CN106176128B - support robot for rehabilitation training and operation method thereof - Google Patents

Abstract

The invention discloses a support robot for rehabilitation training and an operation method thereof, wherein the device comprises a base, a crawler-type walking machine, a counterweight mechanism and a moving part; the motion part comprises an up-and-down motion platform, a left-and-right motion platform and a parallel four-rod motion platform. Each motion platform consists of a motor, a platform fixing plate, a gear set and an output end. The invention can realize the rehabilitation training of two linear degrees of freedom and one rotary degree of freedom on the hip of a human body in the gait training process; can highly simulate the physiological movement of the hip in gait training and effectively enhance the rehabilitation training effect.

Description

Support robot for rehabilitation training and operation method thereof

technical field

The invention belongs to the technical field of medical devices, and in particular relates to a support robot for rehabilitation training and an operation method thereof.

Background technique

The problem of aging in my country is becoming more and more serious, and stroke hemiplegia is a high incidence among the elderly, so the rehabilitation treatment for the elderly after hemiplegia is particularly important. The normal gait of hemiplegic patients is a sign of rehabilitation, so gait training plays a particularly important role in rehabilitation training.

Traditional rehabilitation methods for hemiplegic patients require physical therapists to hold the patient's hips for gait training, which consumes a lot of time and energy, and cannot guarantee sufficient training time and training intensity. The existing gait training and rehabilitation equipment only assists patients in training, and does not analyze the physiological structure of the human body, which often leads to the failure of effective training for the affected side of the patient. This equipment is based on the patient's gait combined with physiological structure. Rehabilitation training can achieve effective training purposes.

Contents of the invention

In order to solve the existing problems of traditional gait rehabilitation training such as large workload, low efficiency, incomplete training of ordinary rehabilitation equipment, and single training mode, the present invention provides a support for rehabilitation training by analyzing the physiological structure of the hip The robot and its operating method provide an efficient training platform for patient training.

Its technical solution is

A supporting robot for rehabilitation training, comprising a base 3, a crawler walking machine 1, a counterweight mechanism and a moving part. The movement part includes an up and down movement platform, a left and right movement platform and a parallel four-bar movement platform.

The counterweight mechanism comprises counterweight 2 and steel wire rope 5; The lower motion platform comprises the first motor 27, the first motor gear 25, the first lead screw gear 24, the first lead screw seat 28 and the up and down movement platform fixed plate 26; left and right movement The platform includes a second motor 21, a second motor gear 20 and a second lead screw gear 19, a second lead screw 22, a left and right motion platform fixed plate 18, a second lead screw drive 23; the parallel four-bar type motion platform includes a third Motor 14, the third motor fixed plate 17, the third motor gear 16, the third screw gear 15, the third screw transmission member 12, the third screw 13, the parallelogram rear rod 9, the parallel screw rotation mechanism 10 , the right hinge structure 8, the left hinge structure 11, the first motion output rod 6 and the second motion output rod 7.

Further, the crawler walking machine 1 is fixed on the base 3; the moving part is connected with the base 3 through the support rod 4;

Further, the first motor 27 is fixed on the up and down moving platform fixed plate 26, and the first lead screw gear 24 is driven to move up and down by the first motor gear 25, and the first lead screw gear 24 is fixed on the up and down moving lead screw seat 28. Lead screw seat 28 is fixed with up and down motion platform fixed plate 26, thereby drives whole up and down motion platform to move up and down.

The second motor 21 is fixed on the left and right moving platform fixed plate 18, drives the second lead screw gear 19 to rotate by the second motor gear 20, the second lead screw gear 19 drives the second lead screw 22 to rotate, and the second lead screw transmission part 23 Be fixed on the up and down moving platform fixed plate 26, thereby make the left and right moving platform move left and right.

The third motor 14 is fixed on the third motor fixing plate 17, drives the third lead screw gear 15 to rotate through the third motor gear 16, and the third lead screw gear 15 drives the third lead screw 13 to move, and the third lead screw 13 passes through the third lead screw gear 15 to rotate. The three-screw transmission part 12 drives the second output rod 7, and the rear end of the second output rod 7 is connected with the left end of the parallel four-bar rear rod 9 by a hinge mechanism 11, and the midpoint of the parallel four-bar rear rod 9 is connected with the rotary motion mechanism 10, parallel to each other. The right end of the four-bar rear bar 9 is connected with the first output bar 6 through a hinge 8, thereby forming a parallel four-bar mechanism and forming a parallel four-bar rotary motion.

