A robot for lower limb rehabilitation

Abstract

A robot for lower limb rehabilitation includes a base frame, a movable frame is hinged on the base frame, two lower limb motion mechanisms are arranged on one side of the movable frame, each lower limb motion mechanism includes a motor, the motor is fixedly arranged on one side of the movable frame, a fixed seat is arranged below the motor, a first screw rod is rotatably connected in the fixed seat, the lower end of the output shaft of the motor is connected to the upper end of the first screw rod, a guide seat is arranged below the first screw rod, a guide hole is arranged in the guide seat, a movable rod is arranged in the guide hole, the movable rod and the guide hole constitute a sliding pair, and a first threaded hole is arranged in the upper end surface of the movable rod. The present invention aims to develop a prototype of a lower limb rehabilitation system based on the weight loss gait training method as a technical starting point, through biofeedback autonomous control after electromyographic signal analysis, to achieve active and passive treatment of the lower limbs of patients with different body shapes and heights.

Description

Technical Field

[0001] The present invention relates to human daily necessities, in particular to medical equipment, and in particular to a robot for lower limb rehabilitation. Background Art

[0002] Currently, the main causes of central nervous system damage include stroke and spinal cord injury, which usually cause hemiplegia or paraplegia in patients, leading to visceral organ dysfunction and a series of complications. A large number of clinical studies have shown that rehabilitation training can achieve a certain degree of structural reorganization or functional compensation in the central nervous system. However, traditional rehabilitation therapy is often achieved with the help of manual assistance or simple rehabilitation equipment, which makes it difficult to ensure the intensity and accuracy of training, and is not conducive to improving the rehabilitation effect. As an automated and intelligent medical device, rehabilitation robots have strong advantages in providing continuous and quantitative rehabilitation training, which can effectively make up for the shortcomings of traditional rehabilitation treatments and are becoming a research hotspot in the field of neurorehabilitation engineering. Summary of the invention

[0003] The purpose of the present invention is to provide a robot for lower limb rehabilitation, which is intended to solve the technical problem that rehabilitation treatment equipment in the prior art is difficult to ensure training intensity and accuracy, which is not conducive to improving the rehabilitation effect.

[0004] A robot for lower limb rehabilitation of the present invention comprises a base frame, a movable frame is hinged on the base frame, a first electric push rod is arranged on the base frame, one end of the first electric push rod is hinged to the base frame, an output shaft at the other end of the first electric push rod is hinged to the movable frame, and an angle meter is arranged on the movable frame.

[0005] The movable frame includes a first crossbeam and a second crossbeam, the first crossbeam is located at the top of the movable frame, the second crossbeam is located below the first crossbeam, a suspension frame is arranged on the first crossbeam, the suspension frame includes two parallel sliding rods, two sliding holes are arranged on the first crossbeam, the sliding rods are respectively arranged in the sliding holes, the sliding rods and the sliding holes form a sliding pair, a crossbeam is connected between the lower ends of the two sliding rods, a second electric push rod is arranged on the second crossbeam, and the upper end of the output shaft of the second electric push rod is connected to the crossbeam through a pressure sensor,

[0006] One side of the movable frame is provided with two lower limb movement mechanisms, and any lower limb movement mechanisms each includes a motor, the motor is fixedly arranged on one side of the movable frame, a fixing seat is arranged below the motor, a first screw rod is rotatably connected in the fixing seat, the lower end of the output shaft of the motor is connected to the upper end of the first screw rod, a guide seat is arranged below the first screw rod, a guide hole is arranged in the guide seat, a movable rod is arranged in the guide hole, the movable rod and the guide hole form a sliding pair, a first threaded hole is arranged in the upper end surface of the movable rod, the lower end of the first screw rod is threadedly connected to the first threaded hole, an upper photoelectric sensor and a lower photoelectric sensor are respectively arranged at the upper end position and the lower end position of the first screw rod on the movable frame, a foot support plate is connected to the lower end of a calf fixing rod, the upper end of the calf fixing rod is hinged to the lower end of a thigh fixing rod, and the upper end of the thigh fixing rod is hinged to the movable frame.

