CN102697622A - Sitting and lying lower limb rehabilitation robot - Google Patents
Sitting and lying lower limb rehabilitation robot Download PDFInfo
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- CN102697622A CN102697622A CN2012101906599A CN201210190659A CN102697622A CN 102697622 A CN102697622 A CN 102697622A CN 2012101906599 A CN2012101906599 A CN 2012101906599A CN 201210190659 A CN201210190659 A CN 201210190659A CN 102697622 A CN102697622 A CN 102697622A
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Abstract
The invention discloses a sitting and lying lower limb rehabilitation robot. Structures of a left leg (3) and a right leg (5) of the robot are completely symmetrical, wherein the left leg (3) comprises a left rack (12), a left width adjusting part (13) and a left mechanical leg (2); a rod rack (42) and a cylinder rack (47) on a quick locking assembly I (27) are fixedly connected with the left rack (12) by screws; a connecting pin II (93) is matched with a quick locking assembly II (25); a left traversing push rod assembly (28) is fixedly connected with the left rack (12) by screws through a bearing sleeve I (57) and a bearing sleeve II (62); and a positioning pin (86) on a seat frame (89) is matched with a positioning hole (31) in the left rack (12). The robot is convenient to disassemble, carry and assemble. The whole robot can be automatically adjusted, has double limitation of electric appliances and machinery, can be used for rehabilitation training of sitting posture and lying posture, and ensures comfort and safety of patients.
Description
Technical field
The present invention relates to the horizontal lower limb rehabilitation of a kind of seat robot, belong to field of medical.
Background technology
Along with the development of Chinese society, aged tendency of population more and more seriously reaches the lower limb body sporting functionality impaired patients that various diseases and contingency cause and grows with each passing day.And these patients are except needs carry out medicine and operative treatment, and the rehabilitation training of carrying out science by rehabilitation machinery is also particularly important.Along with the raising of social progress and people's living standard, people also more and more pay close attention to health care in addition, and this provides necessary objective condition for the development of lower limb rehabilitation robot.
The country that maintains the leading position in lower limb healing robot field at present mainly contains Japan, the U.S., Canada, Switzerland and Britain.And China starts to walk to be in preliminary developmental stage now than later at the research work in healing robot field, and wherein the rehabilitation device robot achievement of assisted class is many, and it is then less relatively to possess recovery exercising robot multi-functional, multiple training mode.
The whole nation has been built up all types disability rehabilitation and trained nearly 20,000 of service organization at present, and is very big to the demand of rehabilitation equipment.Therefore yet import equipment costs an arm and a leg, and the home equipment function singleness can not satisfy patient demand far away, develops a kind of high technology content, intelligentized lower limbs rehabilitation training robot is very necessary and urgent.
Summary of the invention
The object of the present invention is to provide the horizontal lower limb rehabilitation of a kind of seat robot; Modularization idea is adopted in this invention; Complete machine is divided into independence and the left lower limb that is mutually related, right lower limb and three parts of seat separately, under the lower limb of the left and right sides universal caster wheel is housed simultaneously, be convenient to dismounting, carrying and installation.Complete machine can be regulated the width of left and right sides lower limb automatically, and shank and thigh can be regulated length automatically, is convenient to adapt to the patient of the different builds of different heights, makes rehabilitation training more comfortable.
The technical solution adopted for the present invention to solve the technical problems is: the horizontal lower limb rehabilitation of said seat robot, comprise left lower limb, seat and right lower limb, and the structure of said left lower limb and right lower limb is symmetry fully, therefore only left lower limb is made an explanation here.Said left lower limb comprises left frame, left width adjusting portion and left pedipulator; Quick lock tube assembly I and quick lock tube assembly II are installed on the said left frame; Bridge is connected firmly by screw and left frame with the tube frame on the lock tube assembly I fast, and connecting pin cooperates with quick lock tube assembly I, and left traversing push-rod assembly is connected firmly by screw and left frame through bearing holder (housing, cover) I and bearing holder (housing, cover) II; On the chair frame on alignment pin and the left frame locating hole cooperate, four universal caster wheels and left frame connect firmly.
Said quick lock tube assembly I is with lock tube assembly II structure is identical fast, and wherein, the last block of said quick lock tube assembly I is welded on the pull bar; Crotch is connected through screw with big slip cap, and big spring is enclosed within on the frame with big slip cap, and big spring one end heads on big slip cap; The other end heads on the buckle closure that is buckled on the frame, and buckle closure is connected with screw plate through screw, and screw plate is spacing by circlip; Place little spring and little slip cap in the tube frame; Little spring one end withstands on screw plate, and the other end withstands in the little slip cap, places steel ball I and steel ball II respectively in two holes on the big slip cap body; Steel ball I and steel ball II are stuck in the groove of connecting pin, and connecting pin and chair frame connect firmly through screw thread.
The motor of the traversing push-rod assembly in a said left side is fixed on the motor frame, and motor frame and bearing holder (housing, cover) connect firmly, and motor shaft is connected by trip bolt with leading screw; Square feed screw nut places in the screw nut sleeve; And cooperate with leading screw, the leading screw other end has bearing holder (housing, cover), and half-clutch device I is connected through key with leading screw.
