Unweighting walking rehabilitation training robot

Abstract

The invention discloses an unweighting walking rehabilitation training robot, comprising an electric running machine, a partial unweighting support system, exoskeleton mechanical legs and a servo support device, wherein the exoskeleton mechanical legs and the servo support device comprise: a support bracket connected with the base of the electric running machine; a door type bracket component connected with the support bracket via a door bar and a door spindle; a back and breech support component connected with the door type bracket component for supporting the back and breech of a trainer; a mechanical leg component connected with the back and breech support component via a mechanical leg support, wherein the mechanical leg component comprises a knee joint driver that drives the lower legs of the trainer to swing by an electric motor after deceleration of a harmonic speed reducer. The invention uses the unweighting walking training robot of the electric motor directly driven by the harmonic speed reducer so that the robot has back drive; simultaneously, the nonlinear relation of electric motor rotational angle and thigh and leg corner caused by driving mode of the electric motor with lead screw is avoided, and the error brought by angle conversion is reduced.

Description

technical field [0001] The invention relates to the field of medical equipment, in particular to a walking rehabilitation training robot for weight loss. Background technique [0002] Partial body weight support training (PBWST) is a rehabilitation training method combined with exercise therapy and neural promotion technology in the late 1980s. It uses a suspension device to reduce the load on the affected limb and make the supporting capacity insufficient. The patients can carry out walking training, and the medical treadmill drives the patients to walk subconsciously, which can activate the motor cortex and the rhythmic movement center of the spinal cord, and promote the recovery of walking function. At present, PBWST has become a common clinical treatment method, and is widely used in upper and lower neuron lesions such as traumatic brain injury, cerebral palsy, Parkinson's disease, as well as rehabilitation training for lower limb fractures, arthroplasty, and prosthesis ...

AI Technical Summary

Problems solved by technology

The shortcomings of this driving method mainly include: 1) The mechanism is self-locking. When the motor power is cut off, the human leg cannot drive the mechanical leg to move, that is to say, it does not have reverse drive, and this type of rehabilitation training is required clinically. The mechanical device must have reverse drive; 2) The relationship between the rotation angle of the motor and the rotation angle of the thigh and thigh is related to the specific position of the hinge point, which needs to be converted, which increases the complexity of the control and the link of introducing errors

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