阅读说明：本技术 一种三自由度床旁外骨骼下肢康复机器人及其使用方法 (Three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot and use method thereof ) 是由 臧家炜 孙焱辉 王继虎 于 2020-07-21 设计创作，主要内容包括：本发明公开了一种三自由度床旁外骨骼下肢康复机器人及其使用方法,机器人由基座、升降平台、一号电机、二号电机、三号电机、锥齿轮组、一号齿轮组、二号齿轮组、转轴、同步平台、曲杆、连杆、导向杆、滑块、托板、伸缩板、大腿板、小腿板及绑带组成；本发明的机器人具有3个自由度的康复训练功能,分别是患者髋关节的屈伸康复训练功能、患者髋关节的内收和外展康复训练功能,以及患者膝关节的屈伸康复训练功能,较以往床旁外骨骼下肢康复机器人具有更加丰富的康复训练功能,且可保证训练过程的稳定性和精确性。(The invention discloses a three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot and a using method thereof, wherein the robot consists of a base, a lifting platform, a first motor, a second motor, a third motor, a bevel gear set, a first gear set, a second gear set, a rotating shaft, a synchronous platform, a curved rod, a connecting rod, a guide rod, a sliding block, a supporting plate, a telescopic plate, a thigh plate, a shank plate and a binding band; the robot has the rehabilitation training functions of 3 degrees of freedom, namely the flexion and extension rehabilitation training functions of hip joints of patients, the adduction and abduction rehabilitation training functions of the hip joints of the patients and the flexion and extension rehabilitation training functions of knee joints of the patients, has more abundant rehabilitation training functions compared with the conventional exoskeleton lower limb rehabilitation robot beside a bed, and can ensure the stability and the accuracy of the training process.)

1. A three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot is characterized by comprising:

the base is used for installing the lifting platform;

the lifting platform is arranged in the base and can move up and down along the axis of the base and rotate around the axis of the base;

the first motor is arranged in the lifting platform and used for driving the rotating shaft to rotate;

the rotating shaft is arranged in the lifting platform, is connected with the first motor and is used for driving the thigh plate and the shank plate to rotate around the axis of the rotating shaft so as to drive the thigh of the patient to do flexion and extension movement;

one end of the curved rod is coaxially connected with the rotating shaft, and the other end of the curved rod is connected with the thigh plate;

the thigh plate is used for fixing the thigh of a patient, one end of the thigh plate is rotatably connected with the curved bar, the other end of the thigh plate is connected with the telescopic plate, the outer side surface of the thigh plate is provided with a guide bar, and a sliding block is slidably sleeved on the guide bar;

one end of the synchronous platform is connected with the rotating shaft and the curved bar, the other end of the synchronous platform is rotatably connected with the connecting rod through the first gear pair, and the other end of the connecting rod is hinged with the sliding block;

the second motor is arranged on the synchronous platform and is used for driving the first gear pair to rotate so as to drive the thighs of the patient to perform adduction and abduction motions;

the telescopic plate is connected to the end face of the thigh plate through a moving pair and used for mounting the lower leg plate and adjusting the position of the knee joint;

the supporting plate is connected to the bottom surface of the thigh plate through a moving pair and is used for supporting the thigh of the patient and adjusting the position of the knee joint;

the shank plate is used for fixing the shank of the patient and is rotatably arranged on the telescopic plate through a second gear pair;

the third motor is arranged on the telescopic plate and used for driving the second revolute pair to rotate so as to drive the shank of the patient to do flexion and extension motions; and

and the binding bands are respectively arranged on the thigh plate and the shank plate and are used for binding the thigh of the patient on the thigh plate and binding the shank of the patient on the shank plate.

2. The three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot of claim 1, wherein the supporting plate and the telescopic plate are slidably connected with the through hole of the thigh plate through a round rod arranged on the end surface of the supporting plate and the position of the round rod can be fixed through a locking knob arranged on the thigh plate.

3. The three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot as claimed in claim 1, wherein the rotating shaft is connected with a first motor through a bevel gear transmission pair, the first motor is installed in the base, a motor output shaft extends to the shaft end of the lifting platform, a small bevel gear is sleeved on the shaft end, and a large bevel gear is sleeved on the rotating shaft and meshed with a lower bevel gear.

4. The three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot of claim 1, wherein the first gear pair comprises a first small gear and a first large gear, the first small gear is sleeved on a motor shaft of the second motor, the first large gear is rotatably mounted on the synchronous platform through a rotating shaft and meshed with the first small gear, the connecting rod is eccentrically connected to the first large gear, and the synchronous platform, the crank rod, the connecting rod, the thigh plate, the guide rod and the sliding block jointly form a crank-swing rod mechanism.

