Rehabilitation training robot

Abstract

The rehabilitation training robot comprises a support and a robot body, the support is of a left part and a right part symmetrical design and is fixedly connected with the ground through a supporting column, and a cross beam is slidably connected with a light bar and a sliding rail; the robot comprises a waist fixing assembly, two hip training assemblies, two leg training assemblies and two ankle joint training assemblies, the waist fixing assembly is fixedly connected with the cross beam, and the hip training assemblies, the leg training assemblies and the ankle joint training assemblies are symmetrically designed. The hip training assembly is connected with the waist fixing assembly, the leg training assembly is connected with the hip training assembly and the ankle joint training assembly through keys, and the ankle joint training assembly is a three-degree-of-freedom association mechanism. The leg rehabilitation training and foot ankle joint three-degree-of-freedom training of a patient can be completed.

Description

Technical Field

[0001] This application relates to the field of rehabilitation equipment technology, and in particular to a rehabilitation training robot. Background Technology

[0002] Rehabilitation training for patients mainly relies on manual labor, but manual labor is characterized by insufficient human resources and high costs. These problems can be solved through machine-assisted training.

[0003] In practical applications, most existing exoskeleton rehabilitation training robots focus only on leg training, neglecting ankle joint training, or only setting one degree of freedom for the ankle joint, resulting in the ankle joint not receiving adequate training. Utility Model Content

[0004] In view of the problems existing in the prior art, this application proposes a rehabilitation robot that can train the leg and ankle joints at the same time by making overall improvements to existing rehabilitation robots, so as to solve the aforementioned technical problems.

[0005] This utility model provides a rehabilitation training robot, including a support frame and a robot. The support frame comprises a support column, a crossbeam, a guide bar, and a slide rail. The support frame is symmetrically designed in two parts, fixedly connected to the ground via the support column. The crossbeam is slidably connected to the guide bar and the slide rail. The robot includes a lumbar fixation component, two hip training components, two leg training components, and two ankle joint training components. The lumbar fixation component is fixedly connected to the crossbeam. The hip, leg, and ankle joint training components are all symmetrically designed. The hip training components are connected to the lumbar fixation component. The leg training components are connected to the hip and ankle joint training components via keys. The ankle joint training components are three-degree-of-freedom linkage mechanisms. The lumbar fixation component further includes two left and right support pillars, a lumbar connecting rod, and three buckles respectively disposed on the support pillars and the lumbar connecting rod. The support pillars and the lumbar connecting rod are fixedly connected via corner blocks.

[0006] As one implementation, the ankle joint training component further includes a base plate, a top plate, and three pairs of ball joints between the base plate and the top plate. The ball joints are connected to the base plate and the top plate by screws. An electric lever is provided between each pair of ball joints, and three-degree-of-freedom movement training at the ankle joint is achieved by controlling the electric cylinder.

[0007] In one implementation, the leg training component includes a thigh mechanical part, a calf mechanical part, and a knee joint motor, which are connected by snap-fit. The upper end of the thigh mechanical part is connected to the hip joint motor via an interference fit and a key, and the lower end is fixedly connected to the knee joint motor and connected to the lower part of the thigh via screws. The upper end of the calf mechanical part is connected to the knee joint motor via an interference fit and a key, and the lower end is connected to the ankle joint training component.

[0008] In one implementation, the thigh mechanical part is provided with two buckles, which are used to connect the thigh mechanical part to the patient's thigh and leg via straps. The lower leg mechanical part is provided with two buckles, which are used to connect the lower leg mechanical part to the patient's lower leg via straps.

[0009] In one implementation, the support column is fixedly connected to the ground via corner joints and screws.

[0010] In one implementation, a circular rod is provided above the light bar as a handrail, and the circular rod is connected to the support column through a circular tube fixing seat.

[0011] As one implementation, two handrails are provided on the crossbeam, and the handrails are connected to the crossbeam by screws.

[0012] The structure and dimensions of this utility model are ergonomic, allowing most people to undergo rehabilitation training and meeting the movement needs of various joints in the lower limbs. The hip and knee joints are connected by a series mechanism, while the ankle joint is connected by a three-degree-of-freedom parallel mechanism. The robot body is constructed with a novel hybrid series-parallel structure. Through the combination of the support and the robot, comprehensive training of the patient's hip, knee, and ankle joints can be achieved. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 A schematic diagram of the connection structure between the support and the robot according to an embodiment of this application is shown;

[0015] Figure 2 A schematic diagram of the robot's composition structure according to an embodiment of this application is shown;

[0016] Figure 3 A schematic diagram of the composition structure of the ankle joint training component according to an embodiment of this application is shown. Detailed Implementation

[0017] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0018] The essence of the technical solution of the embodiments of this application will be explained in detail below with reference to the accompanying drawings.

