A lower limb rehabilitation robot for stroke patients

Abstract

This utility model discloses a lower limb rehabilitation robot for stroke patients, comprising two mobile platforms. A robot support is fixedly installed at the top between the two mobile platforms. An upper limb traction component is fixedly installed at the top of the inner wall of the robot support. An adjustment component is installed at the bottom of one side of the robot support. This lower limb rehabilitation robot for stroke patients, by setting the adjustment component and the lower limb component, and using a four-bar linkage at the lower limb joints, can reduce the inertial force and impact of the mechanism, thereby improving the robot's operational stability and safety. Furthermore, by adjusting the length and angle relationship between the links, it can adapt to the range of motion and characteristics of different human joints. By setting the lower limb component, in terms of the actuator, a cylinder is used at the joint to provide torque. The cylinder moves flexibly and can quickly respond to the user's action needs, possessing greater adaptability. Moreover, the cylinder has the characteristics of simple structure, making it easy to manufacture and install.

Description

Technical Field

[0001] This utility model relates to the field of medical rehabilitation, specifically a lower limb rehabilitation robot for stroke patients. Background Technology

[0002] Stroke, a common cerebrovascular disease, has a high incidence and high disability rate, causing great distress to patients' daily lives. Among these, lower limb paralysis is one of the common sequelae of stroke patients, which seriously affects their walking ability and quality of life. With the increasing aging of the population, the number of stroke patients is increasing year by year, and the demand for effective rehabilitation treatment is becoming increasingly urgent. Against this backdrop, research on lower limb rehabilitation exoskeleton robots has emerged, providing new possibilities for the rehabilitation treatment of stroke patients.

[0003] However, traditional treatments for stroke patients have the following drawbacks: Traditionally, rehabilitation for stroke patients has relied primarily on manual interventions, such as physical therapy and rehabilitation training. However, this approach has several limitations. First, manual interventions struggle to accurately assess and adjust a patient's motor function. Second, prolonged rehabilitation training places a heavy workload on therapists, and ensuring consistency and accuracy in training is difficult. Furthermore, stroke patients often face the challenge of motor function loss, which can lead to negative emotions and resistance, thus impacting rehabilitation outcomes. Summary of the Invention

[0004] The purpose of this invention is to provide a lower limb rehabilitation robot for stroke patients, addressing the limitations of traditional methods such as physical therapy and rehabilitation training, which rely heavily on manual intervention. Firstly, manual intervention makes it difficult to accurately assess and adjust the patient's motor function. Secondly, prolonged rehabilitation training is labor-intensive for therapists, and consistency and accuracy are difficult to guarantee. Furthermore, stroke patients often face the challenge of motor function loss, which can lead to negative emotions and resistance, thus affecting rehabilitation outcomes.

[0005] To achieve the above objectives, this utility model provides the following technical solution: A lower limb rehabilitation robot for stroke patients includes two mobile platforms. A robot support is fixedly installed at the top between the two mobile platforms. An upper limb traction component is fixedly installed at the top of the inner wall of the robot support. An adjustment component is installed at the bottom of one side of the robot support. Two symmetrically arranged lower limb components are fixedly installed at both ends of one side of the adjustment component. Two symmetrically arranged adjustable upper limb components are installed in the middle of the robot support. A display platform is fixedly installed on one side of one of the adjustable upper limb components. A touch screen is provided at the top of the display platform. Both adjustable upper limb components include a length plate and a lifting guide rail. The middle of one side of the length plate is fixedly connected to one side of the lifting guide rail. A lifting block is slidably connected to the middle of the lifting guide rail. An upper limb support frame is fixedly installed on one side of the lifting block. An upper limb support plate body is fixedly installed at the top of the upper limb support frame. A handle is fixedly installed at the top of the upper limb support plate body. Both lower limb components include a hip joint cylinder and a hip joint. The movable end of the hip joint cylinder is connected to one end of the hip joint, and the bottom end of the hip joint is connected to the top of the knee joint.

[0006] Preferably, the upper limb traction assembly includes a traction device and a traction slide rail. The bottom end of the traction slide rail is connected to the top end of the traction device. The top end of the traction slide rail is provided with two traction rails. Several traction wheels are fixedly installed at the bottom ends of the two traction rails. The top ends of the two traction rails, one side of the traction slide rail, and one side of the traction device are all fixedly connected to the robot bracket.

