Bionic lower limb rehabilitation training robot

Abstract

The utility model discloses a bionic lower limb rehabilitation training robot which comprises a waist tightening mechanism, a hip joint extension rod mechanism, a thigh rod mechanism, a shank rod mechanism, a foot bottom plate assembly, a sliding rail mechanism, a spring boosting mechanism, a first steel wire rope and a second steel wire rope. The thigh rod mechanism is rotationally connected with the hip joint extension rod mechanism, the shank rod mechanism is rotationally connected with the thigh rod mechanism, the foot bottom plate assembly is rotationally installed at the lower end of the shank rod mechanism, the sliding rail mechanism is installed on the waist tightening mechanism, the spring boosting mechanism is installed on the shank rod mechanism, and one end of the first steel wire rope is connected with a sliding block of the sliding rail mechanism. One end of the second steel wire rope is connected with the lower side of the spring bottom pad of the spring boosting mechanism, and the other end of the second steel wire rope is connected with the rear end of the foot bottom plate assembly; the hip bending and stretching assisting device can assist a hemiplegic patient in bending and stretching the hip and assisting foot dorsiflexion.

Description

Technical Field

[0001] The utility model relates to the technical field of rehabilitation equipment, in particular to a bionic lower limb rehabilitation training robot. Background Art

[0002] Rehabilitation training is mainly divided into passive training, collaborative training, active training and impedance training. For patients with hemiplegia caused by cerebral infarction, cerebral hemorrhage, craniocerebral trauma, spinal cord injury and other diseases, most of the early manifestations are insufficient hip flexion muscle strength and insufficient foot dorsiflexion muscle strength, which makes the patients unable to walk. The existing fully passive walking training robots are prone to human-machine asynchrony. Utility Model Content

[0003] In view of the defects in the prior art, the purpose of the utility model is to provide a bionic lower limb rehabilitation training robot that assists in hip flexion and extension and dorsiflexion of the foot, which is a collaborative rehabilitation training tool.

[0004] The technical solution adopted by the utility model is:

[0005] The bionic lower limb rehabilitation training robot comprises a waist binding mechanism, a hip joint extension rod mechanism, a thigh rod mechanism, a calf rod mechanism, a plantar plate assembly, a slide rail mechanism, a spring booster mechanism, a first steel wire rope and a second steel wire rope, wherein the upper end of the hip joint extension rod mechanism is connected to the waist binding mechanism, the upper end of the thigh rod mechanism is rotatably connected to the lower end of the hip joint extension rod mechanism, the upper end of the calf rod mechanism is rotatably connected to the lower end of the thigh rod mechanism, the plantar plate assembly is rotatably mounted on the lower end of the calf rod mechanism, the slide rail mechanism is mounted on the waist binding mechanism, the spring booster mechanism is mounted on the calf rod mechanism, one end of the first steel wire rope is connected to a slider of the slide rail mechanism, and the other end is connected to the upper side of a spring bottom pad of the spring booster mechanism, one end of the second steel wire rope is connected to the lower side of a spring bottom pad of the spring booster mechanism, and the other end is connected to the rear end of the plantar plate assembly.

[0006] Furthermore, the waist tightening mechanism comprises a U-shaped plate and a waist strap, one end of the waist strap is connected to one end of the U-shaped plate, and the other end is detachably connected to the other end of the U-shaped plate.

[0007] Furthermore, the thigh rod mechanism is a telescopic rod and the calf rod mechanism is a telescopic rod.

[0008] Furthermore, the thigh rod mechanism and the calf rod mechanism are both provided with straps.

[0009] Furthermore, the slide rail mechanism includes a motor, a screw slide rail and a fixed frame, the fixed frame is fixedly mounted on the waist binding mechanism, the screw slide rail is rotatably mounted on the fixed frame, the output shaft of the motor is connected to one end of the screw slide rail, and the slider is threadedly connected to the screw slide rail.

[0010] Furthermore, the slide rail mechanism also includes a fixed block and a pulley, wherein the fixed block is fixedly mounted on the waist binding mechanism, and the pulley is rotatably mounted on the slider, and one end of the first steel wire rope is fixed on the fixed block and wound around the pulley.

[0011] Furthermore, the slide rail mechanism also includes a power supply, a power control circuit board and an induction switch, the power supply is connected to the motor, the induction switch is installed at the lower end of the spring assist mechanism and connected to the input end of the power control circuit, and the output end of the power control circuit is connected to the motor.

