CN103212187B - Multi-mode lower limb rehabilitation training platform - Google Patents
Multi-mode lower limb rehabilitation training platform Download PDFInfo
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- CN103212187B CN103212187B CN201310127200.9A CN201310127200A CN103212187B CN 103212187 B CN103212187 B CN 103212187B CN 201310127200 A CN201310127200 A CN 201310127200A CN 103212187 B CN103212187 B CN 103212187B
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Abstract
The present invention discloses a multi-mode limb rehabilitation training platform, which is characterized by comprising a longitudinal tipping adjustment mechanism, a side tipping adjustment mechanism, a servo motor, a transmission mechanism, a motion platform mechanism and a step/plane transformation mechanism, and the longitudinal tipping adjustment mechanism is connected with the side tipping adjustment mechanism through a platform second-level base of the longitudinal tipping adjustment mechanism; the servo motor and the transmission are both directly arranged on a third-level base of the side tipping adjustment mechanism, and the motion platform mechanism is arranged on the third-level base of the side tipping adjustment mechanism; the step/plane transformation mechanism is arranged on the third-level base of the side tipping adjustment mechanism, and the longitudinal tipping adjustment mechanism mainly comprises hinges, a platform base, longitudinal tipping adjustment transmission devices and the second-level platform base; the side tipping adjustment mechanism comprises the third-level base, hinges and a side tipping adjustment transmission device, and the motion platform mechanism comprises a main guide rail, a sprocket wheel, a chain and platform units with designed quantity; and the step/plane transformation mechanism comprises a movable guide rail and a movable rail driving device.
Description
Technical field
The present invention relates to a kind of rehabilitation equipment, particularly a kind of multi-mode lower limb rehabilitation training platform.
Background technology
Can reinvent theory according to central nervous system, for the patient who causes lower limb action obstacle because of the reason such as apoplexy, wound, by suitable rehabilitation physical therapy and training, can stimulate the reconstruct of nervous centralis and automatically repair, and muscular strength is restored, thereby makes patient recover lower limb function.
At present, the technology that adopts the auxiliary patient of lower limb exoskeleton healing robot to carry out rehabilitation training is widely used in the rehabilitation physical therapy of lower extremity motor function impaired patients.Desirable training should be able to assist patient to train in multiple landform, as level land, ramp, ladder etc., can make the different muscle groups of patient's affected limb all be trained and encourage, thereby balancedly recover the motion function of limb muscle.But current most training system uses treadmill as training platform, can only offer the training of the single level land pattern of patient, can not meet the needs that patient is trained under multiple orographic model.
Summary of the invention
For the deficiencies in the prior art, the technical problem that quasi-solution of the present invention is determined is that a kind of multi-mode lower limb rehabilitation training platform is provided.This training platform has according to the feature of level land, ladder or ramp landform can convert training mode, makes a training platform provide effective training of multiple analog environment for lower limb rehabilitation training person.
The technical scheme that the present invention solve the technical problem is, design a kind of multi-mode lower limb rehabilitation training platform, it is characterized in that this training platform comprises six parts: trim guiding mechanism, inclination guiding mechanism, servomotor, transmission mechanism, motion platform mechanism and ladder/plane transformation mechanism, described trim guiding mechanism is connected with inclination guiding mechanism by its platform secondary pedestal, and described servomotor, transmission mechanism are all directly installed on three grades of pedestals that roll guiding mechanism; Motion platform mechanism is assemblied in by four bearing blocks of its in-house two ends sprocket shaft on three grades of pedestals that roll guiding mechanism; Ladder/plane transformation mechanism is installed on by its in-house support on three grades of pedestals that roll guiding mechanism;
Described trim guiding mechanism comprises hinge, platform base, trim adjustment transmission device and platform secondary pedestal; Two hinge symmetries that structure is identical are arranged on two angles of platform base, two trims that structure is identical are adjusted transmission device symmetry and are arranged on two limits of platform base, and described hinge is all connected with the platform secondary pedestal on platform base with trim adjustment transmission device; Platform secondary pedestal is identical with platform base structure; Described trim is adjusted the transmission mechanism that transmission device is made up of worm and gear adjusting device and screw pair, worm and gear adjusting device is installed on platform base, its output worm gear connects with the leading screw of screw pair, and the nut of screw pair is hinged on platform secondary pedestal;
