CN103584977B - Riding type lower limb rehabilitation robot capable of achieving elliptical orbits - Google Patents
Riding type lower limb rehabilitation robot capable of achieving elliptical orbits Download PDFInfo
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- CN103584977B CN103584977B CN201310539039.6A CN201310539039A CN103584977B CN 103584977 B CN103584977 B CN 103584977B CN 201310539039 A CN201310539039 A CN 201310539039A CN 103584977 B CN103584977 B CN 103584977B
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Abstract
The invention discloses a riding type lower limb rehabilitation robot capable of achieving elliptical orbits. The riding type lower limb rehabilitation robot comprises handlebars and a saddle, wherein the handlebars and the saddle are fixed to a frame. The frame is fixed to a base. The base is provided with a motor and an elliptical orbit motion device. The elliptical orbit motion device comprises two sets of elliptical orbit achieving mechanisms. Each elliptical orbit achieving mechanism comprises a worm and worm gear reducing mechanism and a planetary gear transmission mechanism. An output shaft of a motor transmits power to a worm through a coupler. A worm gear shaft drives a planet wheel to rotate through a tie rod. A center wheel and the worm gear shaft are coaxially arranged. The center wheel is fixedly connected with the base. The reference diameter of the center wheel is two times that of the planet wheel. The planet wheel is provided with a pedal. The pedal passes through the center of the planet wheel and is provided with a footboard. The rehabilitation robot enables patients to carry out rehabilitation according to the elliptical orbits, conforms to normal gaits of human being, and is simple and compact in structure, small in occupied space, high in practicality, low in cost, and capable of meeting the requirements for rehabilitation of lower limbs of the patients by medical institutions, families and the like.
Description
Technical field
The invention belongs to a kind of robot of rehabilitation medical instrument field, be specifically related to a kind of riding type robot for lower limb rehabilitation that can realize elliptical orbit.
Background technology
According to investigations, China has a considerable amount of people to cause lower limb disorder due to the reason such as disease, vehicle accident every year.Clinical practice shows, no matter is the motor dysfunction that disease or limb injury cause, and good lower limb rehabilitation training can improve lower limb exercise ability and promote that function of nervous system repairs, and reduces complication rate.For this reason, the developed country such as American-European, Japanese all develops multiple lower limb rehabilitation robot.But it is large, expensive to take up room, be difficult to the daily demand meeting ordinary people.
By finding existing relevant literature search, China Patent No. 200620140778.3 discloses a kind of wheel chair type robot for walking training, comprises wheelchair system, lower limb exoskeleton system, Damper Braces system and controller.This robot realizes the training of lower limb by the rotation controlling each joint motor on ectoskeleton.This robot controls four motors simultaneously, and cost is higher and not easily realize.
China Patent No. 200620021269.9 discloses a kind of vertical lower limb rehabilitation training machine, comprises base, left and right 2 overlaps the gait mechanism, the left and right 2 that are arranged symmetrically with and overlap the ankle motion mechanism be arranged symmetrically with.Wherein motor makes bending rocking bar with handles swing around the upper end of column rocking bar core by drive mechanism, and then drives the middle part pedal hinged with rod hinge connection, end and slide block to do plane motion again.Because patient's lower limb lose locomotor activity wholly or in part, this institution requests patient stands training, there is larger danger and negative interaction.
China Patent No. 200910075068.5 discloses a kind of lower limb rehabilitation medical robot used for paralytic patient, comprises base, rehabilitation leg training device and computer control system.This robot reaches training objectives by the exoskeleton mechanism controlling to be suspended on outside.Its less stable, algorithm are complicated, and then cause cost high, are not suitable for extensive use.
China Patent No. 201110050479.6 discloses a kind of riding type robot for lower limb rehabilitation, comprises riding type seat, driving mechanism, exoskeleton mechanism and support.This robot, by driven by servomotor, drives foot motion, makes the whole lower limb and then motion of patient.Circular trace is walked with foot by this robot, and people's normal gait track is class ellipse, and difference is larger.Summary of the invention
The present invention is directed to prior art above shortcomings, provide a kind of riding type robot for lower limb rehabilitation that can realize elliptical orbit, design according to the concrete size of patient and the rehabilitation theory of medical science, to make that it is simple and compact for structure, institute takes up space little, practical, cost is lower, can meet the needs to the daily lower limb rehabilitation of patient such as medical institutions, family.
In order to solve the problems of the technologies described above, a kind of riding type robot for lower limb rehabilitation that can realize elliptical orbit of the present invention, comprises vehicle frame, is fixed on the handlebar on vehicle frame and vehicle seat, described vehicle frame is fixed on a base, and described base is provided with motor and elliptical orbit telecontrol equipment; Described elliptical orbit telecontrol equipment comprises two cover elliptical orbits and realizes mechanism; Described elliptical orbit realizes mechanism and comprises worm and wormwheel reducing gear and planetary gear mechanism, and the worm screw in described worm and wormwheel reducing gear is given in power transmission by the output shaft of described motor by shaft coupling; The worm-wheel shaft of described worm and wormwheel reducing gear drives the planetary gear of described planetary gear mechanism by a tie-rod, centre wheel and the described worm-wheel shaft of described planetary gear mechanism are coaxially arranged, described centre wheel and described base are connected, and the reference diameter of described centre wheel equals the twice of the reference diameter of described planetary gear; Described planetary gear is provided with a pedal, and described pedal crosses the center of described planetary gear, and described pedal is provided with pedal.
