CN111359165A - Parallel-drive lower limb rehabilitation training robot - Google Patents

Abstract

Translated fromChinese

本发明公开了一种并联驱动下肢康复训练机器人，包括靠垫组件、连接于靠垫组件上的一对下肢托架组件以及连接于靠垫组件和下肢托架组件上的变形组件，所述变形组件包括升降组件、靠垫驱动组件以及下肢托架驱动组件；本发明的机器人具有躺卧和站立两种训练模式，能适用于患者康复初期在躺卧状态下的下肢康复训练，也能适用于患者恢复部分腿部功能的康复中后期在站立状态下的康复训练，适用于患者整个康复训练周期内，可综合辅助患者康复，同时通过变形组件的驱动形变利于辅助患者在躺卧和站立姿态的切换以及其靠垫组件的角度调节，利于患者在康复训练过程中背部姿态的调整，提高患者使用舒适度。

The invention discloses a parallel-driven lower limb rehabilitation training robot, comprising a cushion assembly, a pair of lower limb bracket assemblies connected to the cushion assembly, and a deformation assembly connected to the cushion assembly and the lower limb bracket assembly, wherein the deformation assembly includes a lift assembly, cushion drive assembly and lower limb bracket drive assembly; the robot of the present invention has two training modes of lying down and standing, which can be applied to the lower limb rehabilitation training of the patient in the lying state at the initial stage of rehabilitation, and can also be applied to the patient recovering part of the legs Rehabilitation training in the standing state in the middle and late stages of rehabilitation of facial functions is suitable for the entire rehabilitation training cycle of the patient, which can comprehensively assist the patient's rehabilitation, and at the same time, through the driving deformation of the deformation component, it is beneficial to assist the patient in switching between lying and standing postures and its cushions. The angle adjustment of the components is beneficial to the adjustment of the patient's back posture during the rehabilitation training process and improves the patient's comfort.

Description

Translated fromChinese

并联驱动下肢康复训练机器人Parallel drive lower limb rehabilitation training robot

技术领域technical field

本发明涉及一种下肢康复训练技术领域，具体涉及一种并联驱动下肢康复训练机器人。The invention relates to the technical field of lower limb rehabilitation training, in particular to a parallel drive lower limb rehabilitation training robot.

背景技术Background technique

脑卒中是导致残疾的主要原因之一。随着医疗护理及医疗技术的提高，脑卒中后患者的存活率越来越高，而这同时提高了脑卒中的致残率。其中，肢体运动功能障碍增加了脑卒中后患者及家庭的沉重负担，严重影响患者的日常生活。因此，如何有效提高脑卒中后患者步行能力及日常生活活动能力，成为脑卒中康复研究的主要目标。Stroke is one of the leading causes of disability. With the improvement of medical care and medical technology, the survival rate of patients after stroke is getting higher and higher, and this also increases the disability rate of stroke. Among them, limb motor dysfunction increases the heavy burden on patients and families after stroke, and seriously affects the daily life of patients. Therefore, how to effectively improve the walking ability and activities of daily living of post-stroke patients has become the main goal of stroke rehabilitation research.

基于神经康复理论，脑卒中后患者可以通过专业康复训练来恢复肢体功能；故需要一种下肢康复训练设备应用于下肢运动功能障碍者；该设备主要针对下肢有运动功能障碍的患者，主要作用是帮助有下肢运动功能障碍的患者完成各种运动功能康复训练过程，目前还未有辅助相关患者进行康复训练的设备。Based on the theory of neurorehabilitation, post-stroke patients can recover limb function through professional rehabilitation training; therefore, a lower limb rehabilitation training equipment is needed for those with lower limb motor dysfunction; this equipment is mainly aimed at patients with lower limb motor dysfunction, and its main function is to Help patients with lower extremity motor dysfunction to complete various motor function rehabilitation training process. At present, there is no equipment to assist related patients in rehabilitation training.

因此，基于以上问题，需要一种并联驱动下肢康复训练机器人，该机器人可适应于患者的躺卧以及站立模式的康复训练，可综合性帮助患者进行康复训练。Therefore, based on the above problems, there is a need for a parallel-driven lower limb rehabilitation training robot, which can be adapted to the rehabilitation training of the patient in the lying and standing modes, and can comprehensively assist the patient in the rehabilitation training.

发明内容SUMMARY OF THE INVENTION

有鉴于此，本发明提供一种并联驱动下肢康复训练机器人，该机器人可适应于患者的躺卧以及站立模式的康复训练，可综合性帮助患者进行康复训练。In view of this, the present invention provides a parallel-driven lower limb rehabilitation training robot, which can be adapted to the rehabilitation training of the patient in the lying and standing modes, and can comprehensively assist the patient in the rehabilitation training.

本发明的并联驱动下肢康复训练机器人，包括靠垫组件、连接于靠垫组件上用于分别固定患者腿部的一对下肢托架组件以及连接于靠垫组件和下肢托架组件上用于改变二者姿态以形成躺卧状态和站立状态的变形组件，所述变形组件包括升降组件、靠垫驱动组件以及下肢托架驱动组件，所述升降组件连接于靠垫组件下方，靠垫组件以可纵向摆动的方式安装于升降组件上，靠垫驱动组件连接于升降组件上用于驱动靠垫组件转动，所述下肢托架驱动组件连接于下肢托架上用于驱动下肢托架组件运动从而带动患者腿部运动。The parallel-driven lower limb rehabilitation training robot of the present invention includes a cushion assembly, a pair of lower limb bracket assemblies connected to the cushion assembly for fixing the patient's legs respectively, and a pair of lower limb bracket assemblies connected to the cushion assembly and the lower limb bracket assembly for changing the postures of the two. To form a deformation assembly in a lying state and a standing state, the deformation assembly includes a lifting assembly, a cushion driving assembly and a lower limb bracket driving assembly, the lifting assembly is connected below the cushion assembly, and the cushion assembly is longitudinally swingable. On the lifting assembly, the cushion driving assembly is connected to the lifting assembly for driving the cushion assembly to rotate, and the lower limb bracket driving assembly is connected to the lower limb bracket for driving the lower limb bracket assembly to move so as to drive the patient's legs to move.

进一步，所述变形组件还包括并联平台组件，所述并联平台组件包括与升降组件并联连接实现联动升降的并联支架以及连接于并联支架上的支撑平台，所述下肢托架驱动组件固定于支撑平台上，下肢托架驱动组件输出端与下肢托架组件可拆卸连接。Further, the deformation assembly further includes a parallel platform assembly, the parallel platform assembly includes a parallel support connected in parallel with the lifting assembly to realize linkage lifting and a support platform connected to the parallel support, and the lower limb bracket drive assembly is fixed to the support platform. The output ends of the upper and lower limb bracket drive assemblies are detachably connected to the lower limb bracket assembly.

进一步，所述下肢托架组件包括大腿支撑杆、与大腿支撑杆底端转动配合的小腿支撑杆、转动配合于小腿支撑杆底端的足部支撑托架以及连接于大腿支撑杆和小腿支撑杆上的绑缚件，所述大腿支撑杆顶部通过髋关节与靠垫组件连接。Further, the lower limb bracket assembly includes a thigh support rod, a calf support rod rotatably matched with the bottom end of the thigh support rod, a foot support bracket rotatably matched with the bottom end of the calf support rod, and connected to the thigh support rod and the calf support rod. The top of the thigh support rod is connected with the cushion assembly through the hip joint.

进一步，所述靠垫组件包括靠垫、连接于靠垫横向两侧的扶手以及固定于靠垫上的头枕。Further, the backrest assembly includes a backrest, armrests connected to both lateral sides of the backrest, and a headrest fixed on the backrest.