[0007] Preferably, a knee joint cylinder is fixedly installed at the top of the hip joint. The movable end of the knee joint cylinder is connected to the side of the knee joint directly opposite it. A movable frame is installed at the movable end of the knee joint cylinder. One end of the movable frame is connected to the top of the knee joint. The fixed end of the hip joint cylinder is fixedly connected to the adjustment component. When the hip joint cylinder performs telescopic movements, it pushes the hip joint from one side to adjust the direction of the hip joint. When the knee joint cylinder performs telescopic movements, it pushes the movable frame from one side, causing the movable frame to slide relative to the knee joint and adjust the angle between the knee joint and the hip joint.

[0008] Preferably, both ends of one side of the length plate are fixedly installed with limiting seats located on both sides of the lifting guide rail. The surface of the length plate is provided with several threaded holes. The surface of the lifting block is threaded with fixing screws. The lifting block is fixedly connected to the threaded holes through the fixing screws. The other side of the length plate is fixedly connected to the robot bracket. When the user rotates the fixing screws, the threads on the surface of the fixing screws match the threads on the inner wall of the threaded holes. Therefore, the user can install the lifting block on the lifting guide rail by rotating the fixing screws. The lifting block slides along the lifting guide rail to adjust the height of the upper limb support frame. The patient places the upper limb on the upper limb support body and uses the adjustable upper limb component to grip the handle.

[0009] Preferably, a height rod is fixedly installed at the top of the display platform, a connecting seat is slidably connected to the top of the height rod, a direction frame is rotatably connected to one side of the connecting seat, a height seat is rotatably connected to one side of the direction frame, and one side of the height seat is fixedly connected to one side of the touch screen. The user slides the connecting seat along the height rod, and the direction frame deflects at an angle relative to the connecting seat to adjust the position of the touch screen.

[0010] Preferably, the adjustment assembly includes two displacement guide rails and an adjustment frame. Two displacement blocks are slidably connected to the middle of each of the two displacement guide rails. Adjustment rods are rotatably connected to one side of each of the four displacement blocks. Adjustment seats are rotatably connected to one end of each of the four adjustment rods. One side of each of the four adjustment seats is fixedly connected to the side of the adjustment frame opposite to the adjustment frame. Both ends of the two displacement guide rails are fixedly connected to the robot bracket. The displacement blocks slide along the displacement guide rails, and the displacement blocks drive the adjustment rods to move synchronously. The adjustment rods deflect at an angle relative to the adjustment seats, thereby adjusting the position of the adjustment seats and indirectly adjusting the position of the lower limb assembly.

[0011] Preferably, reinforcing plates are fixedly installed on both sides of the connection between the robot support and the mobile platform. An assistive walking component is fixedly installed on one side of the top of each of the two mobile platforms. A first moving wheel is fixedly installed on one side of the bottom of each of the two mobile platforms. Each of the assistive walking components includes a motor support plate and a servo motor. One side of the motor support plate is fixedly connected to one side of the servo motor. An active pulley is fixedly installed at the output end of the servo motor. A second moving wheel is installed on the bottom of the mobile platform away from the first moving wheel. A driven pulley is installed in the middle of the second moving wheel. A connecting belt connects the active pulley and the driven pulley. The bottom of the motor support plate is fixedly connected to the mobile platform. When the servo motor is powered on, it starts, driving the active pulley to rotate. The active pulley drives the driven pulley to rotate via the connecting belt. The driven pulley drives the second moving wheel to rotate, and the second moving wheel moves the mobile platform, facilitating the movement and transfer of the robot support.

[0012] Compared with the prior art, the beneficial effects of this utility model are: 1. By setting adjustment components and lower limb components, and using a four-bar linkage at the lower limb joints, the inertial force and impact of the mechanism can be reduced, thereby improving the robot's operational stability and safety. Furthermore, by adjusting the length and angle relationship between the links, it can adapt to the range of motion and characteristics of different human joints. 2. By incorporating a lower limb assembly, the actuator utilizes cylinders at the joints to provide torque. These cylinders offer flexible movement, enabling rapid response to user movement demands and providing greater adaptability. Furthermore, cylinders are characterized by their simple structure, making them easy to manufacture and install. Attached Figure Description

[0013] Figure 1 This is a perspective view of the present utility model; Figure 2 This is a bottom view of the present invention; Figure 3 This is a rear view of the present invention; Figure 4 This is a side view of the present invention.

