CN104000706A - Multi-body-position rehabilitation robot with linkage of upper limbs and lower limbs - Google Patents
Multi-body-position rehabilitation robot with linkage of upper limbs and lower limbs Download PDFInfo
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- CN104000706A CN104000706A CN201410217852.6A CN201410217852A CN104000706A CN 104000706 A CN104000706 A CN 104000706A CN 201410217852 A CN201410217852 A CN 201410217852A CN 104000706 A CN104000706 A CN 104000706A
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Abstract
The invention provides a multi-body-position rehabilitation robot with linkage of upper limbs and lower limbs. The multi-body-position rehabilitation robot comprises a rotating bed module, an upper limb movement support module, a lower limb movement support module and lower limb joint actuators, wherein the upper limb movement support module is fixed to the end, close to the head, of the rotating bed module; the lower limb movement support module is connected to the tail of a rotating bed back support in the rotating bed module; the lower limb joint actuators are respectively installed below a support hip joint and a support knee joint in the lower limb movement support module to drive the lower limbs to do gait movement. The rehabilitation robot can help a patient who has trouble in walking to carry out gait movement in the early bed-ridden stage, and under the protection of a suspension system and the supporting of a rotating bed, the patient can achieve multi-body-position gait rehabilitation movement along with arm swing, so that the rehabilitation effect is improved.
Description
Technical field
The present invention relates to the device of healing robot technical field, particularly, relate to a kind of many positions upper and lower extremities interlock healing robot.
Background technology
China approximately has apoplexy patient nearly 7,000,000 at present, and a year new apoplexy case reaches 1,500,000 people, spinal cord injury year new cases can reach more than 10 ten thousand people.Along with the raising of economic construction and treatment level, central nervous system injury patient's mortality rate obviously declines, but finally still have more than 80%, disables, and wherein dyskinesia is the most common.Lower limb function has directly determined the standing of patient, transfer and locomotor activity, thereby determine patient's life activity scope, and communal participation scope and quality of life, therefore, for the patient of central nervous system injury, recovering locomotor activity is that they participate in one of primary goal of rehabilitation training.When the mankind normally walk, arm is suitable swing along with lower extremity movement.Although the swing of arm does not provide direct thrust function to walking, from kinesiology angle, during gait, arms swing improves gait stability, improves energy efficiency.According to the targeting principle of rehabilitation training, gait training must be become deformed with normal row like limb action.Patient is when carrying out gait training so, what upper arm also should suitable swing.In addition, the time started of rehabilitation training is also very important.Current research all shows that rehabilitation should be since acute stage, as long as do not hinder treatment, rehabilitation training starts more early, functional rehabilitation may be just larger, prognosis is just better.In view of most patients after hemiplegia or paraplegia; within a very long time, still can not train walking, even can only putting down of having is sleeping, and gait rehabilitation equipment should guarantee that patient is participating in training from a plurality of positions such as upright that lie low; thereby promotion rehabilitation efficacy, helps patient to set up the confidence to life.
Through the retrieval of prior art is found, the Chinese patent of application number 201320502166.4, title: upper and lower extremities is rehabilitation apparatus for training initiatively, and this technology comprises frame, tumbler and damping unit.This system can allow user be seated to carry out the circumference action of hands or foot, rather than upper and lower extremities moves simultaneously, so the training effectiveness of this patent is low.The Chinese patent of application number 201220021483.X, title: paralytic's upper and lower limbs recovery conic, this technology comprises upper limb rehabilitation machine, lower limb rehabilitation machine and bed body.Upper limb rehabilitation machine and lower limb rehabilitation function are simultaneously with starting and the circular-rotation of foot.Although this has reached the object of motion upper and lower extremities, in the action of our daily life, seldom relate to the mode that upper and lower extremities is done circular-rotation.In addition, the flat condition of bed body makes patient be confined to the rehabilitation training position lying low always, and our daily required activity seldom must be carried out by recumbency.So the action training track of this patent and training position need to improve.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of many positions upper and lower extremities interlock healing robot, this robot can allow the early stage even patient in the bed stage start the upper and lower extremities training of marking time of coordination exercise together, promotion functions rehabilitation.
