CN101984946A - Sitting exoskeleton lower limb rehabilitation robot - Google Patents
Sitting exoskeleton lower limb rehabilitation robot Download PDFInfo
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- CN101984946A CN101984946A CN 201010543205 CN201010543205A CN101984946A CN 101984946 A CN101984946 A CN 101984946A CN 201010543205 CN201010543205 CN 201010543205 CN 201010543205 A CN201010543205 A CN 201010543205A CN 101984946 A CN101984946 A CN 101984946A
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Abstract
The invention relates to a sitting exoskeleton lower limb rehabilitation robot in the technical field of medical rehabilitation. The robot comprises a sitting auxiliary mechanism, a lower limb rehabilitation mechanism and an exoskeleton shield mechanism, wherein the sitting auxiliary mechanism is connected with the limb rehabilitation mechanism; and the exoskeleton shield mechanism is connected with the sitting auxiliary mechanism and the lower limb rehabilitation mechanism respectively. In the sitting exoskeleton lower limb rehabilitation robot, the sitting auxiliary mechanism, the lower limb rehabilitation mechanism and the exoskeleton shield mechanism are formed into a whole; and a motor in the lower limb rehabilitation mechanism drives the legs of a patient to train. The training modes comprise an active mode and a passive mode so as to meet the requirements on lower limb rehabilitation training of different patients. The lower limbs of the patient are bound on the exoskeleton shield mechanism in the process of training, so that the legs of the patient cannot laterally sway or turn over in the process of training and a correct training posture is kept. Meanwhile, the sitting exoskeleton lower limb rehabilitation robot is simple and compact in structure, and scientific rehabilitation training can be performed on the lower limbs of the patient by using low-cost equipment. The sitting exoskeleton lower limb rehabilitation robot is suitable for popularization.
Description
Technical field
What the present invention relates to is a kind of device of medical rehabilitation technical field, specifically is a kind of sitting posture ectoskeleton lower limb rehabilitation robot.
Background technology
In recent years, a kind of lower limb rehabilitation robot that has dyskinetic patient to carry out rehabilitation training at old people and lower limb has obtained using and promoting, this robot has considered patient's practical situation, and generally the lower limb that drive the patient by external motive device carry out rehabilitation training.
Find that by prior art documents China Patent No. 200320105183.0 discloses a kind of bed crura-healing equipment that rehabilitation training is provided to patient.This apparatus comprises bed, foot pedal apparatus, make simply, but patient moving is that both legs strength drives the pedal rotation on one's own account, and uncomfortable combination of syndromes paralysis patient uses.
China Patent No. 200620140778.3 discloses wheel chair type robot for walking training of paraplegia patient, comprises wheelchair system, lower limb exoskeleton system, damping support system and controller.This robot realizes the leg training function by the running of motor on each joint on the control exoskeleton system.This robot controls four joints of ectoskeleton simultaneously, complicated operation, and cost is higher, is not suitable for promoting.
Summary of the invention
The present invention is directed to the prior art above shortcomings, a kind of sitting posture ectoskeleton lower limb rehabilitation robot is provided, sitting posture auxiliary body, lower limb rehabilitation mechanism and ectoskeleton guard shield mechanism are made of one, drive the training of patient's shank by the motor-driven in the lower limb rehabilitation mechanism, the training mode branch has active and passive pattern, to satisfy the requirement of different patient's lower limb rehabilitation trainings.And in training process, be bundled in the ectoskeleton guard shield mechanism by the lower limb with the patient, patient can not moved laterally or turn to guarantee correct training posture at the training process shank.One of most important characteristic of the present invention is simple and compact for structure, utilizes low-cost device just can realize the rehabilitation training of science that patient's lower limb are carried out, and suits to promote.
The present invention is achieved by the following technical solutions, the present invention includes: sitting posture auxiliary body, lower limb rehabilitation mechanism and ectoskeleton guard shield mechanism, wherein: sitting posture auxiliary body links to each other with lower limb rehabilitation mechanism, and ectoskeleton guard shield mechanism links to each other with lower limb rehabilitation mechanism with sitting posture auxiliary body respectively.
