CN105435421B - Two-stage bed body, multi-angle regulation, upper and lower extremities coorinated training healing robot - Google Patents
Two-stage bed body, multi-angle regulation, upper and lower extremities coorinated training healing robot Download PDFInfo
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- CN105435421B CN105435421B CN201511005432.2A CN201511005432A CN105435421B CN 105435421 B CN105435421 B CN 105435421B CN 201511005432 A CN201511005432 A CN 201511005432A CN 105435421 B CN105435421 B CN 105435421B
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- bed
- connecting rod
- pulldown
- hinged
- bed body
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/04—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable multiple steps, i.e. more than one step per limb, e.g. steps mounted on endless loops, endless ladders
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/009—Physiotherapeutic tables, beds or platforms; Chiropractic or osteopathic tables
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
- A63B22/0664—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing an elliptic movement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0142—Beds
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1253—Driving means driven by a human being, e.g. hand driven
- A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
Abstract
The invention discloses a kind of two-stage bed body, multi-angle regulation, upper and lower extremities coorinated training healing robot, two level bed body support frame can lift, the pulldown bed of energy pitch regulation is provided with two level bed body support frame, pulldown bed top is provided with forms the sliding table top of prismatic pair with it, and it is provided with the lower hollow part of pulldown bed and can first moves the thigh support bed surface that rotates afterwards, when thigh support bed surface flips up an entirety is formed with pulldown bed bed surface, two bed surfaces of near vertical can be formed when flipping down with pulldown bed, knee joint can be trained by spinning upside down；Pedal support is provided with pulldown bed bottom, it is foot-operated that the motion for doing class elliptical orbit is driven by crank, connecting rod, the installation site in connecting rod is ridden by adjustment, and the angle that adjustment is foot-operated, the oval shape of class can also be adjusted, change foot-operated running orbit, the present invention is simple in construction, convenient gait track is variable, body weight can adjust, suitable for the rehabilitation training crowd of different heights.
Description
Technical field：
The present invention relates to a kind of two-stage bed body, multi-angle regulation, upper and lower extremities coorinated training healing robot, belongs to rehabilitation doctor
Treat instrument field.
Background technology：
Recovery exercising robot is a kind of new medical rehabilitation training aids, is that robot technology and medical science of recovery therapy combine
Product, help the patient of the functional sexual dysfunction of limbs to complete the passive exercise for coordination of limbs master, reach the purpose of limb rehabilitating.But mesh
Preceding healing robot is broadly divided into several classes such as single-degree-of-freedom, exoskeleton-type, suspension type and sitting and lying formula, and this several class has operation at present
Complexity, security are poor, body energy imbalance occurs in rehabilitation training in patient or unstable oscillation, patient are instructed in rehabilitation
It is excessively passive in white silk, it is unfavorable for giving play to a subjective initiative, the problems such as rehabilitation training scope is smaller, training track is single.And with
The growth of China's elderly population, and it is various because unexpected injury causes the patient of physical disabilities to increase, develop a adaptation population
Extensively, patient personalized rehabilitation training demand can be met towards family, is the key of recovery exercising robot research instantly.
The theoretical rapid development of medical science of recovery therapy, the various rehabilitation theories about training went out like the mushrooms after rain in recent years
It is existing, under these theoretical drives.Limbs image training robot gradually becomes a study hotspot in medical rehabilitation research,
Such as：
(1) wearable healing robot was quickly grown in recent years, and many mechanisms and university all carried out further investigation to this,
And some come into actual business and used, but wearable healing robot operating process is complex.Need specialty
Personnel accompanied and attended on side, carry out Operating Guideline parallel, consume substantial amounts of manpower.In addition, the price of robot is dressed all
It is high, it is necessary to operator has higher professional ability, therefore hardly enter in general mini clinic, home for destitute, family.
