25-Electric cylinder shell (2); 26-Electric cylinder motor; 27-Electric cylinder driving gear; 28-Screw nut; 29-Electric cylinder driven gear; Hip joint shaft; 32-mechanical leg mounting plate; 33-width adjustment adapter plate; 34-width adjustment gear; 35-width adjustment shaft; 36-width adjustment rack; 37-width adjustment guide rail; 38-width adjustment handle; 39-width adjustment slider; 40-thigh swing electric cylinder; 41-thigh swing electric cylinder tailstock fixing part; 42-mechanical leg overall installation; 43-calf rod; 44-calf sliding sleeve; 45-mechanical foot mounting ;46-the patient's legs fixer at the thigh; 47-flexible mechanical foot; 48-calf rod swing electric cylinder; 49-knee joint shaft; 50-ankle joint; 51-foot movement electric cylinder; Adjustment mechanism; 53-leg length adjustment mechanism at the thigh; 54-thigh rod; 55-screw upper flange; 56-leg length adjustment screw; 57-leg length adjustment nut; 58-bevel gear (1); 59 -adjustment handle flange; 60-bevel gear (2); 61-patient's legs fixed adjustment flange; 62-patient's legs fixed adjustment pressure handle; 63-patient's legs fixed adjustment flexible pad; 64-patient's legs fixed Adjusting rod; 65-attachment for fixing straps on both legs of the patient; 66-leg length adjustment handle; 67-leg length adjustment shaft; 68-leg length adjustment handwheel; 69-leg length adjustment handwheel shaft; 70-calf length adjustment mechanism ; 71-fixation structure of the patient's legs at the lower leg; 72-ankle joint limit piece; 73-ankle joint swing piece; 74-mechanical foot movable guide rail installation piece; 75-ankle joint shaft; - mechanical foot sliding guide; 78- gear cover; 79- vertical board installed on both sides; 80- lifting lower connecting rod; 81- pressure sensor; 82- lifting upper connecting rod; 83- lifting slider (1); Spring; 85-lifting slider (2); 86-lifting slider (3); 87-lifting slider (4); 88-lifting driven sprocket; 89-lifting driven sprocket mounting part; 90-chain ; 91-peripheral operation panel; 92-control box; 93-industrial computer; 94-emergency stop switch; 95-power switch; 96-brake; 97-shell (1); 2).

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment the utility model is described further:

As shown in Figure 1 and Figure 2, it is a schematic diagram of the structure of a vertical rehabilitation training robot underfoot, including a lifting drive sprocket 1; a lifting drive shaft 2; a universal wheel 3; a driving roller 4; a power supply 5; a treadmill Motor 6; treadmill drive driven gear 7; treadmill drive drive gear 8; support seat 9; driven roller 10; tension roller 11; running board 12; movable running belt 13; installation frame 14; 15; External mounting plate 16; Lifting transmission driven gear 17; Lifting transmission driving gear 18; Lifting motor 19; Worm gear reducer 20.

Universal wheels 3 are fixed on the installation frame 14 to facilitate the movement of the vertical lower limb rehabilitation training robot. At the same time, support bases 9 are installed. By adjusting the position of support bases 9 downwards, the universal wheels 3 can leave the ground, and the support bases 9 The flexible material at the top touches the ground to achieve the effect of fixed position of the robot. The treadmill motor 6 is installed on the installation frame 14, and the treadmill motor 6 drives the driving roller 4 to rotate through the treadmill driving driving gear 8 and the treadmill driving driven gear 7, and the driving roller 4 is installed on the driving parts through bearings, rotating shafts and the like. On the installation frame 14, the driven roller 10 and the tension roller 11 are installed on the installation frame 14 through bearings and rotating shafts, and the position can be adjusted, between the driving roller 4, the driven roller 10 and the tension roller 11 Active running belt 13 is installed, and active running belt 13 is tensioned by adjusting the position of driven roller 10 and tension roller 11. After the active roller 4 is driven by the treadmill motor 6, it can drive the movable running belt 13 to move. The power supply 5 is mounted on the mounting frame 14 for voltage conversion. The lifting motor 19 is fixed on the mounting frame 14, and the lifting drive driving gear 18 is installed on the lifting motor 19. The rotation of the lifting motor 19 drives the lifting drive driving gear 18 to rotate, and then drives the lifting drive driven gear 17 meshing with it to rotate, and the lifting drive The driven gear 17 is fixedly installed on the input shaft of the worm gear reducer 20, the worm gear reducer 20 is fixed on the installation frame 14, and the output end of the worm gear reducer 20 is fixed with two lifting transmission shafts 2. There is a lifting driving sprocket 1. When the lifting motor 19 rotates according to a given parameter, the power is transmitted to the worm gear reducer 20 through the lifting transmission driving gear 18 and the lifting transmission driven gear 17. After deceleration, the lifting transmission shaft 2 is driven And then drive the lifting drive sprocket 1 to rotate. The external mounting plate 16 is fixed on the mounting frame 14, and the external mounting plate 16 has pin holes, wiring holes and threaded mounting holes, which are convenient for installation with the mounting vertical plates 79 on both sides.