Described inclination guiding mechanism comprises three grades of pedestals, hinge and inclination and adjusts transmission device; Two hinge symmetries are installed on the platform secondary pedestal in trim guiding mechanism, connect with three grades of pedestals by hinge axis, and three grades of pedestals can rotate around hinge; Roll adjustment transmission device and comprise worm and gear adjusting device and screw pair composition inclination adjustment driving-chain, worm and gear adjusting device is articulated with on the platform secondary pedestal in trim guiding mechanism, the leading screw of screw pair connects with the worm-wheel shaft of worm and gear adjusting device, and the nut and the three grades of pedestals 21 that roll adjusting screw pair of nut 232 are hinged;
The output shaft of described servomotor is connected with the power shaft of the reduction box in transmission mechanism, and the drive sprocket of the chain gear transmission pair of the output shaft connection for transmission mechanism of reduction box, outputs to driving force by movable sprocket by chain; Be connected with the power shaft of motion platform mechanism by movable sprocket, actuation movement platform mechanism rotates; The power shaft of motion platform mechanism drives sprocket wheel and the chain in it;
The platform unit that described motion platform mechanism comprises guiding main orbit, sprocket wheel, chain and design quantity; Guiding main orbit is fixedly connected on three grades of pedestals that roll in guiding mechanism.The bearing block of sprocket wheel is fixedly assemblied on three grades of pedestals that roll in guiding mechanism, and the axle of sprocket wheel is connected with the follower of the chain gear transmission pair of transmission mechanism, and is driven; Sprocket wheel drives chain movement; Platform unit comprises platform unit guides wheel, platform unit regulating wheel and step unit; Platform unit guides wheel and platform unit regulating wheel are articulated with on step unit, the hinge axis of the platform unit guides wheel of every grade of platform unit is articulated with on the chain link of chain simultaneously, platform unit guides wheel is retrained by the guiding main orbit grooved guide rail of motion platform mechanism, can under chain-driving, roll along guiding main orbit, platform unit regulating wheel is subject to the grooved guide rail guiding constraint of movable guiding rail in ladder/plane transformation mechanism; The platform unit of design quantity is along chain annular spread, and all platforms unit forms the flat surface of shuttling movement, and motion platform mechanism can be under chain drive, drives along the hinged each platform unit of chain and moves along guiding main orbit;
Described ladder/plane transformation mechanism comprises movable guiding rail and moving rail drive unit; Moving rail drive unit comprises worm and gear adjusting device, screw pair, moving rail guider and support; The lead of moving rail guider is installed on three grades of pedestals that roll guiding mechanism; Worm and gear adjusting device is articulated with on three grades of pedestals that roll guiding mechanism, and output shaft connects the leading screw of screw pair, and the nut of screw pair is installed on the slipper of guider, and the slipper of guider is arranged on the support body of movable guiding rail.
Compared with prior art, multi-mode lower limb rehabilitation training platform of the present invention is by common level land, ramp and the terrace relief design that combines together in simulation living environment, thereby have the advantages that can to meet rehabilitation training person and complete multiple analog environmental training on a rehabilitation trainer, and simple in structure, processing ease, price is suitable.
Brief description of the drawings
The main TV structure schematic diagram of entirety of a kind of embodiment of Fig. 1 multi-mode lower limb rehabilitation training of the present invention platform.
The overall perspective view of a kind of embodiment of Fig. 2 multi-mode lower limb rehabilitation training of the present invention platform.
The motion platform of a kind of embodiment of Fig. 3 multi-mode lower limb rehabilitation training of the present invention platform drives driving-chain and ladder/plane transformation structural scheme of mechanism.
The motion platform operation principle schematic diagram of a kind of embodiment of Fig. 4 multi-mode lower limb rehabilitation training of the present invention platform.
Plane/step conversion structural scheme of mechanism of the motion of a kind of embodiment of Fig. 5 multi-mode lower limb rehabilitation training of the present invention platform, wherein,
Fig. 5 (a) is the step view in platform (plane or slope) state;
Fig. 5 (b) is the step view in step state.
