CN104000706B - A kind of many positions upper and lower extremities linkage healing robot - Google Patents

A kind of many positions upper and lower extremities linkage healing robot Download PDF

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Publication number
CN104000706B
CN104000706B CN201410217852.6A CN201410217852A CN104000706B CN 104000706 B CN104000706 B CN 104000706B CN 201410217852 A CN201410217852 A CN 201410217852A CN 104000706 B CN104000706 B CN 104000706B
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joint
support
revolving bed
module
extremity
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CN104000706A (en
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方娟
谢叻
杨国源
张莹
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Faroche (Shanghai) Medical Technology Co., Ltd.
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Shanghai Jiaotong University
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Abstract

The invention provides a kind of many positions upper and lower extremities linkage healing robot, including revolving bed module, upper extremity exercise rack module, lower extremity movement rack module and joint of the lower extremity driver, wherein: upper extremity exercise rack module is fixed on the something or somebody to fall back on end of revolving bed module;Lower extremity movement rack module is connected to the afterbody of revolving bed back bracket in revolving bed module;To drive lower limb to do gait motion below support hip joint that joint of the lower extremity driver is separately mounted in lower extremity movement rack module by fixing hole and support knee joint.Robot of the present invention can help the patient of walking disorder stage of lying in bed in early days just can carry out gait motion; under the protection of suspension system and the support of revolving bed; patient can realize the gait rehabilitation motion of multiple position, adjoint swing arm, thus improves rehabilitation efficacy.

Description

A kind of many positions upper and lower extremities linkage healing robot
Technical field
The present invention relates to the device of healing robot technical field, in particular it relates to a kind of many positions upper and lower extremities linkage health Multiple robot.
Background technology
China there are about apoplexy patient nearly 7,000,000 at present, and Nian Xinfa apoplexy case reaches 1,500,000 people, spinal cord injury year neopathy Example is up to more than 10 ten thousand people.Along with economic construction and the raising for the treatment of level, the mortality rate of central nervous system injury patient Being decreased obviously, but finally still have more than 80% to disable, wherein dyskinesia is most commonly seen.Lower limb function directly determines Standing of patient, shift and locomotor activity, thus determine the living sphere of patient, 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 rehabilitation training One of primary goal.When the mankind normally walk, arm is as lower extremity movement and suitable swing.Although the swing of arm Do not provide direct thrust function to walking, but during kinesiology angle, gait arms swing to improve gait steady Qualitative, improve energy efficiency.Targeting principle according to rehabilitation training, gait training must be become deformed with normal row as Limb action.So patient is when carrying out gait training, and upper arm also should suitable swing.Additionally, the opening of rehabilitation training Time beginning is the most critically important.Current research all shows that rehabilitation should be from acute stage, as long as not hindering treatment, rehabilitation training Start more early, functional rehabilitation may be the biggest, prognosis is the best.In view of patients most after hemiplegia or paraplegia, Still can not train walking within a very long time, even can only putting down of having is sleeping, gait rehabilitation equipment it is ensured that patient from Lie low upright etc. and to participate in training under multiple positions, thus promote rehabilitation efficacy, help 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 Active training device for rehabilitation, this technology includes frame, tumbler and damping unit.This system can allow user be seated to carry out Hands or the cycling action of foot rather than upper and lower extremities move simultaneously, so the training effectiveness of this patent is low.Application number The Chinese patent of 201220021483.X, title: paralytic's upper and lower limbs recovery conic, this technology include upper limb rehabilitation machine, Leg rehabilitation instrument and bed body.Upper limb rehabilitation machine and lower limb rehabilitation function band simultaneously are started and the circular-rotation of foot.Although this Reach the purpose of motion upper and lower extremities, but the action of our daily life has seldom related to upper and lower extremities and does the side of circular-rotation Formula.Additionally, the flat condition of bed body makes the rehabilitation training position that patient has been limited to lie low, and we are daily required alive Move and seldom must carry 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, it is an object of the invention to provide a kind of many positions upper and lower extremities linkage rehabilitation machine People, this robot can allow in early days patient even in the bed stage start the instruction of marking time of upper and lower extremities coordination exercise together Practice, promotion functions rehabilitation.
