CN102068367A - Lower limb multi-training mode rehabilitation robot - Google Patents
Lower limb multi-training mode rehabilitation robot Download PDFInfo
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- CN102068367A CN102068367A CN 201110043360 CN201110043360A CN102068367A CN 102068367 A CN102068367 A CN 102068367A CN 201110043360 CN201110043360 CN 201110043360 CN 201110043360 A CN201110043360 A CN 201110043360A CN 102068367 A CN102068367 A CN 102068367A
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Abstract
The invention discloses a lower limb multi-training mode rehabilitation robot, which comprises a pedal drive mechanism, a knee and hip joint movement mechanism and a foot ankle joint movement mechanism. In the pedal drive mechanism, one end of a pedal shaft is connected with a pedal and the other end of the pedal shaft is connected with the leg knee and hip joint movement mechanism and the foot ankle joint movement mechanism. In the knee and hip joint movement mechanism, a connecting rod is fixedly connected with the end part of a middle shaft, the input end of an underdrive device is connected with a brake and a drive source and the output end of the underdrive device is connected with the middle shaft. The left and right sleeves of the foot ankle joint movement mechanism are driven by drive mechanisms which drive in opposite directions, an input drive mechanism is connected with a drive source, and the output drive mechanism is connected with the pedal shaft. In the device, the drive of the knee, hip and foot ankle joint movements around the same central line is realized, the real time control of the brake and the two drive sources is adopted to realize the passive, assisting, active and damping rehabilitation training modes of the six joints on the lower limbs of a patient, the structure is compact, the control is accurate, the operation is safe, and batch production can be realized easily.
Description
Technical field
The invention belongs to the rehabilitation medical mechanical field, relate to a kind of many training modes of lower limb healing robot, be specifically related to a kind of many training modes of lower limb healing robot that is used for the leg exercise dysfunction patient that causes because of disease, lower limb hemiplegia, various damages etc.
Background technology
Along with the development of society, the limb movement disturbance patient that aged tendency of population and various diseases, accident etc. cause is increasing.This class patient is except Drug therapy or operative treatment, and the rehabilitation training of science improves extremely importantly for suffering from the limb motor function, and simultaneously, along with improving constantly of development of science and technology and people quality of life, people are more and more higher to the requirement of health care.Under such background, the limb rehabilitating robot has obtained development rapidly as a kind of instrument of rehabilitation.
At present, family's laboratory is engaged in the research of lower limb rehabilitation robot surplus in the of nearly in the world ten, and wherein the Japan and the U.S. are walked in the prostatitis.Japan has developed rotary healing robot.Berlin, Germany Free University (FREE UNIVERSITY BERLIN) has carried out the research of shank healing robot, and has developed MGT type healing robot model machine.The RUTGERS university of the U.S. has carried out the research of foot's healing robot, and has developed RUTGER foot recovery exercising robot model machine.The federal polytechnical university of Zurich, Switzerland has put on display the healing robot of LOKOMAT by name on Hanover's calendar year 2001 world industry exhibition, the lower limb step that the healing robot model of LOKOMAT adopts a kind of active gait apparatus for correcting to drive the patient trains on the pedal machine, the auxiliary walking movement of patient on whole treadmill of LOKOMAT simultaneously, and use progressive functional movement treatment and patient's assessment, feedback system to organically combine.China starts to walk than later to the research of healing robot, and the achievement in research of auxiliary type healing robot is more relatively, and the achievement in research of recovery exercising robot aspect is then fewer.Tsing-Hua University takes the lead in having developed horizontal lower limbs rehabilitation training robot model machine at home.
The advantage of above-mentioned lower limb rehabilitation robot is simple in structure, be easy to control, but the robot degree of freedom is on the low side, and during gait training, the important joint motions of some of patient can not get training or correct.Simultaneously, these lower limb rehabilitations robot motion pattern is single, mainly is to carry out various types of CPM (Continuous Passive Motion, continuous passive motion), and a spot of lower limb rehabilitation robot can be with aggressive mode work.Current research shows, the dysfunction that produces because of factors such as contingency, birth defect, disease, war and organism aging processes or the rehabilitation training of disabled patient are needed four kinds of training modes usually, be passive exercise pattern, power-assisted training mode, active training mode, damping training mode, do not support simultaneously both at home and abroad that at present above-mentioned multi-joint has the healing robot of four kinds of rehabilitation training patterns simultaneously again.
