Lower limb rehabilitation robot with electric wheelchair function

Abstract

The invention relates to the technical field of rehabilitation training, and provides a lower limb rehabilitation robot with an electric wheelchair function, the lower limb rehabilitation robot comprises a frame assembly, a lower limb rehabilitation training assembly and a seat plate assembly, the lower limb rehabilitation training assembly adopts a crank connecting rod and plane four-connecting-rod transmission structure; the seat plate assembly can move front and back and be locked through a guide rail, the frame assembly comprises a left frame and a right frame, the left frame and the right frame are connected through a pair of upper rectangular pipes and a pair of lower rectangular pipes, and aluminum plates are arranged at the upper ends of the left frame and the right frame. The seat plate assembly comprises a pair of limiting blocks and a pair of chromium-plated rod guide rails which are fixed on the inner side walls of the two aluminum plates, sliding blocks are connected to the chromium-plated rod guide rails in a sliding mode, a U-shaped pull rod is movably arranged between the tops of the sliding blocks, and limiting clamps matched with the limiting blocks are fixed to the U-shaped pull rod. The lower limb rehabilitation training assembly is of a middle structure, the structure is simple, left and right lower limb rehabilitation training can be conducted simultaneously, the training effect is good, and rehabilitation time is shortened.

Description

Technical Field

[0001] The invention relates to the technical field of rehabilitation training, and in particular to a lower limb rehabilitation robot with an electric wheelchair function. Background Art

[0002] Lower limb rehabilitation training is a form of limb rehabilitation training. This type of rehabilitation training is very suitable for patients with severe conditions who have lost the ability to walk and stand with their lower limbs, such as hemiplegic patients due to cerebral stroke. Such patients do not have the ability to walk and stand, and due to long-term bed rest, their lower limbs lack activity, which leads to varying degrees of muscle atrophy and joint adhesion in patients. If this continues for a long time, the patient's lower limbs will lose the ability to move. The lower limb rehabilitation training device can enable such patients to fully move their lower limbs while standing, thereby achieving the purpose of rehabilitation. The lower limb rehabilitation training nursing equipment currently available on the market can often only provide auxiliary support for users and cannot provide substantial assistance for the user's lower limb rehabilitation training. In addition, the existing devices have poor adjustability, a relatively bulky structure, and occupy a large space. In addition, the current lower limb rehabilitation training nursing equipment has a fixed spacing between the seat plate assembly and the training assembly, poor adjustability, and is inconvenient for patients of different body shapes to enter and exit.

[0003] Therefore, it is necessary to provide a lower limb rehabilitation robot with electric wheelchair function to solve the above problems. Summary of the invention

[0004] The purpose of the present invention is to provide a lower limb rehabilitation robot with electric wheelchair function, aiming to solve the problems mentioned in the background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a lower limb rehabilitation robot with an electric wheelchair function, comprising a frame assembly, a lower limb rehabilitation training assembly and a seat plate assembly, wherein the lower limb rehabilitation training assembly and the seat plate assembly are both installed on the frame assembly, the lower limb rehabilitation training assembly adopts a central arrangement, and the lower limb rehabilitation training assembly adopts a crank connecting rod plus a planar four-link transmission structure; the seat plate assembly is connected to the frame assembly through a guide rail, and the seat plate assembly can be moved forward and backward and locked through the guide rail, the frame assembly comprises a left frame and a right frame, the left frame and the right frame are connected by a pair of upper rectangular tubes and a pair of lower rectangular tubes, the upper ends of the left frame and the right frame are both provided with aluminum plates, the seat plate assembly comprises a pair of limit blocks fixed to the inner side walls of the two aluminum plates and a pair of chrome-plated rod guide rails, a slider is slidably connected to the chrome-plated rod guide rail, a U-shaped pull rod is movably provided between the tops of the sliders, and a limit card matching the limit block is fixed on the U-shaped pull rod.

[0006] As a further solution of the present invention, the lower limb rehabilitation training component includes an exoskeleton connecting rod fixing seat, a reduction motor, an eccentric block and a power rod. The output shaft of the reduction motor is fixedly connected to one end of the eccentric block, and the other end of the eccentric block is hinged to the power rod. A pair of short rockers and a pair of long rockers are arranged at the front end of the exoskeleton connecting rod fixing seat, a movable connecting rod is arranged between the short rockers and the long rockers, and the long rocker is hinged to the power rod.