For realizing object above, the present invention provides a kind of many positions upper and lower extremities linkage healing robot, including revolving bed mould Block, upper extremity exercise rack module, lower extremity movement rack module and joint of the lower extremity Drive Module, wherein: revolving bed module Being 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 is at revolving bed push-rod electric machine Lower realization is from the upright any position that lies low;Upper extremity exercise rack module be fixed on the something or somebody to fall back on end of revolving bed module and Support shoulder joint electric rotating machine makees swing arm motion under driving;Lower extremity movement rack module is connected to the tail of revolving bed back bracket Portion, 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 linkage healing robot is propped up by the revolving bed push-rod electric machine of revolving bed module, upper extremity exercise The support shoulder joint electric rotating machine of frame module and the electric rotating machine of joint of the lower extremity Drive Module control the motion of robot, The revolving bed push-rod electric machine of revolving bed module changes the position of revolving bed, and the joint of the lower extremity Drive Module of double lower limb will rotate The rotary motion of motor is converted into linear motion, and joint of the lower extremity Drive Module is arranged under hip joint to realize driving hip to close Joint, the joint of the lower extremity Drive Module of double lower limb is arranged under knee joint to realize driving knee joint, thus accurately controls double The step movement of lower limb, the support shoulder joint electric rotating machine of double upper limb controls the arm pendular motion of upper limb, finally realizes many positions Upper and lower extremities linkage gait rehabilitation training.
Preferably, described revolving bed module includes: 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 support base, revolving bed Push-rod electric machine, push-rod electric machine fixed plate, revolving bed rotating shaft, revolving bed tailgate and vola supporting guide, wherein: suspention Frame and revolving bed back bracket are both secured on revolving bed housing;Revolving bed housing is at two the revolving bed push-rod electric machines in left and right Around revolving bed axis of rotation to erectility under thrust;Bed body left and right sides liftable keeps flat plate and is fixed on the revolving bed support end On seat;The afterbody of revolving bed back bracket is provided with the hip joint connecting hole for installing lower extremity movement rack module, and hip closes 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 installing the hip joint driver connecting hole of lower extremity movement rack module, hip joint driver connecting hole and lower extremity movement prop up Hip joint driver tail end connecting hole in frame module is used for installing hip joint driver;Two the revolving bed push-rod electric machines in left and right It is arranged in push-rod electric machine fixed plate;Revolving bed housing can keep lying status under revolving bed supports the support of base, or Person under the thrust of two revolving bed push-rod electric machines around revolving bed axis of rotation to erectility;Revolving bed tailgate energy according to The height of patient carries out length adjustment, so that vola supporting guide is suitably highly playing a supportive role.
Preferably, described upper extremity exercise rack module includes: shoulder support bearing, shoulder joint height adjusting button, support Shoulder joint electric rotating machine, overarm brace are pressed with patient's upper arm distance regulation button, overarm brace, overarm brace length adjustment Button, support elbow joint, front arm support, forearm stent length regulation button and hands fixed support, wherein: upper extremity exercise props up Frame module is fixed on the side of the revolving bed housing in revolving bed module by shoulder support bearing;Shoulder joint altitude mixture control is pressed Button is for finely tuning the shoulder joint height from revolving bed;Support shoulder joint electric rotating machine is used for driving shoulder joint to do in normal gait Before and after swing arm motion;Overarm brace is used for immobilized patients upper arm;Support elbow joint aligns with patient's elbow joint and allows to suffer from Person's elbow joint natural torsion action when training;Front arm support is used for immobilized patients forearm;Hands fixed support immobilized patients Hand;Overarm brace and patient's upper arm distance regulation button, overarm brace length adjustment button and the regulation of forearm stent length Button is used for regulating each holder part size and is close to upper extremity exercise rack module and is synchronized with the movement reaching patient's arm.
