CN210542338U - Underactuated upper and lower limb rehabilitation training robot - Google Patents
Underactuated upper and lower limb rehabilitation training robot Download PDFInfo
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- CN210542338U CN210542338U CN201920749755.XU CN201920749755U CN210542338U CN 210542338 U CN210542338 U CN 210542338U CN 201920749755 U CN201920749755 U CN 201920749755U CN 210542338 U CN210542338 U CN 210542338U
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- lower limb
- rehabilitation training
- servo motor
- connecting rod
- branched chain
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Abstract
The utility model discloses an under-actuated upper and lower limb rehabilitation training robot, which comprises a frame, a driving part, an upper limb movement branched chain and a lower limb movement branched chain, wherein the lower limb movement branched chain is arranged at the bottom of the frame, and the upper limb movement branched chain is arranged at the top of the frame; the lower limb movement branched chain is provided with a training pedal which is driven by a crankshaft connecting rod; the upper limb movement branched chain is provided with a parallelogram mechanism and a front end handle simultaneously driven by a telescopic movement driving mechanism, and a first servo motor drives a crankshaft connecting rod and the parallelogram mechanism; the second servo motor drives the front end handle to move in a telescopic way through the amplification rocker and the amplification crank; the device is also provided with a VR virtual scene system to improve the interest of users. The device can realize that patient's upper limbs and low limbs carry out rehabilitation training simultaneously, and its structure is simple relatively, and is with low costs, and it is comfortable and convenient to use, can carry out rehabilitation training to patient's upper limbs and low limbs simultaneously.
Description
Technical Field
The utility model relates to an under-actuated upper and lower limb rehabilitation training robot.
Background
Cerebral thrombosis is a common cardiovascular disease, and most patients have limb movement disorders of different degrees on one side or both sides. Medical theory proves that the patient needs early surgical treatment and drug treatment, and scientific and correct rehabilitation training plays an important and irreplaceable role in the movement function of the limbs of the patient. The under-actuated upper and lower limb rehabilitation training robot can effectively prevent joint contracture, maintain the mobility of joints, improve the rehabilitation degree of the motion functions of upper and lower limb joints of a patient and realize the rehabilitation of the functions of the leg joints as soon as possible.
The existing domestic and foreign rehabilitation robots used for treating and rehabilitating patients with limb movement dysfunction have the defects of (1) small activity space, complex mechanism, high price and high manufacturing cost during the rehabilitation training; (2) the recovery process is complicated and boring, so that the patient can have a conflicting feeling; (3) the upper and lower limbs of the patient cannot be rehabilitated simultaneously.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide an underactuated upper and lower limbs rehabilitation training robot, the device can realize that patient's upper limbs and low limbs carry out rehabilitation training simultaneously, and its structure is simple relatively, and is with low costs, uses comfortable convenience, can carry out rehabilitation training to patient's upper limbs and low limbs simultaneously.
In order to solve the above technical problem, the utility model discloses a following technical means:
an under-actuated upper and lower limb rehabilitation training robot comprises a rack, a driving part, an upper limb movement branched chain and a lower limb movement branched chain, wherein the bottom of the rack is provided with the lower limb movement branched chain, and the top of the rack is provided with the upper limb movement branched chain; the lower limb movement branched chain is provided with a training pedal, the training pedal is hinged on the rack and is driven by an eccentric connecting rod and a crankshaft, and the crankshaft is driven by a first servo motor; the upper limb movement branched chain is provided with a parallelogram mechanism, the parallelogram mechanism is provided with a transmission rod, a driving piece, a first connecting rod and a second connecting rod, two ends of the first connecting rod and the second connecting rod are respectively hinged with the transmission rod and the driving piece, a rotating shaft drives the transmission rod through a rotating piece, and the rotating shaft is driven by a first servo motor; the amplification rod is sleeved on the driving handle, the bottom surface of the driving handle is provided with a second servo motor, and the front end handle is connected with the driving handle through the seat barrel; the driving handle is connected with the driving sheet, and the parallelogram mechanism drives the front end handle to swing through the swinging of the driving handle; the second servo motor drives the front end handle to move in a telescopic mode through the amplification rocker and the amplification crank.
Compared with the prior art, the outstanding characteristics are that:
(1) the structure is relatively simple, the cost is low, the upper limb movement branched chain and the lower limb movement branched chain can be driven simultaneously by the same servo motor, the use of the motor is saved, the device is small in size, and the control is convenient.
