CN210301640U - Counter weight type lower limb rehabilitation robot - Google Patents
Counter weight type lower limb rehabilitation robot Download PDFInfo
- Publication number
- CN210301640U CN210301640U CN201920699049.9U CN201920699049U CN210301640U CN 210301640 U CN210301640 U CN 210301640U CN 201920699049 U CN201920699049 U CN 201920699049U CN 210301640 U CN210301640 U CN 210301640U
- Authority
- CN
- China
- Prior art keywords
- hip joint
- motor
- joint
- knee joint
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
- 210000003141 lower extremity Anatomy 0.000 title claims description 18
- 210000004394 hip joint Anatomy 0.000 claims abstract description 127
- 210000000629 knee joint Anatomy 0.000 claims abstract description 80
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 34
- 210000003414 extremity Anatomy 0.000 claims abstract description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 62
- 210000000689 upper leg Anatomy 0.000 claims description 38
- 230000001360 synchronised effect Effects 0.000 claims description 9
- 210000002414 leg Anatomy 0.000 claims 4
- 238000012549 training Methods 0.000 abstract description 17
- 230000005484 gravity Effects 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 8
- 230000007246 mechanism Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 4
- 210000001624 hip Anatomy 0.000 description 4
- 210000003127 knee Anatomy 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000653 nervous system Anatomy 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The utility model discloses a counter weight formula low limbs rehabilitation robot relates to rehabilitation apparatus technical field, including hip joint module, knee joint module and the ankle joint module that is used for supporting fixed base module and autonomous working, set up hip joint counter weight connecting rod, hip joint counter weight spring and the knee joint counter weight spring that is used for balanced gravity in hip joint module and the knee joint module respectively. The hip joint module, the knee joint module and the ankle joint module of the utility model can respectively realize the rehabilitation training of the hip joint, the knee joint and the ankle joint, and are beneficial to pertinently realizing the rehabilitation treatment of patients; the hip joint module and the knee joint module have a gravity balance function, can balance the load generated by the self weight of the robot connecting rod, reduces the torque requirement of the matched motor, reduces the self weight of the robot and improves the load capacity of the robot joint. Simple structure, compact overall arrangement, low cost, convenient and fast operation, easy popularization and good practicability.
Description
Technical Field
The utility model relates to a rehabilitation apparatus technical field, concretely relates to a rehabilitation robot for low limbs are recovered.
Background
Stroke is a common and frequently encountered disease of the nervous system, and has high mortality and disability rate. Medical science has proved that the patients who survive the stroke can recover the self-care ability of walking and life through active rehabilitation treatment, and part of the patients can do light work. Traditional rehabilitation procedures rely on the experience of therapists and free-hand operation techniques, and medical resources are in an increasingly tense situation with the rapid rise in the number of patients. In recent years, some studies have been made in the field of rehabilitation robots that assist rehabilitation therapy.
A lower limb rehabilitation training robot is one of rehabilitation training robots, and is generally divided into a tail end traction type rehabilitation robot and an exoskeleton rehabilitation robot. At present, a multi-degree-of-freedom series robot mostly adopts a motor with high power and a speed reducer to drive a robot joint to work so as to drive the affected side of a patient to carry out rehabilitation training. However, such motors and speed reducers are high in price, heavy in mass and large in size, so that the whole robot is high in cost, heavy in structure and poor in human-computer interaction safety.
By prior art search, there are the following known solutions:
prior art 1:
yuzekun, horizontal lower limb rehabilitation robot design and research [ D ]. combined fertilizer industry university, 2015.
Although the horizontal lower limb rehabilitation robot can basically meet the requirements of rehabilitation training, the adaptive motor of the horizontal lower limb rehabilitation robot needs larger driving torque, and the horizontal lower limb rehabilitation robot is heavy in overall structure and high in manufacturing cost.
Prior art 2:
application No.: CN201711011249, application date: 2017.10.26, date of authorized announcement: 2018.02.16, the utility model discloses a recovered robot of low limbs, its characterized in that: comprises a base, a hip joint, a thigh mechanism, a knee joint, a shank mechanism, an ankle joint and a sole support piece; a thigh slide bar of a thigh mechanism is arranged on a first shaft of a hip joint through a first key of the hip joint, the first shaft rotates to drive the thigh mechanism to move, a knee joint support of a knee joint is arranged at the tail end of a thigh guide rail of the thigh mechanism, a shank slide bar of the shank mechanism is arranged on a second shaft of the knee joint through a second key of the knee joint, the second shaft rotates to drive the shank mechanism to move, a sole support piece is directly arranged on a third shaft of an ankle joint in an interference fit mode, a fifth stepping motor of the ankle joint drives a third shaft to rotate through a driving small belt wheel and a driven small belt wheel, and the third shaft rotates to drive the sole support piece to move. The utility model discloses a patient's limbs are assisted to mechanical structure and are moved, make patient's muscle and joint obtain taking exercise in order to resume the normal activity of joint and muscle gradually to finally make the patient recovered. The utility model discloses a same motor drive moment demand is great.