[0007] As a further solution of the present invention, a base fixing seat is fixed to the bottom end of the movable connecting rod, a base model is movably provided on the base fixing seat, a leg support fixing seat is fixed on the movable connecting rod, a leg support bracket is movably provided on the leg support fixing seat, and a foam leg support is fixed on the leg support bracket.

[0008] As a further solution of the present invention, an exoskeleton connecting rod fixing seat is connected to the upper rectangular tube in the frame assembly, and the lower limb rehabilitation training assembly is connected and fixed to the frame assembly through the exoskeleton connecting rod fixing seat, and a reduction motor is installed on the exoskeleton connecting rod fixing seat.

[0009] As a further solution of the present invention, a seat sliding base is fixed to the inner side walls of the two sliding blocks, a push cylinder base bracket for installing the push cylinder is fixed between the tail ends of the two seat sliding bases, an aluminum seat plate is slidably provided at the top of the seat sliding base, a lower connecting rod is movably provided at the lower end of the aluminum seat plate, and an aluminum back plate is provided between the aluminum seat plate and the tail ends of the lower connecting rod.

[0010] As a further solution of the present invention, a back model is fixed between the two aluminum back plates, and an armrest seat is fixed to the outer wall of the aluminum back plate, an armrest tube is movably provided on the armrest seat, a grabber is provided on the top of the armrest tube, a foam wrist rest is provided on the armrest tube, a seat plate model is provided between the two aluminum seat plates, and the piston rod of the push cylinder is movably connected to the bottom of the seat plate model.

[0011] As a further solution of the present invention, a rear guard plate is provided between the upper rectangular tube and the lower rectangular tube at the left end, and a front guard plate is provided between the upper rectangular tube and the lower rectangular tube at the right end.

[0012] As a further solution of the present invention, the side wall of the aluminum plate is provided with a handrail, and the handrail is provided with a handle.

[0013] As a further solution of the present invention, the left ends of the left frame and the right frame are both equipped with driving wheels through wheel axles, and the right ends of the left frame and the right frame are both equipped with universal wheels through universal wheel seats.

[0014] In summary, the beneficial effects of the present invention are:

[0015] When using the present invention, the U-shaped pull rod is lifted to drive the limit card to move upward, so that it is separated from the limit block. At this time, the seat plate assembly is pushed to make the sliders at both ends slide forward and backward on the chrome-plated rod guide rail, and the seat plate model is adjusted forward and backward to facilitate the patient's entry and exit. Then the U-shaped pull rod is lowered, and the limit card follows the downward movement, so that it is clamped on the limit block to complete the limit. The applicability is strong and it is convenient to use for patients with different physiques. The present invention drives the eccentric block to rotate in a circle through a reduction motor, and the other end of the eccentric block is hinged with the power rod. At the same time, the power rod is hinged with the long rocker and drives the long rocker to swing forward and backward to form a group of crank-connecting rod mechanisms. A movable connecting rod is set between the long rocker and the short rocker, and the base model is fixed on the movable connecting rod. When the motor rotates, the crank-connecting rod mechanism drives the plane four-bar linkage mechanism to perform arc movement in the front and rear directions, and then drives the base model to perform bionic movement of human walking. The structure is simple, and the left and right lower limb rehabilitation training can be performed at the same time. The training effect is good, the rehabilitation time is greatly shortened, and the effect of getting twice the result with half the effort is achieved. In addition, the lower limb rehabilitation training component adopts a central structure layout, which occupies a small space, has a short transmission distance and high transmission efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0017] Figure 1 The figure is a schematic diagram of the overall structure of a lower limb rehabilitation robot with electric wheelchair function according to an embodiment of the present invention.

[0018] Figure 2 Schematic diagram of a lower limb rehabilitation training component in a lower limb rehabilitation robot with electric wheelchair function according to an embodiment of the present invention Figure 1 .

[0019] Figure 3 Schematic diagram of a lower limb rehabilitation training component in a lower limb rehabilitation robot with electric wheelchair function according to an embodiment of the present invention Figure 2 .

[0020] Figure 4 Schematic diagram of a frame assembly of a lower limb rehabilitation robot with electric wheelchair function according to an embodiment of the present invention Figure 1 .