Said left width adjusting portion left legportion bracing frame is connected firmly by screw and left width adjusting portion underframe.The rail plate axle sleeve is fixed on the left frame; The rail plate axle passes left width adjusting portion underframe PATENT left side via; Pass the rail plate axle sleeve then; Be stuck in the left width adjusting portion underframe right side shrinkage pool, the guide rail end cap is fixed on left width adjusting portion underframe PATENT left side via position by screw, and the restriction lead rail axis shifts out left; Slidably guide wheel bracing frame and left width adjusting portion underframe connect firmly, and are supported on the guide wheel gripper shoe that is welded on the left frame.Screw nut sleeve and cover plate are connected by screw with guide rail frame plate on being welded in left width adjusting portion underframe on the traversing push-rod assembly in a left side.
The unthreaded hole plate and the screw plate of said left legportion bracing frame upper limit retaining device are fixed on the left legportion bracing frame by screw; Electric magnet that can two-way rotation connects firmly through electromagnetism brandreth and unthreaded hole plate; Thereby electric magnet comes back rotation to drive swing arm, thereby swing arm is stirred driving lever and impelled plug to move back and forth; Block I and block II connect firmly through screw and left legportion bracing frame; Limit switch, photoelectricity connect firmly with the screw plate of block I, left legportion bracing frame, limiting block mechanism respectively near the switch II near switch I, photoelectricity.
Ankle joint and driving device thereof are connected with the shank adjusting device through big alignment pin on the said left pedipulator; Shank adjusting device and knee joint connect firmly, and knee joint and thigh adjusting device connect firmly, and knee joint driving device and thigh adjusting device connect firmly; Thigh adjusting device and hip joint connect firmly; Hip joint is fixed on the left legportion bracing frame by screw, and the hip joint driving device is fixed on the left width adjusting portion underframe, and the hip joint driving device rotates through the belt drives hip joint.Positive stop is fixed on the thigh adjusting device by screw, and the forearm guard shield connects firmly with shank adjusting device and thigh adjusting device respectively with big arm guard shield.
The chair with back support I of said chair frame and chair with back support II lean on the circular shaft of weld holder to cooperate with seat back; The bearing holder (housing, cover) of pitch regulation mechanism be fixed on the chair frame on free bearing be connected through bearing pin, the feed screw nut of pitch regulation mechanism and seat back lean on weld holder top nut frame I and nut frame II to be connected; Drive motors in the pitch regulation mechanism is fixed on the connecting plate, and drives the travelling gear I, and travelling gear I and the engagement of travelling gear II drive feed screw nut through leading screw and move, and leans on weld holder to rotate around circular shaft thereby drive seat back; Guard shield connects firmly through screw and connecting plate and bearing holder (housing, cover).
Said left frame connects firmly through the bearing block I and the bearing block II of screw and traversing lock unit; Traversing lock unit left and right sides symmetrical configuration, the axle I is connected through universal coupling with the axle II, and wherein half-clutch device II is connected with axle key; Spring one end withstands on the half-clutch device II; The other end withstands on the check ring, and check ring is spacing by jump ring, and it is bonding that half-clutch device II is passed on circular hole and the left frame on the chair frame the half-clutch device I on the traversing push-rod assembly.
The left shell lower box body-fixed of left side lower limb is on left width adjusting portion underframe, and left shell upper shell is fixed on the left shell lower box body, and left shell lower box side cover is fixed on the left shell lower box body, on the fixing left shell upper shell of left handrail.
Install on the said chair frame photoelectricity near switch III, photoelectricity near switch IV and photoelectricity near the switch V.
The invention has the beneficial effects as follows: modularization idea is adopted in this invention; Complete machine is divided into independence and less relatively left lower limb, right lower limb and three parts of seat of the volume and weight that is mutually related separately; Under the lower limb of the left and right sides universal caster wheel is housed simultaneously, is convenient to dismounting, carrying and installation.Complete machine can be regulated the width of left and right sides lower limb automatically, and shank and thigh can be regulated length automatically, is convenient to adapt to the patient of the different builds of different heights, makes rehabilitation training more comfortable.Chair with back can carry out pitch regulation; Pedipulator hip joint corner and seat back lean on the weld holder corner interrelated, and have electrical equipment with mechanical dual spacing, can carry out the rehabilitation training under sitting posture and the prone position; Both guarantee the comfortable and safe of patient, also guaranteed the safety of mechanism.The present invention can realize the passive exercise of any complicated track at the human body sagittal plane, based on training of the power-assisted of active force and electricity irritation and monarthric active training.
