A foot mechanism of a lower limb rehabilitation robot

Abstract

The foot mechanism of a lower limb rehabilitation robot of the present invention comprises a sole plate, a guide rod, a traction rod and an electric device fixing plate, the lower part of the guide rod is connected to the electric device fixing plate through a guide hole, the bottom of the guide rod is connected to the bottom of the electric device fixing plate through a return spring, a first motor fixing seat is provided on one side of the top of the electric device fixing plate, and a bearing fixing seat is provided on the other side, a first motor is provided on the top of the first motor fixing seat, a second motor mounting frame is connected to the output end of the first motor, a connecting rod is provided on one side of the second motor mounting frame, and a second motor is installed in the second motor mounting frame. The present invention has a simple structure, no complex machinery and control system, small size, and is easy to install and maintain; electronic physiotherapy equipment is added, acupoint physiotherapy of the foot is added, and patient recovery is accelerated; the price is low, which can meet the needs of ordinary family patients, and can be promoted and used as a home-type lower limb rehabilitation instrument.

Description

Technical Field

[0001] The present invention relates to the technical field of medical rehabilitation equipment, and in particular to a foot mechanism of a lower limb rehabilitation robot. Background Art

[0002] The rehabilitation treatment of patients with lower limb paralysis has changed from traditional manual physical therapy to the current automated treatment covering multiple disciplines and technologies. The combination of robotics and rehabilitation medicine is one of the main areas of robot application. The foot mechanism of existing lower limb rehabilitation robots often has the following shortcomings: (1) The single fixed ankle joint rehabilitation device makes the traction movement trajectory of the entire lower limb single and the lower limb movement space is limited; (2) The existing lower limb rehabilitation training device including the ankle joint has a large structural size. The main reason is that it is necessary to consider multiple sensor installations and joint drive design schemes at the same time; (3) It only focuses on joint activity training and ignores the recovery of the nervous system; (4) The existing rehabilitation training devices are expensive, and ordinary families cannot afford the high medical expenses. For example, developed countries such as Europe and the United States have developed robots such as Lokomat, ALEX, and LOPES to help patients complete rehabilitation training, but such robot systems are complex and expensive, and ordinary families cannot afford the high medical expenses. In addition, such equipment is mostly used in rehabilitation centers, and patients have limited exercise time, and the effect is difficult to guarantee. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a foot mechanism of a lower limb rehabilitation robot which has a simple structure, a small size, a low cost and can promote the recovery of the nervous system.

[0004] The present invention provides a foot mechanism of a lower limb rehabilitation robot, comprising a foot plate and an electric device fixing plate, wherein the electric device fixing plate is located below the foot plate, the foot plate is connected to the electric device fixing plate through a guide rod and a traction rod, the top of the traction rod is connected to the other end of the bottom of the foot plate, one end of the electric device fixing plate is provided with a guide hole, the lower part of the guide rod is connected to the electric device fixing plate through the guide hole, the bottom of the guide rod is connected to the bottom of the electric device fixing plate through a return spring, a first motor fixing seat is provided on one side of the top of the other end of the electric device fixing plate, and a bearing fixing seat is provided on the other side, a first motor is provided on the top of the first motor fixing seat, an output end of the first motor is connected to a second motor mounting frame through a flange assembly, a connecting rod is provided on one side of the second motor mounting frame, one end of the connecting rod is connected to the bearing fixing seat through a first bearing, a second motor is installed in the second motor mounting frame, an output shaft end of the second motor is coaxially connected to a turntable, an eccentric connecting piece is provided on one side of the turntable deviating from the center of the turntable, and the eccentric connecting piece is connected to the bottom of the traction rod.

[0005] Preferably, a ball head is provided at the top of the guide rod and the top of the traction rod, a spherical groove is provided at the connection between the sole plate and the traction rod and at the connection between the sole plate and the guide rod, the ball head is pressed into the spherical groove, and an anti-wear pad is provided between the ball head and the spherical groove.

[0006] Preferably, an inner groove is provided at the upper portion of the sole plate, and an electronic foot massager is provided in the inner groove.

[0007] Preferably, a second bearing is provided at the bottom of the traction rod, and the traction rod is sleeved on the eccentric connecting piece through the second bearing.

[0008] Preferably, the guide hole is in an X-shaped spiral shape.

[0009] Preferably, the turntable is elliptical.

[0010] Preferably, a supporting connecting plate is provided at the bottom of the electric device fixing plate.

[0011] Preferably, a foot restraint strap is provided on the sole plate.

[0012] Compared with the prior art, the present invention has the following advantages: the present invention has a simple structure, no complex machinery and control system, and is easy to install and maintain; the structure is small in size and can simulate the activity behavior of human feet; electronic physiotherapy facilities are added, acupoint physiotherapy of the feet is added, the patient's recovery is accelerated, and the patient's overall health status is indirectly improved; the price is low, which can meet the needs of ordinary family patients, and can be promoted and used as a home-type lower limb rehabilitation instrument. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 The figure is a schematic structural diagram of a foot mechanism of a lower limb rehabilitation robot according to the present invention.