5. The three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot as claimed in claim 1, wherein the second gear pair comprises a second small gear and a second large gear, the second small gear is sleeved on a motor shaft of the third motor, the second large gear is rotatably mounted on the expansion plate through a rotating shaft and meshed with the second small gear, and the lower leg plate is eccentrically connected to the second large gear.

6. The three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot of claim 1, wherein a supporting lug is arranged on the inner side surface of the thigh plate, a round shaft connecting part is arranged on the top surface of the supporting lug, the thigh plate is rotatably connected with a curved rod through the round shaft connecting part, and the rotating position of the thigh plate is limited through an end cover arranged at the top of the round shaft connecting part.

7. The use method of the three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot as claimed in claims 1 to 6, characterized in that during lower limb rehabilitation training, the base, the lifting platform and the supporting plate are adjusted to enable the axis of the thigh plate and the local coordinate system O where the hip joint on one side of the patient is located₁-x₁y₁z₁Y of (A) to (B)₁The axes are coincident, the axes of the axes are in local coordinate system O₁-x₁y₁z₁Z of (a)₁A shaft; after adjustment, the thigh of the patient is bound with the thigh plate through the binding belt arranged on the thigh plate.

8. The use method of the three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot as claimed in claims 1 to 6, characterized in that during lower limb rehabilitation training, the axis of the second gearwheel and the local coordinate system O where the knee joint of a patient is located are adjusted by adjusting the telescopic plate₂-x₂y₂z₂Z of (a)₂The axes are coincident and the patient's lower leg is bound to the lower leg plate by a strap disposed on the lower leg plate.

9. AThe use method of the three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot as claimed in claims 1 to 6, wherein during lower limb rehabilitation training, the base, the lifting platform and the supporting plate are adjusted to enable the axis of the thigh plate and the local coordinate system O where the hip joint on one side of the patient is located₁-x₁y₁z₁Y of (A) to (B)₁The axes are coincident, the axes of the axes are in local coordinate system O₁-x₁y₁z₁Z of (a)₁A shaft binding the thigh of the patient with the thigh plate through a binding band arranged on the thigh plate; the axis of the second gearwheel and the local coordinate system O of the knee joint of the patient are adjusted by adjusting the telescopic plate₂-x₂y₂z₂Z of (a)₂The axes are coincident and the patient's lower leg is bound to the lower leg plate by a strap disposed on the lower leg plate.

10. Use according to any of claims 7 to 9, wherein a single robot is arranged on one side of the patient bed or two robots are arranged mirrored on both sides of the patient bed.

Technical Field

The invention relates to the technical field of rehabilitation robots, in particular to a three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot and a using method thereof.

Background

At present, in the early bedside rehabilitation process of most patients with lower limb dysfunction, a therapist is still required to perform one-to-one manual rehabilitation training on the patients because the patients cannot get out of the bed. However, the training process is high in labor intensity, and is a severe test for physical strength of therapists, the therapists are difficult to ensure the continuity and stability of the rehabilitation training, and the levels of the therapists are uneven, so that the effect of the rehabilitation training is difficult to ensure.

In recent years, lower limb rehabilitation robot apparatuses gradually come into the field of vision of people, and start replacing part of heavy work of therapists. The existing lower limb rehabilitation robot mainly comprises a standing exoskeleton type, a standing sole driving type, a wheelchair exoskeleton type, a bedside suspension type, a bedside mechanical arm type, a bedside bicycle type, a common two-degree-of-freedom bedside exoskeleton type and the like. The standing exoskeleton type, standing sole driving type and wheelchair exoskeleton type lower limb rehabilitation robots cannot meet the requirements of early bedside rehabilitation training of critical patients; the bedside suspension type lower limb rehabilitation robot cannot ensure the stability and accuracy of the training process; the robot arm type and the pedal type lower limb rehabilitation robot beside the bed need to bind the feet of a patient with the tail end of equipment, and the tail end of the equipment moves to drive the patient to carry out rehabilitation training, so that the moving capability of each joint of the patient cannot be effectively evaluated; the common two-degree-of-freedom bedside exoskeleton type lower limb rehabilitation robot can only realize flexion and extension training motions of hip joints and knee joints of patients. Therefore, aiming at the requirement of early bedside lower limb rehabilitation training, lower limb rehabilitation equipment with more effective training and more abundant functions is explored, and the lower limb rehabilitation training device is of great importance for meeting the wide rehabilitation treatment requirement of China.