[0014] In the diagram: 1. Mobile platform; 2. First moving wheel; 3. Assisted walking component; 31. Motor support plate; 32. Servo motor; 33. Driven pulley; 34. Second moving wheel; 35. Connecting belt; 36. Driven pulley; 4. Robot support frame; 5. Reinforcing plate; 6. Lower limb component; 61. Hip joint cylinder; 62. Hip joint; 63. Knee joint cylinder; 64. Knee joint; 65. Movable frame; 7. Upper limb traction component; 71. Traction device; 72. Traction slide rail; 73. Traction track; 74. 8. Traction wheel; 8. Adjustable upper limb assembly; 81. Length plate; 82. Limit seat; 83. Lifting guide rail; 84. Threaded hole; 85. Lifting block; 86. Upper limb support frame; 87. Upper limb support body; 88. Handle; 89. Fixing screw; 9. Display panel; 10. Touch screen; 11. Height rod; 12. Connecting seat; 13. Directional frame; 14. Height seat; 15. Adjustment assembly; 151. Displacement guide rail; 152. Displacement block; 153. Adjustment rod; 154. Adjustment seat; 155. Adjustment frame. Detailed Implementation

[0015] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0016] Please see Figure 1-4This utility model provides a lower limb rehabilitation robot for stroke patients, including two mobile platforms 1. A robot support 4 is fixedly installed at the top between the two mobile platforms 1. An upper limb traction component 7 is fixedly installed at the top of the inner wall of the robot support 4. An adjustment component 15 is installed at the bottom of one side of the robot support 4. Two symmetrically arranged lower limb components 6 are fixedly installed at both ends of one side of the adjustment component 15. Two symmetrically arranged adjustable upper limb components 8 are installed in the middle of the robot support 4. A display platform 9 is fixedly installed on one side of one of the adjustable upper limb components 8. A touch screen 10 is provided at the top of the display platform 9. Each upper limb assembly 8 includes a length plate 81 and a lifting guide rail 83. The middle part of one side of the length plate 81 is fixedly connected to one side of the lifting guide rail 83. A lifting block 85 is slidably connected to the middle part of the lifting guide rail 83. An upper limb support frame 86 is fixedly installed on one side of the lifting block 85. An upper limb support body 87 is fixedly installed at the top of the upper limb support frame 86. A handle 88 is fixedly installed at the top of the upper limb support body 87. Each of the two lower limb assemblies 6 includes a hip joint cylinder 61 and a hip joint 62. The movable end of the hip joint cylinder 61 is connected to one end of the hip joint 62. The bottom end of the hip joint 62 is connected to the top end of the knee joint 64.

[0017] The upper limb traction assembly 7 includes a traction device 71 and a traction slide rail 72. The bottom end of the traction slide rail 72 is connected to the top end of the traction device 71. The top end of the traction slide rail 72 is provided with two traction rails 73. Several traction wheels 74 are fixedly installed at the bottom end of the two traction rails 73. The top ends of the two traction rails 73, one side of the traction slide rail 72, and one side of the traction device 71 are all fixedly connected to the robot bracket 4.

[0018] A knee joint cylinder 63 is fixedly installed at the top of the hip joint 62. The movable end of the knee joint cylinder 63 is connected to the side of the knee joint 64 directly opposite it. A movable frame 65 is installed at the movable end of the knee joint cylinder 63. One end of the movable frame 65 is connected to the top of the knee joint 64. The fixed end of the hip joint cylinder 61 is fixedly connected to the adjustment assembly 15. The hip joint cylinder 61 performs telescopic movements, pushing the hip joint 62 from one side to adjust the direction of the hip joint 62. The knee joint cylinder 63 performs telescopic movements, pushing the movable frame 65 from one side. The movable frame 65 slides relative to the knee joint 64, adjusting the angle between the knee joint 64 and the hip joint 62.

[0019] Both ends of one side of the length plate 81 are fixedly installed with limiting seats 82 located on both sides of the lifting guide rail 83. The surface of the length plate 81 is provided with several threaded holes 84. The surface of the lifting block 85 is threaded with fixing screws 89. The lifting block 85 is fixedly connected to the threaded holes 84 through the fixing screws 89. The other side of the length plate 81 is fixedly connected to the robot bracket 4. When the user rotates the fixing screws 89, the threads on the surface of the fixing screws 89 match the threads on the inner wall of the threaded holes 84. Therefore, the user installs the lifting block 85 on the lifting guide rail 83 by rotating the fixing screws 89. The lifting block 85 slides along the lifting guide rail 83 to adjust the height of the upper limb support frame 86. The patient places the upper limb on the upper limb support body 87 and the patient's hand grips the handle 88 using the adjustable upper limb component 8.

[0020] A height rod 11 is fixedly installed at the top of the display platform 9. A connecting seat 12 is slidably connected to the top of the height rod 11. A direction frame 13 is rotatably connected to one side of the connecting seat 12. A height seat 14 is rotatably connected to one side of the direction frame 13. One side of the height seat 14 is fixedly connected to one side of the touch screen 10. The user slides the connecting seat 12 along the height rod 11, and the direction frame 13 deflects at an angle relative to the connecting seat 12 to adjust the position of the touch screen 10.

