Search

CN-121667983-B - Walking-assisting robot for orthopedics postoperative rehabilitation training

CN121667983BCN 121667983 BCN121667983 BCN 121667983BCN-121667983-B

Abstract

The invention relates to the technical field of rehabilitation robots, and discloses a walking aid robot for rehabilitation training after orthopaedics operation, which comprises thigh shells and a joint plate fixedly connected below the thigh shells, wherein the side of the joint plate is fixedly provided with a shank shell, and the walking aid robot is suitable for full-period rehabilitation after knee joint orthopaedics operation, and has the advantages of remarkable advantages: the lower part of the leg is supported by a linkage gear ring gear and a transmission belt for multistage transmission, so that the spring is driven to store energy efficiently without extra force, accurate and effective boosting force is output through ratchet transmission when the leg is lifted, and the postoperative leg lifting burden of a patient is greatly reduced; and through the cooperation of thread groove, screw rod and L pole, realize knee joint angle rigidity accurate spacing and adapt to different recovered stages. Meanwhile, the power-assisted energy is dynamically adapted along with the rehabilitation process, the power-assisted force is stronger when the leg lifting amplitude is increased, the safety and the science of training are considered, no external power is generated in the whole process, the structure is compact, the transmission is efficient, the reliability is high, the coordination degree and the effect of rehabilitation training can be improved, and the clinical practical value is outstanding.

Inventors

  • LU FEI
  • TIAN LEI
  • ZHANG JUAN

Assignees

  • 连云港市第一人民医院
  • 江苏苏云医疗器材有限公司

Dates

Publication Date
20260508
Application Date
20260211

Claims (10)

  1. 1. The utility model provides a walk-assisting robot for orthopedics postoperative rehabilitation training, its characterized in that includes thigh shell and below fixed connection's pinion, the avris fixed mounting of pinion shell, the inner wall fixed mounting of pinion shell has spring one, the other end fixed mounting of spring one has ratchet one, one side fixed mounting of pinion has the dead lever, one side block rotation of pinion installs the bull gear, the inboard rotation of pinion is installed the pinion with the inner circumference meshing of bull gear is connected, one side rotation of pinion installs the slotted rod, the inboard of pinion is provided with clockwork spring, clockwork spring's one end cover is established the outside of dead lever, clockwork spring's the other end with slotted rod fixed connection, the slotted rod with the outside cover of pinion has the drive belt, the other end fixed mounting of slotted rod has ratchet two with ratchet one looks butt, the outer circumference of bull gear has set up the race, the inboard of the inner wall of pinion shell has the recess of letting the flexible ratchet, it lets the inboard of holding back to set up.
  2. 2. The walking aid robot for rehabilitation training after orthopaedics operation according to claim 1, wherein the elastic piece I comprises a torsion spring fixedly connected with the surface of the yielding groove, a clamping block is fixedly arranged at the other end of the torsion spring, and the clamping block is embedded with the ratchet groove in an initial state of the torsion spring.
  3. 3. The walking aid robot for rehabilitation training after orthopaedics surgery according to claim 1, wherein a plurality of semicircular grooves are formed in one side of the joint plate, the semicircular grooves are formed in a circumferentially spaced arrangement mode by taking the joint plate as an axis, grooves are formed in one side, close to the joint plate, of the large gear ring, springs II are fixedly arranged on the inner sides of the grooves, semicircular protruding heads are fixedly arranged at the other ends of the springs II, and the semicircular protruding heads are matched with the semicircular grooves.
  4. 4. The walking robot for rehabilitation training after orthopaedics operation according to claim 2, wherein a connecting rod is arranged on the inner side of the torsion spring, one end of the connecting rod is fixedly connected with the clamping block, and the other end of the connecting rod is rotatably connected with the surface of the relief groove.
  5. 5. The walking aid robot for rehabilitation training after orthopaedics operation according to claim 1, wherein a telescopic rod is arranged on the inner side of the first spring, one end of the telescopic rod is fixedly connected with the first ratchet wheel, and the other end of the telescopic rod is fixedly connected with the inner wall of the lower leg shell.
  6. 6. The walking robot for rehabilitation training after orthopaedics operation according to claim 1, wherein a plurality of thread grooves are formed in one side of the shank shell, which is close to the joint plate, and the thread grooves are formed in a circumferential interval arrangement by taking the rotation axis of the joint plate as an axis, wherein a screw is arranged on the inner side of one thread groove in a threaded manner, and an L-shaped rod is fixedly arranged on one side of the joint plate.
  7. 7. The walking aid robot for rehabilitation training after orthopaedics operation according to claim 1, wherein two groups of baffle rings are fixedly sleeved on the outer side of the fixing rod, and the two groups of baffle rings are respectively positioned on two sides of the clockwork spring.
  8. 8. The walking robot for rehabilitation training after orthopaedics operation according to claim 1, wherein the axes of the grooved bars and the large gear rings and the rotation axis of the joint plate are on the same axis.
  9. 9. The walking aid robot for rehabilitation training after orthopaedics operation according to claim 1, wherein the inner side surface of the transmission belt is in corrugated jogged abutting joint with the outer side surfaces of the groove rod and the pinion.
  10. 10. The walking aid robot for rehabilitation training after orthopaedics operation according to claim 1, wherein the outer walls of the thigh shell and the joint plate are reserved with mounting holes, and the walking aid robot is connected with a leg binding belt module through the mounting holes.