(2) suspension type robot, human body is sling by weight reducing device, mitigates patient's load that leg is born in training
Lotus, it is allowed to carry out body weight support treadmill training.But it have one it is fatal the shortcomings that precisely due to be by human body suspention in the air, center of gravity
Too high, patient does not adjust by the situation of external force or well the posture of oneself in accident, it may appear that body wave and
Rotation, not only bad for exercise rehabilitation training, it is also possible to the miscellaneous part of healing robot can be touched, or even bring and expect not
The injury arrived.Such recovery exercising robot needs special personnel to nurse and operate always simultaneously, be not suitable for average family and
Small home for destitute uses.
(3) although sitting and lying formula recovery exercising robot can mitigate the influence of gravity to a certain extent, at present mostly
The training track of number sitting and lying formula recovery training appliance for recovery is fixed, it is difficult to different training rails is set according to the personal feature of different patients
Mark, amplitude.
Existing various rehabilitation machines are analyzed more than；Design a good healing robot need to have it is following
The characteristics of：1st, it is moderate, suitable for small rehabilitation institution and home for destitute, even personal family.2nd, the behaviour of healing robot
Make it is relatively simple, without specialty healthcare givers accompanied and attended to carry out guidance.3rd, suitable for different crowd and different convalescence patients
Personal needs, and to meet human cinology.
The content of the invention：
The defects of to overcome prior art, it is an object of the invention to provide a kind of two-stage bed body, multi-angle regulation, up and down
Limb coorinated training healing robot, its simple in construction, convenient gait track is variable, body weight can adjust, suitable for different heights
Rehabilitation training crowd.
The present invention solves technical problem and adopted the following technical scheme that：
Two-stage bed body, multi-angle regulation, upper and lower extremities coorinated training healing robot, it includes：
The two level bed body support frame that height can lift, pulldown bed, first straight line actuator, buffering are hinged with its end
One end of device is hinged on the back side of pulldown bed, and the other end is hinged on the two level bed body support frame, the first straight line actuating
Device adjusts the luffing angle of pulldown bed；
The top of the pulldown bed is the bed surface of tabular, and pulldown bed lower hollow is that bottom is two parallel rod members, living
Dynamic bed is hinged on the end of two level bed body support frame with the bottom of two rod member；Stacking is provided with slip bed on the bed surface
Face, the bed surface of the sliding table top and the pulldown bed form prismatic pair on the length direction of bed body；
Two sliding blocks are provided with the parallel rod member in pulldown bed bottom two, described two sliding blocks are using the rod member as cunning
Rail, the upper end of thigh support bed surface is hinged on two sliding blocks, and the plane perpendicular of the movable bed surface is provided with support bar,
One end of second straight line actuator is hinged on the support bar, and the other end is hinged on the back side of the thigh support bed surface；
Pedal support, the pedal support length are provided with the end of two rod members of the pulldown bed bottom
Direction is provided with power set perpendicular to the length direction of pulldown bed on the pedal support, the output shaft of power set with
One end of crank connects firmly, the other end of crank and the be hinged composition revolute pair of the head end of connecting rod, the end of connecting rod and pedal support
Prismatic pair and revolute pair are formed, foot-operated be arranged on the connecting rod forms revolute pair with connecting rod and can locked.
Set in the lower section of the two level bed body support frame one-level bed body support frame, rotating connector, H-shaped support and
3rd linear-motion actuator, the rotating connector are cut with scissors with two level bed body support frame, one-level bed body support frame and H-shaped support three
Connect, the both ends of the 3rd linear-motion actuator are hinged between the cross bar of H-shaped support and one-level bed body support frame, and the 3rd straight line causes
Dynamic device is flexible to drive the lifting of secondary bed body support frame.
Upper limbs training institution includes：Hand fix bar, first connecting rod, second connecting rod, third connecting rod, fourth link and hand
Portion's training rod；
The hand fix bar is fixed on the connecting rod, one end of the first connecting rod is hinged in hand fix bar,
The head end that the other end is hinged on second connecting rod forms revolute pair；The head end composition that the end of second connecting rod is hinged on third connecting rod turns
Dynamic pair, the rear end of third connecting rod are hinged on the side composition revolute pair of pulldown bed, and the head end of fourth link is plugged on third connecting rod
Terminus lumen in, hand exercise bar, which is plugged in the terminus lumen of fourth link, forms revolute pair and prismatic pair.