Described sitting posture auxiliary body comprises: the first strap brake universal wheel, the second strap brake universal wheel, chair frame, the 3rd strap brake universal wheel, four-tape brake universal wheel, left handrail, seat cushions, right handrail, wherein: the first strap brake universal wheel, the second strap brake universal wheel, the 3rd strap brake universal wheel and four-tape brake universal wheel are fixedly linked with the chair frame respectively, and seat cushions, left handrail and right handrail are fixedly linked with the chair frame respectively.
Described lower limb rehabilitation mechanism comprises: left foot is pedaled axle, and left foot is pedaled, left crank, foot-operated case left side plate, first synchronous pulley, foot-operated case main shaft, plate behind the foot-operated case, foot-operated case header board, motor fixing seat, second synchronous pulley, motor, band synchronously, foot-operated box plate, right pedal axle, right pedal, right crank, foot-operated case right panel, foot-operated roof box.Plate, foot-operated box plate, foot-operated roof box are fixedly linked respectively and form the foot-operated case of a sealing behind wherein foot-operated case left side plate, foot-operated case right panel, foot-operated case header board, the foot-operated case.Motor and motor fixing seat are fixedly linked, motor fixing seat and foot-operated box plate are fixedly linked, the motor and second synchronous pulley are fixedly linked, second synchronous pulley is connected with first synchronous pulley by being with synchronously, first synchronous pulley and foot-operated case main shaft are fixedly linked, foot-operated case main shaft and foot-operated case left side plate and foot-operated case right panel are movably connected, the left axle head of foot-operated case main shaft is fixedlyed connected with right crank with left crank respectively with right axle head, left side crank is pedaled axle with left foot and is fixedlyed connected, left foot pedal with left foot pedal the axle be movably connected, right crank is fixedlyed connected with the right pedal axle, and right pedal and right pedal axle are movably connected.
Described ectoskeleton guard shield mechanism comprises: hip joint profile of tooth part, hip joint movable part, hip joint movable part fixed bar, the hip joint axle, hip joint nut, hip joint joint, big leg piece, big leg protective cover, big leg protective cover nut, big leg protective cover axle, the first knee joint joint, knee axis, the second knee joint joint, little leg piece, little leg protective cover, shank guard shield axle, shank guard shield nut, the ankle joint joint, big leg protective cover fixture, thigh guard bearing, knee joint nut, shank guard shield fixture, the shank guard bearing.Wherein: hip joint movable part fixed bar and hip joint movable part are fixedly linked, the hip joint movable part is movably connected by hip joint movable part fixed bar and hip joint profile of tooth part, hip joint axle and hip joint movable part are fixedly linked, hip joint joint and hip joint axle are movably connected, hip joint nut and hip joint axle are fixedly linked, the hip joint joint is fixedly linked with big leg piece, big leg protective cover axle is fixedly linked with big leg piece, big leg protective cover is fixedly linked with big leg protective cover fixture, big leg protective cover fixture is movably connected by thigh guard bearing and big leg protective cover axle, big leg protective cover nut is fixedly linked with big leg protective cover axle, the big leg piece and the first knee joint joint are fixedly linked, the first knee joint joint and the second knee joint joint are movably connected by knee axis, knee joint nut and knee axis are fixedly linked, the second knee joint joint and little leg piece are fixedly linked, shank guard shield axle and little leg piece are fixedly linked, little leg protective cover and shank guard shield fixture are fixedly linked, shank guard shield fixture is movably connected by shank guard bearing and shank guard shield axle, shank guard shield nut and shank guard shield axle are fixedly linked, and little leg piece and ankle joint joint are fixedly linked.
The mechanism of the above various piece, ectoskeleton guard shield mechanism is fixedly linked by its hip joint profile of tooth part and sitting posture auxiliary body handrail, ectoskeleton guard shield mechanism is movably connected by the pedal axle of ankle joint joint and lower limb rehabilitation mechanism, and lower limb rehabilitation mechanism is fixedly linked by the chair frame of foot-operated box plate and sitting posture auxiliary body.