Detailed description of the invention
Further describe the present invention below in conjunction with example and accompanying drawing thereof.
The multi-mode lower limb rehabilitation training platform of the present invention's design (is called for short training platform or platform, referring to Fig. 1-5), it is characterized in that this training platform mainly comprises six parts: trim guiding mechanism 1, inclination guiding mechanism 2, servomotor 3, transmission mechanism 4, motion platform mechanism 5 and ladder/plane transformation mechanism 6, described trim guiding mechanism 1 is connected with inclination guiding mechanism 2 by its platform secondary pedestal 14, and described servomotor 3, transmission mechanism 4 are all directly installed on three grades of pedestals 21 that roll guiding mechanism 2; Motion platform mechanism 5 is assemblied in by four bearing blocks of its in-house two ends sprocket shaft on three grades of pedestals 21 that roll guiding mechanism 2; Ladder/plane transformation mechanism 6 is installed on three grades of pedestals 21 that roll guiding mechanism 2 by its in-house support 624.
The output shaft of described servomotor 3 is connected with the power shaft of the reduction box 41 in transmission mechanism 4, and the drive sprocket 421 of the chain gear transmission pair 42 of the output shaft connection for transmission mechanism 4 of reduction box 41, outputs to driving force by movable sprocket 423 by chain 422.Be connected with the power shaft of motion platform mechanism 5 by movable sprocket 423, actuation movement platform mechanism 5 rotates.The power shaft of motion platform mechanism 5 drives motion platform sprocket wheel 52 and the chain 51 in it.
Described each platform unit 54 is hinged on chain 51, and is driven by chain 51; While moving with chain 51 in platform unit 54, the platform unit guides of platform unit 54 wheel 541 can be along the interior rolling of guiding main orbit 51 of motion platform mechanism 5, and the guiding of the main orbit 51 that led; After platform unit regulating wheel in motion platform mechanism 5 542 is installed, can be in the interior rolling of movable guiding rail 61 of ladder/plane transformation mechanism 6, and be subject to the guiding of movable guiding rail 61.
Described trim guiding mechanism 1 comprises: trim is adjusted hinge 11, platform base 12, trim adjustment transmission device 13 and platform secondary pedestal 14; Two trims that structure is identical are adjusted hinge 11 symmetries and are arranged on two angles of platform base 12, two trims that structure is identical are adjusted transmission device 13 symmetries and are arranged on two limits of platform base 12, and described trim adjustment hinge 11 is all connected with the platform secondary pedestal 14 on platform base 12 with trim adjustment transmission device 13; Described platform secondary pedestal 14 is identical with platform base 12 structures; Described trim is adjusted the transmission mechanism being made up of trim adjustment worm and gear adjusting device 131 and trim adjusting screw pair of nut 132 in transmission device 13.Trim is adjusted worm and gear adjusting device 131 and is installed on platform base 12, the output worm gear that trim is adjusted worm and gear adjusting device 131 connects on the leading screw of trim adjusting screw pair of nut 132, and the nut of trim adjusting screw pair of nut 132 is hinged on platform secondary pedestal 14; Adjust worm and gear adjusting device 131 by manually driving trim, drive worm gear to rotate by worm screw, worm gear drives the leading screw of the trim adjusting screw pair of nut 132 being attached thereto to rotate, leading screw drives the nut of trim adjusting screw pair of nut 132 to move, and can drive the secondary pedestal 14 being connected with nut to adjust hinge 11 around trim and rotate.Trim guiding mechanism 1 can be realized motion platform and adjust function, the function of implementation platform fore-and-aft tilt around the angle of inclination of trim adjustment hinge 11.