The structure that the bed surface of the sliding table top and the pulldown bed forms prismatic pair on the length direction of bed body is：
The bed surface of pulldown bed is fixed with transmission device, and its output shaft is fixedly connected with leading screw, be fixed with the sliding table top with it is described
The nut of leading screw matching, drives leading screw to rotate when transmission device rotates, and then drives bed surface of the sliding table top relative to pulldown bed
Move up and down.
The both sides of the pedal support are provided with guide rail, and the end of two parallel bars of pulldown bed bottom is provided with and institute
The sliding block of guide rail is stated, pedal support can be moved by guide rail along the vertical direction of pulldown bed and locking.
The end of the connecting rod and the structure of pedal support composition prismatic pair and revolute pair are：The sidepiece of pedal support
Guide groove is provided with along its length, and connecting rod end is provided with the sliding block matched with guide groove, and connecting rod is inserted in the outer end of sliding block for round bar shape
In circular hole revolute pair is formed with connecting rod.
It is described it is foot-operated revolute pair is formed with connecting rod on the connecting rod structure be：It is foot-operated that snail is set between connecting rod
Worm couple.
Compared with the prior art, beneficial effects of the present invention are embodied in：
1st, the foot-operated running orbit of the present invention is class elliptical orbit, simulates class gait track during human body walking, and due to pin
The installation site that the rotational angle stepped on is adjustable, rides in connecting rod is adjustable so that the oval shape of class is also adjustable；
2nd, gait training track of the present invention is adjustable, trains and uses suitable for different rehabilitation clientses；
3rd, the present invention adjusts body weight by the way of upper body fixation, efficiently solves suspension type regulation body weight crank
Problem；
4th, during hand exercise of the present invention, the track size of hand exercise is adjustable, and to be applicable Different Individual, hand exercise
Length is also adjusted；
5th, the present invention has two kinds of training methods, i.e., gait training with bend and stretch leg training；
6th, the present invention is compact-sized, simple.
Brief description of the drawings：
Fig. 1 is the integrally-built front view of the present invention；Fig. 2 is the horizontal training structure schematic diagram of rehabilitation clients；Fig. 3 is rehabilitation clients
Stand-type training structure schematic diagram；The A that Fig. 4 A are foot-operated installation site structure chart, Fig. 4 B are Fig. 4 A is to sectional view；Fig. 5 is change born of the same parents
Structural scheme of mechanism.
Label in figure：1 one-level bed body support frame, 2 universal wheels, 3 the 3rd linear-motion actuators, 4 rotating connectors, 5 secondary beds
Body support frame, 6 first straight line actuators, 7 buffers, 8 thigh support bed surfaces, 9 second straight line actuators, 10 movable bed surfaces, 11
Transmission device, 12 sliding table tops, 13 leading screws, 14 sliding blocks, 15 pedal supports, 16 is foot-operated, 17 guide rails, 18 connecting rods, 19 cranks, and 20
Power set, 21 worm screws, 22 first connecting rods, 23 hand fix bars, 24 second connecting rods, 25 third connecting rods, 26 fourth links, 27 hands
Portion's training rod, 28 support bars, 29H shape supports.
Below by way of embodiment, and with reference to accompanying drawing, the invention will be further described.
Embodiment：
Embodiment：Referring to accompanying drawing, the two-stage bed body of the present embodiment, multi-angle regulation, upper and lower extremities coorinated training rehabilitation machine
People, it has：
The two level bed body support frame 5 that can lift of height, is hinged with pulldown bed 10 in its end, first straight line actuator 6,
One end of buffer 7 is hinged on the back side of pulldown bed 10, and the other end is hinged on two level bed body support frame 5, first straight line actuating
Device 6 is used for the luffing angle for adjusting pulldown bed 10；Buffer 7 is used to mitigate caused vibrations when pulldown bed 10 rotates.
