CN110169892B

CN110169892B - A multifunctional upper and lower limb rehabilitation robot

Info

Publication number: CN110169892B
Application number: CN201910555063.6A
Authority: CN
Inventors: 薛龙; 曹莹瑜; 王国帅; 张艳琦; 梁亚军
Original assignee: Beijing Shenglong Borui Technology Co ltd; Beijing Institute of Petrochemical Technology
Current assignee: Beijing Shenglong Borui Technology Co ltd; Beijing Institute of Petrochemical Technology
Priority date: 2019-06-25
Filing date: 2019-06-25
Publication date: 2021-06-25
Anticipated expiration: 2039-06-25
Also published as: CN110169892A

Abstract

The invention provides a multifunctional upper and lower limb rehabilitation robot, which relates to the technical field of rehabilitation training equipment, and solves the technical problem that the existing rehabilitation equipment cannot meet the multi-degree-of-freedom requirement of upper and lower limb rehabilitation training. The robot includes an upper limb rehabilitation training device, a lower limb rehabilitation training device and a rehabilitation standing bed. Both the upper limb rehabilitation training device and the lower limb rehabilitation training device are set on the rehabilitation standing bed. The upper limb rehabilitation training device can realize the adduction of the shoulder joint for the upper limb rehabilitation training. Abduction movement, flexion and extension movement of shoulder joint, internal rotation and external rotation movement of shoulder joint, and flexion and extension movement of elbow joint; the lower limb rehabilitation training device can realize the adduction and abduction movement of the hip joint and the flexion of the hip joint for the lower limb rehabilitation training. Stretch and knee flexion stretches. The robot can complete the rehabilitation movements of multiple degrees of freedom of the upper limb rehabilitation training and the lower limb rehabilitation training, and can meet the user's needs for the upper limb and lower limb rehabilitation training.

Description

Multifunctional upper and lower limb rehabilitation robot

Technical Field

The invention relates to the technical field of rehabilitation training equipment, in particular to a multifunctional upper and lower limb rehabilitation robot.

Background

At present, rehabilitation training is the most effective rehabilitation method for motor dysfunction and motor injury caused by nervous injury. The rehabilitation training is mainly divided into three modes of passive training, active training and impedance training. The rehabilitation equipment on the market at present mainly comprises a rehabilitation trainer, an upper limb multi-joint rehabilitation robot or a lower limb multi-joint rehabilitation robot.

The applicant has found that the prior art has at least the following technical problems:

these rehabilitation devices can only complete the rehabilitation training of local or partial movement of the body, but cannot realize the rehabilitation training of the linkage of the upper and lower limbs and the four limbs. The existing rehabilitation equipment capable of completing four-limb linkage is a four-limb linkage rehabilitation trainer, but the trainer has low degree of freedom and single rehabilitation action, and can not meet the actual rehabilitation requirement.

Disclosure of Invention

The invention aims to provide a multifunctional upper and lower limb rehabilitation robot, which solves the technical problem that the existing rehabilitation equipment in the prior art cannot meet the requirement of multiple degrees of freedom for upper and lower limb rehabilitation training. The technical effects that can be produced by the preferred technical scheme in the technical schemes provided by the invention are described in detail in the following.

In order to achieve the purpose, the invention provides the following technical scheme:

the invention provides a multifunctional upper and lower limb rehabilitation robot, which comprises an upper limb rehabilitation training device, a lower limb rehabilitation training device and a rehabilitation standing bed, wherein the upper limb rehabilitation training device and the lower limb rehabilitation training device are both arranged on the rehabilitation standing bed, and the upper limb rehabilitation training device and the lower limb rehabilitation training device are respectively arranged on the rehabilitation standing bed, wherein:

the rehabilitation standing bed can be lifted and turned to realize the conversion of three poses of a lying pose, a sitting pose and a standing pose;

the upper limb rehabilitation training device comprises an upper limb support adjusting device and an upper limb rehabilitation mechanism, and the upper limb support adjusting device can adjust the upper limb rehabilitation mechanism to adapt to different shoulder heights and shoulder widths; the upper limb rehabilitation training device can realize four-degree-of-freedom motion of upper limb rehabilitation training, namely adduction-abduction motion of a shoulder joint, flexion-extension motion of the shoulder joint, internal rotation-external rotation motion of the shoulder joint and flexion-extension motion of an elbow joint;

the lower limb rehabilitation training device comprises a lower limb support adjusting device and a lower limb rehabilitation mechanism, wherein the lower limb support adjusting device can adjust the lower limb rehabilitation mechanism to adapt to different hip widths; the lower limb rehabilitation training device can realize the motion of three degrees of freedom of lower limb rehabilitation training, namely the adduction-abduction motion of a hip joint, the flexion-extension motion of the hip joint and the flexion-extension motion of a knee joint.

Optionally, the upper limb rehabilitation mechanism comprises a left arm training unit and a right arm training unit, each of the left arm training unit and the right arm training unit comprises a connecting plate, a large arm bearing structure, a small arm bearing structure, a shoulder joint driving device and an elbow joint driving device, the large arm bearing structure is pivoted to the connecting plate, and the shoulder joint driving device is mounted on the connecting plate and is in transmission connection with the large arm bearing structure; the small arm bearing structure is pivoted to the large arm bearing structure and is in transmission connection with the elbow joint driving device; the left arm training unit and the right arm training unit are connected with the upper limb support adjusting device through the corresponding connecting plates.