(2) The upper limb movement branched chain can realize swinging, extension or retraction, so that the upper limb can simultaneously obtain rehabilitation training with 2 degrees of freedom, and the rehabilitation training effect is improved.
(3) The lower limb movement branched chain can realize rehabilitation training of 1 degree of freedom of the lower limb.
The training pedal is hinged with the cross beam through a deep groove ball bearing, and two ends of the cross beam are connected with the rack.
Through setting up the crossbeam, the articulated installation of convenient training footboard.
The crankshaft is fixed with the stepped shaft through the coupler, the eccentric connecting rod is sleeved on the crankshaft, and the bottom end of the eccentric connecting rod is connected with the training pedal through the ball pair.
The shaft coupling, the stepped shaft and the eccentric connecting rod are arranged, so that the training pedal is convenient to drive, and the training pedal is stable and reliable in motion.
The training footboard interval be equipped with the plurality of recesses of placing patient's both feet, the recess bottom is equipped with the crossbeam.
Through setting up a plurality of recesses, different patients can select different recesses to place the foot according to the condition of self, make the low limbs more comfortable, and the recess bottom is equipped with the crossbeam, can prevent that the in-process foot landing of motion from getting off, has improved rehabilitation training's security.
The first servo motor drives a rotating shaft through the engagement of a worm wheel and a worm, the worm is fixed on the rotating shaft through a flat key and a check ring, the rotating shaft is connected with the rack through a deep groove ball bearing and is fixed on the rack, and the rotating shaft, the rotating sheet and the transmission rod form a crank rocker mechanism.
Through setting up worm wheel, worm, conveniently utilize first servo motor drive upper limbs motion branch chain.
The transmission rod is of an adjustable sleeve-shaped structure, and the sleeves are connected through pin holes and fixing pins.
Through setting up to adjustable cover tube-like structure, a thick, a thin sleeve can be nested together, connects fixedly through pinhole, fixed pin, conveniently adjusts upper limbs motion branch amplitude of oscillation.
A balancing weight is arranged above the driving handle to balance gravity.
Through setting up the balancing weight, the balanced gravity of being convenient for makes the part swing more steady.
The rack is provided with a dovetail groove and a dovetail groove guide rail, and the dovetail groove is connected with the supporting plate; the supporting plate can slide left and right along the dovetail groove guide rail and is fixed by bolts when sliding to a proper position.
The positions of the support plates with different swing amplitudes can be further adjusted by arranging the support plates to slidably adjust the positions along the dovetail groove guide rails.
The under-actuated upper and lower limb rehabilitation training robot is also provided with a VR virtual scene system, the VR virtual scene system comprises a central computer, an upper and lower limb motion capture device and a virtual scene display screen, and the upper and lower limb motion capture device and the virtual scene display screen are connected to the central computer; a VR virtual scene system and a human-computer interaction system are installed in the central computer, a plurality of types of virtual scene software are stored in the VR virtual scene system, and data collected by the upper and lower limb movement capturing devices are processed in the central computer through the human-computer interaction system; the control system of the man-machine interaction system is provided with an operation interface; the first servo motor and the second servo motor are connected to the control system.
The VR virtual reality technology is applied, and the enthusiasm of the patient for participating in rehabilitation training is improved.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic diagram of the structure of the upper limb movement branch chain.
Fig. 3 is a schematic view of a parallelogram mechanism.
FIG. 4 is a schematic view of a crank and rocker mechanism.
Fig. 5 is a schematic view of a branched structure of lower limb movement.
Description of reference numerals:
a first servo motor 101; a belt 102; a pulley 103; a frame 104; a support plate 105; a virtual scene display screen 106; wheel 107; a large pulley 103; a small pulley 108; a rotating shaft 201; a rotary plate 202; a rotation shaft 203; a drive link 204; an amplitude-increasing rod 211; a drive handle 205; a first link 206; a second link 207; a second servo motor 208; a drive shaft 209; a weight 210; an amplitude-increasing rod 211; an amplitude crank 212; an amplification rocker 213; a driving plate 214; a worm gear 301; a worm 302; a flywheel 303; a stepped shaft 304; a crankshaft 305; an eccentric link 306; a training tread 307.
Detailed Description
The present invention will be further described with reference to the following examples.