[0021] The adjustment assembly 15 includes two displacement guide rails 151 and an adjustment frame 155. Two displacement blocks 152 are slidably connected to the middle of each of the two displacement guide rails 151. Adjustment rods 153 are rotatably connected to one side of each of the four displacement blocks 152. Adjustment seats 154 are rotatably connected to one end of each of the four adjustment rods 153. One side of each of the four adjustment seats 154 is fixedly connected to the side of the adjustment frame 155 opposite to it. Both ends of the two displacement guide rails 151 are fixedly connected to the robot bracket 4. The displacement blocks 152 slide along the displacement guide rails 151, and the displacement blocks 152 drive the adjustment rods 153 to move synchronously. The adjustment rods 153 deflect at an angle relative to the adjustment seats 154, thereby adjusting the position of the adjustment seats 154 and indirectly adjusting the position of the lower limb assembly 6.

[0022] Reinforcing plates 5 are fixedly installed on both sides of the connection between the robot support 4 and the mobile platform 1. Assisted walking components 3 are fixedly installed on one side of the top of each of the two mobile platforms 1. First moving wheels 2 are fixedly installed on one side of the bottom of each of the two mobile platforms 1. Each of the two assisted walking components 3 includes a motor support plate 31 and a servo motor 32. One side of the motor support plate 31 is fixedly connected to one side of the servo motor 32. An active pulley 36 is fixedly installed at the output end of the servo motor 32. A second moving wheel 34 is installed on the bottom of the mobile platform 1 away from the first moving wheel 2. A driven pulley 33 is installed in the middle of the second moving wheel 34. A connecting belt 35 is connected between the driving pulley 36 and the driven pulley 33. The bottom end of the motor support plate 31 is fixedly connected to the moving platform 1. After the servo motor 32 is powered on, it starts and drives the driving pulley 36 to rotate. The driving pulley 36 drives the driven pulley 33 to rotate through the connecting belt 35. The driven pulley 33 drives the second moving wheel 34 to rotate. The second moving wheel 34 drives the moving platform 1 to move, which facilitates the movement and transfer of the robot support 4.

[0023] In this embodiment, during use: The servo motor 32 starts after being powered on, driving the active pulley 36 to rotate. The active pulley 36 drives the driven pulley 33 to rotate via the connecting belt 35. The driven pulley 33 drives the second moving wheel 34 to rotate, which in turn moves the moving platform 1, facilitating the movement and transfer of the robot support 4. The displacement block 152 slides along the displacement guide rail 151, causing the adjustment rod 153 to move synchronously. The adjustment rod 153 deflects relative to the adjustment seat 154, adjusting the position of the adjustment seat 154 and indirectly adjusting the position of the lower limb assembly 6. The hip joint cylinder 61 extends and retracts, pushing the hip joint 62 from one side to adjust its direction. The knee joint cylinder... Cylinder 63 extends and retracts, and knee joint cylinder 63 pushes movable frame 65 from one side. Movable frame 65 slides relative to knee joint 64, adjusting the angle between knee joint 64 and hip joint 62. The user rotates fixing screw 89. The thread on the surface of fixing screw 89 matches the thread on the inner wall of threaded hole 84. Therefore, the user installs lifting block 85 on lifting guide rail 83 by rotating fixing screw 89. Lifting block 85 slides along lifting guide rail 83 to adjust the height of upper limb support frame 86. The patient places upper limb on upper limb support body 87, and the patient's hand grips handle 88 using adjustable upper limb component 8. The user slides connecting seat 12 along height bar 11, and direction frame 13 deflects at an angle relative to connecting seat 12, adjusting the position of touch screen 10.

[0024] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A lower limb rehabilitation robot for stroke patients, comprising two moving tables (1), characterized in that: A robot bracket (4) is fixedly installed at the top between the two movable platforms (1). An upper limb traction component (7) is fixedly installed at the top of the inner wall of the robot bracket (4). An adjustment component (15) is installed at the bottom of one side of the robot bracket (4). Two symmetrically arranged lower limb components (6) are fixedly installed at both ends of one side of the adjustment component (15). Two symmetrically arranged adjustable upper limb components (8) are installed in the middle of the robot bracket (4). Each of the two adjustable upper limb components (8) includes a length plate (81) and a lifting guide rail (83). The middle of one side of the length plate (81) is fixedly connected to one side of the lifting guide rail (83). A lifting block (85) is slidably connected to the middle of the lifting guide rail (83). An upper limb support frame (86) is fixedly installed on one side of the lifting block (85). An upper limb support plate body (87) is fixedly installed at the top of the upper limb support frame (86).