As shown in Figure 3 and Figure 4, it is a vertical lower limb rehabilitation training robot exoskeleton mechanical leg joint drive unit - electric cylinder, including electric cylinder top mounting part 21; screw rod 22; electric cylinder shell (1) 23; Electric cylinder flange 24; electric cylinder shell (2) 25; electric cylinder motor 26; electric cylinder driving gear 27; screw nut 28; electric cylinder driven gear 29.

The electric cylinder motor 26 is fixed on the electric cylinder flange 24, the electric cylinder driving gear 27 is installed on the output shaft of the electric cylinder motor 26, the electric cylinder driven gear 29 is fixed on the screw nut 28, and the screw nut 28 is connected to the screw nut 28 through the bearing. The electric cylinder flange 24 is installed in cooperation, the electric cylinder driving gear 27 is meshed with the electric cylinder driven gear 29 for transmission, the screw mandrel 22 cooperates with the screw nut 28, and the two electric cylinder shells 23, 25 are respectively installed on the electric cylinder flange 24, When the electric cylinder motor 26 rotates, it drives the electric cylinder driving gear 27 to rotate, and then drives the electric cylinder driven gear 29 to rotate, so that the screw nut 28 rotates on the electric cylinder flange 24, and the screw nut 28 is axially limited. When the screw nut 28 rotates, the screw mandrel 22 that restricts the rotation moves telescopically in the linear direction, and the top mounting part 21 of the electric cylinder is fixed on the top of the screw mandrel, which is convenient to be hinged with the swinging member.

As shown in Fig. 5, Fig. 6, Fig. 7, Fig. 8 and Fig. 9, it is a structural diagram and partial diagram of the exoskeleton mechanical leg of a vertical lower limb rehabilitation training robot, including a thigh sliding sleeve 30; a hip joint shaft 31; a mechanical leg Mounting plate 32; width adjustment adapter plate 33; width adjustment gear 34; width adjustment shaft 35; width adjustment rack 36; width adjustment guide rail 37; width adjustment handle 38; width adjustment slider 39; thigh swing electric cylinder 40; thigh Swing electric cylinder tailstock fixing part 41; mechanical leg overall mounting part 42; calf rod 43; calf sliding sleeve 44; mechanical foot mounting part 45; patient's legs fixing part 46 at the thigh; flexible mechanical foot 47; calf rod swing electric cylinder 48; knee joint shaft 49; ankle joint 50; foot movement electric cylinder 51; patient's legs fixed adjustment mechanism 52; thigh leg length adjustment mechanism 53; thigh rod 54; screw rod upper flange 55; leg length adjustment screw rod 56; leg length adjustment nut 57; bevel gear (1) 58; adjustment handle flange 59; bevel gear (2) 60; patient's legs fixed adjustment flange 61; Fixed adjustment flexible pad 63; patient's legs fixed adjustment rod 64; patient's legs fixed strap mounting part 65; leg length adjustment handle 66; leg length adjustment shaft 67; leg length adjustment handwheel 68; leg length adjustment handwheel shaft 69; Calf length adjustment mechanism 70; patient's legs fixing structure 71 at the calf; ankle joint limiter 72; ankle swinging member 73; mechanical foot movable guide rail installation part 74; ankle joint rotating shaft 75; mechanical foot movable slider 76; mechanical foot Slide rail 77.