Referring to fig. 1-5, the under-actuated upper and lower limb rehabilitation training robot of the present invention comprises a frame 104, a driving part, an upper limb movement branched chain and a lower limb movement branched chain; the motor drive can realize the rehabilitation training of 2 degrees of freedom of the upper limb and the rehabilitation training of 1 degree of freedom of the lower limb; the driving part comprises a first servo motor 101, a belt 102, a large belt wheel 103 and a small belt wheel 108, and the small belt wheel 108 and the first servo motor 101 are connected with the coupler through a flat key; the upper limb movement branched chain consists of a supporting plate 105, a worm wheel 301, a worm 302, a rotating shaft 201, a rotating sheet 202, a transmission rod 203, an amplification rod 211, a driving handle 205, an amplification crank 212, an amplification rocker 203, a front end handle 204, a second servo motor 208, a driving sheet 214, a first connecting rod 206 and a second connecting rod 207; the lower limb movement branched chain is composed of a flywheel 303, a stepped shaft 304, a crankshaft 305, an eccentric connecting rod 306 and a training pedal 307.
The large belt wheel 103, the worm wheel 301, the flywheel 303 and the check ring are fixed on the stepped shaft 304 through a flat key and the check ring; the worm 302 is fixed on the rotating shaft 201 through a flat key and a retainer ring; the rotating shaft 201 is connected with the frame 104 through a deep groove ball bearing and fixed on the frame 104.
The training pedal 307 is fixed on the frame 104 through a deep groove ball bearing and a retainer ring; the first servo motor 101 provides driving force in a belt transmission mode, the flywheel 303 stabilizes the movement rate of the whole rehabilitation robot, and secondary damage to a patient is prevented.
The parallelogram mechanism consists of a transmission rod 203, a driving sheet 214 and a first connecting rod 206 and a second connecting rod 207, wherein the transmission rod 203 is adjustable, can be manually extended and shortened, and is fixed in length through a cross pin; one end of the first connecting rod 206 is hinged with the upper surface of the transmission rod 203, and the other end of the first connecting rod 206 is hinged with the lower surface of the driving sheet 214; one end of the second connecting rod 207 is hinged with the lower surface of the transmission rod 203, and the other end of the second connecting rod 207 is hinged with the upper surface of the driving sheet 214; the amplification rod 211 is sleeved on the driving handle 205, the second servo motor 208 is installed on the bottom surface of the driving handle 205, the balancing weight 210 is arranged above the driving handle 205 for balancing gravity, and the second servo motor 208 drives the amplification crank 212 and the amplification rocker 213 to enable the front end handle 204 to realize telescopic motion.
The frame 104 is provided with dovetail guide rails, and the dovetail is fitted with the dovetail guide rails, and the dovetail is connected with the support plate 105. A training pedal 307 is arranged at the cross beam of the frame 104, and the training pedal 307 is connected with the cross beam through a deep groove ball bearing. Four wheels 107 are mounted to the bottom surface of housing 104.
The support plate 105 is slidable left and right along the dovetail guide rails and is fixed by bolts when slid to a proper position. The support plate 105 is provided with a bearing housing in which a transmission shaft 209 of the upper limb kinematics chain is mounted in the support plate 105. A virtual scene display screen 106 is mounted on the upper surface of the support plate 105.
The crankshaft 305 is fixed with the stepped shaft 304 through a coupler, the eccentric connecting rod 306 is sleeved on the crankshaft, and the bottom end of the eccentric connecting rod 306 is connected with the training pedal 307 through a ball pair.
The VR virtual scene system comprises a central computer, an upper limb and lower limb movement capturing device and a virtual scene display screen, wherein the upper limb and lower limb movement capturing device and the virtual scene display screen are connected to the central computer; a VR virtual scene system and a human-computer interaction system are installed in the central computer, a plurality of types of virtual scene software are stored in the VR virtual scene system, and data collected by the upper and lower limb movement capturing devices are processed in the central computer through the human-computer interaction system; a control system is arranged in the medical staff operation interface; the first servo motor and the second servo motor are connected to the control system.
The above description is only a preferred and practical embodiment of the present invention, and not intended to limit the scope of the present invention, and all structural equivalents made by using the contents of the specification and drawings are included in the scope of the present invention.