Described inclination guiding mechanism 2 comprises: transmission device 23 is adjusted in three grades of pedestals 21, hinges 22 and inclinations.Two hinge 22 symmetries are installed on the platform secondary pedestal 14 in trim guiding mechanism 1, connect with three grades of pedestals 21 by hinge axis.Three grades of pedestals 21 can rotate around hinge 22.Roll in adjustment transmission device 23 and comprise inclination worm and gear adjusting device 231 and roll adjusting screw pair of nut 232 composition inclination adjustment driving-chains.On the platform secondary pedestal 14 that inclination worm and gear adjusting device 231 is articulated with in trim guiding mechanism 1, the leading screw that rolls adjusting screw pair of nut 232 connects with the worm-wheel shaft that rolls worm and gear adjusting device 231, and the nut and the three grades of pedestals 21 that roll adjusting screw pair of nut 232 are hinged.Roll the worm screw of worm and gear adjusting device 231 by manual actuation, drive the worm gear that rolls adjusting screw pair of nut 232 to rotate, drive the leading screw of the inclination adjusting screw pair of nut 232 being attached thereto to rotate by worm gear, the leading screw that rolls adjusting screw pair of nut 232 drives the nut that rolls adjusting screw pair of nut 232 to move, and can drive three grades of pedestals 21 that are connected with nut to rotate around hinge 22.Described inclination guiding mechanism 2 can be realized the adjustment function of motion platform around the angle of inclination of hinge 22, the function of implementation platform lateral tilt.
Described servomotor 3 is installed on three grades of pedestals 21 that roll in guiding mechanism 2, and the output shaft of servomotor 3 is connected with the power shaft of the decelerator 41 in transmission mechanism 4.Servomotor 3 provides driving by transmission mechanism 4 for motion platform mechanism 5.
Described transmission mechanism 4 is mainly made up of mechanical reducer 41 and chain gear transmission pair 42.The power shaft of mechanical reducer 41 is accepted the power from servomotor 3, and the output shaft of mechanical reducer 41 connects the driving wheel 421 of sprocket wheel transmission 42, by chain 422 transmissions, and the follower 423 of drive sprocket transmission 42.The follower 423 of chain gear transmission pair 42 is coaxial with motion platform sprocket wheel 52, and power is exported to motion platform mechanism 5.The motive power that described transmission mechanism 4 is realized servomotor 3 is to the power transmission of motion platform mechanism 5 and rotating speed, torque transfer function, and actuation movement platform mechanism 5 is worked.
The platform unit 54 that described motion platform mechanism 5 comprises guiding main orbit 51, motion platform sprocket wheel 52, motion platform chain 53 and design quantity.Guiding main orbit 51 is fixedly connected on three grades of pedestals 21 that roll in guiding mechanism 2.The bearing block of motion platform sprocket wheel 52 is fixedly assemblied on three grades of pedestals 21 that roll in guiding mechanism 2, the axle of motion platform sprocket wheel 52 connects with the follower 423 of the chain gear transmission pair 42 of transmission mechanism 4, and the actuation movement platform sprocket wheel 52 being subject to drives motion platform chain 53 to move.Platform unit 54 comprises platform unit guides wheel 541, platform unit regulating wheel 542, step unit 543.Platform unit guides wheel 541 and platform unit regulating wheel 542 are articulated with on step unit 543.The hinge axis of the platform unit guides wheel 541 of every grade of platform unit 54 is articulated with on the chain link of motion platform chain 53 simultaneously, platform unit guides wheel 541 is retrained by the guiding main orbit 51 grooved guide rails of motion platform mechanism 5, can under chain-driving, roll along guiding main orbit 51.Platform unit regulating wheel 542 is subject to the grooved guide rail guiding constraint of movable guiding rail 61 in ladder/plane transformation mechanism 6.All platforms unit 54, along chain annular spread, forms the flat surface of shuttling movement; Motion platform mechanism 5 can be under chain drive, drives along the hinged each platform unit 54 of chain and moves along guiding main orbit 51.