Summary of the invention
The purpose of this invention is to provide a kind of rehabilitation training that is used for lower limb disorder or six joints of disabled patient lower limb (left ankle joint, left knee joint, left hip joint, right ankle joint, right knee joint, right hip joint), and realize many training modes of lower limb healing robot of passive exercise pattern, power-assisted training mode, active training mode, four kinds of rehabilitation training patterns of damping training mode.
Many training modes of lower limb healing robot provided by the present invention comprises pedal rotating mechanism, knee joint hip joint motion and ankle articulation mechanism,
Described pedal rotating mechanism comprises pedal and pedal shaft, and pedal shaft one end is connected with pedal, and the other end is connected with the ankle articulation mechanism with knee joint hip joint motion, and described pedal rotating mechanism is two groups;
Described knee joint hip joint motion comprises axis, two connecting rods, first clutch, brake, speed reduction gearing and first drive sources, one end of connecting rod is fixedlyed connected with axis, the other end has a stomidium, pedal shaft passes stomidium and connecting rod flexibly connects, two bar linkage structures are identical with connected mode, the central point of axis is arranged relatively, and the input of speed reduction gearing is connected with brake by first clutch, and described input is connected with first drive source simultaneously; The outfan of speed reduction gearing is fixedlyed connected in the centre position with axis, and described speed reduction gearing can positive and negative both direction transmission;
Described ankle articulation mechanism comprises left sleeve, right sleeve, input driver structure, Left Drive mechanism, right drive mechanism, two groups of output drive mechanisms and second drive source, left and right sleeve is placed in the axis two ends respectively and can rotates around axis, the left sleeve right-hand member is connected with the driven end of Left Drive mechanism, and the left sleeve left end is connected with the drive end of one group of output drive mechanism; Right sleeve left end is connected with the driven end of right drive mechanism, right sleeve right-hand member is connected with the drive end of another group output drive mechanism, the transmission direction of described left and right drive mechanism is opposite, the driven end of input driver structure is connected with the drive end of Left Drive mechanism, right drive mechanism simultaneously, the drive end of input driver structure is connected with second drive source, the driven end of output drive mechanism is fixedlyed connected away from the axle head of pedal with pedal shaft, and described input driver structure, Left Drive mechanism, right drive mechanism, two groups are exported drive mechanisms can both positive and negative both direction transmission.
Described many training modes of lower limb healing robot, it is further characterized in that:
The gear drive that described speed reduction gearing is made up of the gear shaft and the gear of mutual external toothing and with driving-chain intermeshing before the sprocket transmission device formed of sprocket wheel and back sprocket wheel form, the input of speed reduction gearing is a gear shaft, outfan is the back sprocket wheel, the gear shaft left end by first clutch link to each other with brake, right-hand member links to each other with first drive motors by second clutch, gear and preceding sprocket wheel are fixedly connected on the same rear axle.
Left Drive mechanism is made up of the driven gear and the driving gear of mutual external toothing; Right drive mechanism is by forming with being with intermeshing driven synchronous pulley and active synchronization belt wheel synchronously; The input driver structure is made up of intermeshing turbine and worm screw, driving gear, active synchronization belt wheel and turbine are fixedly connected on the same lower shaft, driving gear, active synchronization belt wheel lay respectively at the turbine both sides, worm screw links to each other with second drive motors by three-clutch, and 180 ° of motor revolutions are reverse; The output drive mechanism is by forming with being with intermeshing active synchronization belt wheel and driven synchronous pulley synchronously.
Brake is a magnetic powder brake.
Axis is provided with two axle head location divisions, and described axle head location division is made up of the holding screw of locking back-up ring and screw-in locking back-up ring.