Preferably, described lower extremity movement rack module includes: support hip joint, thigh support frame, thigh support frame length are adjusted Joint button, hip joint driver tail end connecting hole, knee joint driver head end connecting hole, support knee joint, little leg support, Shank stent length regulation 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;It is big that thigh support frame is used for supporting patient Lower limb;Thigh support frame length adjustment button is for regulating the length of thigh support frame;Hip joint driver tail end connecting hole and rotation The hip joint driver connecting hole of bed module is used for installing hip joint driver;Knee joint driver head end connecting hole and knee joint close Joint driver tail end connecting hole is used for installing knee joint driver;Little leg support is used for supporting patient's shank;Little leg support is long Degree regulation button is for regulating the length of little leg support;Sole support is for supporting the foot of patient;Thigh support frame length adjustment Button and shank stent length regulation button regulation each part length of lower extremity movement rack module so that patient knee joint and Ankle joint aligns with support knee joint and support ankle joint respectively;Sole support wheel allows the foot of patient in revolving bed module In vola supporting guide on roll around;Under the effect of hip joint driver and knee joint driver, whole lower limb are transported Dynamic rack module helps the lower limb of patient to realize step movement on the supporting guide of vola.
Preferably, described joint of the lower extremity Drive Module includes: electric rotating machine, motor fixing plate, shaft coupling, driving Device head end fixing hole, leading screw, feed screw nut, guide rod, push rod, leading screw fixed plate, ejector pin retaining plate and driver tail end Fixing hole, wherein: electric rotating machine is arranged on motor fixing plate;Shaft coupling connects swingle and the leading screw of electric rotating machine One end;Guide rod is through feed screw nut one end is fixed on motor fixing plate, one end is fixed in leading screw fixed plate;Push rod One end is fixed on feed screw nut, one end is fixed on ejector pin retaining plate;Drive head in joint of the lower extremity Drive Module End fixing hole is connected with the hip joint driver connecting hole in revolving bed module, the driver in joint of the lower extremity Drive Module Tail end fixing hole is connected with the hip joint driver tail end connecting hole in lower extremity movement rack module, it is achieved drive hip joint, It is referred to as hip joint driver;Driver head end fixing hole in joint of the lower extremity Drive Module and lower extremity movement rack module In knee joint driver head end connecting hole be connected, the driver tail end fixing hole of joint of the lower extremity Drive Module and lower limb are transported Knee joint driver tail end connecting hole in dynamic rack module is connected, it is achieved drive knee joint.
Robot of the present invention can make patient from the upright any position that lies low, it is achieved marking time of armed pendulum Motion.
When the present invention works, first measure patient's upper body width x length and thickness, shoulder joint height, upper arm and the length of forearm Degree, thigh and lower-leg length and hip joint width dimensions, and regulate upper extremity exercise rack module and lower extremity movement support mould The length of each parts of block is to the size of appropriate patient;Then patient's upper body lies in the back bracket of revolving bed module, its hip Support hip joint in joint alignment lower extremity movement rack module, the shoulder joint of patient, elbow joint, knee joint and ankle joint Rotary shaft corresponding with robot is alignd, and is fixed by bandage with upper and lower limb motion bracket module by patient's upper and lower extremities, The foot of patient is placed on sole support.The whole health of patient is fixed on the pipe-hanging hook of revolving bed module by bandage.So After put down bed body left and right sides liftable and keep flat plate.Start support shoulder joint electric rotating machine and the lower limb of upper extremity exercise rack module Electric rotating machine in joint driver module, it is achieved double upper and lower extremities are similar to the motion marked time.According to patient's needs, Ke Yiqi The revolving bed push-rod electric machine of dynamic revolving bed module, makes revolving bed and patient reach from the upright any position that lies low, training Step movement.The present invention passes through six electric rotating machine (i.e. two support shoulder joint electric rotatings in upper extremity exercise rack module Four electric rotating machines in machine, joint of the lower extremity Drive Module) and revolving bed module in a revolving bed push-rod electric machine come Control the motion of robot.The hip joint driver of double lower limb and knee joint driver can accurately control the fortune of marking time of double lower limb Dynamic;The support shoulder joint electric rotating function of double upper limb controls the arm pendular motion of upper limb;Revolving bed push-rod electric machine can change rotation The position of bed, finally realizes the gait rehabilitation training of the upper and lower extremities linkage of many positions.