[0021] Figure 5 Schematic diagram of a frame assembly of a lower limb rehabilitation robot with electric wheelchair function according to an embodiment of the present invention Figure 2 .

[0022] Figure 6Schematic diagram of a seat plate assembly in a lower limb rehabilitation robot with electric wheelchair function according to an embodiment of the present invention Figure 1 .

[0023] Figure 7 Schematic diagram of a seat plate assembly in a lower limb rehabilitation robot with electric wheelchair function according to an embodiment of the present invention Figure 2 .

[0024] Figure numerals: 1-frame assembly, 2-lower limb rehabilitation training assembly, 3-seat plate assembly, 11-left frame, 111-aluminum plate, 112-armrest, 113-handle, 114-axle, 115-driving wheel, 116-universal wheel seat, 117-universal wheel, 12-right frame, 13-upper rectangular tube, 14-lower rectangular tube, 15-rear guard plate, 16-front guard plate, 21-exoskeleton connecting rod fixing seat, 22-reduction motor, 23-eccentric block, 24-power rod, 25-short rocker, 26-long rocker, 2 7-movable connecting rod, 271-base fixing seat, 272-base model, 273-leg support fixing seat, 274-leg support bracket, 275-foamed leg support, 31-limiting block, 32-chrome rod guide, 33-push cylinder, 34-slider, 35-U-shaped pull rod, 36-limiting card, 37-seat sliding base, 38-aluminum seat plate, 381-seat plate model, 39-lower connecting rod, 40-aluminum back plate, 401-back model, 402-armrest seat, 403-armrest tube, 404-grip, 405-foamed wrist rest. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0026] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0027] See also Figures 1 to 7The embodiment of the present invention provides a lower limb rehabilitation robot with an electric wheelchair function, comprising a frame assembly 1, a lower limb rehabilitation training assembly 2 and a seat assembly 3. The lower limb rehabilitation training assembly 2 and the seat assembly 3 are both installed on the frame assembly 1. The lower limb rehabilitation training assembly 2 adopts a central arrangement, and the lower limb rehabilitation training assembly 2 adopts a crank connecting rod plus a plane four-link transmission structure; the seat assembly 3 is connected to the frame assembly 1 through a guide rail, and the seat assembly 3 can be moved forward and backward and locked through the guide rail. The frame assembly 1 includes a left frame 11 and a right frame 12. The left frame 11 and the right frame 12 are connected to the frame assembly 1 through a guide rail. The left frame 11 and the right frame 12 are connected by a pair of upper rectangular tubes 13 and a pair of lower rectangular tubes 14. The upper ends of the left frame 11 and the right frame 12 are both provided with aluminum plates 111. The seat plate assembly 3 includes a pair of limit blocks 31 fixed to the inner walls of the two aluminum plates 111 and a pair of chrome-plated rod guides 32. The chrome-plated rod guides 32 are slidably connected with sliders 34. A U-shaped pull rod 35 is movably provided between the tops of the sliders 34. A limit card 36 matching the limit block 31 is fixed on the U-shaped pull rod 35 to facilitate the adjustment of the distance between the seat and the training assembly.

[0028] In an embodiment of the present invention, the lower limb rehabilitation training component 2 includes an exoskeleton connecting rod fixing seat 21, a reduction motor 22, an eccentric block 23 and a power rod 24. The output shaft of the reduction motor 22 is fixedly connected to one end of the eccentric block 23, and the other end of the eccentric block 23 is hinged to the power rod 24. A pair of short rockers 25 and a pair of long rockers 26 are arranged at the front end of the exoskeleton connecting rod fixing seat 21. A movable connecting rod 27 is arranged between the short rocker 25 and the long rocker 26, and the long rocker 26 is hinged to the power rod 24. When in use, the reduction motor 22 is started to drive the eccentric block 23 to rotate in a circle, and the eccentric block 23 drives the power rod 24 to swing back and forth. The back and forth swing of the power rod 24 drives the long rocker 26 to perform reciprocating circular motion clockwise and counterclockwise. Since a movable connecting rod 27 is arranged between the long rocker 26 and the short rocker 25, the movement of the power rod 24 drives the movable connecting rod 27 to perform an arc motion in the front and back directions, thereby driving the base model 272 to perform bionic motion of human walking. The structure is simple, and rehabilitation training of the left and right lower limbs can be performed at the same time. The training effect is good, the rehabilitation time is greatly shortened, and the effect of getting twice the result with half the effort is achieved. It is highly practical.

