CN108904225A - Step device and walking rehabilitation training robot - Google Patents

Abstract

The invention provides a stepping device, which comprises a bottom plate, two pedal movement components and two leg supports; the pedal movement component comprises a sliding plate, a support plate, a pedal, a front and rear sliding mechanism, a swing lifting mechanism and an ankle joint driving mechanism, and the sliding plate slides Set on the bottom plate, the bottom end of the support plate is hinged to one end of the sliding plate, the top end of the support plate is hinged to the position behind the middle of the bottom surface of the pedal, the front and rear sliding mechanism is installed on the bottom plate, and the swing lifting mechanism is installed on the sliding plate. The ankle joint driving mechanism is installed on the support plate. The leg support includes paired connecting rods, lower leg upper and lower rods and thigh support rods. The bottom ends of the two connecting rods are respectively fixed on both sides of the pedal and close to the ankles. , each connecting rod is hinged with each lower leg rod, and each lower leg upper rod is hinged with each thigh support rod. The stepping device makes the walking training closer to the normal walking pattern and normal gait, and is beneficial to improving the rehabilitation effect of the patient's walking function.

Description

Stepping device and walking rehabilitation training robot

technical field

The invention relates to gait rehabilitation training equipment, in particular to a stepping device and a walking rehabilitation training robot.

Background technique

Many paralyzed patients cannot walk due to the weakness of lower limbs, which seriously affects their quality of life. Walking training is the main way to restore walking function in paralyzed patients. Walking training is currently mainly manual training and equipment training. The former cannot be used for patients with severe paralysis and has high labor costs. The latter is mainly walking rehabilitation training robots. At present, the most representative one is the lower limbs developed by the Federal Institute of Technology in Zurich in 2001. The rehabilitation robot LOKOMAT realizes the simulation of walking posture through the rotation of the thigh and calf assisted by the machine. It cannot simulate the movement trajectory of the ankle joint when humans walk, and only provides the walking mode on flat ground. The walking training environment is monotonous, and it is troublesome for patients to wear when they go on the machine. , more time-consuming.

Contents of the invention

In view of the above, the present invention provides a stepping device, which makes the walking training closer to the normal walking mode and normal gait, specifically through the machine to drive the pedals to simulate the normal movement track of the human foot and ankle when going up and down slopes and stairs. At the same time, the power from the pedals is transformed into the power of the big and small legs to lift the step through the leg support, which is beneficial to improve the rehabilitation effect of the patient's walking function.

The technical solution that the present invention relates to:

A stepping device, comprising a base plate, pedal movement assemblies arranged in pairs on the base plate, and leg supports arranged on each pedal movement assembly;

The pedal movement assembly includes a sliding plate, a supporting plate, a pedal, a front and rear sliding mechanism, a swing lifting mechanism and an ankle joint driving mechanism. Hinged to the position behind the middle of the bottom surface of the pedal, the front and rear sliding mechanism is installed on the bottom plate, used to drive the sliding plate to slide back and forth, and the swing lifting mechanism is installed on the sliding plate, used to drive the hinge of the support plate relative to the sliding plate The end swings to realize the pedal lift;

The leg support is used to support the human leg on the pedal, and ensure the normal freedom of movement of the human leg joints in the leg support. The leg support includes a pair of connecting rods and a pair of calf lower rods. The bottom ends of the two connecting rods are fixedly installed on both sides of the pedals and close to the ankles. Each connecting rod is hinged to each lower leg leg. The ankle joint drive mechanism is installed on the support plate to drive the pedals to rotate to simulate human body movement. Ankle rotation.

Further, the leg support also includes a pair of calf upper rods, a pair of thigh support rods, calf straps and thigh straps, each calf upper rod is connected with each calf lower rod, and each thigh The supporting rod is hinged with each calf upper rod so that the knee joint can rotate. There are two calf straps, which are respectively bound on the lower leg lower rod and the lower leg upper rod, and the thigh straps are bound on the thigh support rod.

Further, a telescopic adjustment device is provided at the joint between each lower leg upper rod and each lower leg lower rod for adjusting the total length of each lower leg upper rod and each lower leg lower rod.