2. The robot for lower extremity rehabilitation of a stroke patient according to claim 1, characterized by: One of the adjustable upper limb components (8) is fixedly mounted on one side of a display platform (9), and the top of the display platform (9) is provided with a touch screen (10). 3.The lower extremity rehabilitation robot for stroke patients according to claim 1, wherein: The top of the display stand (9) is equipped with a touch screen (10), and the top of the upper limb support body (87) is fixedly equipped with a handle (88).

4. The lower limb rehabilitation robot for stroke patients according to claim 1, characterized in that: Both of the lower limb components (6) include a hip joint cylinder (61) and a hip joint (62), the movable end of the hip joint cylinder (61) being connected to one end of the hip joint (62), and the bottom end of the hip joint (62) being connected to the top end of the knee joint (64). 5.The lower extremity rehabilitation robot for stroke patients according to claim 1, wherein: The upper limb traction assembly (7) includes a traction device (71) and a traction slide rail (72). The bottom end of the traction slide rail (72) is connected to the top end of the traction device (71). The top end of the traction slide rail (72) is provided with two traction rails (73). Several traction wheels (74) are fixedly installed at the bottom end of the two traction rails (73). The top end of the two traction rails (73), one side of the traction slide rail (72) and one side of the traction device (71) are all fixedly connected to the robot bracket (4). 6.The lower extremity rehabilitation robot for stroke patients according to claim 4, characterized in that: A knee joint cylinder (63) is fixedly installed at the top of the hip joint (62). The movable end of the knee joint cylinder (63) is connected to the side of the knee joint (64) directly opposite. A movable frame (65) is installed at the movable end of the knee joint cylinder (63). One end of the movable frame (65) is connected to the top of the knee joint (64). The fixed end of the hip joint cylinder (61) is fixedly connected to the adjustment assembly (15). 7.The robot for lower extremity rehabilitation of a stroke patient according to claim 1, wherein: Both ends of one side of the length plate (81) are fixedly installed with limiting seats (82) located on both sides of the lifting guide rail (83). The surface of the length plate (81) is provided with several threaded holes (84). The surface of the lifting block (85) is threaded with fixing screws (89). The lifting block (85) is fixedly connected to the threaded holes (84) by fixing screws (89). The other side of the length plate (81) is fixedly connected to the robot bracket (4). 8.The lower extremity rehabilitation robot for stroke patients according to claim 2, wherein: A height rod (11) is fixedly installed at the top of the display platform (9). A connecting seat (12) is slidably connected to the top of the height rod (11). A direction frame (13) is rotatably connected to one side of the connecting seat (12). A height seat (14) is rotatably connected to one side of the direction frame (13). One side of the height seat (14) is fixedly connected to one side of the touch screen (10). 9.The lower extremity rehabilitation robot for stroke patients according to claim 1, wherein: The adjustment assembly (15) includes two displacement guide rails (151) and an adjustment frame (155). Two displacement blocks (152) are slidably connected to the middle of each of the two displacement guide rails (151). An adjustment rod (153) is rotatably connected to one side of each of the four displacement blocks (152). An adjustment seat (154) is rotatably connected to one end of each of the four adjustment rods (153). One side of each of the four adjustment seats (154) is fixedly connected to the side opposite to the adjustment frame (155). Both ends of the two displacement guide rails (151) are fixedly connected to the robot bracket (4).

10. The lower limb rehabilitation robot for stroke patients according to claim 1, characterized in that: Reinforcing plates (5) are fixedly installed on both sides of the connection between the robot support (4) and the mobile platform (1). A walking assistance component (3) is fixedly installed on one side of the top of each of the two mobile platforms (1). A first moving wheel (2) is fixedly installed on one side of the bottom of each of the two mobile platforms (1). Each of the two walking assistance components (3) includes a motor support plate (31) and a servo motor (32). One side of the motor support plate (31) is fixedly connected to one side of the servo motor (32). An active pulley (36) is fixedly installed at the output end of the servo motor (32). A second moving wheel (34) is installed on the side of the bottom of the mobile platform (1) away from the first moving wheel (2). A driven pulley (33) is installed in the middle of the second moving wheel (34). A connecting belt (35) is connected between the active pulley (36) and the driven pulley (33). The bottom of the motor support plate (31) is fixedly connected to the mobile platform (1).

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