[0012] Furthermore, the spring assist mechanism includes a metal sleeve and a spring. The metal sleeve is sleeved on the calf rod mechanism. The spring is installed in the metal sleeve, with its upper end fixed to the upper end of the metal sleeve and its lower end fixed to the spring base pad.

[0013] Furthermore, it also includes a knee joint V-grooved plate mechanism, which is installed on the connection point of the thigh rod mechanism and the calf rod mechanism, and the first steel wire rope passes through the knee joint V-grooved plate mechanism and can slide freely along the knee joint V-grooved plate mechanism.

[0014] Furthermore, it also includes an ankle flexion and extension mechanism, which is installed at the connection point between the calf rod mechanism and the plantar plate assembly to drive the front end of the plantar plate assembly to rotate up and down.

[0015] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the specific implementation of the utility model or the technical solution in the prior art, the following is a brief introduction to the drawings required for the specific implementation or the prior art description. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale.

[0017] Figure 1 A schematic diagram of the structure of a bionic lower limb rehabilitation training robot provided in an embodiment of the present application;

[0018] Figure 2A schematic diagram of the structure of the bionic lower limb rehabilitation training robot in another state provided in an embodiment of the present application;

[0019] Figure 3 A schematic diagram of the structure of the bionic lower limb rehabilitation training robot in another state provided in an embodiment of the present application;

[0020] Figure 4 A schematic diagram of the structure of the bionic lower limb rehabilitation training robot in another state provided in an embodiment of the present application;

[0021] Figure 5 This is a schematic diagram of the structure of another state of the bionic lower limb rehabilitation training robot provided in an embodiment of the present application.

[0022] Among them, there are a waist tightening mechanism 1, a fixing frame 2, a screw slide rail 3, a fixing block 4, a power control circuit board 5, a power supply 6, a motor 7, a slider 8, a pulley 9, a first steel wire rope 10, a hip joint extension rod mechanism 11, a thigh rod mechanism 12, a calf rod mechanism 13, a spring 14, a spring base 15, a metal sleeve 16, an induction switch 17, a second steel wire rope 18, a screw disk 19, a calf bracket 20, and a foot sole plate 21. DETAILED DESCRIPTION

[0023] Here, it should be noted that the functions and methods involved in the present invention are merely conventional adaptive applications of the prior art. Therefore, the improvement of the present invention on the prior art is essentially the connection relationship between the hardware, rather than the functions and methods themselves. That is, although the present invention involves some functions and methods, it does not include improvements to the functions and methods themselves. The description of the functions and methods in the present invention is to better illustrate the present invention so as to better understand the present invention.

[0024] The following embodiments of the technical solution of the utility model are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the utility model, and are therefore only used as examples, and cannot be used to limit the protection scope of the utility model.

[0025] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by technicians in the field to which the utility model belongs.

[0026] See also Figure 1 to Figure 5The present application discloses a bionic lower limb rehabilitation training robot, comprising a waist binding mechanism 1, a hip joint extension rod mechanism 11, a thigh rod mechanism 12, a calf rod mechanism 13, a plantar plate assembly, a slide rail mechanism, a spring assist mechanism, a first steel wire rope 10 and a second steel wire rope 18. The upper end of the hip joint extension rod mechanism 11 is connected to the waist binding mechanism 1, the upper end of the thigh rod mechanism 12 is rotatably connected to the lower end of the hip joint extension rod mechanism 11, the upper end of the calf rod mechanism 13 is rotatably connected to the lower end of the thigh rod mechanism 12, the plantar plate assembly is rotatably mounted on the lower end of the calf rod mechanism 13, the slide rail mechanism is mounted on the waist binding mechanism 1, the spring assist mechanism is mounted on the calf rod mechanism 13, one end of the first steel wire rope 10 is connected to the slider 8 of the slide rail mechanism, and the other end is connected to the upper side of the spring 14 bottom pad of the spring assist mechanism, one end of the second steel wire rope 18 is connected to the lower side of the spring 14 bottom pad of the spring assist mechanism, and the other end is connected to the rear end of the plantar plate assembly.

