Ankle joint gait assistance robot

Abstract

Ankle joint gait assisting robot, including sagittal plane main drive mechanism, coronal plane landing walking mechanism and small leg wearing binding device, the small leg wearing binding device is fixed above the sagittal plane main drive mechanism through bolt nut, the coronal plane landing walking mechanism is located below the sagittal plane main drive mechanism, the foot support output connecting rod of the sagittal plane main drive mechanism is connected with the quick locking structure of the coronal plane landing walking mechanism.The present application is as portable general ankle rehabilitation exercise assisting equipment, on the basis of plantar flexion dorsiflexion, it is assisted with landing walking function;In order to facilitate landing walking and cooperate with other lower limb training equipment, it is equipped with flexible landing shoe sole mode.

Description

Technical Field

[0001] This invention relates to the fields of robotics, medical rehabilitation, and medical devices. Specifically, it relates to a rehabilitation robot for ankle gait assistance, which is suitable for ankle gait assistance rehabilitation for patients with lower limb ankle joint motor dysfunction, especially stroke hemiplegic patients. Background Technology

[0002] The incidence of stroke is increasing and the age of onset is trending younger. Stroke patients have a high probability of developing ankle joint dysfunction after the stroke. Ankle abnormalities such as foot inversion and drop can easily lead to difficulties in standing and walking, resulting in a typical circling gait, which seriously affects patients' rehabilitation training and daily living activities. Traditional limb motor function rehabilitation treatment requires one-on-one assistance from a professional rehabilitation therapist, and its treatment effect largely depends on the therapist's skill and experience. This leads to problems such as high cost, poor consistency, high workload for therapists, and strong subjectivity in evaluating rehabilitation effects. Rehabilitation robots can help solve these problems. They can not only meet the rehabilitation needs of a large number of patients and save labor costs, but also achieve more ideal training results by adjusting training modes and parameters according to the differences in individual patient conditions.

[0003] Most existing ankle rehabilitation robots use a sitting posture for rehabilitation training, which cannot provide a holistic view of the movement of the lower limb joints during the rehabilitation process, making it difficult to achieve systematic training of the lower limbs. Summary of the Invention

[0004] To overcome the shortcomings of existing rehabilitation robot technologies, this invention provides an ankle gait assistive robot. As a lightweight and versatile ankle rehabilitation exercise aid, it supplements plantar flexion and dorsiflexion with a landing walking function. To facilitate landing walking and use in conjunction with other lower limb training equipment, it is equipped with a flexible landing sole mode.

[0005] To address the aforementioned technical deficiencies, the present invention provides the following technical solution:

[0006] An ankle-joint gait assistive robot includes a sagittal plane main drive mechanism, a coronal plane ground walking mechanism, and a lower leg wearing and binding device. The lower leg wearing and binding device is fixed above the sagittal plane main drive mechanism, and the coronal plane ground walking mechanism is located below the sagittal plane main drive mechanism. The foot support output connecting rod of the sagittal plane main drive mechanism is connected to the quick-locking structure of the coronal plane ground walking mechanism.

[0007] Furthermore, the coronal plane landing walking mechanism includes a quick-locking structure, an anti-slip insole, an adaptive spring, and a foot binding device. The quick-locking structure consists of a locking sleeve and rubber-headed bolts and nuts, and is connected to the foot support output connecting rod to provide driving force for plantar flexion and dorsiflexion movements of the lower limbs. The anti-slip insole consists of a pressure sensor and a silicone insole, providing comfort for forefoot flexion during landing. The adaptive spring, in conjunction with the quick-locking mechanism, can adjust and align with the ankle joint rotation center. The foot binding device is used to ensure the foot fits snugly against the coronal plane landing walking mechanism, guaranteeing comfort and safety during walking.

[0008] Furthermore, the sagittal plane main drive mechanism includes a motor, a friction torque limiter, a footrest output connecting rod, a footrest output driven connecting rod, a U-shaped crossbar, and an integrated bearing housing. The motor is mounted on a motor mounting bracket, and its output shaft is connected to the torque limiter clamp and the friction torque limiter. The friction torque limiter is used to transmit and limit the ankle joint torque output. One end of the footrest output connecting rod is connected to the friction torque limiter, and the other end is connected to the coronal plane landing walking structure, providing the driving force for plantar flexion and dorsiflexion movements. One end of the footrest output driven connecting rod is connected to the integrated bearing housing, and the other end is connected to the coronal plane landing walking structure, maintaining concentricity with the footrest output connecting rod. The U-shaped crossbar is used to connect the bearing housing bracket and the motor mounting bracket. The integrated bearing housing is used to install the footrest output connecting driven auxiliary rod and is connected to the bearing housing bracket.

[0009] Preferably, the quick-locking structure is mounted on the adaptive spring and symmetrically distributed on both sides of the coronal plane landing walking mechanism; the adaptive spring is mounted on the anti-slip shoe sole, and the output connecting rod and the foot support output driven connecting rod pass through the quick-locking mechanism and are locked with rubber-head bolts and nuts.