Description of drawings
Fig. 1 is the sketch map of the horizontal lower limb rehabilitation of seat robot;
Fig. 2 a is the sketch map of the outward appearance of left lower limb;
Fig. 2 b is the structural representation of left lower limb;
Fig. 3 is the structural representation of left frame;
Fig. 4 is the structural representation of left width adjusting portion;
Fig. 5 a is the structural representation of quick lock tube assembly;
Fig. 5 b is the phantom of quick lock tube assembly;
Fig. 6 is the structural representation of left traversing push-rod assembly;
Fig. 7 is the partial structurtes sketch map of left pedipulator;
Fig. 8 is the structural representation of limiting block mechanism;
Fig. 9 is the partial structurtes sketch map at hip joint place;
Figure 10 a is the schematic appearance of seat;
Figure 10 b is the structural representation I of seat;
Figure 10 c is the structural representation II of seat;
Figure 11 is that seat back is leaned on the weld holder structural representation;
Figure 12 is the structural representation of pitch regulation mechanism;
The structural representation of the traversing lock unit of Figure 13.
In above-mentioned accompanying drawing, 1. right pedipulator, 2. left pedipulator, 3. left lower limb, 4. seat, 5. right lower limb, 6. left shell lower box body, 7. left shell upper shell; 8. left handrail, 9. big arm guard shield, 10. forearm guard shield, 11. left shell lower box side covers, 12. left framves, 13. left width adjusting portions, 14. belts, 15. ankle joint and driving device thereof; 16. big alignment pin, 17. limiting block mechanisms, 18. shank adjusting devices, 19. knee joints, 20. hip joints, 21. thigh adjusting devices, 22. knee joint driving devices, 23. hip joint driving devices; 24. the universal caster wheel I, 25. quick lock tube assembly II, 26. universal caster wheel II, 27. quick lock tube assembly I, 28. left traversing push-rod assemblies, 29. universal caster wheel III, 30. universal caster wheel IV, 31. locating holes; 32. the rail plate axle sleeve, 33. guide wheel gripper shoes, 34. left legportion bracing frames, 35. block I, 36. limit switches, 37. guide wheel bracing frames, 38. left width adjusting portion underframe; 39. the rail plate axle, 40. left end guide rail end caps, 41. little blocks, 42. bridges, 43. pull bars, 44. crotch, 45. buckle closures; 46. big slip cap, 47. framves, 48. connecting pin I, 49. screw plates, 50. big springs, 51. little springs, 52. little slip caps; 53. the steel ball I, 54. steel ball II, 55. motors, 56. motor framves, 57. bearing holder (housing, cover) I, 58. leading screws, 59. cover plates; 60. square feed screw nut, 61. screw nut sleeves, 62. bearing holder (housing, cover) II, 63. half-clutch device I, 64. positive stops, 65. electric magnet, 66. electromagnetism brandreths; 67. swing arm, 68. driving levers, 69. plugs, 70. unthreaded hole plates, 71. screw plates, 72. photoelectricity are near the switch I, and 73. photoelectricity are near the switch II; 74. the block II, 75. chair back cushions, 76. chair with back arc shells, 77. seat cushionses, 78. chair framves back of the body case, 79. chair frame fore shells, 80. chair framves left side shell; 81. the right shell of chair frame, 82. seat back are leaned on weld holder, 83. chair with back support I, and 84. photoelectricity are near the switch V, free bearing on 85., 86. alignment pins, 87. pitch regulation mechanisms; 88. the lifting foot I, 89. chair framves, 90. lifting foot II, 91. traversing lock units, 92. photoelectricity are near the switch IV, 93. connecting pin II, 94. lifting foot III; 95. big castor I, 96. lifting foot IV, 97. big castor II, 98. bearing pins, 99. photoelectricity are near the switch III, 100. chair with back support II, 101. circular shafts; 102. nut frame I, 103. nut frame II, 104. travelling gear II, 105. guard shields, 106. travelling gear I, 107. connecting plates, 108. bearing holder (housing, cover)s; 109. drive motors, 110. leading screws, 111. feed screw nuts, 112. I, 113. half-clutch device II, 114. springs, 115. check rings; 116. the bearing block I, 117. universal couplings, 118. bearing block II, 119. check ring II, 120. spring II, 121. half-clutch device III, 122. II.
Specific embodiments
Below according to specific embodiments of the present invention, and combine accompanying drawing that the present invention is further specified.
The horizontal lower limb rehabilitation of seat robot population structure sketch map is as shown in Figure 1 among the present invention, mainly comprises left lower limb 3 and right lower limb 5 and seat 4, and wherein left lower limb 3 is symmetrical fully with right lower limb 5 structures, so only left lower limb is made an explanation here.