进一步，所述升降组件包括底部横架、顶部横架、连接于底部横架以及顶部横架之间横向排列设置的至少两个剪刀式升降结构，所述剪刀式升降结构包括相互交叉且中部转动配合的两个升降杆、纵向转动配合于底部横架上的升降螺杆以及与升降螺杆螺纹连接的升降滑块，两个升降杆的顶部与顶部横架转动配合，其中一个升降杆的底部与底部横架转动配合，另一个升降杆的底部与升降滑块转动配合，所述靠垫以可纵向摆动的方式与顶部横架转动配合。Further, the lift assembly includes a bottom cross frame, a top cross frame, at least two scissor lift structures connected to the bottom cross frame and horizontally arranged between the top cross frames. The two matching lifting rods, the lifting screw that is longitudinally rotated and matched with the bottom horizontal frame, and the lifting slider threadedly connected with the lifting screw, the top of the two lifting rods are rotated and matched with the top horizontal frame, and the bottom of one lifting rod is connected to the bottom. The horizontal frame is rotatably matched, the bottom of the other lifting rod is rotatably matched with the lifting slider, and the back cushion is rotatably matched with the top horizontal frame in a longitudinally swingable manner.

进一步，靠垫驱动组件包括横向连接于顶部横架并与顶部横架纵向转动配合的安装架、连接于安装架上的靠垫驱动杆以及安装于安装架上用于驱动靠垫驱动杆轴向运动的靠垫驱动件，所述靠垫驱动杆头部转动配合连接于靠垫上。Further, the backrest drive assembly includes a mounting frame that is laterally connected to the top cross frame and is longitudinally rotatably matched with the top cross frame, a back cushion driving rod connected to the mounting frame, and a back cushion mounted on the mounting frame for driving the backrest driving rod to move axially. A driving part, the head of the backrest driving rod is rotatably connected to the backrest.

进一步，所述下肢托架驱动组件包括至少两个驱动杆组件，所述驱动杆组件包括以可水平转动的方式连接于支撑平台上的底座以及伸缩驱动组件，所述伸缩驱动组件以可垂直于水平面摆动的方式与底座转动配合，所述驱动组件的输出端通过球面副连接于上平台，所述上平台与下肢托架组件可拆卸连接。Further, the lower limb bracket drive assembly includes at least two drive rod assemblies, the drive rod assemblies include a base connected to the support platform in a horizontally rotatable manner, and a telescopic drive assembly, the telescopic drive assembly can be perpendicular to The horizontal plane swings with the base in rotation, the output end of the drive assembly is connected to the upper platform through a spherical pair, and the upper platform is detachably connected to the lower limb bracket assembly.

进一步，所述髋关节包括以可纵向转动的方式与靠垫组件连接的转动板、与转动板偏心转动配合的髋关节支架以及与髋关节支架通过球面副配合的拖杆，所述大腿支撑杆端部与拖杆转动配合。Further, the hip joint includes a rotating plate connected with the cushion assembly in a longitudinally rotatable manner, a hip joint bracket eccentrically rotatably matched with the rotating plate, and a tow bar matched with the hip joint bracket through a spherical pair. The part is rotatably matched with the tow bar.

进一步，所述底部横架上安装有履带组件，所述履带组件用于在站立状态时支撑患者以实现患者的行走康复训练。Further, a crawler track assembly is installed on the bottom cross frame, and the crawler track assembly is used to support the patient in a standing state so as to realize the walking rehabilitation training of the patient.

进一步，所述并联支架包括连接于升降组件底部与支撑平台之间的若干根平行的并联摆杆以及连接于其中一个并联摆杆与靠垫组件之间的连动杆，所述并联摆杆两端分别与升降组件底部以及支撑平台转动配合，所述连动杆两端分别与其中一个并联摆杆以及靠垫组件转动配合。Further, the parallel support includes several parallel parallel swing rods connected between the bottom of the lifting assembly and the support platform, and a linkage rod connected between one of the parallel swing rods and the cushion assembly. Both ends of the parallel swing rod They are respectively rotatably matched with the bottom of the lifting assembly and the support platform, and the two ends of the linkage rod are respectively rotatably matched with one of the parallel swing rods and the backrest assembly.

本发明的有益效果：Beneficial effects of the present invention:

本发明的机器人具有躺卧和站立两种训练模式，能适用于患者康复初期在躺卧状态下的下肢康复训练，也能适用于患者恢复部分腿部功能的康复中后期在站立状态下的康复训练，可用于患者整个康复周期内的康复训练，综合辅助患者康复，同时通过变形组件的驱动形变利于辅助患者在躺卧和站立姿态的切换，靠垫组件的角度调节利于调节患者的背部姿态，以调节躺卧或者站立时对背部的支撑，利于患者在康复训练过程中背部姿态的调整，改善由于同一姿态长时间保持造成的疲劳，提高患者使用舒适度。The robot of the invention has two training modes of lying down and standing, which can be applied to the rehabilitation training of the lower limbs in the lying state in the initial stage of the patient's recovery, and can also be applied to the rehabilitation of the patient in the standing state in the middle and later stages of the rehabilitation of part of the leg function. It can be used for rehabilitation training in the entire rehabilitation cycle of the patient, comprehensively assisting the patient's rehabilitation, and at the same time, the driving deformation of the deformation component is conducive to assisting the patient to switch between lying and standing postures, and the angle adjustment of the cushion component is conducive to adjusting the patient's back posture to Adjusting the support of the back when lying down or standing is conducive to the adjustment of the patient's back posture during the rehabilitation training process, improving the fatigue caused by maintaining the same posture for a long time, and improving the comfort of the patient.

本发明的变形组件可实现靠垫的变形进行改变整个机器人的姿态，其中升降组件可带动靠垫组件升降进而调节靠垫组件的高度以适配站立和躺卧时患者的背部高度，同时靠垫驱动组件可驱动靠垫组件转动以在躺卧状态时保持水平、在站立状态时保持竖直、或者呈倾斜状态以调整患者的躺姿，通过调节靠垫组件可适配患者站立和躺卧时的背部姿态。The deformation assembly of the present invention can realize the deformation of the cushion to change the posture of the entire robot, wherein the lifting assembly can drive the cushion assembly to rise and fall to adjust the height of the cushion assembly to suit the height of the patient's back when standing and lying down, and the cushion driving assembly can drive the The backrest assembly is rotated to keep horizontal when lying down, vertical when standing, or tilted to adjust the patient's lying position. By adjusting the backrest assembly, the back posture of the patient when standing and lying down can be adapted.

附图说明Description of drawings

下面结合附图和实施例对本发明作进一步描述。The present invention will be further described below with reference to the accompanying drawings and embodiments.

图1为本发明躺卧状态结构示意图；Fig. 1 is the structure schematic diagram of the lying state of the present invention;

图2为躺卧状态的侧视结构示意图；Fig. 2 is the side view structure schematic diagram of the lying state;

图3为本发明站立状态结构示意图；3 is a schematic structural diagram of the standing state of the present invention;

图4为站立状态侧视结构示意图；Fig. 4 is the side view structure schematic diagram of standing state;

图5为髋关节结构示意图；Figure 5 is a schematic diagram of the structure of the hip joint;

图6为靠垫驱动组件结构示意图；Figure 6 is a schematic structural diagram of a cushion drive assembly;

图7为局部结构示意图；7 is a schematic diagram of a partial structure;

图8为升降滑块结构示意图；Figure 8 is a schematic diagram of the structure of the lifting slider;

具体实施方式Detailed ways

图1为本发明躺卧状态结构示意图；图2为躺卧状态的侧视结构示意图；图3为本发明站立状态结构示意图；图4为站立状态侧视结构示意图；图5为髋关节结构示意图；图6为靠垫驱动组件结构示意图；图7为局部结构示意图；图8为升降滑块结构示意图；Fig. 1 is the structure schematic diagram of the lying state of the present invention; Fig. 2 is the side view structure schematic diagram of the lying state; Fig. 3 is the standing state structure schematic diagram of the present invention; Fig. 4 is the standing state side view structure schematic diagram; Fig. 5 is the hip joint structure schematic diagram ; Figure 6 is a schematic structural diagram of the cushion drive assembly; Figure 7 is a schematic diagram of a partial structure; Figure 8 is a schematic structural diagram of the lifting slider;