For realizing above object, the invention provides a kind of many positions upper and lower extremities interlock healing robot, comprise revolving bed module, upper extremity exercise rack module, lower extremity movement rack module and joint of the lower extremity Drive Module, wherein: revolving bed module is provided with revolving bed push-rod electric machine and revolving bed back bracket, upper extremity exercise rack module is provided with support shoulder joint electric rotating machine, lower extremity movement rack module is provided with support hip joint and support knee joint, and revolving bed module realizes from the upright any position that lies low under revolving bed push-rod electric machine; Upper extremity exercise rack module is fixed on the something or somebody to fall back on end of revolving bed module and under support shoulder joint electric rotating machine drives and does swing arm campaign; Lower extremity movement rack module is connected to the afterbody of revolving bed back bracket, and joint of the lower extremity Drive Module is fixed on below support hip joint and support knee joint to drive lower limb to do gait motion;
Described many positions upper and lower extremities interlock healing robot is by the revolving bed push-rod electric machine of revolving bed module, the support shoulder joint electric rotating machine of upper extremity exercise rack module and the electric rotating machine of joint of the lower extremity Drive Module carry out the motion of control, the revolving bed push-rod electric machine of revolving bed module changes the position of revolving bed, the joint of the lower extremity Drive Module of two lower limb converts rotatablely moving of electric rotating machine to rectilinear motion, joint of the lower extremity Drive Module is arranged under hip joint and drives hip joint to realize, the joint of the lower extremity Drive Module of two lower limb is arranged under knee joint and drives knee joint to realize, thereby accurately control the step movement of two lower limb, the support shoulder joint electric rotating machine of two upper limb is controlled the arm pendular motion of upper limb, finally realize the gait rehabilitation training of the upper and lower extremities interlock of many positions.
Preferably, described revolving bed module comprises: pipe-hanging hook, revolving bed housing, bed body left and right sides liftable keep flat plate, revolving bed back bracket, hip joint connecting hole, hip joint driver connecting hole, revolving bed base for supporting, revolving bed push-rod electric machine, push-rod electric machine fixing head, revolving bed rotating shaft, revolving bed tailgate and vola supporting guide, wherein: pipe-hanging hook and revolving bed back bracket are all fixed on revolving bed housing; Revolving bed housing turns to erectility around revolving bed rotating shaft under the thrust of two the revolving bed push-rod electric machines in left and right; Bed body left and right sides liftable keeps flat plate and is fixed on revolving bed base for supporting; The afterbody of revolving bed back bracket is provided with for the hip joint connecting hole of lower extremity movement rack module is installed, and hip joint connecting hole is connected with the support hip joint in lower extremity movement rack module; The afterbody bottom side of revolving bed back bracket is provided with for the hip joint driver connecting hole of lower extremity movement rack module is installed, and the hip joint driver tail end connecting hole in hip joint driver connecting hole and lower extremity movement rack module is used for installing hip joint driver; Two the revolving bed push-rod electric machines in left and right are arranged on push-rod electric machine fixing head; Revolving bed housing can keep lying status under the support of revolving bed base for supporting, or around revolving bed rotating shaft, turns to erectility under the thrust of two revolving bed push-rod electric machines; Revolving bed tailgate can carry out length adjustment according to patient's height, thereby vola supporting guide is played a supportive role at suitable height.
Preferably, described upper extremity exercise rack module comprises: shoulder support bearing, shoulder joint altitude mixture control button, support shoulder joint electric rotating machine, overarm brace and patient's upper arm distance adjustment button, overarm brace, overarm brace length adjustment button, support elbow joint, front arm support, forearm stent length regulate button and hands fixed support, wherein: upper extremity exercise rack module is fixed on the side of the revolving bed housing in revolving bed module by shoulder support bearing; Shoulder joint altitude mixture control button is for finely tuning shoulder joint from the height of revolving bed; Support shoulder joint electric rotating machine is for driving shoulder joint to do the front and back swing arm campaign of normal gait; Overarm brace is for immobilized patients upper arm; Support elbow joint aligns with patient's elbow joint and allows patient's elbow joint natural torsion action when training; Front arm support is for immobilized patients forearm; The hands portion of hands fixed support immobilized patients; Overarm brace and patient's upper arm distance adjustment button, overarm brace length adjustment button and forearm stent length regulate button to be used for regulating each holder part size to be close to upper extremity exercise rack module and to be synchronized with the movement to reach patient's arm.