The overall mounting part 42 of the mechanical leg has a corresponding peripheral mounting hole and a limit structure. Two width adjustment guide rails 37 are positioned and installed on the overall mounting part 42 of the mechanical leg. Each width adjustment guide rail 37 has two width adjustment guide rails. The adjustment slider 39 and the width adjustment slider 39 are respectively fixed on the left and right width adjustment adapter plates 33, and the two width adjustment adapter plates 33 are respectively fixed with two left and right mechanical leg mounting plates 32, and two width adjustment racks 36 are respectively fixed on the two width adjustment conversion plates 33, the width adjustment gear 34 meshes with two width adjustment racks 36, the width adjustment shaft 35 passes through the center hole of the width adjustment gear 34 and passes through the screw pair and the integral mounting part 42 of the mechanical leg Cooperate, and one end of the width adjustment shaft 35 has a boss, which limits the axial movement of the width adjustment gear 34 and is used for pressing when locking, and the other end is fixed with the width adjustment handle 38. When it is necessary to adjust the distance between the two mechanical legs When the width is adapted to patients of different sizes, loosen the width adjustment handle 38 and pull the mechanical leg mounting plate 32 on one side to drive the rack and pinion, and then drive the mechanical leg mounting plate 32 on the other side to move symmetrically. At this time, the width adjustment handle 38 is rotated to drive the width adjustment shaft 35 to rotate, and through thread fit, the width adjustment gear 35 is compressed to lock the positions of the two mechanical legs in the axial direction. The thigh swing electric cylinder tailstock fixing part 41 is fixed on the mechanical leg mounting plate 32, the fixed end of the thigh swing electric cylinder 40 is hinged with the thigh swing electric cylinder tailstock fixing part 41, and the output end on the top of the screw rod is connected to the thigh rod 54 hinged, thigh bar 54 and mechanical leg mounting plate 32 are co-installed by hip joint rotating shaft 31 and bearing, and the two can relatively rotate in a certain angle, and when thigh swings electric cylinder 40 telescopic movements, drive thigh bar 54 to swing. The thigh sliding sleeve 30 is installed in cooperation with the thigh rod 54, the fixed end of the calf rod swing electric cylinder 48 is installed on the thigh sliding sleeve 30 through a hinged manner, and the screw output end of the calf rod swing electric cylinder 48 is connected to the calf rod through a hinged manner. 43 installations, the shank bar 43 and the thigh sliding sleeve 30 are installed by parts such as the knee joint rotating shaft 49 and bearings, so that the two can relatively rotate within a certain angle range, and when the shank bar swings the electric cylinder 48 screw mandrel telescopic movements, Can drive calf bar 43 to swing. The calf sliding sleeve 44 cooperates with the calf rod 43 to adjust the length, the fixed end of the foot movement electric cylinder 51 is mounted on the calf sliding sleeve 44 through a hinged manner, and the output end of the screw rod is mounted on the ankle joint swing member 73 through a hinged manner. The ankle joint swing member 73 is installed through the ankle joint rotating shaft 75 and the bearing. The ankle joint limiter 72 is fixed on the shank sliding sleeve 44, and the swing of the ankle joint swing member 73 is limited within a certain angle range. Swing within a certain angle range. The ankle joint rotating shaft 50 rotates with the ankle joint swinging part 73, the ankle joint rotating shaft 75 is fixedly installed with the mechanical foot movable guide rail mounting part 74, and the two do not rotate relative to each other, and the mechanical foot movable slide block 76 is fixed on the mechanical foot movable guide rail mounting part 74 , the mechanical foot sliding guide rail 77 is fixed on the mechanical foot mounting part 45, and the mechanical foot mounting part 45 has a corresponding limit structure to limit the relative position of the relative mechanical foot