阅读说明：本技术 一种下肢康复机器人 (Lower limb rehabilitation robot ) 是由 杨炽夫 岳建民 王玉君 于 2019-11-27 设计创作，主要内容包括：本发明公开了一种下肢康复机器人,包括支撑板、下肢辅助运动结构、连接部和髋关节驱动缸,支撑板上设有第一安装架,下肢辅助运动结构设于第一安装架之上,连接部为半包围形的连接部,连接部一端与第一安装架固定,另一端与髋关节驱动缸的活塞杆铰接,下肢辅助运动结构包括垂直杆、大腿杆、大腿杆驱动缸、小腿杆、小腿杆驱动缸和踝关节辅助运动结构,本发明提供的下肢康复机器人,用于带动下肢运动功能障碍患者的下肢完成髋关节开/合、大腿抬起/下落、小腿抬起/下落或踝关节三自由度旋转中一项或多项动作。(The invention discloses a lower limb rehabilitation robot which comprises a supporting plate, a lower limb auxiliary motion structure, a connecting part and a hip joint driving cylinder, wherein a first mounting frame is arranged on the supporting plate, the lower limb auxiliary motion structure is arranged on the first mounting frame, the connecting part is a semi-surrounding connecting part, one end of the connecting part is fixed with the first mounting frame, the other end of the connecting part is hinged with a piston rod of the hip joint driving cylinder, and the lower limb auxiliary motion structure comprises a vertical rod, a thigh rod driving cylinder, a shank rod driving cylinder and an ankle joint auxiliary motion structure.)

1. A lower limb rehabilitation robot is characterized by comprising a supporting plate, a lower limb auxiliary motion structure, a connecting part and a hip joint driving cylinder;

the supporting plate is provided with a first mounting frame, the lower limb auxiliary motion structure is arranged on the first mounting frame, and balls are embedded in the bottom of the first mounting frame; the connecting part is a semi-surrounding connecting part, one end of the connecting part is fixed with the first mounting frame, the other end of the connecting part is hinged with a piston rod of the hip joint driving cylinder, and the piston rod of the hip joint driving cylinder drives the connecting part to rotate by taking the inflection point of the connecting part as a circle center when stretching;

the lower limb auxiliary motion structure comprises a vertical rod, a thigh rod driving cylinder, a shank rod driving cylinder and an ankle joint auxiliary motion structure, the vertical rod is fixedly arranged on a first mounting frame, the thigh rod is hinged to the top end of the vertical rod, the other end of the thigh rod is hinged to the shank rod, the other end of the shank rod is fixedly arranged on the ankle joint auxiliary motion structure, a piston rod of the thigh rod driving cylinder drives the thigh rod to rotate when being telescopic, and a piston rod of the shank rod driving cylinder drives the shank rod to rotate when being telescopic.

2. The lower limb rehabilitation robot of claim 1, wherein the connecting portion comprises a first connecting rod, a second connecting rod and a third connecting rod which are integrally formed, one end of the first connecting rod is mounted with the first mounting frame, the other end of the first connecting rod is connected with the second connecting rod, the other end of the second connecting rod is connected with the third connecting rod, the first connecting rod and the third connecting rod are parallel to each other, the first connecting rod is longer than the third connecting rod, a piston rod of the hip joint driving cylinder and one end, far away from the second connecting rod, of the third connecting rod are hinged to form a revolute pair, and when the piston rod of the hip joint driving cylinder stretches, the connecting portion is driven to rotate by taking a connecting point of the second connecting rod and the third connecting rod as a.

3. The lower limb rehabilitation robot according to claim 1, wherein the vertical rod is mounted on the front side of the first mounting frame, the thigh rod is arranged above the vertical rod, one end of the thigh rod close to the chassis is a thigh rod hip joint end, the other end of the thigh rod is a thigh rod knee joint end, the thigh rod hip joint end is hinged with the top end of the vertical rod to form a revolute pair, the thigh rod driving cylinder is hinged to the rear side of the first mounting frame to form a revolute pair, an angle steel is mounted on one side of the thigh rod hip joint end, which faces the chassis, a fourth connecting rod parallel to the thigh rod is mounted on the other side of the angle steel, and the other end of the fourth connecting rod faces the rear side of the first mounting frame and is hinged with a piston rod of the thigh rod.

4. The lower limb rehabilitation robot of claim 1, wherein the shank rod is an angular rod, the angular rod has an angle of 135 ° ± 25 °, the upper end of the shank rod is a knee joint end of the shank rod, the other end of the shank rod is an ankle joint end of the shank rod, a corner of the shank rod is hinged to the knee joint end of the shank rod to form a revolute pair, a second mounting frame is mounted on the upper side of the shank rod, the upper side of the second mounting frame is parallel to the shank rod, the shank rod driving cylinder is hinged to the upper side of the second mounting frame to form a revolute pair, and a piston rod of the shank rod driving cylinder is hinged to the knee joint end of the shank rod to form a revolute pair.