[0027] The present application sets up a waist tightening mechanism 1, a hip joint extension rod mechanism 11, a thigh rod mechanism 12, a calf rod mechanism 13, a plantar plate assembly, a slide rail mechanism, a spring assist mechanism, a first steel wire rope 10 and a second steel wire rope 18. Through the action of the slide rail mechanism, the first steel wire rope 10, the spring assist mechanism and the second steel wire rope 18 are driven to move, which can assist hemiplegic patients in hip flexion and extension, and dorsiflexion of the foot. Synchronous assistance training can be performed according to the patient's movement requirements, avoiding the situation of human-machine asynchrony caused by using a fully passive walking training robot.

[0028] The waist tightening mechanism 1 comprises a U-shaped plate and a waist strap, one end of the waist strap is connected to one end of the U-shaped plate, and the other end is detachably connected to the other end of the U-shaped plate. When the other end of the waist strap is connected and fixed to the other end of the U-shaped plate, the waist tightening mechanism 1 can fit the human waist and be fixed at the human waist position.

[0029] The upper end of the hip joint extension rod mechanism 11 is fixed to the waist binding mechanism 1, and the lower end is movably connected to the thigh rod mechanism 12 to form a hip joint exoskeleton.

[0030] The thigh rod mechanism 12 is a telescopic rod and the shank rod mechanism 13 is a telescopic rod. The patient can adjust the thigh rod mechanism 12 and the shank rod mechanism 13 to a length suitable for the patient according to actual conditions. Both the thigh rod mechanism 12 and the shank rod mechanism 13 are provided with straps. Both the thigh rod mechanism 12 and the shank rod mechanism 13 can be fixed to the corresponding positions of the thigh and shank of the human body through corresponding straps.

[0031] Specifically, the thigh rod mechanism 12 includes a first rod body and a second rod body, and the calf rod mechanism 13 includes a third rod body and a fourth rod body; the upper end of the first rod body is fixed to the hip joint extension rod mechanism 11, and the lower end is connected to the upper end of the second rod body through an adjustment hole and an adjustment screw, the lower end of the second rod body is rotatably connected to the upper end of the third rod body, and is fixed to the human thigh position by straps arranged on the first rod body and the second rod body, forming a knee joint exoskeleton; the lower end of the third rod body is connected to the upper end of the fourth rod body through an adjustment hole and an adjustment screw, the lower end of the fourth rod body is movably connected to the plantar plate assembly, and is fixed to the human calf position by straps arranged on the third rod body and the fourth rod body, forming an ankle joint exoskeleton.

[0032] The slide rail mechanism is an electric T-type screw slide rail mechanism, which includes a motor 7, a screw slide rail 3 and a fixed frame 2. The fixed frame 2 is fixedly mounted on the waist binding mechanism 1, and the screw slide rail 3 is rotatably mounted on the fixed frame 2. The output shaft of the motor 7 is connected to one end of the screw slide rail 3 to drive the screw slide rail 3 to rotate. The slider 8 is threadedly connected to the screw slide rail 3. When the screw slide rail 3 rotates, the slider 8 moves along the length direction of the screw slide rail 3.

[0033] In order to fix the upper end of the first steel wire rope 10, the slide rail mechanism also includes a fixed block 4 and a pulley 9. The fixed block 4 is fixedly mounted on the waist binding mechanism 1 and is located above the fixed frame 2. The pulley 9 is rotatably mounted on the slider 8. One end of the first steel wire rope 10 is fixed on the fixed block 4 and is wound around the pulley 9.

[0034] In order to control the screw slide 3, the slide mechanism also includes a power supply 6, a power control circuit board 5 and an induction switch 17. The power supply 6 is connected to the motor 7. The induction switch 17 is installed at the lower end of the spring assist mechanism and is connected to the input end of the power supply 6 control circuit. The output end of the power supply 6 control circuit is connected to the motor 7.

[0035] The spring assist mechanism includes a metal sleeve 16 and a spring 14. The metal sleeve 16 is sleeved on the calf rod mechanism 13. The spring 14 is installed in the metal sleeve 16. The upper end of the spring 14 is fixed to the upper end of the metal sleeve 16, and the lower end is fixed to the bottom pad of the spring 14. The induction switch 17 is installed at the lower limit position of the bottom pad of the spring 14. When the bottom pad of the spring 14 moves downward and contacts the induction switch 17, the electric T-type screw guide rail 3 starts the guide rail terminal to move forward or backward to the end and pause at the end. If the guide rail terminal stops at the front end, the speaker in the circuit board will sound "Please move the affected limb forward", and when the guide rail terminal stops at the rear end, the speaker in the circuit board will sound "Please move the healthy limb forward".

