CN109512640B - Knee joint rehabilitation training robot - Google Patents
Knee joint rehabilitation training robot Download PDFInfo
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- CN109512640B CN109512640B CN201811416796.3A CN201811416796A CN109512640B CN 109512640 B CN109512640 B CN 109512640B CN 201811416796 A CN201811416796 A CN 201811416796A CN 109512640 B CN109512640 B CN 109512640B
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 49
- 210000000689 upper leg Anatomy 0.000 claims abstract description 37
- 210000003141 lower extremity Anatomy 0.000 claims description 10
- 210000003127 knee Anatomy 0.000 claims description 9
- 210000001217 buttock Anatomy 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000011084 recovery Methods 0.000 abstract description 5
- 208000012661 Dyskinesia Diseases 0.000 description 5
- 244000309466 calf Species 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 208000010428 Muscle Weakness Diseases 0.000 description 1
- 206010028372 Muscular weakness Diseases 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/008—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using hydraulic or pneumatic force-resisters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Biophysics (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The application relates to a knee joint rehabilitation training robot. The knee joint rehabilitation training robot comprises a thigh support frame and a shank support frame rotationally connected with the thigh support frame, two opposite cavities are formed in a cylinder body of the double-rod hydraulic cylinder, a piston rod is arranged in each of the two cavities, the cylinder body is fixedly connected to the thigh support frame, one piston rod is rotationally connected with the shank support frame, a hydraulic unit is communicated with the two cavities, the hydraulic unit can alternately supply media to the two cavities to drive the two piston rods to move so as to drive the shank support frame and the thigh support frame to relatively rotate, a passive training mode of the knee joint rehabilitation training robot is achieved, the shank support frame and the thigh support frame relatively rotate so as to drive the two piston rods to move, the media in one cavity can flow back into the other cavity through the hydraulic unit, an active training mode of the knee joint rehabilitation training robot is achieved, the use requirements of patients in each stage of motion capability recovery are met, and the knee joint rehabilitation training robot has high applicability.
Description
Technical Field
The application relates to the technical field of medical instruments, in particular to a knee joint rehabilitation training robot.
Background
The knee joint rehabilitation training robot is an emerging technology which is rapidly developed in recent years, and is a new application of the robot technology in the medical field. The knee joint rehabilitation training robot can be worn on the lower limbs of a human body to perform rehabilitation training on a patient with lower limb dyskinesia, so that the patient is gradually recovered.
For patients with lower limb dyskinesia, the lower limb dyskinesia is usually divided into a plurality of training stages according to the degree of dyskinesia, for example, in the muscle weakness degree, a training instrument is usually used for driving the lower limb to exercise, namely a passive training mode, and in the muscle strength incomplete stage, a human body active exercise and a training instrument auxiliary support mode are usually used for training, namely an active training mode.
However, the current knee joint rehabilitation training robots are single in function, and cannot meet the use requirements of patients with lower limbs having dyskinesia in various stages of gradual recovery of movement ability, so that the knee joint rehabilitation training robots are low in applicability and serious waste of medical resources is caused.
Disclosure of Invention
Based on the above, it is necessary to provide a knee joint rehabilitation robot with high applicability.
A knee rehabilitation training robot comprising:
The support assembly is used for being worn on the lower limb of a human body and comprises a thigh support frame and a shank support frame which is rotationally connected with the thigh support frame;
the two-rod hydraulic cylinder is characterized in that two chambers which are oppositely arranged are formed in a cylinder body of the two-rod hydraulic cylinder, a piston rod is respectively arranged in the two chambers, the cylinder body is fixedly connected to the thigh support frame, and one piston rod is rotationally connected with the shank support frame, and
The two chambers are respectively communicated with the hydraulic unit;
the hydraulic unit can alternately supply media to the two chambers so as to drive the two piston rods to move and drive the lower leg support frame and the thigh support frame to relatively rotate, so that a passive training mode of the knee joint rehabilitation training robot is realized, and the lower leg support frame and the thigh support frame relatively rotate so as to drive the two piston rods to move, wherein the media in one chamber can flow back to the other chamber through the hydraulic unit, and an active training mode of the knee joint rehabilitation training robot is realized.