Further, the telescopic adjustment device includes at least one thumb nut and at least one screw rod, each screw rod is fixed on the outside of each lower leg upper rod, and each lower leg rod is vertically provided with an adjustment slot, and each screw rod is connected to each lower leg. The inner side of the lower rod passes through the adjustment slot, each hand-tightening nut is screwed to the protruding end of each screw rod, and the end wall of each hand-tightening nut resists on the lower rod of each lower leg, so that the lower rod of each lower leg It is relatively fixed with each calf back bar.

Further, an angle locking structure is provided at the hinge of each thigh support rod and each lower leg upper rod, and the hinged end of each lower leg upper rod has an abutment surface on one side of the forward direction of the leg, and the angle locking structure includes a limiting The limit block is fixedly connected to the hinged end of each thigh support rod. During the rotation of the lower leg upper rod relative to the hinge end of the thigh support rod to the front of the leg, the abutting surface is held against the limit block to limit the movement of the lower leg. The angle of rotation of the bar relative to the thigh support bar.

Further, the pedal is divided into three pieces, which are respectively the front left piece, the front right piece and the rear end piece, and they are connected together by elastic materials to elastically support the three focus points of the soles, the front left piece, the front right piece And the rear end block is respectively provided with a pressure sensor.

Further, the ankle joint driving mechanism includes a push rod motor 1, two guide rails 1, a slider hinge seat and a connecting rod, the push rod motor 1 is installed at the bottom of the support plate, and the two guide rails 1 are fixed on the support plate in parallel The hinged seat of the slider is slidably set on the two guide rails, the push rod end of the push rod motor 1 is connected with the hinged seat of the slider, the bottom end of the connecting rod is hinged on the hinged seat of the slider, and the top end of the connecting rod is hinged on the pedal The bottom surface is near the heel.

Further, the front and rear sliding mechanism includes two guide rails 2, a motor, a pulley, a pulley seat and a transmission belt, and the two guide rails 2 are fixed on the base plate parallel to each other, and the motor and the pulley seat are fixed on the base plate and are located at On one side of the two guide rails, the pulley is rotatably installed on the pulley seat, and the transmission belt is wound on the driving wheel and the pulley of the motor. The part of the upward section of the transmission belt is fixed to the sliding plate for the transmission belt to drive and slide. The board slides back and forth.

Further, the swing lifting mechanism includes a push rod motor 2, two screw rod seats, a screw rod, two guide rails 3, a sliding seat and a swing rod, and the push rod motor 2 is installed on the end of the sliding plate opposite to the support plate , the two screw bases are relatively fixed on the slide plate and located in the direction of the output shaft of the push rod motor 2, one end of the screw rod is connected with the output shaft of the push rod motor 2 and is rotatably installed in a screw base, the screw rod The other end of the two guide rails can be rotatably installed in the other screw rod seat. The two guide rails are fixed on the sliding plate and located on one side of the screw rod in parallel. One side of the sliding seat is sleeved on the screw rod, and the other The side is slidably installed on the two guide rails 3, the bottom end of the swing rod is hinged on the sliding seat, and the top end of the swing rod is hinged on the support plate and is close to the top of the support plate.

A walking rehabilitation training robot includes a base, the walking rehabilitation training robot is provided with the stepping device, and the stepping device is arranged on the base.

In summary, the stepping device of the present invention is provided with a leg support on each pedal movement assembly, and the connecting rod of the leg support is hinged with the lower leg lower bar to form an ankle joint rotation structure. Driven by the ankle joint drive mechanism, the patient's The ankle joint is fully exercised. With the cooperation of the front and rear sliding mechanism and the swing lifting mechanism, the patient can realize more realistic striding movements. It is ergonomically designed, convenient and quick to wear, and has a better patient experience. The pressure sensor can detect the patient's Walking information makes the patient's walking training on the walking rehabilitation training robot closer to the normal walking pattern and normal gait; through the ankle joint driving mechanism, front and rear sliding mechanism and swing lifting mechanism to drive the pedals to simulate human flat ground, up and down slopes, and up and down stairs The normal movement trajectory of the ankle and ankle can be achieved, and at the same time, the power from the pedals can be converted into the power of the legs and legs through the leg support, which is beneficial to improve the rehabilitation effect of the patient's walking function.