如图所示：本实施例提供了一种并联驱动下肢康复训练机器人，包括靠垫组件10、连接于靠垫组件上用于分别固定患者腿部的一对下肢托架组件20以及连接于靠垫组件和下肢托架组件上用于改变二者姿态以形成躺卧状态和站立状态的变形组件，所述变形组件包括升降组件30、靠垫驱动组件40以及下肢托架驱动组件50，所述升降组件30连接于靠垫组件10下方，靠垫组件10以可纵向摆动的方式安装于升降组件30上，靠垫驱动组件40连接于升降组件上用于驱动靠垫组件转动，所述下肢托架驱动组件50连接于下肢托架上用于驱动下肢托架组件20运动从而带动患者腿部运动。纵向为长度方向，横向对应于宽度方向，患者躺于训练机器人上时，纵向对应于患者的身高方向，横向对应于患者的宽度方向，前侧为患者躺于机器人上时，机器人纵向靠近患者头部一侧；纵向摆动含义为以横向轴线为中心轴摆动，即在纵向方向所在平面内摆动，横向转动含义为以纵向轴线为中心轴转动，即在横向方向所在平面内转动；结合图1和图3所示，靠垫组件用于支撑患者，在躺卧状态时，患者躺在靠垫组件上，在站立状态时，患者背靠在靠垫组件上，通过靠垫组件为患者提高良好的支撑。下肢托架组件连接于靠垫组件底部用于固定患者腿部，在躺卧状态时，下肢托架组件近似水平，并通过下肢托架驱动组件驱动下肢托架运动，可使得下肢托架摆动、扭动或者模仿患者走路的姿态，进而带动患者腿部康复运动，在站立状态时，同样可通过下肢托架带动患者腿部进行康复训练，或者在患者腿部恢复一定行动功能的前提下，可解除下肢托架驱动组件驱动的驱动功能，使得患者自行发力实现康复训练。变形组件可实现机器人的变形进行改变整个机器人的姿态，其中升降组件30可带动靠垫组件升降进而调节靠垫组件的高度以适配站立和躺卧时患者的背部高度，同时靠垫驱动组件可驱动靠垫组件转动以在躺卧状态时保持水平、在站立状态时保持竖直、或者呈倾斜状态以调整患者的躺姿，通过调节靠垫组件可适配患者站立和躺卧时的背部姿态，其中下肢托架组件20可转动配合安装于靠垫组件上或者可刚性连接于靠垫组件上以使得靠垫组件在改变姿态时可相应的改变姿态以适配患者的腿部；该机器人具有躺卧和站立两种训练模式，能适用于患者康复初期在躺卧状态下的下肢康复训练，也能适用于患者恢复部分腿部功能的康复中后期在站立状态下的康复训练，适用于患者整个康复周期内的康复训练，综合辅助患者康复，同时通过变形组件的驱动形变利于辅助患者在躺卧和站立姿态的切换，靠垫组件的角度调节利于调节患者的背部姿态，以调节躺卧或者站立时对背部的支撑，利于患者在康复训练过程中背部姿态的调整，改善由于同一姿态长时间保持造成的疲劳，提高患者使用舒适度。As shown in the figure: this embodiment provides a parallel-driven lower limb rehabilitation training robot, including acushion assembly 10, a pair of lowerlimb bracket assemblies 20 connected to the cushion assembly for fixing the legs of a patient respectively, and a pair of lowerlimb bracket assemblies 20 connected to the cushion assembly and The lower limb bracket assembly is used to change the posture of the two to form a lying state and a standing state. Below thecushion assembly 10, thecushion assembly 10 is mounted on thelifting assembly 30 in a longitudinally oscillating manner, thecushion driving assembly 40 is connected to the lifting assembly for driving the cushion assembly to rotate, and the lower limbbracket driving assembly 50 is connected to the lower limb support. The frame is used to drive the lowerlimb bracket assembly 20 to move so as to drive the patient's legs to move. The longitudinal direction is the length direction, and the transverse direction corresponds to the width direction. When the patient is lying on the training robot, the longitudinal direction corresponds to the height direction of the patient, and the transverse direction corresponds to the width direction of the patient. The vertical swing means swinging with the transverse axis as the central axis, that is, swinging in the plane where the longitudinal direction is located, and the lateral rotation means rotating with the longitudinal axis as the central axis, that is, rotating in the plane where the transverse direction is located; As shown in FIG. 3 , the backrest assembly is used to support the patient. In the lying state, the patient lies on the backrest assembly, and in the standing state, the patient leans on the backrest assembly, and the backrest assembly provides a good support for the patient. The lower limb bracket assembly is connected to the bottom of the cushion assembly for fixing the legs of the patient. In the lying state, the lower limb bracket assembly is approximately horizontal, and the lower limb bracket is driven to move by the lower limb bracket drive assembly, which can make the lower limb bracket swing and twist. Move or imitate the patient's walking posture, and then drive the patient's leg rehabilitation exercise. In the standing state, the patient's leg can also be driven for rehabilitation training through the lower limb bracket, or the patient's leg can be released on the premise of restoring a certain movement function. The drive function driven by the lower limb bracket drive component enables the patient to perform rehabilitation training by themselves. The deformation component can realize the deformation of the robot to change the posture of the whole robot, wherein thelifting component 30 can drive the backrest component to rise and fall to adjust the height of the backrest component to suit the back height of the patient when standing and lying down, and the backrest driving component can drive the backrest component. Rotate to keep horizontal when lying down, upright when standing, or tilted to adjust the patient's lying position, by adjusting the back cushion assembly to fit the patient's standing and lying back position, where the lower limb bracket Theassembly 20 can be rotatably fitted on the backrest assembly or can be rigidly connected to the backrest assembly so that when the backrest assembly changes its posture, the posture can be correspondingly changed to fit the patient's legs; the robot has two training modes: lying down and standing It can be applied to the lower limb rehabilitation training in the lying state in the early stage of the patient's rehabilitation, and can also be applied to the rehabilitation training of the patient in the standing state in the middle and later stages of the rehabilitation of the patient's recovery of part of the leg function. It comprehensively assists the patient's rehabilitation, and at the same time, the driving deformation of the deformation component is helpful for assisting the patient to switch between lying and standing postures. The angle adjustment of the cushion component is helpful for adjusting the patient's back posture, so as to adjust the back support when lying or standing, which is beneficial to the patient. In the process of rehabilitation training, the adjustment of the back posture can improve the fatigue caused by maintaining the same posture for a long time, and improve the comfort of the patient.

