CN112221072A - A lower limb rehabilitation training robot - Google Patents
A lower limb rehabilitation training robot Download PDFInfo
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- CN112221072A CN112221072A CN202011103428.0A CN202011103428A CN112221072A CN 112221072 A CN112221072 A CN 112221072A CN 202011103428 A CN202011103428 A CN 202011103428A CN 112221072 A CN112221072 A CN 112221072A
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
- A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
- A63B22/0242—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation
- A63B22/025—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation electrically, e.g. D.C. motors with variable speed control
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/09—Adjustable dimensions
- A63B2225/096—Adjustable dimensions automatically adjusted according to anthropometric data of the user
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- Physical Education & Sports Medicine (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
本发明公开了一种下肢康复训练机器人，包括：机架、控制系统、用于向控制系统输入患者体征的输入机构、用于绑定患者的两条腿并带动患者的两条腿运动的驱动机构、用于调节驱动机构绑定两条腿的绑定位置的调节机构、用于患者行走的步行传送带机构，调节机构连接于驱动机构，驱动机构可活动的设置于机架，驱动机构和调节机构均与控制系统信号连接。通过向输入机构中输入患者体征，控制系统会会自动计算驱动机构需要调节的位置，并控制调节机构对驱动机构进行位置调节，以调节驱动机构绑定于不同患者两条腿的绑定位置，减少了调节时间，并且本申请结构简单、轻便，减轻了患者装配的负担，提高了舒适性。
The invention discloses a lower limb rehabilitation training robot, comprising: a frame, a control system, an input mechanism for inputting patient signs to the control system, and a drive for binding two legs of a patient and driving the two legs of the patient to move Mechanism, an adjustment mechanism for adjusting the binding positions of the two legs of the drive mechanism, a walking conveyor mechanism for patients to walk, the adjustment mechanism is connected to the drive mechanism, the drive mechanism is movably arranged on the frame, the drive mechanism and the adjustment mechanism The mechanisms are all signal-connected to the control system. By inputting patient signs into the input mechanism, the control system will automatically calculate the position of the drive mechanism that needs to be adjusted, and control the adjustment mechanism to adjust the position of the drive mechanism to adjust the binding position of the drive mechanism to the two legs of different patients. The adjustment time is reduced, the structure of the present application is simple and light, the burden of patient assembly is reduced, and the comfort is improved.
Description
Technical Field
The invention relates to the technical field of rehabilitation, in particular to a lower limb rehabilitation training robot.
Background
The lower limb rehabilitation robot is applied more and more widely in the field of rehabilitation equipment in recent years, is bound with the lower limb of a patient through a mechanical structure, and achieves the purposes of exercising the muscle of the lower limb and recovering the nerve function through simulating the walking motion of a normal person.
The existing lower limb rehabilitation robot is mostly connected with the body of a patient in an exoskeleton mode through a binding band and moves by mechanically driving the joint of the patient. In the prior art, a mechanical driving mechanism needs to be bound to the lower limbs of patients through a binding band, for the patients with different heights, the length of the corresponding thigh and the corresponding shank of a robot needs to be adjusted, and the operation is time-consuming and labor-consuming; in addition, the mechanical structure in the prior art needs to be bound to a patient, the structure is large and heavy, great weight burden is caused to the patient, and the patient is uncomfortable after wearing the mechanical structure.
In summary, how to reduce the adjustment time of the lower limb rehabilitation robot, reduce the burden of the patient, and improve the comfort is a problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a lower limb rehabilitation training robot, which can automatically adjust the positions of the lower limb rehabilitation training robot bound to the two legs of a patient, reduce the adjustment time, has a simple structure, can reduce the burden of the patient, and improves the comfort of the patient.
In order to achieve the above purpose, the invention provides the following technical scheme:
a lower limb rehabilitation training robot comprising: frame, control system, be used for to control system inputs patient's sign input mechanism, be used for binding two legs of patient and drive the actuating mechanism of two leg motions of patient, be used for adjusting actuating mechanism binds the adjustment mechanism of the position of binding of two legs, is used for the walking conveyer belt mechanism of patient's walking, adjustment mechanism connect in actuating mechanism, actuating mechanism mobilizable set up in the frame, actuating mechanism with adjustment mechanism all with control system signal connection.