Preferably, described lower extremity movement rack module comprises: support hip joint, thigh support frame, thigh support frame length adjustment button, hip joint driver tail end connecting hole, knee joint driver head end connecting hole, support knee joint, little leg support, shank stent length regulate button, knee joint driver tail end connecting hole, support ankle joint, sole support and sole support wheel, wherein: support hip joint is connected with the hip joint connecting hole of revolving bed module; Thigh support frame is used for supporting patient's thigh; Thigh support frame length adjustment button is for regulating the length of thigh support frame; The hip joint driver connecting hole of hip joint driver tail end connecting hole and revolving bed module is used for installing hip joint driver; Knee joint driver head end connecting hole and knee joint driver tail end connecting hole are used for installing knee joint driver; Little leg support is used for supporting patient's shank; Shank stent length regulates button for regulating the length of little leg support; Sole support is for supporting patient's foot; Thigh support frame length adjustment button and shank stent length regulate button to regulate lower extremity movement each part length of rack module so that patient's knee joint and ankle joint align with support knee joint and support ankle joint respectively; On the vola supporting guide of sole support wheel permission patient's foot in revolving bed module, come rollback moving; Under the effect of hip joint driver and knee joint driver, whole lower extremity movement rack module helps patient's lower limb to realize step movement on the supporting guide of vola.
Preferably, described joint of the lower extremity Drive Module comprises: electric rotating machine, motor fixing plate, shaft coupling, driver head end fixing hole, leading screw, feed screw nut, guide rod, push rod, leading screw fixing head, ejector pin retaining plate and driver tail end fixing hole, wherein: electric rotating machine is arranged on motor fixing plate; Shaft coupling connects the swingle of electric rotating machine and one end of leading screw; Guide rod through feed screw nut one end be fixed on motor fixing plate, one end is fixed on leading screw fixing head; Push rod one end is fixed on feed screw nut, one end is fixed on ejector pin retaining plate; Driver head end fixing hole in joint of the lower extremity Drive Module is connected with the hip joint driver connecting hole in revolving bed module, driver tail end fixing hole in joint of the lower extremity Drive Module is connected with the hip joint driver tail end connecting hole in lower extremity movement rack module, realize and drive hip joint, be called as hip joint driver; Driver head end fixing hole in joint of the lower extremity Drive Module is connected with the knee joint driver head end connecting hole in lower extremity movement rack module, the driver tail end fixing hole of joint of the lower extremity Drive Module is connected with the knee joint driver tail end connecting hole in lower extremity movement rack module, realizes and drives knee joint.
Robot of the present invention can make patient from the upright any position that lies low, and realizes the step movement with arm pendulum.
When the present invention works, first measure length, thigh and shank length and the hip joint width dimensions of patient's upper body width length and thickness, shoulder joint height, upper arm and forearm, and regulate the length of upper extremity exercise rack module and each parts of lower extremity movement rack module to suitable patient's size; Then patient's upper body lies in the back bracket of revolving bed module, its hip joint is aimed at the support hip joint in lower extremity movement rack module, patient's shoulder joint, elbow joint, knee joint and ankle joint align with robot corresponding rotating shaft, and patient's upper and lower extremities and upper and lower limb motion bracket module are fixed by bandage, patient's foot is placed on sole support.The whole health of patient is fixed on the pipe-hanging hook of revolving bed module by bandage.Then put down a body left and right sides liftable and keep flat plate.Start the support shoulder joint electric rotating machine of upper extremity exercise rack module and the electric rotating machine in joint of the lower extremity Drive Module, realize two similar motions of marking time of upper and lower extremities.According to needs of patients, can start the revolving bed push-rod electric machine of revolving bed module, revolving bed and patient are reached from the upright any position that lies low, training step movement.The present invention carrys out the motion of control by a revolving bed push-rod electric machine in six electric rotating machines (being two support shoulder joint electric rotating machines in upper extremity exercise rack module, four electric rotating machines in joint of the lower extremity Drive Module) and revolving bed module.The hip joint driver of two lower limb and knee joint driver can accurately be controlled the step movement of two lower limb; The support shoulder joint electric rotating function of two upper limb is controlled the arm pendular motion of upper limb; Revolving bed push-rod electric machine can change the position of revolving bed, finally realizes the gait rehabilitation training of the upper and lower extremities interlock of many positions.
