A Suspended Lower Limb Rehabilitation Training Robot

Abstract

The present invention relates to a suspended lower limb rehabilitation training robot, which includes a mechanical component and a host computer. The mechanical component includes a base, a support column, a transverse cantilever, a suspension beam, a hip adduction / abduction driving mechanism, and a first suspension rope. Among them, the support column is arranged on the base in the vertical direction. The first end of the transverse cantilever is connected to the top of the support column, and the second end extends towards the side away from the support column. The suspension beam extends in the horizontal direction, and one end of it is rotatably arranged at the second end of the transverse cantilever. The hip adduction / abduction driving mechanism is arranged inside the transverse cantilever to drive the suspension beam to rotate in the horizontal plane. The upper end of the first suspension rope is connected to the suspension beam, and the lower end hangs freely and can be provided with an ankle strap. The host computer is at least used to control the adduction / abduction driving mechanism to drive the suspension beam to rotate in the horizontal plane. This suspended lower limb rehabilitation training robot can achieve the adduction / abduction training of the hip joint.

Description

Technical Field

[0001] The present invention relates to the technical field of medical device design and manufacturing, and particularly relates to a suspended lower limb rehabilitation training robot. Background Art

[0002] Lower limb dysfunction after stroke is a complication caused by damage to the central nervous system, reflex sympathetic dystrophy, neurovascular atrophy, etc. China is a country with a high incidence of stroke. The "Report on Stroke Prevention and Treatment in China in 2017" shows that the number of people with current and previous strokes among people over 40 years old in China is 12.42 million. In recent years, the incidence of stroke has been increasing at a rate of 8.7% per year, which is the leading cause of death and disability among the people. More than 80% of the surviving patients have lower limb dysfunction, resulting in impaired walking ability and seriously affecting the quality of life of themselves and their families. Clinical studies have shown that early rehabilitation training helps to reduce complications caused by bed rest and promotes brain remodeling and improvement of impaired functions.

[0003] At present, the lower limb rehabilitation training devices for early bedridden stroke patients mainly include a lower limb hip-knee-ankle joint flexion and extension continuous passive trainer and a foot-operated lower limb rehabilitation training robot. A large number of clinical experimental studies have shown that the above-mentioned lower limb rehabilitation training devices have a positive promoting effect on the early rehabilitation of the lower limbs of stroke patients, but there are also obvious defects, mainly manifested as single training actions, only being able to perform flexion and extension training actions of the hip, knee, and ankle, and unable to achieve adduction and abduction training of the hip joint. Summary of the Invention

[0004] The purpose of the present invention is to provide a suspended lower limb rehabilitation training robot that can achieve adduction and abduction training of the hip joint.

[0005] To achieve the above purpose, the suspended lower limb rehabilitation training robot disclosed in the present invention includes a mechanical component and a host computer. The mechanical component includes a base, a support column, a transverse cantilever, a suspension beam, a hip adduction-abduction drive mechanism, and a first suspension rope. Among them, the support column is arranged on the base in the vertical direction, the first end of the transverse cantilever is connected to the top of the support column, and the second end extends towards the side away from the support column. The suspension beam extends in the horizontal direction, and one end of it is rotatably arranged at the second end of the transverse cantilever. The hip adduction-abduction drive mechanism is arranged in the transverse cantilever to drive the suspension beam to rotate in the horizontal plane; the upper end of the first suspension rope is connected to the suspension beam, and the lower end hangs freely and can be provided with an ankle strap. The host computer is at least used to control the adduction-abduction drive mechanism to drive the suspension beam to rotate in the horizontal plane.

[0006] Preferably, it further includes a second suspension rope. The upper end of the second suspension rope is connected inside the suspension beam, and the lower end hangs freely and can be provided with a knee strap.

[0007] Preferably, a lateral movement mechanism and a rope hoisting and lowering mechanism are further provided on the suspension beam. The lateral movement mechanism is used to drive the upper end of the second suspension rope to move along the axis direction of the suspension beam, and the rope hoisting and lowering mechanism is used to change the suspension length of the second suspension rope. The upper end of the first suspension rope is slidably arranged on the suspension beam freely.

[0008] Preferably, the host computer is further used to control the lateral movement mechanism to drive the second suspension rope to move along the axis direction of the suspension beam, and to control the rope hoisting and lowering mechanism to act to change the suspension length of the second suspension rope.

[0009] Preferably, the suspension beam includes a first section and a second section. The first section is connected to the lateral cantilever, the lateral movement mechanism is arranged in the first section, the second section is movably connected to the first section through the lateral movement mechanism, the rope hoisting and lowering mechanism is arranged in the second section, the upper end of the second suspension rope is connected to the rope hoisting and lowering mechanism, and the upper end of the first suspension rope is slidably arranged on the second section freely.

