CN106176128B - Support robot and its operating method for rehabilitation training - Google Patents
Support robot and its operating method for rehabilitation training Download PDFInfo
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- CN106176128B CN106176128B CN201610564249.4A CN201610564249A CN106176128B CN 106176128 B CN106176128 B CN 106176128B CN 201610564249 A CN201610564249 A CN 201610564249A CN 106176128 B CN106176128 B CN 106176128B
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- 238000012549 training Methods 0.000 title claims abstract description 46
- 238000011017 operating method Methods 0.000 title claims abstract description 6
- 230000033001 locomotion Effects 0.000 claims abstract description 129
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 230000005021 gait Effects 0.000 claims abstract description 18
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 14
- 230000005540 biological transmission Effects 0.000 claims description 18
- 229910000831 Steel Inorganic materials 0.000 claims description 10
- 239000010959 steel Substances 0.000 claims description 10
- 230000005611 electricity Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 210000001624 hip Anatomy 0.000 abstract description 8
- 230000000694 effects Effects 0.000 abstract description 5
- 238000004088 simulation Methods 0.000 abstract description 5
- 210000001981 hip bone Anatomy 0.000 abstract description 3
- 230000002708 enhancing effect Effects 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 3
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
Classifications
-
- 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
-
- 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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0406—Standing on the feet
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of support robot and its operating method for rehabilitation training, which includes pedestal, crawler type walking machine, balance weight mechanism and motion parts；Motion parts include up and down motion platform, side-to-side movement platform and parallel four-bar type motion platform.Each motion platform is made of motor, platform fixed plate, gear set and output end.Present invention can be implemented in the rehabilitation trainings to two linear degrees of freedom of hipbone and a revolution degree of freedom during gait training；It can physiological movement of the altitude simulation hip in gait training, effectively enhancing rehabilitation training effect.
Description
Technical field
The invention belongs to the field of medical instrument technology, and in particular to a kind of for the support robot of rehabilitation training and its behaviour
Make method.
Background technology
China's Aging Problem getting worse, and hemiplegia is the high morbidity in the elderly, therefore it is directed to the elderly
Posthemiplegic rehabilitation is particularly important.Hemiplegic patient's gait is normally the mark of rehabilitation, therefore gait training is in rehabilitation
Status in training is especially pronounced.
It needs the hand steered patient's hip of Physical Therapist to carry out gait training the Traditional Rehabilitation means of hemiplegic patient, consumes a large amount of
Time and muscle power, and can not ensure sufficient training time and enough training strength.Existing gait training rehabilitation is set
Standby only to be assisted in training patient, there is no the physiological structures for analyzing human body, often bring the Ipsilateral of patient cannot
It is effectively trained, this equipment is the rehabilitation training carried out according to the gait combination physiological structure of patient, be can reach effective
Training goal.
Invention content
In order to solve big traditional gait rehabilitation training amount of the existing technology, inefficiency and common rehabilitation equipment
The problems such as training is not comprehensive, training mode is single, the present invention are provided a kind of for rehabilitation training by analyzing hip physiological structure
Support robot and its operating method, for patient training one efficient training platform is provided.
Its technical solution is
A kind of support robot for rehabilitation training, including pedestal 3, crawler type walking machine 1, balance weight mechanism and movement portion
Point.Motion parts include up and down motion platform, side-to-side movement platform and parallel four-bar type motion platform.
Balance weight mechanism includes clump weight 2 and steel wire rope 5；Lower motion platform includes first motor 27, first motor gear 25,
First screw gear 24, the first lead screw base 28 and up and down motion platform fixed plate 26；Side-to-side movement platform includes the second motor 21,
Second motor gear 20 and the second screw gear 19, the second leading screw 22 and side-to-side movement platform fixed plate 18, the second lead screw transmission
Part 23；Parallel four-bar type motion platform includes third motor 14, third motor fixing plate 17, third motor gear 16, third silk
Thick stick gear 15, third lead screw transmission part 12, third leading screw 13, parallel four-bar rear bar 9, parallel leading screw swing mechanism 10, right hinge
Structure 8, left hinge arrangement 11, the first movement output bar 6 and the second movement output bar 7.