Claims (9)
1. The utility model provides an under-actuated upper and lower limbs rehabilitation training robot, includes frame, drive division, upper limbs motion branch chain and lower limbs motion branch chain, its characterized in that:
a lower limb movement branched chain is arranged at the bottom of the rack, and an upper limb movement branched chain is arranged at the top of the rack;
the lower limb movement branched chain is provided with a training pedal, the training pedal is hinged on the rack and is driven by an eccentric connecting rod and a crankshaft, and the crankshaft is driven by a first servo motor;
the upper limb movement branched chain is provided with a parallelogram mechanism, the parallelogram mechanism is provided with a transmission rod, a driving piece, a first connecting rod and a second connecting rod, two ends of the first connecting rod and the second connecting rod are respectively hinged with the transmission rod and the driving piece, a rotating shaft drives the transmission rod through a rotating piece, and the rotating shaft is driven by a first servo motor; the amplification rod is sleeved on the driving handle, the bottom surface of the driving handle is provided with a second servo motor, and the front end handle is connected with the driving handle through the seat barrel; the driving handle is connected with the driving sheet, and the parallelogram mechanism drives the front end handle to swing through the swinging of the driving handle; the second servo motor drives the front end handle to move in a telescopic mode through the amplification rocker and the amplification crank.
2. The under-actuated upper and lower limb rehabilitation training robot of claim 1, characterized in that: the training pedal is hinged with the cross beam through a deep groove ball bearing, and two ends of the cross beam are connected with the rack.
3. The under-actuated upper and lower limb rehabilitation training robot of claim 1, characterized in that: the crankshaft is fixed with the stepped shaft through the coupler, the eccentric connecting rod is sleeved on the crankshaft, and the bottom end of the eccentric connecting rod is connected with the training pedal through the ball pair.
4. The under-actuated upper and lower limb rehabilitation training robot of claim 1, characterized in that: the training footboard interval be equipped with the plurality of recesses of placing patient's both feet, the recess bottom is equipped with the crossbeam.
5. The under-actuated upper and lower limb rehabilitation training robot of claim 1, characterized in that: the first servo motor drives a rotating shaft through the engagement of a worm wheel and a worm, the worm is fixed on the rotating shaft through a flat key and a check ring, the rotating shaft is connected with the rack through a deep groove ball bearing and is fixed on the rack, and the rotating shaft, the rotating sheet and the transmission rod form a crank rocker mechanism.
6. The under-actuated upper and lower limb rehabilitation training robot of claim 1, characterized in that: the transmission rod is of an adjustable sleeve-shaped structure, and the sleeves are connected through pin holes and fixing pins.
7. The under-actuated upper and lower limb rehabilitation training robot of claim 1, characterized in that: a balancing weight is arranged above the driving handle to balance gravity.
8. The under-actuated upper and lower limb rehabilitation training robot of claim 1, characterized in that: the rack is provided with a dovetail groove and a dovetail groove guide rail, and the dovetail groove is connected with the supporting plate; the supporting plate can slide left and right along the dovetail groove guide rail and is fixed by bolts when sliding to a proper position.
9. The under-actuated upper and lower limb rehabilitation training robot of claim 1, characterized in that: the VR virtual scene system comprises a central computer, an upper limb and lower limb movement capturing device and a virtual scene display screen, wherein the upper limb and lower limb movement capturing device and the virtual scene display screen are connected to the central computer; a VR virtual scene system and a human-computer interaction system are installed in the central computer, a plurality of types of virtual scene software are stored in the VR virtual scene system, and data collected by the upper and lower limb movement capturing devices are processed in the central computer through the human-computer interaction system; the control system of the man-machine interaction system is provided with an operation interface; the first servo motor and the second servo motor are connected to the control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920749755.XU CN210542338U (en) | 2019-05-23 | 2019-05-23 | Underactuated upper and lower limb rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920749755.XU CN210542338U (en) | 2019-05-23 | 2019-05-23 | Underactuated upper and lower limb rehabilitation training robot |
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| Publication Number | Publication Date |
|---|---|
| CN210542338U true CN210542338U (en) | 2020-05-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920749755.XU Active CN210542338U (en) | 2019-05-23 | 2019-05-23 | Underactuated upper and lower limb rehabilitation training robot |
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| CN (1) | CN210542338U (en) |
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- 2019-05-23 CN CN201920749755.XU patent/CN210542338U/en active Active
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