In specific setting, the top of pulldown bed 10 is the bed surface of tabular, and pulldown bed lower hollow is that bottom is parallel for two
Rod member, pulldown bed is hinged on the end of two level bed body support frame 5 with the bottom of two rod member；It is laminated and is provided with bed surface
Sliding table top 12, the bed surface of the sliding table top 12 and pulldown bed 10 form prismatic pair on the length direction of bed body；Concrete structure
For：Transmission device 11 is fixed with the bed surface of pulldown bed, its output shaft is fixedly connected with leading screw 13, is fixed with sliding table top 12
The nut matched with leading screw 13, drive leading screw 13 to rotate when transmission device 11 rotates, and then drive sliding table top 12 relative to work
The bed surface of dynamic bed moves up and down.
Two sliding blocks 14 are provided with the parallel rod member in pulldown bed bottom two, two sliding blocks 14 using rod member as slide rail,
The upper end of thigh support bed surface 8 is hinged on two sliding blocks 14, and the plane perpendicular of movable bed surface 10 is provided with support bar 28,
One end of second straight line actuator 9 is hinged on the support bar 28, and the other end is hinged on the back side of thigh support bed surface 8；The
The flexible of two linear-motion actuators 9 can control thigh support bed surface 8 first to be rotated around sliding block 14, and then sliding block 14 is on movable bed surface
It is mobile, so as to drive thigh support bed surface 8 to move, thigh support bed surface 8 is first rotated what is moved afterwards relative to movable bed surface 10
Metamorphic mechanisms.
The end of two rod members of pulldown bed bottom is provided with pedal support 15, the length side of pedal support 15
To the length direction perpendicular to pulldown bed, (certainly, both angles can also be between 80 ° -120 ° or angular range is big again
Point), power set 20 are provided with pedal support 15, one end of the output shaft and crank 19 of power set 20 connects firmly, crank
The other end and connecting rod 18 head end it is be hinged form revolute pair, end and the pedal support 15 of connecting rod 18 form prismatic pair and turn
Dynamic pair, foot-operated 16 form revolute pair with connecting rod on connecting rod 18 and can lock.The movement and rotation of thigh support bed surface can
To train knee joint, lower limb can be trained by being rotated plus foot-operated class elliptical orbit.
Specific to set, the pedal support 5 settable structure in day font, the ends of two connecting rods 18 is along foot-operated support
The interior Slideslip of frame long side, i.e. the end of connecting rod 18 and the structure of the composition prismatic pair of pedal support 15 and revolute pair are：It is foot-operated
The sidepiece of support frame 15 is provided with guide groove along its length, and the end of connecting rod 18 is provided with the sliding block matched with guide groove, and the outer end of sliding block is
In the circular hole of round bar shape insertion connecting rod 18 revolute pair is formed with connecting rod.Foot-operated 16 are arranged on connecting rod 18 and the composition rotation of connecting rod 18
Secondary structure is：It is foot-operated that worm couple is set between 16 and connecting rod 18, for example, being fixedly installed worm gear, worm gear on foot-operated
Wheel shaft is rotatably arranged on connecting rod 18, and the worm screw 21 with worm gear is provided with connecting rod.
The lifting structure of two level bed body support frame 5 is：
Set in the lower section of two level bed body support frame 5 one-level bed body support frame 1, rotating connector 4, H-shaped support 29 and
3rd linear-motion actuator 3, rotating connector 4 are cut with scissors with two level bed body support frame 5, one-level bed body support frame 1 and H-shaped support three
Connect, the both ends of the 3rd linear-motion actuator 3 are hinged between the cross bar of H-shaped support 29 and one-level bed body support frame 1, and the 3rd straight line causes
Dynamic device 3 is flexible to drive secondary bed body support frame 5 to lift.In specific setting, and one-level bed body support frame 1 is provided with upward support
Post, two level bed body support frame 5 are provided with downward support column, and rotating connector 4 could be arranged to the apperance of equilateral triangle, triangle
Three sides of shape are respectively hinged on one-level bed body support frame, two level bed body support frame and H-shaped support, the 3rd linear-motion actuator 3
When flexible, triangle rotates, and each pin joint also rotates, so as to drive two level bed body support frame 5 to lift.By in one-level bed
Four leg lower ends of body support frame 1 set universal wheel 2, so as to be easy to move integrally recovery exercising robot.