Disclosure of Invention

In order to solve the problem that the existing bedside lower limb rehabilitation robot cannot reasonably realize the functions of adduction and abduction rehabilitation training of hip joints of patients, the invention provides a three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot and a using method thereof, so as to meet the requirement of early bedside rehabilitation training of patients with lower limb dysfunction.

The technical scheme adopted by the invention is as follows:

a three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot comprises:

the base is used for installing the lifting platform;

the lifting platform is arranged in the base and can move up and down along the axis of the base and rotate around the axis of the base;

the first motor is arranged in the lifting platform and used for driving the rotating shaft to rotate;

the rotating shaft is arranged in the lifting platform, is connected with the first motor and is used for driving the thigh plate and the shank plate to rotate around the axis of the rotating shaft so as to drive the thigh of the patient to do flexion and extension movement;

one end of the curved rod is coaxially connected with the rotating shaft, and the other end of the curved rod is connected with the thigh plate;

the thigh plate is used for fixing the thigh of a patient, one end of the thigh plate is rotatably connected with the curved bar, the other end of the thigh plate is connected with the telescopic plate, the outer side surface of the thigh plate is provided with a guide bar, and a sliding block is slidably sleeved on the guide bar;

one end of the synchronous platform is connected with the rotating shaft and the curved bar, the other end of the synchronous platform is rotatably connected with the connecting rod through the first gear pair, and the other end of the connecting rod is hinged with the sliding block;

the second motor is arranged on the synchronous platform and is used for driving the first gear pair to rotate so as to drive the thighs of the patient to perform adduction and abduction motions;

the telescopic plate is connected to the end face of the thigh plate through a moving pair and used for mounting the lower leg plate and adjusting the position of the knee joint;

the supporting plate is connected to the bottom surface of the thigh plate through a moving pair and is used for supporting the thigh of the patient and adjusting the position of the knee joint;

the shank plate is used for fixing the shank of the patient and is rotatably arranged on the telescopic plate through a second gear pair;

the third motor is arranged on the telescopic plate and used for driving the second revolute pair to rotate so as to drive the shank of the patient to do flexion and extension motions; and

and the binding bands are respectively arranged on the thigh plate and the shank plate and are used for binding the thigh of the patient on the thigh plate and binding the shank of the patient on the shank plate.

Furthermore, the supporting plate and the telescopic plate are in sliding connection with the thigh plate through hole through a round rod arranged on the end face of the supporting plate and are fixed in position through a locking knob arranged on the thigh plate. By adopting the scheme, the supporting plate and the telescopic plate are simple and convenient to adjust.

Furthermore, the rotating shaft is connected with a first motor through a bevel gear transmission pair, the first motor is installed in the base, the output shaft of the motor extends to the shaft end of the lifting platform and is sleeved with a small bevel gear, and a large bevel gear is sleeved on the rotating shaft and is meshed with the lower bevel gear. The bevel gear set is used for changing the steering and the speed reduction of the motor, so that the robot is light in structure, and the bending and stretching speed of the thigh plate is adjustable.

Furthermore, the first gear pair comprises a first pinion and a first gearwheel, the first pinion is sleeved on a motor shaft of the second motor, the first gearwheel is rotatably mounted on the synchronous platform through a rotating shaft and is meshed with the first pinion, the connecting rod is eccentrically connected to the first gearwheel, and the synchronous platform, the curved rod, the connecting rod, the thigh plate, the guide rod and the sliding block form a crank-swing rod mechanism together. The robot has a light structure, and the abduction and adduction speeds of the thigh plates are adjustable.

Furthermore, the second gear pair comprises a second small gear and a second large gear, the second small gear is sleeved on a motor shaft of the third motor, the second large gear is rotatably installed on the expansion plate through a rotating shaft and is meshed with the second small gear, and the lower leg plate is eccentrically connected to the second large gear. The robot has a light structure, and the bending and stretching speed of the crus board is adjustable.

Furthermore, the inner side surface of the thigh plate is provided with a support lug, the top surface of the support lug is provided with a round shaft connecting part, the thigh plate is rotatably connected with the curved rod through the round shaft connecting part, and the rotating position of the thigh plate is limited through an end cover arranged at the top of the round shaft connecting part. The robot has a light structure and the thigh plate moves reliably.