Description

Walking-assisting robot for orthopedics postoperative rehabilitation training Technical Field The invention relates to the technical field of rehabilitation robots, in particular to a walking-assisting robot for rehabilitation training after orthopedics. Background In the field of orthopaedics clinical rehabilitation, the walking aid robot comprises a lower limb exoskeleton robot, a gait training robot and the like, is mainly used for solving the inherent defects of traditional walking aid instruments such as a crutch, an orthosis, a walking aid frame and the like in the aspects of accurate load control, standardized gait correction, muscle force-balance cooperative training and the like, and is suitable for patients with severely damaged limb functions, weak autonomous walking ability or high falling risks after operation. The existing walking-aid robots can be divided into two main types of passive walking aids and active walking aids according to the difference of power sources and working principles: The active walking aid is walking aid equipment which is provided with a motor, a hydraulic or pneumatic driving device, acquires human motion signals through a pressure sensor, an angle sensor, an inertial sensor and the like, and outputs power by a control system to drive joints to bend and stretch so as to assist or replace a patient to finish walking actions. The passive walking aid is walking aid equipment without external power source and relying on mechanical structures such as springs, damping, connecting rods and limit stops and self-acting force or gravitational potential energy of a human body to realize walking support, angle limiting or auxiliary acting force. The passive walker and the prior related technology have the defects that in the rehabilitation stage of knee joint related orthopaedics operation, in order to avoid traction and shearing force caused by excessive knee bending, the risk of complications is increased, and the rotation angle of the knee joint is required to be strictly limited. However, because the energy storage capacity of the spring is proportional to the square of the rotation angle of the joint, the torsion or compression stroke of the spring is greatly shortened under a small angle, the energy storage capacity is far lower than a design threshold value, so that the elastic potential energy released subsequently cannot overcome the friction force of the instrument and the dead weight of the lower limb to form effective power assistance, but the extra force load of a patient when the leg is put by the patient can be increased due to early energy storage, the activity of the patient is reduced, the muscle disuse atrophy is aggravated, or the secondary injury is caused due to the hip joint compensation force, the pain and discomfort of the patient are aggravated, the use compliance of the patient is finally reduced, and the application of the passive walker in early-stage accurate rehabilitation after knee joint operation is severely limited. Disclosure of Invention The invention aims to solve the technical problem that the passive walking aid cannot form effective power assistance due to the fact that the knee joint rotation angle is insufficient in the prior art, and provides a walking aid robot for rehabilitation training after orthopaedics operation. In order to achieve the above purpose, the walking-assisting robot for rehabilitation training after orthopaedics operation comprises a thigh shell and a joint plate fixedly connected below the thigh shell, wherein a lower leg shell is fixedly arranged on the side of the joint plate, a first ratchet wheel is fixedly arranged on the inner wall of the lower leg shell, a first ratchet wheel is fixedly arranged at the other end of the first ratchet wheel, a fixed rod is fixedly arranged on one side of the joint plate, a large gear ring is rotatably arranged on one side of the joint plate in a clamping and rotating manner, a pinion is rotatably arranged on the inner side of the joint plate, the pinion is meshed with the inner circumferential surface of the large gear ring, a grooved rod is rotatably arranged on one side of the joint plate, a clockwork spring is arranged on the inner side of the joint plate, one end of the clockwork spring is sleeved on the outer side of the fixed rod, the other end of the clockwork spring is fixedly connected with the grooved rod, a transmission belt is sleeved on the outer side of the grooved rod, a second ratchet wheel is fixedly arranged on the other end of the grooved rod, the ratchet wheel is abutted with the first ratchet wheel, a ratchet groove is formed on the outer circumferential surface of the large gear, a back groove is formed in the inner wall of the lower leg shell, and an elastic piece is arranged on the inner side of the back groove. Preferably, the first elastic piece comprises a torsion spring fixedly connected with the surface of the relief groove, a clamping block is fixed