Compared with prior art, the present invention has a following beneficial effect:
In the present invention, revolving bed module gives the patient not having autonomous standability, provides one including paraplegia and hemiplegic patient The training equipment of safety, increases the application crowd increasing this invention;Movable pair of upper limb of the present invention and double lower limb, Ke Yigen According to the needs of patient, select training position and motion scheme;The present invention allows patient's upper arm to start shipment along with gait training one Dynamic, improve training effectiveness, promote rehabilitation efficacy, healing robot is had highly important in the application of medical domain Meaning.
Accompanying drawing explanation
The detailed description made non-limiting example with reference to the following drawings by reading, other of the present invention is special Levy, purpose and advantage will become more apparent upon:
Fig. 1 is the overall structure schematic diagram of many positions upper and lower extremities linkage healing robot assembling of the present invention;
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 support base 16, revolving bed push-rod electric machine 17, Push-rod electric machine fixed plate 18, revolving bed rotating shaft 19, revolving bed tailgate 110, vola supporting guide 111;
Shoulder support bearing 20, shoulder joint height adjusting button 21, support shoulder joint electric rotating machine 22, overarm brace and trouble Person's upper arm distance regulation button 23, overarm brace 24, overarm brace length adjustment button 25, support elbow joint 26, front Arm support 27, forearm stent length regulation 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 connect Hole 33, knee joint driver head end connecting hole 34, support knee joint 35, little leg support 36, the regulation of shank stent length 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, leading screw spiral shell Mother 45, guide rod 46, push rod 47, leading screw fixed plate 48, ejector pin retaining plate 49, driver tail end fixing hole 410.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in those skilled in the art Member is further appreciated by the present invention, but limits the present invention the most in any form.It should be pointed out that, the common skill to this area For art personnel, without departing from the inventive concept of the premise, it is also possible to make some deformation and improvement.These broadly fall into Protection scope of the present invention.
As it is shown in figure 1, the present embodiment provides a kind of many positions upper and lower extremities linkage healing robot, including: revolving bed mould Block 1, upper extremity exercise rack module 2, lower extremity movement rack module 3 and joint of the lower extremity Drive Module 4, wherein: upper limb Motion bracket 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 arranged;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;Lower limb close Joint Drive Module 4 is separately mounted to below support hip joint 30 and the support knee joint 35 of lower extremity movement rack module 3 To drive lower limb to do gait motion.