In one embodiment, the hydraulic unit comprises a medium tank and a hydraulic pump, and the two chambers are a first chamber and a second chamber respectively;
One end of the hydraulic pump is communicated with the medium box through a first passage and is communicated with the first cavity through a second passage, a first one-way valve is arranged on the first passage, and a second one-way valve is arranged on the second passage;
the other end of the hydraulic pump is communicated with the medium box through a third passage and is communicated with the second chamber through a fourth passage, a third one-way valve is arranged on the third passage, and a fourth one-way valve is arranged on the fourth passage;
If the hydraulic pump rotates positively, the medium in the medium box can enter the second chamber through the first passage, the hydraulic pump and the fourth passage in sequence, the pressure of the fourth passage can force the second one-way valve and the first one-way valve to be opened, and the medium in the first chamber enters the second chamber through the second passage, the hydraulic pump and the fourth passage in sequence;
If the hydraulic pump is reversed, the medium in the medium tank can sequentially enter the first chamber through the third passage, the hydraulic pump and the second passage, the pressure of the second passage can force the fourth one-way valve and the third one-way valve to be opened, and the medium in the second chamber sequentially enters the first chamber through the fourth passage, the hydraulic pump and the second passage.
In one embodiment, the hydraulic unit further comprises an electromagnetic relief valve, the set pressure of which is adjustable;
One end of the electromagnetic overflow valve is communicated with the fourth passage between the fourth one-way valve and the second chamber through a fifth passage, and is communicated with the second passage between the second one-way valve and the first chamber through a sixth passage, wherein the fifth passage is provided with a fifth one-way valve, and the sixth passage is provided with a sixth one-way valve;
the other end of the electromagnetic overflow valve is communicated with the fourth passage between the fourth one-way valve and the second chamber through a seventh passage, and is communicated with the second passage between the second one-way valve and the first chamber through an eighth passage, wherein the seventh passage is provided with a seventh one-way valve, and the eighth passage is provided with an eighth one-way valve;
If the pressure of the fourth passage between the fourth check valve and the second chamber is greater than the set pressure of the electromagnetic relief valve, medium enters the second passage between the second check valve and the first chamber through the fifth passage, the electromagnetic relief valve and the eighth passage;
And if the pressure of the second passage between the second one-way valve and the first chamber is greater than the set pressure of the electromagnetic relief valve, the medium enters the fourth passage between the fourth one-way valve and the second chamber through the sixth passage, the electromagnetic relief valve and the seventh passage.
In one embodiment, the hydraulic unit further includes a pressure gauge connected to an end of the electromagnetic spill valve to which the fifth passage is connected, to measure a pressure of the medium passing through the electromagnetic spill valve.
In one embodiment, the knee joint rehabilitation training robot comprises a main control circuit board and an angle sensor connected with the main control circuit board, wherein the angle sensor is installed at the joint of the thigh support frame and the shank support frame so as to detect the rotation angle between the thigh support frame and the shank support frame, and the hydraulic pump and the electromagnetic overflow valve are connected with the main control circuit board.
In one embodiment, the knee joint rehabilitation training robot comprises a power supply and an emergency stop button, wherein the power supply is connected with the main control circuit board, and the power supply of the power supply to the main control circuit board can be cut off by pressing the emergency stop button.
In one embodiment, the knee joint rehabilitation training robot comprises a system control box and a system driving box, wherein the main control circuit board, the power supply and the hydraulic unit are arranged in the system control box, the double-rod hydraulic cylinder is arranged in the system driving box, and the system driving box and the system control box are respectively provided with an emergency stop button.
In one embodiment, the system control box is further provided with a control panel, the control panel is connected with the main control circuit board, and the relative rotation speed of the thigh support frame and the calf support frame, the relative rotation angle range of the thigh support frame and the calf support frame, the movement time and the pressure of the electromagnetic overflow valve can be set through the control panel.
In one embodiment, the knee joint rehabilitation robot comprises a foot rest rotatably connected with the lower leg support frame, and a roller capable of rolling relative to the foot rest is mounted at the bottom of the foot rest.
In one embodiment, the knee joint rehabilitation training robot comprises a hip pad and a connecting rod, wherein two ends of the connecting rod are respectively connected with the hip pad and the thigh support frame in a rotating mode, and human buttocks can be seated on the hip pad.
The knee joint rehabilitation training robot has the passive training mode and the active training mode, can meet the use requirements of patients at each stage of exercise capacity recovery, has higher applicability, effectively improves the utilization rate of the rehabilitation training robot, and avoids serious waste of medical resources.