本实施例中，所述升降组件30包括底部横架32、顶部横架31、连接于底部横架以及顶部横架之间横向排列设置的至少两个剪刀式升降结构，所述剪刀式升降结构包括相互交叉且中部转动配合的两个升降杆33、纵向转动配合于底部横架上的升降螺杆34以及与升降螺杆螺纹连接的升降滑块35，两个升降杆的顶部与顶部横架转动配合，其中一个升降杆的底部与底部横架转动配合，另一个升降杆的底部与升降滑块转动配合，所述靠垫以可纵向摆动的方式与顶部横架转动配合。底部横架32为下肢康复训练机器人最底层部分，所述底部横架32为H型结构，所述底部横架四角处安装有四个万向滚轮36，该万向滚轮应带制动系统，以便于保持机器人的状态，带有制动系统的万向滚轮为现有技术，具体不再赘述，万象滚轮可通过调平螺杆连接于底部横架上，通过调平螺杆可使下肢康复训练机器人平台在不平地面上保持水平，提高对地形的适应能力。顶部横架为矩形方框结构，底部横架32的两个纵梁与顶部横架31两个纵梁竖向相对，在两对竖向相对的纵梁之间各连接一套剪刀式升降结构，在底部横架32两个纵梁内侧各安装一个纵向延伸的升降螺杆，具体为底部横架32纵梁内侧向内突出形成两个螺杆安装座37，螺杆安装座37同时也是轴承座，升降螺杆两端通过轴承转动配合安装于该螺杆安装座上。结合图8所示，升降滑块35包括与升降螺杆螺纹配合的升降螺母35a、与底部横架32纵梁滑动配合的辅助滑块35b以及连接于升降螺母和辅助滑块的滑动台35c，其中底部横架32纵梁为矩形结构，滑动台35c为槽钢结构，滑动台35c扣于底部横架32纵梁上并可纵向滑动，该结构的升降滑块35其运动稳定性好，剪刀式升降结构中两个升降杆顶端转动配合于顶部横架31的纵梁上，其中一个升降杆底端转动配合于底部横架32的纵梁上，另一个升降杆底端转动配合于滑动台35c上，通过转动升降螺杆进而驱动升降螺母的纵向滑动带动两个剪刀式的升降杆摆动实现升降，其中升降螺杆可人工驱动转动或者可通过升降驱动结构进行驱动，本实施例中增设有升降驱动结构，其中升降驱动结构可以为两个电机分别与两个升降螺杆传动配合进行独立驱动，也可以通过一个电机并通过齿轮传动系或者皮带轮传动系同时驱动两个升降螺杆转动，本实施例中采用一个电机配合皮带轮传动系实现两个升降螺杆的同步转动，升降驱动件与靠垫驱动组件40的结构类似，此处不再赘述；该结构的升降组件配合剪刀式的升降杆、纵向布置的升降螺杆以及滑动块实现靠垫组件的升降，该结构利于底部横架32与顶部横架31之前的空间布局，增大升降高度，且在底部横架处预留出更多的空间便于履带组件70的安设。In this embodiment, thelift assembly 30 includes abottom cross frame 32, atop cross frame 31, and at least two scissor lift structures connected to the bottom cross frame and horizontally arranged between the top cross frames. The scissor lift structure It includes two liftingrods 33 that intersect with each other and rotate in the middle, a liftingscrew 34 that is longitudinally rotated and fitted on the bottom horizontal frame, and a liftingslider 35 that is threadedly connected to the lifting screw. The tops of the two lifting rods are rotated and matched with the top horizontal frame. , the bottom of one lifting rod is rotatably matched with the bottom horizontal frame, the bottom of the other lifting rod is rotatably matched with the lifting slider, and the back cushion is rotatably matched with the top horizontal frame in a longitudinally swingable manner. The bottomhorizontal frame 32 is the bottom part of the lower limb rehabilitation training robot, the bottomhorizontal frame 32 is an H-shaped structure, and four universal rollers 36 are installed at the four corners of the bottom horizontal frame. The universal rollers should have a braking system, In order to maintain the state of the robot, the universal roller with a braking system is an existing technology, and details will not be repeated. The universal roller can be connected to the bottom horizontal frame through a leveling screw, and the lower limb rehabilitation training robot can be achieved through the leveling screw. The platform remains level on uneven ground, improving adaptability to terrain. The top cross frame is a rectangular frame structure, the two longitudinal beams of thebottom cross frame 32 are vertically opposite to the two longitudinal beams of thetop cross frame 31, and a set of scissor lift structures is connected between the two pairs of vertically opposite longitudinal beams. , Install a longitudinally extending lifting screw on the inner side of the two longitudinal beams of thebottom cross frame 32, specifically, the inner side of the longitudinal beam of the bottomtransverse frame 32 protrudes inwardly to form twoscrew mounting seats 37, and thescrew mounting seats 37 are also bearing seats. Both ends of the screw rod are mounted on the screw rod mounting seat through the bearing rotation fit. As shown in FIG. 8 , the liftingslider 35 includes a liftingnut 35a threaded with the lifting screw, anauxiliary sliding block 35b slidingly matching with the longitudinal beam of thebottom cross frame 32, and a sliding table 35c connected to the lifting nut and the auxiliary sliding block, wherein The longitudinal beam of thebottom cross frame 32 is a rectangular structure, the sliding table 35c is a channel steel structure, and the sliding table 35c is buckled on the longitudinal beam of the bottomtransverse frame 32 and can slide longitudinally. In the lifting structure, the top ends of the two lifting rods are rotatably fitted on the longitudinal beams of thetop cross frame 31 , the bottom end of one lifting rod is rotatably fitted with the longitudinal beams of thebottom cross frame 32 , and the bottom end of the other lifting rod is rotatably fitted with the sliding table 35c Rotating the lifting screw and then driving the longitudinal sliding of the lifting nut drives the two scissor-type lifting rods to swing to achieve lifting, wherein the lifting screw can be manually driven to rotate or can be driven by a lifting driving structure. , in which the lifting driving structure can be independently driven by two motors in cooperation with two lifting screws, or two lifting screws can be driven to rotate at the same time by one motor and through a gear transmission system or a pulley transmission system. In this embodiment, one The motor cooperates with the pulley drive train to realize the synchronous rotation of the two lifting screws. The lifting driving member is similar in structure to thecushion driving assembly 40, and will not be repeated here; The sliding block realizes the lifting and lowering of the cushion assembly. This structure facilitates the space layout before thebottom cross frame 32 and thetop cross frame 31, increases the lifting height, and reserves more space at the bottom cross frame to facilitate the installation of thecrawler assembly 70. .

本实施例中，所述靠垫组件10包括靠垫11、连接于靠垫横向两侧的扶手12以及固定于靠垫11上的头枕13。结合图1所示，扶手包括连接于靠垫横向两侧的挡块12a以及连接于挡块前侧的U型把手12b，U型把手12b便于患者手持施力，挡块12a横向挡于患者的两侧起到侧向保护患者的作用，而且档块还作为下肢托架组件20的安装位使用，所述头枕13通过弹性绷带套在靠垫上，为保证患者的舒适性，靠垫上表面置有海绵或棉絮等软质材料，为便于患者的操作，在挡块12a上预留有操控面板安装位，在该安装位上安装有操作面板14以实现对机器人的控制，配套操作面板，该机器人还需要设置智能控制组件，智能控制组件用于控制下肢康复训练整个过程中各部分的动作，具体包括压力传感器、位置传感器和控制系统等；In this embodiment, thebackrest assembly 10 includes abackrest 11 ,armrests 12 connected to both lateral sides of the backrest, and aheadrest 13 fixed on thebackrest 11 . As shown in FIG. 1, the armrest includesblocks 12a connected to the lateral sides of the cushion and aU-shaped handle 12b connected to the front side of the block. TheU-shaped handle 12b is convenient for the patient to hold and apply force, and theblock 12a laterally blocks the two sides of the patient. The side plays the role of laterally protecting the patient, and the stopper is also used as the installation position of the lowerlimb bracket assembly 20. Theheadrest 13 is covered on the back cushion through an elastic bandage. In order to ensure the comfort of the patient, the upper surface of the back cushion is provided with a Soft materials such as sponge or cotton wool, in order to facilitate the operation of the patient, a control panel installation position is reserved on thestopper 12a, and theoperation panel 14 is installed on the installation position to realize the control of the robot. It is also necessary to set up an intelligent control component, which is used to control the movements of each part in the whole process of lower limb rehabilitation training, including pressure sensors, position sensors and control systems, etc.;