[0010] Preferably, the hip abduction and adduction driving mechanism includes an abduction and adduction driving motor and a speed reducer. The abduction and adduction driving motor is fixedly arranged in the inner cavity of the lateral cantilever, the input shaft of the speed reducer is connected to the output shaft of the abduction and adduction driving motor, and the output shaft of the speed reducer is used to be fixedly connected to the first section.

[0011] Preferably, the lateral movement mechanism includes a lateral driving motor and a first lead screw slider assembly connected to the lateral driving motor. The first lead screw in the first lead screw slider assembly is arranged along the axial direction of the first section, and the first slider in the first lead screw slider assembly is used to be fixedly connected to the second section.

[0012] Preferably, the rope hoisting and lowering mechanism includes a hoisting and lowering driving motor, a second lead screw slider assembly and a fixed pulley. The second lead screw in the second lead screw slider assembly is arranged along the axial direction of the second section and is connected to the hoisting and lowering driving motor, and the second slider in the second lead screw slider assembly is fixedly connected to the upper end of the second suspension rope. The lower end of the second suspension rope bypasses the fixed pulley and hangs vertically downward freely.

[0013] Preferably, a first support rod and a second support rod are arranged in the inner cavity of the second section. Both the first support rod and the second support rod extend vertically downward perpendicular to the axis of the second section, and a smooth shaft guide parallel to the axis of the second section is connected between the bottoms of the first support rod and the second support rod. An ankle rope connection block is slidably arranged on the smooth shaft guide, and the upper end of the first suspension rope is fixedly connected to the ankle rope connection block.

[0014] Preferably, the support column is an electrically adjustable lifting column.

[0015] Preferably, the base includes two parallel base wheel frames and a bottom plate disposed between the two base wheel frames. Base traveling wheels are provided on the base wheel frames covered by the bottom plate. The bottom end of the support column is fixedly connected to the bottom plate. After the two base wheel frames extend beyond the bottom plate, they are bent and sunk to form anti-tipping insertion plates that can be inserted into the bottom of the hospital bed. Anti-tipping universal wheels are provided at the ends of the anti-tipping insertion plates.

[0016] Preferably, a tension sensor is further provided in the suspension beam for detecting the tension of the second suspension rope. When the knee joint strap is strapped to the patient's knee, the upper computer obtains the leg gravity mg of the patient. During the rehabilitation training, if the tension detected by the tension sensor is greater than Kmg, the upper computer determines that the patient's leg is in spasm and controls the suspension type lower limb rehabilitation training robot to stop; where m is the mass of the patient's leg, g is the acceleration due to gravity, and k = 1.5.

[0017] In the suspension type lower limb rehabilitation training robot disclosed in the present invention, the base supports the entire suspension type lower limb rehabilitation training robot. The support column is used to support the transverse cantilever and the suspension beam to a suitable height. The transverse cantilever extends towards the hospital bed side, and its function is to support the suspension beam above the patient's hospital bed. When performing the adduction and abduction training of the hip joint, the patient lies supine on the hospital bed. The ankle joint strap is disposed at the lower end of the first suspension rope and strapped to the patient's ankle joint. The rotation center of the suspension beam is aligned with the patient's hip joint in the vertical direction, and the ankle joint strap suspends the lower end of the patient's lower limb off the bed surface. Under the control of the upper computer, the adduction and abduction drive mechanism drives the suspension beam to reciprocally rotate in the horizontal plane (coronal plane), thereby driving the patient's lower limb to perform the adduction and abduction movement of the hip joint.

[0018] In the lower limb rehabilitation training robot disclosed in the present invention, the suspension method is innovatively adopted to fix the patient's lower limb, effectively avoiding the limitation of each joint of the patient's lower limb, enabling each joint of the patient's lower limb to move freely and flexibly; at the same time, the adduction and abduction training of the patient's hip joint is also realized, expanding the training method of the patient's lower limb, enabling the patient's hip joint to move, and being beneficial to accelerating the improvement of the patient's proprioceptive ability, balance ability, neuromuscular control ability, and walking ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic diagram of the overall structure of the suspension type lower limb rehabilitation training robot disclosed in the present invention;

[0020] Figure 2 is a schematic diagram of the usage scenario of the suspension type lower limb rehabilitation training robot disclosed in the present invention;

[0021] Figure 3 is Figure 1 a schematic structural diagram of the base assembly within the dashed-line frame in