[0029] Preferably, a base fixing seat 271 is fixed to the bottom end of the movable link 27, a base model 272 is movably provided on the base fixing seat 271, a leg support fixing seat 273 is fixed on the movable link 27, a leg support bracket 274 is movably provided on the leg support fixing seat 273, and a foam leg support 275 is fixed on the leg support bracket 274. An exoskeleton link fixing seat 21 is connected to the upper rectangular tube 13 in the frame assembly 1, and the lower limb rehabilitation training assembly 2 is connected and fixed to the frame assembly 1 through the exoskeleton link fixing seat 21, and a reduction motor 22 is installed on the exoskeleton link fixing seat 21. In addition, the embodiment of the present invention adopts a central structure layout, which occupies a small space, has a short transmission distance, and has a high transmission efficiency.

[0030] In the embodiment of the present invention, a seat sliding base 37 is fixed to the inner side walls of the two sliding blocks 34, a push cylinder base support for installing the push cylinder 33 is fixed between the tail ends of the two seat sliding bases 37, an aluminum seat plate 38 is slidably provided at the top of the seat sliding base 37, a lower connecting rod 39 is movably provided at the lower end of the aluminum seat plate 38, and an aluminum back plate 40 is provided between the tail ends of the aluminum seat plate 38 and the lower connecting rod 39.

[0031] In the embodiment of the present invention, a back model 401 is fixed between the two aluminum back plates 40, and an armrest seat 402 is fixed to the outer wall of the aluminum back plate 40, an armrest tube 403 is movably provided on the armrest seat 402, a gripper 404 is provided at the top of the armrest tube 403, a foam wrist rest 405 is provided on the armrest tube 403, a seat plate model 381 is provided between the two aluminum seat plates 38, and the piston rod of the push cylinder 33 is movably connected to the bottom of the seat plate model 381. The chrome-plated rod guide rail 32 matches the slider 34, and the slider 34 slides forward and backward on the chrome-plated rod guide rail 32, the limit block 31 matches the limit card 36, and the limit card 36 is clamped on the limit block 31.

[0032] In the embodiment of the present invention, a rear guard plate 15 is provided between the upper rectangular tube 13 and the lower rectangular tube 14 at the left end, and a front guard plate 16 is provided between the upper rectangular tube 13 and the lower rectangular tube 14 at the right end. A handrail 112 is provided on the side wall of the aluminum plate 111, and a handle 113 is provided on the handrail 112. A driving wheel 115 is installed at the left end of the left frame 11 and the right frame 12 through a wheel axle 114, and a universal wheel 117 is installed at the right end of the left frame 11 and the right frame 12 through a universal wheel seat 116.

[0033] During operation, the U-shaped pull rod 35 is lifted to drive the limit card 36 to move upward so that it is separated from the limit block 31. At this time, the seat plate assembly 3 is pushed to make the sliders 34 at both ends slide back and forth on the chrome-plated rod guide rails 32, and the seat plate model is adjusted back and forth to facilitate the patient's entry and exit. Then the U-shaped pull rod 35 is lowered, and the limit card 36 follows the downward movement so that it is clamped on the limit block 31 to complete the limitation. It has strong applicability and is convenient for use for patients with different physiques.

[0034] For those skilled in the art, although several embodiments and examples of the present invention are described, these embodiments and examples are presented as examples and are not intended to limit the scope of the invention. These new embodiments can be implemented in various other ways, and various omissions, substitutions, and changes can be made without departing from the scope of the subject matter of the invention. These embodiments and their variations are included in the scope and subject matter of the invention, and are included in the invention described in the claims and the scope of their equivalents.