Compared with prior art, the present invention has following beneficial effect:
In the present invention, revolving bed module is given the patient of the ability of independently not standing, and comprises that paraplegia and hemiplegic patient provide a kind of safe exercise equipment, has increased the application crowd of this invention large; Movable pair of upper limb of the present invention and two lower limb, can, according to patient's needs, select training position and motion scheme; The present invention allows patient's upper arm to be accompanied by gait training to move together, improved training effectiveness, promotes rehabilitation efficacy, and the application tool to healing robot at medical domain is of great significance.
Accompanying drawing explanation
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 is the overall structure schematic diagram of many positions upper and lower extremities interlock healing robot of the present invention assembling;
Fig. 2 is the structural representation of the revolving bed module shown in Fig. 1;
Fig. 3 is the structural representation of the upper extremity exercise rack module shown in Fig. 1;
Fig. 4 is the structural representation of the lower extremity movement rack module shown in Fig. 1;
Fig. 5 is the structural representation of the joint of the lower extremity Drive Module shown in Fig. 1;
In figure:
Revolving bed module 1, upper extremity exercise rack module 2, lower extremity movement rack module 3, joint of the lower extremity Drive Module 4;
Pipe-hanging hook 10, revolving bed housing 11, bed body left and right sides liftable keep flat plate 12, revolving bed back bracket 13, hip joint connecting hole 14, hip joint driver connecting hole 15, revolving bed base for supporting 16, revolving bed push-rod electric machine 17, push-rod electric machine fixing head 18, revolving bed rotating shaft 19, revolving bed tailgate 110, vola supporting guide 111;
Shoulder support bearing 20, shoulder joint altitude mixture control button 21, support shoulder joint electric rotating machine 22, overarm brace and patient's upper arm distance adjustment button 23, overarm brace 24, overarm brace length adjustment button 25, support elbow joint 26, front arm support 27, forearm stent length regulate button 28, hands fixed support 29;
Support hip joint 30, thigh support frame 31, thigh support frame length adjustment button 32, hip joint driver tail end connecting hole 33, knee joint driver head end connecting hole 34, support knee joint 35, shank support 36, shank stent length regulate button 37, knee joint driver tail end connecting hole 38, support ankle joint 39, sole support 310, sole support wheel 311;
Electric rotating machine 40, motor fixing plate 41, shaft coupling 42, driver head end fixing hole 43, leading screw 44, feed screw nut 45, guide rod 46, push rod 47, leading screw fixing head 48, ejector pin retaining plate 49, driver tail end fixing hole 410.
The specific embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art further to understand the present invention, but not limit in any form the present invention.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement.These all belong to protection scope of the present invention.
As shown in Figure 1, the present embodiment provides a kind of many positions upper and lower extremities interlock healing robot, comprise: revolving bed module 1, upper extremity exercise rack module 2, lower extremity movement rack module 3 and joint of the lower extremity Drive Module 4, wherein: upper extremity exercise rack module 2 is fixed on the something or somebody to fall back on end of revolving bed module 1 by the shoulder support bearing 20 arranging; Lower extremity movement rack module 3 is connected to the afterbody of the revolving bed back bracket 13 of revolving bed module 1 by hip joint rotating shaft; Joint of the lower extremity Drive Module 4 is arranged on respectively support hip joint 30 and the support knee joint 35 of lower extremity movement rack module 3 and with driving lower limb, does gait motion below.