Description of drawings

Fig. 1 is the three-dimensional structural diagram of the preferred embodiment of stepping device of the present invention;

Fig. 2 is the assembling drawing of the pedal motion assembly and the leg support of the stepping device of the present invention;

Fig. 3 is the front view of Fig. 2;

Fig. 4 is the three-dimensional structural view of the leg bracket of the stepping device of the present invention;

Fig. 5 is a three-dimensional structure diagram of a walking rehabilitation training robot provided with a stepping device according to the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. It should be understood that the specific embodiments described here are only used to explain the present invention, and are not intended to limit the protection scope of the present invention.

Referring to Fig. 1, the present invention provides a stepping device, comprising a base plate 1, a pair of pedal motion assemblies 2 arranged on the base plate 1, and a leg support 3 arranged on each pedal motion assembly 2;

Please refer to Fig. 2, the pedal motion assembly 2 includes a sliding plate 21, a support plate 22, a pedal 23, a front and rear sliding mechanism 24, a swing lifting mechanism 25 and an ankle joint driving mechanism 26, the bottom plate 1 is fixedly arranged, and the sliding plate 21 is slidably arranged on the bottom plate 1, the bottom end of the support plate 22 is hinged to one end of the sliding plate 21, and the top end of the support plate 22 is hinged to a position later in the middle of the bottom surface of the pedal 23. The front and rear sliding mechanism 24 is installed on the bottom plate 1 for driving the sliding plate 21 Sliding back and forth, the swing lifting mechanism 25 is installed on the slide plate 21, and is used to drive the support plate 22 to swing relative to the hinged end on the slide plate 21 to realize the lifting of the pedal 23;

Please refer to Fig. 3, the leg support 3 is used to support the human leg on the pedal 23, and makes the human leg joint have a degree of freedom of movement, the leg support 3 includes a pair of connecting rods 31 and a pair of shanks Lower rod 32, the bottom ends of the two connecting rods 31 are respectively fixedly installed on both sides of the pedal 23 and close to the ankles, each connecting rod 31 is hinged with each calf lower rod 32, and the ankle joint driving mechanism 26 is installed on the support plate 22 , for driving the pedal 23 to rotate to simulate the rotation of the human ankle joint.

In this embodiment, please refer to FIG. 4 , the leg support 3 also includes a calf upper rod 33 arranged in pairs, a thigh support rod 34 arranged in a pair, a calf strap 35 and a thigh strap 36, and each calf upper rod 33 It is connected with each calf lower rod 32, and each thigh support rod 34 is hinged with each calf upper rod 33 so that the knee joint can rotate. There are two calf straps 35, which are respectively tied to the lower leg rod 32 and the upper leg rod 33 On the top, the thigh strap 36 is bound on the thigh support bar 34 .

Further, a telescopic adjustment device is provided at the connection between each calf upper rod 33 and each lower leg lower rod 32, which is used to adjust the total length of each lower leg upper rod 33 and each lower leg lower rod 32, so that people with different leg lengths use. The telescopic adjustment device includes at least one thumb nut 37 and at least one screw rod 38, each screw rod 38 is affixed to the outside of each lower leg upper rod 33, preferably, in this embodiment, each lower leg upper rod 33 is provided with Two screw rods 38, each calf lower rod 32 is vertically provided with an adjustment groove 321, each screw rod 38 passes through the adjustment groove 321 from the inner side of each lower leg lower rod 32, and each thumb nut 37 is screwed to each screw rod 38, the end wall of each hand-tightening nut 37 is held against each shank lower rod 32, so that each shank lower rod 32 and each shank upper rod 33 are relatively fixed, and by rotating the hand-tightening nut 37, which can realize the relative sliding expansion and contraction of each calf lower rod 32 and each lower leg upper rod 33 and relatively fix the two.