[0007] The robot for lower limb rehabilitation also includes a human-computer interaction device, a controller, a first electric push rod control module, a second electric push rod control module, and a motor control module. The human-computer interaction device, the first electric push rod control module, the second electric push rod control module, the motor control module, the angle meter, the first electric push rod, the second electric push rod, the pressure sensor, the motor, the upper photoelectric sensor, and the lower photoelectric sensor are each connected to the controller through its input and output ends.

[0008] Furthermore, the calf fixing rod includes a first length adjustment mechanism, which includes a first connecting seat, a first gear and a second gear are provided in the first connecting seat, the upper end of the first connecting seat is hinged to the lower end of the thigh fixing rod, a first connecting shaft is provided in the side wall of the first connecting seat, the outer end of the first connecting shaft is connected to a first adjusting knob, the inner end of the first connecting shaft is connected to the first gear, the first gear is meshed with the second gear, the second gear is connected to a second screw rod, the upper end of the second screw rod is rotatably set in the first connecting seat and is provided with a first elastic sheet, a first movable seat is provided below the first connecting seat, the lower side of the first connecting seat is connected to the first guide rod, the first movable seat is provided on the first guide rod, the first movable seat and the first guide rod form a sliding pair, a second threaded hole is provided in the upper surface of the first movable seat, the lower end of the second screw rod is threadedly connected to the second threaded hole, and the bottom of the first movable seat is connected to the foot support plate.

[0009] Furthermore, the thigh fixing rod includes a second length adjustment mechanism, which includes a second connecting seat, a third gear and a fourth gear are provided in the second connecting seat, the upper end of the second connecting seat is hinged to the movable frame, a second connecting shaft is provided in the side wall of the second connecting seat, the outer end of the second connecting shaft is connected to a second adjusting knob, the inner end of the second connecting shaft is connected to the third gear, the third gear is meshed with the fourth gear, the fourth gear is connected to a third screw rod, the upper end of the third screw rod is rotatably set in the second connecting seat and is provided with a second elastic sheet, a second movable seat is provided below the second connecting seat, the lower side of the second connecting seat is connected to the second guide rod, the second movable seat is provided on the second guide rod, the second movable seat and the second guide rod form a sliding pair, a third threaded hole is provided in the upper surface of the second movable seat, the lower end of the third screw rod is threadedly connected to the third threaded hole, and the bottom of the second movable seat is hinged to the thigh fixing rod.

[0010] Furthermore, a surface electromyography acquisition module is provided on the movable frame.

[0011] Compared with the prior art, the effects of the present invention are positive and obvious.

[0012] 1. Standing lower limb rehabilitation exercises to simulate normal walking and standing state.

[0013] 2. Provide weight loss function, which can help patients with different degrees of paralysis lose a certain amount of weight and reduce the pressure on the soles of the feet.

[0014] 3. Surface electromyography can be used as a signal for active training awareness. Strengthening active rehabilitation awareness is more in line with clinical significance.

[0015] The present invention aims to develop a prototype of a lower limb rehabilitation system based on the weight-loss gait training method as a technical starting point, and to perform biofeedback autonomous control after electromyographic signal analysis, so as to achieve active and passive treatment of the lower limbs of patients with different body shapes and heights, and to perform multi-parameter intelligent analysis and evaluation of the rehabilitation process, so as to meet the adaptability to individual differences of patients and reduce dependence on artificial rehabilitation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The present invention is a schematic structural diagram of a robot for lower limb rehabilitation in a standing state.

[0017] Figure 2 The present invention is a schematic structural diagram of a robot for lower limb rehabilitation in a lying state.

[0018] Figure 3 The figure is a schematic diagram of the three-dimensional structure of a robot for lower limb rehabilitation according to the present invention.