As shown in Figure 2, described revolving bed main body module 1 comprises: pipe-hanging hook 10, revolving bed housing 11, bed body left and right sides liftable keeps flat plate 12 (in Fig. 2 for the ease of showing a bed underside structures, right side liftable keeps flat plate and is hidden), revolving bed back bracket 13, hip joint connecting hole 14, hip joint driver connecting hole 15, revolving bed base for supporting 16, revolving bed push-rod electric machine 17, push-rod electric machine fixing head 18, revolving bed rotating shaft 19, revolving bed tailgate 110 and vola supporting guide 111, wherein: pipe-hanging hook 10 and revolving bed back bracket 13 are all fixed on revolving bed housing 11, revolving bed housing 11 is by turning to erectility around revolving bed rotating shaft under the thrust of two the revolving bed push-rod electric machines 17 in left and right, the afterbody of revolving bed back bracket 13 is provided with for the hip joint connecting hole 14 of lower extremity movement rack module 3 is installed, the afterbody bottom side of revolving bed back bracket 13 is provided with for the hip joint driver connecting hole 15 of lower extremity movement rack module 3 is installed, bed body left and right sides liftable keep flat plate 12 be fixed on revolving bed base for supporting 16 and the revolving bed housing 11 of height when lying low consistent, in patient lies the process of going to bed, play a supportive role, two the revolving bed push-rod electric machines 17 in left and right are arranged on push-rod electric machine fixing head 18, revolving bed housing 11 can keep lying status under the support of revolving bed base for supporting 14, also can under the thrust of two revolving bed push-rod electric machines 17, around revolving bed rotating shaft 19, turn to erectility, revolving bed tailgate 110 can carry out length adjustment according to patient's height, to facilitate patient's foot front and back on vola supporting guide 111 to take a step, finally plays the effect of supporting weight in patients.
As shown in Figure 3, described upper extremity exercise rack module 2 comprises: shoulder support bearing 20, shoulder joint altitude mixture control button 21, support shoulder joint electric rotating machine 22, overarm brace and patient's upper arm distance adjustment button 23, overarm brace 24, overarm brace length adjustment button 25, support elbow joint 26, front arm support 27, forearm stent length regulate button 28 and hands fixed support 29, wherein: whole upper extremity exercise rack module 2 is fixed on the side of the revolving bed housing 11 in revolving bed module by shoulder support bearing 20; Shoulder joint altitude mixture control button 21 for finely tuning shoulder joint from the height of revolving bed to be applicable to the patient of various physique; Support shoulder joint electric rotating machine 22 drives shoulder joint to do the front and back swing arm campaign in normal gait; Because the width of patient's upper body is different, overarm brace and patient's upper arm distance adjustment button 23 be for finely tuning the distance of overarm brace 24 and patient's upper arm, to reach patient's arm, is close to overarm brace 24 and is synchronized with the movement; Overarm brace 24 is for immobilized patients upper arm; Overarm brace length adjustment button 25 is for regulating the entire length of overarm brace 24 according to patient's upper arm size; Support elbow joint 26 aligns with patient's elbow joint, allows patient's elbow joint natural torsion action when training; Front arm support 27 is for immobilized patients forearm; Forearm stent length regulates button 28 for the entire length of arm support 27 before regulating according to patient's forearm size; Because rotatablely moving of wrist in normal walking is very small, so rotatablely moving of wrist ignored on front arm support 27, by hands fixed support 29, drive patient's hands naturally to swing.
As shown in Figure 4, described lower extremity movement rack module 3 comprises: support hip joint 30, thigh support frame 31, thigh support frame length adjustment button 32, hip joint driver tail end connecting hole 33, knee joint driver head end connecting hole 34, support knee joint 35, shank support 36, shank stent length regulate button 37, knee joint driver tail end connecting hole 38, support ankle joint 39, sole support 310 and sole support wheel 311, wherein: support hip joint 30 aligns and is connected with hip joint connecting hole 14 in revolving bed main body module 1; Thigh support frame 31 is for supporting patient's thigh; Thigh support frame length adjustment button 32 is for regulating the length of thigh support frame 31; Hip joint driver tail end connecting hole 33 is for fixing hip joint driver tail end; Knee joint driver head end connecting hole 34 is for fixing knee joint driver head end; Support knee joint 35 is alignd with patient's knee joint; Shank support 36 is for supporting patient's shank; Shank stent length regulates button 37 to regulate the length of shank support 36; Knee joint driver tail end connecting hole 38 is for connecting knee joint driver tail end; Support ankle joint 39 aligns with patient's ankle joint; Sole support 310 is for supporting patient's foot; On the vola supporting guide 111 of sole support wheel 311 permission patients' foot in revolving bed module 1, come rollback moving, realize step movement.