movable guide rail mounting part 74, and the flexible mechanical foot 47 is fixed on the mechanical foot mounting part 45, and the flexible mechanical foot 47 is provided with a bandage for fixing the patient's foot. When the electric cylinder 51 moves telescopically when the foot moves, the flexible mechanical foot 47 can be driven to swing. The lengths of the thighs and shanks of the two exoskeleton mechanical legs can be adjusted through the telescopic adjustment mechanism. The specific method is that the upper flange 55 of the screw rod is fixed on the thigh sliding sleeve 30, and the upper end of the leg length adjustment screw rod 56 is connected with the upper end of the screw rod. The shaft hole of blue 55 cooperates and limits, and the leg length adjustment screw rod 56 can rotate freely, and the leg length adjustment screw nut 57 is installed on the leg length adjustment screw rod 56, and is fixed on the thigh rod 54, and the leg length adjustment screw rod 56 The lower end is fixed with a bevel gear (1) 58, and the upper shaft of the adjustment handle flange 59 is axially limited to the leg length adjustment screw rod 56, and the leg length adjustment shaft 67 cooperates with the corresponding shaft hole of the adjustment handle flange 59, and can freely Rotate, leg length adjusts rotating shaft 67 one ends to be fixed with bevel gear (2) 60, and the other end is equipped with leg length adjustment handle 66 by bearing pin, and the outer contour of this installation hole position is an eccentric cam, realizes that can adjust the length of leg length adjustment handle 66 Angle, adjust the degree of compression, loosen or lock the bevel gear (2) 60, and then loosen or lock the thigh length, the leg length adjustment handwheel 68 is installed on the leg length adjustment handle 66 through the leg length adjustment handwheel shaft 69, which is convenient Physician grabbing spin. When the thigh length needs to be adjusted, the leg length adjustment handle 66 is adjusted to the loose position, the leg length adjustment handle 66 is rotated, and the bevel gear (2) 60 is driven by the leg length adjustment shaft 67 to rotate, and then the bevel gear (2) 60 meshed with it is driven. 1) 58 and the leg length adjustment screw 56 fixed with the bevel gear (1) 58 rotate, and because the axial position of the leg length adjustment screw 58 is fixed, the leg length adjustment screw nut 57 and the thigh bar 54 move relative to the thigh sliding sleeve 30 , the principle of the shank length adjustment mechanism 70 is the same. The two mechanical legs of the exoskeleton are equipped with a fixed adjustment mechanism 52 for both legs of the patient. Taking the thigh as an example, the adjustment flange 61 of the patient's legs is installed on the flange 59 of the adjustment handle, which can move relatively but cannot rotate relatively. Both legs fixed adjustment flexible pads 63 are installed in the patient's legs fixed adjustment flange 61, the patient's legs fixed adjustment rod 64 is installed in the patient's double legs fixed adjustment flexible pad 63, the patient's legs fixed adjustment rod 64 can move in the axial direction , the fixed adjustment handle 62 of the patient's legs is hingedly mounted on the fixed adjustment flange 61 of the patient's legs. Adjust the flexible pad 63 to compress or release the fixed adjustment rod 64 of the patient's legs. The fixed adjustment rod 64 for the patient's legs is fixed with the patient's double legs fixed strap mounting part 65, and the strap mounting part 65 can be fixed on the patient's legs according to the requirement. Different styles of straps can be installed on it. When in use, loosen the fixed adjustment handle 62 of the patient's legs to adjust the position of the fixed adjustment rod 64 of the patient's legs and the fixed adjustment flange 61 of the patient's legs to adapt to patients of different sizes. After the adjustment is appropriate, compress the patient The legs are fixed and adjusted by the pressure handle 62, and the patient's legs are fixed and adjusted by the deformation of the flexible pad 63, and the patient's legs are fixed and adjusted by the adjustment rod 64 to lock the position.