Optionally, the left arm training unit and the right arm training unit each further comprise an elbow joint posture switching mechanism, the elbow joint posture switching mechanism comprises a first connecting block, a second connecting block and a positioning knob, the first connecting block and the second connecting block are connected through a rotating pin, the first connecting block is connected with the large arm bearing structure, and the second connecting block is connected with the elbow joint driving device; the positioning knob penetrates through the first connecting block and the second connecting block to limit the first connecting block and the second connecting block to rotate.

Optionally, the upper limb support adjusting device includes a horizontal spacing adjusting mechanism and a vertical height adjusting mechanism, the vertical height adjusting mechanism is connected with the rehabilitation standing bed, the vertical height adjusting mechanism is a screw mechanism, a switching slider of the screw mechanism is connected with the horizontal spacing adjusting mechanism, and two ends of the horizontal spacing adjusting mechanism are respectively connected with a U-shaped structural plate.

Optionally, the upper limb rehabilitation training device further comprises an avoidance switching locking structure, and the U-shaped structural plate is connected with the upper limb support adjusting device through the avoidance switching locking structure.

Optionally, the lower limb rehabilitation mechanism comprises a left leg training unit and a right leg training unit, and the left leg training unit and the right leg training unit respectively comprise a connecting part, a thigh bearing structure, a shank bearing structure, a hip joint driving device and a knee joint driving device; the hip joint driving device is arranged on the connecting part, and the thigh bearing structure is pivoted on the connecting part and is in transmission connection with the hip joint driving device; the knee joint driving device is in transmission connection with the lower leg bearing structure, and the lower leg bearing structure can rotate relative to the thigh bearing structure under the driving of the knee joint driving device; the lower limb rehabilitation mechanism is connected with the lower limb support adjusting device through the connecting part.

Optionally, the connecting portion includes a first connecting portion and a second connecting portion, the first connecting portion is mounted on the lower limb support adjusting device, and the second connecting portion is pivoted to the first connecting portion; the hip joint driving device comprises a hip joint flexion and extension motor and a hip joint adduction and abduction motor, and the hip joint adduction and abduction motor is fixed on the first connecting part and is in transmission connection with the second connecting part; the hip joint flexion and extension motor is in transmission connection with the thigh bearing structure, and the thigh bearing structure can rotate relative to the second connecting part under the driving of the hip joint flexion and extension motor.

Optionally, the upper limb rehabilitation mechanism and the lower limb rehabilitation mechanism are both provided with physiotherapy devices.

Optionally, the rehabilitation standing bed comprises a rack, a lifting device and a turning device, wherein the lifting device is arranged on the rack in a lifting manner, the turning device is rotatably arranged on the lifting device, and the turning device can be turned by 90 degrees from a horizontal state to a vertical state.

Optionally, the turning device comprises a turning support, the turning support is provided with a straight rod section and an extending bending section to form an L-shaped supporting structure, and the turning support is hinged to the lifting device through the extending bending section; the upper limb rehabilitation mechanism is fixed on the turning-up support through the upper limb support adjusting device, and the lower limb rehabilitation mechanism is fixed on the turning-up support through the lower limb support adjusting device.

According to the multifunctional upper and lower limb rehabilitation robot, the rehabilitation standing bed is lifted and turned to realize conversion of three poses of a lying pose, a sitting pose and a standing pose, so that the robot is assisted to complete rehabilitation motions with multiple degrees of freedom including adduction and abduction of a shoulder joint, flexion and extension of the shoulder joint, internal rotation and external rotation of the shoulder joint and flexion and extension of an elbow joint in upper limb rehabilitation training, adduction and abduction of a hip joint, flexion and extension of the hip joint and flexion and extension of a knee joint in lower limb rehabilitation training, and the requirement of a user on multiple degrees of freedom of upper limb and lower limb rehabilitation training can be met.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic perspective view of a multifunctional upper and lower limb rehabilitation robot according to an embodiment of the present invention;

fig. 2 is a rear view of the multifunctional upper and lower limb rehabilitation robot in fig. 1, wherein arrows indicate adjustment directions of the upper limb support adjustment mechanism and the lower limb support adjustment mechanism;

FIG. 3 is a schematic structural diagram of the multifunctional upper and lower limb rehabilitation robot in a lying posture state;

fig. 4 is a schematic structural diagram of the multifunctional upper and lower limb rehabilitation robot in a sitting posture state;

FIG. 5 is a schematic structural diagram of the multifunctional upper and lower limb rehabilitation robot in a standing posture state;

fig. 6 is a schematic perspective view of an upper limb rehabilitation training device according to an embodiment of the present invention;

FIG. 7 is a schematic perspective view of an elbow joint posture switching mechanism;

fig. 8 is a partially enlarged structural schematic view of an upper limb rehabilitation mechanism;

FIG. 9 is a schematic illustration of a partially exploded configuration of the upper limb rehabilitation facility of FIG. 8;

FIG. 10 is a schematic cross-sectional view of the bypass-switching locking structure;

fig. 11 is a schematic structural view of the attitude adjusting mechanism;

FIG. 12 is a perspective view of the upper limb support adjustment mechanism;

fig. 13 is a schematic structural view of an upper limb rehabilitation mechanism during flexion-extension training of a shoulder joint;

FIG. 14 is a schematic view of the attitude adjusting mechanism after adjusting the orientation of the link plate, in which the arrow indicates the direction of rotation of the link plate;

fig. 15 is a schematic configuration diagram of an upper limb rehabilitation facility during adduction-abduction training of a shoulder joint;

fig. 16 is a schematic configuration diagram of an upper limb rehabilitation facility during internal rotation training of a shoulder joint;

fig. 17 is a schematic configuration diagram of an upper limb rehabilitation facility during a shoulder joint external rotation training;

fig. 18 is a schematic structural view of an upper limb rehabilitation mechanism in performing flexion-extension training of the elbow joint;

FIG. 19 is an exploded perspective view of the lower limb rehabilitation training device;

FIG. 20 is a schematic side view of the lower limb rehabilitation training device;

FIG. 21 is a schematic perspective view of a lower limb rehabilitation training device;

FIG. 22 is a schematic configuration diagram of a lower limb rehabilitation facility during adduction-abduction training of a hip joint;

FIG. 23 is a schematic configuration diagram of a lower limb rehabilitation facility during flexion-extension training of the hip joint;

FIG. 24 is a schematic view of the lower limb rehabilitation facility during flexion-extension training of the knee joint;

fig. 25 is a view of a set-up bed according to an embodiment of the present invention.