[0036] It also includes a knee joint V-shaped groove plate mechanism, which is installed on the connection point of the thigh rod mechanism 12 and the shank rod mechanism 13. The first steel wire rope 10 passes through the knee joint V-shaped groove plate mechanism and can slide freely along the knee joint V-shaped groove plate mechanism.

[0037] In order to control the front end of the plantar plate assembly to tilt upward, an ankle flexion and extension mechanism is also included. The ankle flexion and extension mechanism is installed at the connection point between the calf rod mechanism 13 and the plantar plate assembly to drive the front end of the plantar plate assembly to rotate up and down.

[0038] Specifically, the plantar plate assembly includes a plantar plate 21, a calf support 20 and a central axis, the central axis is fixed at the upper end of the calf support 20, the lower end of the fourth rod is rotatably installed on the central axis, and the middle rear part of the plantar plate 21 is rotatably connected to the lower end of the calf support 20; the ankle joint flexion and extension mechanism includes a torsion spring and a screw disk 19, the screw disk 19 is installed at one end of the central axis, the torsion spring is sleeved on the rotating shaft, one end of the torsion spring is fixed to the screw disk 19, and the other end is fixed to the calf support 20; by rotating the screw disk 19, the rotation of the screw disk 19 and the central axis causes the spring 14 to generate elastic force, causing the calf support 20 to generate dorsiflexion force, and then the screw disk 19 is fixed to the central axis with a screw or a buckle, when the spring 14 is rotated, the torsion spring is tightened, and then the torsion spring rebounds under the action of the restoring force, and the rebound direction is just forward, driving the plantar plate 21 to perform a dorsiflexion action.

[0039] The working characteristics of this application when implementing walking training are as follows:

[0040] Preparation:

[0041] 1. Adjust the appropriate lengths of the thigh rod mechanism 12 and the shank rod mechanism 13 according to the patient's actual iliac sacrum.

[0042] 2. Then use fixed straps to tie around the waist, thighs, calves and feet (shoes).

[0043] 3. The slide rail terminal is adjusted to the front end.

[0044] 4. The patient's lower limbs are in an extended position.

[0045] 5. Adjust the length of the steel wire to allow the spring 14 of the spring assist mechanism to be properly compressed.

[0046] 6. Adjust the length of the steel wire to counteract the force of the spring 14 of the ankle flexion and extension mechanism, so that the ankle joint is in a neutral position.

[0047] Assisted stepping working mode: After power is turned on, the rail terminal moves to the front end and stops, the spring 14 of the spring assist mechanism is further compressed, and the speaker in the circuit board will sound "Please step forward with the affected limb", the patient exerts force to flex the hip (lift the leg), and the force generated by the extension of the spring 14 of the spring assist mechanism assists the patient to flex the hip (lift the leg), and at the same time, the steel wire relaxes the constraint on the spring 14 of the ankle flexion and extension mechanism, and the elastic force generated by the spring 14 of the ankle flexion and extension mechanism assists the patient's ankle joint to perform dorsiflexion of the foot. When the bottom pad of the spring 14 of the spring assist mechanism runs to the induction switch 17, the electric rail moves in the opposite direction, and the rail terminal moves quickly to the rear end. At this time, the steel wire moves away from the spring 14 of the spring assist mechanism, causing the spring 14 to be compressed again, and at the same time, the steel wire force line is located behind the hip joint exoskeleton connection point. It helps patients to quickly transform the affected limb into a supporting leg by stepping forward with hip flexion, knee flexion, and dorsiflexion. When the affected limb is transformed into a supporting leg state, the rail terminal is located at the rear end, the spring 14 is compressed, and the steel wire generates hip and knee extension force due to the spring 14. The steel wire again resists the spring 14 of the ankle flexion and extension mechanism to keep the ankle joint in a neutral position, and the supporting leg state of the affected limb can be well maintained at this time. When the rail terminal is located at the rear end, the speaker in the circuit board will sound "Please step forward with your healthy limb". When the patient's healthy lower limb completes the step forward, the affected limb is in a hip extension state, the spring 14 of the spring assist mechanism is extended, the bottom pad of the spring 14 touches the induction switch 17, and the electric rail moves forward to the front end, and this is repeated.