As in figure 2 it is shown, described revolving bed main body module 1 includes: pipe-hanging hook 10, revolving bed housing 11, bed body Left and right sides liftable keep flat plate 12 (for the ease of display bed underside structures in Fig. 2, 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 support base 16, Revolving bed push-rod electric machine 17, push-rod electric machine fixed plate 18, revolving bed rotating shaft 19, revolving bed tailgate 110 and vola support Guide rail 111, wherein: pipe-hanging hook 10 and revolving bed back bracket 13 are each attached on revolving bed housing 11;Revolving bed Housing 11 by under the thrust of two the revolving bed push-rod electric machines 17 in left and right around revolving bed axis of rotation to erectility;Rotation The afterbody of rotated bed back bracket 13 is provided with the hip joint connecting hole 14 for installing lower extremity movement rack module 3;Rotate The afterbody bottom side of bed rest support 13 is provided with the hip joint driver connecting hole for installing lower extremity movement rack module 3 15;Bed body left and right sides liftable keeps flat plate 12 and is fixed on revolving bed and supports on base 16 and height and revolving bed when lying low Housing 11 is consistent, plays a supportive role during patient lies and goes to bed;Two the revolving bed push-rod electric machines 17 in left and right are arranged on In push-rod electric machine fixed plate 18;Revolving bed housing 11 can keep lying type under revolving bed supports the support of base 14 State, it is also possible to turn to erectility around revolving bed rotating shaft 19 under the thrust of two revolving bed push-rod electric machines 17;Rotation Rotated bed tailgate 110 can carry out length adjustment according to the height of patient, to facilitate patients feet at vola supporting guide 111 On front and back take a step, finally play support weight in patients effect.
As it is shown on figure 3, described upper extremity exercise rack module 2 includes: shoulder support bearing 20, shoulder joint altitude mixture control are pressed Button 21, support shoulder joint electric rotating machine 22, overarm brace and patient's upper arm distance regulation button 23, overarm brace 24, Overarm brace length adjustment button 25, support elbow joint 26, front arm support 27, forearm stent length regulation button 28 With hands fixed support 29, wherein: whole upper extremity exercise rack module 2 by shoulder support bearing 20 be fixed on revolving bed mould On the side of the revolving bed housing 11 in block;Shoulder joint height adjusting button 21 is for finely tuning the shoulder joint height from revolving bed Degree is to be suitable for the patient of various physique;Before and after support shoulder joint electric rotating machine 22 drives shoulder joint to do in normal gait Swing arm motion;Owing to the width of patient's upper body is different, overarm brace is used for finely tuning with patient's upper arm distance regulation button 23 The distance of overarm brace 24 and patient's upper arm, is close to overarm brace 24 and is synchronized with the movement reaching patient's arm;Upper arm props up Frame 24 is for immobilized patients upper arm;Overarm brace length adjustment button 25 is for propping up according to patient's upper arm size regulation upper arm The entire length of frame 24;Support elbow joint 26 aligns with patient's elbow joint, it is allowed to patient's elbow joint when training is the most curved Bent action;Front arm support 27 is for immobilized patients forearm;Forearm stent length regulation button 28 is for according to patient forearm The entire length of arm support 27 before size regulation;Owing in normal walking, the rotary motion of wrist is the most small, so forearm On support 27, the rotary motion of wrist is ignored, and is driven the hands of patient naturally to swing by hands fixed support 29.
As shown in Figure 4, described lower extremity movement rack module 3 includes: support hip joint 30, thigh support frame 31, big Leg support length adjustment button 32, hip joint driver tail end connecting hole 33, knee joint driver head end connecting hole 34, Support knee joint 35, little leg support 36, shank stent length regulation 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 and revolving bed master Hip joint connecting hole 14 alignment in module 1 is connected;Thigh support frame 31 is used for supporting patient 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 used for fixing Hip joint driver tail end;Knee joint driver head end connecting hole 34 is used for fixing knee joint driver head end;Support knee joint Align with patient's knee joint in joint 35;Little leg support 36 is used for supporting patient's shank;Shank stent length regulation button 37 Regulate the length of little leg support 36;Knee joint driver tail end connecting hole 38 is used for connecting knee joint driver tail end;? Frame ankle joint 39 aligns with patient's ankle joint;Sole support 310 is for supporting the foot of patient;Sole support wheel 311 The foot of permission patient rolls around on the vola supporting guide 111 in revolving bed module 1, it is achieved step movement.