[0022] Figure 4 is Figure 1 a schematic internal structure diagram of the transverse cantilever shown in

[0023] Figure 5 is Figure 1 a schematic internal structure diagram of the first segment shown in

[0024] Figure 6 is Figure 1 a schematic internal structure diagram of the second segment shown in

[0025] Figure 7 is a schematic diagram of the supine hip and knee flexion training

[0026] Figure 8 is a schematic diagram of the movement trajectories of the knee strap and ankle strap during the supine hip and knee flexion training

[0027] Figure 9 is a schematic diagram of the supine hip adduction and abduction training

[0028] Figure 10 is a schematic diagram of the movement trajectories of the knee strap and ankle strap during the supine hip adduction and abduction training

[0029] Figure 11 is a schematic diagram of the movement trajectories of the knee strap and ankle strap during the supine hip extension and knee flexion training

[0030] Figure 12 is a schematic diagram of the movement trajectory of the knee strap during the prone hip extension and knee flexion training.

[0031] Among them, 1000 is the base assembly, 2000 is the horizontal cantilever, 3000 is the first section, 4000 is the second section, 1001 is the anti-tipping universal wheel, 1002 is the anti-tipping insertion plate, 1003 is the base travel wheel, 1004 is the bottom plate, 1005 is the travel wheel control rod, 1006 is the electrical cabinet, 1007 is the handrail, 1008 is the control panel, 1009 is the lifting column, 2001 is the outer wall of the horizontal cantilever, 2002 is the retraction and extension drive motor, 2003 is the reduction gear, 2004 is the crossed roller bearing, 2005 is the adapter shaft, 3001 is the first section housing, 3002 is the lateral drive motor, 3003 is the lateral top plate, 3004 is the first motor bracket, 3005 is the first coupling, 3006 is the first main bearing seat, 3007 is the first lead screw, 3008 is the first guide rail, 3009 is the first slider, 3010 is the first secondary bearing seat, 3011 is the first set of fixing screws, 4001 is the second top plate, 4002 is the second secondary bearing seat, 4003 is the second lead screw, 4004 is the second guide rail, 4005 is the second slider, 4006 is the knee rope connection block, 4007 is the second main bearing seat, 4008 is the pulley bracket, 4009 is the fixed pulley, 4010 is the second motor bracket, 4011 is the retraction and extension drive motor, 4012 is the second coupling, 4013 is the first support rod, 4014 is the optical axis guide rail, 4015 is the ankle rope connection block, 4016 is the second support rod, 4017 is the second set of fixing screws, 1 is the first suspension rope, 2 is the second suspension rope, 3 is the ankle joint strap, and 4 is the knee joint strap. Detailed implementation mode

[0032] The core of the present invention is to provide a suspended lower limb rehabilitation training robot so as to be able to achieve adduction and abduction training of the hip joint.

[0033] Please first refer to Figures 1 to 6, the suspended lower limb rehabilitation training robot disclosed in the present invention includes mechanical components and a host computer. The mechanical components include a base, a support column, a transverse cantilever, a suspension beam, a hip abduction and adduction drive mechanism, and a first suspension rope. The base is used to support the entire suspended lower limb rehabilitation robot. The support column is arranged on the base in the vertical direction. The transverse cantilever is perpendicular to the support column, and the first end of the transverse cantilever is connected to the top of the support column. The second end of the transverse cantilever extends towards the side away from the support column. The function of the transverse cantilever is to support the suspension beam above the patient's hospital bed. The suspension beam extends in the horizontal direction and is aligned with the length direction of the patient's lower limb. One end of the suspension beam is rotatably arranged at the second end of the transverse cantilever. The hip abduction and adduction drive mechanism is arranged inside the transverse cantilever, and its function is to drive the suspension beam to rotate around its own hinge end in the horizontal plane. The upper end of the first suspension rope is connected to the suspension beam, and the lower end hangs freely and can be provided with an ankle strap. The host computer belongs to the electrical control part. The function of the host computer is at least to control the abduction and adduction drive mechanism to drive the suspension beam to rotate in the horizontal plane.

[0034] Please also refer to Figure 2 and Figure 9 , when using the suspended lower limb rehabilitation training robot disclosed in the present invention for hip abduction and adduction training, the patient lies supine on the hospital bed. The ankle strap is arranged at the lower end of the first suspension rope and is tied to the patient's ankle. The rotation center of the suspension beam is aligned with the patient's hip joint in the vertical direction, and the ankle strap suspends the bottom end of the patient's lower limb off the bed surface. Under the control of the host computer, the ankle abduction and adduction drive mechanism drives the suspension beam to rotate reciprocally in the horizontal plane (coronal plane), thereby driving the patient's lower limb to perform hip abduction and adduction movements.