Further, each thigh support rod 34 and each calf upper rod 33 are hinged with an angle locking structure to limit the rotation angle of the calf around the knee joint to prevent hyperextension of the knee, which is also known as opisthotonus. It is a phenomenon in which a hemiplegic patient's knee joint extends beyond the normal range during standing and walking. The hinged end of each lower leg upper rod 33 is positioned at one side of the forward direction of the leg and has an abutment surface 331, and the angle locking structure includes a stopper 341, which is fixedly connected to the hinged end of each thigh support rod 34, and the lower leg During the rotation of the upper rod 33 relative to the hinged end of the thigh support rod 34 toward the forward direction of the leg, the abutment surface 331 abuts against the stopper 341 to limit the rotation angle of the calf upper rod 33 relative to the thigh support rod 34 .

Please refer to Fig. 2, the pedal 23 is divided into three pieces, which are respectively the front left piece, the front right piece and the rear end piece, and are connected together by elastic materials to elastically support the three focus points of the soles, which conforms to the ergonomic design and improves For the comfort of the patient, the front left block, the front right block and the rear end block are respectively equipped with pressure sensors to monitor real-time plantar pressure and analyze people's gait.

Referring to Fig. 2 and Fig. 3, the ankle joint driving mechanism 26 includes a push rod motor one 261, two guide rails one 262, a slider hinged seat 263 and a connecting rod 264, and the push rod motor one 261 is installed at the bottom end of the support plate 22, Two guide rails one 262 are fixed on the support plate 22 in parallel, the slider hinge seat 263 is slidably arranged on the two guide rails one 262, and the push rod end of the push rod motor one 261 is connected with the slider hinge seat 263 to push the slider The hinged seat 263 slides reciprocally along two guide rails one 262, and the bottom end of the connecting rod 264 is hinged on the slide block hinged seat 263, and the top end of the connecting rod 264 is hinged on the bottom surface of the pedal 23 near the heel. The push rod motor one 261 pushes the slider articulation seat 263 to reciprocate and slide along the two guide rails one 262, and the sliding of the slider articulation seat 263 drives the pedal 23 respectively around the top hinge shaft of the support plate 22 and each connecting rod 31 through the connecting rod 264. The rotation of the hinge axis can simulate the rotation of the ankle joint during normal walking, making the joint movement of the patient's leg more flexible and free, which is beneficial to improving the rehabilitation effect of the patient's walking function.

The front and back sliding mechanism 24 comprises two guide rails 241, a motor 242, a pulley 243, a pulley seat 244 and a transmission belt 245, and the two guide rails 241 are fixed on the base plate 1 parallel to each other, and the motor 242 is fixed to the pulley seat 244. Be positioned at one side of two guide rails 241 on the bottom plate 1, the pulley 243 is rotatably installed on the pulley base 244, and the drive belt 245 is wound around the driving wheel of the motor 242 and the pulley 243, and the uplink of the drive belt 245 The part is fixedly connected with the sliding plate 21, so that the driving belt 245 drives the sliding plate 21 to slide back and forth.

Swing lifting mechanism 25 comprises push rod motor two 251, two screw mandrel seats 252, screw mandrel 253, two guide rails three 254, sliding seat 255 and fork 256, and push rod motor two 251 is installed on the slide plate 21 and supports On the opposite end of the plate 22, two screw rod seats 252 are relatively fixed on the sliding plate 21 and are positioned on the output shaft direction of the push rod motor 251, and one end of the screw mandrel 253 is connected with the output shaft of the push rod motor 251 and can rotate through Set in one screw rod seat 252, the other end of the screw rod 253 is rotatably installed in the other screw rod seat 252, and two guide rails 254 are fixed on the slide plate 21 in parallel to one side of the screw rod 253 One side of the sliding seat 255 is sleeved on the screw rod 253, and the other side is slidably mounted on two guide rails 254, the bottom end of the swing rod 256 is hinged on the sliding seat 255, and the top end of the swing rod 256 is hinged on the support The upper plate 22 is close to the top of the supporting plate 22 . The push rod motor 251 drives the screw rod 253 to rotate positively and negatively, and the forward and reverse rotation of the screw rod 253 drives the sliding seat 255 to slide back and forth along the two guide rails 3 254, and the sliding seat 255 drives the support plate 22 around the sliding plate 21 through the swing rod 256 The hinged end of the handle rotates, and then realizes the lifting of the pedal 23 hinged on the top of the support plate 22.