Said left lower limb mainly comprises left frame 12, left width adjusting portion 13 and left pedipulator 2 (seeing shown in Fig. 2 a, Fig. 2 b).Universal caster wheel I 30, universal caster wheel II 29, universal caster wheel III 26, universal caster wheel IV 24 connect firmly with the base of frame of left frame 12.The quick lock tube assembly I 27 that structure is identical is fixed on the framework of left frame 12 with quick lock tube assembly II 25.The little block 41 of lock tube assembly I 27 is welded on the pull bar 43 and (sees Fig. 5 a, Fig. 5 b) fast, and pull bar 43 passes bridge 42 and crotch 44, the motion of circlip and split pin restriction crotch 44; Crotch 44 and big slip cap 46 are connected through screw; Big spring 50 is enclosed within on the frame 47 with big slip cap 46, and big spring 50 1 ends head on big slip cap 46, and the other end heads on the buckle closure 45 that is buckled on the frame 47; Buckle closure 45 is connected with screw plate 49 through screw, and screw plate 49 is spacing by circlip; Place little spring 51 and little slip cap 52 in the tube frame 47; Little spring 51 1 ends withstand on screw plate 49, and the other end withstands in the little slip cap 52, two holes on big slip cap 46 bodies; Place steel ball I 53 and steel ball II 54 respectively; Steel ball I 53 is withstood by little slip cap 52 under the elastic force of little spring 51 with steel ball II 54 under the released state, and during locking state, steel ball I 53 is stuck in the groove of connecting pin I 48 with steel ball II 54; Connecting pin I 48 and chair frame 89 are through being threaded, and bridge 42 is connected firmly by screw and left frame 12 with a tube frame 47 on the lock tube assembly I 27 fast.Connecting pin II 93 cooperates with quick lock tube assembly II 25 in addition, on the chair frame 89 on alignment pin 86 and the left frame 12 locating hole 31 cooperate (seeing Fig. 3, Figure 10 b).
In the traversing push-rod assembly 28 in a left side, motor 55 is fixed on the motor frame 56, and motor frame 56 connects firmly with bearing holder (housing, cover) I 57; 55 in motor is connected by marking closely nail with leading screw 58; Square feed screw nut 60 places in the screw nut sleeve 61, and cooperates with leading screw 58, and leading screw 58 other ends have bearing holder (housing, cover) II 62; Half-clutch device I 63 and leading screw 58 are connected through key, and left traversing push-rod assembly 28 connects firmly (see figure 6) through bearing holder (housing, cover) I 57 and bearing holder (housing, cover) II 62 by screw and left frame 12.Left side width adjusting portion 13 mainly comprises left width adjusting portion underframe 38 and left legportion bracing frame 34, and left legportion bracing frame 34 is connected firmly by screw and left width adjusting portion underframe 38.Rail plate axle sleeve 32 is fixed on the left frame 12; Rail plate axle 39 passes left width adjusting portion underframe 38 PATENT left side via; Pass rail plate axle sleeve 32 then; Be stuck in the left width adjusting portion underframe 38 right side shrinkage pools, lead rail axis end cap 40 is fixed on left width adjusting portion underframe 38 PATENT left side via positions by screw; Slidably guide wheel bracing frame 37 connects firmly with left width adjusting portion underframe 38, and is supported on the guide wheel gripper shoe that is welded on the left frame.Screw nut sleeve 61 and cover plate 60 are connected (seeing Fig. 3, Fig. 4) with left width adjusting portion underframe 38 by screw on the traversing push-rod assembly 28 in a left side.
Left legportion bracing frame 34 upper limit retaining devices 17 are made up of electric magnet 65, electromagnetism brandreth 66, swing arm 67, driving lever 68, plug 69, unthreaded hole plate 70, screw plate 71; Wherein unthreaded hole plate 70 is fixed on the left legportion bracing frame 34 by screw with screw plate 71; Electric magnet 65 that can two-way rotation connects firmly through electromagnetism brandreth 66 and unthreaded hole plate 70; Thereby electric magnet 65 comes back rotation to drive swing arm 67, thereby swing arm 67 is stirred driving lever 68 and impelled plug 69 to move back and forth; Block I 35 connects firmly through screw and left legportion bracing frame 34 with block II 74; Limit switch 36, photoelectricity connect firmly (seeing Fig. 4, Fig. 8, Fig. 9) with the screw plate 71 of block I 35, left legportion bracing frame 34, limiting block mechanism 17 near switch I 72, photoelectricity respectively near switch II 73.
Ankle joint and driving device 15 thereof are connected with shank adjusting device 18 through big alignment pin 16 on the pedipulator 2 of a left side; Shank adjusting device 18 connects firmly with knee joint 19; Knee joint 19 connects firmly with thigh adjusting device 21; Knee joint driving device 22 connects firmly with thigh adjusting device 21, and thigh adjusting device 21 connects firmly with hip joint 20, and hip joint 20 is fixed on the left legportion bracing frame 32 by screw; Hip joint driving device 23 is fixed on the left width adjusting portion underframe 36, and hip joint driving device 23 drives hip joints 20 through belt 14 and rotates.Positive stop 61 is fixed on the thigh adjusting device 21 by screw.Forearm guard shield 10 connects firmly (seeing Fig. 2 b) with shank adjusting device 18 and thigh adjusting device 21 respectively with big arm guard shield 9.
3 shells are made up of left shell upper shell 7, left shell lower box body 6, left shell lower box side cover 11, left handrail 8 on the lower limb of a left side.Left side shell lower box body 6 is fixed on the left width adjusting portion underframe 36; Left side shell upper casing 7 bodies are fixed on the left shell lower box body 6; Left side shell lower box side cover 11 is fixed on the left shell lower box body 6, and 7 (see Fig. 2 a) on the left handrail 8 fixing left shell upper shells.