It is adjustable relative to the position of pulldown bed for the ease of pedal support 15, it is provided with the both sides of pedal support 15
Guide rail 17, the end of two parallel bars of the bottom of pulldown bed 10 are provided with the sliding block with the guide rail, and pedal support passes through
Guide rail is slided along sliding block so as to be moved along the vertical direction of pulldown bed, and can locking.
Upper limbs training institution includes：Hand fix bar 23, first connecting rod 22, second connecting rod 24, third connecting rod the 25, the 4th connect
Bar 26 and hand exercise bar 27；Wherein, hand fix bar 23 is fixed on connecting rod 18, and one end of first connecting rod 22 is hinged on hand
In portion's fix bar 23, the other end be hinged on second connecting rod 24 head end form revolute pair；The end of second connecting rod 24 is hinged on
The head ends of three connecting rods 25 forms revolute pair, and the side that the rear end of third connecting rod 25 is hinged on pulldown bed 10 forms revolute pair, and the 4th
The head end of connecting rod 26 is plugged in the terminus lumen of third connecting rod 25, and hand exercise bar 27 is plugged in the end of fourth link 26
Revolute pair and prismatic pair are formed in chamber.In specific setting, third connecting rod 25 can be set to hollow structure, the head end of fourth link 26
It is inserted into the terminus lumen of third connecting rod 25, and can be equally inserted by bolt locking radial, the lower end of hand exercise bar 27
In the terminus lumen of fourth link 26, hand exercise bar 27 can rotate relative to fourth link 26 and form revolute pair, formation
Revolute pair can make rehabilitation clients it is autonomous choose whether that collaboration carries out hand exercise；Movement is formed by adjusting insertion depth
Pair, the transversal stretching length of hand exercise bar 27 can be controlled, adapts to different crowds.
Claims (4)
1. two-stage bed body, multi-angle regulation, upper and lower extremities coorinated training healing robot, it is characterised in that：
The two level bed body support frame (5) for setting height to lift, pulldown bed (10), first straight line actuating are hinged with its end
Device (6), one end of buffer (7) are hinged on the back side of pulldown bed (10), and the other end is hinged on the two level bed body support frame (5)
On, the luffing angle of first straight line actuator (6) the adjustment pulldown bed (10)；
The top of the pulldown bed (10) is the bed surface of tabular, and pulldown bed lower hollow is that bottom is two parallel rod members, living
Dynamic bed is hinged on the end of two level bed body support frame (5) with the bottom of two rod member；Stacking is provided with cunning on the bed surface
Dynamic bed surface (12), the sliding table top (12) and the bed surface of the pulldown bed form prismatic pair on the length direction of bed body；
Be provided with two sliding blocks (14) on the parallel rod member in pulldown bed bottom two, described two sliding blocks (14) using the rod member as
Slide rail, the upper end of thigh support bed surface (8) is hinged on two sliding blocks (14), and is set in the plane perpendicular of the pulldown bed (10)
Support bar (28) is equipped with, one end of second straight line actuator (9) is hinged on the support bar (28), and the other end is hinged on described
The back side of thigh support bed surface (8)；
Pedal support (15), the pedal support (15) are provided with the end of two rod members of the pulldown bed bottom
Length direction is provided with power set (20), power dress perpendicular to the length direction of pulldown bed on the pedal support (15)
The one end for putting the output shaft and crank (19) of (20) connects firmly, and the other end of crank rotates be hinged form of the head end of connecting rod (18)
Pair, end and the pedal support of connecting rod (18) form prismatic pair and revolute pair, ride (16) and be arranged on the connecting rod (18)
Revolute pair is formed with connecting rod and can be locked；
In the lower section of the two level bed body support frame (5), one-level bed body support frame (1), rotating connector (4), H-shaped support are set