As a further improvement, the counterweight mechanism is connected to the motion platform through the steel wire rope 5, and the tension is provided through the counterweight 2 to act on the entire motion platform, effectively achieving the weight-free effect.

Further, the device can realize the rehabilitation training of two linear degrees of freedom and one rotational degree of freedom of the human hip during gait training, highly simulates the physiological movement of the hip during gait training, and effectively enhances the effect of rehabilitation training.

A method for operating a supporting robot for rehabilitation training, comprising the following steps:

The trainee first fixes the hip with a strap, which is connected to the first motion output rod 6 and the second motion output rod 7 .

When implementing the gait training of the trainee, cooperate with the crawler-type walking machine 1, and the motor works in the torque mode: the first motor 27 is fixed on the fixed plate 26 of the up and down motion platform, and the first lead screw gear 24 is driven by the first motor gear 25 Moving up and down, the first lead screw gear 24 is fixed on the lead screw seat 28 for moving up and down, and the first lead screw seat 28 is fixed with the fixed plate 26 of the up and down moving platform, thereby driving the whole up and down moving platform to move up and down; the second motor 21 is fixed on the left and right On the fixed plate 18 of the moving platform, the second lead screw gear 19 is driven to rotate by the second motor gear 20, the second lead screw gear 19 drives the second lead screw 22 to rotate, and the second lead screw transmission part 23 is fixed on the fixed plate of the moving platform up and down 26, so that the left and right movement platform moves left and right; the third motor 14 is fixed on the third motor fixing plate 17, and the third screw gear 15 is driven by the third motor gear 16 to rotate, and the third screw gear 15 drives the third screw gear The lever 13 moves, and the third lead screw 13 drives the second output rod 7 through the third lead screw transmission part 12, the second output rod 7, and the rear end is connected with the left end of the parallelogram rear rod 9 with a hinge mechanism 11. The middle point of the rod 9 is connected with the rotary motion mechanism 10, and the right end of the rear rod 9 of the parallel four is connected with the first output rod 6 through the hinge 8, thereby forming a parallel four-bar mechanism and forming a parallel four-bar rotary motion.

Compared with prior art, the beneficial effect of the present invention:

First, rehabilitation training with two linear degrees of freedom and one rotational degree of freedom, which highly simulates the physiological movement of the hip in gait training; second, a symmetrical weight-free mechanism to reduce the burden on patients during gait training; Third, the rotation center of the device coincides with the rotation center of the human hip joint, which can highly simulate the rehabilitation training process of human gait training.

Description of drawings

Fig. 1 is the structural representation of a kind of supporting robot that is used for rehabilitation training of the present invention; Wherein, 1 crawler type walking machine, 2 counterweights, 3 bases, 4 support rods, 5 steel wire ropes, 6 first motion output rods, 7th Two motion output rods, 8 right hinge structures, 9 parallel four-bar rear rods, 10 parallel lead screw slewing mechanisms, 11 left hinge structures, 12 third lead screw transmission parts, 13 third lead screws, 14 third motors, 15th Three lead screw gears, 16 third motor gears, 17 rotary motion platform motor fixing plate, 18 left and right motion platform fixing plates, 19 second lead screw gear, 20 second motor gear, 21 second motor, 22 second lead screw, 23 second lead screw transmission parts, 24 first lead screw gears, 25 first motor gears, 26 up and down motion platform fixing plates, 27 first motors, 28 first lead screw seats.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

Referring to FIG. 1 , a supporting robot for rehabilitation training according to an embodiment of the present invention includes a base 3 , a crawler walking machine 1 , a counterweight mechanism and a moving part. The movement part includes an up and down movement platform, a left and right movement platform and a parallel four-bar movement platform.

The counterweight mechanism includes a counterweight 2 and a steel wire rope 5 . The up and down motion platform includes the first motor 27, the first motor gear 25, the first lead screw gear 24, the first lead screw seat 28 and the up and down motion platform fixed plate 26; the left and right motion platform includes the second motor 21, the second motor gear 20 And the second leading screw gear 19, the second leading screw 22 and the left and right moving platform fixed plate 18, the second leading screw transmission part (23); ), the third motor gear 16, the third lead screw gear 15, the third lead screw transmission part 12, the third lead screw 13, the parallel four-bar rear rod 9, the parallel lead screw rotation mechanism 10, the right hinge structure 8, the left hinge Structure 11, the first motion output rod 6 and the second motion output rod 7.