As it is shown in figure 5, described joint of the lower extremity Drive Module 4 includes: 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 are solid Determine plate 48, ejector pin retaining plate 49 and driver tail end fixing hole 410, wherein: electric rotating machine 40 is arranged on motor and fixes On plate 41, shaft coupling 42 connects swingle and one end of leading screw 44 of electric rotating machine 40;Guide rod 46 is through leading screw spiral shell Female 45, one end is fixed on motor fixing plate 41, one end is fixed in leading screw fixed plate 48;Push rod 47 one end is fixed On feed screw nut 45, one end is fixed on ejector pin retaining plate 49;Drive head in joint of the lower extremity Drive Module 4 End fixing hole 43 is connected with the hip joint driver connecting hole 15 in revolving bed module 1, joint of the lower extremity Drive Module 4 In driver tail end fixing hole 410 and hip joint driver tail end connecting hole 33 phase in lower extremity movement rack module 3 Even, it is achieved drive hip joint, be referred to as hip joint driver;Driver head end in joint of the lower extremity Drive Module 4 is solid Determine hole 43 to be connected with the knee joint driver head end connecting hole 34 in lower extremity movement rack module 3, joint of the lower extremity driver The driver tail end fixing hole 410 of module 4 and the knee joint driver tail end connecting hole 38 in lower extremity movement rack module 3 It is connected, it is achieved drive knee joint, be referred to 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 is for linear motion on leading screw 44 under the guiding of guide rod 46, push rod 47 also with linear motion, i.e. achieve by The convert rotational motion of electric rotating machine 40 is the linear motion of whole Drive Module.Joint of the lower extremity Drive Module 4 drives During dynamic knee joint, whole Drive Module is by driver head end fixing hole 43 and knee joint driver head end fixing hole 34 Being connected, driver tail end fixing hole 410 is connected with knee joint driver tail end connecting hole 38.Joint of the lower extremity driver mould The linear motion of block 4 drives the swing of support knee joint 35.Joint of the lower extremity Drive Module 4 driving arm hip joint 30 Mode similarly.
When the present embodiment uses, first measure patient's upper body width, length and thickness, shoulder joint height, upper arm and forearm Length, thigh and lower-leg length and hip joint width dimensions, and regulate upper extremity exercise rack module 2 and lower limb fortune The length of the dynamic each parts of rack module 3 is to the size of appropriate patient;Then patient's upper body lies in revolving bed back bracket 13 On, the support hip joint 30 in its hip joint alignment lower extremity movement rack module 3, double upper limb are placed on bed body left and right sides and can rise Fall keeps flat on plate 12, and double lower limb are placed on lower extremity movement rack module 3;The shoulder joint of patient, elbow joint, knee joint Rotary shaft corresponding with robot with ankle joint is alignd, and by patient's upper and lower extremities and upper and lower limb motion bracket module 2,3 Being fixed by bandage, the foot of patient is placed on sole support 310.The whole health of patient is fixed on pipe-hanging hook by bandage On 10.Then put down bed body left and right sides liftable and keep flat plate 12.Start support shoulder joint electric rotating machine 22 and support for lower limbs The electric rotating machine 40 of driver, it is achieved double upper and lower extremities are similar to the motion marked time.According to patient's needs, revolving bed can be started Push-rod electric machine 17, makes revolving bed and patient reach, from the upright any position that lies low, to train step movement.
The present embodiment passes through six electric rotating machine (i.e. two support shoulder joint electric rotating machines in upper extremity exercise rack module 2 22, four electric rotating machines 40 in joint of the lower extremity Drive Module 3) and revolving bed module 1 in a revolving bed push rod Motor 17 controls the motion of robot.The hip joint driver of double lower limb and knee joint driver can accurately control double under The step movement of limb;Support shoulder joint electric rotating machine 22 can control the arm pendular motion of upper limb;Revolving bed push-rod electric machine 17 energy Change the position of revolving bed, finally realize the gait rehabilitation training of the upper and lower extremities linkage of many positions.
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in Stating particular implementation, those skilled in the art can make various deformation or amendment within the scope of the claims, This has no effect on the flesh and blood of the present invention.