[0019] As attached Figure 1 As shown, a rehabilitation training robot includes a support frame 1 and a robot 2. The support frame 1 is fixed to the ground, and the robot 2 is connected to the support frame 1. The patient uses various training components on the robot 2 to achieve fixed connections in the waist, hip, leg, and ankle joints, and complete rehabilitation training for the relevant parts. The support frame 1 includes four support columns 3, a crossbeam 4, a light bar 5, and a slide rail 6. The support frame 1 has a symmetrical design in two parts, and is fixed to the ground through the support columns 3. The crossbeam 4 is slidably connected to the light bar 5 and the slide rail 6. The robot 2 includes one waist fixation component 7, two hip training components 8, two leg training components 9, and two ankle joint training components 10. The waist fixation component 7 is fixedly connected to the crossbeam 4. The hip training components 8, leg training components 9, and ankle joint training components 10 are all symmetrically designed. The hip training components 8 are connected to the waist fixation component 7. The leg training components 9 are connected to the hip training components 8 and the ankle joint training components 10 respectively through keys. The ankle joint training components 10 are three-degree-of-freedom linkage mechanisms.

[0020] The support frame 1 primarily supports the overall structure of the robot 2. It features a symmetrical design with two parts connected by a crossbeam 4. The crossbeam 4 is connected to the two side supports by a linear guide bar 5 and a slide rail 6. The slide rail 6 can be an SBR guide rail. Four support columns 3 support the robot and the patient. A linear guide bar 5 is mounted on the connecting rods of two columns. The linear guide bar 5 is connected to the connecting rods of the columns by ordinary threads. The slider is connected to the crossbeam 4 by ordinary threads. The slide rail 6 cooperates with the linear guide bar 5 to slide back and forth. When the patient wears the robot for training, the crossbeam 4 can move forward while supporting the patient and the robot. The entire frame has no drive mechanism and only moves forward as the patient walks.

[0021] SBR guideways are a type of rolling guideway where rolling steel balls reciprocate indefinitely between a slider and a guideway, allowing the load platform to move linearly with high precision along the track. Compared to traditional machine tool guideways, the coefficient of friction of rolling guideways can be reduced to 1 / 50th of the original. Due to the significantly reduced starting friction, ineffective motion is reduced, thus achieving high-precision feed and positioning. Therefore, it can be used in conjunction with ball screws and linear guideways for guidance, greatly improving the accuracy and mechanical efficiency of the equipment, making it suitable for precise motion requirements such as those needed for patient rehabilitation therapy.

[0022] A circular rod 26 is installed above the light bar 5 as a handrail for the patient to support during rehabilitation exercises. It is connected to the two side support columns through a circular tube fixing seat 27. The entire support 2 is supported by four support columns 3. The bottom is connected to the ground by corner joint 24 through thread 25. Two handrails 28 can also be installed on the crossbeam 4 to facilitate the patient's support when performing rehabilitation exercises on different parts of the body. The handrails 28 are connected to the crossbeam 4 by screws.

[0023] The lumbar fixation component 7 of robot 2 includes two left and right support columns 15, a lumbar connecting rod 16, and buckles respectively installed on the left and right support columns 15 and the lumbar connecting rod. The lumbar fixation support columns 15 and 16 are connected to the lumbar connecting rod via corner joints 18 and are fixed with conventional bolts and nuts. Each buckle is connected to the support column 15 and the lumbar connecting rod 16 via conventional bolts and nuts. The two hip buckles on the left and right support columns 15 are connected to the support columns 15 via ordinary screws, and the buckles on the lumbar connecting rod are also connected to the lumbar connecting rod via ordinary screws. The entire lumbar fixation component 15 is connected to the patient's lumbar region via straps and buckles to provide fixation.

[0024] The hip training component 8 includes two connecting plates 19 and two hip joint motors 20. The connecting plates 19 are connected to the lumbar support 15 by snap-fit ​​and fixed by conventional bolts and nuts. The hip joint motors 20 are fixed to the connecting plates 19 by conventional bolts.

[0025] The leg training component includes a thigh mechanical part 21, a calf mechanical part 22, and a knee joint motor 23, connected by snap-fit ​​fasteners. The thigh mechanical part 21 is divided into upper and lower ends. The upper end is connected to the hip joint motor 20 via an interference fit and a key. The rotation of the motor 20 drives the thigh mechanical part to rotate, allowing the patient's leg to be raised and lowered. The lower end is fixed with the knee joint motor 23, connected to the lower part of the thigh mechanical part 21 by screws. The calf mechanical part 22 is also divided into upper and lower ends. The upper end is connected to the knee joint motor 23 via an interference fit and a key. The rotation of the knee joint motor 23 drives the calf mechanical part 22 to achieve flexion and extension of the lower leg. The lower end is connected to the ankle joint training component 10. The thigh mechanical part 21 is equipped with two snap-fit ​​fasteners 30, which can be used to connect the thigh mechanical part 21 to the patient's thigh using straps. The calf mechanical part 22 is also equipped with two snap-fit ​​fasteners 31, which can be used to connect the calf mechanical part 22 to the patient's lower leg using straps, ensuring stability for the patient during rehabilitation exercises.