Compared with the rehabilitation institution of existing Circular test, the present invention can realize driving patient to carry out rehabilitation by elliptical orbit, more meet people's normal gait, and track adjustment can be carried out according to different height patient gait difference, that the present invention is simple and reasonable, compact in design takes up room is less, cost is little, simple to operate, can adjust according to own situation, so be comparatively applicable to individual family and ordinary people uses.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that the present invention can realize the riding type robot for lower limb rehabilitation of elliptical orbit;
Fig. 2 is the side view of healing robot shown in Fig. 1;
Fig. 3 is man-machine interaction structural scheme of mechanism in the present invention;
Fig. 4 is elliptical orbit telecontrol equipment structural representation in the present invention.
In figure:
10-base, 20-elliptical orbit telecontrol equipment, 21-upper casing, 21 '-lower casing, 22-centre wheel, 23-worm screw, 24-worm-wheel shaft, 25-planetary gear, 26-pedal, 27-pedal, 28-tie-rod, 29-worm gear, 30-shaft coupling, 40-motor, 50-vehicle frame, 60-handlebar, 61-display, 62-holder, 70-vehicle seat.
Detailed description of the invention
Below in conjunction with detailed description of the invention, the present invention is described in further detail.
As shown in Figure 2, a kind of riding type robot for lower limb rehabilitation that can realize elliptical orbit of the present invention, comprises vehicle frame 50, is fixed on the handlebar 60 on vehicle frame 50 and vehicle seat 70, described vehicle frame 50 is fixed on a base 10, and described base 10 is provided with motor 40 and elliptical orbit telecontrol equipment 20.As shown in Figure 2 and Figure 4, in order to safety and good looking appearance, described elliptical orbit telecontrol equipment 20 is arranged in a housing, and described housing is made up of plug-in upper casing 21 and lower casing 21 '.
As shown in Figure 1 and Figure 4, lower limb rehabilitation robot of the present invention take bicycle as model, and described elliptical orbit telecontrol equipment 20 wherein comprises two cover elliptical orbits and realizes mechanism, scrunches part to replace bicycle, thus drive patient feet to walk elliptical orbit, reach rehabilitation object.Described elliptical orbit realizes mechanism and comprises worm and wormwheel reducing gear and planetary gear mechanism, and the output shaft of described motor 40 passes through shaft coupling 30 by power transmission to the worm screw 23 in described worm and wormwheel reducing gear; The worm-wheel shaft 24 of described worm and wormwheel reducing gear drives the planetary gear 25 of described planetary gear mechanism by a tie-rod 28, the centre wheel 22 of described planetary gear mechanism is coaxially arranged with described worm-wheel shaft 28, described centre wheel 22 is connected with described base 10, and the reference diameter of described centre wheel 22 equals the twice of the reference diameter of described planetary gear 25; Described planetary gear 25 is provided with a pedal 27, and described pedal 27 crosses the center of described planetary gear 25, and described pedal 27 is provided with pedal 26.
Fig. 1 shows the schematic diagram that elliptical orbit realizes mechanism, and worm screw 23 is driven by motor 40, and worm gear 29 drives tie-rod 28 to rotate.When the reference diameter of centre wheel 22 is reference diameter twices of planetary gear 25, any point A be connected on the pedal 27 at planetary gear 25 Bing Guoqi center just can realize elliptical orbit.
In order to the speed of training time and motion of grasping rehabilitation exercise, healing robot of the present invention also includes man-machine interaction mechanism, as shown in Figure 3, described man-machine interaction mechanism comprises display 61, described display 61 is fixed by a holder 62 and described vehicle frame 50, described handlebar 60 is also fixed by holder 62 and described vehicle frame 50, in order to be suitable for the user of different height, between described holder 62 and vehicle frame 50, locking mechanism is provided with respectively between described vehicle seat 70 and described vehicle frame 50, be used for adjusting display 61 according to the height of user, the height of handlebar 60 and vehicle seat 70.Certainly, must include the control device be connected with man-machine interaction mechanism in the present invention, have very ripe alternative control device in the prior art, the present invention repeats no more.
When using installation healing robot of the present invention, first according to the height size of rehabilitation, unclamp locking device vehicle frame 50 being positioned at holder 62 and vehicle seat 70 place respectively, the position adjustments of handlebar 60, display 61 and vehicle seat 70 is locked locking device after patient feels the most comfortable position.Regulate the length of pedal 27 according to patient's step size, the elliptical orbit after making healing robot run meets patient's normal gait track as far as possible.Allow patient ride and be seated on healing robot, patient feet is fixed on pedal 26.Turn on the power switch, by parameters such as man-machine interaction mechanism sets training time, speed, patient can be driven to carry out rehabilitation training.Run into emergency, as track exceeds the movable scope of patient, nurse personnel or patient can press the scram button at handlebar place, and healing robot is quit work, and reach the object of protection patient.