[0035] In order to enhance its functionality, improve the convenience for rehabilitation therapists during use, and ensure the safety and reliability of the entire rehabilitation training robot, the applicant optimizes the design of the suspended lower limb rehabilitation training robot disclosed in the above embodiment. In particular, a second suspension rope is added. The upper end of the second suspension rope is connected inside the suspension beam. A transverse movement mechanism and a suspension rope retracting and releasing mechanism are also arranged inside the suspension beam. The transverse movement mechanism is used to drive the upper end of the second suspension rope to move along the axis direction of the suspension beam. The suspension rope retracting and releasing mechanism is used to change the suspension length of the second suspension rope. The upper end of the first suspension rope is slidably arranged on the suspension beam; the optimized suspended lower limb rehabilitation training robot is introduced in detail as follows:

[0036] The optimized suspended lower limb rehabilitation training robot is integrally divided into a base assembly 1000, a transverse cantilever 2000, a first section 3000, and a second section 4000. Among them, the first section 3000 and the second section 4000 together constitute the suspension beam in the above embodiment. We will introduce each of the above components separately.

[0037] Please refer to Figure 3 , the above base assembly 1000 specifically includes two base wheel frames arranged in parallel and a base plate 1004 disposed between the two base wheel frames. A total of four base walking wheels 1003 are provided on the base wheel frames covered by the base plate 1004. After the two base wheel frames extend beyond the base plate 1004 and then bend and sink, anti-tipping insertion plates 1002 that can be inserted into the bottom of the hospital bed are formed. Anti-tipping universal wheels 1001 are respectively provided at the ends of the anti-tipping insertion plates 1002. A walking wheel control rod 1005 is provided at a position near the bottom on the side of the base wheel frame. The walking wheel control rod 1005 can conveniently control the braking and release of the base walking wheels 1003 through a linkage mechanism. An electrical cabinet 1006 and the above-mentioned support column are provided on the base plate 1004. A host computer is provided in the electrical cabinet 1006. Since the anti-tipping insertion plate 1002 is a sunken design relative to the base wheel frame, the anti-tipping universal wheel 1001 is a small-sized universal wheel relative to the base walking wheels 1003. An armrest 1007 is installed on the electrical cabinet 1006 to facilitate the grasping and movement of the rehabilitation physician. The control panel 1008 is fixed to the electrical cabinet 1006 and is disposed near the armrest 1007. The control panel 1008 is preferably a touch screen controller, which can conveniently enable the rehabilitation physician to adjust the training parameters suitable for different patients. The support column adopts a lifting column 1009, and the height of the lifting column 1009 can be directly adjusted through the control panel 1008 so that the rehabilitation training robot can adapt to different hospital bed heights. There are various implementation manners for the lifting column 1009. The lifting column 1009 in this embodiment preferably adopts an electric push rod.

[0038] A hip adduction / abduction driving mechanism is provided inside the transverse cantilever 2000. Please refer to Figure 4 , a adduction / abduction driving motor 2002, a speed reducer 2003, a crossed roller bearing 2004 and a transfer shaft 2005 are provided inside the transverse cantilever 2000. The transverse cantilever 2000 is fixedly connected to the top end of the support column and can be lifted and lowered along with the support column. The adduction / abduction driving motor 2002 is fixedly connected inside the cavity of the transverse cantilever 2000 to provide power for hip adduction / abduction rehabilitation training. The input shaft of the speed reducer 2003 is connected to the output shaft of the adduction / abduction driving motor 2002. The outer ring of the crossed roller bearing 2004 is fixedly connected to the transverse cantilever 2000, and its inner ring is coaxial with the output shaft of the speed reducer 2003. The transfer shaft 2005 is fixedly connected to the inner ring of the crossed roller bearing 2004. The output shaft of the speed reducer 2003 transmits power to the transfer shaft 2005 through a flat key. The transfer shaft 2005 is used to be fixedly connected to the first section 3000. More preferably, the outer wall 2001 of the transverse cantilever completely wraps the internal structure of the transverse cantilever 2000 to form a transverse cantilever module.