Referring to FIG. 5 , the present invention also provides a walking rehabilitation training robot provided with the above-mentioned stepping device. The walking rehabilitation training robot includes a base 10 on which the above-mentioned stepping device is installed.

In summary, the stepping device of the present invention is provided with a leg support 3 on each pedal movement assembly 2, and the connecting rod 31 of the leg support 3 is hinged with the lower leg 32 to form an ankle joint rotation structure. Under the driving, the patient's ankle joint can be fully exercised. With the cooperation of the front and rear sliding mechanism 24 and the swing lifting mechanism 25, the patient can realize more realistic striding movements. It conforms to ergonomic design, is convenient and quick to wear, and provides better patient experience. The patient's walking information can be detected by the pressure sensor, so that the patient's walking training on the walking rehabilitation training robot is closer to the normal walking pattern and normal gait; through the ankle joint driving mechanism 26, the front and rear sliding mechanism 24 and the swing lifting mechanism Drive the pedal 23 to simulate the normal movement trajectory of the ankle when the human being is on flat ground, going up and down slopes, and up and down stairs. At the same time, the power from the pedal is converted into the power of the big and small legs through the leg support 3, which is beneficial to improve the rehabilitation of the patient's walking function Effect.

The above is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process conversion made by using the content of the description of the present invention, or directly or indirectly used in other related technical fields, shall be The same reasoning is included in the patent protection scope of the present invention.

Claims (10)