Drawings
FIG. 1 is a schematic view of a knee rehabilitation robot according to an embodiment of the present application;
fig. 2 is a schematic diagram showing connection of a hydraulic unit and a double-rod hydraulic cylinder in the knee joint rehabilitation robot shown in fig. 1.
Detailed Description
In order that the application may be readily understood, a more complete description of the application will be rendered by reference to the appended drawings. The drawings illustrate preferred embodiments of the application. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 and 2, a knee rehabilitation robot 10 according to an embodiment of the present invention includes a support assembly 100, a dual-rod hydraulic cylinder 200, and a hydraulic unit 300. The support assembly 100 is used for being worn on lower limbs of a human body, and the support assembly 100 comprises a thigh support frame 110 which is used for being sleeved on thighs of the human body and a shank support frame 120 which is used for being sleeved on shanks of the human body, wherein the thigh support frame 110 is rotationally connected with the shank support frame 120. Two chambers are formed in the cylinder body 210 of the double-rod hydraulic cylinder 200, and a piston rod 220 is respectively arranged in the two chambers. The cylinder body 210 of the double-rod hydraulic cylinder 200 is fixedly connected to the thigh support frame 110, one piston rod 220 is rotatably connected with the shank support frame 120, and the two piston rods 220 can slide synchronously, namely, when one piston rod 220 extends out of the cylinder body 210 of the double-rod hydraulic cylinder 200, the other piston rod 220 is retracted into the cylinder body 210 of the double-rod hydraulic cylinder 200. It should be noted that the cross-sectional areas of the two piston rods 220 are equal so that the volume change values in the left and right chambers are equal when the two piston rods 220 move synchronously.
The two chambers in the double-rod hydraulic cylinder 200 are respectively communicated with the hydraulic unit 300, and the hydraulic unit 300 can alternately supply media to the two chambers so as to drive the two piston rods 220 to move and drive the lower leg support frame 120 and the thigh support frame 110 to relatively rotate, thereby realizing the passive training mode of the knee joint rehabilitation training robot 10. The lower leg support 120 and the thigh support 110 rotate relatively to drive the two piston rods 220 to move, and medium in one chamber can flow back into the other chamber through the hydraulic unit 300, so that the active training mode of the knee joint rehabilitation training robot 10 is realized.
The knee joint rehabilitation training robot 10 has a passive training mode and an active training mode, can meet the use requirements of patients at each stage of exercise capacity recovery, has higher applicability, effectively improves the utilization rate of the rehabilitation training robot, and avoids serious waste of medical resources.
Specifically, the two chambers in the double-rod hydraulic cylinder 200 are set to be the first chamber 211 and the second chamber 212, respectively, and the hydraulic unit 300 includes a medium tank 311 and a hydraulic pump 312. The end A of the hydraulic pump 312 is communicated with the medium box 311 through a first passage 313 and is communicated with the first chamber 211 through a second passage 314, a first one-way valve 315 is arranged on the first passage 313, a second one-way valve 316 is arranged on the second passage 314, the end B of the hydraulic pump 312 is communicated with the medium box 311 through a third passage 317 and is communicated with the second chamber 212 through a fourth passage 318, a third one-way valve 319 is arranged on the third passage 317, and a fourth one-way valve 321 is arranged on the fourth passage 318.
When the hydraulic pump 312 rotates forward, the medium in the medium tank 311 can reach the hydraulic pump 312 through the first check valve 315 when passing through the first passage 313, and then reach the second chamber 212 through the fourth check valve 321 when passing through the fourth passage 318, thereby forcing the two piston rods 220 to move rightward simultaneously. At both ends of the hydraulic pump 312, the pressure in the fourth passage 318 is higher than the pressure in the second passage 314, so the pressure in the fourth passage 318 can force the second check valve 316 to open, allowing the medium in the first chamber 211 to enter the second chamber 212 via the second passage 314, the hydraulic pump 312, and the fourth passage 318. In addition, the pressure of the fourth passage 318 can also force the first check valve 315 to open so that the medium in the medium tank 311 smoothly enters the hydraulic pump 312.
When the hydraulic pump 312 is reversed, the medium in the medium tank 311 can pass through the third check valve 319 to reach the hydraulic pump 312 via the third passage 317, and then pass through the second check valve 316 to enter the first chamber 211 via the second passage 314. At this time, the pressure of the second passage 314 is higher than the pressure of the third passage 317 at both ends of the hydraulic pump 312, so the pressure of the second passage 314 can force the fourth check valve 321 to open, and the medium in the second chamber 212 enters the first chamber 211 through the fourth passage 318, the hydraulic pump 312, and the second passage 314. In addition, the pressure of the second passage 314 can also force the third check valve 319 to open so that the media in the media tank 311 can smoothly enter the hydraulic pump 312.