When lower limb rehabilitation mechanism worked: motor rotated and drives the rotation of second synchronous pulley, second synchronous pulley rotates by first synchronous pulley of band drive synchronously, first synchronous pulley drives foot-operated case main shaft and rotates, foot-operated case main shaft rotates and drives left crank and the rotation of right crank simultaneously, left side crank drive left foot is pedaled axle and is rotated, just pedal can be along with left foot be pedaled axle motion together to left foot like this, and simultaneously right crank drives the right pedal axle and rotates, and right pedal is along with the right pedal axle moves together.
When ectoskeleton guard shield mechanism works: when lower limb rehabilitation mechanism works, drive ectoskeleton guard shield mechanism kinematic.
The present invention has the following advantages compared to existing technology: bind the lower limb of paralysed patient by utilizing ectoskeleton guard shield mechanism, patient can not moved laterally or turn to guarantee correct training posture at the training process shank, and in training process, patient's thigh is to carry out relative the rotation around ectoskeleton guard shield mechanism with shank, makes the patient moving process more comfortable.Exoskeleton artificial limb mechanism design compact conformation, each joint slewing area are big, can satisfy human body actual motion requirement.Lower limb rehabilitation mechanism only adopts a step motor drive, directly controls ankle motion, thereby drives the motion of patient's two legs, utilizes low-cost device just can finish the purpose of patient's shank being carried out rehabilitation training.And the sitting posture auxiliary body that the patient sat is transportable, the diverse location of patient in sitting posture auxiliary body can be realized with respect to the position of hip joint profile of tooth part by the hip joint movable part of adjusting in the ectoskeleton guard shield mechanism, when making the patient be sitting in diverse location, the diverse location that ectoskeletal hip joint can followed patient's hip joint moves, and can allow ectoskeleton imitate patient's both legs more exactly.
Description of drawings
Fig. 1 is a sketch map of the present invention;
Fig. 2 is a side view of the present invention;
Fig. 3 is a sitting posture of the present invention auxiliary body sketch map;
Fig. 4 is a lower limb rehabilitation structural scheme of mechanism of the present invention;
Fig. 5 is an ectoskeleton guard shield structural scheme of mechanism of the present invention;
Wherein: Fig. 5 a is a schematic perspective view, and Fig. 5 b is a front view.
The specific embodiment
Below embodiments of the invention are elaborated, present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As Fig. 1, shown in Figure 2, present embodiment comprises: sitting posture auxiliary body 1, lower limb rehabilitation mechanism 2 and ectoskeleton guard shield mechanism 3, and wherein: sitting posture auxiliary body 1 links to each other with lower limb rehabilitation mechanism 2, and ectoskeleton guard shield mechanism 3 links to each other with lower limb rehabilitation mechanism 2 with sitting posture auxiliary body 1 respectively.
As shown in Figure 3, sitting posture auxiliary body 1 comprises: the first strap brake universal wheel 4, the second strap brake universal wheel 5, chair frame 6, the 3rd strap brake universal wheel 7, four-tape brake universal wheel 8, left side handrail 9, seat cushions 10, right handrail 11, wherein: the first strap brake universal wheel 4, the second strap brake universal wheel 5, the 3rd strap brake universal wheel 7, four-tape brake universal wheel 8 is fixedly linked with chair frame 6 respectively, left side handrail 9 is fixedly linked with chair frame 6 respectively with right handrail 11, and seat cushions 10 is fixedly linked with chair frame 6.
As shown in Figure 4, lower limb rehabilitation mechanism 2 comprises: left foot is pedaled axle 12, and left foot pedals 13, left crank 14, foot-operated case left side plate 15, the first synchronous pulleys 16, foot-operated case main shaft 17, plate 18 behind the foot-operated case, foot-operated case header board 19, motor fixing seat 20, second synchronous pulley 21, motor 22 is with 23 synchronously, foot-operated box plate 24, right pedal axle 25, right pedal 26, right crank 27, foot-operated case right panel 28, foot-operated roof box 29.Plate 18, foot-operated box plate 24, foot-operated roof box 29 are fixedly linked respectively and form the foot-operated case of a sealing behind wherein foot-operated case left side plate 15, foot-operated case right panel 28, foot-operated case header board 19, the foot-operated case.Motor 22 is fixedly linked with motor fixing seat 20, motor fixing seat 20 is fixedly linked with foot-operated box plate 24, the motor 22 and second synchronous pulley 21 are fixedly linked, second synchronous pulley 21 is by being with 23 to be connected with first synchronous pulley 16 synchronously, first synchronous pulley 16 is fixedly linked with foot-operated case main shaft 17, the left and right sides axle head of foot-operated case main shaft 17 is respectively by angular contact ball bearing and foot-operated case left side plate 15 and 28 flexible connections of foot-operated case right panel, the left axle head of foot-operated case main shaft 17 is fixedlyed connected with left crank 14, left side crank 14 is pedaled axle 12 with left foot and is fixedlyed connected, left foot is pedaled 13 and is pedaled axle 12 by angular contact ball bearing and left foot and flexibly connect, the right axle head of foot-operated case main shaft 17 is fixedlyed connected with right crank 27, right crank 27 is fixedlyed connected with right pedal axle 25, and right pedal 26 flexibly connects by angular contact ball bearing and right pedal axle 25.
