Four-degree-of-freedom multi-pose lower limb rehabilitation robot

Abstract

A four-degree-of-freedom multi-pose lower limb rehabilitation robot mainly comprises a base mechanism, a seat mechanism, a left mechanical leg mechanism and a right mechanical leg mechanism, and is characterized in that the upper part of the base mechanism is fixedly connected with the seat mechanism through bolts, mechanical leg width adjusting parts of the seat mechanism are connected with left and right mechanical legs, leg part sliding block connecting pieces of the two mechanical leg width adjusting parts are respectively connected with handle connecting pieces of a thigh mechanism through bolts. According to the robot provided by the invention, a tri-branch parallel mechanism UPU-UPS-U is adopted at hip joint parts of the mechanical legs for realizing flexion and extension and side-sway, knee joints and ankle joints are realized through serial mechanisms, and all joints form a series-parallel hybrid four-degree-of-freedom space mechanism; the length of each of shanks and thighs of the mechanical legs can be adjusted, and an adjusting device is a push rod sliding block four-bar mechanism; the robot can realize the multi-pose change such as standing posture, lying posture and user-defined angles by a parallel mechanism formed by multiple electric cylinders between a seat and a bottom seat plate.

Description

technical field [0001] The invention belongs to the field of medical equipment. Background technique [0002] With the development of the times, the number of patients with lower extremity motor dysfunction caused by accidents such as traffic accidents and sports disabilities is increasing year by year. of the physically handicapped. For the recovery of these patients, in addition to treatment such as surgery and drugs, scientific rehabilitation training is also extremely important. According to statistics, there are about 24.07 million physically disabled people in my country at present, and relying solely on physical training by rehabilitation doctors is far from meeting the needs of patients. As an automated rehabilitation medical device, the lower limb rehabilitation robot can just fill this gap. At present, there are nearly 20,000 rehabilitation training service institutions for all types of disabled persons across the country, and the demand for rehabilitation equip...

AI Technical Summary

Problems solved by technology

Its shortcomings: in the rehabilitation process, it can only play an auxiliary role, and its function is single, and the posture training mode is limited

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