In seat 4, lifting foot I 88, lifting foot II 90, lifting foot III 94, lifting foot IV 96 and big castor I 95 and big castor II 97 are fixed on the bottom (seeing Figure 10 b) of chair frame 89.
Chair frame fore shell 79, the left shell 80 of chair frame, the right shell 81 of chair frame, chair frame back of the body case 78, seat cushions 77 connect firmly with chair frame 89, and chair back cushion 75, chair with back arc shell 77 connect firmly by weld holder 82 with seat back (sees Figure 10 a).
Photoelectricity is installed on the chair frame 89 near switch V 84 near switch IV 92, photoelectricity near switch III 99, photoelectricity (sees Figure 10 c).
Traversing lock unit 91 left and right sides symmetrical configuration, axle I 112 is connected through universal coupling 117 with axle II 122.Wherein half-clutch device II 113 is connected with axle I 112 keys; Spring 114 1 ends withstand on the half-clutch device II 113; The other end withstands on the check ring 115; Check ring 115 is spacing by jump ring, and whole traversing lock unit is connected firmly through screw and left frame by bearing block I 116 and bearing block II 118, and half-clutch device II 113 is passed the half-clutch device I 63 bonding (seeing Figure 10 c, Figure 13) on the traversing push-rod assembly 28 on circular hole and the left frame 12 on the chair frame.
Seat back lean on circular shaft 101 on the weld holder 82 with and chair frame 89 the chair with back support I 83, the chair with back support II 100 that connect firmly cooperate; Pitch regulation mechanism 87 upper bearing sleeves 106 be fixed on chair frame 89 on free bearing 82 be connected through bearing pin 95; Feed screw nut 111 in the pitch regulation mechanism 87 leans on weld holder 82 top nut frame I 102 and nut frame II 103 to be connected with seat back; Drive motors in the pitch regulation mechanism 87 is fixed on the connecting plate 107; And drive travelling gear I 106; Travelling gear I 106 and 104 engagements of travelling gear II drive feed screw nut 111 through leading screw 110 and move, and lean on weld holder 82 to rotate around circular shaft 101 thereby drive seat back; Guard shield 105 connects firmly through screw and connecting plate 107 and bearing holder (housing, cover) 108.(seeing Figure 10 b, Figure 12).
Hip joint 20 corners of said pedipulator and seat back lean on weld holder 82 corners interrelated.When left pedipulator 2 along counterclockwise rotating, and hip joint 20 corners are during horizontal by 30 °, limit switch 36 responses, hip joint stops operating, if limit switch lost efficacy, then blocks limited block 64 by block I 35 and carries out mechanical position limitation.When left pedipulator 2 clockwise directions rotate, and hip joint 20 corners are during horizontal by 90 °, and photoelectricity is near 72 responses of switch I; If photoelectricity lost efficacy near switch I 72; Then block limited block 64 by the latch 69 of limiting block mechanism 17 and carry out mechanical position limitation, if this moment, seat back leaned on weld holder 82 corners more than or equal to 120 °, then limiting block mechanism 17 latches 69 are in the state of extracting; Photoelectricity quits work near switch I 72 simultaneously, and hip joint 20 can be rotated further.When the corner of hip joint 20 during horizontal by 110 °, photoelectricity is near 73 responses of switch II, if photoelectricity lost efficacy near switch II 73 then carried out mechanical position limitation by block II 74.
Lean on the corner of weld holder 82 according to seat back; The maximum rotation angle of hip joint 20 can be divided into mechanical position limitation and the mechanical position limitation under the prone position under the sitting posture; When seat back leaned on weld holder 82 in 90 ° of-120 ° of scopes, to rotate, promptly under the sitting posture state, the range of movement of hip joint 20 was 60 °; When seat back leans on weld holder 82 in 120 ° of-150 ° of scopes, to rotate; Promptly under the prone position state; Hip joint 20 range of movement expand to 80 °, and above-mentioned limit method had both guaranteed that the patient carries out rehabilitation training under comfortable attitude, guaranteed the safety of patient and mechanism again.
Claims (9)
1. sit horizontal lower limb rehabilitation robot for one kind; Comprise left lower limb (3), right lower limb (5) and seat (4); It is characterized in that: the structure of said left lower limb (3) and right lower limb (5) is symmetry fully, and wherein left lower limb (3) comprises left frame (12), left width adjusting portion (13) and left pedipulator (2); Said left frame (12) is gone up identical quick lock tube assembly I (27) of mounting structure and quick lock tube assembly II (25); Wherein the last bridge (42) of lock tube assembly I (27) and tube frame (47) are connected firmly by the framework of screw and left frame (12) respectively fast; The connecting pin I (48) that is fixed on left frame 12 cooperates with quick lock tube assembly I (27); The traversing push-rod assembly in a left side (28) connects firmly through bearing holder (housing, cover) I (57) and the framework of bearing holder (housing, cover) II (65) by screw and left frame (12); The last alignment pin (89) of chair frame (89) is gone up locating hole (32) with left frame (12) and is cooperated, and universal caster wheel I (30), universal caster wheel II (29), universal caster wheel III (26), universal caster wheel IV (24) connect firmly with the bottom of left frame (12).