The search finds that the technical proposal does not influence the novelty of the utility model; and the mutual combination of the above patent documents does not destroy the inventive step of the present invention.
SUMMERY OF THE UTILITY MODEL
The utility model provides a counter weight type lower limb rehabilitation robot, which avoids the defects of the prior art.
The utility model discloses a solve technical problem and adopt following technical scheme: a counter weight type lower limb rehabilitation robot comprises a base module for supporting and fixing, and a hip joint module, a knee joint module and an ankle joint module which work independently, wherein the base module comprises a base, a cushion arranged above the base, handrails arranged in front of the cushion and a lying bed arranged above and behind the cushion;
the first motor support is of an annular structure and fixedly connected to the base, the first motor is installed inside the first motor support, the first speed reducer is fixed on the first motor support, and the input end of the first speed reducer is connected with the output end of the first motor; the hip joint horizontal support is arranged above the first speed reducer, the front end of the hip joint horizontal support is fixedly connected with the output end of the first speed reducer, and the hip joint vertical support is vertically and upwards connected to the tail end of the hip joint horizontal support, can horizontally slide along the horizontal support and is fastened and locked through bolts; the second motor support is of an annular structure and is fixedly connected with the hip joint vertical support, a second motor is installed inside the second motor support, a second speed reducer is fixed on the second motor support, the input end of the second speed reducer is connected with the output end of the second motor, and a hip joint small belt wheel is fixedly connected with the output end of the second speed reducer; the hip joint bushing is fixed on the hip joint vertical support and positioned above the second motor support, and the hip joint connecting shaft is arranged inside the hip joint bushing through a bearing frame; the hip joint large belt wheel is positioned above the hip joint small belt wheel and is connected with one end of the hip joint connecting shaft through a fixed key on the hip joint large belt wheel, and the hip joint small belt wheel is connected with the hip joint large belt wheel through a hip joint synchronous belt; the other end of the hip joint connecting shaft is connected with a fixed key of a hip joint counterweight connecting rod, two ends of a hip joint counterweight spring are respectively connected and fixed with the hip joint counterweight connecting rod and the hip joint horizontal bracket to form the hip joint module, and the hip joint counterweight spring is always in a stretching state;
the knee joint module is connected with the hip joint connecting shaft through a fixed key of the hip joint connecting shaft, and the ankle joint module is connected with the knee joint module.
Furthermore, one end of a thigh drawing rod is connected with a fixed key of the hip joint connecting shaft, and the other end of the thigh drawing rod is connected with a thigh fixed connecting rod in a sliding manner and is fastened and locked through a thigh bolt clamp; the third motor bracket is of an annular structure and is fixedly connected to the thigh fixing connecting rod, and the third motor is arranged in the third motor bracket; the third speed reducer is fixed on the third motor bracket, the input end of the third speed reducer is connected with the output end of the third motor, and the knee joint small belt wheel is fixedly connected with the output end of the third speed reducer; the knee joint bush is fixed on the thigh fixing connecting rod, the knee joint connecting shaft is arranged in the knee joint bush through a bearing frame, and the knee joint large belt pulley and the knee joint small belt pulley are arranged on the same side of the thigh fixing connecting rod and connected through a knee joint synchronous belt; the knee joint large belt wheel is connected with one end of a knee joint connecting shaft through a fixed key arranged on the knee joint large belt wheel, the other end of the knee joint connecting shaft is fixedly connected with a shank fixing connecting rod, and two ends of a knee joint counterweight spring are respectively connected and fixed with the front end of the thigh fixing connecting rod and the top end of the shank fixing connecting rod to form the knee joint module; the knee joint counterweight spring is always in a stretching state.
Furthermore, a shank bracket is also arranged, is of an annular structure with an opening and is fixedly connected with the tail end of the shank fixing connecting rod.
