CN211095761U - Seated joint drive lower limb rehabilitation robot - Google Patents

Abstract

The utility model discloses a sitting type joint driving lower limb rehabilitation robot, which comprises a base, a thigh lifting mechanism, a calf stretching mechanism and a driving device, the base is provided with a seat; The pendulum rod is mounted on the base by swinging along the left and right axis; the calf extension mechanism includes a second pendulum linking the lower leg, and the second pendulum is mounted on the first pendulum by swinging along the left and right axis; the driving device drives the first pendulum to swing up and down respectively. , The second pendulum swings back and forth. In the utility model, under the driving of the driving device, the first swing rod can drive the patient's thigh to carry out lifting rehabilitation training, and the second swing rod can drive the patient's calf to carry out stretching rehabilitation training, which enriches the diversity of rehabilitation training functions, thereby helping It is used to optimize the effect of rehabilitation training; it does not require the patient to carry heavy objects, improves the comfort of the patient's rehabilitation training, and has the advantages of simple structure and reduced economic cost.

Description

Seated joint drive lower limb rehabilitation robot

technical field

The utility model relates to the technical field of medical robots, in particular to a seated joint driving lower limb rehabilitation robot.

Background technique

With the continuous development of science and technology, the medical level of human beings has been continuously improved, the average life expectancy has been prolonged, and the population of the world has become aging. There are a large number of patients with cerebrovascular diseases or neurological diseases in the elderly population. The most common clinical manifestation of these diseases is hemiplegia, which seriously affects the motor function and self-care ability of patients. Medical theory and clinical medicine have proved that in addition to receiving early surgical treatment and necessary drug treatment, scientific and reasonable rehabilitation training also plays a very important role in the recovery and improvement of limb motor function.

Traditional rehabilitation treatment is usually based on one-to-one adjuvant treatment by a rehabilitation physiotherapist, which is not only time-consuming but also costly. In order to solve the above problems, the existing rehabilitation robots that combine rehabilitation engineering and robotics have emerged. Among them, there are rehabilitation robots that involve the movement of the human hip, knee and ankle joints, which need to be worn on the human body and have no effect on supporting materials. The requirements for and control of the motor are higher, so the cost is higher; in addition, the adjustment of the amplitude of each joint movement needs to be precisely controlled to prevent secondary injury, so a total of four motor drives are installed, which increases the weight of the exoskeleton; A rehabilitation robot for patients with weak lower limbs who are difficult to stand. The main body is a bed, so that the upper body of the patient lies flat, and the legs are driven by the exoskeleton mechanical structure to train the leg muscles. .

SUMMARY OF THE INVENTION

The main purpose of the utility model is to propose a seated joint driving lower limb rehabilitation robot, which aims to solve the problems of poor rehabilitation effect and high economic cost of traditional rehabilitation robots.

In order to achieve the above purpose, a seated joint driving lower limb rehabilitation robot proposed by the present utility model includes:

a base with a seat for the patient to sit on;

The thigh lifting mechanism includes a first swing rod for linking the thigh, and the installation end of the first swing rod is mounted on the base so as to be swingable up and down along the left-right axis;

The calf extension mechanism includes a second swing rod for linking the calf, and the installation end of the second swing rod is mounted on the movable end of the first swing rod so as to swing forward and backward along the left-right axis; and,

The driving device is arranged on the base, and the driving device drives and connects the thigh lifting mechanism and the calf stretching mechanism respectively, so that the first swing rod swings up and down, and the second swing rod swings back and forth.

Optionally, the driving device has a rotating output shaft extending upward;

The thigh lift mechanism also includes a swing assembly including:

a worm, drivingly connected to the rotating output shaft to rotate back and forth along the up-down axis under the driving of the driving device; and,

The worm wheel is engaged with the worm, and the side of the worm wheel away from the meshing place is fixedly connected to the installation end of the first swing rod.

Optionally, the swing assembly further includes:

A casing is provided on the base, an installation cavity for installing the worm and the worm gear is formed inside the casing, and an opening is provided on one side of the installation cavity, and the opening is used for the first The movable end of the pendulum rod extends outward from the mounting cavity; and,

Two limit plates are respectively protruded on the upper end edge and the lower end edge of the opening to limit the swing angle of the first swing rod.