As a further improvement, the crawler walking machine 1 is fixed on the base 3; the moving part is connected with the base 3 through the support rod 4;

As a further improvement, the first motor 27 is fixed on the up and down movement platform fixed plate 26, and the first lead screw gear 24 is driven to move up and down by the first motor gear 25, and the first lead screw gear 24 is fixed on the up and down movement lead screw seat 28, The first lead screw seat 28 is fixed to the fixed plate 26 of the up and down moving platform, thereby driving the whole up and down moving platform to move up and down.

The second motor 21 is fixed on the left and right moving platform fixed plate 18, drives the second lead screw gear 19 to rotate by the second motor gear 20, the second lead screw gear 19 drives the second lead screw 22 to rotate, and the second lead screw transmission part 23 Be fixed on the up and down moving platform fixed plate 26, thereby make the left and right moving platform move left and right.

The third motor 14 is fixed on the third motor fixing plate 17, drives the third lead screw gear 15 to rotate through the third motor gear 16, and the third lead screw gear 15 drives the third lead screw 13 to move, and the third lead screw 13 passes through the third lead screw gear 15 to rotate. The three-screw transmission part 12 drives the second output rod 7, and the rear end of the second output rod 7 is connected with the left end of the parallel four-bar rear rod 9 by a hinge mechanism 11, and the midpoint of the parallel four-bar rear rod 9 is connected with the rotary motion mechanism 10, parallel to each other. The right end of the four-bar rear bar 9 is connected with the first output bar 6 through a hinge 8, thereby forming a parallel four-bar mechanism and forming a parallel four-bar rotary motion.

As a further improvement, the counterweight mechanism is connected to the motion platform through the steel wire rope 5, and the tension is provided through the counterweight 2 to act on the entire motion platform, effectively achieving the weight-free effect.

As a further improvement, the device can realize rehabilitation training for the human hip with two linear degrees of freedom and one rotational degree of freedom during gait training, highly simulating the physiological movement of the hip during gait training, and effectively enhancing the effect of rehabilitation training .

When using the present invention, the trainee first fixes the hip with a strap, which is connected to the first motion output rod 6 and the second motion output rod 7 .

When implementing the gait training of the trainee, cooperate with the crawler-type walking machine 1, and the motor works in the torque mode: the first motor 27 is fixed on the fixed plate 26 of the up and down motion platform, and the first lead screw gear is driven by the first motor gear 25 24 moves up and down, the first lead screw gear 24 is fixed on the lead screw seat 28 moving up and down, the first lead screw seat 28 is fixed with the fixed plate 26 of the up and down moving platform, thereby drives the whole up and down moving platform to move up and down; the second motor 21 is fixed on On the fixed plate 18 of the left and right movement platform, the second lead screw gear 19 is driven to rotate by the second motor gear 20, the second lead screw gear 19 drives the second lead screw 22 to rotate, and the second lead screw transmission part 23 is fixed on the up and down movement platform. plate 22, so that the left and right movement platform moves left and right; the third motor 14 is fixed on the third motor fixing plate 17, and the third screw gear 15 is driven by the third motor gear 16 to rotate, and the third screw gear 15 drives the third The leading screw 13 moves, the third leading screw 13 drives the second output rod 7 through the third leading screw transmission part 12, the second output rod 7, the rear end is connected with the left end of the parallel four rear rod 9 with a hinge mechanism 11, and the parallel four rod The middle point of the rear rod 9 is connected with the rotary motion mechanism 10, and the right end of the parallel four rod rear rod 9 is connected with the first output rod 6 through the hinge 8, thereby forming a parallel four rod mechanism and forming a parallel four rod rotary motion.

The above is only a preferred specific embodiment of the present invention, and the scope of protection of the present invention is not limited thereto. Any person familiar with the technical field within the technical scope disclosed in the present invention can obviously obtain the simplicity of the technical solution. Changes or equivalent replacements all fall within the protection scope of the present invention.