[0014] Figure 2 This is a top view of a fixing plate of an electric device of a foot mechanism of a lower limb rehabilitation robot according to the present invention.

[0015] Figure 3 for Figure 1 Enlarged view of point A in the middle.

[0016] Figure 4 for Figure 1 Enlarged view of point B in the middle.

[0017] Figure 5 The figure is a schematic diagram of a usage mode of the foot mechanism of a lower limb rehabilitation robot of the present invention.

[0018] Figure 6 The present invention is a schematic top view of a partial structure of a foot mechanism of a lower limb rehabilitation robot in one usage mode.

[0019] As shown in the figure: 1. Sole plate; 2. Electronic foot massager; 3. Guide rod; 4. Electric device fixing plate; 5. Guide hole; 6. Support connecting plate; 7. First motor; 8. Second motor mounting frame; 9. Second motor; 10. Turntable; 11. Eccentric connector; 12. Traction rod; 13. First motor fixing seat; 14. Bearing fixing seat; 15. First bearing; 16. Foot restraint belt; 17. Anti-wear spacer; 18. Second bearing; 19. Connecting rod; 20. Flange assembly; 21. Return spring; 22. Spherical groove; 101. Foot mechanism; 102. Calf restraint structure; 103. Recliner support structure; 104. Recliner. DETAILED DESCRIPTION

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] The present invention discloses a foot mechanism of a lower limb rehabilitation robot, comprising a foot plate 1 and an electric device fixing plate 4, wherein the electric device fixing plate 4 is located below the foot plate 1, the foot plate 1 is connected to the electric device fixing plate 4 through a guide rod 3 and a traction rod 12, the top of the guide rod 3 is connected to one end of the bottom of the foot plate 1, the top of the traction rod 12 is connected to the other end of the bottom of the foot plate 1, one end of the electric device fixing plate 4 is provided with a guide hole 5, the lower part of the guide rod 3 is connected to the electric device fixing plate 4 through the guide hole 5, the bottom of the guide rod 3 is connected to the bottom of the electric device fixing plate 4 through a return spring 21, and the other end of the electric device fixing plate 4 A first motor fixing seat 13 is provided on one side of the top, and a bearing fixing seat 14 is provided on the other side. A first motor 7 is provided on the top of the first motor fixing seat 13. The output end of the first motor 7 is connected to the second motor mounting frame 8 through a flange assembly 20. A connecting rod 19 is provided on one side of the second motor mounting frame 8. One end of the connecting rod 19 is connected to the bearing fixing seat 14 through a first bearing 15. A second motor 9 is installed in the second motor mounting frame 8. A turntable 10 is coaxially connected to the output shaft end of the second motor 9. An eccentric connecting piece 11 is provided on one side of the turntable 10 deviating from the center of the turntable 10. The eccentric connecting piece 11 is connected to the bottom of the traction rod 12.

[0022] The top of the guide rod 3 and the top of the traction rod 12 are both provided with ball heads, the connection between the sole plate 1 and the traction rod 12 and the connection between the sole plate 1 and the guide rod 3 are both provided with spherical grooves 22, the ball heads are pressed into the spherical grooves 22, and anti-wear pads 17 are provided between the ball heads and the spherical grooves 22.

[0023] An inner groove is arranged on the upper part of the sole plate 1, and an electronic foot massager 2 is arranged in the inner groove.

[0024] The bottom of the traction rod 12 is provided with a second bearing 18 , and is sleeved on the eccentric connecting member 11 through the second bearing 18 .

[0025] The guide hole 5 is in an X-shaped spiral shape.

[0026] The rotating disk 10 is oval in shape.

[0027] A supporting connecting plate 6 is provided at the bottom of the electric device fixing plate 4 .

[0028] The sole plate 1 is provided with a foot restraint belt 16 .

[0029] One embodiment of the present invention, as Figure 5 In the usage mode, the foot mechanism 101 is connected to the foot placement position of the recliner support structure 103 through the support connecting plate, and the foot mechanism 101 is symmetrically arranged on both sides of the recliner support structure 103 according to the left and right feet, and calf restraint structures 102 are also provided on both sides of the support structure 103. When in use, the rehabilitation personnel sits on the recliner 104, and the calves are tied to the calf restraint structures 102, and then the feet are flexibly fixed on the sole plate 1 through the foot restraint belt 16, and finally the first motor 7 and the second motor 9 are operated respectively to realize the training of the foot ankle, and the electronic foot massager 2 on the sole plate 1 is used to perform physical therapy on the relevant acupuncture points on the sole of the foot.