Furthermore, a shank drawing connecting rod is connected with the shank fixing connecting rod in a sliding mode and is fastened and locked through a shank bolt clamp, a fourth motor support is of an annular structure and is fixedly connected to the shank drawing connecting rod, a fourth speed reducer is installed inside the fourth motor support, a fourth motor is installed outside the fourth motor support, and the output end of the fourth motor is connected with the input end of the fourth speed reducer; the ankle joint flange and the fourth speed reducer are respectively arranged on two sides of the shank drawing connecting rod and are connected with the output end of the fourth speed reducer, and the pedal is fixedly connected with the ankle joint flange through a pedal connecting block to form the ankle joint module.
Furthermore, the base module further comprises a horse wheel, a first corner connector, a first electric push rod, a second corner connector, a third corner connector, a lifting rod, a throat hoop, a fixed pipe, a second electric push rod, a push rod support, a pull plug and a handrail guide rail, the base is installed on the horse wheel, the first corner connector is fixedly connected to the base and located below the back of the lying bed, the second corner connector is fixedly arranged at the top of the back of the lying bed, and two ends of the first electric push rod are respectively in rotating connection with the first corner connector and the second corner connector; the third corner brace is fixedly arranged at the bottom of the back of the lying bed, one end of the rod-shaped telescopic structure is fixedly connected to the base, and the other end of the rod-shaped telescopic structure is rotatably connected with the third corner brace;
the push rod bracket is fixed on the base, and two ends of the second electric push rod are respectively fixedly connected with the push rod bracket and the cushion; the handrail guide rail is fixed in the base border, the handrail through pull out insert cup joint in inside the handrail guide rail.
Furthermore, the rod-shaped telescopic structure comprises a fixed pipe in a hollow tubular structure, a lifting rod sleeved in the fixed pipe and a hose clamp arranged at the top of the fixed pipe, wherein the hose clamp is used for locking the relative positions of the fixed pipe and the lifting rod; the top end of the lifting rod is rotatably connected with the third corner connector, and the bottom end of the fixed pipe is fixedly connected with the base.
Further, the first motor, the second motor, the third motor and the fourth motor are internally provided with encoders for measuring the robot posture.
Further, the first speed reducer, the second speed reducer, the third speed reducer and the fourth speed reducer are all harmonic speed reducers.
The utility model provides a counter weight formula low limbs rehabilitation robot has following beneficial effect:
1. the rehabilitation training device is provided with the hip joint module, the knee joint module and the ankle joint module, can respectively realize rehabilitation training of the hip joint, the knee joint and the ankle joint, and is favorable for pertinently realizing rehabilitation treatment of patients;
2. the hip joint module and the knee joint module have a gravity balance function, can balance the load generated by the self weight of the robot connecting rod, reduce the torque requirement of the matched motor, reduce the self weight of the robot and improve the load capacity of the robot joint;
3. simple structure, compact overall arrangement, low cost, convenient and fast operation, easy popularization and good practicability.
Drawings
Fig. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural diagram of the base module of the present invention;
fig. 3 is a schematic structural view of the hip joint module of the present invention;
fig. 4 is a schematic structural view of the knee joint module of the present invention;
fig. 5 is a schematic structural view of the ankle joint module of the present invention.
In the figure:
100. the device comprises a base module, 101, a horse wheel, 102, a first corner brace, 103, a first electric push rod, 104, a second corner brace, 105, a lying bed, 106, a third corner brace, 107, a lifting rod, 108, a throat hoop, 109, a fixed pipe, 110, a cushion, 111, a second electric push rod, 112, a push rod support, 113, a handrail, 114, a pull-plug, 115, a handrail guide rail, 116 and a base; 200. a hip joint module 201, a first motor 202, a first motor support 203, a first speed reducer 204, a hip joint horizontal support 205, a hip joint vertical support 206, a second motor 207, a second motor support 208, a second speed reducer 209, a hip joint small belt wheel 210, a hip joint synchronous belt 211, a hip joint large belt wheel 212, a hip joint bush 213, a hip joint counterweight connecting rod 214, a hip joint connecting shaft 215 and a hip joint counterweight spring; 300. a knee joint module 301, a thigh drawing connecting rod 302, a thigh fixing connecting rod 303, a thigh bolt clamp 304, a knee joint counterweight spring 305, a third motor 306, a third motor support 307, a third speed reducer 308, a knee joint small belt wheel 309, a knee joint synchronous belt 310, a knee joint large belt wheel 311, a knee joint bush 312, a knee joint connecting shaft 313, a shank fixing connecting rod 314, a shank bolt clamp 315, a shank support 316 and a thigh support; 400. the ankle joint module 401, a shank drawing connecting rod 402, a fourth motor 403, a fourth speed reducer 404, an ankle joint flange 405, a pedal connecting block 406, a pedal 407 and a fourth motor support.