本实施例中，所述变形组件还包括并联平台组件60，所述并联平台组件包括与升降组件并联连接实现联动升降的并联支架以及连接于并联支架上的支撑平台61，所述下肢托架驱动组件50固定于支撑平台上，下肢托架驱动组件输出端与下肢托架组件20可拆卸连接。所述并联支架包括连接于升降组件底部与支撑平台之间的若干根平行的并联摆杆62以及连接于其中一个并联摆杆与靠垫组件10之间的连动杆63，所述并联摆杆两端分别与升降组件底部以及支撑平台转动配合，所述连动杆两端分别与其中一个并联摆杆以及靠垫组件转动配合。下肢托架驱动组件通过并联平台组件与升降组件实现联动，此处的联动与下肢托架驱动组件对下肢托架组件的驱动无关，联动含义为升降组件的运动可带动下肢托架驱动组件的方位变化；结合图1至图4以及图7所示，在底部横架的两个纵梁上分别连接有并联平台组件以适配两个下肢托架组件20，每组并联平台组件中包括两根平行的并联摆杆，其中并联摆杆转动配合于纵撑64底部，其中支撑平台61以可横向转动的方式连接于纵撑64上，其中连动杆63呈L型架构，连动杆63的一端转动配合于前侧并联摆杆的中部，另一端转动配合于靠垫11底部，结合图2和图4所示，在升降组件30升高以及靠垫驱动组件40驱动靠垫11摆动形成直立状态时，靠垫11通过连动杆63带动并联摆杆62摆动升高，此时机器人形成如图4的站立状态；在患者进行站立康复训练时，患者的腿部往往恢复一定的活动能力，而可以不借助外部力量进行康复训练，结合图3所示，在形成站立状态时，下肢托架驱动组件输出端与下肢托架组件20拆卸分离，此时转动支撑平台61向外摆动形成直立状态，并将下肢托架驱动组件摆动至外侧，支撑平台内侧平整并位于患者腿部两侧对患者腿部形成保护，并保持腿部的横向空间，此时挡块12a位于患者上身两侧为患者的上身形成侧向保护，图3中，患者手部支撑于U型把手12b上，背部靠于靠垫11上，腿部固定于下肢托架组件上通过自身的机能运动实现康复训练，该结构为患者站立姿态时形成良好的保护。In this embodiment, the deformation assembly further includes aparallel platform assembly 60, the parallel platform assembly includes a parallel support connected in parallel with the lifting assembly to realize linked lifting, and asupport platform 61 connected to the parallel support. The lower limb bracket drives Theassembly 50 is fixed on the support platform, and the output end of the lower limb bracket drive assembly is detachably connected to the lowerlimb bracket assembly 20 . The parallel support includes a plurality of parallelparallel swing rods 62 connected between the bottom of the lifting assembly and the support platform, and alink rod 63 connected between one of the parallel swing rods and thecushion assembly 10. The ends are respectively rotatably matched with the bottom of the lifting assembly and the support platform, and the two ends of the linkage rod are respectively rotatably matched with one of the parallel swing rods and the cushion assembly. The lower limb bracket drive assembly realizes linkage with the lift assembly through the parallel platform assembly. The linkage here has nothing to do with the drive of the lower limb bracket drive assembly to the lower limb bracket assembly. The linkage means that the movement of the lift assembly can drive the orientation of the lower limb bracket drive assembly. Variation; as shown in FIG. 1 to FIG. 4 and FIG. 7 , parallel platform assemblies are respectively connected to the two longitudinal beams of the bottom cross frame to adapt to two lowerlimb bracket assemblies 20 , and each group of parallel platform assemblies includes two parallel platform assemblies. Parallel parallel swing rods, wherein the parallel swing rods are rotatably matched to the bottom of thelongitudinal support 64, wherein thesupport platform 61 is connected to thelongitudinal support 64 in a laterally rotatable manner, wherein thelinkage rod 63 is an L-shaped structure, and the One end is rotatably fitted to the middle of the front parallel swing rod, and the other end is rotatably fitted to the bottom of theback cushion 11. As shown in FIG. 2 and FIG. Theback cushion 11 drives theparallel swing bar 62 to swing and rise through thelinkage rod 63, and the robot forms a standing state as shown in Figure 4 at this time; when the patient performs standing rehabilitation training, the patient's legs often restore a certain mobility, and can not use the Rehabilitation training with external force, as shown in FIG. 3, when the standing state is formed, the output end of the lower limb bracket drive assembly is disassembled and separated from the lowerlimb bracket assembly 20, and therotating support platform 61 swings outward to form an upright state, and the lower limbbracket drive assembly 20 is disassembled and separated. The carriage drive assembly swings to the outside, and the inner side of the support platform is flat and located on both sides of the patient's legs to protect the patient's legs and maintain the lateral space of the legs. To protect, in Fig. 3, the patient's hand is supported on theU-shaped handle 12b, the back rests on thecushion 11, and the leg is fixed on the lower limb bracket assembly to achieve rehabilitation training through its own functional movement. This structure is when the patient is standing. Forms good protection.

本实施例中，所述下肢托架组件20包括大腿支撑杆21、与大腿支撑杆底端转动配合的小腿支撑杆22、转动配合于小腿支撑杆底端的足部支撑托架23以及连接于大腿支撑杆和小腿支撑杆上的绑缚件24，所述大腿支撑杆顶部通过髋关节与靠垫组件10连接。大腿支撑杆21与小腿支撑杆22铰接处形成膝关节，小腿支撑杆22与足部支撑托架23铰接处形成踝关节，该结构适配于人体腿部的各个关节，绑缚件优选带式绑缚结构，可采用魔术贴粘结的方式实现对腿部的绑缚以使得患者腿部固定于下肢托架组件，为提高下肢托架组件的适用范围，大腿支撑杆21与小腿支撑杆22均采用伸缩结构，具体可采用机械式手动伸缩、线性电机电动伸缩或者液压式伸缩结构，通过调节大腿支撑杆21与小腿支撑杆22的长度以适配不同患者的腿部长度。In this embodiment, the lowerlimb bracket assembly 20 includes athigh support rod 21, acalf support rod 22 rotatably matched with the bottom end of the thigh support rod, a foot support bracket 23 rotatably matched with the bottom end of the calf support rod, and connected to the thigh The straps 24 on the support bar and the calf support bar, the top of the thigh support bar is connected to thecushion assembly 10 through the hip joint. The knee joint is formed where thethigh support rod 21 and thecalf support rod 22 are hinged, and the ankle joint is formed at the hinge point of thecalf support rod 22 and the foot support bracket 23, and this structure is adapted to each joint of the human leg. The binding structure can be used to bind the legs by means of Velcro, so that the legs of the patient are fixed to the lower limb bracket assembly. All adopt telescopic structure, specifically, mechanical manual telescopic, linear motor electric telescopic or hydraulic telescopic structure can be used, and the length of thethigh support rod 21 and thecalf support rod 22 can be adjusted to suit the leg lengths of different patients.

本实施例中，所述髋关节包括以可纵向转动的方式与挡块12a连接的转动板25、与转动板偏心转动配合的髋关节支架26以及与髋关节支架通过球面副配合的拖杆27，所述大腿支撑杆21端部与拖杆27转动配合。纵向转动的转动方向与纵向摆动的方向类似，具体不在赘述；结合图5所示，转动板为圆盘形结构，拖杆27与髋关节支架可通过万象滚珠实现球面配合，其中拖杆连接于滚珠上，万向滚珠的基座安装于髋关节支架上，或者拖杆27与髋关节支架也可采用其他现有的球面副配合方式，具体不再赘述；在使用时转动板转动配合安装于挡块12a内侧，具体为转动板传动配合安装于中心轴上，中心轴转动配合安装于挡块12a上，具体不再赘述；通过球面副配合结构利于拖杆27的自由转动，从而适配于患者胯部的运动，髋关节支架与转动板转动偏心连接，在转动板转动时可调节髋关节支架的纵向和横向相对位置，利于适配患者胯部以及腿部位置变化，提高患者的使用舒适度，并且使得患者胯部部位预留有足够的运动空间，利于患者的康复训练。In this embodiment, the hip joint includes arotating plate 25 connected to theblock 12a in a longitudinally rotatable manner, a hipjoint bracket 26 eccentrically rotatably matched with the rotating plate, and a tow bar 27 engaged with the hip joint bracket through a spherical pair , the end of thethigh support rod 21 is rotatably matched with the tow rod 27 . The rotation direction of the longitudinal rotation is similar to the direction of the longitudinal swing, and the details will not be repeated; as shown in FIG. 5, the rotating plate is a disc-shaped structure, and the tow bar 27 and the hip joint bracket can be spherically matched through the universal ball, wherein the tow bar is connected to On the ball, the base of the universal ball is installed on the hip joint bracket, or the tow bar 27 and the hip joint bracket can also adopt other existing spherical pair matching methods, which will not be described in detail; The inner side of theblock 12a, specifically, the rotating plate is installed on the central shaft with a transmission fit, and the central shaft is mounted on theblock 12a in a rotating fit, which will not be described in detail; the spherical pair matching structure facilitates the free rotation of the tow bar 27, thereby adapting to the For the movement of the patient's crotch, the hip joint bracket is eccentrically connected to the rotating plate. When the rotating plate rotates, the longitudinal and lateral relative positions of the hip joint bracket can be adjusted, which is beneficial to adapt to the changes in the position of the patient's crotch and legs and improve the comfort of the patient. It also allows the patient's crotch to reserve enough space for exercise, which is beneficial to the patient's rehabilitation training.