[0030] There are three working modes during the period: one is that the first motor 7 moves, and the second motor 9 does not work, but the eccentric connector 11 on the turntable 10 of the second motor 9 is adjusted to the twelve o'clock or six o'clock direction, and then the second motor 9 is turned off to make it in an inoperative state. At this time, the rehabilitation personnel can use the first motor 7 to achieve flexion and extension of the foot surface, which must meet the angle principle analysis of sports biological mechanics. The flexion angle is in the range of 20°-30°, and the individual difference is about 10°. The extension angle is between 30°-50°, and the individual difference is about 20°. Different angle requirements are set according to different rehabilitation personnel.

[0031] Second, the first motor 7 does not work, the second motor 9 moves, the angle of the first motor 7 is adjusted to a rotation position suitable for the human foot, and stops working. The second motor 9 drives the eccentric connecting piece 11 to rotate around the axis of the second motor 9, and then drives the sole plate 1 through the traction rod 12 to realize that the connecting end of the sole plate 1 with the guide rod 3 is used as the fulcrum, and the connecting end of the sole plate 1 with the traction rod 12 is the rotation end. The connecting end of the traction rod 12 performs an elliptical movement that conforms to sports biology, wherein one end of the guide rod 3 is connected to the sole plate 1, and the bottom passes through the power device fixing plate 4 and is connected to the bottom of the power device fixing plate 4 through the return spring 22. This provides a certain amount of activity space for the heel of the rehabilitation personnel during the rotational movement of the foot, and the rehabilitation personnel will not suffer a second injury because the heel is fixed and locked when the foot rotates with the second motor 9.

[0032] Third, after the rehabilitation personnel use the first motor 7 and the second motor 9 to exercise the foot, the electronic physiotherapy device 2 embedded in the sole plate 1 can be used to perform physiotherapy on the relevant acupuncture points on the sole of the foot, thereby assisting the rehabilitation of the person in need of rehabilitation and indirectly improving the overall health status of the patient.

[0033] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A foot mechanism of a lower limb rehabilitation robot, characterized in that: The electric device fixing plate (4) comprises a foot plate (1) and an electric device fixing plate (4), wherein the electric device fixing plate (4) is located below the foot plate (1), the foot plate (1) is connected to the electric device fixing plate (4) via a guide rod (3) and a traction rod (12), the top of the guide rod (3) is connected to one end of the bottom of the foot plate (1), the top of the traction rod (12) is connected to the other end of the bottom of the foot plate (1), one end of the electric device fixing plate (4) is provided with a guide hole (5), the lower part of the guide rod (3) is connected to the electric device fixing plate (4) via the guide hole (5), the bottom of the guide rod (3) is connected to the bottom of the electric device fixing plate (4) via a return spring (21), and the other end of the top of the electric device fixing plate (4) is provided with a first electric spring (21). A motor fixing seat (13) is provided on the first motor fixing seat (13), and a bearing fixing seat (14) is provided on the other side. A first motor (7) is provided on the top of the first motor fixing seat (13). The output end of the first motor (7) is connected to a second motor mounting frame (8) through a flange assembly (20). A connecting rod (19) is provided on one side of the second motor mounting frame (8). One end of the connecting rod (19) is connected to the bearing fixing seat (14) through a first bearing (15). A second motor (9) is installed in the second motor mounting frame (8). The output shaft end of the second motor (9) is coaxially connected to a rotating disk (10). An eccentric connecting piece (11) is provided on one side of the rotating disk (10) at a position deviating from the center of the rotating disk (10). The eccentric connecting piece (11) is connected to the bottom of the traction rod (12); The top of the guide rod (3) and the top of the traction rod (12) are both provided with ball heads, the connection between the sole plate (1) and the traction rod (12) and the connection between the sole plate (1) and the guide rod (3) are both provided with spherical grooves (22), the ball heads are press-fitted into the spherical grooves (22), and an anti-wear spacer (17) is provided between the ball heads and the spherical grooves (22); The guide hole (5) is in an X-shaped spiral shape.

2. The foot mechanism of a lower limb rehabilitation robot according to claim 1, characterized in that: An inner groove is provided on the upper part of the sole plate (1), and an electronic foot massager (2) is provided in the inner groove.

3. The foot mechanism of a lower limb rehabilitation robot according to claim 1, characterized in that: A second bearing (18) is provided at the bottom of the traction rod (12), and the traction rod (12) is sleeved on the eccentric connecting piece (11) via the second bearing (18).

4. The foot mechanism of a lower limb rehabilitation robot according to claim 1, characterized in that: The rotating disk (10) is oval in shape.

5. The foot mechanism of a lower limb rehabilitation robot according to claim 1, characterized in that: A supporting connection plate (6) is provided at the bottom of the electric device fixing plate (4).

6. The foot mechanism of a lower limb rehabilitation robot according to claim 1, characterized in that: The sole plate (1) is provided with a foot restraint belt (16).

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