Optionally, the calf extension mechanism further includes a lift assembly, wherein:

The upper end of the lifting assembly is fixedly connected to the movable end of the second swing rod, so as to drive the movable end of the second swing rod to rise or fall;

The lift assembly is movably installed on the base along the front-rear direction, so as to drive the movable end of the second swing rod to move in the front-rear direction.

Optionally, the lifting assembly includes:

a bottom plate, which is movably installed on the base along the front-rear direction, the upper end of the bottom plate is provided with a fixed part and a moving part, and the moving part can move relative to the bottom plate;

In the scissor lift frame, the two upper ends are used to connect the movable end of the second swing rod, and the two lower ends are respectively rotatably connected to the fixed part and the moving part, so that when the moving part moves relative to the bottom plate, driving the movable end of the second swing rod to rise or fall; and,

The electric driving part is arranged on the bottom plate and is used for driving the moving part to move.

Optionally, the drive device has a forwardly extending rotary output shaft;

The calf extension mechanism also includes:

a lead screw, arranged on the base, the lead screw is drivingly connected to the rotation output shaft to rotate along the front-rear axis under the driving of the driving device; and,

A nut is threadedly connected to the lead screw, and the nut is fixedly connected to the lower end of the lifting assembly.

Optionally, the calf extension mechanism further includes a pedal structure, and the pedal structure includes:

a sleeve for fixing the foot, the sleeve is installed on the upper end of the lifting assembly so as to be able to turn up and down along the left-right axis; and,

The reset piece is arranged between the sleeve and the lifting assembly.

Optionally, the drive device includes:

a drive motor, mounted on the base, and having a power take-off shaft extending forward; and,

A steering assembly, the steering assembly drivingly connects the power output shaft and the thigh lift mechanism, and is used for forming the rotating output shaft extending upwards under the driving of the driving motor.

Optionally, the steering assembly includes:

A bevel gear set, including a driving bevel gear that rotates along the front-rear axis, and a driven bevel gear that rotates along the up-down axis, the driven bevel gear meshes with the driving bevel gear, and the rotation of the driven bevel gear a shaft constituting the rotational output shaft; and,

The timing belt is respectively wound around the power output shaft and the rotating shaft of the driving bevel gear.

Optionally, the length of the first swing rod and/or the second swing rod is adjustable.

In the technical solution provided by the utility model, when the patient sits on the seat and the thigh and calf are fixed according to the setting, the first swing rod can drive the patient's thigh to carry out lifting and rehabilitation training under the driving of the driving device, and the second swing rod The rod can drive the patient's calf to perform stretching rehabilitation training, which enriches the diversity of rehabilitation training functions, thereby helping to optimize the effect of rehabilitation training; and it does not require the patient to carry heavy objects, which improves the comfort of the patient's rehabilitation training, and has a simple structure, The advantage of economical cost reduction.

Description of drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are just some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained based on the structures shown in these drawings without any creative effort.

FIG. 1 is a three-dimensional schematic diagram of an embodiment of a seated joint driving lower limb rehabilitation robot provided by the present invention;

Fig. 2 is the exploded schematic diagram of the swing assembly in Fig. 1;

Fig. 3 is the three-dimensional schematic diagram of the lift assembly in Fig. 1;

Fig. 4 is the three-dimensional schematic diagram of the pedal structure in Fig. 1;

FIG. 5 is a schematic structural diagram of the driving device in FIG. 1 .

Description of reference numbers:

label name label name 100 Seated joint drive lower limb rehabilitation robot 31 second pendulum 1 pedestal 32 bottom plate 11 seat 321 Fixed part 2 Thigh lift mechanism 322 mobile department twenty one first pendulum 33 scissor lift 211 split 34 Electric drive 212 long hole 35 lead screw twenty two worm 36 nut twenty three worm gear 37 carrier plate twenty four case 38 sleeve 241 mounting cavity 39 reset piece 25 limit plate 4 drive 26 bearing 41 motor 27 connection board 42 Drive bevel gear 28 Install the bezel 43 driven bevel gear 3 Calf Extension 44 timing belt

The realization, functional characteristics and advantages of the purpose of the present utility model will be further described with reference to the accompanying drawings in conjunction with the embodiments.

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, not all of them. Example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

It should be noted that if there are directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention, the directional indications are only used to explain a certain posture (such as the accompanying drawings). When the relative positional relationship, movement situation, etc. between the various components shown below), if the specific posture changes, the directional indication also changes accordingly.