[0019] Figure 4The present invention is a schematic structural diagram of a suspension frame of a robot for lower limb rehabilitation in an ascending state.

[0020] Figure 5 The present invention is a schematic diagram of the structure of the lower limb movement mechanism of a robot for lower limb rehabilitation.

[0021] Figure 6 The figure is a schematic diagram of the length adjustment mechanism structure of a robot for lower limb rehabilitation of the present invention.

[0022] Figure 7 The present invention is a schematic diagram of the motion process of the lower limb motion mechanism of a robot for lower limb rehabilitation.

[0023] Figure 8 The present invention is a schematic diagram of the front view of the lower limb movement mechanism of a robot for lower limb rehabilitation.

[0024] Fig. 9 The figure is a schematic diagram of the electrical control principle of a robot for lower limb rehabilitation of the present invention. DETAILED DESCRIPTION

[0025] The present invention is further described below in conjunction with the accompanying drawings and embodiments, but the present invention is not limited to the embodiments, and all similar structures and similar variations of the present invention should be included in the protection scope of the present invention. The use of directions such as up, down, front, back, left, and right in the present invention is only for the convenience of description and is not a limitation on the technical solution of the present invention.

[0026] Example 1

[0027] like Figure 1-Figure 9 As shown, a robot for lower limb rehabilitation of the present invention comprises a base frame 1, a movable frame 2 is hinged on the base frame 1, a first electric push rod 3 is arranged on the base frame 1, one end of the first electric push rod 3 is hinged to the base frame 1, the other end output shaft of the first electric push rod 3 is hinged to the movable frame 2, and an angle meter 4 is arranged on the movable frame 2.

[0028] The movable frame 2 includes a first crossbeam 5 and a second crossbeam 6. The first crossbeam 5 is located at the top of the movable frame 2, and the second crossbeam 6 is located below the first crossbeam 5. A suspension frame 7 is arranged on the first crossbeam 5. The suspension frame 7 includes two parallel sliding rods 8. Two sliding holes are arranged on the first crossbeam 5. The sliding rods 8 are respectively arranged in the sliding holes. The sliding rods 8 and the sliding holes constitute a sliding pair. A crossbar 10 is connected between the lower ends of the two sliding rods 8. A second electric push rod 11 is arranged on the second crossbeam 6. The upper end of the output shaft of the second electric push rod 11 is connected to the crossbar 10 through a pressure sensor 12.

[0029] Two lower limb motion mechanisms are arranged on one side of the movable frame 2, and each lower limb motion mechanism includes a motor 13, the motor 13 is fixedly arranged on one side of the movable frame 2, a fixed seat 14 is arranged below the motor 13, a first screw rod 15 is rotatably connected in the fixed seat 14, the lower end of the output shaft of the motor 13 is connected to the upper end of the first screw rod 15, a guide seat 16 is arranged below the first screw rod 15, a guide hole is arranged in the guide seat 16, a movable rod 17 is arranged in the guide hole, and the movable rod 17 is connected to the guide The holes constitute a sliding pair, a first threaded hole is arranged in the upper end surface of the movable rod 17, the lower end of the first screw rod 15 is threadedly connected to the first threaded hole, an upper photoelectric sensor 18 and a lower photoelectric sensor 19 are respectively arranged at the upper end and lower end of the first screw rod 15 on the movable frame 2, a foot support plate 20 is hinged at the lower end of the movable rod 17, the outer side of the foot support plate 20 is connected to the lower end of a calf fixing rod 21, the upper end of the calf fixing rod 21 is hinged to the lower end of a thigh fixing rod 22, and the upper end of the thigh fixing rod 22 is hinged to the movable frame 2,

[0030] The robot for lower limb rehabilitation also includes a human-computer interaction device 23, a controller 24, a first electric push rod control module 25, a second electric push rod control module 26, and a motor control module 27. The human-computer interaction device 23, the first electric push rod control module 25, the second electric push rod control module 26, the motor control module 27, the angle meter 4, the first electric push rod 3, the second electric push rod 11, the pressure sensor 12, the motor 13, the upper photoelectric sensor 18, and the lower photoelectric sensor 19 are each connected to the controller 24 through their input and output ends.