Left and right sides sleeve is connected with axis by bearing, and bearing is positioned at the sleeve two ends, and the axial inner ring of left bearing that wherein is used to locate left sleeve is by location, axle head location division, and the outer ring is by step location in the sleeve; The axial inner ring of right bearing that is used to locate left sleeve is by axis step location, and the outer ring is by step location in the sleeve, the connection locate mode of right sleeve and axis and left sleeve and axis to be connected locate mode identical.
Pedal shaft is connected with pedal by flat key, holding screw, and flat key has connected radial location to this, and holding screw has connected axial location to this.
The gear ratio of described speed reduction gearing is 8, and the gear ratio of described left and right drive mechanism is 1.5, and the gear ratio of described output drive mechanism is 1.
In the middle of middle, the right sleeve of described left sleeve, lower shaft two axial ends, rear axle two axial ends, worm screw two axial ends, gear shaft two axial ends be provided with and be used for locating the location bearing of entire mechanism in casing.
Described many training modes of lower limb healing robot also comprises the casing of placing entire mechanism, and except pedal rotating mechanism, connecting rod, output drive mechanism are exposed at the casing, other all mechanisms all are sealed in the casing.
The present invention is owing to take above technical scheme, and it has the following advantages:
1. the present invention adopts that backshaft drive drives that axis rotates, two ends active link two sleeves, lower shaft transmission drive the mechanism form that two sleeves rotate around axis on the axis, realized the transmission of motion of knee joint hip joint and ankle joint motions around same centrage, realized the rehabilitation training in six joints of patient's lower limb, compact conformation, space utilization is abundant, and simultaneously, it is more reasonable to adopt the chain transmission to make each drive mechanism position place, overall structure is compact more, and space utilization is more abundant.
2. many training modes of lower limb healing robot provided by the invention has a plurality of degree of freedom, adopt the real-time control of brake and two drive motors, realized that six joints of patient's lower limb are passive, power-assisted, initiatively, four kinds of training modes of damping, precise control, security of operation.
3. the part of many training modes of lower limb healing robot provided by the invention more than 85% is standard component, is easy to realize producing in batches, upgrading upgrading, reduced cost.
Description of drawings
Fig. 1 is the schematic perspective view of many training modes of lower limb healing robot of the present invention;
Fig. 2 is the half sectional view of many training modes of lower limb healing robot part body of the present invention.
The specific embodiment
Describe the present invention below in conjunction with drawings and Examples.
As shown in Figure 1, many training modes of lower limb healing robot comprises pedal rotating mechanism, knee joint hip joint motion and ankle articulation mechanism.
The pedal rotating mechanism comprises pedal 31 and pedal shaft 32.Pedal shaft 32 1 ends are connected with pedal 31 by flat key 33, holding screw 34, and 33 pairs of flat keys should connect radial location, and 34 pairs of holding screws should connect axial location, and pedal shaft 32 other ends are connected with the ankle articulation mechanism with knee joint hip joint motion.The pedal rotating mechanism is two groups in this device.
Knee joint hip joint motion comprises axis 1, two connecting rods 2, first clutch 111, magnetic powder brake 10, speed reduction gearing, second clutch 112 and first drive motors 121.
As shown in Figure 2, one end of connecting rod 2 is fixedlyed connected with the end of axis 1, and the other end of connecting rod 2 has a stomidium, and pedal shaft 32 passes stomidium and flexibly connects by bearing 93 and connecting rod 2, two connecting rod 2 structures are identical with connected mode, and the central point of axis 1 is arranged relatively.
Axis 1 is provided with two axle head location divisions 15, and described axle head location division 15 is made up of the holding screw of locking back-up ring and screw-in locking back-up ring.