In figure 1, upper limb rehabilitation institution; 11. a horizontal spacing adjustment mechanism; 12. a vertical height adjustment mechanism; 13. a U-shaped structural plate; 14. an avoidance switching locking structure; 2. an upper limb support adjustment device; 21. a connecting plate; 22. a large arm load bearing structure; 23. a forearm support structure; 24. a shoulder joint drive device; 25. an elbow joint drive device; 26. an elbow joint posture switching mechanism; 27. an upper limb support 3 and a lower limb support adjusting device; 31. a guide rail; 32. a slider; 4. a lower limb rehabilitation facility; 41. a connecting portion; 411. a base; 412. a second connecting portion; 4121. a motor supporting seat; 4122. a left support plate; 4123. a right support plate; 4124. a lower cover plate; 4131. a passive pulley; 4132. a driving pulley; 4133. a belt; 42. a thigh-carrying structure; 421. a right connecting plate; 422. a left connecting plate; 423. a thigh sliding plate; 43. a lower leg bearing structure; 431. a baffle plate; 4311. a shank opening; 432. a shank locking knob; 433. a shank sliding plate; 434. a shank support plate; 44. a hip joint drive device; 441. a flexion-extension motor; 442. an adduction and abduction motor; 45. a knee joint drive motor; 46. a foot pedal; 47. a lower limb brace; 49. a torque sensor; 5. rehabilitation standing up bed; 51. a frame; 52. a lifting device; 53. a turning-up device; 531. turning up the bracket; 54. a back plate; 6. a controller; 7. a physical therapy device; 71. an air bag; 72. electrotherapy paster; 73. a thermal therapy patch.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.

As shown in fig. 1, the embodiment of the present invention provides a multifunctional upper and lower limb rehabilitation robot, which includes an upper limb rehabilitation training device, a lower limb rehabilitation training device, and a rehabilitation standing bed 5, wherein the upper limb rehabilitation training device and the lower limb rehabilitation training device are both disposed on the rehabilitation standing bed 5, and wherein:

the rehabilitation standing bed 5 can be lifted and turned to realize the conversion of three poses of a lying pose, a sitting pose and a standing pose;

the upper limb rehabilitation training device comprises an upper limb support adjusting device 2 and an upper limb rehabilitation mechanism 1, wherein the upper limb support adjusting device 2 can adjust the upper limb rehabilitation mechanism 1 to adapt to different shoulder heights and shoulder widths; the upper limb rehabilitation training device can realize four-degree-of-freedom motion of upper limb rehabilitation training, namely adduction-abduction motion of a shoulder joint, flexion-extension motion of the shoulder joint, internal rotation-external rotation motion of the shoulder joint and flexion-extension motion of an elbow joint; under the driving of the shoulder joint driving device 24, the large arm bearing structure 22 drives the small arm bearing structure 23 to rotate along the pivoting shaft of the large arm bearing structure 22 and the connecting plate 21, so that the vertical up-and-down swing of the arm on the front side of the body is realized, and the flexion and extension training of the shoulder joint is completed, as shown in fig. 13; adjusting the avoidance switching locking structure 14, adjusting the state of the connecting plate 21 to rotate 90 degrees, driving the shoulder joint driving device 24 to drive the large arm bearing structure 22 to drive the small arm bearing structure 23 to rotate along the pivoting shaft of the large arm bearing structure 22 and the connecting plate 21, realizing vertical up-and-down swing of the arm on the side of the body, and completing adduction and abduction training of the shoulder joint, see fig. 14 and 15; adjusting the toggle joint posture switching mechanism 26 to make the small arm bearing structure 23 and the large arm bearing structure 22 in a vertical fixed state, and under the driving of the shoulder joint driving device 24, the large arm bearing structure 22 and the small arm bearing structure 23 rotate together along the pivot shaft of the large arm bearing structure 22 and the connecting plate 21 to complete the internal rotation and external rotation training of the shoulder joint, see fig. 16 and 17; the rotation of the lower arm bearing structure 23 along the pivot axis with the upper arm bearing structure 22 under the driving of the elbow joint driving device 25 realizes the vertical up-and-down swing of the lower arm, and the flexion-extension training of the elbow joint is completed, see fig. 18.

The lower limb rehabilitation training device comprises a lower limb support adjusting device 3 and a lower limb rehabilitation mechanism 4, wherein the lower limb support adjusting device 3 can adjust the lower limb rehabilitation mechanism 4 to adapt to different hip widths; the lower limb rehabilitation training device can realize the motion of three degrees of freedom of lower limb rehabilitation training, namely the adduction-abduction motion of a hip joint, the flexion-extension motion of the hip joint and the flexion-extension motion of a knee joint. The adjustment directions of the upper limb support adjustment device 2 and the lower limb support adjustment device 3 are shown in fig. 2.