Wherein left foot pedal 13 and right pedal 26 in order to holding patient's foot, and with patient foot be bundled in left foot pedal 13 and right pedal 26 on, make lower limb rehabilitation mechanism 2 when work, can drive patient's shank and carry out training.
Shown in Fig. 5 a and Fig. 5 b, ectoskeleton guard shield mechanism 3 comprises: hip joint profile of tooth part 30, hip joint movable part 31, hip joint movable part fixed bar 32, hip joint axle 33, hip joint nut 34, hip joint joint 35, big leg piece 36, big leg protective cover 37, big leg protective cover nut 38, big leg protective cover axle 39, the first knee joint joints 40, knee axis 41, the second knee joint joint 42, shank spare 43, shank guard shield 44, shank guard shield axle 45, shank guard shield nut 46, ankle joint joint 47, big leg protective cover fixture 48, thigh guard bearing 49, knee joint nut 50, shank guard shield fixture 51, shank guard bearing 52.Wherein: hip joint movable part fixed bar 32 is fixedly linked with hip joint movable part 31, hip joint movable part 31 is movably connected by hip joint movable part fixed bar 32 and hip joint profile of tooth part 30, hip joint axle 33 is fixedly linked with hip joint movable part 31, hip joint joint 35 is movably connected with hip joint axle 33, hip joint nut 34 is fixedly linked with hip joint axle 33 and moves in institute is required among a small circle with restriction hip joint joint 35, hip joint joint 35 is fixedly linked with big leg piece 36, big leg protective cover axle 39 is fixedly linked with big leg piece 36, big leg protective cover 37 is fixedly linked with big leg protective cover fixture 48, big leg protective cover fixture 48 is movably connected by thigh guard bearing 49 and big leg protective cover axle 39, big leg protective cover nut 38 is fixedly linked with big leg protective cover axle 39 and moves in institute is required among a small circle to limit big leg protective cover fixture 48, the big leg piece 36 and the first knee joint joint 40 are fixedly linked, the first knee joint joint 40 and the second knee joint joint 42 flexibly connect by knee axis 41, and be fixedly linked by knee joint nut 50 and knee axis 41, guarantee the first knee joint joint 40 and the second knee joint joint 42 move in requiring among a small circle, the second knee joint joint 42 is fixedly linked with shank spare 43, shank guard shield axle 45 is fixedly linked with shank spare 43, shank guard shield 44 is fixedly linked with shank guard shield fixture 51, shank guard shield fixture 51 is movably connected by shank guard bearing 52 and shank guard shield axle 45, shank guard shield nut 46 is fixedly linked with shank guard shield axle 45 and moves in institute is required among a small circle with restriction shank guard shield fixture 51, and shank spare 43 and ankle joint joint 47 are fixedly linked.
Wherein big leg protective cover 37 is used to bind patient's thigh; protection patient thigh; and drive thigh motion; shank guard shield 44 is used to bind patient's shank; protection patient shank; and drive shank motion; making patient's shank follow ectoskeleton guard shield mechanism 3 moves; in motor process; can make big leg protective cover 37 promptly be rotated according to the actual motion situation around big leg piece 36 around big leg protective cover axle 39 rotations; in like manner, shank guard shield 44 also can be rotated around shank spare 43, makes in patient's rehabilitation training process more comfortable.Before the training beginning, can by adjusting the relative position of hip joint movable part and hip joint profile of tooth part, ectoskeleton guard shield mechanism 3 and patient's actual leg position be complementary according to the position of patient in sitting posture auxiliary body 1.