Speed reduction gearing by the gear shaft 41 of mutual external toothing, gear 42 and with driving-chain 45 intermeshing before sprocket wheels 43 and back sprocket wheel 44 form, the gear ratio of speed reduction gearing is 8: 1.Gear shaft 41 left ends by first clutch 111 be connected with magnetic powder brake 10, right-hand member passes through second clutch 112 and is connected with first drive motors 121, gear 42 is fixedly connected on the same rear axle 14 with preceding sprocket wheel 43, and back sprocket wheel 44 and axis 1 are fixedlyed connected in the centre position.
The ankle articulation mechanism comprises left sleeve 51, right sleeve 52, input driver structure, Left Drive mechanism, right drive mechanism, two groups of outputs drive mechanism, three-clutch 113 and second drive motors 122.
Left and right sleeve 51,52 is connected with axis 1 by bearing, bearing is positioned at the sleeve two ends, wherein be used to locate the left bearing 91 axial inner rings of left sleeve 51 by 15 location, axle head location division, the outer ring is by step location in the sleeve, the right bearing 92 axial inner rings that are used to locate left sleeve 51 are located by axis 1 step, the outer ring is by step location in the sleeve, the connection locate mode of right sleeve 52 and axis 1 and left sleeve 51 and axis 1 to be connected locate mode identical.
Left Drive mechanism is made up of the driven gear 62 and the driving gear 61 of mutual external toothing.Right drive mechanism is by forming with being with 65 intermeshing driven synchronous pulleys 64 and active synchronization belt wheel 63 synchronously.The input driver structure is made up of intermeshing turbine 72 and worm screw 71.Wherein, driven gear 62 is fixedlyed connected with left sleeve 51 right-hand members, driven synchronous pulley 64 is fixedlyed connected with right sleeve 52 left ends, driving gear 61, active synchronization belt wheel 63 and turbine 72 are fixedly connected on the same lower shaft 13, driving gear 61, active synchronization belt wheel 63 lay respectively at turbine 72 both sides, worm screw 71 links to each other with second drive motors 122 by three-clutch 113, and 180 ° of motor revolutions are reverse.
The gear ratio of Left Drive mechanism and the gear ratio of right drive mechanism are 1.5: 1.The turbine and worm of described input driver structure is non-self-locking whorl worm and gear.
The output drive mechanism is by forming with being with 83 intermeshing active synchronization belt wheels 81 and driven synchronous pulley 82 synchronously, two active synchronization belt wheels 81 of two groups of output drive mechanisms are fixedlyed connected with right sleeve 52 right-hand members with left sleeve 51 left ends respectively, driven synchronous pulley 82 is fixedlyed connected away from pedal 34 axle heads with pedal shaft 32, and the gear ratio of output drive mechanism is 1: 1.
Many training modes of lower limb healing robot of the present invention, the transmission combination in the speed reduction gearing can be by single or combination transmission replacements such as the belt wheel transmission of satisfying space requirement and deceleration requirement, gear drive, chain gear transmission.The gear drive of Left Drive mechanism can by chain gear transmission, belt wheel transmission, etc. transmission replace, the belt wheel transmission of corresponding right drive mechanism can be replaced by transmissions such as gear drive, gear drives.The non-self-locking whorl worm and gear transmission of input driver structure can be by replacements such as spur gear transmission, Bevel Gear Transmission, chain gear transmission or various deceleration transmission.The belt wheel transmission of output drive mechanism can be replaced by gear drive or chain gear transmission.First drive motors and second drive motors can single or combination driving device replacements with other.Magnetic powder brake can replace with the brake of other adjustable braking moments.
Many training modes of lower limb healing robot of the present invention can be placed entire mechanism in casing by the location bearing that is arranged in left sleeve 51 middle, right sleeves 52 centres, lower shaft 13 two axial ends, rear axle 14 two axial ends, worm screw 71 two axial ends, gear shaft 41 two axial ends.Entire mechanism is exposed at the casing except pedal rotating mechanism, connecting rod 2, output drive mechanism, and other all mechanisms all are sealed in the casing.