2. the horizontal lower limb rehabilitation of seat according to claim 1 robot; It is characterized in that: said quick lock tube assembly I (27) is with lock tube assembly II (25) structure is identical fast, and wherein, the little block (41) of said quick lock tube assembly I (27) is welded on the pull bar (43); Crotch (44) is connected through screw with big slip cap (46); Big spring (50) and big slip cap (46) are enclosed within on the frame (47), and big spring (50) one ends head on big slip cap (46), and the other end heads on the buckle closure (45) that is buckled on the frame (47); Buckle closure (45) is connected with screw plate (49) through screw; Screw plate (49) is spacing by circlip, places little spring (51) and little slip cap (52) in the tube frame (47), and little spring (51) one ends withstand on screw plate (49); The other end withstands in the little slip cap (52); Place steel ball I (55) and steel ball II (54) respectively in two holes on big slip cap (46) body, steel ball I (55) and steel ball II (54) are stuck in the groove of connecting pin I (48), and connecting pin I (48) is connected firmly by screw thread with chair frame (89).
3. the horizontal lower limb rehabilitation of seat according to claim 1 robot; It is characterized in that: the motor (55) of the traversing push-rod assembly in a said left side (28) is fixed on the motor frame (56); Motor frame (56) and bearing holder (housing, cover) I (57) connect firmly; Motor (55) axle is connected by trip bolt with leading screw (58), and square feed screw nut (60) places in the screw nut sleeve (61), and cooperates with leading screw (58); Leading screw (58) other end has bearing holder (housing, cover) II (65), and half-clutch device I (63) is connected through key with leading screw (58).
4. the horizontal lower limb rehabilitation of seat according to claim 1 robot; It is characterized in that: the left legportion bracing frame (34) of said left width adjusting portion (13) is connected firmly by screw and left width adjusting portion's underframe (38); Rail plate axle sleeve (32) is fixed on the left frame (12); Rail plate axle (39) passes left width adjusting portion's underframe (38) PATENT left side via; Pass then the rail plate axle sleeve (32, be stuck in the shrinkage pool of left width adjusting portion's underframe (38) right side, lead rail axis end cap (40) is fixed on left width adjusting portion's underframe (38) PATENT left side via position by screw; Slidably guide wheel bracing frame (37) connects firmly with left width adjusting portion's underframe (38), and is supported on the guide wheel gripper shoe that is welded on the left frame.The traversing push-rod assembly in a left side (28) is gone up screw nut sleeve (61) and is connected by screw with left width adjusting portion's underframe (38) with cover plate (60).
5. the horizontal lower limb rehabilitation of seat according to claim 4 robot; It is characterized in that: the unthreaded hole plate (70) of the upper limit retaining device (17) of said left legportion bracing frame (34) and screw plate (71) are fixed on the left legportion bracing frame (34) by screw; Electric magnet (65) that can two-way rotation connects firmly through electromagnetism brandreth (66) and unthreaded hole plate (70); Electric magnet (65) thus come back rotation to drive swing arm (67), swing arm (67) is stirred driving lever (68) thereby is impelled plug (72) to move back and forth; Block I (35) connects firmly through screw and left legportion bracing frame (34) with block II (74); Limit switch (36), photoelectricity connect firmly with the screw plate (71) of block I (35), left legportion bracing frame (34), limiting block mechanism (17) respectively near switch II (73) near switch I (72), photoelectricity.
6. the horizontal lower limb rehabilitation of seat according to claim 1 robot; It is characterized in that: said left pedipulator (2) goes up ankle joint and driving device (15) is connected with shank adjusting device (18) through big alignment pin (16); Shank adjusting device (18) connects firmly with knee joint (19); Knee joint (19) connects firmly with thigh adjusting device (21); Knee joint driving device (22) connects firmly with thigh adjusting device (21), and thigh adjusting device (21) connects firmly with hip joint (20), and hip joint (20) is fixed on the left legportion bracing frame (34) by screw; Hip joint driving device (23) is fixed on left width adjusting portion's underframe (38), and hip joint driving device (23) drives hip joint (20) through belt (14) and rotates; Positive stop (61) is fixed on the thigh adjusting device (21) by screw; Forearm guard shield (10) and big arm guard shield (9) connect firmly with shank adjusting device (18) and thigh adjusting device (21) respectively.