本实施例中，所述髋关节支架26包括关节基座26a和关节盖26b，所述关节基座26a上具有一安装腔，关节盖26b盖于该安装腔上形成球形安装位，所述拖杆27具有一球形安装部27a，所述球形安装部27a安装于球形安装位中，所述关节盖26b中部开有供拖杆穿出的过孔。关节盖26b可通过螺栓固定于关节基座26a上，球形安装位和球形安装部并不限于球形结构，也可以为半球形或者具有半球面的结构，拖杆通过球形安装部可在球形安装位内转动，进而适配于患者髋部的运动。In this embodiment, the hipjoint bracket 26 includes ajoint base 26a and ajoint cover 26b. Thejoint base 26a has an installation cavity, and thejoint cover 26b covers the installation cavity to form a spherical installation position. The rod 27 has aspherical mounting portion 27a, thespherical mounting portion 27a is mounted in the spherical mounting position, and a through hole is formed in the middle of thejoint cover 26b for the tow bar to pass through. Thejoint cover 26b can be fixed on thejoint base 26a by bolts. The spherical mounting position and the spherical mounting portion are not limited to spherical structures, and can also be hemispherical or have a hemispherical structure. The tow bar can be installed in the spherical mounting position through the spherical mounting portion. Internal rotation to adapt to the movement of the patient's hip.

本实施例中，所述关节盖26b内侧面和安装腔底部为近似同心且弯曲方向相同的半球面结构，球形安装部27a为薄壁结构，所述球形安装部27a的半球形的内外侧面分别贴合于关节盖26b内侧面和安装腔底部。近似同心含义为在同心的基础上允许具有一定的安装误差，关节盖26b内侧面和安装腔底部弯曲方向相同，使得二者合围呈扁平结构的安装位；结合图5所示，球形安装位为由关节盖内侧面以及安装腔底部构成的扁平结构，球形安装位的球面腔体形状与球形安装部适配，其中球形安装位内腔体大于球形安装部体以便于球形安装部在球形安装位内转动，球形安装部的运动中心点与患者髋关节重合，薄壁扁平结构的球形安装部和球形安装位可缩小髋关节结构的整体体积，提高整个髋关节结构的紧凑型，利于空间布局，使用时易于为患者胯部侧向预留有足够的空间，且该结构的髋关节用料较省，利于降低成本。In this embodiment, the inner side surface of thejoint cover 26b and the bottom of the installation cavity are approximately concentric hemispherical structures with the same bending direction, thespherical mounting portion 27a is a thin-walled structure, and the hemispherical inner and outer sides of thespherical mounting portion 27a are Fitted to the inner side of thejoint cover 26b and the bottom of the installation cavity. Approximate concentricity means that a certain installation error is allowed on the basis of concentricity, and the inner side of thejoint cover 26b and the bottom of the installation cavity are bent in the same direction, so that the two enclose the installation position in a flat structure; as shown in Figure 5, the spherical installation position is A flat structure composed of the inner side of the joint cover and the bottom of the installation cavity, the spherical cavity shape of the spherical installation position is adapted to the spherical installation part, and the inner cavity of the spherical installation position is larger than the spherical installation part body so that the spherical installation part can be installed in the spherical installation position. Internal rotation, the motion center point of the spherical mounting part coincides with the patient's hip joint, the spherical mounting part and the spherical mounting position of the thin-walled flat structure can reduce the overall volume of the hip joint structure, improve the compactness of the entire hip joint structure, and facilitate the space layout. During use, it is easy to reserve enough space for the lateral side of the crotch of the patient, and the material of the hip joint of this structure is less, which is beneficial to reduce the cost.

本实施例中，所述安装腔底部与球形安装部27a之间垫有柔性垫层28。柔性垫层可采用纸垫层或者泡沫垫层等结构，柔性垫层填充于球形安装部与安装腔底部之间，提高球形安装部安装的紧凑性，而且通过柔性垫层的使得该髋关节具有一定的弹性回弹能力，提高患者使用的舒适度，并且可有效防止因刚性康复训练而对患者可能造成的二次伤害。In this embodiment, aflexible cushion layer 28 is cushioned between the bottom of the mounting cavity and thespherical mounting portion 27a. The flexible cushion layer can adopt the structure of paper cushion layer or foam cushion layer. The flexible cushion layer is filled between the spherical mounting part and the bottom of the installation cavity, which improves the compactness of the installation of the spherical mounting part. A certain elastic resilience can improve the comfort of the patient, and can effectively prevent the secondary injury that may be caused to the patient due to rigid rehabilitation training.

本实施例中，还包括安装基板29，所述转动板25转动配合安装于安装基板上。结合图5所示，转动板可通过中心轴转动配合安装于安装基板上，或者安装基板上开有圆形槽，转动板安装于圆形槽内并通过盖板将转动板封装于圆形槽内实现转动配合，安装基板通过螺栓安装于挡块12a内侧即可实现机器人髋关节的安装，可使得机器人髋关节的集成度高，通用性强。In this embodiment, a mountingsubstrate 29 is further included, and therotating plate 25 is rotatably mounted on the mounting substrate. As shown in Fig. 5, the rotating plate can be installed on the mounting base plate through the rotation of the central axis, or the mounting base plate has a circular groove, the rotating plate is installed in the circular groove, and the rotating plate is encapsulated in the circular groove through the cover plate. The internal rotation cooperation is realized, and the installation base plate is installed on the inner side of theblock 12a through bolts to realize the installation of the robot hip joint, which can make the robot hip joint highly integrated and versatile.

本实施例中，所述转动板25上偏心连接有连接套25a，所述关节基座26a上向外凸出形成安装部26c，所述安装部26c内套于连接套25a内并与连接套连接。安装部26c为轴状结构，安装部与连接套可转动配合，也可以固定连接，具体为二者可焊接、螺纹连接或者通过卡接等连接方式连接，通过连接套和安装部内套的配合结构便于关节基座与转动板的连接，又提高了二者的连接稳定性。In this embodiment, the rotatingplate 25 is eccentrically connected with a connectingsleeve 25a, and thejoint base 26a protrudes outward to form a mountingportion 26c, the mountingportion 26c is sleeved inside the connectingsleeve 25a and is connected with the connecting sleeve connect. The mountingportion 26c is a shaft-shaped structure, and the mounting portion and the connecting sleeve can be rotatably matched or fixedly connected. Specifically, the two can be connected by welding, screw connection, or by a connection method such as a snap connection, through the matching structure of the connecting sleeve and the inner sleeve of the mounting portion. The connection between the joint base and the rotating plate is convenient, and the connection stability of the two is improved.