5. The lower limb rehabilitation robot of claim 1, wherein the ankle joint auxiliary motion structure is a six-degree-of-freedom robot structure based on a Stewart platform.

6. The lower limb rehabilitation robot of claim 1, further comprising an underframe, wherein the support plates, the lower limb auxiliary exercise structures, the connecting parts and the hip joint driving cylinders are respectively arranged on the left side and the right side of the underframe.

7. The lower limb rehabilitation robot of claim 6, further comprising a seat disposed on the base frame, the seat comprising a seat cushion and a back cushion, the back cushion being a back cushion with a prostrate function.

8. The lower limb rehabilitation robot of claim 7, wherein the seat comprises a cushion, a connecting plate, a back pad and a back pad driving cylinder, the cushion is mounted on the bottom frame, the connecting plate is an angle plate, the angle of the angle plate is 135 degrees plus or minus 25 degrees, the corner of the connecting plate is hinged with the rear side of the cushion to form a revolute pair, the connecting frame is mounted at one side of the upper end of the connecting plate, which faces the cushion, the back pad is mounted on the connecting frame, the armrests are mounted at the left side and the right side of the back pad, the back pad driving cylinder is hinged on the bottom frame to form a revolute pair, the back pad driving cylinder is located at one side of the lower end of the connecting plate, which is far away from the.

Technical Field

The invention relates to the technical field of medical rehabilitation robots, in particular to a lower limb rehabilitation robot.

Background

The number of the disabled people in China is huge, and in ordinary daily life, the disabled patients bring much inconvenience to life due to physical reasons, so that the disabled patients not only have physical defects, but also suffer various discriminations in the society.

For the common patients with disabled lower limbs, the blood circulation at joints and muscles is reduced due to the lack of effective exercise for a long time, and the blood can not flow smoothly in tissues, so that the resistance of the body is reduced, and various diseases such as muscular atrophy, ligament shortening, joint stiffness or abnormal motion patterns are caused.

Medical theory and clinical medicine prove that for the disabled people, necessary early-stage operation treatment and medicine cooperation treatment are needed, and the limbs of the patients can be better recovered to a better state by using a scientific limb training method in the later stage.

The traditional rehabilitation training treatment activities are mostly finished by means of simple appliances under the guidance of a therapist. The lower limb rehabilitation robot is an auxiliary rehabilitation therapy automation device which assists a patient with lower limb motor dysfunction to complete rehabilitation training contents required clinically and can provide feedback information for the patient and a therapist, so that the affected limb gradually recovers lost motor functions.

Accordingly, the invention is particularly directed to.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a lower limb rehabilitation robot which is used for driving the lower limbs of patients with lower limb movement dysfunction to complete one or more actions of hip joint opening/closing, thigh lifting/falling, shank lifting/falling or ankle joint three-degree-of-freedom rotation, so as to complete lower limb rehabilitation training.

The technical scheme of the invention is realized as follows:

a lower limb rehabilitation robot comprises a supporting plate, a lower limb auxiliary motion structure, a connecting part and a hip joint driving cylinder; the supporting plate is provided with a first mounting frame, the lower limb auxiliary motion structure is arranged on the first mounting frame, and balls are embedded in the bottom of the first mounting frame; the connecting part is a semi-surrounding connecting part, one end of the connecting part is fixed with the first mounting frame, the other end of the connecting part is hinged with a piston rod of the hip joint driving cylinder, and the piston rod of the hip joint driving cylinder drives the connecting part to rotate by taking the inflection point of the connecting part as a circle center when stretching; the lower limb auxiliary motion structure comprises a vertical rod, a thigh rod driving cylinder, a shank rod driving cylinder and an ankle joint auxiliary motion structure, the vertical rod is fixedly arranged on a first mounting frame, the thigh rod is hinged to the top end of the vertical rod, the other end of the thigh rod is hinged to the shank rod, the other end of the shank rod is fixedly arranged on the ankle joint auxiliary motion structure, a piston rod of the thigh rod driving cylinder drives the thigh rod to rotate when being telescopic, and a piston rod of the shank rod driving cylinder drives the shank rod to rotate when being telescopic.

Further, connecting portion include integrated into one piece's head rod, second connecting rod and third connecting rod, head rod one end is in the same place with first mounting bracket installation, the head rod other end is connected with the second connecting rod, the second connecting rod other end is connected with the third connecting rod, head rod and third connecting rod are parallel to each other, the third connecting rod is good at to the head rod, the piston rod of hip joint driving cylinder and the articulated revolute pair that forms of one end that the second connecting rod was kept away from to the third connecting rod, the piston rod of hip joint driving cylinder drives connecting portion and uses the tie point of second connecting rod and third connecting rod as centre of a circle rotation when flexible.

Furthermore, the vertical rod is installed on the front side of the first installation frame, the thigh rod is arranged above the vertical rod, one end, close to the bottom frame, of the thigh rod is a thigh rod hip joint end, the other end of the thigh rod is a thigh rod knee joint end, the thigh rod hip joint end is hinged with the top end of the vertical rod to form a revolute pair, the thigh rod driving cylinder is hinged to the rear side of the first installation frame to form a revolute pair, an angle steel is installed on one side, facing the bottom frame, of the thigh rod hip joint end, a fourth connecting rod parallel to the thigh rod is installed on the other side of the angle steel, and the other end of the fourth connecting rod faces the rear side of the first installation frame and forms.