Described ladder/plane transformation mechanism 6 comprises movable guiding rail 61 and moving rail drive unit 62.Moving rail drive unit 62 comprises moving rail and drives worm and gear adjusting device 621, moving rail driving screw pair 622 and moving rail guider 623, support 624.The lead of moving rail guider 623 is installed on three grades of pedestals 21 that roll guiding mechanism 2, and lead is realized guiding to movable guiding rail 61.Moving rail drives worm and gear adjusting device 621 to be articulated with on three grades of pedestals 21 that roll guiding mechanism 2, output shaft connects the leading screw of moving rail driving screw pair 622, moving rail drives screw pair 622 nuts to be installed on the slipper of guider 623, and the slipper of guider 623 is arranged on the support body of movable guiding rail 61.Drive worm and gear adjusting device 621 by the moving rail of manual adjustment, drive moving rail to drive the leading screw rotation of screw pair 622 to drive the slipper of guider 623 along the lead parallel of guider 623 by nut body, drive movable guiding rail 61 along lead parallel, adjust guiding main orbit 51 positions of movable guiding rail 61 with respect to motion platform mechanism 5 with this.The platform unit regulating wheel 542 of each platform unit 54 changes the position with respect to the platform unit guides wheel 541 in platform unit 54 with the change in location of the movable guiding rail 61 of ladder/plane transformation mechanism 6, and determine that with this attitude of platform unit 54 is in surface platform state (referring to Fig. 5 (a)), or in ladder platform status (referring to Fig. 5 (b)).
Described ladder/plane transformation mechanism 6 can adjust guiding main orbit 51 positions of movable guiding rail 61 with respect to motion platform mechanism 5, adjust the position relationship of platform unit regulating wheel 542 with respect to platform unit guides wheel 541 with this, realize the conversion of motion platform ladder/plane function.
The motion platform mechanism 5 of training platform of the present invention, by driving servomotor 3 to drive via transmission device 4, can be worked under flatbed treadmill and circulation ladder two states.The conversion of ladder/plane motion mode of training platform realizes by adjusting ladder/plane transformation mechanism 6.Training platform institutional adjustment function of the present invention comprises: the ladder/plane transformation of trim adjustment, inclination adjustment and platform.
1) trim adjustment
By the adjustment of the trim guiding mechanism 1 implementation platform gradient, adjust transmission device 13 by adjusting trim, by the wherein transmission of trim adjustment worm and gear adjusting device 131 and trim adjusting screw pair of nut 132, can realize the conversion of 0～30 ° of scope gradient.
2) roll and adjust
Adjust transmission device 23 by adjusting the inclination that rolls guiding mechanism 2, by wherein rolling worm and gear adjusting device 231 and rolling the transmission of adjusting screw pair of nut 232, the adjustment of lateral tilt degree that can implementation platform-10～+ 10 ° scope.
3) ladder/plane transformation of platform
The conversion of ladder/plane transformation mechanism 6 ladder/plane modes for controlled motion platform 5 of platform.Major control device comprises movable guiding rail 61 and the moving rail drive unit 62 of both sides.The regulating wheel 542 of platform unit 54 is rolled and is connected in movable moving rail 61, and platform unit guides wheel 541 rolls and connects in guiding main orbit 51.Correlation between platform unit guides wheel 541 and platform unit regulating wheel 542 determines the attitude of platform unit 54.Adjust the distance of moving rail 61 and guiding main orbit 51, can change the attitude of platform unit 54, that is in plane mode or step pattern.Adjust moving rail drive unit 62 and do translational motion by a feed screw nut relative guiding main orbit 51 of a controlled braking rail 61 wherein, change the distance between movable guiding rail 61 and guiding main orbit 51, the attitude of capable of regulating platform unit 54 thus, and convert (referring to Fig. 5 between plane and two kinds of patterns of ladder.In Fig. 5 (a), drive by adjusting moving rail drive unit 62, make translation under the guiding of movable guiding rail 61 lead that the moving rail drive unit 62 of guiding main orbit 51 in ladder/plane transformation mechanism 6 comprises relatively.Away from guiding main orbit 51, the planar registration of each platform unit 54, forms surface platform pattern; In Fig. 5 (b), by adjusting moving rail drive unit 62 and make translation under the guiding of movable guiding rail 61 lead that the moving rail drive unit 62 of guiding main orbit 51 in ladder/plane transformation mechanism 6 comprises relatively, approach guiding main orbit 51, the plane of each platform unit 54 staggers, and forms ladder platform model.
Many orographic models of the present invention training platform is by modularized design, modules is adjusted respectively and can be combined into multiple training orographic model, can realize level land, ramp, inclination or step landform mode, can coordinate lower limb exoskeleton recovery exercising robot to carry out intelligent multi-mode rehabilitation training, also can be used as many orographic model training body-building platforms and use separately.