Preferably, the driving mechanism comprises a first driving mechanism for binding a first leg of the patient to drive the first leg to move in a first vertical plane, and a second driving mechanism for binding a second leg of the patient to drive the second leg to move in a second vertical plane; adjustment mechanism is including being used for adjusting first actuating mechanism binds the binding point of first leg is in the first adjustment mechanism of the position in the first vertical face, be used for adjusting second actuating mechanism binds the binding point of second leg is in the second adjustment mechanism of the position in the second vertical face, first adjustment mechanism connect in first actuating mechanism, second adjustment mechanism connect in second actuating mechanism, first actuating mechanism with the equal mobilizable setting in of second actuating mechanism in the frame, first actuating mechanism second actuating mechanism first adjustment mechanism second adjustment mechanism all with control system signal connection.
Preferably, the first driving mechanism comprises a first driving part for binding a first knee joint of a patient to drive the first knee joint to move in the first vertical plane, a second driving part for binding a first ankle joint of the patient to drive the first ankle joint to move in the first vertical plane, and the second driving mechanism comprises a third driving part for binding a second knee joint of the patient to drive the second knee joint to move in the second vertical plane, and a fourth driving part for binding a second ankle joint of the patient to drive the second ankle joint to move in the second vertical plane.
Preferably, the first driving part comprises a first rope for binding the first knee joint and a first motor for driving the first rope to reciprocate in the first vertical plane; the second driving part comprises a second rope for binding the first ankle joint and a second motor for driving the second rope to reciprocate in the first vertical plane; the third driving part comprises a third rope for binding the second knee joint and a third motor for driving the third rope to reciprocate in the second vertical plane; the fourth driving part comprises a fourth rope for binding the second ankle joint and a fourth motor for driving the fourth rope to reciprocate in the second vertical plane.
Preferably, the output shaft of the first motor is provided with a first wire spool, and the first rope is wound on the first wire spool; a second wire spool is arranged on an output shaft of the second motor, and the second wire spool is wound by the second rope; an output shaft of the third motor is provided with a third wire spool, and the third wire spool is wound by the third rope; and an output shaft of the fourth motor is provided with a fourth wire spool, and the fourth wire spool is wound by the fourth rope.
Preferably, the first motor, the second motor, the third motor and the fourth motor are all servo motors.
Preferably, two first fixed pulleys and two second fixed pulleys in the first vertical plane are respectively arranged on the frame in front of and behind the walking conveyor belt mechanism, the two first fixed pulleys are positioned at a first horizontal line, the two second fixed pulleys are positioned at a second horizontal line, the first horizontal line is higher than the second horizontal line, the first ropes are respectively wound around the two first fixed pulleys, and the two second ropes are respectively wound around the two second fixed pulleys;
two third fixed pulleys and two fourth fixed pulleys which are positioned in the second vertical plane are respectively arranged on the rack in front of and behind the walking conveyor belt mechanism, the two third fixed pulleys are positioned on the first horizontal line, the two fourth fixed pulleys are positioned on the second horizontal line, the third ropes are respectively wound around the two third fixed pulleys, and the two fourth ropes are respectively wound around the two fourth fixed pulleys.
Preferably, the first adjusting mechanism comprises a first adjusting part and a second adjusting part, the first adjusting part comprises a first pulley block, the second adjusting part comprises a second pulley block, a first movable pulley of the first pulley block is arranged on the first driving part which reciprocates, and a second movable pulley of the second pulley block is arranged on the second driving part which reciprocates; the second adjusting mechanism comprises a third adjusting part and a fourth adjusting part, the third adjusting part comprises a third pulley block, the fourth adjusting part comprises a fourth pulley block, a third movable pulley of the third pulley block is arranged on a third driving piece which reciprocates, and a fourth movable pulley of the fourth pulley block is arranged on a fourth driving piece which reciprocates;
the first rope is wound on the first pulley block, the second rope is wound on the second pulley block, the third rope is wound on the third pulley block, and the fourth rope is wound on the fourth pulley block.
Preferably, the first driving element, the second driving element, the third driving element and the fourth driving element are all electric push rods.
Preferably, a weight reduction mechanism for lifting the patient is arranged above the rack.
Through inputing patient's sign in to input mechanism, control system can the automatic calculation actuating mechanism position that needs the regulation to control adjustment mechanism and carry out position control to actuating mechanism, bind in the binding position of two legs of different patients with adjusting actuating mechanism, reduced the regulation time, and this application simple structure, light has alleviateed the burden of patient's assembly, has improved the travelling comfort.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic use view of a lower limb rehabilitation training robot provided by the invention;
fig. 2 is a schematic diagram of the movement of a first rope and a third rope of the lower limb rehabilitation training robot provided by the invention;
FIG. 3 is a schematic view of a first adjustment mechanism provided in accordance with the present invention;
FIG. 4 is a schematic view of a preset adjustment position of a first cord provided in accordance with the present invention;
FIG. 5 is a schematic view of the first adjustment mechanism of the present invention adjusting the first cable and the first motor not adjusting the position of the first cable;
fig. 6 is a diagram of a motion trajectory of a binding point of a first rope according to the present invention;
FIG. 7 is a graph of gait cycle and angular relationship for movement of the ankle joint in the sagittal plane;
FIG. 8 is a graph of gait cycle and angular relationship for movement of the knee joint in the sagittal plane.