Figure 10, Figure 11, and Figure 12 show the overall structure of the vertical lower limb rehabilitation training robot, in which the gear cover 78 is installed on the width adjustment gear part of the exoskeleton mechanical leg to prevent the patient's clothing from entering it during the rehabilitation process. The mounting vertical plates 79 on both sides are fixed on the external mounting plate 16, and are used to install the lifting and center-of-gravity adjustment system of the rehabilitation robot.

The lifting mechanism drives the chain 90 to move through the lifting driving sprocket 1 . The lifting driven sprocket mounting part 89 is installed on the vertical plates 79 installed on both sides, and is used to install the lifting driven sprocket 88 and the tension chain 90. The chain 90 is fixed with the lifting slider (1) 83, that is, the chain 90 moves to drive Lifting slider (1) 83 moves, and one end of gas spring 84 is installed on the lifting slider (1) 83 by hinge mode, and the other end of gas spring 84 is installed on the lifting slider (3) 86, and both sides lifting slider ( 3) One end of the pressure sensor 81 is installed on the 86, and the other end is installed on the lifting slider (4) 87, and the lifting slider (4) 87 on both sides is connected by the connecting rod 82 on the lifting, and the lifting slider (2) on both sides ) are connected by the lower connecting rod 80 of the lifting. There are mounting holes on the two lifting connecting rods 80 and 82, which are used to install the overall mounting part 42 of the mechanical leg. When the lifting motor 19 rotates to drive the lifting driving sprocket 1 to rotate, the lifting driving sprocket 1 Drive the movement of chain 90, and then drive the fixed gas spring 84 lifting motion on the lifting slider (1) 83, and then drive the lifting slider (3) 86 to move up and down, the lifting slider (3) 86 and the lifting slider (4) 87 The pressure sensor 81 between them can detect the weight of the exoskeleton mechanical leg and the patient and weight loss, and the movement of each lifting slider drives the lifting movement of the exoskeleton mechanical leg. The gas spring 84 is compressible and can be adapted and adjusted according to the change of the patient's center of gravity during the rehabilitation process. Locking brake 96 is fixed on the external mounting plate 16, and lifting transmission shaft 2 passes through locking brake 96 and is installed with its internal movable element, and promptly locking brake 96 can unclamp or lock dead lifting transmission shaft 2, is used for fixing the lifting position. The vertical lower limb rehabilitation training robot has a control box 92, which contains control elements such as an industrial computer 93, a motor driver, and a power board. Inner component conduction, power switch 95 and emergency stop switch 94 are used for robot power supply on-off and emergency stop when running into special circumstances. The peripheral operation panel 91 is convenient for the staff around the robot to input the patient's parameters and adjust the robot parameters through the signal line or wireless communication. The robot also has a shell (1) 97 and a shell (2) 99, which can achieve an aesthetic effect while protecting the patient and others from damage to the structure and sharp parts.

The vertical lower limb rehabilitation training robot needs to be equipped with a weight reduction system according to different patient conditions and rehabilitation stages when performing rehabilitation training for patients with lower limb walking disabilities. The weight reduction system can be used in this The utility model relates to a vertical lower limb rehabilitation training robot which is installed at a corresponding position, and can also use existing weight-reducing products on the market.

Claims (10)