Detailed Description
To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
As shown in fig. 1 to 5, the structural relationship is as follows: the device comprises a base module 100 for supporting and fixing, and a hip joint module 200, a knee joint module 300 and an ankle joint module 400 which work independently, wherein the base module 100 comprises a base 116, a cushion 110 arranged above the base 116, an armrest 113 arranged in front of the cushion 110 and a lying bed 105 arranged above and behind the cushion 110;
the first motor support 202 is of an annular structure and fixedly connected to the base 116, the first motor 201 is installed inside the first motor support 202, the first speed reducer 203 is fixed on the first motor support 202, and the input end of the first speed reducer is connected with the output end of the first motor 201; the hip joint horizontal bracket 204 is arranged above the first speed reducer 203, the front end of the hip joint horizontal bracket is fixedly connected with the output end of the first speed reducer 203, and the hip joint vertical bracket 205 is vertically and upwards connected to the tail end of the hip joint horizontal bracket 204, can horizontally slide along the horizontal bracket 204 and is fastened and locked through bolts; the second motor bracket 207 is of an annular structure and is fixedly connected with the hip joint vertical bracket 205, the second motor 206 is arranged in the second motor bracket 207, the second speed reducer 208 is fixed on the second motor bracket 207, the input end of the second speed reducer is connected with the output end of the second motor 206, and the hip joint small belt pulley 209 is fixedly connected with the output end of the second speed reducer 208; the hip joint bushing 212 is fixed on the hip joint vertical bracket 205 and is positioned above the second motor bracket 207, and the hip joint connecting shaft 214 is arranged inside the hip joint bushing 212 through a bearing bracket; the hip joint big belt wheel 211 is positioned above the hip joint small belt wheel 209 and is connected with one end of a hip joint connecting shaft 214 through a fixed key on the hip joint big belt wheel 211, and the hip joint small belt wheel 209 and the hip joint big belt wheel 211 are connected through a hip joint synchronous belt 210; the other end of the hip joint connecting shaft 214 is connected with a fixed key of a hip joint counterweight connecting rod 213, the two ends of a hip joint counterweight spring 215 are respectively connected and fixed with the hip joint counterweight connecting rod 213 and a hip joint horizontal bracket 204 to form a hip joint module 200, and the hip joint counterweight spring 215 is always in a stretching state;
the knee joint module 300 is connected with the hip joint connecting shaft 214 through the fixed key of the hip joint connecting shaft 214, and the ankle joint module 400 is connected with the knee joint module 300.
Preferably, one end of the thigh drawing rod 301 is connected with the fixed key of the hip joint connecting shaft 214, and the other end is connected with the thigh fixed connecting rod 302 in a sliding manner and fastened and locked through a thigh bolt clamp 303; the third motor bracket 306 is of an annular structure and is fixedly connected to the thigh fixing connecting rod 302, and the third motor 305 is arranged inside the third motor bracket 306; the third speed reducer 307 is fixed on the third motor bracket 306, the input end of the third speed reducer is connected with the output end of the third motor 305, and the knee joint small belt wheel 308 is fixedly connected with the output end of the third speed reducer 307; the knee joint bush 311 is fixed on the thigh fixing connecting rod 302, the knee joint connecting shaft 312 is arranged in the knee joint bush 311 through a bearing bracket, the knee joint large belt pulley 310 and the knee joint small belt pulley 308 are arranged on the same side of the thigh fixing connecting rod 302 and are connected through a knee joint synchronous belt 309; the knee joint large belt wheel 310 is connected with one end of a knee joint connecting shaft 312 through a fixing key arranged on the knee joint large belt wheel, the other end of the knee joint connecting shaft 312 is fixedly connected with a shank fixing connecting rod 313, and two ends of a knee joint counterweight spring 304 are respectively connected and fixed with the front end of a thigh fixing connecting rod 302 and the top end of the shank fixing connecting rod 313 to form a knee joint module 300; the knee counterweight spring 304 is always in tension.
Preferably, a lower leg support 315 is further provided, and the lower leg support 315 is an annular structure with an opening and is fixedly connected to the tail end of the lower leg fixing connecting rod 313.