In the previous case, can, by robot control system combined sensor, realize the intelligent closed-loop control to platform speed, to realize the speed coordination of entire system to the control of platform movement velocity.Under latter event, its speed is carried out setup control by special control system.Also can sensors configured, implementation platform speed has adaptive Based Intelligent Control to trainer's training.
The adjusting device of training platform each several part of the present invention, comprise trim adjusting device 13, roll adjusting device 23 and adjust moving rail drive unit 62, embodiment all adopts worm and gear-screw nut driving mechanism, to realize the variation of elongation, but those skilled in the art easily understand, the variation of this elongation also can adopt oil cylinder, cylinder, connecting rod, electric cylinder or other linear transmission, realizes identical function.
The present invention does not address part and is applicable to prior art.
Claims (3)
1. a multi-mode lower limb rehabilitation training platform, it is characterized in that this training platform comprises six parts: trim guiding mechanism, inclination guiding mechanism, servomotor, transmission mechanism, motion platform mechanism and ladder/plane transformation mechanism, described trim guiding mechanism is connected with inclination guiding mechanism by its platform secondary pedestal, and described servomotor, transmission mechanism are all directly installed on three grades of pedestals that roll guiding mechanism; Motion platform mechanism is assemblied in by four bearing blocks of its in-house two ends sprocket shaft on three grades of pedestals that roll guiding mechanism; Ladder/plane transformation mechanism is installed on by its in-house support on three grades of pedestals that roll guiding mechanism;
Described trim guiding mechanism comprises hinge, platform base, trim adjustment transmission device and platform secondary pedestal; Two hinge symmetries that structure is identical are arranged on two angles of platform base, two trims that structure is identical are adjusted transmission device symmetry and are arranged on two limits of platform base, and described hinge is all connected with the platform secondary pedestal on platform base with trim adjustment transmission device; Platform secondary pedestal is identical with platform base structure; Described trim is adjusted the transmission mechanism that transmission device is made up of worm and gear adjusting device and screw pair, worm and gear adjusting device is installed on platform base, its output worm gear connects with the leading screw of screw pair, and the nut of screw pair is hinged on platform secondary pedestal;
Described inclination guiding mechanism comprises three grades of pedestals, hinge and inclination and adjusts transmission device; Two hinge symmetries are installed on the platform secondary pedestal in trim guiding mechanism, connect with three grades of pedestals by hinge axis, and three grades of pedestals can rotate around hinge; Roll adjustment transmission device and comprise worm and gear adjusting device and screw pair composition inclination adjustment driving-chain, worm and gear adjusting device is articulated with on the platform secondary pedestal in trim guiding mechanism, the leading screw of screw pair connects with the worm-wheel shaft of worm and gear adjusting device, and the nut of screw pair and three grades of pedestals are hinged;
The output shaft of described servomotor is connected with the power shaft of the reduction box in transmission mechanism, and the drive sprocket of the chain gear transmission pair of the output shaft connection for transmission mechanism of reduction box, outputs to driving force by movable sprocket by chain; Be connected with the power shaft of motion platform mechanism by movable sprocket, actuation movement platform mechanism rotates; The power shaft of motion platform mechanism drives sprocket wheel and the chain in it;
The platform unit that described motion platform mechanism comprises guiding main orbit, sprocket wheel, chain and design quantity; Guiding main orbit is fixedly connected on three grades of pedestals that roll in guiding mechanism, and the bearing block of sprocket wheel is fixedly assemblied on three grades of pedestals that roll in guiding mechanism, and the axle of sprocket wheel is connected with the follower of the chain gear transmission pair of transmission mechanism, and is driven; Sprocket wheel drives chain movement; Platform unit comprises platform unit guides wheel, platform unit regulating wheel and step unit; Platform unit guides wheel and platform unit regulating wheel are articulated with on step unit, the hinge axis of the platform unit guides wheel of every grade of platform unit is articulated with on the chain link of chain simultaneously, platform unit guides wheel is retrained by the guiding main orbit grooved guide rail of motion platform mechanism, can under chain-driving, roll along guiding main orbit, platform unit regulating wheel is subject to the grooved guide rail guiding constraint of movable guiding rail in ladder/plane transformation mechanism; The platform unit of design quantity is along chain annular spread, and all platforms unit forms the flat surface of shuttling movement, and motion platform mechanism can be under chain drive, drives along the hinged each platform unit of chain and moves along guiding main orbit;
Described ladder/plane transformation mechanism comprises movable guiding rail and moving rail drive unit; Moving rail drive unit comprises worm and gear adjusting device, screw pair, moving rail guider and support; The lead of moving rail guider is installed on three grades of pedestals that roll guiding mechanism; Worm and gear adjusting device is articulated with on three grades of pedestals that roll guiding mechanism, and output shaft connects the leading screw of screw pair, and the nut of screw pair is installed on the slipper of guider, and the slipper of guider is arranged on the support body of movable guiding rail.