In FIGS. 1-8:
1-a first motor, 2-a second motor, 3-a third motor, 4-a fourth motor, 5-a first rope, 6-a second rope, 7-a third rope, 8-a fourth rope, 9-a first adjusting part, 10-a second adjusting part, 11-a third adjusting part, 12-a fourth adjusting part, 13-a walking conveyor belt mechanism, 14-a frame, 15-a weight loss mechanism, 16-a fifth fixed pulley, 17-a first driving part, 18-a first movable pulley, 19-a first fixed pulley and 20-a second fixed pulley.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide the lower limb rehabilitation training robot, which can automatically adjust the positions bound on two legs of a patient, reduce the adjusting time, has a simple structure, can reduce the burden of the patient and improve the comfort of the patient.
Referring to fig. 1 to 8, fig. 1 is a schematic view illustrating a lower limb rehabilitation training robot according to the present invention; fig. 2 is a schematic diagram of the movement of a first rope and a third rope of the lower limb rehabilitation training robot provided by the invention; FIG. 3 is a schematic view of a first adjustment mechanism provided in accordance with the present invention; FIG. 4 is a schematic view of a preset adjustment position of a first cord provided in accordance with the present invention; FIG. 5 is a schematic view of the first adjustment mechanism of the present invention adjusting the first cable and the first motor not adjusting the position of the first cable; fig. 6 is a diagram of a motion trajectory of a binding point of a first rope according to the present invention; FIG. 7 is a graph of gait cycle and angular relationship for movement of the ankle joint in the sagittal plane; FIG. 8 is a graph of gait cycle and angular relationship for movement of the knee joint in the sagittal plane.
A lower limb rehabilitation training robot comprising: the patient walking device comprises a rack 14, a control system, an input mechanism for inputting patient signs to the control system, a driving mechanism for binding two legs of a patient and driving the two legs of the patient to move, an adjusting mechanism for adjusting the binding positions of the two legs bound by the driving mechanism, and a walking conveyor belt mechanism 13 for the patient to walk, wherein the adjusting mechanism is connected to the driving mechanism, the driving mechanism is movably arranged on the rack 14, and the driving mechanism and the adjusting mechanism are in signal connection with the control system.
It should be noted that the frame 14 includes a base and side frames disposed at the front side and the rear side of the base, the walking belt mechanism 13 is disposed on the base, the side frames are disposed at the front side and the rear side of the transmission direction of the walking belt mechanism 13, respectively, the transmission portions are disposed on the side frames at the front side and the rear side, and the driving mechanisms respectively bind the two legs of the patient and drive the two legs of the patient to move in two vertical planes. The vertical plane of the motion of the two legs is parallel to the sagittal plane of the human body.
The adjusting mechanism respectively adjusts the binding points of the driving mechanism for binding the two legs so as to be suitable for binding the first leg and the second leg of patients with different physical signs. The patient's physical signs include height, thigh length, and calf length.
Through inputing patient's sign in to input mechanism, control system can the automatic calculation actuating mechanism position that needs the regulation to control adjustment mechanism and carry out position control to actuating mechanism, bind in the binding position of two legs of different patients with adjusting actuating mechanism, reduced the regulation time, and this application simple structure, light has alleviateed the burden of patient's assembly, has improved the travelling comfort.
On the basis of the above embodiment, as a further preferable mode, the driving mechanism includes a first driving mechanism for binding a first leg of the patient to drive the first leg to move in a first vertical plane, and a second driving mechanism for binding a second leg of the patient to drive the second leg to move in a second vertical plane; the adjusting mechanism comprises a first adjusting mechanism used for adjusting the position of a binding point of a first leg bound by a first driving mechanism in a first vertical plane, and a second adjusting mechanism used for adjusting the position of a binding point of a second leg bound by a second driving mechanism in a second vertical plane, wherein the first adjusting mechanism is connected with the first driving mechanism, the second adjusting mechanism is connected with the second driving mechanism, the first driving mechanism and the second driving mechanism are movably arranged in the rack 14, and the first driving mechanism, the second driving mechanism, the first adjusting mechanism and the second adjusting mechanism are in signal connection with a control system.