(29) and the 3rd linear-motion actuator (3), the rotating connector (4) support with two level bed body support frame (5), one-level bed body
Frame (1) and H-shaped support three are hinged, the both ends of the 3rd linear-motion actuator (3) be hinged on H-shaped support (29) cross bar and
Between one-level bed body support frame (1), the 3rd linear-motion actuator (3) is flexible to drive secondary bed body support frame (5) lifting；
Upper limbs training institution includes：Hand fix bar (23), first connecting rod (22), second connecting rod (24), third connecting rod (25),
Double leval jib (26) and hand exercise bar (27)；
The hand fix bar (23) is fixed on the connecting rod (18), and one end of the first connecting rod (22) is hinged on hand and consolidated
In fixed pole (23), the other end be hinged on second connecting rod (24) head end form revolute pair；The end of second connecting rod (24) is hinged on
The head end of third connecting rod (25) forms revolute pair, and the rear end of third connecting rod (25) is hinged on the side composition rotation of pulldown bed (10)
Pair, the head end of fourth link (26) are plugged in the terminus lumen of third connecting rod (25), and hand exercise bar (27) is plugged on the 4th
Revolute pair and prismatic pair are formed in the terminus lumen of connecting rod (26)；
The end of the connecting rod (18) and the structure of pedal support (15) composition prismatic pair and revolute pair are：Pedal support
(15) sidepiece is provided with guide groove along its length, and connecting rod (18) end is provided with the sliding block matched with guide groove, and the outer end of sliding block is circle
In the circular hole of rod insertion connecting rod (18) revolute pair is formed with connecting rod.
2. two-stage bed body according to claim 1, multi-angle regulation, upper and lower extremities coorinated training healing robot, its feature
It is, the structure that the bed surface of the sliding table top (12) and the pulldown bed forms prismatic pair on the length direction of bed body is：
Transmission device (11) is fixed with the bed surface of pulldown bed, and its output shaft is fixedly connected with leading screw (13), on the sliding table top (12)
The nut matched with the leading screw (13) is fixed with, drives leading screw (13) to rotate when transmission device (11) rotates, and then is driven
Sliding table top (12) moves up and down relative to the bed surface of pulldown bed.
3. two-stage bed body according to claim 1, multi-angle regulation, upper and lower extremities coorinated training healing robot, its feature
It is, the both sides of the pedal support (15) are provided with guide rail (17), and the end of two parallel bars of pulldown bed bottom is set
There is the sliding block with the guide rail, pedal support can be moved by guide rail along the vertical direction of pulldown bed and locking.
4. two-stage bed body according to claim 1, multi-angle regulation, upper and lower extremities coorinated training healing robot, its feature
It is, described foot-operated (16) are arranged on the structure with connecting rod composition revolute pair on the connecting rod (18) and are：Foot-operated (16) and connecting rod
(18) worm couple is set between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN107583230A (en) * | 2017-09-07 | 2018-01-16 | 新泰市中医院 | A kind of Multi-functional medical nursing training device |
| CN108245377B (en) * | 2018-03-18 | 2020-03-24 | 黑龙江中医药大学 | PNF motion trail training rehabilitation bed |
| CN110192958B (en) * | 2019-06-25 | 2021-04-13 | 北京石油化工学院 | Rehabilitation bed position and posture conversion device and bed body suitable for upper and lower limb rehabilitation |
| CN113288685B (en) * | 2021-06-21 | 2023-10-24 | 好心情健康产业集团有限公司 | Medical psychiatric knee joint rehabilitation device capable of lying |
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| CN102813998B (en) * | 2012-08-01 | 2015-01-14 | 上海交通大学 | Multifunctional composite rehabilitation system for patient suffering from central nerve injury |
| CN205235271U (en) * | 2015-12-28 | 2016-05-18 | 合肥工业大学 | Recovered robot of low limbs coorinated training is adjusted, is gone up to two -stage bed body, multi -angle |
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