Claims (6)

1. the linkage of position upper and lower extremities more than kind healing robot, it is characterised in that include 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 push-rod electric machine drives revolving bed module to turn to lie low To upright any position;Upper extremity exercise rack module is fixed on the something or somebody to fall back on end of revolving bed module and revolves in support shoulder joint Rotating motor makees swing arm motion under driving;Lower extremity movement rack module is connected to the afterbody of revolving bed back bracket, joint of the lower extremity Drive Module is separately fixed at below support hip joint and support knee joint to drive lower limb to do gait motion;
Described many positions upper and lower extremities linkage healing robot is propped up by the revolving bed push-rod electric machine of revolving bed module, upper extremity exercise The support shoulder joint electric rotating machine of frame module and the electric rotating machine of joint of the lower extremity Drive Module control the motion of robot, The revolving bed push-rod electric machine of revolving bed module changes the position of revolving bed, is fixed on the joint of the lower extremity below support knee joint and drives The rotary motion of electric rotating machine is converted into linear motion by dynamic device module, is fixed on the joint of the lower extremity below support hip joint and drives Dynamic device module drive hip joint, is fixed on the joint of the lower extremity Drive Module below support knee joint and drives knee joint, thus Accurately controlling the step movement of double lower limb, the support shoulder joint electric rotating machine of double upper limb controls the arm pendular motion of upper limb, finally Realize the gait rehabilitation training of the upper and lower extremities linkage of many positions.
One many positions upper and lower extremities the most according to claim 1 linkage healing robot, it is characterised in that described Revolving bed module include: pipe-hanging hook, revolving bed housing, bed body left and right sides liftable keep flat plate, revolving bed backrest props up Frame, hip joint connecting hole, hip joint driver connecting hole, revolving bed support base, revolving bed push-rod electric machine, push rod electricity Machine fixed plate, revolving bed rotating shaft, revolving bed tailgate and vola supporting guide, wherein: pipe-hanging hook and revolving bed backrest prop up Frame is both secured on revolving bed housing;Revolving bed housing under the thrust of two the revolving bed push-rod electric machines in left and right around revolving bed Axis of rotation is to erectility;Bed body left and right sides liftable keeps flat plate and is fixed on revolving bed support base;Revolving bed backrest The afterbody of support is provided with the hip joint connecting hole for installing lower extremity movement rack module, and hip joint connecting hole is transported with lower limb Support hip joint in dynamic rack module is connected;The afterbody bottom side of revolving bed back bracket is provided with for installing lower extremity movement The hip joint driver connecting hole of rack module, the hip joint in hip joint driver connecting hole and lower extremity movement rack module Driver tail end connecting hole is used for installing hip joint driver;It is solid that two, left and right revolving bed push-rod electric machine is arranged on push-rod electric machine Determine on plate;Revolving bed housing can keep lying status under revolving bed supports the support of base, or pushes away at two revolving beies Around revolving bed axis of rotation to erectility under the thrust of bar motor;Revolving bed tailgate can be long according to the height of patient Degree regulation, so that vola supporting guide is suitably highly playing a supportive role.
One many positions upper and lower extremities the most according to claim 1 linkage healing robot, it is characterised in that described Upper extremity exercise rack module include: shoulder support bearing, shoulder joint height adjusting button, support shoulder joint electric rotating machine, Overarm brace and patient's upper arm distance regulation button, overarm brace, overarm brace length adjustment button, support elbow joint, Front arm support, forearm stent length regulation button and hands fixed support, wherein: upper extremity exercise rack module is by shoulder support Bearing is fixed on the side of the revolving bed housing in revolving bed module;Shoulder joint height adjusting button is used for finely tuning shoulder joint Height from revolving bed;Support shoulder joint electric rotating machine be used for driving shoulder joint to do in normal gait before and after swing arm motion; Overarm brace is used for immobilized patients upper arm;Support elbow joint aligns with patient's elbow joint and allows patient's elbow joint when training Natural torsion action;Front arm support is used for immobilized patients forearm;The hand of hands fixed support immobilized patients;Overarm brace with Patient's upper arm distance regulation button, overarm brace length adjustment button and forearm stent length regulation button are used for regulating each Frame portion size is close to upper extremity exercise rack module and is synchronized with the movement reaching patient's arm.