[0010] Furthermore, the calf binding device includes a calf protector, a calf wearing outer frame, and a calf protector bracket. The calf protector is an open hollow cylinder with two retractable locking straps connected to its opening. The calf protector fits the calf by adjusting the tightness of the straps. The calf wearing outer frame includes two side fixing pieces and upper and lower U-shaped connecting pieces. The calf protector bracket connects the calf protector and the calf wearing outer frame together.

[0011] Preferably, the anti-slip insole is a silicone foot pressure insole, and the foot binding device is a foot strap.

[0012] Furthermore, the coronal plane landing walking mechanism also includes a flexible foot support pad, which has raised structures on both sides to separate the foot from the mechanical structures on both sides, forming a safe wearing space; the anti-slip sole is connected to the flexible foot support pad, and the foot binding device is installed on the flexible foot support pad by tubular rivets.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] (1) The coronal plane landing walking mechanism is designed with an adaptive spring structure, which can overcome the problem of the ankle joint floating up and down during the patient's landing walking process, automatically align with the patient's ankle joint rotation center, and improve the wearing comfort.

[0015] (2) The motor output shaft is connected to the torque limiter clamp and the friction torque limiter before outputting torque. When the torque exceeds the set value, the torque limiter and the torque limiter clamp slip, preventing the transmission of greater torque to the patient's ankle joint, thus preventing accidental over-movement from damaging the patient's limb.

[0016] (3) By controlling the rotation of the motor, the angle of the foot support output connecting rod and the foot support output connecting driven rod is controlled, thereby realizing the swing of the coronal plane landing walking mechanism, thus guiding the patient's foot to simulate two running states: dorsiflexion and plantarflexion. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the rehabilitation robot in this embodiment;

[0018] Figure 2 A schematic diagram of a binding device for the lower leg;

[0019] Figure 3 This is a schematic diagram of the sagittal plane main drive mechanism.

[0020] Figure 4 This is a structural diagram of the coronal plane ground-walking mechanism;

[0021] Figure 5 for Figure 4 A schematic diagram of the adaptive structure of the spring;

[0022] Figure 6 for Figure 3 A schematic diagram of the structure of the intermediate limit torque clamp ring.

[0023] In the diagram, 1-lower leg binding device, 2-sagittal plane main drive mechanism, 3-coronal plane ground walking device, 101-lower leg brace, 102a-upper U-shaped connecting piece, 102b-lower U-shaped connecting piece, 103-side fixing pieces, 104-strap, 105-lower leg brace bracket, 201-motor, 202-torque limiter clamp, 203-friction torque limiter, 204-motor mounting bracket, 205-foot support output connecting rod, 206-U-shaped crossbar, 207-bearing seat bracket, 208-integrated bearing seat, 209-foot support output driven connecting rod, 301-rubber head bolt and nut, 302-quick locking structure, 303-anti-slip sole, 304-spring adaptive mechanism, 305-foot strap, 306-flexible foot support pad. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0025] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0026] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation", "connection" and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an integral connection, or a detachable connection; they can refer to the internal connection of two components; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0027] Reference Figures 1-4 An ankle rehabilitation robot includes a lower leg wearing and binding device 1, a sagittal plane main drive mechanism 2, and a coronal plane ground walking device 3. The lower leg wearing and binding device 1 is fixed above the sagittal plane main drive mechanism 2, and the coronal plane ground walking device 3 is located below the sagittal plane main drive mechanism 2. The foot support output connecting rod of the sagittal plane main drive mechanism 2 is connected to the quick-locking structure of the coronal plane ground walking device 3.

[0028] Reference Figure 2In this embodiment, the lower leg binding device 1 includes a lower leg brace 101, an outer frame for lower leg wear, and a lower leg brace bracket 105. The outer frame for lower leg wear includes an upper U-shaped connecting piece 102a and a lower U-shaped connecting piece 102b. The lower leg brace 101 is mounted on the lower leg brace bracket 105, and a strap 104 is mounted on the lower leg brace 101. Two side fixing pieces 103 are mounted on both sides of the lower leg brace bracket. The upper and lower U-shaped connecting pieces 102a and 102b are mounted on the outer sides of the two side fixing pieces 103. The middle parts of the upper and lower U-shaped connecting pieces 102a and 102b are fixed to the lower leg brace bracket 105 with bolts and nuts.

[0029] Reference Figure 3 In this embodiment, the sagittal plane main drive mechanism 2 includes a motor 201, a friction torque limiter 203, a footrest output connecting rod 205, a footrest output driven connecting rod 209, a U-shaped crossbeam 206, and an integrated bearing seat 208. The motor 201 is mounted on a motor mounting bracket 204, and its output shaft is connected to the torque limiter clamp 202 and the friction torque limiter 203. One end of the footrest output connecting rod 205 is connected to the friction torque limiter 203, and the other end is connected to the coronal plane ground walking structure 3. One end of the footrest output driven connecting rod 209 is connected to the integrated bearing seat 208, and the other end is connected to the coronal plane ground walking structure 3, and is concentric with the footrest output connecting rod 205. The bearing seat bracket 207 and the motor mounting bracket 204 are fixed at both ends of the U-shaped crossbeam 206.