It should be noted that the first driving mechanism is movably arranged on the side frames at the front side and the rear side, the first driving mechanism is used for binding the first leg of the patient, and the first driving mechanism drives the first leg of the patient to do walking motion in the first vertical plane through driving. The second driving mechanism is movably arranged on the side frames at the front side and the rear side and used for binding a second leg of the patient, and the second driving mechanism drives the second leg of the patient to do walking motion in a second vertical plane through driving. The first vertical plane and the second vertical plane are both parallel to the sagittal plane of the human body.
Through inputing patient's sign in to input mechanism, control system can the position that first actuating mechanism of automatic calculation and second actuating mechanism need be adjusted, and control first adjustment mechanism and carry out position control to first actuating mechanism, control second adjustment mechanism carries out position control to second actuating mechanism, with the position of the binding point in first vertical face of adjusting first actuating mechanism, adjust the position of the binding point in the second vertical face of second actuating mechanism simultaneously, the regulation time has been reduced, and actuating mechanism and the adjustment mechanism simple structure that this embodiment provided, it is light, the burden of patient's assembly has been lightened, the travelling comfort has been improved.
On the basis of the above embodiment, as a further preferred option, the first driving mechanism includes a first driving portion for binding the first knee joint of the patient to drive the first knee joint to move in the first vertical plane, a second driving portion for binding the first ankle joint of the patient to drive the first ankle joint to move in the first vertical plane, and the second driving mechanism includes a third driving portion for binding the second knee joint of the patient to drive the second knee joint to move in the second vertical plane, and a fourth driving portion for binding the second ankle joint of the patient to drive the second ankle joint to move in the second vertical plane.
It should be noted that, first drive division is bound near first knee joint, specifically can be the preset position of knee top, first drive division is including the first drive portion that is used for binding the first bandage of the first knee top of patient and is used for driving first bandage, the second drive division is including the second drive portion that is used for binding the second bandage of the first ankle of patient and is used for driving the second bandage, the third drive portion is including the third drive portion that is used for binding the third bandage of patient second knee top and is used for driving the third bandage, the fourth drive portion is including the fourth drive portion that is used for binding the fourth bandage of patient second ankle and is used for driving the fourth bandage.
This embodiment is through the knee and the ankle motion that drive two legs of patient respectively, and a drive division drives a position, and four drive division do not drive four positions, can help the patient can be steady walk on walking conveyor belt mechanism 13, and simple structure, can reduce patient's burden.
On the basis of the above embodiment, as a further preferable mode, the first driving part includes a first rope 5 for binding the first knee joint, and a first motor 1 for driving the first rope 5 to reciprocate in a first vertical plane; the second driving part comprises a second rope 6 for binding the first ankle joint and a second motor 2 for driving the second rope 6 to reciprocate in the first vertical plane; the third driving part comprises a third rope 7 for binding the second knee joint and a third motor 3 for driving the third rope 7 to reciprocate in a second vertical plane; the fourth driving part comprises a fourth rope 8 for binding the second ankle joint and a fourth motor 4 for driving the fourth rope 8 to reciprocate in the second vertical plane.
It should be noted that the first cable 5 is a cable bound above the first knee of the patient, the motor controlling the movement of the first cable 5 is the first motor 1, and the first adjusting mechanism is used for adjusting the length of the first cable 5; the second rope 6 is a rope bound on the first ankle of the patient, the motor controlling the movement of the second rope 6 is the second motor 2, and the first adjusting mechanism is used for adjusting the length of the second rope 6; the third rope 7 is a rope bound on the second knee of the patient, the motor controlling the movement of the third rope 7 is the third motor 3, and the second adjusting mechanism is used for adjusting the length of the third rope 7; the fourth rope 8 is a rope bound to a second ankle of the patient, the motor controlling the movement of the fourth rope 8 is the fourth motor 4, and the second adjusting mechanism is used for adjusting the length of the fourth rope 8.
It can be provided that the first cable 5 moves forward towards the patient when the first motor 1 rotates anticlockwise. Since the first cable 5 is a closed loop cable, the first cable 5 at the front of the patient pulls the first knee of the patient forward, and the first cable 5 at the back of the patient also moves forward. When the first motor 1 rotates in the reverse direction, the first rope 5 at the back of the patient pulls the first knee of the patient to move backwards, and the first rope 5 at the front of the patient also moves backwards.