[0031] Furthermore, the calf fixing rod 21 includes a first length adjustment mechanism, which includes a first connecting seat 28, in which a first gear 29 and a second gear 30 are provided, the upper end of the first connecting seat 28 is hinged to the lower end of the thigh fixing rod 22, a first connecting shaft 31 is provided in the side wall of the first connecting seat 28, the outer end of the first connecting shaft 31 is connected to a first adjustment knob 32, the inner end of the first connecting shaft 31 is connected to the first gear 29, the first gear 29 is meshed with the second gear 30, and the second gear 30 is connected to a The second screw rod 33 is connected, the upper end of the second screw rod 33 is rotatably set in the first connecting seat 28 and is provided with a first elastic piece 34, a first movable seat 35 is set below the first connecting seat 28, the lower side of the first connecting seat 28 is connected to the first guide rod 36, the first movable seat 35 is set on the first guide rod 36, the first movable seat 35 and the first guide rod 36 form a sliding pair, a second threaded hole is set in the upper surface of the first movable seat 35, the lower end of the second screw rod 33 is threadedly connected to the second threaded hole, and the bottom of the first movable seat 35 is connected to the foot support plate 20.

[0032] Furthermore, the thigh fixing rod 22 includes a second length adjustment mechanism, which includes a second connecting seat, a third gear and a fourth gear are provided in the second connecting seat, the upper end of the second connecting seat is hinged to the movable frame 2, a second connecting shaft is provided in the side wall of the second connecting seat, the outer end of the second connecting shaft is connected to a second adjusting knob, the inner end of the second connecting shaft is connected to the third gear, the third gear is meshed with the fourth gear, the fourth gear is connected to a third screw rod, the upper end of the third screw rod is rotatably set in the second connecting seat and is provided with a second elastic sheet, a second movable seat is provided below the second connecting seat, the lower side of the second connecting seat is connected to the second guide rod, the second movable seat is provided on the second guide rod, the second movable seat and the second guide rod constitute a sliding pair, a third threaded hole is provided in the upper surface of the second movable seat, the lower end of the third screw rod is threadedly connected to the third threaded hole, and the bottom of the second movable seat is hinged to the thigh fixing rod 22.

[0033] Furthermore, a surface electromyography acquisition module 37 is provided on the movable frame 2 .

[0034] Specifically, the electric push rod, the angle meter 4, the pressure sensor 12, the motor 13, the photoelectric sensor, the human-computer interaction device 23, the controller 24, the first electric push rod control module 25, the second electric push rod control module 26, the motor control module 27, the first spring 34, etc. in this embodiment all adopt well-known solutions in the prior art, which are well understood by those skilled in the art and will not be elaborated here.

[0035] The working principle of this embodiment:

[0036] 1. Principle of lying flat and standing: The first electric push rod 3 pushes the movable frame 2 to realize the lying flat and standing adjustment function.

[0037] 2. Principle of weight loss function: It is realized by the second electric push rod 11 and the pressure sensor 12. The pressure sensor 12 can measure and record the weight loss, and the second electric push rod 11 can control the weight loss degree. After the patient is fixed on the suspension frame 7 by a sling, the movement of the suspension frame 7 can drive the patient's body to move and reduce the pressure on the soles of the feet, thereby realizing the weight loss function.

[0038] 3. Principle of lower limb movement: The motor 13 rotates, and drives the foot support plate 20 to move up and down through the first screw rod 15 and the movable rod 17. When the foot support plate 20 moves upward, the thigh fixing rod 22 and the calf fixing rod 21 will bend to form an angle such as Figure 7 Otherwise, the movement direction is opposite.

[0039] 4. Telescopic adjustment principle: Figure 6As shown, the first adjustment knob 32 of the first length adjustment mechanism is rotated to drive the first gear 29 to link with the second gear 30, and the second gear 30 drives the second screw rod 33 to rotate. The first spring piece 34 is locked for a period of time and cannot move. When the second screw rod 33 rotates, it drives the first movable seat 35 to move up and down to achieve the length adjustment function of the calf fixing rod 21. The principle of the second length adjustment mechanism is the same as that of the first length adjustment mechanism.

[0040] 5. Electrical control principle: (1) The human-machine interaction device 23 is used for the user to control the system and some settings of the system.

[0041] (2) When the first electric push rod 3 is working, the angle meter 4 can indicate the angle at which the user controls his / her standing position and display it in real time.

[0042] (3) The pressure sensor 12 is used to display the weight lost by the patient in real time and provide a control reference during weight loss.

[0043] (4) The upper photoelectric sensor 18 and the lower photoelectric sensor 19 are used to detect and protect the movement of the lower limbs. When the motor 13 controls the movable rod 17 to drive the leg to move to the uppermost position, the upper photoelectric sensor 18 is triggered, and the MCU controller 24 immediately stops or reverses the motor 13 to make it move downward. The working feedback principle of the lower photoelectric sensor 19 is the same as that of the upper photoelectric sensor 18.

[0044] (6) The surface electromyography acquisition module 37 is used to collect electromyographic signals of motor nerves, which are used as the main control signals for active movement.

[0045] Beneficial effects of the present invention:

[0046] 1. Standing lower limb rehabilitation exercises to simulate normal walking and standing state.

[0047] 2. Provide weight loss function, which can help patients with different degrees of paralysis lose a certain amount of weight and reduce the pressure on the soles of the feet.

[0048] 3. Surface electromyography can be used as a signal for active training awareness. Strengthening active rehabilitation awareness is more in line with clinical significance.

[0049] The present invention aims to develop a prototype of a lower limb rehabilitation system based on the weight-loss gait training method as a technical starting point, and to perform biofeedback autonomous control after electromyographic signal analysis, so as to achieve active and passive treatment of the lower limbs of patients with different body shapes and heights, and to perform multi-parameter intelligent analysis and evaluation of the rehabilitation process, so as to meet the adaptability to individual differences of patients and reduce dependence on artificial rehabilitation.

Claims

1. A robot for lower limb rehabilitation, characterized in that: The invention comprises a base frame (1), a movable frame (2) being hingedly connected to the base frame (1), a first electric push rod (3) being arranged on the base frame (1), one end of the first electric push rod (3) being hingedly connected to the base frame (1), an output shaft at the other end of the first electric push rod (3) being hingedly connected to the movable frame (2), and an angle meter (4) being arranged on the movable frame (2). The movable frame (2) comprises a first crossbeam (5) and a second crossbeam (6), the first crossbeam (5) being located at the top of the movable frame (2), the second crossbeam (6) being located below the first crossbeam (5), a suspension frame (7) being arranged on the first crossbeam (5), the suspension frame (7) comprising two parallel sliding rods (8), two sliding holes being arranged on the first crossbeam (5), the sliding rods (8) being arranged in the sliding holes respectively, the sliding rods (8) and the sliding holes forming a sliding pair, a crossbeam (10) being connected between the lower ends of the two sliding rods (8), a second electric push rod (11) being arranged on the second crossbeam (6), the upper end of the output shaft of the second electric push rod (11) being connected to the crossbeam (10) via a pressure sensor (12), Two lower limb movement mechanisms are arranged on one side of the movable frame (2), and each lower limb movement mechanism comprises a motor (13), the motor (13) is fixedly arranged on one side of the movable frame (2), a fixing seat (14) is arranged below the motor (13), a first screw rod (15) is rotatably connected in the fixing seat (14), the lower end of the output shaft of the motor (13) is connected to the upper end of the first screw rod (15), a guide seat (16) is arranged below the first screw rod (15), a guide hole is arranged in the guide seat (16), a movable rod (17) is arranged in the guide hole, and the movable rod (17) is rotatably connected to the guide seat (14). The movable rod (17) is provided with a first threaded hole in the upper end surface thereof, the lower end of the first screw rod (15) is threadedly connected to the first threaded hole, an upper photoelectric sensor (18) and a lower photoelectric sensor (19) are respectively provided at the upper end and the lower end of the first screw rod (15) on the movable frame (2), a foot support plate (20) is hingedly connected to the lower end of the movable rod (17), the outer side of the foot support plate (20) is connected to the lower end of a calf fixing rod (21), the upper end of the calf fixing rod (21) is hingedly connected to the lower end of a thigh fixing rod (22), and the upper end of the thigh fixing rod (22) is hingedly connected to the movable frame (2). The device also includes a human-machine interaction device (23), a controller (24), a first electric push rod control module (25), a second electric push rod control module (26), and a motor control module (27). The human-machine interaction device (23), the first electric push rod control module (25), the second electric push rod control module (26), the motor control module (27), the angle meter (4), the first electric push rod (3), the second electric push rod (11), the pressure sensor (12), the motor (13), the upper photoelectric sensor (18), and the lower photoelectric sensor (19) are all connected to the controller (24) through their input and output ends. The calf fixing rod (21) includes a first length adjustment mechanism. The first length adjustment mechanism The joint mechanism comprises a first connecting seat (28), a first gear (29) and a second gear (30) are arranged in the first connecting seat (28), the upper end of the first connecting seat (28) is hinged to the lower end of the thigh fixing rod (22), a first connecting shaft (31) is arranged in the side wall of the first connecting seat (28), the outer end of the first connecting shaft (31) is connected to a first adjusting knob (32), the inner end of the first connecting shaft (31) is connected to the first gear (29), the first gear (29) is meshed with the second gear (30), the second gear (30) is connected to a second screw rod (33), the upper end of the second screw rod (33) is rotatably arranged in the first connecting seat (28) and is provided with a first elastic sheet (34), the first connecting shaft (31) is connected to the first gear (29), the first gear (29) is meshed with the second gear (30), the second gear (30) is connected to a second screw rod (33), the upper end of the second screw rod (33) is rotatably arranged in the first connecting seat (28) and is provided with a first elastic sheet (34), A first movable seat (35) is arranged below the connecting seat (28), a first guide rod (36) is connected to the lower side of the first connecting seat (28), the first movable seat (35) is arranged on the first guide rod (36), the first movable seat (35) and the first guide rod (36) form a sliding pair, a second threaded hole is arranged in the upper surface of the first movable seat (35), the lower end of the second screw rod (33) is threadedly connected to the second threaded hole, the bottom of the first movable seat (35) is connected to the foot support plate (20), the thigh fixing rod (22) includes a second length adjustment mechanism, the second length adjustment mechanism includes a second connecting seat, a third gear and a fourth gear are arranged in the second connecting seat, the upper end of the second connecting seat is connected to the movable frame (2 ), a second connecting shaft is provided in the side wall of the second connecting seat, a second adjusting knob is connected to the outer end of the second connecting shaft, the inner end of the second connecting shaft is connected to the third gear, the third gear is meshed with the fourth gear, the fourth gear is connected to a third screw rod, the upper end of the third screw rod is rotatably provided in the second connecting seat and is provided with a second elastic sheet, a second movable seat is provided below the second connecting seat, a second guide rod is connected to the lower side of the second connecting seat, the second movable seat is provided on the second guide rod, the second movable seat and the second guide rod form a sliding pair, a third threaded hole is provided in the upper surface of the second movable seat, the lower end of the third screw rod is threadedly connected to the third threaded hole, and the bottom of the second movable seat is hinged to the thigh fixing rod (22).

2. A robot for lower limb rehabilitation according to claim 1, characterized in that: A surface electromyography acquisition module (37) is provided on the movable frame (2).

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