In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for the purpose of description, and should not be construed as instructions or Implicit their relative importance or implicitly indicate the number of technical features indicated. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In addition, the meaning of "and/or" in the whole text includes three parallel schemes. Taking "A and/or B" as an example, it includes scheme A, scheme B, or scheme satisfying both of A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of such technical solutions does not exist. , is not within the scope of protection required by the present utility model.

Traditional rehabilitation treatment is usually based on one-to-one adjuvant treatment by a rehabilitation physiotherapist, which is not only time-consuming but also costly. In order to solve the above problems, the existing rehabilitation robots that combine rehabilitation engineering and robotics have emerged. Among them, there are rehabilitation robots that involve the movement of the human hip, knee and ankle joints, which need to be worn on the human body and have no effect on supporting materials. The requirements for and control of the motor are higher, so the cost is higher; in addition, the adjustment of the amplitude of each joint movement needs to be precisely controlled to prevent secondary injury, so a total of four motor drives are installed, which increases the weight of the exoskeleton; A rehabilitation robot for patients with weak lower limbs who are difficult to stand. The main body is a bed, so that the upper body of the patient lies flat, and the legs are driven by the exoskeleton mechanical structure to train the leg muscles. .

In view of this, the present invention provides a seated joint driving lower limb rehabilitation robot, and FIGS. 1 to 5 are specific embodiments of the sitting joint driving lower limb rehabilitation robot provided by the present invention.

Please refer to FIG. 1 , a seated joint driving lower limb rehabilitation robot 100 provided by the present invention includes a base 1 , a thigh lifting mechanism 2 , a calf stretching mechanism 3 and a driving device 4 , wherein the base 1 is provided with a seat A chair 11 for the patient to sit on; the thigh lift mechanism 2 includes a first swing rod 21 for linking the thighs, the mounting end of the first swing rod 21 is mounted on the base so as to swing up and down along the left-right axis 1; the calf extension mechanism 3 includes a second swing rod 31 for linking the calf, and the installation end of the second swing rod 31 is mounted on the movable end of the first swing rod 21 so as to swing forward and backward along the left-right axis. ; The drive device 4 is set on the base 1, and the drive device 4 drives and connects the thigh lift mechanism 2 and the calf stretch mechanism 3 respectively, so that the first swing rod 21 swings up and down, and the first swing rod 21 swings up and down. The two pendulum rods 31 swing back and forth.

In the technical solution provided by the present invention, when the patient sits on the seat 11 and the thighs and calves are fixed according to the setting, the first swing rod 21 can drive the patient under the driving of the driving device 4 The thigh is lifted for rehabilitation training, and the second pendulum bar 31 can drive the patient’s calf to perform stretching rehabilitation training, which enriches the diversity of rehabilitation training functions, thereby helping to optimize the effect of rehabilitation training; and does not require the patient to carry heavy objects, improving the patient’s ability to In addition to the comfort of rehabilitation training, it has the advantages of simple structure and reduced economic cost.

It should be noted that this design does not limit the specific form of the base 1. The base 1 can provide a mounting platform for the thigh lifting mechanism 2 and the calf stretching mechanism 3 to be installed, and can also provide an accommodation cavity. It is used for the installation of electronic control components and transmission components in the driving device 4, so as to play the role of support and isolation protection. In addition, the style of the seat 11 can be specifically set according to actual needs. For example, the seat 11 has a seat plate and a backrest, and can also have armrests, so as to improve the sitting comfort of patients during rehabilitation training; and preferably , the height of the seat 11 in this design can be adjusted, for example, it can be realized by setting a telescopic rod and a fastening screw to adapt to the different sitting heights of different patients, so that the patients can sit in a more comfortable and natural posture Rehabilitation training. At this time, the setting of the seat 11 can uniquely determine the sitting posture of the patient. In order to facilitate a better understanding of the technical solution, the following uniformly defines the face orientation and back orientation of the patient when sitting, corresponding to the sitting joint The front and rear directions of the lower limb rehabilitation robot 100 are driven; the left and right hand directions when the patient is sitting correspond to the left and right directions of the seated joint driving lower limb rehabilitation robot 100 respectively.