As shown in fig. 2, the figure only shows an example that the first motor 1 drives the first knee and the third motor 3 drives the third knee to move, in the actual use process, the control system can control the movement of 4 motors in real time according to the built-in information of the simulated walking pace of the normal person, including the rotation direction and the rotation speed, and cooperate with the lower walking belt mechanism 13 to realize the lower limb rehabilitation exercise training of the patient.
When the leg lengths are different for different patients, the binding point above the first and second knees needs to be moved up or down. As shown in fig. 4, the dotted line shown in the figure, i.e. the rope to be adjusted, has a binding point below the binding point of the solid line.
Taking the first rope 5 as an example, when the length of the first rope 5 is adjusted, for example, after being stretched, in the case that the first motor 1 does not rotate, due to the stretching of the first rope 5, the binding point above the first knee is caused to move forward, so that the binding point is not at the initial position of the leg, as shown by the dotted line in fig. 5. It is necessary to rotate the first motor 1 clockwise by a certain angle so that the binding point returns to the central position.
The control system inputs the height, the length of the thigh and the length of the shank of the patient, automatically calculates the lengths of a first rope 5, a second rope 6, a third rope 7 and a fourth rope 8 which need to be arranged, controls a first adjusting mechanism and a second adjusting mechanism to adjust the lengths of the first rope 5, the second rope 6, the third rope 7 and the fourth rope 8, controls a first motor 1 to finely adjust the position of a binding belt on the first rope 5, controls a second motor 2 to finely adjust the position of a binding belt on the second rope 6, controls a third motor 3 to finely adjust the position of a binding belt on the third rope 7 and controls a fourth motor 4 to finely adjust the position of a binding belt on the fourth rope 8, so that 4 binding belts positioned above the ankle and the knee of the patient are positioned at correct positions.
By controlling the rotation angle of the first motor 1 and the position adjusted by the first adjustment mechanism, the position of the binding point of the first rope 5 in the first vertical plane can be achieved. In motion control, after the positions of the binding points are adjusted, trajectory planning is performed according to patient data and set parameters to obtain a motion trajectory of each binding point. Trajectory planning is performed based on the movement of the hip and knee joints in a first vertical plane, as shown in fig. 6. Assuming that the planned track of the binding point is shown by a dotted line in fig. 4, the binding point can move according to a predetermined track by controlling the first motor 1 and the first driving mechanism in real time during the movement process.
In addition to the above-described embodiments, it is further preferable that the output shaft of the first motor 1 is provided with a first wire spool around which the first rope 5 is wound; a second wire spool is arranged on an output shaft of the second motor 2, and a second rope 6 is wound on the second wire spool; a third wire spool is arranged on an output shaft of the third motor 3, and a third rope 7 is wound on the third wire spool; the output shaft of the fourth motor 4 is provided with a fourth wire spool around which the fourth rope 8 is wound.
Since the first motor 1 and the first spool are disposed on the left side of the frame 14 and the first adjusting mechanism is disposed on the right side of the first spool, when the first rope 5 extends by the length L, the first rope 5 on the right side of the binding point is extended by the length L when the first spool does not rotate, and therefore, the first spool should adjust the extension L/2 of the first rope 5 on the left side. The circumference of the first wire spool is M, and the rotation angles n, L and M of the first motor 1 are as follows: n.m/360 equals L/2, and the angle of the first motor 1 required to rotate can be obtained. The second motor 2 and the second wire spool, the third motor 3 and the third wire spool, and the fourth motor 4 and the fourth wire spool are all the same as the first motor 1 and the first wire spool in arrangement, and the adjustment mode is the same. The present embodiment provides a structure that can facilitate calculation of the rotation angles of the first motor 1, the second motor 2, the third motor 3, and the fourth motor 4, so as to adjust the binding points of the first rope 5, the second rope 6, the third rope 7, and the fourth rope 8.
In addition to the above embodiments, it is further preferable that the first motor 1, the second motor 2, the third motor 3, and the fourth motor 4 are all servo motors.
It should be noted that the first motor 1, the second motor 2, the third motor 3, and the fourth motor 4 all adopt servo motors, which is beneficial for the control system to directly control the rotation speed, rotation angle, etc. of the first motor 1, the second motor 2, the third motor 3, and the fourth motor 4.