[0026] A hip joint motor fixation plate is installed at the hip. The hip joint motor fixation plate is fixed to the lumbar fixation mechanism through a groove and ordinary screws. The hip joint motor is fixed to the hip joint motor fixation plate by ordinary screws. The output end of the hip joint motor is connected to the thigh and leg mechanical parts through an interference fit and a key connection. The leg buckle is fixed to the patient's thigh and leg by a strap. The rotation of the motor drives the thigh and leg mechanical parts to realize the patient's leg lifting and lowering movements. The output end of the knee joint motor 23 is connected to the lower leg mechanical parts 22 through an interference fit and a key connection. The leg buckle is fixed to the patient's lower leg by a strap. By controlling the rotation of the motor, the lower leg mechanical parts are driven to realize the patient's lower leg flexion and extension.

[0027] The ankle joint training component 10 includes a base plate 11, a top plate 12, ball joints 13, and an electric bar 14. The ankle joint training component 10 is fixed to the sole of the foot and the leg, respectively. The ankle joint training component 10 is fixed to the patient's foot and leg through the base plate 11 and the lower leg fixation component 29. Three ball joints 13 are respectively set between the upper and lower plates. The ball joints 13 are connected to the base plate 11 and the top plate 12 by screws. An electric bar 14 is set between each ball joint. By controlling the reciprocating motion of the three electric bars 14, the purpose of three-degree-of-freedom movement training of the patient's ankle joint is achieved.

[0028] In summary, this application improves existing rehabilitation robots to simultaneously train the legs and ankle joints of rehabilitation patients. The design of multiple handrails can support the patient's body weight and prevent secondary injuries due to insufficient leg strength. The three-degree-of-freedom design of the ankle joint enables inversion, eversion, and rotation movements of the ankle joint, thus completing the overall rehabilitation training of the patient's lower limbs.

[0029] It should be understood that the phrase "an embodiment" or "one embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of the present invention. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of the present invention, the sequence number of the above-described processes does not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely descriptive and do not represent the superiority or inferiority of the embodiments.

[0030] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0031] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not present.

[0032] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0033] The above description is merely an embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A rehabilitation training robot comprising a support and a robot, characterized by, The support column is fixedly connected with the ground, the cross beam is slidably connected with the light pole and the slide rail, the robot comprises a waist fixing assembly, two hip training assemblies, two leg training assemblies and two ankle joint training assemblies, the waist fixing assembly is fixedly connected with the cross beam, the hip training assemblies, the leg training assemblies and the ankle joint training assemblies are symmetrically designed, the hip training assemblies are connected with the waist fixing assembly, the leg training assemblies are respectively connected with the hip training assemblies and the ankle joint training assemblies through keys, and the ankle joint training assembly is a three-degree-of-freedom linkage mechanism.

2. The rehabilitation training robot according to claim 1, characterized in that, The ankle joint training assembly further comprises a bottom plate, a top plate, three pairs of ball hinge pairs arranged between the bottom plate and the top plate, and a motor is arranged between each group of ball hinge pairs, and three-degree-of-freedom movement training at the ankle joint is realized by controlling the motor.

3. The rehabilitation training robot according to claim 1 or 2, characterized in that, The leg training assembly comprises a thigh mechanical part, a lower leg mechanical part and a knee joint motor, the thigh mechanical part is connected with the hip joint motor through interference fit and key connection at the upper end, is fixedly connected with the knee joint motor at the lower end, and is connected with the lower end of the thigh through a screw, the lower end of the lower leg mechanical part is connected with the knee joint motor through interference fit and key connection, and the lower end is connected with the ankle joint training assembly.

4. The rehabilitation training robot according to claim 3, characterized in that, The thigh mechanical part is provided with two buckles, the thigh mechanical part and the thigh of a patient are connected through buckles and a bandage, the lower leg mechanical part is provided with two buckles, and the lower leg mechanical part and the lower leg of a patient are connected through buckles and a bandage.

5. The rehabilitation training robot according to claim 1 or 2, characterized in that, The support column is fixedly connected with the ground through an angle joint and a screw.

6. The rehabilitation training robot according to claim 1 or 2, characterized in that, A circular rod is arranged above the light pole and serves as a handrail, and the circular rod is connected with the support column through a circular tube fixing seat.

7. The rehabilitation training robot according to claim 1 or 2, characterized in that, Two handrails are arranged on the cross beam and are connected with the cross beam through screws.

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