Before present embodiment places wheelchair with many training modes of these lower limb healing robot, the patient is sitting on the wheelchair, foot places on the pedal and to be example, illustrate that many training modes of lower limb healing robot realization six joints of patient's lower limb (left ankle joint, left knee joint, left hip joint, right ankle joint, right knee joint, right hip joint) are passive, power-assisted, initiatively, four kinds of training modes of damping:
(1) passive exercise pattern
121 work of first drive motors, second clutch 112 is operated in engagement state, speed reduction gearing in the knee joint hip joint motion drives axis 1 and rotates, the output torque of first drive motors 121 is passed to connecting rod 2 reposefully, connecting rod 2 drives the nearly gait motion of patient's lower limb, thus rehabilitation training patient knee joint and hip joint.Simultaneously, 122 work of second drive motors, three-clutch 113 is operated in engagement state, left side in the ankle articulation mechanism, right drive mechanism drives a left side, right sleeve 51,52 around axis 1 rotation, by the output drive mechanism output torque of second drive motors 122 is passed to pedal 31 reposefully then, pedal 31 is with pedal shaft 32 rotation in connecting rod 2 stomidiums, because the gear drive of Left Drive mechanism is the external toothing transmission, the belt wheel transmission of right drive mechanism is interior engaged transmission, two sleeve rotation directions are just in time opposite, thereby two pedal 31 senses of rotation are opposite, 180 ° of the second drive motors revolutions are reverse,, pedal 31 drives patient's foot and does the motion of foot appearance, thus rehabilitation training patient ankle joint.The angle of rotation of pedal 31 anthropomorphic ankle joint motions and revolution angle are controlled in real time by two drive motors.
(2) power-assisted training mode
(3) active training mode
(4) damping training mode
In the active training mode, magnetic powder brake 10 work, first clutch 111 is operated in engagement state, pedal 31 is free to rotate, thereby the size of current by control magnetic powder brake 10 applies resistance apart from the moment of resistance of regulating control axis 1 to gear shaft 41, at this moment, returning to a certain degree patient people's foot can place and carry out lower limb on the pedal 31 the damping rehabilitation training is arranged.
The present invention is not limited to the above-mentioned specific embodiment; persons skilled in the art are according to content disclosed by the invention; can adopt other multiple specific embodiment to implement the present invention; therefore; every employing project organization of the present invention and thinking; do some simple designs that change or change, all fall into the scope of protection of the invention.
Claims (10)
1. many training modes of lower limb healing robot is characterized in that: comprise pedal rotating mechanism, knee joint
Hip joint motion and ankle articulation mechanism,
Described pedal rotating mechanism comprises pedal (31) and pedal shaft (32), and pedal shaft (32) one ends are connected with pedal (31), and the other end is connected with the ankle articulation mechanism with knee joint hip joint motion, and described pedal rotating mechanism is two groups;
Described knee joint hip joint motion comprises axis (1), two connecting rods (2), first clutch (111), brake (10), speed reduction gearing and first drive source, one end of connecting rod (2) is fixedlyed connected with the end of axis (1), the other end has a stomidium, pedal shaft (32) passes stomidium and connecting rod (2) flexibly connects, two connecting rods (2) structure is identical with connected mode, and the central point of axis (1) is arranged relatively; The input of speed reduction gearing is connected with brake (10) by first clutch (111), and described input is connected with first drive source simultaneously; The outfan of speed reduction gearing is fixedlyed connected in the centre position with axis (1), and described speed reduction gearing can positive and negative both direction transmission;
Described ankle articulation mechanism comprises left sleeve (51), right sleeve (52), input driver structure, Left Drive mechanism, right drive mechanism, two groups of output drive mechanisms and second drive source, left and right sleeve (51,52) is placed in axis (1) two ends respectively and can rotates around axis (1), left sleeve (51) right-hand member is connected with the driven end of Left Drive mechanism, and left sleeve (51) left end is connected with the drive end of one group of output drive mechanism; Right sleeve (52) left end is connected with the driven end of right drive mechanism, right sleeve (52) right-hand member is connected with the drive end of another group output drive mechanism, a described left side, the transmission direction of right drive mechanism is opposite, the driven end while and the Left Drive mechanism of input driver structure, the drive end of right drive mechanism connects, the drive end of input driver structure is connected with second drive source, the driven end of output drive mechanism is fixedlyed connected described input driver structure away from the axle head of pedal (31) with pedal shaft (32), Left Drive mechanism, right drive mechanism, two groups of output drive mechanisms can both positive and negative both direction transmission.