Preferably, on the basis of the above embodiment, as a further preference, two first fixed pulleys 19 and two second fixed pulleys 20 are respectively arranged on the frame 14 in front of and behind the walking belt mechanism 13 in a first vertical plane, the two first fixed pulleys 19 are positioned at a first horizontal line, the two second fixed pulleys 20 are positioned at a second horizontal line, the first horizontal line is higher than the second horizontal line, the first ropes 5 are respectively wound around the two first fixed pulleys 19, and the two second ropes 6 are respectively wound around the two second fixed pulleys 20;
two third fixed pulleys 18 and two fourth fixed pulleys 18 in a second vertical plane are respectively arranged on the frame 14 in front of and behind the walking belt mechanism 13, the two third fixed pulleys 18 are positioned at a first horizontal line, the two fourth fixed pulleys 18 are positioned at a second horizontal line, the third ropes 7 respectively pass over the two third fixed pulleys 18, and the two fourth ropes 8 respectively pass over the two fourth fixed pulleys 18.
It should be noted that the first rope 5 respectively passes around the two first fixed pulleys 19, the binding point of the first rope 5 is disposed between the two first fixed pulleys 19, and in order to facilitate the installation of the first rope 5, a first inflection point pulley may be disposed at the rear side of the frame 14, and the first rope 5 at the rear side of the binding point passes around the first inflection point pulley 19 at the rear side of the frame 14, passes through the first wire spool after passing through the first adjusting mechanism, and then passes around the first fixed pulley 19 at the front side of the frame 14 to form a closed loop with the first rope 5 at the rear side of the binding point.
The second rope 6 respectively passes around the two second fixed pulleys 20, the binding point of the second rope 6 is arranged between the two second fixed pulleys 20, and in order to facilitate the installation of the second rope 6, a second inflection point pulley may be arranged at the rear side of the frame 14, the second rope 6 at the rear side of the binding point passes around the second inflection point pulley after passing around the second fixed pulley 20 at the rear side of the frame 14 and passes through the second wire reel after passing through the first adjusting mechanism, and then the second rope 6 at the rear side of the binding point forms a closed loop after passing around the second fixed pulley 20 at the front side of the frame 14.
The third rope 7 respectively passes around two third fixed pulleys 18, the binding point of the third rope 7 is arranged between the two third fixed pulleys 18, and in order to facilitate the installation of the third rope 7, a third inflection point pulley can be arranged at the rear side of the rack 14, the third rope 7 at the rear side of the binding point passes around the third inflection point pulley 18 at the rear side of the rack 14, passes through a third reel after passing through a second adjusting mechanism, and then forms a closed loop with the third rope 7 at the rear side of the binding point after passing around the third fixed pulley 18 at the front side of the rack 14.
The fourth rope 8 is wound around the two fourth fixed pulleys 18, respectively, the binding point of the fourth rope 8 is arranged between the two fourth fixed pulleys 18, and in order to facilitate the installation of the fourth rope 8, a fourth inflection point pulley may be arranged at the rear side of the frame 14, the fourth rope 8 at the rear side of the binding point is wound around the fourth inflection point pulley 18 at the rear side of the frame 14 and passes through a fourth wire reel after passing through a second adjusting mechanism, and then a closed loop is formed with the fourth rope 8 at the rear side of the binding point after being wound around the fourth fixed pulley 18 at the front side of the frame 14.
The structure provided by the present embodiment can facilitate the installation of the first rope 5, the second rope 6, the third rope 7, and the fourth rope 8, and can reduce the friction of the first rope 5, the second rope 6, the third rope 7, and the fourth rope 8 during movement.
On the basis of the above embodiment, as a further preferable mode, the first adjusting mechanism includes a first adjusting portion 9 and a second adjusting portion 10, the first adjusting portion 9 includes a first pulley block, the second adjusting portion 10 includes a second pulley block, a first movable pulley 18 of the first pulley block is disposed on the first driving member 17 which reciprocates, and a second movable pulley of the second pulley block is disposed on the second driving member which reciprocates; the second adjusting mechanism comprises a third adjusting part 11 and a fourth adjusting part 12, the third adjusting part 11 comprises a third pulley block, the fourth adjusting part 12 comprises a fourth pulley block, a third movable pulley of the third pulley block is arranged on a third driving part which reciprocates, and a fourth movable pulley of the fourth pulley block is arranged on a fourth driving part which reciprocates;
the first rope 5 is wound on the first pulley block, the second rope 6 is wound on the second pulley block, the third rope 7 is wound on the third pulley block, and the fourth rope 8 is wound on the fourth pulley block.