Fig. 4 shows the work process of elliptical orbit telecontrol equipment 20 in the present invention, motor 40 drives worm screw 23 to rotate, tie-rod 28 is driven to rotate by turbine and worm decelerator, and then planetary gear 25 is moved, last pedal 26 drives patient feet to realize elliptical orbit, pedal 27 can adjust elliptical orbit within the specific limits according to the gait difference of different height patient, makes it more meet people's normal gait track.
To sum up, healing robot of the present invention take bicycle as model, adopts the gear mechanism that can realize elliptical orbit to replace bicycle to scrunch part, drives patient feet to press elliptical orbit motion, reaches rehabilitation training.
Although invention has been described for composition graphs above; but the present invention is not limited to above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is only schematic; instead of it is restrictive; those of ordinary skill in the art is under enlightenment of the present invention; when not departing from present inventive concept, can also make a lot of distortion, these all belong within protection of the present invention.
Claims (4)
1. can realize a riding type robot for lower limb rehabilitation for elliptical orbit, comprise vehicle frame (50), be fixed on the handlebar (60) on vehicle frame (50) and vehicle seat (70), described vehicle frame (50) is fixed on a base (10), it is characterized in that,
Described base (10) is provided with motor (40) and elliptical orbit telecontrol equipment (20);
Described elliptical orbit telecontrol equipment (20) comprises two cover elliptical orbits and realizes mechanism;
Described elliptical orbit realizes mechanism and comprises worm and wormwheel reducing gear and planetary gear mechanism, and the output shaft of described motor (40) passes through shaft coupling (30) by power transmission to the worm screw (23) in described worm and wormwheel reducing gear; The worm-wheel shaft (24) of described worm and wormwheel reducing gear drives the planetary gear (25) of described planetary gear mechanism by a tie-rod (28), the centre wheel (22) of described planetary gear mechanism is coaxially arranged with described worm-wheel shaft (28), described centre wheel (22) and described base (10) are connected, and the reference diameter of described centre wheel (22) equals the twice of the reference diameter of described planetary gear (25); Described planetary gear (25) is provided with a pedal (27), and described pedal (27) crosses the center of described planetary gear (25), and described pedal (27) is provided with pedal (26).
2. can realize the riding type robot for lower limb rehabilitation of elliptical orbit according to claim 1, it is characterized in that, described elliptical orbit telecontrol equipment (20) is arranged in a housing, and described housing is made up of plug-in upper casing (21) and lower casing (21 ').
3. can realize the riding type robot for lower limb rehabilitation of elliptical orbit according to claim 1, it is characterized in that, also comprise a man-machine interaction mechanism, described man-machine interaction mechanism comprises display (61), and described display (61) is fixed by a holder (62) and described vehicle frame (50).
4. can realize the riding type robot for lower limb rehabilitation of elliptical orbit according to claim 1, it is characterized in that, described handlebar is fixed by holder (62) and described vehicle frame (50), is provided with locking mechanism respectively between described holder (62) and vehicle frame (50), between described vehicle seat (70) and described vehicle frame (50).
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10426637B2 (en) | 2015-05-11 | 2019-10-01 | The Hong Kong Polytechnic University | Exoskeleton ankle robot |
| CN109481235B (en) * | 2018-12-18 | 2024-02-13 | 合肥工业大学 | Single-degree-of-freedom rehabilitation training device with elliptical output track |
| CN109998867B (en) * | 2019-05-23 | 2023-09-19 | 华北理工大学 | Under-actuated upper and lower limb rehabilitation training robot |
| CN111228728B (en) * | 2020-02-16 | 2023-06-06 | 华中科技大学同济医学院附属协和医院 | Lower limb venous thrombosis prevention activity instrument and control method thereof |
| CN111449912B (en) * | 2020-04-30 | 2021-10-01 | 河南省中医院（河南中医药大学第二附属医院） | Early treatment device for peripheral vascular disease |
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| CN203598183U (en) * | 2013-11-01 | 2014-05-21 | 天津大学 | Riding type lower limb rehabilitation robot capable of achieving elliptical orbit |
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| JP4743011B2 (en) * | 2006-06-21 | 2011-08-10 | パナソニック電工株式会社 | Balance training equipment |
| CN101827635B (en) * | 2007-03-22 | 2015-09-30 | 雷哈博泰克有限责任公司 | Strengthen training system and the method for lower limb off-axis neuromuscularcontrol ability |
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| US5067479A (en) * | 1990-08-17 | 1991-11-26 | Toronto Medical Corp. | Continuous passive motion device |
| CN2351153Y (en) * | 1997-12-17 | 1999-12-01 | 陈保江 | Stepping exercising machine for setting and stepping |
| CN2562799Y (en) * | 2002-07-03 | 2003-07-30 | 郭怡昕 | Illiptic foot pedal recovery structure |
| EP1658885A1 (en) * | 2004-11-19 | 2006-05-24 | Giuseppe Carbone | Multifunction exercice equipment with a rocking base and multiple front handlebar |
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