The rehabilitation standing bed 5 realizes the conversion of three poses of a lying pose, a sitting pose and a standing pose through lifting and overturning, so that the robot is assisted to complete rehabilitation actions with multiple degrees of freedom including the adduction and abduction motions of shoulder joints, the flexion and extension motions of shoulder joints, the internal rotation and external rotation motions of shoulder joints, the flexion and extension motions of elbow joints and the adduction and abduction motions of hip joints, the flexion and extension motions of hip joints and the flexion and extension motions of knee joints in the lower limb rehabilitation training, and the requirements of users on multiple degrees of freedom of upper limb and lower limb rehabilitation training can be met.

The structure of the multifunctional upper and lower limb rehabilitation robot in the lying, sitting and standing states is shown in fig. 3-5.

As an alternative embodiment, as shown in fig. 6, the upper limb rehabilitation mechanism 1 includes a left arm training unit and a right arm training unit, each of which includes a connecting plate 21, an upper arm bearing structure 22, a lower arm bearing structure 23, a shoulder joint driving device 24 and an elbow joint driving device 25, the upper arm bearing structure 22 is pivoted to the connecting plate 21, and the shoulder joint driving device 24 is mounted on the connecting plate 21 and is in transmission connection with the upper arm bearing structure 22; the small arm bearing structure 23 is pivoted to the large arm bearing structure 22 and is in transmission connection with the elbow joint driving device 25; the left arm training unit and the right arm training unit are connected with the upper limb support adjusting device 2 through the corresponding connecting plates 21. The structure of the upper limb rehabilitation mechanism 1 is shown in fig. 8, and the forearm bearing structure 23 is shown in fig. 9.

The shoulder joint driving device 24 drives the upper arm bearing structure 22 to realize flexion and extension movement of the shoulder joint, adduction and abduction movement of the shoulder joint and internal rotation and external rotation movement of the shoulder joint, and the elbow joint driving device 25 drives the lower arm bearing structure 23 to realize flexion and extension movement of the elbow joint.

As an alternative embodiment, as shown in fig. 7, each of the left arm training unit and the right arm training unit further includes an elbow joint posture switching mechanism 26, the elbow joint posture switching mechanism 26 includes a first connecting block, a second connecting block and a positioning knob, the first connecting block and the second connecting block are connected by a rotating pin, the first connecting block is connected with the large arm bearing structure 22, and the second connecting block is connected with the elbow joint driving device 25; the positioning knob penetrates through the first connecting block and the second connecting block to limit the first connecting block and the second connecting block from rotating.

The connecting posture of the upper arm bearing structure 22 and the lower arm bearing structure 23 can be changed through the elbow joint posture switching mechanism 26, so that the upper arm bearing structure 22 and the lower arm bearing structure 23 form a linear connection or a mutually perpendicular state. The joint training device is convenient to switch between different joint training modes.

The rotation of the elbow joint posture switching mechanism 26 needs to be performed by the operation of the doctor or others, that is, the elbow joint posture switching mechanism 26 is different from the shoulder joint driving device 24 and the elbow joint driving device 25, and the elbow joint posture switching mechanism 26 is manually adjusted.

As an alternative embodiment, as shown in fig. 12, the upper limb support adjusting device 2 includes a horizontal spacing adjusting mechanism 11 and a vertical height adjusting mechanism 12, the vertical height adjusting mechanism 12 is connected with the rehabilitation standing bed 5, the vertical height adjusting mechanism 12 is a screw mechanism, a transfer slider 32 of the screw mechanism is connected with the horizontal spacing adjusting mechanism 11, and two ends of the horizontal spacing adjusting mechanism 11 are respectively connected with a U-shaped structural plate 13.

The horizontal spacing adjustment mechanism 11 and the vertical height adjustment mechanism 12 are used for adjusting the shoulder width and the shoulder height, respectively, so as to adapt to users of different sizes. The left and right arm training units are mounted to the U-shaped structural plate 13.

As an optional embodiment, the upper limb rehabilitation training device further includes an avoidance switching locking structure 14, and the U-shaped structural plate 13 is connected with the upper limb support adjusting device 2 through the avoidance switching locking structure.

As shown in fig. 10, the avoidance switching locking structure 14 includes a first rotating component, a first locking component and a first fixing component, the first rotating component is sleeved outside the first fixing component, the first locking component is disposed above the first rotating component and can move along the axis direction of the first fixing component, the first locking component can be inserted into the first rotating component to limit the first rotating component to rotate relative to the first fixing component, the first locking component is moved along the direction away from the first rotating component to release the locking of the first rotating component so that the first rotating component can rotate relative to the first fixing component, and the first fixing component is connected to the upper limb supporting and adjusting device 2.

The avoidance switching locking structure 14 has a locking state and a rotating state, when the avoidance switching locking structure 14 is in the locking state, the U-shaped structural plate 13 is connected with the main body of the upper limb support adjusting device 2, and when the avoidance switching locking structure 14 is in the rotating state, the U-shaped structural plate 13 can be rotatably connected with the upper limb support adjusting device 2.