1. A stepping device, comprising a base plate (1) and a pair of pedal motion assemblies (2) arranged on the base plate (1), characterized in that, the stepping device also includes a pedal motion assembly (2) arranged on each pedal motion assembly (2) on the leg support (3); Pedal motion assembly (2) comprises slide plate (21), support plate (22), pedal (23), front and rear sliding mechanism (24), swing lifting mechanism (25) and ankle joint driving mechanism (26), slide plate ( 21) Slidingly arranged on the base plate (1), the bottom end of the support plate (22) is hinged to one end of the slide plate (21), and the top end of the support plate (22) is hinged to a position later in the middle of the bottom surface of the pedal (23), The front and rear sliding mechanism (24) is installed on the base plate (1) for driving the sliding plate (21) to slide back and forth, and the swing lifting mechanism (25) is installed on the sliding plate (21) for driving the supporting plate (22) Swing relative to the hinged end on the sliding plate (21) to realize the lifting of the pedal (23); The leg supports (3) are used to support the human legs on the pedals (23), and ensure that the human leg joints have normal freedom of movement in the leg supports (3), and the leg supports (3) include paired The connecting rods (31) and the shank lower rods (32) arranged in pairs, the bottom ends of the two connecting rods (31) are respectively fixedly installed on both sides of the pedal (23) and near the ankles, each connecting rod (31) Hinged with each shank lower bar (32), the ankle joint drive mechanism (26) is installed on the support plate (22), and is used to drive the pedal (23) to rotate to simulate the rotation of the ankle joint of a person. 2. The stepping device according to claim 1, characterized in that, the leg supports (3) also include paired upper legs (33), paired thigh support rods (34), calf straps Belt (35) and thigh bandage (36), each shank upper bar (33) is connected with each shank lower bar (32), each thigh support bar (34) is hinged with each shank upper bar (33), So that the knee joint rotates, the shank strap (35) is provided with two, which are respectively bound on the shank lower bar (32) and the shank upper bar (33), and the thigh strap (36) is bound on the thigh support bar (34). 3. The stepping device according to claim 1, characterized in that, each shank upper rod (33) and each lower leg lower rod (32) are connected with a telescopic adjustment device for adjusting each shank upper rod ( 33) and the total length of each shank lower bar (32). 4. The stepping device according to claim 3, characterized in that the telescopic adjustment device comprises at least one thumb nut (37) and at least one screw rod (38), and each screw rod (38) is fixed on each lower leg On the outside of the bar (33), each lower leg lower rod (32) is vertically provided with an adjustment groove (321), and each screw rod (38) passes through the adjustment groove (321) from the inner side of each lower leg lower rod (32). A finger-tightening nut (37) is screwed to the extended end of each screw rod (38), and the end wall of each hand-tightening nut (37) is held against the lower rod (32) of each shank, so that each shank The lower bar (32) is relatively fixed with each lower leg upper bar (33). 5. The stepping device according to claim 2, characterized in that an angle locking structure is provided at the hinge of each thigh support rod (34) and each lower leg upper rod (33), and each lower leg upper rod (33) The hinged end of the leg is located on one side of the forward direction of the leg and has an abutment surface (331), and the angle locking structure includes a stopper (341), and the stopper (341) is affixed to the hinged end of each thigh support rod (34) , during the rotation of the calf upper rod (33) relative to the hinged end of the thigh support rod (34) toward the front of the leg, the abutment surface (331) abuts against the stop block (341) to limit the calf upper rod (33) The angle of rotation relative to the thigh support bar (34). 6. The stepping device according to claim 1, characterized in that, the pedal (23) is divided into three pieces, which are respectively a front left piece, a front right piece and a rear end piece, and are connected together by an elastic material to The three focus points of the elastic support sole, the front left block, the front right block and the rear end block are respectively provided with pressure sensors. 7. The stepping device according to claim 1, characterized in that, the ankle joint driving mechanism (26) comprises a push rod motor one (261), two guide rails one (262), a slider hinged seat (263) and Connecting rod (264), push rod motor one (261) is installed at the bottom of support plate (22), two guide rails one (262) are fixed on the support plate (22) in parallel, and slider hinged seat (263) slides Set on the two guide rails one (262), the push rod end of the push rod motor one (261) is connected with the slider hinged seat (263), and the bottom end of the connecting rod (264) is hinged on the slider hinged seat (263) , the top of the connecting rod (264) is hinged on the bottom surface of the pedal (23) near the heel. 8. The stepping device according to claim 1, characterized in that, the front and rear sliding mechanism (24) comprises two guide rails (241), a motor (242), a pulley (243), and a pulley seat (244) And transmission belt (245), two guide rails two (241) are fixed on the base plate (1) parallel to each other, and motor (242) and pulley seat (244) are fixed on the base plate (1) and are positioned at two guide rails two One side of (241), pulley (243) is rotatably installed on the pulley seat (244), and transmission belt (245) is wound on the driving pulley and pulley (243) of motor (242), and transmission belt (245 ) is affixed with the slide plate (21) in the uplink section, so that the drive belt (245) drives the slide plate (21) to slide back and forth. 9. The stepping device according to claim 1, characterized in that, said swing elevating mechanism (25) comprises push rod motor two (251), two screw mandrel seats (252), screw mandrels (253), two Root guide rail three (254), slide seat (255) and fork (256), push rod motor two (251) are installed on the slide plate (21) opposite with support plate (22) end, two screw mandrel seats ( 252) is relatively fixed on the slide plate (21) and is located in the direction of the output shaft of the push rod motor two (251). In one screw seat (252), the other end of the screw mandrel (253) is rotatably installed in the other screw seat (252), and two guide rails three (254) are relatively parallel and fixed on the slide plate (21) and be positioned at one side of the screw mandrel (253), one side of the sliding seat (255) is sleeved on the screw mandrel (253), and the other side is slidably installed on two guide rails three (254), the swing bar ( The bottom end of 256) is hinged on the slide seat (255), and the top end of the fork (256) is hinged on the support plate (22) and near the top of the support plate (22). 10. A walking rehabilitation training robot, comprising a base (10), is characterized in that, the walking rehabilitation training robot is provided with the stepping device as claimed in any one of claims 1 to 9, and the stepping device is arranged on the base (10) )superior.