Preferably, the lower leg drawing connecting rod 401 is slidably connected with the lower leg fixing connecting rod 313 and is fastened and locked by a lower leg bolt clamp 314, the fourth motor bracket 407 is of an annular structure and is fixedly connected to the lower leg drawing connecting rod 401, the fourth speed reducer 403 is installed inside the fourth motor bracket 407, the fourth motor 402 is installed outside the fourth motor bracket 407, and the output end of the fourth motor 402 is connected with the input end of the fourth speed reducer 403; the ankle joint flange 404 and the fourth speed reducer 403 are respectively arranged on two sides of the shank drawing link 401 and connected with an output end of the fourth speed reducer 403, and the pedal 406 is fixedly connected with the ankle joint flange 404 through a pedal connecting block 405 to form the ankle joint module 400.
Preferably, the base module 100 further comprises a horseshoe 101, a first corner brace 102, a first electric push rod 103, a second corner brace 104, a third corner brace 106, a lifting rod 107, a throat hoop 108, a fixed pipe 109, a second electric push rod 111, a push rod support 112, a plug 114 and a handrail guide rail 115, the base 116 is mounted on the horseshoe 101, the first corner brace 102 is fixedly connected to the base 116 and located below the back of the lying bed 105, the second corner brace 104 is fixedly arranged at the top of the back of the lying bed 105, and two ends of the first electric push rod 103 are respectively rotatably connected with the first corner brace 102 and the second corner brace 104; the third corner brace 106 is fixedly arranged at the bottom of the back of the lying bed 105, one end of the rod-shaped telescopic structure is fixedly connected to the base 116, and the other end of the rod-shaped telescopic structure is rotatably connected with the third corner brace 106;
the push rod bracket 112 is fixed on the base 116, and two ends of the second electric push rod 111 are respectively fixedly connected with the push rod bracket 112 and the cushion 110; the handrail guide 115 is fixed at the edge of the base 116, and the handrail 113 is sleeved inside the handrail guide 115 through the plug 114.
Preferably, the rod-shaped telescopic structure comprises a fixed tube 109 in a hollow tubular structure, a lifting rod 107 sleeved inside the fixed tube 109, and a throat hoop 108 arranged at the top of the fixed tube 109, wherein the throat hoop 108 is used for locking the relative positions of the fixed tube 109 and the lifting rod 107; the top end of the lifting rod 107 is rotatably connected with the third angle knob 106, and the bottom end of the fixed pipe 109 is fixedly connected with the base 116.
Preferably, the first motor 201, the second motor 206, the third motor 305 and the fourth motor 402 have built-in encoders for measuring the robot attitude.
Preferably, the first reducer 203, the second reducer 208, the third reducer 307 and the fourth reducer 403 are all harmonic reducers.
The hip counter weight links 213 have a mass, the hip counter weight springs 215 and the knee counter weight springs 304 are always in tension, and the mass of the hip counter weight links 213 and the number of the hip counter weight springs 215 and the knee counter weight springs 304 are determined by the knee module 300, the ankle module 400 and the weight of the patient.
When the lower limb rehabilitation robot is used specifically, the lower limb rehabilitation robot can respectively realize rehabilitation training of hip joints, knee joints and ankle joints, and can also realize cooperative rehabilitation training of any two joints or three joints.
Before use, the relative height of the lifting rod 107 and the fixing tube 109, the extending length of the first electric push rod 103 and the second electric push rod 111, the relative height of the armrest guide rail 115 and the armrest 113, the relative position of the hip joint vertical support 205 and the hip joint horizontal support 204, the relative position of the thigh drawing connecting rod 301 and the thigh fixing connecting rod 302, and the relative position of the shank fixing connecting rod 313 and the shank drawing connecting rod 401 are adjusted according to the stature of a patient and actual rehabilitation requirements. The patient places the upper leg on the thigh support 316 and the lower leg is nested within the lower leg support 315.
1) When the hip joint rehabilitation training is independently carried out, hip joint abduction or hip joint pitching training can be respectively carried out, and the cooperative training of two actions can also be carried out.
When the hip joint abduction is trained, the first motor 201 is started, and the power output by the first motor 201 is decelerated by the first speed reducer 203 to drive the hip joint horizontal bracket 204 to rotate so as to drive the hip joint of the affected limb to perform abduction;
when the hip joint is used for pitching training, the second motor 206 is started, the power output by the second motor 206 is decelerated by the second speed reducer 208 to drive the hip joint small belt pulley 209 to rotate, and then the hip joint large belt pulley 211 and the hip joint connecting shaft 214 fixedly connected with the hip joint large belt pulley are driven by the hip joint synchronous belt 210 to rotate, so that the thigh drawing connecting rod 301 is driven to rotate, and the hip joint of the affected limb is driven to perform pitching motion.
