Novel lower limb joint mechanism of reclining-type Lower limb rehabilitation robot

Abstract

The invention discloses a novel lower limb joint mechanism of a reclining-type Lower limb rehabilitation robot. The mechanism comprises three joint mechanisms including a hip joint mechanism, a knee joint mechanism and an ankle joint mechanism, and three connection rod mechanisms including a thigh link mechanism, a crus link mechanism and an ankle-high link mechanism. The hip joint mechanism, the knee joint mechanism and the ankle joint mechanism can be conveniently and respectively optimized by adopting different slider-crank mechanisms. Rotary nut-type ball screws are respectively adopted by all the joint mechanisms to form sliding pairs of the slider-crank mechanisms; all the joint mechanisms are respectively provided with a pull pressure sensor which can be used for indirectly measuring the torque of a corresponding joint; each joint is provided with a direct-current motor which can be used for independently driving the corresponding joint mechanism; and the direct-current motors are respectively provided with a position sensor. All the joint mechanisms respectively have a center of rotation, and the thigh link mechanism, the crus link mechanism and the ankle-high link mechanism are adjustable in length, so that the lower limb joint mechanism can be kept highly consistent with lower limbs of a human body.

Description

technical field [0001] The invention relates to the technical field of medical devices, in particular to a novel lower limb joint mechanism of a sitting and lying lower limb rehabilitation robot. Background technique [0002] At present, there are more and more researches on sitting and lying lower limb rehabilitation robots in China, and many related patents have also been proposed. For sitting and lying lower limb rehabilitation robots, the lower limb mechanism is one of the most critical mechanisms. The joint mechanism in the lower limb mechanism is the most critical mechanism of the lower limb mechanism. The lower body consists of three joints: hip, knee, and ankle. Considering that the sitting and lying lower limb rehabilitation robot should be able to achieve flexible training trajectory planning and provide passive, active and power-assisted training, these three joints need to be driven by their own drive motors, and force (or torque) should be configured at each j...

AI Technical Summary

Problems solved by technology

The advantage of the former is that the axes of the joints of the lower limbs of the human body and the joint axes of the lower limbs are basically the same, which can make the mechanism and the lower limbs of the human body maintain consistent movements; The timing belt is long, which inevitably causes the mechanism to vibrate during operation, which greatly affects the smooth operation and normal use of the equipment.

The advantage of the latter is that the joint mechanism realizes local drive, and the motor directly drives the rotating nut of the ball screw, which avoids the vibration problem caused by too long transmission chain, and the use of the ball screw can achieve higher precision and better performance. stability; however, the existing joint mechanisms using this method are in the design of the crank-slider mechanism (such as the literature "Metrailler P, Blanchard V, Perrin I, Brodard R, Frischknecht R, Schmitt C, Fournier J, Bouri M and Clavel R: "Improvement of rehabilitation possibilities with the MotionMaker TM ".New York City, USA: Proceedings of The 1st IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2006).pp.359-364, February 2006" joint mechanism), using an approximate method, the ball The screw is located on the outside of the joint, and there are multiple centers of rotation in the knee joint mechanism. During the rotation of the joint, the center of rotation is also changing, so the axis of the joint axis of the human lower limbs and the axis of rotation of the mechanism cannot achieve strict consistency, which makes the lower limbs of the human body and the mechanism The movements of the hip, knee and ankle cannot achieve a good consistency. At the same time, the three joints of the hip, knee and ankle are completely consistent in the form of the mechanism, which actually limits the effect of optimizing the hip and ankle joints.

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