[0039] A transverse movement mechanism is provided inside the first section 3000. Please refer to Figure 5, within the first section 3000, there is a transverse top plate 3003, and a transverse drive motor 3002, a first motor bracket 3004, a first coupling 3005, a first main bearing seat 3006, a first lead screw 3007, a first guide rail 3008, a first slider 3009, a first secondary bearing seat 3010, and a first set of fixing screws 3011 are arranged in the first section 3000. The first guide rail 3008 is fixedly connected to the transverse top plate 3003. The first lead screw 3007 extends along the axial direction of the first section 3000 and is arranged on the transverse top plate 3003 through the first main bearing seat 3006 and the first secondary bearing seat 3010. The transverse drive motor 3002 is fixedly connected to the transverse top plate 3003 through the first motor bracket 3004. The transverse drive motor 3002 is connected to the first lead screw 3007 through the first coupling 3005. The first slider 3009 is fixedly connected to the nut of the first lead screw 3007 and the sliding member on the first guide rail 3008 respectively. By controlling the transverse drive motor 3002, the first lead screw 3007 is driven to drive the first slider 3009 to perform a reciprocating linear motion on the first guide rail 3008, which is used to match the transverse movement of the second suspension rope 2. The first section 3000 is fixedly connected to the inner ring of the above-mentioned transfer shaft 2005 and the crossed roller bearing 2004 through the first set of fixing screws 3011. The first section housing 3001 is fixedly connected to the transverse top plate 3003 and covers the internal structure of the first section 3000, thereby forming the first section module.

[0040] The rope winding and unwinding mechanism is arranged in the second section 4000. Please refer to Figure 6, the second section 4000 has a second top plate 4001, and a second auxiliary bearing block 4002, a second lead screw 4003, a second guide rail 4004, a second slider 4005, a knee rope connection block 4006, a second main bearing block 4007, a pulley frame 4008, a fixed pulley 4009, a second motor mount, a retracting and extending drive motor 4011, a second coupling 4012, a first support rod 4013, a second support rod 4016, a smooth shaft guide rail 4014, an ankle rope connection block 4015, and a second screw fixing group are arranged inside the second section 4000. The second guide rail 4004 is fixedly connected to the second top plate 4001. The second lead screw 4003 is arranged along the axis of the second section 4000 and is connected to the second top plate 4001 through the second main bearing block 4007 and the second auxiliary bearing block 4002. The retracting and extending drive motor 4011 is fixedly connected to the second top plate 4001 through the second motor mount 4010. The retracting and extending drive motor 4011 is connected to the second lead screw 4003 through the second coupling 4012. The second slider 4005 is fixedly connected to the nut of the second lead screw 4003 and the slider of the second guide rail 4004 respectively. The fixed pulley 4009 is fixed to the second main bearing block 4007 through a pulley slide. The knee rope connection block 4006 is fixedly connected to the second slider 4005. The upper end of the second suspension rope 2 is fixedly arranged on the knee rope connection block 4006. The lower end of the second suspension rope 2 bypasses the fixed pulley 4009 and then hangs vertically downward. The retracting and extending drive motor 4011 drives the second slider 4005 to make a reciprocating linear motion on the second lead screw 4003. Through the conduction of the fixed pulley 4009, the movement of the second slider 4005 along the axis of the second section 4000 is converted into the change of the suspension length of the second suspension rope 2 in the vertical direction. The smooth shaft guide rail 4014 is fixedly connected to the second top plate 4001 through a first support and a second support. The ankle rope connection block 4015 is slidably connected to the smooth shaft guide rail 4014 through a linear bearing. The upper end of the first suspension rope 1 is fixedly connected to the ankle rope connection block 4015. The second section 4000 is connected to the first section 3000 through a second fixing screw group 4017.

[0041] To further optimize the solution, a tension sensor is also arranged inside the suspension beam. The tension sensor is used to detect the tension of the second suspension rope 2. When the knee joint strap 4 is strapped to the patient's knee, the upper computer obtains the leg gravity mg of the patient. If the same patient needs to use the robot multiple times, the upper computer can then judge whether the strap is strapped well according to the tension value on the tension sensor. During the rehabilitation training, if the tension detected by the tension sensor is greater than Kmg, the upper computer determines that the patient's leg is in spasm and controls the suspension type lower limb rehabilitation training robot to stop, in order to prevent harm to the patient. Wherein, m is the mass of the patient's leg, g is the acceleration due to gravity, and k = 1.5.

[0042] It should be noted that under the guidance of the inventive concept, those skilled in the art can easily improve or replace the transverse movement mechanism and the suspension rope retraction and extension mechanism disclosed in the above embodiments. For example, the transverse movement mechanism can be replaced with a micro cylinder, and the retraction and extension drive motor 4011 and the second lead screw slider assembly in the suspension rope retraction and extension mechanism can also be replaced with a micro cylinder, etc. It should be understood that as long as a transverse movement mechanism capable of driving the second section 4000 to move horizontally along the first section 3000, and a suspension rope retraction and extension mechanism capable of changing the suspension length of the second suspension rope 2 in the vertical direction are within the protection scope of the present invention.