As shown in Figure 5, described joint of the lower extremity Drive Module 4 comprises: electric rotating machine 40, motor fixing plate 41, shaft coupling 42, driver head end fixing hole 43, leading screw 44, feed screw nut 45, guide rod 46, push rod 47, leading screw fixing head 48, ejector pin retaining plate 49 and driver tail end fixing hole 410, wherein: electric rotating machine 40 is arranged on motor fixing plate 41, shaft coupling 42 connects the swingle of electric rotating machine 40 and one end of leading screw 44; Guide rod 46 is through feed screw nut 45, and one end is fixed on motor fixing plate 41, one end is fixed on leading screw fixing head 48; Push rod 47 one end are fixed on feed screw nut 45, one end is fixed on ejector pin retaining plate 49; Driver head end fixing hole 43 in joint of the lower extremity Drive Module 4 is connected with the hip joint driver connecting hole 15 in revolving bed module 1, driver tail end fixing hole 410 in joint of the lower extremity Drive Module 4 is connected with the hip joint driver tail end connecting hole 33 in lower extremity movement rack module 3, realize and drive hip joint, be called as hip joint driver; Driver head end fixing hole 43 in joint of the lower extremity Drive Module 4 is connected with the knee joint driver head end connecting hole 34 in lower extremity movement rack module 3, the driver tail end fixing hole 410 of joint of the lower extremity Drive Module 4 is connected with the knee joint driver tail end connecting hole 38 in lower extremity movement rack module 3, realize and drive knee joint, be called as knee joint driver.
The working method of described joint of the lower extremity Drive Module 4: electric rotating machine 40 drives leading screw 44 to rotate, feed screw nut 45 under the guiding of guide rod 46 on leading screw 44 moving linearly, push rod 47, also along with rectilinear motion, has been realized the rectilinear motion that rotatablely moving of electric rotating machine 40 is converted into whole Drive Module.When joint of the lower extremity Drive Module 4 drives knee joint, whole Drive Module is connected with knee joint driver head end fixing hole 34 by driver head end fixing hole 43, and driver tail end fixing hole 410 is connected with knee joint driver tail end connecting hole 38.The rectilinear motion of joint of the lower extremity Drive Module 4 drives the swing of support knee joint 35.The mode of joint of the lower extremity Drive Module 4 driving arm hip joints 30 similarly.
When the present embodiment is used, first measure patient's upper body width, length and thickness, shoulder joint height, the length of upper arm and forearm, thigh and shank length and hip joint width dimensions, and regulate the length of upper extremity exercise rack module 2 and lower extremity movement rack module 3 each parts to suitable patient's size; Then patient's upper body lies in revolving bed back bracket 13, and its hip joint is aimed at the support hip joint 30 in lower extremity movement rack module 3, and two upper limb are placed on a body left and right sides liftable and keep flat on plate 12, and two lower limb are placed on lower extremity movement rack module 3; Patient's shoulder joint, elbow joint, knee joint and ankle joint align with robot corresponding rotating shaft, and patient's upper and lower extremities and upper and lower limb motion bracket module 2,3 are fixed by bandage, and patient's foot is placed on sole support 310.The whole health of patient is fixed on pipe-hanging hook 10 by bandage.Then put down a body left and right sides liftable and keep flat plate 12.Start the electric rotating machine 40 of support shoulder joint electric rotating machine 22 and support for lower limbs driver, realize two similar motions of marking time of upper and lower extremities.According to needs of patients, can start revolving bed push-rod electric machine 17, revolving bed and patient are reached from the upright any position that lies low, training step movement.
The present embodiment carrys out the motion of control by a revolving bed push-rod electric machine 17 in six electric rotating machines (being two support shoulder joint electric rotating machines 22 in upper extremity exercise rack module 2, four electric rotating machines 40 in joint of the lower extremity Drive Module 3) and revolving bed module 1.The hip joint driver of two lower limb and knee joint driver can accurately be controlled the step movement of two lower limb; Support shoulder joint electric rotating machine 22 can be controlled the arm pendular motion of upper limb; Revolving bed push-rod electric machine 17 can change the position of revolving bed, finally realizes the gait rehabilitation training of the upper and lower extremities interlock of many positions.