Further, crawler type walking machine 1 is fixed on the base 3；Motion parts are connected by supporting rod 4 with pedestal 3；Counterweight
Mechanism is connected by clump weight 2 with pedestal 3, is connected with motion platform by steel wire rope 5.
Further, first motor 27 is fixed in up and down motion platform fixed plate 26, is driven by first motor gear 25
First screw gear 24 moves up and down, and the first screw gear 24 is fixed on up and down motion lead screw base 28, the first lead screw base 28 with
Up and down motion platform fixed plate 26 is fixed, to drive entire up and down motion platform to move up and down.
Second motor 21 is fixed in side-to-side movement platform fixed plate 18, and the second leading screw is driven by the second motor gear 20
Gear 19 rotates, and the second screw gear 19 drives the rotation of the second leading screw 22, and it is flat that the second lead screw transmission part 23 is fixed on up and down motion
In platform fixed plate 26, so that side-to-side movement platform side-to-side movement.
Third motor 14 is fixed on third motor fixing plate 17, and third screw gear is driven by third motor gear 16
15 rotations, third screw gear 15 drive third leading screw 13 to move, and third leading screw 13 drives the by third lead screw transmission part 12
Two output rods 7,7 rear end of the second output rod is connected with linkage 11 with 9 left end of parallel four-bar rear bar, in parallel four-bar rear bar 9
Point is connected with rotary motion mechanism 10, and 9 right end of parallel four-bar rear bar is connected by hinge 8 with the first output rod 6, flat to constitute
Row four-bar mechanism forms parallel four-bar rotary motion.
As a further improvement, balance weight mechanism is connected by steel wire rope 5 with motion platform, and drawing is provided by clump weight 2
Power acts on entire motion platform, has been effectively accomplished the effect for exempting from weight.
Further, which turns round two linear degrees of freedom of hipbone and one during may be implemented in gait training
The rehabilitation training of degree of freedom, physiological movement of the altitude simulation hip in gait training effectively enhance rehabilitation training effect.
A kind of operating method of support robot for rehabilitation training, includes the following steps：
Hip is fixed with bandage first by instruction person, is connected on the first movement output bar 6 and the second movement output bar 7.
When implementing by instruction person's gait training, cooperation crawler type walking machine 1, motor is operated under torque mode：First motor
27 are fixed in up and down motion platform fixed plate 26, drive the first screw gear 24 to move up and down by first motor gear 25,
First screw gear 24 is fixed on up and down motion lead screw base 28, and the first lead screw base 28 and up and down motion platform fixed plate 26 are solid
It is fixed, to drive entire up and down motion platform to move up and down；Second motor 21 is fixed in side-to-side movement platform fixed plate 18, is led to
Crossing the second motor gear 20 drives the rotation of the second screw gear 19, the second screw gear 19 that the second leading screw 22 is driven to rotate, and second
Lead screw transmission part 23 is fixed in up and down motion platform fixed plate 26, so that side-to-side movement platform side-to-side movement；Third electricity
Machine 14 is fixed on third motor fixing plate 17, drives third screw gear 15 to rotate by third motor gear 16, third silk
Thick stick gear 15 drives third leading screw 13 to move, and third leading screw 13 drives the second output rod 7 by third lead screw transmission part 12, and second
Output rod 7, rear end are connected with linkage 11 with 9 left end of parallel four-bar rear bar, 9 midpoint of parallel four-bar rear bar and rotary motion machine
Structure 10 is connected, and 9 right end of parallel four-bar rear bar is connected by hinge 8 with the first output rod 6, to constitute parallelogram lindage, shape
At parallel four-bar rotary motion.