The first rotating assembly can comprise a rotating assembly and a first copper sleeve, the rotating assembly is in close fit with the first copper sleeve, the first fixing assembly can comprise a fixing shaft, a baffle 431 and a fixing plate, the baffle 431 is fixedly connected with the fixing shaft, the fixing plate is fixedly connected with the fixing shaft and is connected with the horizontal slider 32, the first locking assembly can comprise a gland, a fixing guide screw and a first spring, the fixing guide screw is connected with the fixing shaft, the first spring is sleeved on the fixing guide screw and clamped between the gland and the fixing guide screw, the gland is provided with a first positioning pin, the first positioning pin can be inserted into the rotating assembly, under the condition of not applying external force, the first positioning pin can be inserted into the rotating assembly to limit the rotating assembly to rotate relative to the fixing shaft, when force is applied to the gland in the direction far away from the fixing shaft to enable the first positioning pin to be separated from the rotating assembly, the rotating assembly can rotate relative to the fixed shaft until the rotating assembly rotates for a proper angle, external force is removed, and the gland resets under the action of the elastic force of the first spring. The part of the gland inserted into the baffle 431 is matched with a kidney-shaped hole on the baffle 431, and the shape of the hole of the baffle 431 can limit the rotation of the gland.

The forearm bearing structure 23 comprises a sliding bin, a sliding plate, a locking mechanism and a baffle 431, wherein the sliding bin is connected with the output shaft of the elbow joint switching mechanism, the baffle 431 is arranged on one side of the sliding bin, which is far away from the output shaft of the elbow joint switching mechanism, the sliding plate is arranged in the sliding bin and the baffle 431, the locking mechanism is used for fixing the sliding plate on the sliding bin, and when the locking mechanism is unlocked for the sliding plate, the sliding plate can slide along the length direction of the sliding bin;

the sliding cabin of the big arm bearing structure 22 is connected with the output shaft of the shoulder joint switching mechanism, and the sliding plate of the big arm bearing structure 22 is connected with the base body of the elbow joint switching mechanism.

The shoulder joint driving means 24 and the elbow joint driving means 25 are both driving motors.

As an alternative embodiment, as shown in fig. 11, the upper limb support adjusting device 2 further comprises a posture adjusting mechanism, the posture adjusting mechanism comprises a second rotating assembly, the second locking assembly is arranged above the second fixing assembly in a sleeved mode and can move along the axis direction of the second fixing assembly, the second locking assembly can be inserted into the second rotating assembly to limit the second rotating assembly to rotate relative to the second fixing assembly, the second locking assembly is moved along the direction far away from the second rotating assembly to relieve the locking of the second rotating assembly so that the second rotating assembly can rotate relative to the second fixing assembly, the second fixing assembly is connected with one end of the U-shaped structural plate 13U, and the second rotating assembly is connected with the upper limb rehabilitation mechanism 1.

The posture adjusting mechanism can change the position of the upper limb rehabilitation mechanism 1, rotate the upper limb rehabilitation mechanism by 90 degrees, and enable the arm connected with the upper limb rehabilitation mechanism to be positioned in front of the body or on the side of the body to perform different rehabilitation training actions.

As an alternative embodiment, as shown in fig. 19 to 21, the lower limb rehabilitation facility 4 includes a left leg training unit and a right leg training unit, each of which includes a connecting portion 41, a thigh bearing structure 42, a shank bearing structure 43, a hip joint drive device 44, and a knee joint drive device; the hip joint driving device 44 is arranged on the connecting part 41, and the thigh bearing structure 42 is pivoted on the connecting part 41 and is in transmission connection with the hip joint driving device 44; the knee joint driving device is in transmission connection with the lower leg bearing structure 43, and the lower leg bearing structure 43 can realize rotation relative to the thigh bearing structure 42 under the driving of the knee joint driving device; the lower limb rehabilitation mechanism 4 is connected to the lower limb support adjustment device 3 via a connection portion 41.

The thigh-carrying structure 42 is capable of horizontal and vertical swinging by means of a hip-joint drive 44 to achieve adduction-abduction movement of the hip joint and flexion-extension movement of the hip joint, see fig. 22 and 23; the lower leg bearing structure 43 is vertically swingable by the knee training device to effect flexion-extension movement of the knee joint, see fig. 24.

As an alternative embodiment, the connecting portion 41 includes a base 411 and a second connecting portion 412 as a first connecting portion, the first connecting portion is mounted on the lower limb support adjusting device 3, and the second connecting portion 412 is pivoted to the first connecting portion; the hip joint driving device 44 comprises a hip joint flexion and extension motor 441 and a hip joint adduction and abduction motor 442, wherein the hip joint adduction and abduction motor 442 is fixed on the first connecting part and is in transmission connection with the second connecting part 412; the hip flexion and extension motor 441 is in driving connection with the thigh bearing structure 42, and the thigh bearing structure 42 can rotate relative to the second connecting part 412 under the driving of the hip flexion and extension motor 441.

The hip joint driving device 44 includes a hip joint flexion-extension motor 441 and a hip joint adduction-abduction motor 442, and is used for driving the hip joint flexion-extension operation and the hip joint adduction-abduction operation of the lower limb rehabilitation mechanism 4, respectively.

The left leg training unit and the right leg training unit further include a base 411, a motor support base 4121, a left support plate 4122, a right support plate 4123, an upper cover plate, a lower cover plate 4124, a belt 4133, a driving pulley 4132, a driven pulley 4131, a pinch roller, a rotating shaft as a pivot, a support pillar, and an impact post, wherein:

the base 411 is vertically arranged in a plate-shaped structure and is fixedly connected with the sliding block 32;

the hip joint adduction and abduction motor 442 is horizontally arranged above the sliding block 32 and is fixedly connected with the base 411;

the connecting plate 21 is arranged in parallel on the side of the base 411 far away from the slide block 32 and is fixedly connected with an output shaft of the hip joint adduction and abduction motor 442;