Above specific embodiments of the invention are described.It will be appreciated that, the present invention is not limited to above-mentioned specific implementations, and those skilled in the art can make various distortion or modification within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (6)
1. position upper and lower extremities more than kind interlock healing robot, it is characterized in that, comprise revolving bed module, upper extremity exercise rack module, lower extremity movement rack module and joint of the lower extremity Drive Module, wherein: revolving bed module is provided with revolving bed push-rod electric machine and revolving bed back bracket, upper extremity exercise rack module is provided with support shoulder joint electric rotating machine, lower extremity movement rack module is provided with support hip joint and support knee joint, and revolving bed module realizes from the upright any position that lies low under revolving bed push-rod electric machine; Upper extremity exercise rack module is fixed on the something or somebody to fall back on end of revolving bed module and under support shoulder joint electric rotating machine drives and does swing arm campaign; Lower extremity movement rack module is connected to the afterbody of revolving bed back bracket, and joint of the lower extremity Drive Module is fixed on below support hip joint and support knee joint to drive lower limb to do gait motion;
Described many positions upper and lower extremities interlock healing robot is by the revolving bed push-rod electric machine of revolving bed module, the support shoulder joint electric rotating machine of upper extremity exercise rack module and the electric rotating machine of joint of the lower extremity Drive Module carry out the motion of control, the revolving bed push-rod electric machine of revolving bed module changes the position of revolving bed, the joint of the lower extremity Drive Module of two lower limb converts rotatablely moving of electric rotating machine to rectilinear motion, joint of the lower extremity Drive Module is arranged under hip joint and drives hip joint to realize, the joint of the lower extremity Drive Module of two lower limb is arranged under knee joint and drives knee joint to realize, thereby accurately control the step movement of two lower limb, the support shoulder joint electric rotating machine of two upper limb is controlled the arm pendular motion of upper limb, finally realize the gait rehabilitation training of the upper and lower extremities interlock of many positions.
2. a kind of many positions upper and lower extremities interlock healing robot according to claim 1, it is characterized in that, described revolving bed module comprises: pipe-hanging hook, revolving bed housing, bed body left and right sides liftable keep flat plate, revolving bed back bracket, hip joint connecting hole, hip joint driver connecting hole, revolving bed base for supporting, revolving bed push-rod electric machine, push-rod electric machine fixing head, revolving bed rotating shaft, revolving bed tailgate and vola supporting guide, wherein: pipe-hanging hook and revolving bed back bracket are all fixed on revolving bed housing; Revolving bed housing turns to erectility around revolving bed rotating shaft under the thrust of two the revolving bed push-rod electric machines in left and right; Bed body left and right sides liftable keeps flat plate and is fixed on revolving bed base for supporting; The afterbody of revolving bed back bracket is provided with for the hip joint connecting hole of lower extremity movement rack module is installed, and hip joint connecting hole is connected with the support hip joint in lower extremity movement rack module; The afterbody bottom side of revolving bed back bracket is provided with for the hip joint driver connecting hole of lower extremity movement rack module is installed, and the hip joint driver tail end connecting hole in hip joint driver connecting hole and lower extremity movement rack module is used for installing hip joint driver; Two the revolving bed push-rod electric machines in left and right are arranged on push-rod electric machine fixing head; Revolving bed housing can keep lying status under the support of revolving bed base for supporting, or around revolving bed rotating shaft, turns to erectility under the thrust of two revolving bed push-rod electric machines; Revolving bed tailgate can carry out length adjustment according to patient's height, thereby vola supporting guide is played a supportive role at suitable height.
3. a kind of many positions upper and lower extremities interlock healing robot according to claim 1, it is characterized in that, described upper extremity exercise rack module comprises: shoulder support bearing, shoulder joint altitude mixture control button, support shoulder joint electric rotating machine, overarm brace and patient's upper arm distance adjustment button, overarm brace, overarm brace length adjustment button, support elbow joint, front arm support, forearm stent length regulate button and hands fixed support, wherein: upper extremity exercise rack module is fixed on the side of the revolving bed housing in revolving bed module by shoulder support bearing; Shoulder joint altitude mixture control button is for finely tuning shoulder joint from the height of revolving bed; Support shoulder joint electric rotating machine is for driving shoulder joint to do the front and back swing arm campaign of normal gait; Overarm brace is for immobilized patients upper arm; Support elbow joint aligns with patient's elbow joint and allows patient's elbow joint natural torsion action when training; Front arm support is for immobilized patients forearm; The hands portion of hands fixed support immobilized patients; Overarm brace and patient's upper arm distance adjustment button, overarm brace length adjustment button and forearm stent length regulate button to be used for regulating each holder part size to be close to upper extremity exercise rack module and to be synchronized with the movement to reach patient's arm.