In this design, the first swing rod 21 and the second swing rod 31 both have oppositely arranged installation ends and movable ends, and the first swing rod 21 is preferably arranged in front of the seat 11 , so The second rocking rod 31 is preferably disposed in front of the first rocking rod 21 so as to be adapted to the placement orientation of the thigh and the lower leg of the patient after sitting. In addition, the length of the first swing bar 21 and/or the second swing bar 31 can be adjusted to adapt to different thigh lengths and/or calf lengths of different patients, thereby helping to improve the sitting joint The matching degree between the lower limb rehabilitation robot 100 and the patient is driven to optimize the effect of rehabilitation training. Taking the first swing rod 21 as an example, the first swing rod 21 may include two sub-rods 211 that are sleeved with each other along the length direction. Correspondingly adjust the length of the first swing rod 21; further, the two sub-rods 211 are respectively provided with long holes 212 at the corresponding positions, and then a screw member is provided to insert and cooperate with the two long holes 212, The fixation of the first swing rod 21 at the desired length is achieved. The length adjustment structure of the second swing rod 31 is the same as that of the first swing rod 21 , and details are not described here.

In addition, elastic straps may be provided at the first swing rod 21 and the second swing rod 31. Taking the first swing rod 21 as an example, the elastic straps expand under the action of external force to supply The patient's thigh passes through smoothly, and then when the external force is removed, the elastic bandage elastically contracts and exerts an elastic pressing force on the patient's thigh, so as to ensure good fixation of the patient's thigh and effectively avoid abrasion to the patient's skin. discomfort.

Specifically, please refer to FIG. 1 and FIG. 2 , in this embodiment, when the driving device 4 has a rotating output shaft extending upward, the thigh lift mechanism 2 further includes a swing assembly, and the swing assembly includes a worm. 22 and a worm wheel 23, wherein the worm 22 is drivingly connected to the rotating output shaft to rotate back and forth along the vertical axis under the drive of the driving device 4; the worm wheel 23 is engaged with the worm 22, and the The side of the worm gear 23 away from the meshing portion is fixedly connected to the mounting end of the first swing rod 21 . The cooperation of the worm 22 and the worm wheel 23 has a large transmission ratio to improve the structural compactness of the swing assembly; it also has good self-locking properties to prevent the worm wheel 23 from driving the worm in the opposite direction. 22 turns to protect.

Further, in this embodiment, the swing assembly further includes a housing 24 and two limiting plates 25, wherein the housing 24 is provided on the base 1, and the interior of the housing 24 is formed with An installation cavity 241 for the worm 22 and the worm wheel 23 to be installed, one side of the installation cavity 241 is provided with an opening, and the opening is for the movable end of the first swing rod 21 to pass from the inside of the installation cavity 241 to the outside stretch out. Of course, the installation cavity 241 may also be provided with an installation opening and an installation baffle 28, the installation opening facilitates the installation and disassembly of the worm 22 and the worm wheel 23, and the installation baffle 28 is used when the After the worm 22 and the worm wheel 23 are installed in place in the installation cavity 241, they are arranged to cover the installation opening, so as to play the role of isolation and protection; in addition, the installation end of the first swing rod 21 can be directly connected to the installation. The worm gear 23 can also be fixedly connected to the worm gear 23 through a connecting plate 27. The connecting plate 27 is not limited to being a flat plate, and can be configured to fit the worm gear 23 and the first swing rod 21. shape, when the connecting plate 27 is connected to the end face of the worm gear 23, a bearing 26, such as an angular contact bearing, can also be arranged between the connecting plate 27 and the worm gear 23; the connecting plate 27 and The first rocking rods 21 can be screwed and fixed by a screw connection. The two limiting plates 25 are respectively protruded from the upper end edge and the lower end edge of the opening to limit the swing angle of the first swing rod 21 . The two limit plates 25 can be further set to be slidable relative to the housing 24, so that the limit positions of the first swing rod 21 to swing upward and downward can be adjusted, so as to realize the first swing The swing angle range of the rod 21 can be adjusted, which helps to ensure that the patient's thigh can be lifted within a suitable range and avoid secondary injury to the patient.