7. the horizontal lower limb rehabilitation of seat according to claim 1 robot is characterized in that: the chair with back support I (83) of said chair frame (89) and chair with back support II (100) lean on the circular shaft (101) of weld holder (82) to cooperate with seat back; The bearing holder (housing, cover) (106) of pitch regulation mechanism (87) is gone up free bearing (82) and is connected through bearing pin (95) with being fixed on chair frame (89), and the feed screw nut (111) of pitch regulation mechanism (87) is connected by weld holder (82) top nut frame I (102) and nut frame II (103) with seat back; Drive motors in the pitch regulation mechanism (87) is fixed on the connecting plate (107); And drive travelling gear I (106); Travelling gear I (106) and travelling gear II (104) engagement; Drive feed screw nut (111) through leading screw (110) and move, lean on weld holder (82) to rotate around circular shaft (101) thereby drive seat back; Guard shield (105) connects firmly through screw and connecting plate (107) and bearing holder (housing, cover) (108).
8. the horizontal lower limb rehabilitation of seat according to claim 7 robot is characterized in that: the bottom of said chair frame (89) connects firmly lifting foot I (88), lifting foot II (90), lifting foot III (94), the big castor I (95) of lifting foot IV (96) and big castor II (97); Also be equipped with on the chair frame (89) photoelectricity near switch V (84), photoelectricity near switch IV (92) and photoelectricity near switch III (99).
9. the horizontal lower limb rehabilitation of seat according to claim 1 robot; It is characterized in that: said left frame (12) connects firmly through the bearing block I (116) and the bearing block II (118) of screw and traversing lock unit (91); Traversing lock unit (91) left and right sides symmetrical configuration; Axle I (112) is connected through universal coupling (117) with axle II (122); Wherein the half-clutch device II in the left side (113) is connected with axle I (112) key, and spring (114) one ends withstand on the half-clutch device II (113), and the other end withstands on the check ring (115); Check ring (115) is spacing by jump ring, and circular hole and left frame (12) that half-clutch device II (113) is passed on the chair frame are gone up half-clutch device I (63) engagement on the traversing push-rod assembly (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101906599A CN102697622B (en) | 2012-06-12 | 2012-06-12 | Sitting and lying lower limb rehabilitation robot |
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| CN102743270A (en) * | 2012-07-27 | 2012-10-24 | 中国科学院自动化研究所 | Sitting horizontal type individual lower limb rehabilitation training robot |
| CN102949281A (en) * | 2012-11-07 | 2013-03-06 | 燕山大学 | Rehabilitation training robot for lower limb joint |
| CN103054688A (en) * | 2012-10-23 | 2013-04-24 | 山东康泰实业有限公司 | Leg and foot massaging transmission device |
| CN104626162A (en) * | 2013-11-13 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Fuzzy control system and realization method thereof for medical robot |
| CN106163483A (en) * | 2014-04-13 | 2016-11-23 | 无功机器人有限责任公司 | For the rehabilitation mechanism of bedridden patient and include the bed of this rehabilitation mechanism |
| CN106420264A (en) * | 2016-11-14 | 2017-02-22 | 广东美的安川服务机器人有限公司 | Lower limb training device and rehabilitation training robot with same |
| CN106539663A (en) * | 2015-09-17 | 2017-03-29 | 山东经典医疗器械科技有限公司 | Healing robot hip joint width adjustable mechanical lower limb |
| CN107471248A (en) * | 2017-09-29 | 2017-12-15 | 河北工业大学 | A kind of width is adjustable to withdraw nursing robot with the soft arm mechanism of holding certainly |
| CN107538470A (en) * | 2017-02-13 | 2018-01-05 | 上海电气集团股份有限公司 | A kind of width adjusting and locking device applied to pelvic support mechanism |
| CN107997928A (en) * | 2017-12-22 | 2018-05-08 | 北京精密机电控制设备研究所 | A kind of modularization sitting and lying formula lower limb rehabilitation exoskeleton robot |
| CN109106531A (en) * | 2018-08-14 | 2019-01-01 | 温州医科大学附属第二医院、温州医科大学附属育英儿童医院 | A kind of multi-joint synkinesia bed |
| CN110123579A (en) * | 2019-05-17 | 2019-08-16 | 温州康宁医院股份有限公司 | A kind of rehabilitation sitting walk exerciser |
| CN111568693A (en) * | 2020-05-15 | 2020-08-25 | 燕山大学 | Planar two-degree-of-freedom leg unfolding mechanism and control method |
| CN112842738A (en) * | 2021-01-22 | 2021-05-28 | 浙江正远医疗科技有限公司 | Multifunctional patient limb rehabilitation training device and using method |
| CN113730181A (en) * | 2021-08-18 | 2021-12-03 | 浙江工业大学 | Sitting and lying type lower limb movement training robot |