In the cooperative training, the first motor 201 and the second motor 206 should be driven at the same time.
2) When the knee joint rehabilitation training is independently performed, the third motor 305 is started, and the power output by the third motor 305 is reduced by the third reducer 307, so that the knee joint connecting shaft 312 and the lower leg fixing connecting rod 313 connected with the knee joint connecting shaft are driven to rotate, and the knee joint of the affected limb is driven to move.
3) During ankle joint rehabilitation training, the fourth motor 402 is started, and after the power output by the fourth motor is reduced by the fourth speed reducer 403, the ankle joint flange 404 and the driving pedal 406 connected with the ankle joint flange 404 are driven to rotate, so that the ankle joint of the affected limb is driven to move.
When any two or three of the hip joint, the knee joint and the ankle joint are cooperatively trained, two to three or three to four of the first motor 201, the second motor 206, the third motor 305 and the fourth motor 402 should be correspondingly started to realize cooperative rehabilitation training.
The utility model discloses hip joint module 200, knee joint module 300 and ankle joint module 400 that use the right side to set up exemplify, when the patient suffers from the limb for the left side limbs, will the utility model discloses a hip joint module 200, knee joint module 300 and ankle joint module 400 carry out the mirror image setting can.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.
Claims (8)
1. The utility model provides a recovered robot of counter weight formula low limbs, is including being used for supporting fixed base module (100) and hip joint module (200), knee joint module (300) and ankle joint module (400) of independent work, its characterized in that: the base module (100) comprises a base (116), a cushion (110) arranged above the base (116), armrests (113) arranged in front of the cushion (110) and a lying bed (105) arranged above and behind the cushion (110);
the first motor support (202) is of an annular structure and fixedly connected to the base (116), the first motor (201) is installed inside the first motor support (202), the first speed reducer (203) is fixed on the first motor support (202), and the input end of the first speed reducer is connected with the output end of the first motor (201); the hip joint horizontal support (204) is arranged above the first speed reducer (203), the front end of the hip joint horizontal support is fixedly connected with the output end of the first speed reducer (203), and the hip joint vertical support (205) is vertically and upwards connected to the tail end of the hip joint horizontal support (204), can horizontally slide along the horizontal support (204), and is fastened and locked through bolts; the second motor support (207) is of an annular structure and is fixedly connected with the hip joint vertical support (205), the second motor (206) is installed inside the second motor support (207), the second speed reducer (208) is fixed on the second motor support (207), the input end of the second speed reducer is connected with the output end of the second motor (206), and the hip joint small belt pulley (209) is fixedly connected with the output end of the second speed reducer (208); a hip joint bushing (212) is fixed on the hip joint vertical bracket (205) and is positioned above the second motor bracket (207), and a hip joint connecting shaft (214) is installed inside the hip joint bushing (212) through a bearing frame; the hip joint large belt wheel (211) is positioned above the hip joint small belt wheel (209) and is connected with one end of the hip joint connecting shaft (214) through a fixed key on the hip joint large belt wheel (211), and the hip joint small belt wheel (209) is connected with the hip joint large belt wheel (211) through a hip joint synchronous belt (210); the other end of the hip joint connecting shaft (214) is connected with a fixed key of a hip joint counterweight connecting rod (213), two ends of a hip joint counterweight spring (215) are respectively connected and fixed with the hip joint counterweight connecting rod (213) and the hip joint horizontal support (204) to form the hip joint module (200), and the hip joint counterweight spring (215) is always in a stretching state;
the knee joint module (300) is connected with the hip joint connecting shaft (214) through a fixed key of the hip joint connecting shaft (214), and the ankle joint module (400) is connected with the knee joint module (300).