In this way, the hydraulic pump 312 is alternately rotated forward and backward, so that the first chamber 211 and the second chamber 212 can be alternately supplied with oil to drive the piston rod 220 to reciprocate, thereby realizing the bending and stretching of the knee joint of the human body, and performing the passive rehabilitation training on the knee joint of the human body.
Hydraulic unit 300 also includes an electromagnetic spill valve 322, the set pressure of electromagnetic spill valve 322 being adjustable. One end of the electromagnetic relief valve 322 is communicated with a fourth passage 318 between the fourth check valve 321 and the second chamber 212 through a fifth passage 323, is communicated with a second passage 314 between the second check valve 316 and the first chamber 211 through a sixth passage 324, a fifth check valve 325 is provided on the fifth passage 323, a sixth check valve 326 is provided on the sixth passage 324, the other end of the electromagnetic relief valve 322 is communicated with a fourth passage 318 between the fourth check valve 321 and the second chamber 212 through a seventh passage 327, is communicated with a second passage 314 between the second check valve 316 and the first chamber 211 through an eighth passage 328, a seventh check valve 329 is provided on the seventh passage 327, and an eighth check valve 331 is provided on the eighth passage 328.
If the pressure of the fourth passage 318 between the fourth check valve 321 and the second chamber 212 is greater than the set pressure of the electromagnetic relief valve 322, the medium enters the second passage 314 between the second check valve 316 and the first chamber 211 through the fifth passage 323, the electromagnetic relief valve 322 and the eighth passage 328, so that the fourth passage 318 is provided with an overpressure protection function when the hydraulic pump 312 is positively rotated to supply oil to the second chamber 212, and in addition, a circulation passage is provided for the medium flowing from the second chamber 212 into the first chamber 211 when the hydraulic pump 312 is stopped and the knee joint rehabilitation robot 10 is in the active training mode.
If the pressure of the second passage 314 between the second check valve 316 and the first chamber 211 is greater than the set pressure of the electromagnetic spill valve 322, the medium enters the fourth passage 318 between the fourth check valve 321 and the second chamber 212 through the sixth passage 324, the electromagnetic spill valve 322, and the seventh passage 327. In this way, the second passage 314 is provided with an overpressure protection function when the hydraulic pump 312 is reversed to supply oil to the first chamber 211, and in addition, the hydraulic pump 312 is stopped, and the knee rehabilitation robot 10 is in the active training mode, so that a circulation passage is provided for medium flowing from the first chamber 211 into the second chamber 212.
Because the set pressure of the electromagnetic relief valve 322 is adjustable, when the knee joint of the human body is expected to bend or stretch and the strength is insufficient, the hydraulic pump 312 is started, the piston rod 220 can be made to output proper thrust and speed to assist the lower limb of the human body to complete the training action by adjusting the pressure of the electromagnetic relief valve 322 in real time, so that the power-assisted training mode of the knee joint rehabilitation training robot 10 is realized, in addition, when the knee joint of the human body is actively subjected to bending or stretching training and the hydraulic pump 312 is closed, the piston rod 220 can be made to receive proper resistance by adjusting the set pressure of the electromagnetic relief valve 322, so that the difficulty degree of the telescopic movement of the piston rod 220 is changed, and the impedance training mode of the knee joint rehabilitation training robot 10 is realized. Thus, the knee joint rehabilitation training robot 10 has a passive training mode, an active training mode, a power-assisted training mode and an impedance training mode, so that the applicability of the knee joint rehabilitation training robot 10 is further improved, and the use requirements of patients at each stage of exercise capacity recovery are met.
In addition, the hydraulic unit 300 further includes a pressure gauge 332, and the pressure gauge 332 is connected to one end of the electromagnetic spill valve 322 to which the fifth passage 323 is connected, to measure the pressure of the medium passing through the electromagnetic spill valve 322. The hydraulic unit 300 further includes a pressure switch 333 connected to the second passage 314, and the pressure switch 333 can also be connected to any passage other than the second passage 314 to protect the entire hydraulic unit 300. The hydraulic unit 300 also includes a filter screen 334 for filtering out debris from the media. A filter screen 334 may be provided at the oil inlet of the medium tank 311 on any one of the passages in the hydraulic unit 300.