Since the mounting end of the second rocking rod 31 is movably mounted on the first rocking rod 21 , if referring to the first rocking rod 21 , if a transmission element is provided at the mounting end of the second rocking rod 31 , the As a result, the overall mass of the first swing rod 21 and the second swing rod 31 increases, which increases the load on the patient's legs during rehabilitation training and affects the effect of rehabilitation training. Therefore, please refer to FIG. 1 and FIG. 3 , in this embodiment, the lower leg extension mechanism 3 further includes a lift assembly, and the upper end of the lift assembly is fixedly connected to the movable end of the second swing rod 31 to drive the The movable end of the second swing rod 31 rises or falls; the lift assembly is movably installed on the base 1 in the front-rear direction to drive the movable end of the second swing rod 31 to move in the front-rear direction. Through the combination of the lifting and lowering, and the forward and backward movement of the lifting assembly, the forward and backward swing of the second swing rod 31 can be finally realized; and the lifting assembly is movably arranged on the base 1, that is, to concentrate the gravity on the base 1, which will not cause gravity load to the patient's leg, so that the patient can complete the leg rehabilitation training in an efficient and orderly manner.

Of course, there are various technical solutions for the lift assembly, and in this embodiment, the lift assembly includes a bottom plate 32, a scissor lift frame 33 and an electric drive member 34, and the bottom plate 32 is movable in the front-rear direction. Installed on the base 1, the upper end of the bottom plate 32 is provided with a fixed part 321 and a moving part 322, and the moving part 322 can move relative to the bottom plate 32. The bottom plate 32 is an integrally formed boss structure; the bottom plate 32 can be provided with a chute, and the moving part 322 is a slider structure that slides with the chute; the scissor lift frame 33 can refer to the present In the prior art, there are generally two legs, the two upper ends of the two legs are used to connect the movable end of the second swing rod 31, and the two lower ends of the two legs are rotatably connected to the fixed part 321 and the The moving part 322 is used to drive the movable end of the second swing rod 31 to rise or fall when the moving part 322 moves relative to the bottom plate 32; The movable end of the second swing rod 31 is fixedly connected to the upper end of the object carrier 37 , and the lower end surface of the object carrier 37 can refer to the bottom plate 32 to be provided with a fixed fitting portion (not marked in the drawings) and movable The matching part (not marked in the drawing), the two upper ends of the two legs are respectively connected to the fixed matching part and the moving matching part, and the moving matching part moves passively with the movement of the moving part 322 , so as to realize the steady rise and steady descent of the carrier plate 37 . The electric driving member 34 is disposed on the bottom plate 32 for driving the moving part 322 to move. There are various technical solutions for the electric drive member 34. For example, the electric drive member 34 may be a linear cylinder, and the linear cylinder has a telescopic push rod, and the telescopic push rod is connected to the moving part 322; The driving member 34 can be a combination of a motor, a sleeve rod and a screw rod, one end of the screw rod is provided with an external thread, one end of the sleeve rod is drivingly connected to the output shaft of the motor, and the other end of the sleeve rod is provided with an external thread. The internal thread threaded with the screw rod drives the moving part 322 to move relative to the bottom plate 32 by adjusting the depth of the screw connection between the sleeve rod and the screw rod.

Next, please refer to FIG. 1 and FIG. 5 , in this embodiment, the driving device 4 has a rotating output shaft extending forward; the calf stretching mechanism 3 further includes a lead screw 35 and a nut 36 , the lead screw 35 Set on the base 1, the lead screw 35 is drivingly connected to the rotation output shaft to rotate along the front-rear axis under the drive of the driving device 4; the nut 36 is threadedly connected to the lead screw 35, so The nut 36 is fixedly connected to the lower end of the lifting assembly. An installation groove may be correspondingly formed on the base 1 , and the lead screw 35 is disposed in the installation groove. Driven by the driving device 4 , the lead screw 35 is screwed with the nut 36 . Since the position of the lead screw 35 is fixed, the nut 36 can move along the extending direction of the lead screw 35 , thereby Driving the lifting assembly or the bottom plate 32 to move forward and backward has the advantages of simple structure and low cost.