本实施例中，所述拖杆27还包括连接于球形安装部27a上的连接杆部27b以及与连接杆部呈夹角连接的拖杆主体，所述连接杆部穿过关节盖的过孔与拖杆主体连接。结合图1和图5所示，连接杆部横向水平延伸，拖杆主体近似垂直于连接杆部，使得拖杆主体与患者腿部平行。In this embodiment, the tow bar 27 further includes a connectingrod portion 27b connected to thespherical mounting portion 27a and a tow bar main body connected at an angle with the connecting rod portion, the connecting rod portion passing through the through hole of the joint cover Connect to the tow bar body. 1 and 5 , the connecting rod portion extends laterally and horizontally, and the main body of the tow bar is approximately perpendicular to the connecting rod portion, so that the main body of the tow bar is parallel to the patient's leg.

本实施例中，所述拖杆主体包括连接于连接杆部并向球形安装部27a侧弯曲的弧形部27c以及连接于弧形部末端的直线部27d。弧形部27c弯曲结构可对球形安装部27a以及髋关节支架等部件形成避让，直线部27d近似垂直于连接杆部并与大腿支架连接与患者腿部保持平行。In this embodiment, the tow bar main body includes anarc portion 27c connected to the connecting rod portion and bent toward thespherical mounting portion 27a, and astraight portion 27d connected to the end of the arc portion. The curved structure of the arc-shapedportion 27c can avoid components such as thespherical mounting portion 27a and the hip joint bracket, and thestraight portion 27d is approximately perpendicular to the connecting rod portion and is connected to the thigh bracket and kept parallel to the patient's leg.

本实施例中，靠垫驱动组件40包括横向连接于顶部横架并与顶部横架纵向转动配合的安装架41、连接于安装架上的靠垫驱动杆42以及安装于安装架上用于驱动靠垫驱动杆轴向运动的靠垫驱动件43，所述靠垫驱动杆头部转动配合连接于靠垫上。轴向运动指代靠垫驱动杆沿其长度方向运动，靠垫驱动杆为圆柱杆时，即沿其轴线运动，通过靠垫驱动件驱动靠垫驱动杆轴向运动伸缩进而抵在靠垫上驱动靠垫摆动调节姿态，靠垫驱动杆可采用液压驱动，或者可通过螺杆的转动转化为轴向运动实现驱动，具体在不在赘述。In this embodiment, thebackrest driving assembly 40 includes a mountingframe 41 that is laterally connected to the top cross frame and is longitudinally rotatably matched with the top cross frame, abackrest driving rod 42 connected to the mounting frame, and abackrest driving rod 42 installed on the mounting frame for driving the backrest drive Thebackrest driving member 43 for the axial movement of the rod, the head of the backrest driving rod is rotatably connected to the backrest. Axial movement refers to the movement of the cushion driving rod along its length direction. When the cushion driving rod is a cylindrical rod, it moves along its axis, and the cushion driving rod is driven by the cushion driving member to move axially to expand and contract and then push against the cushion to drive the cushion to swing and adjust its posture. , the cushion driving rod can be driven by hydraulic pressure, or can be driven by converting the rotation of the screw into axial motion, which will not be described in detail here.

本实施例中，所述安装架41包括中部横梁41a、连接于中部横梁两端的竖向安装板41b以及连接于竖向安装板外侧横向延伸的转动轴41c，转动轴转动配合安装于顶部横架上。结合图6所示，中部横梁41a与竖向安装板41b构成了近似U型结构，两根转动轴41c转动配合安装于顶部横架的两个纵梁上，在靠垫姿态调整时，靠垫驱动件43以及靠垫驱动杆随着安装架41摆动进而相适应的调节姿态。In this embodiment, the mountingframe 41 includes amiddle beam 41a, a vertical mountingplate 41b connected to both ends of the middle beam, and arotating shaft 41c connected to the outside of the vertical mounting plate and extending laterally. The rotating shaft is rotatably mounted on the top beam. superior. As shown in FIG. 6 , themiddle cross beam 41a and the vertical mountingplate 41b form an approximately U-shaped structure, and the tworotating shafts 41c are rotatably mounted on the two longitudinal beams of the top cross frame. 43 and the backrest driving rod are adjusted accordingly with the swing of the mountingbracket 41 .

本实施例中，所述中部横梁上以轴向滑动的方式连接有两个靠垫驱动杆42，中部横梁上还转动配合安装有两个分别与两个靠垫驱动杆螺纹配合的驱动螺母44，所述靠垫驱动件输出端传动配合有与驱动螺母一一匹配的两个同步轮45，同步轮与驱动螺母通过同步带46传动配合。靠垫驱动杆可直接采用螺杆结构，或者可在光杆外圆局部车螺纹以与驱动螺母螺纹连接，通过调节两个靠垫驱动杆的螺纹旋向实现两个靠垫驱动杆的同步伸缩，中部横梁41a中部加宽形成两处横向中心对称的靠垫驱动杆安装部，该螺杆安装部开设有滑孔用于与靠垫驱动杆滑动配合，驱动螺母转动配合安装于靠垫驱动杆安装部上，驱动螺母外圆可设置为阶梯轴结构，靠垫驱动杆安装部处开设有与滑孔同轴的圆形沉槽，其中驱动螺母大径段贯穿于圆形沉槽内，圆形沉槽內圆开设有卡槽，该卡槽内安设卡簧并抵在驱动螺母外圆轴肩处，以限制驱动螺母相对中部横梁41a的轴向移动，靠垫驱动件43采用电机，靠垫驱动件43驱动同步轮带动同步带以及驱动螺母转动，其中驱动螺母转动运动转化为靠垫驱动杆的轴向运动，通过靠垫驱动杆推动靠垫摆动，该结构通过单个电机同步驱动两个靠垫驱动杆同步运动，对靠垫实现稳定的调节，且该结构调节精度高。In this embodiment, twocushion driving rods 42 are connected to the middle beam in an axial sliding manner, and two drivingnuts 44 threadedly matched with the two cushion driving rods are also installed on the middle beam, soTwo synchronizing wheels 45 matched with the driving nut one by one are driven and matched with the output end of the cushion driving member. The cushion drive rod can be directly screwed, or can be partially threaded on the outer circle of the polished rod to be threadedly connected with the drive nut, and the synchronous expansion and contraction of the two cushion drive rods can be realized by adjusting the thread rotation direction of the two cushion drive rods. Widening to form two horizontally symmetrical cushion drive rod mounting parts, the screw mounting part is provided with sliding holes for sliding cooperation with the cushion drive rod, and the drive nut is installed on the cushion drive rod mounting part in a rotating fit, and the outer circle of the drive nut can be adjusted. It is set as a stepped shaft structure, and the mounting part of the cushion driving rod is provided with a circular sinking groove coaxial with the sliding hole, wherein the large-diameter section of the driving nut runs through the circular sinking groove, and the inner circle of the circular sinking groove is provided with a clamping groove. A retaining spring is installed in the slot and abuts against the outer cylindrical shoulder of the drive nut to limit the axial movement of the drive nut relative to themiddle beam 41a. Thebackrest driving member 43 adopts a motor, and thebackrest driving member 43 drives the synchronous wheel to drive the synchronous belt and The drive nut rotates, wherein the rotational movement of the drive nut is converted into the axial movement of the cushion drive rod, and the cushion drive rod is used to push the cushion to swing. This structure drives the two cushion drive rods to move synchronously through a single motor, so as to achieve stable adjustment of the cushion, and The structure has high adjustment precision.