the motor support seat 4121 is of an L-shaped structure, the short side of the motor support seat 4121 is fixedly connected with the connecting plate 21, and the connecting position of the motor support seat 4121 and the connecting plate 21 in the height direction is lower than the connecting position of the hip joint adduction and abduction motor 442 and the connecting plate 21;

the left supporting plate 4122 is attached to the long edge of the motor supporting seat 4121, an accommodating cavity is formed between the right supporting plate 4123 and the left supporting plate 4122 in parallel at intervals, and one end of the right supporting plate 4123 is fixedly connected with the connecting plate 21;

the hip joint flexion and extension motor 441 is horizontally arranged and fixedly installed on the long edge of the motor supporting seat 4121, the driving belt wheel 4132 and the driven belt wheel 4131 are respectively arranged at two ends of the accommodating cavity, the pressing wheel is arranged at one side of the accommodating cavity close to the driven belt wheel 4131, and the belt 4133 is sequentially sleeved on the driving belt wheel 4132, the pressing wheel and the driven belt wheel 4131;

an output shaft of the hip joint flexion and extension motor 441 penetrates through a motor support base 4121 and a left support plate 4122 and is in transmission connection with a driving pulley 4132;

two ends of the rotating shaft are respectively connected with the left supporting plate 4122 and the right supporting plate 4123, and the driven belt wheel 4131 is rotatably arranged on the rotating shaft;

the upper cover plate 4124 and the lower cover plate 4124 are respectively covered at the top and the bottom of the accommodating cavity; the length of the lower cover plate 4124 and the length of the upper cover plate are both smaller than the length of the accommodating cavity, the length of the lower cover plate 4124 is smaller than the length of the upper cover plate, and openings for the thighs to bear and vertically swing are formed at the tail ends of the upper cover plate, the lower cover plate 4124, the left support plate 4122 and the right support plate 4123;

one end of the thigh bearing structure 42 is fixedly connected with the driven belt wheel 4131, and the other end extends out of the accommodating cavity from the opening; the number of the supporting columns is multiple, all the supporting columns are arranged between the driving belt wheel 4132 and the driven belt wheel 4131, and two ends of each supporting column are respectively connected with the left supporting plate 4122 and the right supporting plate 4123; the number of the anti-collision columns is two, and the two anti-collision columns are respectively arranged at two ends of the opening so as to limit the swing limit position of the thigh bearing structure 42;

the pinch rollers are located outside the range of oscillation of the thigh bearing structure 42 to ensure that the thigh bearing structure 42 does not interfere with the belt 4133 during oscillation.

The lower limb support adjusting device 3 comprises a horizontally arranged guide rail 31 and a slide block 32 which is arranged in the guide rail 31 in a sliding way and can horizontally move left and right, and the lower limb rehabilitation mechanism 4 is fixedly connected with the slide block 32. For adjusting the hip width.

The thigh adjusting device comprises a left connecting plate 422, a right connecting plate 421, a thigh supporting plate, a thigh sliding plate 423, a thigh locking screw, a thigh locking knob, a thigh self-adaptive mechanism and a thigh brace; the left connecting plate 422 and the right connecting plate 421 are respectively sleeved on rotating shafts positioned at two sides of the driven belt wheel 4131, the left connecting plate 422 and the right connecting plate 42121 are both fixedly connected with the driven belt wheel 4131, the thigh supporting plate is arranged between the left connecting plate 422 and the right connecting plate 421, and the thigh sliding plate 423 is in limited sliding connection between the thigh supporting plate and the right connecting plate 421;

a thigh sliding groove with a limiting step is arranged on the thigh supporting plate along the length direction, a U-shaped thigh opening which is the same as the shape of the thigh sliding groove and smaller than the size of the thigh sliding groove is arranged at the lower part of the left connecting plate 422, a first locking hole is arranged at the bottom of the thigh sliding groove, a second locking hole is arranged at the corresponding position at the lower part of the right connecting plate 421, a thigh boss which is in sliding connection with the thigh sliding groove is arranged at the upper part of the thigh sliding plate 423, and when the thigh sliding plate 423 is arranged in the thigh sliding groove in a sliding mode through the thigh boss, the thigh opening on the left connecting;

the thigh sliding plate 423 is provided with a strip-shaped stepped thigh locking hole extending along the sliding direction;

the head of the thigh locking screw is clamped at the step of the thigh locking hole, the threaded sleeve of the thigh locking knob is arranged on the second locking hole in a penetrating manner, the head of the thigh locking knob is arranged on the surface of the right connecting plate 421 in a fitting manner, and the threaded rod of the thigh locking screw penetrates through the thigh locking hole and the first locking hole and then is screwed with the threaded sleeve of the thigh locking knob; the thigh self-adaptive structure comprises thigh fixing grooves arranged on two sides of a thigh locking hole, a thigh guide rail 31 fixedly arranged in the thigh fixing grooves, and a thigh sliding block 32 arranged in the thigh guide rail 31 in a sliding mode, a thigh brace is fixedly connected with the thigh sliding block 32, and the knee joint training device is arranged at the lower end of a thigh sliding plate 423.