Further, the shank rod is an angle-shaped rod, the size range of the angle-shaped rod angle is 135 degrees +/-25 degrees, the upper end of the shank rod is a shank rod knee joint end, the other end of the shank rod is a shank rod ankle joint end, the corner of the shank rod is hinged with the shank rod knee joint end to form a revolute pair, a second mounting frame is mounted on the upper side of the shank rod, the upper side of the second mounting frame is parallel to the shank rod, a shank rod driving cylinder is hinged to the upper side of the second mounting frame to form a revolute pair, and a piston rod of the shank rod driving cylinder is hinged with the shank rod knee joint end to form a.

Further, the ankle joint auxiliary motion structure is a six-degree-of-freedom robot structure based on a Stewart platform.

Furthermore, the rehabilitation robot further comprises an underframe, wherein the two groups of supporting plates, the two groups of lower limb auxiliary motion structures, the two groups of connecting parts and the two groups of hip joint driving cylinders are respectively arranged on the left side and the right side of the underframe.

Furthermore, the rehabilitation robot further comprises a seat, wherein the seat is arranged on the underframe and comprises a cushion and a back cushion, and the back cushion is a back cushion with a bending function.

Further, the seat includes the cushion, the connecting plate, the back of the body pad and back of the body pad actuating cylinder, the cushion is installed on the chassis, the connecting plate is the angle plate, here the size scope at angle plate angle be 135 ° ± 25, the turning of connecting plate is articulated with the cushion rear side and is formed the revolute pair, the connecting frame is installed towards one side of cushion to the connecting plate upper end, the back of the body pad is installed on the connecting frame, the handrail is installed to the back of the body pad left and right sides, back of the body pad actuating cylinder articulates and forms the revolute pair on the chassis, and be located the connecting plate lower extreme and keep away from one side of cushion, the piston rod of.

The invention has the beneficial effects that:

(1) when the piston rod of the hip joint driving cylinder stretches, the connecting portion is driven to rotate by taking the inflection point of the connecting portion as a circle center, when the connecting portion rotates, the lower limb auxiliary motion structure on the first mounting frame is driven to rotate, the hip joint is opened/closed, and balls are inlaid at the bottom of the first mounting frame, so that the first mounting frame is more flow-path when rotating on the supporting plate.

(2) The piston rod of the thigh rod driving cylinder drives the thigh rod to rotate when stretching, so that the thigh is lifted/fallen, the piston rod of the shank rod driving cylinder drives the shank rod to rotate when stretching, the shank is lifted/fallen, and the ankle joint auxiliary motion structure is used for realizing three-degree-of-freedom rotation of the ankle joint.

(3) The back cushion in the chair has a pitching function, and can adjust the upper body angle of a patient, so that the patient can complete hip joint opening/closing, thigh lifting/falling, shank lifting/falling and ankle joint three-degree-of-freedom rotation under different upper body angles.

Drawings

Fig. 1 is an overall structural view of a rehabilitation robot;

FIG. 2 is a block diagram of the left support panel and left lower limb support structure;

FIG. 3 is a schematic view of the hip joint opening and closing;

FIG. 4 is a schematic view of thigh lever lift/drop;

FIG. 5 is a schematic view of the calf rod being raised/lowered;

FIG. 6 is a preferred block diagram of the thigh bar and shank bar;

FIG. 7 is a schematic view of a length adjustable structure;

FIG. 8 is a preferred block diagram of the seat;

fig. 9 is a schematic diagram of seat pitch.

In the figure: 1-underframe, 2-left support plate, 3-right support plate, 4-left lower limb auxiliary motion structure, 5-right lower limb auxiliary motion structure, 6-first mounting rack, 7-ball, 8-hip joint driving cylinder, 9-first connecting rod, 10-second connecting rod, 11-third connecting rod, 12-vertical rod, 13-thigh rod, 14-thigh rod driving cylinder, 15-shank rod, 16-shank rod driving cylinder, 17-ankle joint auxiliary motion structure, 18-angle steel, 19-fourth connecting rod, 20-second mounting rack, 21-fixing rod, 22-guide rod, 23-adjusting rod, 24-first fixing sleeve, 25-second fixing sleeve, 26-bearing, 27-screw sleeve, 28-nuts, 29-screws, 30-bandage plates, 31-elongated holes, 32-seat cushions, 33-connecting plates, 34-back cushions, 35-back cushion driving cylinders, 36-connecting frames and 37-handrails.

Detailed Description

In order to make the technical solutions of the present invention better understood, the following description of the technical solutions of the present invention with reference to the accompanying drawings of the present invention is made clearly and completely, and other similar embodiments obtained by a person of ordinary skill in the art without any creative effort based on the embodiments in the present application shall fall within the protection scope of the present application.