The knee joint rehabilitation training robot 10 comprises a main control circuit board (not shown) and an angle sensor (not shown) connected with the main control circuit board, wherein the angle sensor is installed at the joint of the thigh support frame 110 and the shank support frame 120 to detect the rotation angle between the thigh support frame 110 and the shank support frame 120, so that the main control circuit board can obtain the time, angle and speed information of rehabilitation training. The hydraulic pump 312 and the electromagnetic relief valve 322 are connected to a main control circuit board, which can control the start, stop, forward rotation and reverse rotation of the hydraulic pump 312, and can also adjust the set pressure of the electromagnetic relief valve 322.
The knee joint rehabilitation training robot 10 includes a power supply (not shown) and an emergency stop button 500, the power supply is connected with a main control circuit board, and pressing the emergency stop button 500 can cut off the power supply to the main control circuit board to prevent an emergency.
The knee joint rehabilitation training robot 10 comprises a system control box 600 and a system driving box 700, wherein a main control circuit board, a power supply and hydraulic unit 300 are arranged in the system control box 600, a double-rod hydraulic cylinder 200 is arranged in the system driving box 700, and emergency stop buttons 500 are arranged on the system driving box 700 and the system control box 600.
The system control box 600 is further provided with a control panel 610, the control panel 610 is connected with a main control circuit board, and the relative rotation speed of the thigh support frame 110 and the calf support frame 120, the relative rotation angle range of the thigh support frame 110 and the calf support frame 120, the movement time and the pressure of the electromagnetic overflow valve 322 can be set through the control panel 610, so that the rapid selection and switching of different training modes can be realized.
In some embodiments, the knee joint rehabilitation robot 10 includes a foot support 800 rotatably connected to the lower leg support 120, and a roller 810 capable of rolling relative to the foot support 800 is mounted at the bottom of the foot support 800, and during rehabilitation, the human foot can be placed on a support plane, and the roller 810 rolls on the support plane, so that the difficulty of stretching or bending the lower leg relative to the thigh can be effectively reduced.
In some embodiments, the knee joint rehabilitation training robot 10 includes a hip pad 900 and a connecting rod (not shown), wherein two ends of the connecting rod are respectively connected with the hip pad 900 and the thigh support frame 110 in a rotating manner, and human buttocks can be seated on the hip pad 900, so that the situation that the support assembly 100 moves relative to the human knee joint in the rehabilitation training process can be avoided, and the stability of the relative positions of the support assembly 100 and the human knee joint can be effectively ensured.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (6)
1. A knee rehabilitation training robot, comprising:
The support assembly is used for being worn on the lower limb of a human body and comprises a thigh support frame and a shank support frame which is rotationally connected with the thigh support frame;
the two-rod hydraulic cylinder is characterized in that two chambers which are oppositely arranged are formed in a cylinder body of the two-rod hydraulic cylinder, a piston rod is respectively arranged in the two chambers, the cylinder body is fixedly connected to the thigh support frame, and one piston rod is rotationally connected with the shank support frame, and
The two chambers are respectively communicated with the hydraulic unit;
wherein the hydraulic unit can alternately supply media to the two chambers so as to drive the two piston rods to move and drive the shank support frame and the thigh support frame to relatively rotate, thereby realizing a passive training mode of the knee joint rehabilitation training robot, the shank support frame and the thigh support frame relatively rotate so as to drive the two piston rods to move, the media in one chamber can flow back to the other chamber through the hydraulic unit, thereby realizing an active training mode of the knee joint rehabilitation training robot,
The hydraulic unit comprises a medium box and a hydraulic pump, and the two chambers are a first chamber and a second chamber respectively;
One end of the hydraulic pump is communicated with the medium box through a first passage and is communicated with the first cavity through a second passage, a first one-way valve is arranged on the first passage, and a second one-way valve is arranged on the second passage;
the other end of the hydraulic pump is communicated with the medium box through a third passage and is communicated with the second chamber through a fourth passage, a third one-way valve is arranged on the third passage, and a fourth one-way valve is arranged on the fourth passage;
If the hydraulic pump rotates positively, the medium in the medium box can enter the second chamber through the first passage, the hydraulic pump and the fourth passage in sequence, the pressure of the fourth passage can force the second one-way valve and the first one-way valve to be opened, and the medium in the first chamber enters the second chamber through the second passage, the hydraulic pump and the fourth passage in sequence;