It should be noted that the first pulley block includes a fifth fixed pulley 16 and a first movable pulley 18, the direction of the first rope 5 changes after passing through the fifth fixed pulley 16 and changes again after passing through the first movable pulley 18, and by adjusting the position of the first driving member 17, the first movable pulley 18 can be driven to move, so as to adjust the distance between the first movable pulley 18 and the fifth fixed pulley 16 in the first pulley block, thereby realizing the adjustment of the length of the first rope 5. The adjusted length is 2 times of the distance L from the first movable pulley 18 to the fifth fixed pulley 16 in the first pulley block, namely the length of the first rope 5 which is folded.
The structure of the second pulley block and the winding manner of the second rope 6, the structure of the third pulley block and the winding manner of the third rope 7, and the structure of the fourth pulley block and the winding manner of the fourth rope 8 are the same as those of the first pulley block and the first rope 5.
The first adjusting mechanism and the second adjusting mechanism provided by the embodiment have simple structures, are convenient to adjust, have controllable adjusting distances, and can improve the adjusting precision of the first rope 5, the second rope 6, the third rope 7 and the fourth rope 8.
In addition to the above embodiments, it is further preferable that the first driver 17, the second driver, the third driver and the fourth driver are all electric push rods.
The cylinder part of the electric push rod can be arranged on the ground, and the end part of the rod part of one electric push rod is provided with a movable pulley. The fixed pulley of each pulley block can be arranged on the ground.
The electric push rod has small volume and high precision, and can improve the precision of adjusting the lengths of the first rope 5, the second rope 6, the third rope 7 and the fourth rope 8.
In order to further reduce the burden of patient assembly and improve the comfort, in addition to the above-described embodiment, it is further preferable that a weight reduction mechanism 15 for lifting the patient is provided above the frame 14. The weight reduction mechanism 15 is provided above the walking belt mechanism 13, and the weight reduction mechanism 15 is provided with a downward elastic rope which can be tied on the upper body of the patient and provides a certain lifting force to the upper body of the patient, thereby further reducing the assembly burden of the patient.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The lower limb rehabilitation training robot provided by the invention is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A lower limb rehabilitation training robot, comprising: frame (14), control system, be used for to control system inputs patient's sign input mechanism, be used for binding two legs of patient and drive the actuating mechanism of two leg motions of patient, be used for adjusting actuating mechanism binds the adjustment mechanism of the position of binding of two legs, is used for walking conveyer belt mechanism (13) of patient's walking, adjustment mechanism connect in actuating mechanism, actuating mechanism mobilizable set up in frame (14), actuating mechanism with adjustment mechanism all with control system signal connection.
2. The lower limb rehabilitation training robot of claim 1, wherein the drive mechanism comprises a first drive mechanism for binding a first leg of the patient to move the first leg in a first vertical plane, a second drive mechanism for binding a second leg of the patient to move the second leg in a second vertical plane; adjustment mechanism is including being used for adjusting first actuating mechanism binds the binding point of first leg is in the first adjustment mechanism of the position in the first vertical face, be used for adjusting second actuating mechanism binds the binding point of second leg is in the second adjustment mechanism of the position in the second vertical face, first adjustment mechanism connect in first actuating mechanism, second adjustment mechanism connect in second actuating mechanism, first actuating mechanism with the equal mobilizable setting in of second actuating mechanism in frame (14), first actuating mechanism second actuating mechanism first adjustment mechanism second adjustment mechanism all with control system signal connection.
3. The lower limb rehabilitation training robot of claim 2, wherein the first driving mechanism comprises a first driving part for binding a first knee joint of a patient to drive the first knee joint to move in the first vertical plane, a second driving part for binding a first ankle joint of the patient to drive the first ankle joint to move in the first vertical plane, and the second driving mechanism comprises a third driving part for binding a second knee joint of the patient to drive the second knee joint to move in the second vertical plane, and a fourth driving part for binding a second ankle joint of the patient to drive the second ankle joint to move in the second vertical plane.
4. The lower limb rehabilitation training robot according to claim 3, wherein the first driving part comprises a first rope (5) for binding the first knee joint, and a first motor (1) for driving the first rope (5) to reciprocate in the first vertical plane; the second driving part comprises a second rope (6) for binding the first ankle joint and a second motor (2) for driving the second rope (6) to reciprocate in the first vertical plane; the third driving part comprises a third rope (7) for binding the second knee joint and a third motor (3) for driving the third rope (7) to reciprocate in the second vertical plane; the fourth driving part comprises a fourth rope (8) for binding the second ankle joint and a fourth motor (4) for driving the fourth rope (8) to reciprocate in the second vertical plane.