2. The weighted lower limb rehabilitation robot as recited in claim 1, wherein: one end of a thigh drawing rod (301) is connected with a fixed key of the hip joint connecting shaft (214), and the other end of the thigh drawing rod is connected with a thigh fixed connecting rod (302) in a sliding manner and is fastened and locked through a thigh bolt clamp (303); the third motor bracket (306) is of an annular structure and is fixedly connected to the thigh fixing connecting rod (302), and the third motor (305) is arranged in the third motor bracket (306); a third speed reducer (307) is fixed on the third motor bracket (306), the input end of the third speed reducer is connected with the output end of the third motor (305), and a knee joint small belt wheel (308) is fixedly connected with the output end of the third speed reducer (307); a knee joint bush (311) is fixed on the thigh fixing connecting rod (302), a knee joint connecting shaft (312) is arranged in the knee joint bush (311) through a bearing frame, a knee joint large belt pulley (310) and the knee joint small belt pulley (308) are arranged on the same side of the thigh fixing connecting rod (302) and are connected through a knee joint synchronous belt (309); the knee joint large belt wheel (310) is connected with one end of a knee joint connecting shaft (312) through a fixing key arranged on the knee joint large belt wheel, the other end of the knee joint connecting shaft (312) is fixedly connected with a shank fixing connecting rod (313), and two ends of a knee joint counterweight spring (304) are respectively connected and fixed with the front end of the thigh fixing connecting rod (302) and the top end of the shank fixing connecting rod (313) to form the knee joint module (300); the knee joint counterweight spring (304) is always in a stretched state.
3. The weighted lower limb rehabilitation robot as recited in claim 2, wherein: the leg fixing device is also provided with a leg support (315), wherein the leg support (315) is of an annular structure with an opening and is fixedly connected to the tail end of the leg fixing connecting rod (313).
4. The weighted lower limb rehabilitation robot as recited in claim 2, wherein: the lower leg drawing connecting rod (401) is connected with the lower leg fixing connecting rod (313) in a sliding mode and fastened and locked through a lower leg bolt clamp (314), a fourth motor support (407) is of an annular structure and fixedly connected to the lower leg drawing connecting rod (401), a fourth speed reducer (403) is installed inside the fourth motor support (407), a fourth motor (402) is installed outside the fourth motor support (407), and the output end of the fourth motor (402) is connected with the input end of the fourth speed reducer (403); the ankle joint flange (404) and the fourth speed reducer (403) are respectively arranged on two sides of the shank drawing connecting rod (401) and are connected with the output end of the fourth speed reducer (403), and the pedal (406) is fixedly connected with the ankle joint flange (404) through a pedal connecting block (405) to form the ankle joint module (400).
5. The weighted lower limb rehabilitation robot of claim 4, wherein: the base module (100) further comprises a horse wheel (101), a first angle brace (102), a first electric push rod (103), a second angle brace (104), a third angle brace (106), a lifting rod (107), a throat hoop (108), a fixed pipe (109), a second electric push rod (111), a push rod support (112), a plug (114) and a handrail guide rail (115), the base (116) is installed on the horse wheel (101), the first angle brace (102) is fixedly connected to the base (116) and located below the back of the lying bed (105), the second angle brace (104) is fixedly arranged at the top of the back of the lying bed (105), and two ends of the first electric push rod (103) are rotatably connected with the first angle brace (102) and the second angle brace (104) respectively; the third corner connector (106) is fixedly arranged at the bottom of the back of the lying bed (105), one end of the rod-shaped telescopic structure is fixedly connected to the base (116), and the other end of the rod-shaped telescopic structure is rotatably connected with the third corner connector (106);
the push rod bracket (112) is fixed on the base (116), and two ends of the second electric push rod (111) are respectively fixedly connected with the push rod bracket (112) and the cushion (110); the handrail guide rail (115) is fixed on the edge of the base (116), and the handrail (113) is sleeved inside the handrail guide rail (115) through a plug (114).
6. The weighted lower limb rehabilitation robot of claim 5, wherein: the rod-shaped telescopic structure comprises a fixed pipe (109) in a hollow tubular structure, a lifting rod (107) sleeved inside the fixed pipe (109) and a hose clamp (108) arranged at the top of the fixed pipe (109), wherein the hose clamp (108) is used for locking the relative positions of the fixed pipe (109) and the lifting rod (107); the top end of the lifting rod (107) is rotatably connected with the third corner connector (106), and the bottom end of the fixed pipe (109) is fixedly connected with the base (116).
7. The weighted lower limb rehabilitation robot of claim 5, wherein: the first motor (201), the second motor (206), the third motor (305) and the fourth motor (402) are internally provided with encoders for measuring the robot attitude.