[0043] The suspended lower limb rehabilitation training robot disclosed in the present invention fixes the lower limbs of the patient in a suspended manner. The entire suspension arm can rotate in the horizontal plane along the support column under the control of the upper computer, and the suspension arm is divided into a first section 3000 and a second section 4000. The second section 4000 can reciprocate along the axis direction of the first section 3000 under the drive of the transverse movement mechanism under the control of the upper computer. The first suspension rope 1 has no power and is a follow-up suspension rope; the second suspension rope 2 has power. Under the control of the upper computer, when the second suspension rope 2 moves axially along the first section 3000, the suspension length can be changed by the suspension rope retraction and extension mechanism; by setting an ankle strap 3, a knee strap 4 or a hip strap at the bottom ends of the first suspension rope 1 and the second suspension rope 2, various rehabilitation training modes can be realized. The following lists several rehabilitation training modes. It should be understood that the several rehabilitation training modes listed below are by no means all the training modes that the lower limb rehabilitation training robot can achieve. The rehabilitation therapist can set different straps at the bottom ends of the first suspension rope 1 and the second suspension rope 2 according to the actual situation to achieve different training purposes.

[0044] Hip adduction and abduction training:

[0045] Please refer to Figure 9 and Figure 10 , an ankle strap 3 is set at the bottom end of the first suspension rope 1, and a knee strap 4 is set at the bottom end of the second suspension rope 2. The patient is in the supine position. The ankle strap 3 is tied to the ankle joint of the patient's lower limb, and the knee strap 4 is tied to the knee joint of the patient. The rotation center H of the first section 3000 is aligned with the patient's hip joint. The length of the patient's thigh is L1, and the length of the patient's calf is L2. The rotation angle θ of the patient's hip joint is θ = ωt. To avoid injury to the patient, it is set that 0 < θ < π / 4, where ω is the angular velocity and t is the time. According to the given angular velocity, the upper computer can control the adduction and abduction drive motor 2002 to drive the suspension beam to rotate in the horizontal plane (the plane formed by the X-axis and the Y-axis).

[0046] Lateral position hip extension training:

[0047] At the bottom end of the first suspension rope 1, an ankle strap 3 is provided, and at the bottom end of the second suspension rope 2, a knee strap 4 is provided. The patient is in the lateral position. The ankle strap 3 is strapped to the ankle joint of the patient's lower limb, and the knee strap 4 is strapped to the knee joint of the patient. The rotation center H of the first segment 3000 is aligned with the hip joint of the patient. The length of the patient's thigh is L1, and the length of the calf is L2. The rotation angle θ of the patient's hip joint in the sagittal plane of the human body is θ = ωt. To avoid injury to the patient, it is set that 0 < θ < π / 4, where ω is the angular velocity and t is the time. According to the given angular velocity, the host computer can control the retraction and extension drive motor 2002 to drive the suspension beam to rotate in the horizontal plane.

[0048] Flexion and knee flexion training in the supine position:

[0049] Please refer to Figure 7 and Figure 8 , at the bottom end of the first suspension rope 1, an ankle strap 3 is provided, and at the bottom end of the second suspension rope 2, a knee strap 4 is provided. The patient is in the supine position. The ankle strap 3 ( Figure 8 Point A in) is strapped to the ankle joint of the patient's lower limb, and the knee strap 4 ( Figure 8 Point K in) is strapped to the knee joint of the patient. The rotation center H of the first segment 3000 is aligned with the hip joint of the patient. The suspension length of the second suspension rope 2 can be large or small, which can realize the movement of the patient's knee joint in the vertical direction (Z-axis). At the same time, the second segment 4000 can move along the axis of the first segment 3000 (i.e., Figure 8 X-axis direction in) under the drive of the lateral movement mechanism. The first suspension rope 1 has no power and its length remains unchanged, so it can follow in the X-axis direction. Assuming that the length of the patient's thigh is L1 and the length of the calf is L2 (the thigh length and calf length can be automatically obtained through system data initialization after the straps are strapped), with the rotation center H of the patient's hip joint as the origin, when the patient is supine, the lower limb is the X-axis of the space, and the upward direction is the Z-axis. As shown in Figure 8 , in the initial state, the patient's knee joint, ankle joint, and hip joint are all on the X-axis. During training, the patient's knee joint draws an arc trajectory with H as the center and the thigh length L1 as the radius. If the rotation angle θ of the patient's hip joint is θ = ωt, where ω is the angular velocity and t is the time, then according to trigonometric functions, the coordinate values of the knee strap 4 and the ankle strap 3 in the vertical plane (the plane formed by the X-axis and the Z-axis) can be calculated in real time. Based on this, the host computer can control the lateral drive mechanism and the suspension rope retraction and release mechanism to act. Specifically,