One many positions upper and lower extremities the most according to claim 2 linkage healing robot, it is characterised in that described Lower extremity movement rack module include: support hip joint, thigh support frame, thigh support frame length adjustment button, hip joint drive Dynamic device tail end connecting hole, knee joint driver head end connecting hole, support knee joint, little leg support, shank stent length are adjusted Joint button, knee joint driver tail end connecting hole, support ankle joint, sole support and sole support wheel, wherein: Frame hip joint is connected with the hip joint connecting hole of revolving bed module;Thigh support frame is used for supporting patient thigh;Thigh support frame is long Degree regulation button is for regulating the length of thigh support frame;Hip joint driver tail end connecting hole and the hip joint of revolving bed module Driver connecting hole is used for installing hip joint driver;Knee joint driver head end connecting hole and knee joint driver tail end are even Connect hole for installing knee joint driver;Little leg support is used for supporting patient's shank;Shank stent length regulation button is used for Regulate the length of little leg support;Sole support is for supporting the foot of patient;Thigh support frame length adjustment button and little leg support Length adjustment button regulation each part length of lower extremity movement rack module so that the knee joint of patient and ankle joint respectively with Frame knee joint and the alignment of support ankle joint;Sole support wheel allows the vola support in revolving bed module of the foot of patient to lead Roll around on rail;Under the effect of hip joint driver and knee joint driver, whole lower extremity movement rack module helps The lower limb of patient realize step movement on the supporting guide of vola.
One many positions upper and lower extremities the most according to claim 4 linkage healing robot, it is characterised in that described Joint of the lower extremity Drive Module include: electric rotating machine, motor fixing plate, shaft coupling, driver head end fixing hole, silk Thick stick, feed screw nut, guide rod, push rod, leading screw fixed plate, ejector pin retaining plate and driver tail end fixing hole, wherein: rotation Rotating motor is arranged on motor fixing plate;Shaft coupling connects swingle and one end of leading screw of electric rotating machine;Guide rod passes Feed screw nut one end is fixed on motor fixing plate, one end is fixed in leading screw fixed plate;Push rod one end is fixed on leading screw spiral shell On mother, one end is fixed on ejector pin retaining plate;Driver head end fixing hole in joint of the lower extremity Drive Module and revolving bed Hip joint driver connecting hole in module is connected, the driver tail end fixing hole in joint of the lower extremity Drive Module and lower limb Hip joint driver tail end connecting hole in motion bracket module is connected, it is achieved drive hip joint, is referred to as hip joint and drives Device;Driver head end fixing hole in joint of the lower extremity Drive Module and the knee joint driver in lower extremity movement rack module Head end connecting hole is connected, the driver tail end fixing hole of joint of the lower extremity Drive Module and the knee joint in lower extremity movement rack module Joint driver tail end connecting hole is connected, it is achieved drives knee joint, is referred to as knee joint driver.
6., according to the one many positions upper and lower extremities linkage healing robot described in any one of claim 1-5, its feature exists In, described robot can make patient from the upright any position that lies low, it is achieved the step movement of armed pendulum.
CN201410217852.6A 2014-05-21 2014-05-21 A kind of many positions upper and lower extremities linkage healing robot Active CN104000706B (en)

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CN105167965B (en) * 2015-10-10 2018-01-16 合肥工业大学 One kind considers joint pivot coordinated type walking aid rehabilitation robot
CN110279557B (en) * 2019-07-02 2021-08-27 安徽工业大学 Control system and control method for lower limb rehabilitation robot

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