When the lower limb rehabilitation mechanism 2 of present embodiment worked: motor 22 rotated and drives 21 rotations of second synchronous pulley, second synchronous pulley 21 is by being with 23 to drive 16 rotations of first synchronous pulley synchronously, first synchronous pulley 16 drives foot-operated case main shaft 17 and rotates, foot-operated case main shaft 17 rotates and drives left crank 14 and 27 rotations of right crank simultaneously, crank 14 drive left foots in a left side are pedaled axle 12 and are rotated, like this left foot pedal 13 just can along with left foot pedal the axle 12 together the motion, simultaneously right crank 27 drives right pedal axle 25 and rotates, right pedal 26 is along with right pedal axle 25 moves together, in motor process, left foot pedal 13 and right pedal 26 respectively by angular contact ball bearing can also around left foot pedal the axle 12 and right pedal axle 25 relatively rotate.
When ectoskeleton guard shield mechanism 3 works: when 2 work of lower limb rehabilitation institution, its left foot pedals axle 12 and right pedal axle 25 has begun to rotate, two overlap same ectoskeleton guard shield mechanism 3 (respectively as a patient left side, the ectoskeleton guard shield of right lower limb) pedals axle 12 and 25 flexible connections of right pedal axle by its ankle joint joint 47 and left foot respectively, so the pedal axle can drive ankle joint joint 47 simultaneously when rotating and relatively rotate, 47 motions of ankle joint joint drive shank spare 43, the shank guard shield 44 and the second knee joint joint 42 relatively rotate around the pedal axle, because the relative sitting posture in hip joint axle 33 position in motor process auxiliary body 1 is constant, so the second knee joint joint 42 drives the first knee joint joint 40 by knee axis 41, big leg piece 36, big leg protective cover 37 and hip joint joint 35 relatively rotate around hip joint axle 33, so big leg protective cover 37 and shank guard shield 44 just drives patient's thigh and shank is done flexion and extension.
When sitting posture auxiliary body 1 moves, only need untie the first strap brake universal wheel 4, the second strap brake universal wheel 5, the 3rd strap brake universal wheel 7, the universal wheel lock of four-tape brake universal wheel 8 can be pushed into this equipment Anywhere and place, before the patient is carried out rehabilitation training, just can keep this equipment position motionless any one strap brake universal wheel pinning, guarantee patient safety.
Claims (5)
1. sitting posture ectoskeleton lower limb rehabilitation robot, it is characterized in that, comprise: sitting posture auxiliary body, lower limb rehabilitation mechanism and ectoskeleton guard shield mechanism, wherein: sitting posture auxiliary body links to each other with lower limb rehabilitation mechanism, and ectoskeleton guard shield mechanism links to each other with lower limb rehabilitation mechanism with sitting posture auxiliary body respectively.
2. sitting posture ectoskeleton lower limb rehabilitation according to claim 1 robot, it is characterized in that, described sitting posture auxiliary body comprises: the first strap brake universal wheel, the second strap brake universal wheel, chair frame, the 3rd strap brake universal wheel, four-tape brake universal wheel, left handrail, seat cushions, right handrail, wherein: the first strap brake universal wheel, the second strap brake universal wheel, the 3rd strap brake universal wheel and four-tape brake universal wheel are fixedly linked with the chair frame respectively, and seat cushions, left handrail and right handrail are fixedly linked with the chair frame respectively.