2. many training modes of lower limb healing robot according to claim 1, it is characterized in that: the gear drive that described speed reduction gearing is made up of the gear shaft (41) and the gear (42) of mutual external toothing and with driving-chain (45) intermeshing before sprocket wheel (44) and afterwards the sprocket transmission device formed of sprocket wheel (43) form, the input of speed reduction gearing is gear shaft (41), outfan is a back sprocket wheel (44), gear shaft (41) left end links to each other with brake (10) by first clutch (111), right-hand member links to each other with first drive motors (121) by second clutch (112), and gear (42) is fixedly connected on the same rear axle (14) with preceding sprocket wheel (43).
3. many training modes of lower limb healing robot according to claim 1 and 2 is characterized in that: Left Drive mechanism is made up of the driven gear (62) and the driving gear (61) of mutual external toothing; Right drive mechanism is by forming with intermeshing driven synchronous pulley of synchronous band (65) (64) and active synchronization belt wheel (63); The input driver structure is made up of intermeshing turbine (72) and worm screw (71), driving gear (61), active synchronization belt wheel (63) and turbine (72) are fixedly connected on the same lower shaft (13), driving gear (61), active synchronization belt wheel (63) lay respectively at turbine (72) both sides, worm screw (71) links to each other with second motor (122) by three-clutch (113), 180 ° of motor revolutions are reverse, and the output drive mechanism is by forming with intermeshing active synchronization belt wheel of synchronous band (83) (81) and driven synchronous pulley (82).
4. many training modes of lower limb healing robot according to claim 1 and 2 is characterized in that: described brake (10) is a magnetic powder brake.
5. many training modes of lower limb healing robot according to claim 1 is characterized in that: axis (1) is provided with two axle head location divisions (15), and described axle head location division (15) is made up of the holding screw of locking back-up ring and screw-in locking back-up ring.
6. many training modes of lower limb healing robot according to claim 5, it is characterized in that: left and right sides sleeve (51,52) is connected with axis (1) by bearing, bearing is positioned at the sleeve two ends, the axial inner ring of left bearing (91) that wherein is used to locate left sleeve (51) is by axle head location division (15) location, and the outer ring is by step location in the sleeve; The axial inner ring of right bearing (92) that is used to locate left sleeve (51) is located by axis (1) step, the outer ring is by step location in the sleeve, the connection locate mode of right sleeve (52) and axis (1) and left sleeve (51) and axis (1) to be connected locate mode identical.
7. many training modes of lower limb healing robot according to claim 1, it is characterized in that: pedal shaft (32) is connected with pedal (31) by flat key (33), holding screw (34), flat key (33) has connected radial location to this, and holding screw (34) has connected axial location to this.
8. many training modes of lower limb healing robot according to claim 1 is characterized in that: the gear ratio of described speed reduction gearing is 8, and the gear ratio of described left and right drive mechanism is 1.5, and the gear ratio of described output drive mechanism is 1.
9. many training modes of lower limb healing robot according to claim 3 is characterized in that: middle, the right sleeve of described left sleeve (51) (52) centre, lower shaft (13) two axial ends, rear axle (14) two axial ends, worm screw (71) two axial ends, gear shaft (41) two axial ends are provided with and are used for locating the location bearing of entire mechanism in casing.
10. many training modes of lower limb healing robot according to claim 1, it is characterized in that: described many training modes of lower limb healing robot also comprises the casing of placing entire mechanism, except pedal rotating mechanism, connecting rod (2), output drive mechanism are exposed at the casing, other all mechanisms all are sealed in the casing.
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| CN 201110043360 CN102068367B (en) | 2011-02-21 | 2011-02-21 | Lower limb multi-training mode rehabilitation robot |
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