The calf adjusting device comprises a calf support plate 434, a baffle 431, a calf locking knob 432, a calf locking screw, a calf self-adapting mechanism, a calf sliding plate 433 and a calf brace, the calf support plate 434 is fixedly connected with an inner ring of the torque sensor 49, a calf sliding groove with a limiting step is arranged at the lower part of the calf support plate 434, the baffle 431 is in the same shape as the calf support plate 434, a U-shaped calf opening 4311 with the specification smaller than that of the calf sliding groove is arranged at the lower part of the baffle 431, a third locking hole is arranged at the bottom of the calf sliding groove, a calf boss in sliding connection with the calf sliding groove is arranged at the upper part of the calf sliding plate 433, and when the calf sliding plate 433 is arranged in the calf sliding groove in a sliding manner through the calf boss, the calf; a strip-shaped step type shank locking hole extending along the sliding direction is formed in the shank sliding plate 433; the thread sleeve of the shank locking knob 432 penetrates through the third locking hole, the head of the shank locking knob 432 is attached to the plate surface of the shank supporting plate 434, the head of the shank locking screw is clamped at the step of the shank locking hole, and the threaded rod of the shank locking screw penetrates through the shank locking hole and then is screwed with the thread sleeve of the shank locking knob 432; the shank self-adaptive mechanism comprises shank fixing grooves arranged at two sides of the shank locking hole, a shank guide rail 31 fixedly arranged in the shank fixing grooves and a shank sliding block 32 arranged in the shank guide rail 31 in a sliding manner, a shank brace is fixedly connected with the shank sliding block 32, and a pedal plate 46 is arranged at the lower end of a shank sliding plate 433; the calf rail 31 is longer than the thigh rail 31.

The length of the big arm bearing structure 22, the length of the small arm bearing structure 23, the length of the thigh bearing structure 42 and the length of the shank bearing structure 43 are all in a sectional sliding adjustable mode, and the structure is limited, the length of the structure can be adjusted when the structure is opened, and the structure is locked after the structure reaches a proper position.

As an alternative embodiment, as shown in fig. 25, the rehabilitation and erection bed 5 comprises a frame 51, a lifting device 52 and a turning-up device 53, wherein the lifting device 52 is liftably mounted on the frame 51, the turning-up device 53 is rotatably arranged on the lifting device 52, and the turning-up device 53 can be turned from a horizontal state to a vertical state by 90 degrees.

The lifting device 52 can control the height of the standing bed and adjust the height as required; the turning-up device 53 can be turned from a horizontal state by 90 degrees to a vertical state to form a sitting posture or a standing posture.

The lifting device 52 comprises a bottom frame, a triangular connecting rod, a translational connecting rod and a lifting push rod, wherein the middle end of the triangular connecting rod is hinged to the rack 51, the top end of the triangular connecting rod is hinged to the translational connecting rod, the bottom end of the triangular connecting rod is hinged to the bottom frame, the first end of the lifting push rod is hinged to the bottom frame, and the second end of the lifting push rod is hinged to the rack 51; the bottom frame, the translation connecting rod and the triangular connecting rods form a four-rod mechanism, and the lifting push rod drives the four-rod mechanism to realize lifting of the translation connecting rod.

The turning-up device 53 comprises a turning-up bracket 531, a seat mounting part and a turning-up push rod, wherein the seat mounting part is fixed on the turning-up bracket 531, and the turning-up bracket 531 is hinged to the lifting device 52; the first end of the turning push rod is hinged to the lifting device 52, the second end of the turning push rod is hinged to the turning support 531, and the turning push rod can drive the turning support 531 to rotate, so that the horizontal state and the vertical state of the turning device 53 are converted.

When training in a standing posture state is carried out, firstly, the lifting device 52 operates, the transverse motor push rod extends to drive the bottom frame to translate, the four upright triangular connecting rods are driven to rotate relative to the rack 51, the upright triangular connecting rods drive the translation connecting rods to translate and ascend, and the translation connecting rods drive the back plate 54 connected with the translation connecting rods to ascend; secondly, the turning-up device 53 operates on the basis of being lifted up, the electric push rod drives the turning-up bracket 531 to rotate 90 degrees relative to the translational connecting rod, and the whole bed body forms an angle of 90 degrees with the ground to present a standing state.

As an alternative embodiment, the turning-up device 53 includes a turning-up bracket 531, the turning-up bracket 531 has a straight rod section and an extended bending section to form an L-shaped supporting structure, and the turning-up bracket 531 is hinged with the lifting device 52 through the extended bending section; the upper limb rehabilitation mechanism 1 is fixed to the tilt-up bracket 531 via the upper limb support adjustment device 2, and the lower limb rehabilitation mechanism 4 is fixed to the tilt-up bracket 531 via the lower limb support adjustment device 3.

The extension bending section is arranged to give way to an installation space, and a placing space is reserved for a motor of a lower limb mechanical arm of the upper and lower limb rehabilitation robot, so that the motor is hidden. In addition, the leg space is also provided, the interference to the rehabilitation action of the lower limbs in the standing posture can not be caused, and the structural design is reasonable.

As an optional implementation manner, both the upper limb rehabilitation training device and the lower limb rehabilitation training device comprise the physiotherapy device 7, and physiotherapy can be performed while mechanical rehabilitation training is performed, so that a better rehabilitation effect is achieved.

The physiotherapy device 7 comprises an air bag 71, an electrotherapy patch 72 and a thermotherapy patch 73, wherein the air bag 71 is of a circular structure, the upper limb support 27 and the lower limb support 47 are of a semi-arc structure, the supports are attached to the outer side of the air bag 71, the inner diameter of the inflated air bag 71 is reduced to perform pressure therapy on the human body, and the electrotherapy patch 72 and the thermotherapy patch 73 are arranged on the inner wall of the air bag 71. The trainer respectively passes through the inner cavities of the corresponding air bags 71 by the upper limbs and the lower limbs, the electrotherapy patches 72, the thermotherapy patches 73 and the air bags 71 are all products in the prior art and purchased from the external market, electrotherapy equipment is also arranged corresponding to the electrotherapy patches 72, thermotherapy equipment is also arranged corresponding to the thermotherapy patches 73, inflation equipment is arranged corresponding to the air bags 71, and the equipment is also an existing product and can be purchased from the market.