Compared with prior art, beneficial effects of the present invention：
First, gathering around there are two the rehabilitation training of linear degrees of freedom and a revolution degree of freedom, altitude simulation hip is in gait
Physiological movement in training；Second, symmetrical expression exempts from heavy-duty machine structure, to mitigate burden when patient's gait training；Third, the rotation of device
The rotation center for turning center and human hip overlaps, the rehabilitation training that can be trained with altitude simulation body gait.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of support robot for rehabilitation training of the present invention；Wherein, 1 crawler type walking
Machine, 2 clump weights, 3 pedestals, 4 supporting rods, 5 steel wire ropes, 6 first movement output bars, 7 second movement output bars, 8 right hinge arrangements,
9 parallel four-bar rear bars, 10 parallel leading screw swing mechanisms, 11 left hinge arrangements, 12 third lead screw transmission parts, 13 third leading screws, 14
Third motor, 15 third screw gears, 16 third motor gears, 17 rotary motion platform motor fixing plates, 18 side-to-side movements are flat
Platform fixed plate, 19 second screw gears, 20 second motor gears, 21 second motors, 22 second leading screws, 23 second lead screw transmissions
Part, 24 first screw gears, 25 first motor gears, 26 up and down motion platform fixed plates, 27 first motors, 28 first leading screws
Seat.
Specific implementation mode
Present invention will be explained in further detail with specific implementation mode below in conjunction with the accompanying drawings.
Referring to Fig.1, a kind of support robot for rehabilitation training of the embodiment of the present invention, including including pedestal 3, crawler belt
Formula walking machine 1, balance weight mechanism and motion parts.Motion parts include up and down motion platform, side-to-side movement platform and parallel four-bar
Formula motion platform.
Balance weight mechanism includes clump weight 2 and steel wire rope 5.Up and down motion platform includes first motor 27, first motor gear
25, the first screw gear 24, the first lead screw base 28 and up and down motion platform fixed plate 26；Side-to-side movement platform includes the second motor
21, the second motor gear 20 and the second screw gear 19, the second leading screw 22 and side-to-side movement platform fixed plate 18, the second leading screw pass
Moving part (23)；Parallel four-bar type motion platform includes third motor 14, third motor fixing plate (17), third motor gear 16,
Third screw gear 15, third lead screw transmission part 12, third leading screw 13, parallel four-bar rear bar 9, parallel leading screw swing mechanism 10,
Right hinge arrangement 8, left hinge arrangement 11, the first movement output bar 6 and the second movement output bar 7.
As a further improvement, crawler type walking machine 1 is fixed on the base 3；Motion parts pass through supporting rod 4 and pedestal 3
It is connected；Balance weight mechanism is connected by clump weight 2 with pedestal 3, is connected with motion platform by steel wire rope 5.
As a further improvement, first motor 27 is fixed in up and down motion platform fixed plate 26, pass through first motor tooth
Wheel 25 drives the first screw gear 24 to move up and down, and the first screw gear 24 is fixed on up and down motion lead screw base 28, first
Thick stick seat 28 is fixed with up and down motion platform fixed plate 26, to drive entire up and down motion platform to move up and down.
Second motor 21 is fixed in side-to-side movement platform fixed plate 18, and the second leading screw is driven by the second motor gear 20
Gear 19 rotates, and the second screw gear 19 drives the rotation of the second leading screw 22, and it is flat that the second lead screw transmission part 23 is fixed on up and down motion
In platform fixed plate 26, so that side-to-side movement platform side-to-side movement.
Third motor 14 is fixed on third motor fixing plate 17, and third screw gear is driven by third motor gear 16
15 rotations, third screw gear 15 drive third leading screw 13 to move, and third leading screw 13 drives the by third lead screw transmission part 12
Two output rods 7,7 rear end of the second output rod is connected with linkage 11 with 9 left end of parallel four-bar rear bar, in parallel four-bar rear bar 9
Point is connected with rotary motion mechanism 10, and 9 right end of parallel four-bar rear bar is connected by hinge 8 with the first output rod 6, flat to constitute
Row four-bar mechanism forms parallel four-bar rotary motion.
As a further improvement, balance weight mechanism is connected by steel wire rope 5 with motion platform, and drawing is provided by clump weight 2
Power acts on entire motion platform, has been effectively accomplished the effect for exempting from weight.