In addition, please refer to FIG. 1 and FIG. 4 , in this embodiment, the lower leg extension mechanism 3 further includes a pedal structure, and the pedal structure includes a sleeve 38 and a reset member 39 , and the sleeve 38 is used for fixing the foot. , the specific expression form of the sleeve 38 is not limited in this design, and all sleeves 38 that can be used to fix the foot are within the protection scope of this design. The sleeve 38 is installed on the upper end of the lift assembly so as to be upside down along the left-right axis. Since the patient sits on the seat 11 during the calf stretch rehabilitation training, which is equivalent to swinging back and forth with the knee joint as the center and the calf as the radius, the reversible setting of the sleeve 38 is used to adapt the calf to The different angles formed between the feet and the feet under different degrees of extension also allow the patient's ankle joint to rotate flexibly, and play the purpose of exercising the ankle joint; the reset member 39 is provided between the sleeve 38 and the lifting assembly. between. The reset member 39 is, for example, a spring. When the sleeve 38 is turned over by an external force, the spring is stretched or compressed and deformed; and when the external force is removed, the spring has an elastic restoring force, which drives the The sleeve 38 is reset to the initial state.

In the above embodiment, the thigh lift mechanism 2 needs a rotating output shaft that is set upward, and the calf stretching mechanism 3 needs a rotating output shaft set forward. At this time, the thigh lift mechanism 2 and the The calf stretching mechanism 3 is respectively equipped with a motor to realize the independent start and stop of the two, but in consideration of resource saving, in this embodiment, it is preferable that the drive device 4 only includes a drive motor 41, and the drive motor 41 is provided in the The base 1 has a power output shaft extending forward, and the power output shaft of the driving motor 41 can directly drive, for example, the lead screw 35 in the lower leg extension mechanism 3 to rotate; in addition, the driving device 4 also includes a steering assembly, which drives the power output shaft and the thigh lift mechanism 2 to drive the drive motor 41 to form the rotating output shaft extending upward. In this way, one drive motor 41 can be used to provide a power source for the thigh lift mechanism 2 and the calf stretch mechanism 3 at the same time, which is helpful to simplify the overall structure of the seated joint driving lower limb rehabilitation robot 100, and reduce economic costs.

Of course, there may be various technical solutions for the steering assembly, but in this embodiment, please refer to FIG. 1 and FIG. 5 , the steering assembly includes a bevel gear set and a timing belt 44 , and the bevel gear set includes a front and rear The driving bevel gear 42 that rotates toward the axis, and the driven bevel gear 43 that rotates along the up-down axis, the driven bevel gear 43 meshes with the driving bevel gear 42, and the rotation axis of the driven bevel gear 43 constitutes The rotation output shaft can convert the rotation output extending in the front-rear direction into the rotation output extending in the up-down direction; the timing belt 44 is respectively wound around the power output shaft and the driving bevel gear 42. The rotating shaft is used for synchronizing the rotation of the power output shaft to the driving bevel gear 42 . At this time, the base 1 may be provided with a guide channel corresponding to the synchronous belt 44, and a mounting structure may be provided at the bevel gear set, which not only plays a supporting and protective role, but also avoids causing damage to the patient's rehabilitation training. interference.

It should be noted that in the above-mentioned embodiment, the thigh lift mechanism 2 and the calf stretch mechanism 3 are simultaneously powered by one of the drive motors 41, but this does not limit the thigh lift mechanism 2 and the calf lift mechanism 3. The movement speed of the calf stretching mechanism 3 needs to be kept consistent. For example, the actual rotation speed obtained by the thigh lifting mechanism 2 can be adjusted by adjusting the gear ratio of the bevel gear set. In addition, in order to ensure that the rehabilitation training process is more in line with the human body Engineering, it is necessary to pre-configure the transmission ratio of the thigh lift mechanism 2 and the calf stretch mechanism 3, so that during the rehabilitation training process, when the thigh is lifted to the highest position, the calf swings to the rearmost position and the said The lift assembly is at the highest position; when the thigh is lowered to the lowest position, the lower leg swings to the frontmost position and the lift assembly is at the lowest position.

The above are only preferred embodiments of the present utility model, and are not intended to limit the scope of the present utility model patent. Under the concept of the utility model of the present utility model, the equivalent structure transformations made by using the contents of the present utility model description and accompanying drawings, Or directly/indirectly applied in other related technical fields are included in the scope of patent protection of the present invention.