[0050] The trajectory of the knee strap 4 should satisfy:

[0051] k(x) = L1cos(wt); where, 0 < wt < 90°;

[0052] K(z) = L1sin(wt), where 0 < wt < 90°;

[0053] The movement trajectory of the ankle strap 3 should satisfy:

[0054] where 0 < wt < 90°;

[0055] A(z) = 0.

[0056] Hip and knee extension training in the supine position:

[0057] As Figure 11 shown, at the bottom end of the first suspension rope 1, a knee strap 4 is set, and at the bottom end of the second suspension rope 2, a hip strap is set. The patient lies supine, and the knees of the patient's lower limbs are bent. The hip strap is tied to the hip rotation center H of the patient. The distance between the hip rotation center H and the support column in the X-axis direction is L0. The hip rotation center makes a circular motion with the knee joint as the center and the patient's thigh length L1 as the radius. Assuming the angular velocity of this circular motion is ω, then the rotation angle of the knee joint is θ = ωt. Then, according to trigonometric functions, the coordinate values of the hip strap in the vertical plane (the plane formed by the X-axis and the Z-axis) can be calculated in real time. Based on this, the upper computer can control the lateral driving mechanism and the rope winding and unwinding mechanism to act. Specifically:

[0058] The movement trajectory of the hip strap satisfies:

[0059] where

[0060] H(z) = L1sin(wt) + L2, where

[0061] Hip extension training in the prone position:

[0062] As Figure 12 shown, at the bottom end of the second suspension rope 2, an ankle strap 3 is set. The patient lies prone, and the rotation center of the first segment 3000 is aligned with the hip rotation center H of the patient. The ankle strap 3 ( Figure 12 point A in it) is tied to the ankle joint of the patient's lower limb. Assuming the length of the patient's thigh is L1 and the length of the calf is L2, when the patient lies prone, the patient's lower limb serves as the X-axis in space, and the upward direction serves as the Z-axis in space. In the initial state, the patient's knee joint, ankle joint, and hip joint are all on the X-axis. During training, the patient's ankle draws a circular arc with the knee joint as the center and the calf length L2 as the radius. The rotation angle of the patient's knee joint is θ = ωt, where ω is the angular velocity and t is the time. Then, according to trigonometric functions, the coordinate values of the ankle strap 3 in the vertical plane (the plane formed by the X-axis and the Z-axis) can be calculated in real time. Based on this, the upper computer can control the lateral driving mechanism and the rope winding and unwinding mechanism to act. Specifically:

[0063] The movement trajectory of the ankle strap 3 satisfies:

[0064] A(x) = L2cos(wt) + L1, where 0 < wt < 90°;

[0065] A(z) = L2sin(wt), where 0 < wt < 90°.

[0066] Since the second section 4000 is rotatably installed on the transverse cantilever 2000, the lower limb rehabilitation training robot can be adjusted according to whether the patient is in the left or right bed position. At the same time, due to the existence of the anti-tipping insert plate 1002, the base can extend a certain distance under the bed. Therefore, the rehabilitation training robot can also perform rehabilitation treatment on the left and right legs of patients in the left bed position, and can also perform rehabilitation treatment on the left and right legs of patients in the right bed position.

[0067] Before performing lower limb rehabilitation training, the rehabilitation therapist places the robot at a suitable position near the patient's bedside, then adjusts the support column to a suitable height, selects the type of strap according to the training items to be performed. After completing the binding of the strap, the system is initialized to obtain various initial data values such as the patient's thigh length, calf length, and the gravity of the patient's lower limbs. Then, the rehabilitation therapist sets the training parameters (such as speed, time, etc.). After the system completes the trajectory planning, the training begins.