As an optional implementation manner, both the upper limb rehabilitation mechanism 1 and the lower limb rehabilitation mechanism 4 include the torque sensor 49, and the torque sensor 49 is a key for completing active training, so that the magnitude of torque can be monitored in real time in the training process, and meanwhile, sudden situations such as spasm and the like can be detected, so that the patient is protected from secondary injury.

As an optional embodiment, the multifunctional upper and lower limb rehabilitation robot further comprises a control unit, and the torque sensor 49 is electrically connected with the control unit; the control unit is electrically connected with the hip joint driving device 44, the knee joint driving device, the shoulder joint driving device 24, the elbow joint driving device 25 and the physiotherapy device 7 respectively.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The utility model provides a multi-functional upper and lower limb rehabilitation robot, its characterized in that, includes upper limbs rehabilitation training device, low limbs rehabilitation training device and recovered standing bed, upper limbs rehabilitation training device with low limbs rehabilitation training device all set up in on the recovered standing bed, wherein:

the lower limb rehabilitation training device comprises a lower limb support adjusting device and a lower limb rehabilitation mechanism, wherein the lower limb support adjusting device can adjust the lower limb rehabilitation mechanism to adapt to different hip widths; the lower limb rehabilitation training device can realize the motion of three degrees of freedom of lower limb rehabilitation training, namely the adduction and abduction motion of a hip joint, the flexion and extension motion of the hip joint and the flexion and extension motion of a knee joint;

the rehabilitation standing bed comprises a rack, a lifting device and a turning device, wherein the lifting device is arranged on the rack in a lifting mode, the turning device can be rotatably arranged on the lifting device, and the turning device can be turned to a vertical state from a horizontal state by 90 degrees;

the turning device comprises a turning support, the turning support is provided with a straight rod section and an extending bending section to form an L-shaped supporting structure, and the turning support is hinged with the lifting device through the extending bending section; the upper limb rehabilitation mechanism is fixed on the turning-up bracket through the upper limb support adjusting device, and the lower limb rehabilitation mechanism is fixed on the turning-up bracket through the lower limb support adjusting device;

the upper limb rehabilitation mechanism comprises a left arm training unit and a right arm training unit, the left arm training unit and the right arm training unit respectively comprise a connecting plate, a large arm bearing structure, a small arm bearing structure, a shoulder joint driving device and an elbow joint driving device, the large arm bearing structure is pivoted to the connecting plate, and the shoulder joint driving device is mounted on the connecting plate and is in transmission connection with the large arm bearing structure; the small arm bearing structure is pivoted to the large arm bearing structure and is in transmission connection with the elbow joint driving device; the left arm training unit and the right arm training unit are connected with the upper limb support adjusting device through the corresponding connecting plates; the left arm training unit and the right arm training unit respectively comprise an elbow joint posture switching mechanism, the elbow joint posture switching mechanism comprises a first connecting block, a second connecting block and a positioning knob, the first connecting block and the second connecting block are connected through a rotating pin, the first connecting block is connected with the large arm bearing structure, and the second connecting block is connected with the elbow joint driving device; the positioning knob penetrates through the first connecting block and the second connecting block to limit the first connecting block and the second connecting block to rotate.

2. The multifunctional upper and lower limb rehabilitation robot as claimed in claim 1, wherein the upper limb support adjusting device comprises a horizontal spacing adjusting mechanism and a vertical height adjusting mechanism, the vertical height adjusting mechanism is connected with the rehabilitation standing bed, the vertical height adjusting mechanism is a screw rod mechanism, a transfer slide block of the screw rod mechanism is connected with the horizontal spacing adjusting mechanism, and two ends of the horizontal spacing adjusting mechanism are respectively connected with a U-shaped structural plate.

3. The multifunctional upper and lower limb rehabilitation robot of claim 2, wherein the upper limb rehabilitation training device further comprises an avoidance switching locking structure, and the U-shaped structural plate is connected with the upper limb support adjusting device through the avoidance switching locking structure.

4. The multi-functional upper and lower limb rehabilitation robot of claim 1, wherein the lower limb rehabilitation institution comprises a left leg training unit and a right leg training unit, each of which comprises a connecting portion, a thigh bearing structure, a shank bearing structure, a hip joint drive device and a knee joint drive device; the hip joint driving device is arranged on the connecting part, and the thigh bearing structure is pivoted on the connecting part and is in transmission connection with the hip joint driving device; the knee joint driving device is in transmission connection with the lower leg bearing structure, and the lower leg bearing structure can rotate relative to the thigh bearing structure under the driving of the knee joint driving device; the lower limb rehabilitation mechanism is connected with the lower limb support adjusting device through the connecting part.

5. The multi-functional upper and lower limb rehabilitation robot of claim 4, wherein the connecting portion comprises a first connecting portion mounted to the lower limb support adjustment device and a second connecting portion pivotally connected to the first connecting portion; the hip joint driving device comprises a hip joint flexion and extension motor and a hip joint adduction and abduction motor, and the hip joint adduction and abduction motor is fixed on the first connecting part and is in transmission connection with the second connecting part; the hip joint flexion and extension motor is in transmission connection with the thigh bearing structure, and the thigh bearing structure can rotate relative to the second connecting part under the driving of the hip joint flexion and extension motor.

6. The multi-functional upper and lower limb rehabilitation robot of claim 1, wherein each of the upper and lower limb rehabilitation mechanisms is provided with a physiotherapy device.