4. a kind of many positions upper and lower extremities interlock healing robot according to claim 2, it is characterized in that, described lower extremity movement rack module comprises: support hip joint, thigh support frame, thigh support frame length adjustment button, hip joint driver tail end connecting hole, knee joint driver head end connecting hole, support knee joint, little leg support, shank stent length regulate button, knee joint driver tail end connecting hole, support ankle joint, sole support and sole support wheel, wherein: support hip joint is connected with the hip joint connecting hole of revolving bed module; Thigh support frame is used for supporting patient's thigh; Thigh support frame length adjustment button is for regulating the length of thigh support frame; The hip joint driver connecting hole of hip joint driver tail end connecting hole and revolving bed module is used for installing hip joint driver; Knee joint driver head end connecting hole and knee joint driver tail end connecting hole are used for installing knee joint driver; Little leg support is used for supporting patient's shank; Shank stent length regulates button for regulating the length of little leg support; Sole support is for supporting patient's foot; Thigh support frame length adjustment button and shank stent length regulate button to regulate lower extremity movement each part length of rack module so that patient's knee joint and ankle joint align with support knee joint and support ankle joint respectively; On the vola supporting guide of sole support wheel permission patient's foot in revolving bed module, come rollback moving; Under the effect of hip joint driver and knee joint driver, whole lower extremity movement rack module helps patient's lower limb to realize step movement on the supporting guide of vola.
5. a kind of many positions upper and lower extremities interlock healing robot according to claim 4, it is characterized in that, described joint of the lower extremity Drive Module comprises: electric rotating machine, motor fixing plate, shaft coupling, driver head end fixing hole, leading screw, feed screw nut, guide rod, push rod, leading screw fixing head, ejector pin retaining plate and driver tail end fixing hole, wherein: electric rotating machine is arranged on motor fixing plate; Shaft coupling connects the swingle of electric rotating machine and one end of leading screw; Guide rod through feed screw nut one end be fixed on motor fixing plate, one end is fixed on leading screw fixing head; Push rod one end is fixed on feed screw nut, one end is fixed on ejector pin retaining plate; Driver head end fixing hole in joint of the lower extremity Drive Module is connected with the hip joint driver connecting hole in revolving bed module, driver tail end fixing hole in joint of the lower extremity Drive Module is connected with the hip joint driver tail end connecting hole in lower extremity movement rack module, realize and drive hip joint, be called as hip joint driver; Driver head end fixing hole in joint of the lower extremity Drive Module is connected with the knee joint driver head end connecting hole in lower extremity movement rack module, the driver tail end fixing hole of joint of the lower extremity Drive Module is connected with the knee joint driver tail end connecting hole in lower extremity movement rack module, realizes and drives knee joint.
6. according to a kind of many positions upper and lower extremities interlock healing robot described in claim 1-5 any one, it is characterized in that, described robot can make patient from the upright any position that lies low, and realizes the step movement with arm pendulum.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410217852.6A CN104000706B (en) | 2014-05-21 | 2014-05-21 | A kind of many positions upper and lower extremities linkage healing robot |
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Cited By (5)
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| CN105167965A (en) * | 2015-10-10 | 2015-12-23 | 合肥工业大学 | Linkage type walking-aiding rehabilitation robot with joint rotation center taken into consideration |
| CN107635622A (en) * | 2015-04-01 | 2018-01-26 | 睿博专利有限公司 | For in combination in the lower limb and the device in vertical position training walking of dorsal position or part clinostatism training of human |
| CN109806107A (en) * | 2019-02-22 | 2019-05-28 | 广州哈罗博康复机器人生产有限公司 | Rehabilitation system |
| CN110025455A (en) * | 2019-05-22 | 2019-07-19 | 掣京机器人科技（上海）有限公司 | A kind of four limbs exoskeleton rehabilitation robot |
| CN110279557A (en) * | 2019-07-02 | 2019-09-27 | 安徽工业大学 | A kind of lower limb rehabilitation robot control system and control method |
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