[0068] The above has introduced the suspended lower limb rehabilitation training robot provided by the present invention in detail. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present invention, several improvements and modifications can still be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A suspended lower limb rehabilitation training robot, comprising a mechanical component and a host computer, characterized in that, The mechanical component includes a base, a support column, a transverse cantilever, a suspension beam, a hip adduction / abduction drive mechanism, and a first suspension rope. Among them, the support column is arranged on the base in the vertical direction. The first end of the transverse cantilever is connected to the top of the support column, and the second end extends towards the side away from the support column. The suspension beam extends in the horizontal direction, and one end of it is rotatably arranged at the second end of the transverse cantilever. The hip adduction / abduction drive mechanism is arranged in the transverse cantilever to drive the suspension beam to rotate in the horizontal plane. The upper end of the first suspension rope is connected to the suspension beam, and the lower end hangs freely and can be provided with an ankle strap. The host computer is at least used to control the adduction / abduction drive mechanism to drive the suspension beam to rotate in the horizontal plane. The mechanical component further includes a second suspension rope. The upper end of the second suspension rope is connected inside the suspension beam, and the lower end hangs freely and can be provided with a knee strap. A transverse movement mechanism and a suspension rope retracting and releasing mechanism are also arranged on the suspension beam. The transverse movement mechanism is used to drive the upper end of the second suspension rope to move along the axis direction of the suspension beam. The suspension rope retracting and releasing mechanism is used to change the suspension length of the second suspension rope. The upper end of the first suspension rope is slidably arranged on the suspension beam freely. The host computer is also used to control the transverse movement mechanism to drive the second suspension rope to move along the axis direction of the suspension beam, and to control the suspension rope retracting and releasing mechanism to act to change the suspension length of the second suspension rope. The suspension beam includes a first section and a second section. The first section is connected to the transverse cantilever. The transverse movement mechanism is arranged in the first section. The second section is movably connected to the first section through the transverse movement mechanism. The suspension rope retracting and releasing mechanism is arranged in the second section. The upper end of the second suspension rope is connected to the suspension rope retracting and releasing mechanism. The upper end of the first suspension rope is slidably arranged on the second section freely.

2. The suspended lower limb rehabilitation training robot according to claim 1, wherein The hip adduction / abduction drive mechanism includes an adduction / abduction drive motor and a speed reducer. The adduction / abduction drive motor is fixedly arranged in the inner cavity of the transverse cantilever. The input shaft of the speed reducer is connected to the output shaft of the adduction / abduction drive motor. The output shaft of the speed reducer is used to be fixedly connected to the first section.

3. The suspended lower limb rehabilitation training robot according to claim 1, characterized in that The transverse movement mechanism includes a transverse drive motor and a first lead screw slider assembly connected to the transverse drive motor. The first lead screw in the first lead screw slider assembly is arranged along the axial direction of the first section, and the first slider in the first lead screw slider assembly is used to be fixedly connected to the second section.

4. The suspended lower limb rehabilitation training robot according to claim 1, wherein, The suspension rope retracting and releasing mechanism includes a retracting and releasing drive motor, a second lead screw slider assembly, and a fixed pulley. The second lead screw in the second lead screw slider assembly is arranged along the axial direction of the second section and is connected to the retracting and releasing drive motor. The second slider in the second lead screw slider assembly is fixedly connected to the upper end of the second suspension rope. The lower end of the second suspension rope bypasses the fixed pulley and then hangs vertically downward freely.

5. The suspended lower limb rehabilitation training robot according to claim 1, characterized in that, A first support rod and a second support rod are arranged in the inner cavity of the second section. The first support rod and the second support rod both extend downward perpendicular to the axis of the second section. A smooth shaft guide rail parallel to the axis of the second section is connected between the bottom ends of the first support rod and the second support rod. An ankle rope connecting block is slidably arranged on the smooth shaft guide rail. The upper end of the first suspension rope is fixedly connected to the ankle rope connecting block.

6. The suspended lower limb rehabilitation training robot according to any one of claims 1-5, characterized in that, The support column is an electric lifting column with adjustable height.

7. The suspension type lower limb rehabilitation training robot according to claim 1, characterized in that, The base includes two parallel base wheel frames and a bottom plate arranged between the two base wheel frames. Base traveling wheels are arranged on the base wheel frames covered by the bottom plate. The bottom end of the support column is fixedly connected to the bottom plate. After the two base wheel frames extend beyond the bottom plate, they are bent and sunk to form anti-tip insertion plates that can be inserted into the bottom of the hospital bed. Anti-tip universal wheels are arranged at the ends of the anti-tip insertion plates.

8. The suspended lower limb rehabilitation training robot according to claim 1, characterized in that, It further includes a tension sensor arranged in the suspension beam and used for detecting the tension of the second suspension rope. When the knee joint strap is strapped to the patient's knee, the upper computer obtains the leg gravity mg of the patient. During the rehabilitation training process, if the tension detected by the tension sensor is greater than Kmg, the upper computer determines that the patient's leg is in spasm and controls the suspension type lower limb rehabilitation training robot to stop; where m is the mass of the patient's leg, g is the acceleration due to gravity, and k = 1.5.

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