3. sitting posture ectoskeleton lower limb rehabilitation according to claim 1 robot is characterized in that, described lower limb rehabilitation mechanism comprises: left foot is pedaled axle, and left foot is pedaled, left side crank, foot-operated case left side plate, first synchronous pulley, foot-operated case main shaft, plate behind the foot-operated case, foot-operated case header board, motor fixing seat, second synchronous pulley, motor, band synchronously, foot-operated box plate, right pedal axle, right pedal, right crank, foot-operated case right panel, foot-operated roof box.Plate, foot-operated box plate, foot-operated roof box are fixedly linked respectively and form the foot-operated case of a sealing behind wherein foot-operated case left side plate, foot-operated case right panel, foot-operated case header board, the foot-operated case.Motor and motor fixing seat are fixedly linked, motor fixing seat and foot-operated box plate are fixedly linked, the motor and second synchronous pulley are fixedly linked, second synchronous pulley is connected with first synchronous pulley by being with synchronously, first synchronous pulley and foot-operated case main shaft are fixedly linked, foot-operated case main shaft and foot-operated case left side plate and foot-operated case right panel are movably connected, the left axle head of foot-operated case main shaft is fixedlyed connected with right crank with left crank respectively with right axle head, left side crank is pedaled axle with left foot and is fixedlyed connected, left foot pedal with left foot pedal the axle be movably connected, right crank is fixedlyed connected with the right pedal axle, and right pedal and right pedal axle are movably connected.
4. sitting posture ectoskeleton lower limb rehabilitation according to claim 1 robot is characterized in that, described ectoskeleton guard shield mechanism comprises: hip joint profile of tooth part, the hip joint movable part, hip joint movable part fixed bar, hip joint axle, the hip joint nut, hip joint joint, big leg piece, big leg protective cover, big leg protective cover nut, big leg protective cover axle, the first knee joint joint, knee axis, the second knee joint joint, little leg piece, little leg protective cover, shank guard shield axle, shank guard shield nut, the ankle joint joint, big leg protective cover fixture, thigh guard bearing, knee joint nut, shank guard shield fixture, the shank guard bearing.Wherein: hip joint movable part fixed bar and hip joint movable part are fixedly linked, the hip joint movable part is movably connected by hip joint movable part fixed bar and hip joint profile of tooth part, hip joint axle and hip joint movable part are fixedly linked, hip joint joint and hip joint axle are movably connected, hip joint nut and hip joint axle are fixedly linked, the hip joint joint is fixedly linked with big leg piece, big leg protective cover axle is fixedly linked with big leg piece, big leg protective cover is fixedly linked with big leg protective cover fixture, big leg protective cover fixture is movably connected by thigh guard bearing and big leg protective cover axle, big leg protective cover nut is fixedly linked with big leg protective cover axle, the big leg piece and the first knee joint joint are fixedly linked, the first knee joint joint and the second knee joint joint are movably connected by knee axis, knee joint nut and knee axis are fixedly linked, the second knee joint joint and little leg piece are fixedly linked, shank guard shield axle and little leg piece are fixedly linked, little leg protective cover and shank guard shield fixture are fixedly linked, shank guard shield fixture is movably connected by shank guard bearing and shank guard shield axle, shank guard shield nut and shank guard shield axle are fixedly linked, and little leg piece and ankle joint joint are fixedly linked.
5. sitting posture ectoskeleton lower limb rehabilitation according to claim 4 robot, it is characterized in that, described ectoskeleton guard shield mechanism is fixedly linked by its hip joint profile of tooth part and sitting posture auxiliary body handrail, ectoskeleton guard shield mechanism is movably connected by the pedal axle of ankle joint joint and lower limb rehabilitation mechanism, and lower limb rehabilitation mechanism is fixedly linked by the chair frame of foot-operated box plate and sitting posture auxiliary body.
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| CN 201010543205 CN101984946B (en) | 2010-11-13 | 2010-11-13 | Sitting exoskeleton lower limb rehabilitation robot |
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| CN 201010543205 CN101984946B (en) | 2010-11-13 | 2010-11-13 | Sitting exoskeleton lower limb rehabilitation robot |
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| CN110353944A (en) * | 2019-07-29 | 2019-10-22 | 武汉轻工大学 | Sitting posture joint driving lower limb rehabilitation robot |
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| CN111759660A (en) * | 2020-06-23 | 2020-10-13 | 西安交通大学医学院第一附属医院 | All-round orthopedics rehabilitation training device |
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| CN116138973A (en) * | 2022-12-30 | 2023-05-23 | 燕山大学 | Integrated intelligent composite rehabilitation bed |
| CN116308949A (en) * | 2023-02-21 | 2023-06-23 | 京大(北京)技术有限公司 | Community home-type rehabilitation training robot |
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