5. The lower limb rehabilitation training robot according to claim 4, characterized in that the output shaft of the first motor (1) is provided with a first wire spool, and the first rope (5) is wound on the first wire spool; a second wire spool is arranged on an output shaft of the second motor (2), and the second rope (6) is wound on the second wire spool; a third wire spool is arranged on an output shaft of the third motor (3), and the third rope (7) is wound on the third wire spool; and an output shaft of the fourth motor (4) is provided with a fourth wire spool, and the fourth wire spool is wound by the fourth rope (8).
6. The lower limb rehabilitation training robot according to claim 4, wherein the first motor (1), the second motor (2), the third motor (3) and the fourth motor (4) are all servo motors.
7. The lower limb rehabilitation training robot according to claim 4, wherein the frame (14) in front of and behind the walking belt mechanism (13) is provided with two first fixed pulleys (19) and two second fixed pulleys (20) respectively in the first vertical plane, the two first fixed pulleys (19) are at a first horizontal line, the two second fixed pulleys (20) are at a second horizontal line, the first horizontal line is higher than the second horizontal line, the first ropes (5) are respectively wound around the two first fixed pulleys (19), and the two second ropes (6) are respectively wound around the two second fixed pulleys (20);
two third fixed pulleys (18) and two fourth fixed pulleys (18) which are positioned in the second vertical plane are respectively arranged on the rack (14) in front of and behind the walking conveyor belt mechanism (13), the two third fixed pulleys (18) are positioned in the first horizontal line, the two fourth fixed pulleys (18) are positioned in the second horizontal line, the third ropes (7) are respectively wound around the two third fixed pulleys (18), and the two fourth ropes (8) are respectively wound around the two fourth fixed pulleys (18).
8. The lower limb rehabilitation training robot according to claim 4, wherein the first adjustment mechanism comprises a first adjustment part (9) and a second adjustment part (10), the first adjustment part (9) comprises a first pulley block, the second adjustment part (10) comprises a second pulley block, a first movable pulley (18) of the first pulley block is arranged on a first driving part (17) which reciprocates, and a second movable pulley of the second pulley block is arranged on a second driving part which reciprocates; the second adjusting mechanism comprises a third adjusting part (11) and a fourth adjusting part (12), the third adjusting part (11) comprises a third pulley block, the fourth adjusting part (12) comprises a fourth pulley block, a third movable pulley of the third pulley block is arranged on a third driving piece which reciprocates, and a fourth movable pulley of the fourth pulley block is arranged on a fourth driving piece which reciprocates;
the first rope (5) is wound on the first pulley block, the second rope (6) is wound on the second pulley block, the third rope (7) is wound on the third pulley block, and the fourth rope (8) is wound on the fourth pulley block.
9. The lower limb rehabilitation training robot of claim 8, wherein the first drive member (17), the second drive member, the third drive member and the fourth drive member are all electric push rods.
10. The lower limb rehabilitation training robot according to any one of claims 1 to 9, characterized in that a weight reduction mechanism (15) for lifting the patient is provided above the frame (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011103428.0A CN112221072A (en) | 2020-10-15 | 2020-10-15 | A lower limb rehabilitation training robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011103428.0A CN112221072A (en) | 2020-10-15 | 2020-10-15 | A lower limb rehabilitation training robot |
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| CN202011103428.0A Pending CN112221072A (en) | 2020-10-15 | 2020-10-15 | A lower limb rehabilitation training robot |
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| US5444812A (en) * | 1994-05-19 | 1995-08-22 | Thibodeau; Emile | Automatic speed servo-control apparatus for electrically powered walking-running exercise machine |
| JP2017108975A (en) * | 2015-12-17 | 2017-06-22 | トヨタ自動車株式会社 | Walking training device |
| CN107174490A (en) * | 2017-06-02 | 2017-09-19 | 浙江大学 | A kind of portable device for healing and training |
| CN214050330U (en) * | 2020-10-15 | 2021-08-27 | 河南翔宇医疗设备股份有限公司 | A lower limb rehabilitation training robot |
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2020
- 2020-10-15 CN CN202011103428.0A patent/CN112221072A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5444812A (en) * | 1994-05-19 | 1995-08-22 | Thibodeau; Emile | Automatic speed servo-control apparatus for electrically powered walking-running exercise machine |
| JP2017108975A (en) * | 2015-12-17 | 2017-06-22 | トヨタ自動車株式会社 | Walking training device |
| CN107174490A (en) * | 2017-06-02 | 2017-09-19 | 浙江大学 | A kind of portable device for healing and training |
| CN214050330U (en) * | 2020-10-15 | 2021-08-27 | 河南翔宇医疗设备股份有限公司 | A lower limb rehabilitation training robot |
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