[0030] Reference Figure 4 In this embodiment, the coronal plane landing walking mechanism 3 includes a quick-locking structure 302, an anti-slip insole 303, an adaptive spring 304, and a foot binding device 305. The quick-locking structure 302 is mounted on the adaptive spring 304 and symmetrically distributed on both sides of the coronal plane landing walking mechanism 3. The adaptive spring is mounted on the anti-slip sole 303, which is connected to the flexible footrest pad 306. The foot binding device 305 is mounted on the flexible footrest pad 306 via tubular rivets. The footrest output connecting rod 205 and the footrest output driven connecting rod 209 pass through the quick-locking structure 302 and are locked with rubber-headed bolts and nuts 301. The flexible footrest has protruding structures on both sides to separate the foot from the mechanical structures on both sides, forming a safe wearing space.

[0031] The anti-slip insole 303 is a silicone foot pressure insole, and the foot binding device 305 is a foot strap.

[0032] The rehabilitation robot in this embodiment operates as follows:

[0033] 1) The patient is in a sitting position. After putting on the ankle rehabilitation robot, the patient's lower limbs are fixed by foot and calf binding devices.

[0034] 2) Start the motor and adjust the foot to a horizontal position, that is, return to the initial position and wait for rehabilitation training.

[0035] 3) Through different rehabilitation scenarios, select the corresponding movement trajectory to train the patient's lower limbs in plantar flexion and dorsiflexion movements; or connect an external traction device to train walking on the ground. After the training is completed, the above steps can be reversed to transport the patient to a seat / wheelchair.

[0036] In summary, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An ankle-joint gait assistive robot, characterized in that, The robot includes a sagittal plane main drive mechanism, a coronal plane ground-walking mechanism, and a lower leg strapping device. The lower leg strapping device is fixed above the sagittal plane main drive mechanism, and the coronal plane ground-walking mechanism is located below the sagittal plane main drive mechanism. The foot support output connecting rod of the sagittal plane main drive mechanism is connected to the quick-locking structure of the coronal plane ground-walking mechanism. The coronal plane ground-walking mechanism includes a quick-locking structure, an anti-slip insole, an adaptive spring, and a foot strapping device. The quick-locking structure consists of a locking sleeve and a rubber-headed bolt and nut assembly. The quick-locking structure is connected to the footrest output connecting rod, which passes through the locking sleeve and is locked with a rubber-headed bolt and nut, providing driving force for plantar flexion and dorsiflexion movements of the lower limbs. The anti-slip insole consists of a pressure sensor and a silicone insole, providing comfort for forefoot flexion during landing. The quick-locking structure is mounted on an adaptive spring, which is mounted on the anti-slip insole. The adaptive spring, in conjunction with the quick-locking structure, can adjust and align with the ankle joint rotation center. The foot binding device is used to ensure the foot fits snugly against the coronal plane landing walking mechanism.

2. The ankle joint gait assistive robot as described in claim 1, characterized in that, The sagittal plane main drive mechanism includes a motor, a friction torque limiter, a footrest output connecting rod, a footrest output driven connecting rod, a U-shaped crossbar, and an integrated bearing housing. The motor is mounted on a motor mounting bracket, and its output shaft is connected to the torque limiter clamp and the friction torque limiter. The friction torque limiter is used to transmit and limit the ankle joint torque output. One end of the footrest output connecting rod is connected to the friction torque limiter, and the other end is connected to the coronal plane landing walking mechanism, providing the driving force for plantar flexion and dorsiflexion movements. One end of the footrest output driven connecting rod is connected to the integrated bearing housing, and the other end is connected to the coronal plane landing walking structure, maintaining concentricity with the footrest output connecting rod. The U-shaped crossbar is used to connect the bearing housing bracket and the motor mounting bracket. The integrated bearing housing is used to mount the footrest output driven connecting rod and is connected to the bearing housing bracket. The quick-locking structure is mounted on the adaptive spring and symmetrically distributed on both sides of the coronal plane ground walking mechanism; the adaptive spring is mounted on the anti-slip insole, and the output connecting rod and the foot support output driven connecting rod pass through the locking sleeves on both sides and are locked with rubber head bolts and nuts.

3. The ankle joint gait assistive robot as described in claim 1, characterized in that, The calf binding device includes a calf protector, a calf outer frame, and a calf protector bracket. The calf protector is an open hollow cylinder with two retractable locking straps connected to its opening. The calf protector fits the calf by adjusting the tightness of the straps. The calf outer frame includes two side fixing pieces and upper and lower U-shaped connecting pieces. The calf protector bracket connects the calf protector and the calf outer frame together.

4. The ankle joint gait assistive robot as described in claim 1, characterized in that, The anti-slip insole is made of silicone foot pressure insole, and the foot binding device is made of foot strap.

5. The ankle joint gait assistive robot as described in claim 1, characterized in that, The coronal plane ground walking mechanism also includes a flexible foot support pad, which has raised structures on both sides to separate the feet from the quick-locking structures on both sides, forming a safe wearing space. The anti-slip insole is connected to the flexible footrest pad, and the foot binding device is installed on the flexible footrest pad by tubular rivets.

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