Claims (4)

1. a kind of support robot for rehabilitation training, it is characterised in that：Including pedestal (3), crawler type walking machine (1), match Heavy-duty machine structure and motion parts；

The balance weight mechanism includes clump weight (2) and steel wire rope (5)；

The motion parts include up and down motion platform, side-to-side movement platform and parallel four-bar type motion platform；

The up and down motion platform includes first motor (27), first motor gear (25), the first screw gear (24), first Thick stick seat (28) and up and down motion platform fixed plate (26)；The side-to-side movement platform includes the second motor (21), the second motor tooth Take turns (20) and the second screw gear (19), the second leading screw (22) and side-to-side movement platform fixed plate (18), the second lead screw transmission part (23)；The parallel four-bar type motion platform includes third motor (14), third motor fixing plate (17), third motor gear (16), third screw gear (15), third lead screw transmission part (12), third leading screw (13), parallel four-bar rear bar (9), parallel silk Thick stick swing mechanism (10), right hinge arrangement (8), left hinge arrangement (11), the first movement output bar (6) and the second movement output bar (7)；

The first motor (27) is fixed in up and down motion platform fixed plate (26), and the is driven by first motor gear (25) One screw gear (24) moves up and down, and the first screw gear (24) is fixed on up and down motion lead screw base (28), the first lead screw base (28) fixed with up and down motion platform fixed plate (26), to drive entire up and down motion platform to move up and down；

Second motor (21) is fixed in side-to-side movement platform fixed plate (18), and the is driven by the second motor gear (20) Two screw gears (19) rotate, and the second screw gear (19) drives the second leading screw (22) to rotate, and the second lead screw transmission part (23) is solid It is scheduled in up and down motion platform fixed plate (26), so that side-to-side movement platform side-to-side movement；

The third motor (14) is fixed on third motor fixing plate (17), and third silk is driven by third motor gear (16) Thick stick gear (15) rotates, and third screw gear (15) drives third leading screw (13) to move, and third leading screw (13) passes through third leading screw Driving member (12) drives the second output rod (7), the second output rod (7) rear end linkage (11) and parallel four-bar rear bar (9) Left end is connected, and parallel four-bar rear bar (9) midpoint is connected with rotary motion mechanism (10), and parallel four-bar rear bar (9) right end passes through hinge Chain (8) is connected with the first output rod (6), to constitute parallelogram lindage, forms parallel four-bar rotary motion.

2. the support robot according to claim 1 for rehabilitation training, it is characterised in that：The crawler type walking machine (1) it is fixed on pedestal (3)；Motion parts are connected by supporting rod (4) with pedestal (3)；Balance weight mechanism by clump weight (2) with Pedestal (3) is connected, and is connected with motion platform by steel wire rope (5).

3. the support robot according to claim 1 for rehabilitation training, it is characterised in that：The balance weight mechanism passes through Steel wire rope (5) is connected with motion platform, and provides pulling force by clump weight (2).

4. a kind of operating method of support robot for rehabilitation training, which is characterized in that include the following steps：

Hip is fixed with bandage first by instruction person, is connected on the first movement output bar (6) and the second movement output bar (7)；

When implementing by instruction person's gait training, coordinate crawler type walking machine (1), motor is operated under torque mode：First motor (27) it is fixed in up and down motion platform fixed plate (26), is driven on the first screw gear (24) by first motor gear (25) Lower movement, the first screw gear (24) are fixed on up and down motion lead screw base (28), and the first lead screw base (28) is flat with up and down motion Platform fixed plate (26) is fixed, to drive entire up and down motion platform to move up and down；Second motor (21) is fixed on side-to-side movement In platform fixed plate (18), the second screw gear (19) is driven to rotate by the second motor gear (20), the second screw gear (19) the second leading screw (22) is driven to rotate, the second lead screw transmission part (23) is fixed in up and down motion platform fixed plate (26), from And make side-to-side movement platform side-to-side movement；Third motor (14) is fixed on third motor fixing plate (17), passes through third electricity Machine gear (16) drives third screw gear (15) to rotate, and third screw gear (15) drives third leading screw (13) to move, third Leading screw (13) drives the second output rod (7), the second output rod (7) rear end linkage by third lead screw transmission part (12) (11) it is connected with parallel four-bar rear bar (9) left end, parallel four-bar rear bar (9) midpoint is connected with rotary motion mechanism (10), parallel Four bar rear bar (9) right ends are connected by hinge (8) with the first output rod (6), to constitute parallelogram lindage, form parallel four Bar rotary motion.