Claims (10)

1. A sitting posture joint drive lower limb rehabilitation robot, comprising:

a base provided with a seat for a patient to sit;

the thigh lifting mechanism comprises a first swing rod for linkage of a thigh, and the mounting end of the first swing rod is mounted on the base in a manner of swinging up and down along a left-right axis;

the shank stretching mechanism comprises a second swing rod for linking shanks, and the mounting end of the second swing rod is mounted at the movable end of the first swing rod in a manner of swinging back and forth along a left-right axis; and the number of the first and second groups,

the driving device is arranged on the base and is respectively in driving connection with the thigh lifting mechanism and the shank stretching mechanism, so that the first swing rod swings up and down, and the second swing rod swings back and forth.

2. The seated, co-driven, lower extremity rehabilitation robot of claim 1, wherein said drive means has an upwardly extending rotary output shaft;

thigh lifting mechanism still includes the swing subassembly, the swing subassembly includes:

the worm is in transmission connection with the rotating output shaft so as to rotate back and forth along the vertical axis under the driving of the driving device; and the number of the first and second groups,

and the worm wheel is meshed with the worm, and one side of the worm wheel, which is far away from the meshing position, is fixedly connected with the mounting end of the first swing rod.

3. The seated, co-driven, lower-limb rehabilitation robot of claim 2, wherein the swing assembly further comprises:

the shell is arranged on the base, an installation cavity for installing the worm and the worm wheel is formed in the shell, an opening is formed in one side of the installation cavity, and the opening enables the movable end of the first swing rod to extend out of the installation cavity; and the number of the first and second groups,

and the two limiting plates are respectively arranged on the upper end edge and the lower end edge of the opening in a protruding manner and used for limiting the swing angle of the first swing rod.

4. The seated, co-driven, lower extremity rehabilitation robot of claim 1, wherein said lower leg extension mechanism further comprises a lift assembly, wherein:

the upper end of the lifting component is fixedly connected with the movable end of the second swing rod so as to drive the movable end of the second swing rod to ascend or descend;

the lifting assembly is movably arranged on the base along the front-back direction so as to drive the movable end of the second swing rod to move along the front-back direction.

5. The seated, co-driven, lower-limb rehabilitation robot of claim 4, wherein the lift assembly comprises:

the bottom plate is movably arranged on the base along the front-back direction, the upper end of the bottom plate is provided with a fixed part and a moving part, and the moving part can move relative to the bottom plate;

the upper ends of the two scissor type lifting frames are connected with the movable end of the second swing rod, and the lower ends of the two scissor type lifting frames are respectively and rotatably connected with the fixed part and the movable part so as to drive the movable end of the second swing rod to ascend or descend when the movable part moves relative to the base plate; and the number of the first and second groups,

and the electric driving part is arranged on the bottom plate and used for driving the moving part to move.

6. The seated, co-driven, lower extremity rehabilitation robot of claim 4, wherein said drive means has a rotating output shaft extending forward;

the shank extension mechanism further comprises:

the screw rod is arranged on the base and is in transmission connection with the rotating output shaft so as to rotate along the front-back axis under the driving of the driving device; and the number of the first and second groups,

the nut is in threaded connection with the lead screw and fixedly connected to the lower end of the lifting assembly.

7. The seated, co-driven, lower limb rehabilitation robot of claim 4, wherein the lower leg extension mechanism further comprises a pedal structure comprising:

the sleeve is used for fixing the foot and can be arranged at the upper end of the lifting component in a way of being capable of turning up and down along the left-right axis; and the number of the first and second groups,

the piece that resets is located the sleeve with between the lifting unit.

8. The seated, co-driven, lower-limb rehabilitation robot of claim 2, wherein the drive means comprises:

the driving motor is arranged on the base and is provided with a power output shaft extending forwards; and the number of the first and second groups,

and the steering assembly is in transmission connection with the power output shaft and the thigh lifting mechanism and is used for forming the rotating output shaft extending upwards under the driving of the driving motor.

9. The seated, co-driven, lower-limb rehabilitation robot of claim 8, wherein the steering assembly comprises:

the bevel gear set comprises a driving bevel gear rotating along a front-back axis and a driven bevel gear rotating along a vertical axis, the driven bevel gear is meshed with the driving bevel gear, and a rotating shaft of the driven bevel gear forms the rotating output shaft; and the number of the first and second groups,

and the synchronous belts are respectively wound on the power output shaft and the rotating shaft of the driving bevel gear.

10. The sitting posture joint drive lower limb rehabilitation robot as recited in claim 1, wherein the length of said first swing link and/or said second swing link is adjustable.

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