As a further improvement, the device may be implemented in during gait training to two linear degrees of freedom of hipbone and
The rehabilitation training of one revolution degree of freedom, physiological movement of the altitude simulation hip in gait training effectively enhance rehabilitation training
Effect.
When using the present invention, hip is fixed with bandage first by instruction person, is connected to the movement of the first movement output bar 6 and second
On output rod 7.
When implementing by instruction person's gait training, cooperation crawler type walking machine 1, motor is operated under torque mode：First motor
27 are fixed in up and down motion platform fixed plate 26, drive the first screw gear 24 to move up and down by first motor gear 25,
First screw gear 24 is fixed on up and down motion lead screw base 28, and the first lead screw base 28 and up and down motion platform fixed plate 26 are solid
It is fixed, to drive entire up and down motion platform to move up and down；Second motor 21 is fixed in side-to-side movement platform fixed plate 18, is led to
Crossing the second motor gear 20 drives the rotation of the second screw gear 19, the second screw gear 19 that the second leading screw 22 is driven to rotate, and second
Lead screw transmission part 23 is fixed in up and down motion platform fixed plate 22, so that side-to-side movement platform side-to-side movement；Third electricity
Machine 14 is fixed on third motor fixing plate 17, drives third screw gear 15 to rotate by third motor gear 16, third silk
Thick stick gear 15 drives third leading screw 13 to move, and third leading screw 13 drives the second output rod 7 by third lead screw transmission part 12, and second
Output rod 7, rear end are connected with linkage 11 with 9 left end of parallel four-bar rear bar, 9 midpoint of parallel four-bar rear bar and rotary motion machine
Structure 10 is connected, and 9 right end of parallel four-bar rear bar is connected by hinge 8 with the first output rod 6, to constitute parallelogram lindage, shape
At parallel four-bar rotary motion.
The foregoing is only a preferred embodiment of the present invention, protection scope of the present invention is without being limited thereto, it is any ripe
Those skilled in the art are known in the technical scope of present disclosure, the letter for the technical solution that can be become apparent to
Altered or equivalence replacement are each fallen in protection scope of the present invention.
Claims (4)
1. a kind of support robot for rehabilitation training, it is characterised in that：Including pedestal (3), crawler type walking machine (1), match
Heavy-duty machine structure and motion parts；
The balance weight mechanism includes clump weight (2) and steel wire rope (5)；
The motion parts include up and down motion platform, side-to-side movement platform and parallel four-bar type motion platform；
The up and down motion platform includes first motor (27), first motor gear (25), the first screw gear (24), first
Thick stick seat (28) and up and down motion platform fixed plate (26)；The side-to-side movement platform includes the second motor (21), the second motor tooth
Take turns (20) and the second screw gear (19), the second leading screw (22) and side-to-side movement platform fixed plate (18), the second lead screw transmission part
(23)；The parallel four-bar type motion platform includes third motor (14), third motor fixing plate (17), third motor gear
(16), third screw gear (15), third lead screw transmission part (12), third leading screw (13), parallel four-bar rear bar (9), parallel silk
Thick stick swing mechanism (10), right hinge arrangement (8), left hinge arrangement (11), the first movement output bar (6) and the second movement output bar
(7)；
The first motor (27) is fixed in up and down motion platform fixed plate (26), and the is driven by first motor gear (25)
One screw gear (24) moves up and down, and the first screw gear (24) is fixed on up and down motion lead screw base (28), the first lead screw base
(28) fixed with up and down motion platform fixed plate (26), to drive entire up and down motion platform to move up and down；
Second motor (21) is fixed in side-to-side movement platform fixed plate (18), and the is driven by the second motor gear (20)
Two screw gears (19) rotate, and the second screw gear (19) drives the second leading screw (22) to rotate, and the second lead screw transmission part (23) is solid
It is scheduled in up and down motion platform fixed plate (26), so that side-to-side movement platform side-to-side movement；
The third motor (14) is fixed on third motor fixing plate (17), and third silk is driven by third motor gear (16)
Thick stick gear (15) rotates, and third screw gear (15) drives third leading screw (13) to move, and third leading screw (13) passes through third leading screw
Driving member (12) drives the second output rod (7), the second output rod (7) rear end linkage (11) and parallel four-bar rear bar (9)
Left end is connected, and parallel four-bar rear bar (9) midpoint is connected with rotary motion mechanism (10), and parallel four-bar rear bar (9) right end passes through hinge
Chain (8) is connected with the first output rod (6), to constitute parallelogram lindage, forms parallel four-bar rotary motion.