When the three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot is used for lower limb rehabilitation training, the axis of the thigh plate and the local coordinate system O where the hip joint on one side of a patient is located are adjusted by adjusting the base, the lifting platform and the supporting plate₁-x₁y₁z₁Y of (A) to (B)₁The axes are coincident, the axes of the axes are in local coordinate system O₁-x₁y₁z₁Z of (a)₁A shaft; after adjustment, the thigh of the patient is bound with the thigh plate through the binding belt arranged on the thigh plate. By the method, the flexion and extension rehabilitation training function of the hip joint of the patient and the adduction and abduction rehabilitation training function of the hip joint of the patient can be realized.

Use method of three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robotDuring lower limb rehabilitation training, the axis of the second gearwheel and the local coordinate system O of the knee joint of the patient are adjusted by adjusting the telescopic plate₂-x₂y₂z₂Z of (a)₂The axes are coincident and the patient's lower leg is bound to the lower leg plate by a strap disposed on the lower leg plate. The flexion and extension rehabilitation training function of the knee joint of the patient can be realized through the method.

When the three-degree-of-freedom bedside exoskeleton lower limb rehabilitation robot is used for lower limb rehabilitation training, the axis of the thigh plate and the local coordinate system O where the hip joint on one side of a patient is located are adjusted by adjusting the base, the lifting platform and the supporting plate₁-x₁y₁z₁Y of (A) to (B)₁The axes are coincident, the axes of the axes are in local coordinate system O₁-x₁y₁z₁Z of (a)₁A shaft binding the thigh of the patient with the thigh plate through a binding band arranged on the thigh plate; the axis of the second gearwheel and the local coordinate system O of the knee joint of the patient are adjusted by adjusting the telescopic plate₂-x₂y₂z₂Z of (a)₂The axes are coincident and the patient's lower leg is bound to the lower leg plate by a strap disposed on the lower leg plate. By the method, the flexion and extension rehabilitation training function of the hip joint of the patient, the adduction and abduction rehabilitation training function of the hip joint of the patient and the flexion and extension rehabilitation training function of the knee joint of the patient can be realized.

Further, a single robot is arranged on one side of the patient bed or two robots are arranged on both sides of the patient bed in a mirror image. Can realize the rehabilitation training function of hip joints and knee joints of patients on one side or two sides.

The invention has the beneficial effects that:

1. the rehabilitation robot has 3-degree-of-freedom rehabilitation training functions, namely a flexion and extension rehabilitation training function of hip joints of patients, an adduction and abduction rehabilitation training function of the hip joints of the patients and a flexion and extension rehabilitation training function of knee joints of the patients, has more abundant rehabilitation training functions compared with the conventional exoskeleton lower limb rehabilitation robot beside a bed, and can ensure the stability and accuracy of a training process.

2. The robot can greatly reduce the workload of therapists, the adopted technical scheme is convenient to deploy and implement, and the binding and adjustment of the lower limbs of patients can be quickly realized.

3. The technical scheme adopted by the invention is convenient for effectively evaluating the single joint movement capability of the patient in the later period.

Drawings

Fig. 1 is a schematic structural view showing an exoskeleton lower limb rehabilitation robot according to a first embodiment of the present invention.

Fig. 2 is a partial sectional view at a in fig. 1.

Fig. 3 is a schematic view of the connection structure of the rotating shaft, the synchronous platform, the curved rod, the end cover and the thigh plate of the exoskeleton lower limb rehabilitation robot.

Fig. 4 is a schematic view of the connection structure of the synchronous platform, the second motor, the first pinion and the first gearwheel of the exoskeleton lower limb rehabilitation robot.

Fig. 5 is a schematic view of the connection structure of the thigh plate, the supporting plate and the expansion plate of the exoskeleton lower limb rehabilitation robot.

Fig. 6 is a schematic view of the connection structure of the expansion plate, the third motor, the second pinion and the second bull gear of the exoskeleton lower limb rehabilitation robot.

Fig. 7 is a schematic structural diagram of a crank and swing link mechanism composed of a synchronous platform, a crank rod, a connecting rod, a thigh plate, a guide rod and a slide block of the exoskeleton lower limb rehabilitation robot.

Fig. 8 is a schematic view of the mounting structure of the exoskeleton lower limb rehabilitation robot for rehabilitation training.

Detailed Description

In order to better understand the present invention, the following examples are further provided to illustrate the present invention, but the present invention is not limited to the following examples.

In the following embodiments, the "medial" refers to the side of the thigh plate that contacts the patient, and the opposite side is the "lateral".