[0035] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A lower limb rehabilitation robot with electric wheelchair function, comprising a frame assembly (1), a lower limb rehabilitation training assembly (2) and a seat assembly (3), wherein the lower limb rehabilitation training assembly (2) and the seat assembly (3) are both mounted on the frame assembly (1), characterized in that: The lower limb rehabilitation training component (2) is centrally arranged and adopts a crank connecting rod plus a planar four-link transmission structure; the seat plate component (3) is connected to the frame component (1) via a guide rail, and the seat plate component (3) can be moved forward and backward and locked via the guide rail; the frame component (1) comprises a left frame (11) and a right frame (12); the left frame (11) and the right frame (12) are connected via a pair of upper rectangular tubes (13) and a pair of lower rectangular tubes (14); Aluminum plates (111) are provided at the upper ends of the left frame (11) and the right frame (12); the seat plate assembly (3) comprises a pair of limit blocks (31) and a pair of chrome-plated rod guide rails (32) fixed to the inner side walls of the two aluminum plates (111); a slider (34) is slidably connected to the chrome-plated rod guide rails (32); a U-shaped pull rod (35) is movably provided between the tops of the sliders (34); and a limit card (36) matching the limit block (31) is fixed to the U-shaped pull rod (35).

2. The lower limb rehabilitation robot with electric wheelchair function according to claim 1, characterized in that: The lower limb rehabilitation training component (2) comprises an exoskeleton connecting rod fixing seat (21), a reduction motor (22), an eccentric block (23) and a power rod (24), wherein the output shaft of the reduction motor (22) is fixedly connected to one end of the eccentric block (23), and the other end of the eccentric block (23) is hinged to the power rod (24); a pair of short rockers (25) and a pair of long rockers (26) are arranged at the front end of the exoskeleton connecting rod fixing seat (21), a movable connecting rod (27) is arranged between the short rockers (25) and the long rockers (26), and the long rockers (26) are hinged to the power rod (24).

3. The lower limb rehabilitation robot with electric wheelchair function according to claim 2, characterized in that: A base fixing seat (271) is fixed to the bottom end of the movable connecting rod (27), a base model (272) is movably arranged on the base fixing seat (271), a leg support fixing seat (273) is fixed to the movable connecting rod (27), a leg support bracket (274) is movably arranged on the leg support fixing seat (273), and a foam leg support (275) is fixed to the leg support bracket (274).

4. The lower limb rehabilitation robot with electric wheelchair function according to claim 2, characterized in that: An exoskeleton connecting rod fixing seat (21) is connected to the upper rectangular tube (13) in the frame assembly (1); the lower limb rehabilitation training assembly (2) is connected and fixed to the frame assembly (1) via the exoskeleton connecting rod fixing seat (21); and a reduction motor (22) is installed on the exoskeleton connecting rod fixing seat (21).

5. The lower limb rehabilitation robot with electric wheelchair function according to claim 1, characterized in that: A seat sliding base (37) is fixed to the inner side walls of the two sliding blocks (34), a push cylinder base for mounting the push cylinder (33) is fixed between the tail ends of the two seat sliding bases (37), an aluminum seat plate (38) is slidably provided at the top end of the seat sliding base (37), a lower connecting rod (39) is movably provided at the lower end of the aluminum seat plate (38), and an aluminum back plate (40) is provided between the tail ends of the aluminum seat plate (38) and the lower connecting rod (39).

6. The lower limb rehabilitation robot with electric wheelchair function according to claim 5, characterized in that: A back model (401) is fixed between the two aluminum back plates (40), and an armrest seat (402) is fixed to the outer wall of the aluminum back plate (40), an armrest tube (403) is movably arranged on the armrest seat (402), a gripper (404) is arranged at the top of the armrest tube (403), a foam wrist rest (405) is arranged on the armrest tube (403), a seat plate model (381) is arranged between the two aluminum seat plates (38), and the piston rod of the push cylinder (33) is movably connected to the bottom of the seat plate model (381).

7. The lower limb rehabilitation robot with electric wheelchair function according to claim 1, characterized in that: A rear guard plate (15) is provided between the upper rectangular tube (13) and the lower rectangular tube (14) at the left end, and a front guard plate (16) is provided between the upper rectangular tube (13) and the lower rectangular tube (14) at the right end.

8. The lower limb rehabilitation robot with electric wheelchair function according to claim 1, characterized in that: The side wall of the aluminum plate (111) is provided with an armrest (112), and the armrest (112) is provided with a handle (113).

9. The lower limb rehabilitation robot with electric wheelchair function according to claim 1, characterized in that: The left ends of the left frame (11) and the right frame (12) are both equipped with driving wheels (115) via wheel axles (114), and the right ends of the left frame (11) and the right frame (12) are both equipped with universal wheels (117) via universal wheel seats (116).

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