| WO2024010532A1 (en) * | 2022-07-06 | 2024-01-11 | Marovt D.O.O. | Device for stretching the lower limbs |
| CN113730181B (en) * | 2021-08-18 | 2024-04-16 | 浙江工业大学 | Sitting and lying type lower limb exercise training robot |
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| CN104287939B (en) * | 2014-08-20 | 2016-06-15 | 燕山大学 | A kind of sitting and lying formula lower limb rehabilitation robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102743270B (en) * | 2012-07-27 | 2014-03-12 | 中国科学院自动化研究所 | Sitting horizontal type individual lower limb rehabilitation training robot |
| CN102743270A (en) * | 2012-07-27 | 2012-10-24 | 中国科学院自动化研究所 | Sitting horizontal type individual lower limb rehabilitation training robot |
| CN103054688A (en) * | 2012-10-23 | 2013-04-24 | 山东康泰实业有限公司 | Leg and foot massaging transmission device |
| CN103054688B (en) * | 2012-10-23 | 2015-02-18 | 山东康泰实业有限公司 | Leg and foot massaging transmission device |
| CN102949281A (en) * | 2012-11-07 | 2013-03-06 | 燕山大学 | Rehabilitation training robot for lower limb joint |
| CN102949281B (en) * | 2012-11-07 | 2014-06-11 | 燕山大学 | Rehabilitation training robot for lower limb joint |
| CN104626162B (en) * | 2013-11-13 | 2017-03-08 | 沈阳新松机器人自动化股份有限公司 | A kind of Fuzzy control system for medical robot and its implementation |
| CN104626162A (en) * | 2013-11-13 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Fuzzy control system and realization method thereof for medical robot |
| KR20160145123A (en) * | 2014-04-13 | 2016-12-19 | 리액티브 로보틱스 게엠베하 | Rehabilitation mechanism for patients confined to bed and bed comprising the rehabilitation mechanism |
| CN106163483A (en) * | 2014-04-13 | 2016-11-23 | 无功机器人有限责任公司 | For the rehabilitation mechanism of bedridden patient and include the bed of this rehabilitation mechanism |
| KR102317187B1 (en) | 2014-04-13 | 2021-10-27 | 리액티브 로보틱스 게엠베하 | Rehabilitation mechanism for patients confined to bed and bed comprising the rehabilitation mechanism |
| CN106539663A (en) * | 2015-09-17 | 2017-03-29 | 山东经典医疗器械科技有限公司 | Healing robot hip joint width adjustable mechanical lower limb |
| CN106420264A (en) * | 2016-11-14 | 2017-02-22 | 广东美的安川服务机器人有限公司 | Lower limb training device and rehabilitation training robot with same |
| CN107538470B (en) * | 2017-02-13 | 2020-12-15 | 上海电气集团股份有限公司 | Width adjusting and locking device applied to pelvis supporting mechanism |
| CN107538470A (en) * | 2017-02-13 | 2018-01-05 | 上海电气集团股份有限公司 | A kind of width adjusting and locking device applied to pelvic support mechanism |
| CN107471248A (en) * | 2017-09-29 | 2017-12-15 | 河北工业大学 | A kind of width is adjustable to withdraw nursing robot with the soft arm mechanism of holding certainly |
| CN107471248B (en) * | 2017-09-29 | 2023-06-09 | 河北工业大学 | Width-adjustable self-retracting nursing robot is with embracing flexible arm mechanism |
| CN107997928A (en) * | 2017-12-22 | 2018-05-08 | 北京精密机电控制设备研究所 | A kind of modularization sitting and lying formula lower limb rehabilitation exoskeleton robot |
| CN107997928B (en) * | 2017-12-22 | 2020-06-09 | 北京精密机电控制设备研究所 | Modularized sitting and lying type lower limb rehabilitation exoskeleton robot |
| CN109106531A (en) * | 2018-08-14 | 2019-01-01 | 温州医科大学附属第二医院、温州医科大学附属育英儿童医院 | A kind of multi-joint synkinesia bed |
| CN110123579A (en) * | 2019-05-17 | 2019-08-16 | 温州康宁医院股份有限公司 | A kind of rehabilitation sitting walk exerciser |
| CN111568693A (en) * | 2020-05-15 | 2020-08-25 | 燕山大学 | Planar two-degree-of-freedom leg unfolding mechanism and control method |
| CN111568693B (en) * | 2020-05-15 | 2021-03-02 | 燕山大学 | Planar two-degree-of-freedom leg unfolding mechanism and control method |
| CN112842738A (en) * | 2021-01-22 | 2021-05-28 | 浙江正远医疗科技有限公司 | Multifunctional patient limb rehabilitation training device and using method |
| CN112842738B (en) * | 2021-01-22 | 2022-02-08 | 浙江正远医疗科技有限公司 | Multifunctional patient limb rehabilitation training device and using method |
| CN113730181A (en) * | 2021-08-18 | 2021-12-03 | 浙江工业大学 | Sitting and lying type lower limb movement training robot |
| CN113730181B (en) * | 2021-08-18 | 2024-04-16 | 浙江工业大学 | Sitting and lying type lower limb exercise training robot |
| WO2024010532A1 (en) * | 2022-07-06 | 2024-01-11 | Marovt D.O.O. | Device for stretching the lower limbs |
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Effective date of registration: 20191008 Address after: 315400 No. 175 Anshan Road, Chengdong New District, Yuyao Economic Development Zone, Zhejiang Province Patentee after: Zhejiang Yu Yu intelligent robot Co., Ltd. Address before: Hebei Street West Harbor area, 066004 Hebei city of Qinhuangdao province No. 438 Co-patentee before: Wuxi Youren Technology Co.,Ltd. Patentee before: Yanshan University |