2. the support robot according to claim 1 for rehabilitation training, it is characterised in that：The crawler type walking machine
(1) it is fixed on pedestal (3)；Motion parts are connected by supporting rod (4) with pedestal (3)；Balance weight mechanism by clump weight (2) with
Pedestal (3) is connected, and is connected with motion platform by steel wire rope (5).
3. the support robot according to claim 1 for rehabilitation training, it is characterised in that：The balance weight mechanism passes through
Steel wire rope (5) is connected with motion platform, and provides pulling force by clump weight (2).
4. a kind of operating method of support robot for rehabilitation training, which is characterized in that include the following steps：
Hip is fixed with bandage first by instruction person, is connected on the first movement output bar (6) and the second movement output bar (7)；
When implementing by instruction person's gait training, coordinate crawler type walking machine (1), motor is operated under torque mode：First motor
(27) it is fixed in up and down motion platform fixed plate (26), is driven on the first screw gear (24) by first motor gear (25)
Lower movement, the first screw gear (24) are fixed on up and down motion lead screw base (28), and the first lead screw base (28) is flat with up and down motion
Platform fixed plate (26) is fixed, to drive entire up and down motion platform to move up and down；Second motor (21) is fixed on side-to-side movement
In platform fixed plate (18), the second screw gear (19) is driven to rotate by the second motor gear (20), the second screw gear
(19) the second leading screw (22) is driven to rotate, the second lead screw transmission part (23) is fixed in up and down motion platform fixed plate (26), from
And make side-to-side movement platform side-to-side movement；Third motor (14) is fixed on third motor fixing plate (17), passes through third electricity
Machine gear (16) drives third screw gear (15) to rotate, and third screw gear (15) drives third leading screw (13) to move, third
Leading screw (13) drives the second output rod (7), the second output rod (7) rear end linkage by third lead screw transmission part (12)
(11) it is connected with parallel four-bar rear bar (9) left end, parallel four-bar rear bar (9) midpoint is connected with rotary motion mechanism (10), parallel
Four bar rear bar (9) right ends are connected by hinge (8) with the first output rod (6), to constitute parallelogram lindage, form parallel four
Bar rotary motion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610564249.4A CN106176128B (en) | 2016-07-18 | 2016-07-18 | Support robot and its operating method for rehabilitation training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610564249.4A CN106176128B (en) | 2016-07-18 | 2016-07-18 | Support robot and its operating method for rehabilitation training |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106176128A CN106176128A (en) | 2016-12-07 |
| CN106176128B true CN106176128B (en) | 2018-08-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610564249.4A Active CN106176128B (en) | 2016-07-18 | 2016-07-18 | Support robot and its operating method for rehabilitation training |
Country Status (1)
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| CN (1) | CN106176128B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108514494A (en) * | 2018-02-02 | 2018-09-11 | 上海交通大学 | Device for the training of postoperative gait rehabilitation |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102961231B (en) * | 2009-08-05 | 2014-11-19 | 广州一康医疗设备实业有限公司 | Gait rehabilitation training robot |
| CN102058464A (en) * | 2010-11-27 | 2011-05-18 | 上海大学 | Motion control method of lower limb rehabilitative robot |
| JP5936233B2 (en) * | 2011-03-02 | 2016-06-22 | 国立大学法人 筑波大学 | Walking training apparatus and walking training system |
| EP2815734A1 (en) * | 2013-06-21 | 2014-12-24 | Hocoma AG | Apparatus for automated walking training |
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