if the hydraulic pump is reversed, the medium in the medium box can enter the first chamber through the third passage, the hydraulic pump and the second passage in sequence, the pressure of the second passage can force the fourth one-way valve and the third one-way valve to be opened, the medium in the second chamber enters the first chamber through the fourth passage, the hydraulic pump and the second passage in sequence,
The hydraulic unit further comprises an electromagnetic overflow valve, and the set pressure of the electromagnetic overflow valve is adjustable;
One end of the electromagnetic overflow valve is communicated with the fourth passage between the fourth one-way valve and the second chamber through a fifth passage, and is communicated with the second passage between the second one-way valve and the first chamber through a sixth passage, wherein the fifth passage is provided with a fifth one-way valve, and the sixth passage is provided with a sixth one-way valve;
the other end of the electromagnetic overflow valve is communicated with the fourth passage between the fourth one-way valve and the second chamber through a seventh passage, and is communicated with the second passage between the second one-way valve and the first chamber through an eighth passage, wherein the seventh passage is provided with a seventh one-way valve, and the eighth passage is provided with an eighth one-way valve;
If the pressure of the fourth passage between the fourth check valve and the second chamber is greater than the set pressure of the electromagnetic relief valve, medium enters the second passage between the second check valve and the first chamber through the fifth passage, the electromagnetic relief valve and the eighth passage;
If the pressure of the second passage between the second check valve and the first chamber is greater than the set pressure of the electromagnetic spill valve, medium enters the fourth passage between the fourth check valve and the second chamber through the sixth passage, the electromagnetic spill valve, and the seventh passage,
The hydraulic unit further includes a pressure gauge connected to an end of the electromagnetic spill valve to which the fifth passage is connected, to measure a pressure of a medium passing through the electromagnetic spill valve,
The knee joint rehabilitation training robot comprises a main control circuit board and an angle sensor connected with the main control circuit board, wherein the angle sensor is arranged at the joint of the thigh support frame and the shank support frame so as to detect the rotation angle between the thigh support frame and the shank support frame, and the hydraulic pump and the electromagnetic overflow valve are connected with the main control circuit board.
2. The knee rehabilitation robot of claim 1, wherein the knee rehabilitation robot comprises a power supply and a scram button, the power supply is connected with the main control circuit board, and pressing the scram button can cut off the power supply to the main control circuit board.
3. The knee joint rehabilitation training robot according to claim 2, wherein the knee joint rehabilitation training robot comprises a system control box and a system driving box, the main control circuit board, the power supply and the hydraulic unit are arranged in the system control box, the double-rod hydraulic cylinder is arranged in the system driving box, and the system driving box and the system control box are both provided with the scram button.
4. The knee joint rehabilitation robot according to claim 3, wherein a control panel is further provided on the system control box, the control panel is connected to the main control circuit board, and the relative rotational speed of the thigh support frame and the shank support frame, the relative rotational angular range of the thigh support frame and the shank support frame, the movement time, and the pressure of the electromagnetic overflow valve can be set by the control panel.
5. The knee rehabilitation robot of claim 1, wherein the knee rehabilitation robot comprises a foot rest rotatably connected to the lower leg support frame, and wherein rollers capable of rolling relative to the foot rest are mounted on the bottom of the foot rest.
6. The knee joint rehabilitation training robot according to claim 1, wherein the knee joint rehabilitation training robot comprises a hip pad and a connecting rod, both ends of the connecting rod are respectively connected with the hip pad and the thigh support frame in a rotating manner, and human buttocks can be seated on the hip pad.
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| CN110575354A (en) * | 2019-09-25 | 2019-12-17 | 深圳市丞辉威世智能科技有限公司 | Limb rehabilitation exoskeleton and limb rehabilitation system |
| CN110575360A (en) * | 2019-09-25 | 2019-12-17 | 深圳市丞辉威世智能科技有限公司 | Limb rehabilitation exoskeleton and limb rehabilitation system |
| CN111067683B (en) * | 2019-11-30 | 2021-09-07 | 九江市宏德防雷技术有限公司 | Adjustable support for repairing human body joints |
| CN111759679B (en) * | 2020-08-06 | 2022-03-29 | 马鞍山学院 | Multi-degree-of-freedom robot for knee joint rehabilitation training |
| CN113768703A (en) * | 2021-09-01 | 2021-12-10 | 安徽工程大学 | Intelligent wheelchair based on flexible impedance training |
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