[0048] In this application, unless otherwise clearly specified and limited, the terms "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0049] In the specification of the present utility model, a lot of specific details are described. However, it is understood that the embodiments of the present utility model can be practiced without these specific details. In some examples, well-known methods, systems and techniques are not shown in detail so as not to obscure the understanding of this specification.

[0050] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, systems, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, systems, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0051] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model, and they should all be included in the scope of the claims and specification of the utility model.

Claims

1. A bionic lower limb rehabilitation training robot, characterized in that: The invention comprises a waist binding mechanism, a hip joint extension rod mechanism, a thigh rod mechanism, a calf rod mechanism, a foot plate assembly, a slide rail mechanism, a spring assist mechanism, a first steel wire rope and a second steel wire rope, the upper end of the hip joint extension rod mechanism is connected to the waist binding mechanism, the upper end of the thigh rod mechanism is rotatably connected to the lower end of the hip joint extension rod mechanism, the upper end of the calf rod mechanism is rotatably connected to the lower end of the thigh rod mechanism, the foot plate assembly is rotatably mounted on the lower end of the calf rod mechanism, the slide rail mechanism is mounted on the waist binding mechanism, the spring assist mechanism is mounted on the calf rod mechanism, one end of the first steel wire rope is connected to the slider of the slide rail mechanism, and the other end is connected to the upper side of the spring bottom pad of the spring assist mechanism, one end of the second steel wire rope is connected to the lower side of the spring bottom pad of the spring assist mechanism, and the other end is connected to the rear end of the foot plate assembly.

2. The bionic lower limb rehabilitation training robot according to claim 1, characterized in that: The waist tightening mechanism comprises a U-shaped plate and a waist strap, one end of the waist strap is connected to one end of the U-shaped plate, and the other end is detachably connected to the other end of the U-shaped plate.

3. The bionic lower limb rehabilitation training robot according to claim 1, characterized in that: The thigh rod mechanism is a telescopic rod and the shank rod mechanism is a telescopic rod.

4. The bionic lower limb rehabilitation training robot according to claim 1, characterized in that: The thigh rod mechanism and the shank rod mechanism are both provided with straps.

5. The bionic lower limb rehabilitation training robot according to claim 1, characterized in that: The slide rail mechanism includes a motor, a screw slide rail and a fixing frame, the fixing frame is fixedly mounted on the waist binding mechanism, the screw slide rail is rotatably mounted on the fixing frame, the output shaft of the motor is connected to one end of the screw slide rail, and the slider is threadedly connected to the screw slide rail.

6. The bionic lower limb rehabilitation training robot according to claim 5, characterized in that: The slide rail mechanism also includes a fixed block and a pulley, wherein the fixed block is fixedly mounted on the waist binding mechanism, and the pulley is rotatably mounted on the slider, and one end of the first steel wire rope is fixed on the fixed block and wound around the pulley.

7. The bionic lower limb rehabilitation training robot according to claim 6, characterized in that: The slide rail mechanism also includes a power supply, a power control circuit board and an induction switch. The power supply is connected to the motor. The induction switch is installed at the lower end of the spring assist mechanism and is connected to the input end of the power control circuit. The output end of the power control circuit is connected to the motor.

8. The bionic lower limb rehabilitation training robot according to claim 1, characterized in that: The spring assist mechanism comprises a metal sleeve and a spring. The metal sleeve is sleeved on the calf rod mechanism. The spring is installed in the metal sleeve, with its upper end fixed to the upper end of the metal sleeve and its lower end fixed to the spring base pad.

9. The bionic lower limb rehabilitation training robot according to claim 1, characterized in that: It also comprises a knee joint V-shaped groove plate mechanism, which is installed on the connection point between the thigh rod mechanism and the calf rod mechanism, and the first steel wire rope passes through the knee joint V-shaped groove plate mechanism and can slide freely along the knee joint V-shaped groove plate mechanism.

10. The bionic lower limb rehabilitation training robot according to claim 1, characterized in that: It also includes an ankle flexion and extension mechanism, which is installed on the connection point between the shank rod mechanism and the plantar plate assembly to drive the front end of the plantar plate assembly to rotate up and down.

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