本实施例中，所述下肢托架驱动组件50包括至少两个驱动杆组件，所述驱动杆组件包括以可水平转动的方式连接于支撑平台上的底座51以及伸缩驱动组件52，所述伸缩驱动组件以可垂直于水平面摆动的方式与底座转动配合，所述驱动组件的输出端通过球面副连接于上平台53，所述上平台与下肢托架组件20可拆卸连接。此处的水平转动以及水平面是相对于机器人躺卧姿态而言，即在机器人躺卧状态时，支撑平台为近似水平结构，底座转动安装于支撑台上以竖向轴线为中心线转动；结合图7所示，在支撑平台上设置有三个驱动杆组件，其中伸缩驱动组件52可采用液压缸或者线性电机，本实施例中采用液压缸，液压缸的缸体铰接于底座51上，液压缸的输出轴与上平台53通过球面副连接，该球面副同样可利用万象滚珠或者采用其他已知配合方式，具体不再赘述；上平台53可通过螺栓连接于小腿支架处，通过三个驱动杆组件的驱动可实现上平台的多自由度运动进而实现下肢托架组件20的摆动或者扭动动作，具体运动轨迹可按照患者训练情况设置，利于患者的综合康复训练。In this embodiment, the lower limbbracket drive assembly 50 includes at least two drive rod assemblies, the drive rod assemblies include a base 51 connected to the support platform in a horizontally rotatable manner, and atelescopic drive assembly 52, thetelescopic drive assembly 52 The drive assembly rotates and cooperates with the base in a manner that can swing perpendicular to the horizontal plane. The output end of the drive assembly is connected to theupper platform 53 through a spherical pair, and the upper platform is detachably connected to the lowerlimb bracket assembly 20 . The horizontal rotation and the horizontal plane here are relative to the lying posture of the robot, that is, when the robot is lying down, the support platform is an approximately horizontal structure, and the base is rotated and installed on the support platform to rotate with the vertical axis as the center line; As shown in Fig. 7, three drive rod assemblies are provided on the support platform, wherein thetelescopic drive assembly 52 can be a hydraulic cylinder or a linear motor. In this embodiment, a hydraulic cylinder is used. The output shaft and theupper platform 53 are connected by a spherical pair, which can also use a universal ball or other known matching methods, which will not be described in detail. The driving of the upper platform can realize the multi-degree-of-freedom movement of the upper platform and then realize the swing or twist action of the lowerlimb bracket assembly 20. The specific movement trajectory can be set according to the patient's training situation, which is beneficial to the comprehensive rehabilitation training of the patient.

本实施例中，所述底部横架32上安装有履带组件70，所述履带组件用于在站立状态时支撑患者以实现患者的行走康复训练。结合图3所示，履带组件包括履带以及支撑履带的滚筒，履带组件可采用与跑步机类似的结构，履带组件为现有结构，具体在不在赘述，通过履带组件利于患者模拟直立行走的康复训练。In this embodiment, acrawler track assembly 70 is installed on thebottom cross frame 32, and the crawler track assembly is used to support the patient in a standing state so as to realize the walking rehabilitation training of the patient. As shown in Figure 3, the crawler track assembly includes a crawler track and a roller supporting the crawler track. The crawler track assembly can adopt a structure similar to that of a treadmill. The crawler track assembly is an existing structure, which will not be described in detail. The crawler track assembly facilitates the patient to simulate the rehabilitation training of upright walking. .

最后说明的是，以上实施例仅用以说明本发明的技术方案而非限制，尽管参照较佳实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，可以对本发明的技术方案进行修改或者等同替换，而不脱离本发明技术方案的宗旨和范围，其均应涵盖在本发明的权利要求范围当中。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be Modifications or equivalent substitutions without departing from the spirit and scope of the technical solutions of the present invention should be included in the scope of the claims of the present invention.

Claims (10)

1. The utility model provides a parallel drive low limbs rehabilitation training robot which characterized in that: including the cushion subassembly, connect a pair of low limbs bracket assembly that is used for fixing patient's shank respectively on the cushion subassembly and connect and be used for changing the deformation subassembly of the two gesture in order to form state of lying and the state of standing on cushion subassembly and low limbs bracket assembly, the deformation subassembly includes lifting unit, cushion drive assembly and low limbs bracket drive assembly, lifting unit connects in cushion subassembly below, but the cushion subassembly is installed on lifting unit with vertical wobbling mode, and cushion drive assembly connects and is used for driving cushion subassembly rotation on lifting unit, thereby low limbs bracket drive assembly connects and is used for driving low limbs bracket assembly motion to drive patient's shank motion on the low limbs bracket.

2. The parallel drive lower limb rehabilitation training robot of claim 1, wherein: the deformation assembly further comprises a parallel platform assembly, the parallel platform assembly comprises a parallel support and a supporting platform, the parallel support is connected with the lifting assembly in parallel to achieve linkage lifting, the supporting platform is connected to the parallel support, the lower limb bracket driving assembly is fixed to the supporting platform, and the output end of the lower limb bracket driving assembly is detachably connected with the lower limb bracket assembly.

3. The parallel drive lower limb rehabilitation training robot of claim 1, wherein: the lower limb support assembly comprises a thigh support rod, a shank support rod in rotary fit with the bottom end of the thigh support rod, a foot support bracket in rotary fit with the bottom end of the shank support rod and binding pieces connected to the thigh support rod and the shank support rod, and the top of the thigh support rod is connected with the back cushion assembly through a hip joint.

4. The parallel drive lower limb rehabilitation training robot of claim 3, wherein: the back cushion component comprises a back cushion, armrests connected to the two transverse sides of the back cushion and a headrest fixed on the back cushion.

5. The parallel drive lower limb rehabilitation training robot of claim 4, wherein: the lifting component comprises a bottom cross frame, a top cross frame, at least two scissor type lifting structures which are arranged between the bottom cross frame and the top cross frame in a transverse mode, each scissor type lifting structure comprises two lifting rods which are mutually crossed and are in rotation fit with the middle part, a lifting screw rod which is in longitudinal rotation fit with the bottom cross frame and a lifting slider which is in threaded connection with the lifting screw rod, the tops of the two lifting rods are in rotation fit with the top cross frame, the bottom of one lifting rod is in rotation fit with the bottom cross frame, the bottom of the other lifting rod is in rotation fit with the lifting slider, and the back cushion is in rotation fit with the top cross frame in a longitudinal swinging mode.

6. The parallel drive lower limb rehabilitation training robot of claim 5, wherein: cushion drive assembly includes transverse connection in the top crossbearer and with the vertical normal running fit's of top crossbearer mounting bracket, connect the cushion actuating lever on the mounting bracket and install the cushion driving piece that is used for driving cushion actuating lever axial motion on the mounting bracket, cushion actuating lever head normal running fit connects on the cushion.

7. The parallel drive lower limb rehabilitation training robot of claim 2, wherein: lower limbs bracket drive assembly includes two at least drive bar subassemblies, but drive bar subassembly includes connects base and the flexible drive assembly on supporting platform with horizontal rotation's mode, but flexible drive assembly is with the wobbling mode of perpendicular to horizontal plane and base normal running fit, drive assembly's output passes through spherical pair and connects in the upper mounting plate, the upper mounting plate can be dismantled with lower limbs bracket subassembly and be connected.

8. The parallel drive lower limb rehabilitation training robot of claim 3, wherein: the hip joint comprises a rotating plate connected with the back cushion assembly in a longitudinal rotating mode, a hip joint support eccentrically and rotatably matched with the rotating plate, and a towing rod matched with the hip joint support through a spherical pair, wherein the end part of the thigh support rod is rotatably matched with the towing rod.

9. The parallel drive lower limb rehabilitation training robot of claim 5, wherein: the bottom cross frame is provided with a crawler assembly, and the crawler assembly is used for supporting a patient in a standing state so as to realize walking rehabilitation training of the patient.

10. The parallel drive lower limb rehabilitation training robot of claim 2, wherein: the parallel support comprises a plurality of parallel swing rods connected between the bottom of the lifting assembly and the supporting platform and a linkage rod connected between one of the parallel swing rods and the back cushion assembly, two ends of each parallel swing rod are respectively in running fit with the bottom of the lifting assembly and the supporting platform, and two ends of each linkage rod are respectively in running fit with one of the parallel swing rods and the back cushion assembly.

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