8. The weighted lower limb rehabilitation robot of claim 5, wherein: the first retarder (203), the second retarder (208), the third retarder (307) and the fourth retarder (403) are all harmonic retarders.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920699049.9U CN210301640U (en) | 2019-05-16 | 2019-05-16 | Counter weight type lower limb rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920699049.9U CN210301640U (en) | 2019-05-16 | 2019-05-16 | Counter weight type lower limb rehabilitation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210301640U true CN210301640U (en) | 2020-04-14 |
Family
ID=70138638
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920699049.9U Withdrawn - After Issue CN210301640U (en) | 2019-05-16 | 2019-05-16 | Counter weight type lower limb rehabilitation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210301640U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110025454A (en) * | 2019-05-16 | 2019-07-19 | 中国科学院合肥物质科学研究院 | A kind of counter weight type lower limb rehabilitation robot |
| CN112223305A (en) * | 2020-09-23 | 2021-01-15 | 合肥铁榔头教育科技有限公司 | Waist joint of humanoid robot and implementation method |
| CN113041564A (en) * | 2021-02-08 | 2021-06-29 | 北京联合大学 | Medical rehabilitation robot for hip joint rehabilitation and motion control method |
| CN113576833A (en) * | 2021-08-03 | 2021-11-02 | 安徽工程大学 | Lower limb power assisting device based on gravity balance |
| CN114344831A (en) * | 2022-01-19 | 2022-04-15 | 河南省正骨研究院 | Intelligent multifunctional knee joint rehabilitation equipment |
-
2019
- 2019-05-16 CN CN201920699049.9U patent/CN210301640U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110025454A (en) * | 2019-05-16 | 2019-07-19 | 中国科学院合肥物质科学研究院 | A kind of counter weight type lower limb rehabilitation robot |
| CN110025454B (en) * | 2019-05-16 | 2024-02-13 | 中国科学院合肥物质科学研究院 | Counter weight type lower limb rehabilitation robot |
| CN112223305A (en) * | 2020-09-23 | 2021-01-15 | 合肥铁榔头教育科技有限公司 | Waist joint of humanoid robot and implementation method |
| CN113041564A (en) * | 2021-02-08 | 2021-06-29 | 北京联合大学 | Medical rehabilitation robot for hip joint rehabilitation and motion control method |
| CN113576833A (en) * | 2021-08-03 | 2021-11-02 | 安徽工程大学 | Lower limb power assisting device based on gravity balance |
| CN114344831A (en) * | 2022-01-19 | 2022-04-15 | 河南省正骨研究院 | Intelligent multifunctional knee joint rehabilitation equipment |
| CN114344831B (en) * | 2022-01-19 | 2022-12-02 | 河南省正骨研究院 | Intelligent multifunctional knee joint rehabilitation equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210301640U (en) | Counter weight type lower limb rehabilitation robot | |
| CN110025454B (en) | Counter weight type lower limb rehabilitation robot | |
| JP5400890B2 (en) | Wheelchair walking assist robot | |
| CN106333829B (en) | Exoskeleton type multi-degree-of-freedom lower limb rehabilitation assistance mechanism | |
| CN111821143B (en) | Lower limb rehabilitation robot based on semi-direct drive driver and control method thereof | |
| US10722416B2 (en) | Multi-posture lower limb rehabilitation robot | |
| CN112168524B (en) | Auxiliary movement wheelchair exoskeleton device capable of realizing sitting, standing and running three-state conversion | |
| CN101647745B (en) | Walking-aid robot with seat | |
| CN110812130B (en) | Pelvic auxiliary walking rehabilitation training robot | |
| CN106420261B (en) | Semi-exoskeleton upper limb rehabilitation instrument | |
| CN213311456U (en) | Lower limb rehabilitation training robot | |
| CN111617432A (en) | Four-limb linkage training device for health rehabilitation | |
| KR101299351B1 (en) | Wheelchair integrated lower-limb exercise/rehabilitation device | |
| CN102085143A (en) | Riding type robot for lower limb rehabilitation | |
| CN106137576A (en) | A kind of novel Wheelchair for patient standing car | |
| CN112515914A (en) | Horizontal double-leg exercise rehabilitation machine | |
| CN106974797A (en) | A kind of gait rehabilitation trainer | |
| CN213049213U (en) | Multifunctional multi-joint training system | |
| CN112057302A (en) | Leg rehabilitation training system | |
| CN209713485U (en) | A kind of multifunction nursing healing robot | |
| CN114642567B (en) | Multi-posture open type lower limb rehabilitation robot | |
| CN116327564A (en) | Movable medical robot for lower limb multi-joint rehabilitation training | |
| CN211750565U (en) | Take intelligent wheelchair of low limbs rehabilitation training function | |
| CN112043552A (en) | Rehabilitation robot with prevent down protection device | |
| CN210302213U (en) | Department of neurology low limbs massager |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20200414 Effective date of abandoning: 20240213 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20200414 Effective date of abandoning: 20240213 |
|
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |