A sitting-lying-standing multi-posture single-leg rehabilitation robot

Abstract

The application relates to a sitting-lying-standing multi-posture single-leg rehabilitation robot, and relates to the technical field of rehabilitation robots, which comprises an electric control box and a mechanical leg, the mechanical leg is installed on one side of the electric control box and is arranged to be lifted along the height direction of the electric control box, a joint driving mechanism for driving the rotation of a joint is arranged at the joint of the mechanical leg, and a joint limiting mechanism for limiting the motion range of each joint of the mechanical leg is arranged on the mechanical leg. The application has the effects of cooperating with rehabilitation training under different postures, preventing the interference between the mechanical leg and the ground, facilitating the switching of the mechanical leg between the left leg and the right leg, and facilitating the improvement of the application range of the rehabilitation robot.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation robots, and in particular to a single-leg rehabilitation robot with multiple postures including sitting, lying, and standing. Background Technology

[0002] Stroke is usually caused by damage or blockage of blood vessels, leading to oxygen deprivation in the brain. Hemiplegia (lower limb paralysis) is a common sequela of stroke. Approximately 90% of stroke survivors experience some form of functional impairment, with lower limb motor dysfunction being one of the most significant. Lower limb motor dysfunction not only affects patients' lifestyles but also increases the risk of falls, making treatment and rehabilitation for these patients urgent. According to neurological theory, hemiplegic patients typically require continuous and repetitive rehabilitation training to regulate their lower limb condition, aiming to restore motor nerve function in the cerebral cortex and ultimately achieve nerve control over muscles.

[0003] Lower limb rehabilitation robots represent a beneficial attempt to apply robotics to the field of clinical rehabilitation medicine. By setting the movement modes of the lower limb rehabilitation robot, patients can receive rehabilitation training of varying degrees or modes. The lower limb rehabilitation robot is monitored in real time during training, providing feedback on the patient's real-time data. This data is stored in the controller, and through analysis and comparison, the most suitable rehabilitation training for the patient is selected.

[0004] Regarding the aforementioned technologies, the inventors believe that designing a multi-posture lower limb rehabilitation robot for sitting, lying, and standing to help patients with lower limb disabilities would be highly beneficial. Summary of the Invention

[0005] To address the challenge of rehabilitation training in multiple postures for patients with lower limb disabilities, this application provides a single-leg rehabilitation robot capable of sitting, lying down, and standing in multiple postures.

[0006] The single-leg rehabilitation robot with multiple postures (sitting, lying, and standing) provided in this application adopts the following technical solution:

[0007] A single-leg rehabilitation robot with multiple postures (sitting, lying, and standing) includes an electrical control box and a mechanical leg. The mechanical leg is mounted on one side of the electrical control box and is raised and lowered along the height of the electrical control box. The joints of the mechanical leg are provided with joint drive mechanisms to drive the joints to rotate. The mechanical leg is provided with joint limiting mechanisms to limit the range of motion of each joint.

[0008] Optionally, the mechanical leg includes a hip joint, thigh, knee joint, calf, ankle joint, and foot pedal connected in sequence. The joint drive mechanism includes a hip joint drive mechanism, a knee joint drive mechanism, and an ankle joint drive mechanism. A hip joint drive mechanism for driving hip joint rotation is provided at the hip joint and is installed in an electrical control box. A knee joint drive mechanism for driving knee joint rotation is provided at the knee joint and is installed on the thigh. An ankle joint drive mechanism for driving ankle joint rotation is provided at the ankle joint and is installed on the calf.

[0009] Optionally, the joint limiting mechanism includes a hip joint limiting mechanism, a knee joint limiting mechanism, and an ankle joint limiting mechanism. A hip joint limiting mechanism restricting the hip joint rotation range from 0° to 80° is installed at the hip joint driving mechanism. A knee joint limiting mechanism restricting the knee joint rotation range from -140° to 0° is installed at the knee joint driving mechanism. An ankle joint limiting mechanism restricting the ankle joint rotation range from -45° to 30° is installed at the ankle joint driving mechanism.

[0010] Optionally, both the thigh and calf are provided with adjustment mechanisms to adjust the leg length.

[0011] Optionally, an electronic ruler is installed inside both the thigh and the calf, and an industrial control panel is installed at the electrical control box, with the electronic ruler electrically connected to the industrial control panel.

[0012] Optionally, a composite tension-torsion sensor is installed between the ankle joint and the foot pedal.

[0013] Optionally, the robotic leg is equipped with an angle sensor.

[0014] Optionally, a counterweight module is installed inside the electrical control box.

[0015] Optionally, the electrical control box is provided with a support frame, and the hip joint drive mechanism includes a first transmission shaft mounted on the support frame and rotatably disposed thereon, the first transmission shaft extending into the thigh and located at the hip joint;

[0016] The hip joint limiting mechanism includes a first limiting plate, a rotating forearm, a limiting disc, a limiting end plate, and a handwheel. The first limiting plate is mounted on a support frame. The rotating forearm is located at the end of the first drive shaft away from the thigh, and the rotating forearm rotates coaxially with the first drive shaft. Two symmetrically arranged limiting holes are provided on the first limiting plate. A limiting disc is provided on one side of the first limiting plate, and a limiting post is connected to the limiting disc. The limiting post is inserted into one of the limiting holes. Two limiting end plates are provided and installed on the side of the limiting disc away from the first limiting plate. The rotating forearm is located between the two limiting end plates, and the sum of the angles between the two limiting end plates and the rotating forearm is less than or equal to 80°.

[0017] Optionally, the thigh is rotatably connected to a second drive shaft at the knee joint, and the end of the second drive shaft away from the thigh is connected to the lower leg;

[0018] The knee joint limiting mechanism includes a positioning plate, two symmetrically arranged first limiting blocks, an upper end plate, a lower end plate, and a second limiting plate. The positioning plate is mounted on a second transmission shaft and rotates coaxially with the second transmission shaft. The first limiting blocks are mounted on the positioning plate and are symmetrically arranged relative to the second transmission shaft.

[0019] The upper end plate and the lower end plate are fixed inside the thigh. The second limiting plate is located between the upper end plate and the lower end plate and slides relative to the positioning plate. The second limiting plate is set to abut against the upper end plate or the lower end plate.

[0020] The second limiting plate is provided with an upper hook plate and a lower hook plate on the side facing the positioning plate. When the second limiting plate abuts against the lower end plate, the upper hook plate is located on the displacement trajectory of the first limiting block; the sum of the included angles between the two first limiting blocks and the upper hook plate is less than or equal to 140°. When the second limiting plate abuts against the upper end plate, the lower hook plate is located on the displacement trajectory of the first limiting block; the sum of the included angles between the two first limiting blocks and the lower hook plate is less than or equal to 140°.

[0021] Optionally, the ankle joint limiting mechanism includes a limiting ring and a second limiting block. A third drive shaft is rotatably connected to the lower leg at the ankle joint. The limiting ring is sleeved on the outer periphery of the third drive shaft and rotates coaxially with the third drive shaft. A notch is opened at one end of the limiting ring, so that the limiting ring forms a limiting surface at the notch. The second limiting block is located below the limiting ring and slides towards the notch of the limiting ring.

[0022] The second limiting block is composed of an upper limiting block and a lower limiting block that are staggered left and right. When the upper limiting block is located between the limiting surfaces, the angle between the left limiting surface of the limiting ring and the left side of the upper limiting block is less than or equal to 45°, and the angle between the right limiting surface of the limiting ring and the right side of the upper limiting block is less than or equal to 30°. When the lower limiting block is located between the limiting surfaces, the angle between the left limiting surface of the limiting ring and the left side of the upper limiting block is less than or equal to 30°, and the angle between the right limiting surface of the limiting ring and the right side of the upper limiting block is less than or equal to 45°.

[0023] In summary, this application includes at least one of the following beneficial technical effects:

[0024] 1. The mechanical leg lifting mechanism allows for rehabilitation training in different postures while preventing interference between the mechanical leg and the ground. The joint drive mechanism and joint limiting mechanism facilitate the control program to control the mechanical leg for rehabilitation training in multiple postures and allow for easy switching between the left and right legs, thus expanding the applicability of the rehabilitation robot.

[0025] 2. By adjusting the mechanism, the length of the mechanical leg's thigh and calf can be adjusted according to the leg length of different patients, which can better expand the applicable population of the rehabilitation robot;

[0026] 3. With the addition of a composite tension-torsion sensor, the patient's foot directly contacts the foot pedal, enabling human-computer interaction. Physicians can use the composite tension-torsion sensor to obtain the torque of the patient's hip, knee, and ankle joints, thereby determining the patient's movement intention. Compared to a six-dimensional force sensor, the composite tension-torsion sensor is more durable, has better rigidity, and is utilized more fully. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the robot according to an embodiment of this application.

[0028] Figure 2 This is a schematic diagram of the internal structure of the robot according to an embodiment of this application.

[0029] Figure 3 This is a schematic diagram of the internal structure of the robot from another perspective, according to an embodiment of this application.

[0030] Figure 4 This is a front view structural diagram of the hip joint according to an embodiment of this application.

[0031] Figure 5 This is a schematic diagram of the overall structure of the hip joint from another perspective, according to an embodiment of this application.

[0032] Figure 6 This is a schematic diagram of the connection structure between the limiting post and the first limiting plate in an embodiment of this application.

[0033] Figure 7 This is a schematic diagram of the internal structure of the thigh in an embodiment of this application.

[0034] Figure 8 This is a schematic diagram of the overall structure of the knee joint drive structure according to an embodiment of this application.

[0035] Figure 9 This is a schematic diagram of the overall structure of the knee joint limiting structure according to an embodiment of this application.

[0036] Figure 10 This is a schematic diagram of the overall structure of the knee joint limiting structure from another perspective, according to an embodiment of this application.

[0037] Figure 11 This is a schematic diagram of the overall structure of the lower leg according to an embodiment of this application.

[0038] Figure 12 This is a schematic diagram of the overall structure of the ankle joint according to an embodiment of this application.

[0039] Figure 13 This is a schematic diagram of the overall structure of the second limiting block in an embodiment of this application.

[0040] Figure 14 yes Figure 3 A magnified schematic diagram of part A in the middle.

[0041] Explanation of reference numerals in the attached drawings: 1. Electrical control box; 11. Industrial control panel; 12. Emergency stop switch; 2. Mechanical leg; 21. Hip joint; 22. Thigh; 221. First telescopic sleeve; 222. Second telescopic sleeve; 223. First thigh support; 224. Second thigh support; 23. Knee joint; 24. Lower leg; 241. Upper telescopic sleeve; 242. Lower telescopic sleeve; 243. Lower lower leg support; 25. Ankle joint; 26. Foot pedal; 3. Lifting mechanism; 31. Column motor; 32. Support frame; 33. Slide rail 34. Sliding block; 4. Hip joint drive mechanism; 41. Servo motor; 42. First reducer; 43. Drive pulley; 44. Transmission pulley; 45. Belt; 46. First drive shaft; 5. Knee joint drive mechanism; 51. First drive motor; 52. Driving pulley; 53. Second reducer; 54. Driven pulley; 55. Second drive shaft; 6. Ankle joint drive mechanism; 61. Second drive motor; 62. Third reducer; 63. Flange; 64. Connector; 65. Composite tension-torsion sensor 7. Hip joint limiting mechanism; 71. First limiting plate; 711. Limiting hole; 72. Rotating forearm; 73. Limiting disc; 731. Limiting post; 74. Limiting end plate; 75. Handwheel; 76. Connecting plate; 8. Knee joint limiting mechanism; 80. Angle sensor; 81. Positioning disc; 82. First limiting block; 83. Upper end plate; 84. Lower end plate; 85. Second limiting plate; 86. First manual slide; 87. Upper hook plate; 88. Lower hook plate; 9. Ankle joint limiting mechanism; 91. Mounting base 92. Plate; 93. Second manual slide; 94. Second limit block; 95. Bearing sleeve; 96. Limit ring; 97. Upper limit block; 98. Lower limit block; 10. Adjustment mechanism; 101. First fixing block; 102. Second fixing block; 103. Screw; 104. Stepper motor; 105. Electronic ruler; 110. Counterweight module; 111. Guide shaft; 112. Counterweight block; 113. First through hole; 114. Screw; 115. Fixed pulley; 116. Second through hole; 117. Long slot. Detailed Implementation

[0042] The following is in conjunction with the appendix Figure 1-14 This application will be described in further detail.

[0043] This application discloses a single-leg rehabilitation robot capable of sitting, lying, and standing in multiple postures. (Refer to...) Figure 1A multi-posture single-leg rehabilitation robot for sitting, lying, and standing includes an electrical control box 1 and a mechanical leg 2 mounted on one side of the electrical control box 1. The top of the electrical control box 1 is equipped with an industrial control panel 11 and an emergency stop switch 12. The mechanical leg 2 has joint drive mechanisms at its joints to drive joint rotation, and joint limiting mechanisms on its joints to restrict the range of motion. The mechanical leg 2 is composed of a hip joint 21, a thigh 22, a knee joint 23, a lower leg 24, an ankle joint 25, and a foot pedal 26 connected sequentially. The hip joint 21 is mounted inside the robot body. The thigh 22 rotates relative to the robot body under control via a control program. The thigh 22 is hinged to the lower leg 24 via the knee joint 23, and the lower leg 24 is hinged to the foot pedal 26 via the ankle joint 25. When the thigh 22 rotates 180°, the joint limiting mechanisms allow for switching between the left and right legs. This single-leg rehabilitation robot can be used in various situations, such as bedside rehabilitation training, chair-style rehabilitation training, etc. When two single-leg rehabilitation robots are placed in mirror image, they can also perform rehabilitation training in standing mode.

[0044] Reference Figure 2 and Figure 3 Since the single-leg robot of this application needs to achieve rehabilitation training in three postures: standing, sitting, and lying down, a lifting mechanism 3 is required to adjust the height of the hip joint 21, thereby preventing interference between the foot pedal 26 and the ground in different rehabilitation training modes. The lifting mechanism 3 is installed inside the electrical control box 1 and includes a column motor 31 and a support frame 32. The column motor 31 is fixed to the base of the electrical control box 1, and the support frame 32 is installed at the output end of the column motor 31. A hip joint drive mechanism 4 is provided inside the electrical control box 1 and is installed on the support frame 32. The hip joint drive mechanism 4 raises and lowers the position of the hip joint 21 axis through the column motor 31. A vertically arranged slide rail 33 is fixedly connected to the base of the electrical control box 1. A sliding block 34 is slidably connected to the slide rail 33. The support frame 32 is connected to the sliding block 34 through the connecting plate 76. As the support frame 32 rises and falls, the sliding block 34 slides on the slide rail 33, providing guidance for the rise and fall of the mechanical leg 2, which helps to improve the stability of the rise and fall of the mechanical leg 2.

[0045] Reference Figure 2 , Figure 4 and Figure 5The joint drive mechanism includes a hip joint drive mechanism 4, a knee joint drive mechanism 5, and an ankle joint drive mechanism 6. The hip joint drive mechanism 4 is installed inside the electrical control box 1. The hip joint drive mechanism 4 includes a servo motor 41 and a first reducer 42. The servo motor 41 is a 1-SMP8048 servo motor 41, equipped with an incremental encoder, which can measure the position of the hip joint 21 in real time. A drive pulley 43 is fixedly sleeved on the output shaft of the servo motor 41. A transmission pulley 44 is connected to the input end of the first reducer 42, and the drive pulley 43 is connected to the transmission pulley 44 via a belt 45. A first transmission shaft 46 is connected to the output shaft of the first reducer 42. The first transmission shaft 46 extends into the thigh 22 and is located at the hip joint 21, driving the thigh 22 to rotate around the hip joint 21 through the hip joint drive mechanism 4.

[0046] Reference Figure 4 , Figure 5 and Figure 6 The joint limiting mechanism includes a hip joint limiting mechanism 7, a knee joint limiting mechanism 8, and an ankle joint limiting mechanism 9. The hip joint limiting mechanism 7, which restricts the rotation range of the hip joint 21 from 0° to 80°, is installed at the hip joint drive mechanism 4. The hip joint limiting mechanism 7 includes a first limiting plate 71, a rotating forearm 72, a limiting disc 73, a limiting end plate 74, and a handwheel 75. The first limiting plate 71 is mounted on the support frame 32. The input end of the first reducer 42 passes through the first limiting plate 71, and the rotating forearm 72 is fixedly connected to the input end of the first reducer 42. The rotating forearm 72 moves with the rotation of the input end of the first reducer 42. Two symmetrically arranged limiting holes 711 are provided on the first limiting plate 71. The limiting disc 73 is located on the side of the first limiting plate 71 away from the transmission pulley 44. The input end of the first reducer 42 passes through the center of the limiting disc 73, which is located between the first limiting plate 71 and the rotating forearm 72. A limiting post 731 is connected to the limiting plate 73. The limiting post 731 is inserted into one of the limiting holes 711. Two limiting end plates 74 are provided and installed on the side of the limiting plate 73 away from the first limiting plate 71. Since the rotation range of the human hip joint 21 is between 0° and 80°, the included angle between the two limiting end plates 74 and the rotating forearm 72 can be designed to be less than or equal to 80°. In this embodiment, 80° is selected. When the doctor performs left leg training on the patient in a seated position, the rotating forearm 72 at the hip joint 21 rotates together with the output shaft of the reducer. The rotating forearm 72 rotates between the two limiting end plates 74, thereby achieving the purpose of limiting.

[0047] The handwheel 75 is connected to the limiting plate 73 via the connecting plate 76. If the left leg is initially limited, when the right leg needs to be switched, the limiting plate 73 is pulled by the handwheel 75 and rotated so that the limiting post 731 is inserted into another limiting hole 711, thus achieving the purpose of limiting the right leg.

[0048] Reference Figure 1 and Figure 7 Since the patient's leg length is uncertain, the thigh 22 includes a first telescopic sleeve 221 and a second telescopic sleeve 222. A first thigh support 223 is installed inside the first telescopic sleeve 221, and a second thigh support 224 is installed inside the second telescopic sleeve 222. The hip joint 21 cooperates with the first telescopic sleeve 221, and a knee joint drive mechanism 5 is installed inside the second telescopic sleeve 222. The side of the first telescopic sleeve 221 away from the hip joint 21 extends into the second telescopic sleeve 222, and the second telescopic sleeve 222 is slidably positioned relative to the first telescopic sleeve 221. An adjustment mechanism 10 for adjusting the length of the thigh 22 is provided inside the first telescopic sleeve 221 and the second telescopic sleeve 222. The adjustment mechanism 10 includes a first fixing block 101, a second fixing block 102, and a screw 103. The first fixing block 101 is mounted on the first thigh support 223, and the second fixing block 102 is mounted on the second thigh support 224. The screw 103 passes through the first fixing block 101 and the second fixing block 102 and is rotatably connected to the first fixing block 101. The relative position of the screw 103 and the first fixing block 101 is fixed. The second fixing block 102 is threadedly connected to the screw 103. One end of the screw 103 is connected to a stepper motor 104. The stepper motor 104 drives the screw 103 to rotate, thereby causing the second fixing block 102 to move axially along the screw 103. This causes the relative position between the first telescopic sleeve 221 and the second telescopic sleeve 222 to change, thereby achieving the purpose of adjusting the length of the thigh 22.

[0049] Reference Figure 7 An electronic ruler 105 is installed on the first thigh support 223, and one end of the electronic ruler 105 is connected to a support plate installed on the second thigh support 224. The electronic ruler 105 can measure the length data of the robot's thigh 22 in real time and feed the data back to the industrial control screen 11 in real time, so that the doctor can compare whether the length of the robot's thigh 22 is adjusted to match the length of the patient's thigh 22.

[0050] Reference Figure 1 and Figure 2 The lower leg 24 has a similar structure to the thigh 22. The lower leg 24 includes an upper telescopic sleeve 241 and a lower telescopic sleeve 242. The upper telescopic sleeve 241 cooperates with the knee joint 23, and the lower telescopic sleeve 242 is equipped with an ankle joint 25. An adjustment mechanism 10 is also provided inside the upper telescopic sleeve 241 and the lower telescopic sleeve 242. The length of the lower leg 24 is also adjusted by the adjustment mechanism 10. An electronic ruler 105 is also built into the lower leg 24 to measure the length data of the lower leg 24, which will not be described in detail here.

[0051] Reference Figure 7 and Figure 8The knee joint drive mechanism 5 is similar to the hip joint drive mechanism 4. The rotation of the knee joint drive mechanism 5 is driven by a first drive motor 51, which is a MAXON motor and is fixed to the second thigh support 224. The output shaft of the first drive motor 51 is connected to the active pulley 52. ​​A second reducer 53 is also installed inside the second telescopic sleeve 222. The input end of the second reducer 53 is connected to the passive pulley 54, and the active pulley 52 is connected to the passive pulley 54 via a belt 45. The output end of the second reducer 53 is connected to a second transmission shaft 55, which extends into the upper telescopic sleeve 241 and drives the lower leg 24 to rotate. The first drive motor 51 is equipped with an incremental encoder that can detect the position of the knee joint 23. An angle sensor 80 is installed near the knee joint 23 on the upper telescopic sleeve 241. The angle sensor 80 provides data on angle changes, providing data for the repositioning of the mechanical leg 2 before training.

[0052] Reference Figure 9 and Figure 10 Since the range of rotation of the human knee joint 23 is between -140° and 0°, a knee joint limiting mechanism 8 is installed at the knee joint drive mechanism 5 to restrict the range of rotation of the knee joint 23 to between -140° and 0°. The knee joint limiting mechanism 8 is located inside the second telescopic sleeve 222 and includes a positioning plate 81, two symmetrically arranged first limiting blocks 82, an upper end plate 83, a lower end plate 84, and a second limiting plate 85. The positioning plate 81 is mounted on the second drive shaft 55 and rotates coaxially with the second drive shaft 55. The first limiting blocks 82 are mounted on the positioning plate 81 and are symmetrically arranged relative to the second drive shaft 55. A fixed base plate is connected to both the upper end plate 83 and the lower end plate 84, and the upper end plate 83 and the lower end plate 84 are fixed to the second thigh support 224 by screws.

[0053] A first manual slide 86 is provided between the upper end plate 83 and the lower end plate 84. A second limiting plate 85 is installed on the slider of the first manual slide 86. The second limiting plate 85 can follow the sliding displacement of the slider to abut against the upper end plate 83 or the lower end plate 84. An upper hook plate 87 and a lower hook plate 88 are provided on the side of the second limiting plate 85 facing the positioning disk 81. When it is necessary to limit the left leg, the second limiting plate 85 is driven to abut against the lower end plate 84, so that only the upper hook plate 87 is located on the displacement trajectory of the first limiting block 82. Therefore, the two first limiting blocks 82 can only be limited by the upper hook plate 87. When the upper hook plate 87 is located on the displacement trajectory of the first limiting block 82, the angle between the first limiting block 82 and the upper hook plate 87 plus the angle between the second limiting block 82 and the upper hook plate 87 can be designed to be less than or equal to 140°. In this embodiment, 140° is selected, so that the rotation angle range of the robot's left leg knee joint 23 is between -140° and 0°. When the right leg needs to be limited, the second limiting plate 85 is driven to abut against the upper end plate 83, so that only the lower hook plate 88 is located on the displacement trajectory of the first limiting block 82, so that the two first limiting blocks 82 are limited by the lower hook plate 88. At this time, the angle between the first limiting block 82 and the lower hook plate 88 plus the angle between the second limiting block 82 and the lower hook plate 88 can be designed to be less than or equal to 140°. In this embodiment, 140° is selected, so that the rotation angle range of the robot's right leg knee joint 23 is between -140° and 0°.

[0054] Reference Figure 11 and Figure 12 The lower telescopic sleeve 242 houses a lower leg support 243, and the ankle joint drive mechanism 6 is mounted on the lower leg support 243. The ankle joint 25 drive mechanism includes a second drive motor 61 and a third reducer 62. The second drive motor 61 is a MAXON motor and is fixed to the lower leg support 243 via a flange 63. Mounting holes are provided on the lower leg support 243. The third reducer 62 is fixed to the mounting holes on the lower connecting plate 76. The output shaft of the second drive motor 61 is directly connected to the input shaft of the third reducer 62. A third transmission shaft is mounted on the output shaft of the third reducer 62. A connector 64 is connected to the end of the third transmission shaft away from the third reducer 62. A composite tension-torsion sensor 65 is connected to the connector 64. A foot pedal 26 is connected to the output shaft of the composite tension-torsion sensor 65. The patient's foot contacts the foot pedal 26, enabling human-computer interaction. The physician can obtain the torque of the patient's hip joint 21, knee joint 23, and ankle joint 25 through the composite tension-torsion sensor 65, thereby determining the patient's movement intention.

[0055] Reference Figure 12 and Figure 13An ankle joint limiting mechanism 9, which restricts the rotation range of the ankle joint 25 from -45° to 30°, is installed at the ankle joint drive mechanism 6. The ankle joint limiting mechanism 9 is mounted on the connector 64 and includes a mounting base plate 91, a second manual slide 92, and a second limiting block 93. The mounting base plate 91 is a folded plate and is fixed to the connector 64 by screws. A space for accommodating the second manual slide 92 is formed between the mounting base plate 91 and the connector 64. The second manual slide 92 is mounted on the mounting base plate 91, and the second limiting block 93 is mounted on the slider of the second manual slide 92. The lower telescopic sleeve 242 is rotatably connected to the outer shell of the ankle joint 25. A bearing sleeve 94 is installed on the inner wall of the outer shell of the ankle joint 25. The bearing sleeve 94 is fitted around the outer circumference of the third drive shaft, and a bearing connects the third drive shaft and the bearing sleeve 94. The end of the bearing outer sleeve 94 away from the third reducer 62 is connected to a limiting ring 95. One end of the limiting ring 95 has a notch, so that the limiting ring 95 is located at the notch to form a limiting surface.

[0056] Reference Figure 12 and Figure 13 The second limiting block 93 is composed of an upper limiting block 97 and a lower limiting block 98 that are offset to the left and right. When the physician performs rehabilitation training on the patient's left leg, the slider of the second manual slide table 92 is moved to the bottom of the guide rail, and the upper limiting block 97 is located within the notch of the limiting ring 95. At this time, the two surfaces of the upper limiting block 97 play a limiting role. Since the rotation range of the ankle joint 25 is between -45° and 30°, when the connecting piece 64 is naturally vertical, the angle between the left limiting surface of the limiting ring 95 and the left side of the upper limiting block 97 can be designed to be less than or equal to 45°. In this embodiment, 45° is selected, and the angle between the right limiting surface of the limiting ring 95 and the right side of the upper limiting block 97 is less than or equal to 30°. In this embodiment, 30° is selected. When it is necessary to perform rehabilitation training on the patient's right leg, it is only necessary to move the slider of the second manual slide table 92 to the top of the guide rail, and the lower limiting block 98 is located within the notch of the limiting ring 95. At this time, the two surfaces of the lower limiting block 98 play a limiting role. When the connector 64 is naturally vertical, the angle between the left limiting surface of the limiting ring 95 and the left side of the lower limiting block 98 can be designed to be less than or equal to 30°. In this embodiment, 30° is selected. The angle between the right limiting surface of the limiting ring 95 and the right side of the upper limiting block 97 is less than or equal to 45°. In this embodiment, 45° is selected. This achieves the purpose of limiting the right leg.

[0057] Reference Figure 3 and Figure 14To prevent tipping during use of the single-leg rehabilitation robot, a counterweight module 110 is installed inside the electrical control box 1. The counterweight module 110 includes a guide shaft 111 and a counterweight block 112. The guide shaft 111 is vertically positioned and installed inside the electrical control box 1, and the counterweight block 112 is fitted onto the guide post. A first through hole 113 is provided on the rotating arm 72, through which a steel wire rope passes. A screw 114 is connected to the rotating arm 72 below the first through hole 113, and one end of the steel wire rope is fixed to the screw 114. Two fixed pulleys 115 are connected to the support frame 32, located above the rotating arm 72. The steel wire rope passes through the fixed pulleys 115 and hangs down toward the counterweight block 112. The counterweight 112 has a second through hole 116 at its top and an elongated groove 117 on its side wall. The second through hole 116 communicates with the elongated groove 117. The wire rope passes through the fixed pulley 115, enters the second through hole 116, and exits through the elongated groove 117. The counterweight 112 is connected to a screw 114 in the elongated groove 117, which secures the other end of the wire rope.

[0058] The implementation principle of a multi-posture single-leg rehabilitation robot according to this application embodiment is as follows: First, the left and right legs of the robot are switched according to the leg to be rehabilitated, so that the leg to be rehabilitated by the patient and the mechanical leg 2 are on the same side. Next, the joint limiting mechanism on the mechanical leg 2 is adjusted so that the limiting range of the joint limiting mechanism on the mechanical leg 2 matches the left or right leg of the mechanical leg 2. Then, the leg lengths of the thigh 22 and calf 24 of the mechanical leg 2 are adjusted according to the length of the patient's thigh 22 and calf 24. Subsequently, the height of the mechanical leg 2 can be adjusted according to the patient's rehabilitation posture. Then, the patient's foot is placed on the foot pedal 26. The designed rehabilitation action has been converted into a control program. The corresponding control program is started, and under the control of the control program, each joint of the mechanical leg 2 moves and drives the patient's leg to perform rehabilitation exercises.

[0059] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A single-leg rehabilitation robot with multiple postures (sitting, lying, standing), comprising an electrical control box (1) and a mechanical leg (2), characterized in that: The mechanical leg (2) is installed on one side of the electrical control box (1) and is raised and lowered along the height direction of the electrical control box (1). The joint of the mechanical leg (2) is provided with a joint drive mechanism to drive the joint to rotate. The mechanical leg (2) is provided with a joint limiting mechanism to limit the range of motion of each joint of the mechanical leg (2). The mechanical leg (2) includes a hip joint (21), thigh (22), knee joint (23), calf (24), ankle joint (25) and foot pedal (26) connected in sequence. The joint drive mechanism includes a hip joint drive mechanism (4), a knee joint drive mechanism (5) and an ankle joint drive mechanism (6). The electrical control box (1) is equipped with a support frame (32). A hip joint drive mechanism (4) for driving the hip joint (21) to rotate is provided at the hip joint (21), and the hip joint drive mechanism (4) is installed inside the electrical control box (1). A knee joint drive mechanism (5) for driving the knee joint (23) to rotate is provided at the knee joint (23), and the knee joint drive mechanism (5) is installed on the thigh (22). An ankle joint drive mechanism (6) for driving the ankle joint (25) to rotate is provided at the ankle joint (25), and the ankle joint drive mechanism (6) is installed on the lower leg (24). The joint limiting mechanism includes a hip joint limiting mechanism (7), a knee joint limiting mechanism (8), and an ankle joint limiting mechanism (9). The hip joint driving mechanism (4) is equipped with a hip joint limiting mechanism (7) that limits the rotation range of the hip joint (21) to 0° to 80°. The knee joint driving mechanism (5) is equipped with a knee joint limiting mechanism (8) that limits the rotation range of the knee joint (23) to -140° to 0°. The ankle joint driving mechanism (6) is equipped with an ankle joint limiting mechanism (9) that limits the rotation range of the ankle joint (25) to -45° to 30°. Adjustment mechanisms (10) for adjusting leg length are provided in both the thigh (22) and the lower leg (24). The hip joint drive mechanism (4) includes a first drive shaft (46) mounted on the support frame (32) and rotatably disposed thereon. The first drive shaft (46) extends into the thigh (22) and is located at the hip joint (21). The hip joint limiting mechanism (7) includes a first limiting plate (71), a rotating forearm (72), a limiting disc (73), a limiting end plate (74), and a handwheel (75). The first limiting plate (71) is mounted on the support frame (32). The rotating forearm (72) is disposed at the end of the first drive shaft (46) away from the thigh (22). The rotating forearm (72) is aligned with the first drive shaft (46). The shaft rotates; two symmetrically arranged limiting holes (711) are opened on the first limiting plate (71), and a limiting plate (73) is provided on one side of the first limiting plate (71). A limiting post (731) is connected to the limiting plate (73), and the limiting post (731) is inserted into one of the limiting holes (711); two limiting end plates (74) are provided and installed on the side of the limiting plate (73) away from the first limiting plate (71), and the rotating arm (72) is located between the two limiting end plates (74), and the sum of the included angles between the two limiting end plates (74) and the rotating arm (72) is less than or equal to 80°; The thigh (22) is rotatably connected to a second drive shaft (55) at the knee joint (23), and the end of the second drive shaft (55) away from the thigh (22) is connected to the lower leg (24); the knee joint limiting mechanism (8) includes a positioning plate (81), two symmetrically arranged first limiting blocks (82), an upper end plate (83), a lower end plate (84), and a second limiting plate (85). The positioning plate (81) is mounted on the second drive shaft (55) and rotates coaxially with the second drive shaft (55). The first limiting blocks (82) are mounted on the positioning plate (81) and are symmetrically arranged relative to the second drive shaft (55); the upper end plate (83) and the lower end plate (84) are fixed inside the thigh, and the second limiting plate (85) is located between the upper end plate (83) and the lower end plate (84). The second limiting plate (85) slides relative to the positioning disk (81) and abuts against the upper end plate (83) or the lower end plate (84). The second limiting plate (85) is provided with an upper hook plate (87) and a lower hook plate (88) on the side facing the positioning disk (81). When the second limiting plate (85) abuts against the lower end plate (84), the upper hook plate (87) is located on the displacement trajectory of the first limiting block (82). The sum of the included angles between the two first limiting blocks (82) and the upper hook plate (87) is less than or equal to 140°. When the second limiting plate (85) abuts against the upper end plate (83), the lower hook plate (88) is located on the displacement trajectory of the first limiting block (82). The sum of the included angles between the two first limiting blocks (82) and the lower hook plate (88) is less than or equal to 140°. The electrical control box (1) is equipped with a counterweight module (110); the counterweight module (110) includes a guide shaft (111) and a counterweight block (112). The guide shaft (111) is vertically arranged and installed in the electrical control box (1), and the counterweight block (112) is sleeved on the guide post; a first through hole (113) is opened on the rotating arm (72), and the first through hole (113) A steel wire rope is threaded through the rotating arm (72) below the first through hole (113), and a screw (114) is connected to the rotating arm (72). One end of the steel wire rope is fixed to the screw (114). Two fixed pulleys (115) are connected to the support frame (32). The fixed pulleys (115) are located above the rotating arm (72), and the steel wire rope passes through the fixed pulleys (115) and hangs down toward the counterweight (112). A second through hole (116) is opened at the top of the counterweight (112), and a long groove (117) is opened on the side wall of the counterweight (112). The second through hole (116) and the long groove (117) are connected. After passing through the fixed pulley (115), the steel wire rope passes into the second through hole (116) and out through the long groove (117). The screw (114) is connected to the counterweight (112) in the long groove (117), and passes through the long groove (117). The screw (114) inside the wire rope secures the other end of the wire rope.

2. The single-leg rehabilitation robot with multiple postures (sitting, lying, standing) according to claim 1, characterized in that: An electronic ruler (105) is installed inside both the thigh (22) and the calf (24). An industrial control panel (11) is installed at the electrical control box (1). The electronic ruler (105) is electrically connected to the industrial control panel (11).

3. The single-leg rehabilitation robot with multiple postures (sitting, lying, standing) according to claim 1, characterized in that: A composite tension-torsion sensor (65) is installed between the ankle joint (25) and the foot pedal (26).

4. The single-leg rehabilitation robot with multiple postures (sitting, lying, standing) according to claim 1, characterized in that: The ankle joint limiting mechanism (9) includes a limiting ring (95) and a second limiting block (93). A third drive shaft is rotatably connected to the lower leg (24) at the ankle joint (25). The limiting ring (95) is sleeved on the outer periphery of the third drive shaft. The limiting ring (95) rotates coaxially with the third drive shaft. One end of the limiting ring (95) has a notch, so that the limiting ring (95) forms a limiting surface at the notch. The second limiting block (93) is located below the limiting ring (95) and slides towards the notch of the limiting ring (95). The second limiting block (93) is formed by the upper limiting block (94) that is offset to the left and right. 7) When the upper limit block (97) is located between the limiting surfaces, the angle between the left limiting surface of the limiting ring (95) and the left side of the upper limit block (97) is less than or equal to 45°, and the angle between the right limiting surface of the limiting ring (95) and the right side of the upper limit block (97) is less than or equal to 30°; when the lower limit block (98) is located between the limiting surfaces, the angle between the left limiting surface of the limiting ring (95) and the left side of the upper limit block (97) is less than or equal to 30°, and the angle between the right limiting surface of the limiting ring (95) and the right side of the upper limit block (97) is less than or equal to 45°.

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