1. A vertical lower limb rehabilitation training robot is characterized in that the robot comprises a movable plate under the foot, an integral support, a lifting center of gravity adjustment system, an exoskeleton mechanical leg and a control system, wherein: The underfoot movable plate system is located at the bottom of the vertical lower limb rehabilitation training robot. Universal wheels for robot movement and adjustable support seats for robot position fixing are fixed on the installation frame included in the underfoot movable plate. There are active rollers, driven rollers and tension rollers, and the active running belt used to cooperate with the patient's walking training is installed between the three, and a running board is installed at the bottom of the active running belt to provide impact and support for the patient The treadmill motor is fixed on the installation frame, driven by the driver, and driven by the transmission element to drive the active roller to rotate, and then drive the running belt to move; The overall bracket is installed on the external installation structure of the movable plate under the robot, and is used to install the robot lifting center of gravity mediation system, exoskeleton mechanical legs, control system, armrests and shells and other structures; In the lifting center of gravity adjustment system, the lifting motor installed at the bottom of the robot drives the lifting structure to move in the vertical direction through the lifting transmission parts, and the mechanical legs of the exoskeleton are installed on the lifting structure through pressure sensors and gas springs. The motor moves to adjust the exoskeleton mechanical legs to move in the vertical direction; The exoskeleton mechanical leg includes a mechanical leg installation base for connecting the two mechanical legs with the lifting structure. The two exoskeleton mechanical legs have three degrees of freedom respectively, and are located above the movable plate under the foot for fixing the patient. For lower limbs, each mechanical leg includes 3 joints of hip, knee and ankle driven by different electric cylinders, respectively corresponding to the 3 joints of the lower limbs of the human body, and the distance between the two mechanical legs can be adjusted symmetrically at the hip joint. The length of the thigh and calf is adjustable, and the distance from the ankle joint to the sole of the foot is adjustable; The control system: includes an industrial computer, a driver, and a peripheral operation panel. The peripheral operation panel displays the upper computer operation software interface of the rehabilitation robot, which is used for patient information entry, rehabilitation mode selection, parameter adjustment, etc., and transmits information to the industrial control system. The industrial computer controls the movement of the electric cylinder by controlling the drive and other components, and integrates and processes the data fed back by the electric cylinder and pressure sensor. It can also use the load current fed back by the mechanical leg motor to evaluate the patient's rehabilitation effect. 2. The robot according to claim 1, characterized in that the positions of the driven roller and the tension roller are adjustable, and the pretension force of the active running belt is adjusted by adjusting the positions of the two. 3. The robot according to claim 1, characterized in that, in the lifting center of gravity adjustment system, the lifting motor transmits power to the two lifting transmission shafts through the reducer, and the lifting transmission shaft is equipped with a brake movable end, and the holding brake The fixed end is installed on the overall support of the robot, and the lifting position of the mechanical leg can be fixed by controlling the power on and off of the brake, that is, disconnecting or locking. 4. according to the described robot of claim 1, it is characterized in that, in the described lifting center of gravity adjustment system, sprockets and vertically installed chains are respectively installed on the ends of the two lifting drive shafts driven by the lifting motor, and each chain has one The guide rails and 4 sliders are respectively installed on the overall bracket on the side. The chains on both sides are respectively fixed with the first slider from the bottom to the top on the two guide rails. At the same time, one end of the gas spring is fixed on the slider. The other ends are respectively fixed on the third slider from the bottom to the top, and one end of the pressure sensor is fixed on the slider, the other end of the pressure sensor is fixed to the fourth slider from the bottom to the top, and the fourth slider on both sides The blocks are connected together by connecting rods, and the second slider on both sides from bottom to top is fixed together by connecting rods, and the two connecting rods are connected together by fixing plates, which are used to install the mechanical legs of the exoskeleton. When controlling the lifting The motor rotates, driving the first slider from bottom to top on both sides of the guide rail and the gas spring to move in the vertical direction, and then drives the third slider from bottom to top to move in the vertical direction, driven by the pressure sensor from bottom to top The fourth slider and connecting rod move, and the second slider and connecting rod from bottom to top will follow the movement to drive the exoskeleton mechanical leg to move in the vertical direction; The elongation of the gas spring will be automatically adjusted in real time according to the change of the center of gravity of the patient during the rehabilitation training process; The pressure sensor can detect the supporting force provided by the mechanical leg, the weight of the patient and the movable plate under the foot, and transmit the data to the industrial computer for rehabilitation evaluation and rehabilitation plan adjustment. 5. The robot according to claim 1, characterized in that the width between the two mechanical legs can be adjusted symmetrically through the rack and pinion structure at the hip joint, the gear shaft is mounted on the mounting plate through a threaded pair, and the The handle rotates the gear shaft, adjusts the axial position to loosen or lock the gear, the two racks are meshed with the gear, and are respectively fixed on the two mechanical leg mounting parts, and one side moves to drive the other side to move symmetrically. 6. The robot according to claim 1, characterized in that, the length of the thigh and the calf are adjusted through the cooperation of a screw rod and a screw nut, the screw nut is installed on the thigh or calf rod, and the screw rod is installed on the sliding sleeve of the thigh or calf , by adjusting the rotation of the screw rod, the screw nut can be moved relative to the screw rod, and then the stretching amount of the thigh rod and the calf rod can be adjusted to change the leg length. 7. The robot according to claim 1, wherein the distance between the ankle joint and the sole of the foot can be adjusted by a guide rail slider, and the slide block and the guide rail cooperating with it are respectively installed on a mounting plate fixed to the output shaft of the ankle joint And on the mounting part fixed with the flexible sole, it is used to adapt to the different distances from the ankle joint to the sole of the patient, and to meet the structural requirements for the impact stimulation of the foot during gait rehabilitation training. 8. The robot according to claim 1, characterized in that, the exoskeleton mechanical leg has an adjustable fixed structure for the patient's legs, the adjusted position is loosened or locked to adapt to patients of different sizes, and the structure is fixed with straps There are straps on the patient's legs, and the flexible mechanical feet are used to fix the patient's feet. 9. The robot according to claim 1, characterized in that, the rehabilitation robot also has a weight reduction system, through the patient sitting or patient suspension. 10. The robot according to claim 1, characterized in that, the robot is provided with an emergency stop switch at positions such as the robot armrest and the shell.