2. multi-mode lower limb rehabilitation training platform according to claim 1, it is characterized in that the adjustment by the trim guiding mechanism implementation platform gradient, adjust transmission device by adjusting trim, by the wherein transmission of trim adjustment worm and gear adjusting device and trim adjusting screw pair of nut, can realize the conversion of 0～30 ° of scope gradient.
3. multi-mode lower limb rehabilitation training platform according to claim 1, it is characterized in that the inclination adjustment transmission device that rolls guiding mechanism by adjusting, by wherein rolling worm and gear adjusting device and rolling the transmission of adjusting screw pair of nut, the adjustment of lateral tilt degree that can implementation platform-10～+ 10 ° scope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201310127200.9A CN103212187B (en) | 2013-04-13 | 2013-04-13 | Multi-mode lower limb rehabilitation training platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310127200.9A CN103212187B (en) | 2013-04-13 | 2013-04-13 | Multi-mode lower limb rehabilitation training platform |
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| CN103212187A CN103212187A (en) | 2013-07-24 |
| CN103212187B true CN103212187B (en) | 2014-12-10 |
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| CN201310127200.9A Expired - Fee Related CN103212187B (en) | 2013-04-13 | 2013-04-13 | Multi-mode lower limb rehabilitation training platform |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105476820B (en) * | 2016-01-14 | 2018-09-25 | 力迈德医疗（广州）有限公司 | A kind of walking rehabilitation training intelligence system |
| CN111388948A (en) * | 2020-03-03 | 2020-07-10 | 上海电气集团股份有限公司 | Lower limb rehabilitation training system and method with multiple training modes |
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| CN2780172Y (en) * | 2004-06-23 | 2006-05-17 | 何塞·路易斯·加尔韦斯·坎波斯 | Sitting type lower limb body-building apparatus |
| CN201235053Y (en) * | 2008-08-12 | 2009-05-13 | 焦集群 | Rehabilitation apparatus for intelligent control of double-leg lower limbs sports on bed |
| WO2010088458A2 (en) * | 2009-01-29 | 2010-08-05 | Palmer Dennis D | Exercise device with resistance |
| CN102961850A (en) * | 2012-12-05 | 2013-03-13 | 青岛康顿钢塑制品发展有限公司 | Exercise equipment for wheelchair user |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1057519A (en) * | 1996-08-23 | 1998-03-03 | Toru Nishioka | In-water walking device |
| US20120329611A1 (en) * | 2011-06-23 | 2012-12-27 | Marc Bouchard | Motorized Lower Body Rehabilitation Device and Method |
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2013
- 2013-04-13 CN CN201310127200.9A patent/CN103212187B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2780172Y (en) * | 2004-06-23 | 2006-05-17 | 何塞·路易斯·加尔韦斯·坎波斯 | Sitting type lower limb body-building apparatus |
| CN201235053Y (en) * | 2008-08-12 | 2009-05-13 | 焦集群 | Rehabilitation apparatus for intelligent control of double-leg lower limbs sports on bed |
| WO2010088458A2 (en) * | 2009-01-29 | 2010-08-05 | Palmer Dennis D | Exercise device with resistance |
| CN102961850A (en) * | 2012-12-05 | 2013-03-13 | 青岛康顿钢塑制品发展有限公司 | Exercise equipment for wheelchair user |
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| JP特开平10-57519A 1998.03.03 * |
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