CN106176129A - Removable support arm and the operational approach thereof of robot is helped in rehabilitation training - Google Patents
Removable support arm and the operational approach thereof of robot is helped in rehabilitation training Download PDFInfo
- Publication number
- CN106176129A CN106176129A CN201610564481.8A CN201610564481A CN106176129A CN 106176129 A CN106176129 A CN 106176129A CN 201610564481 A CN201610564481 A CN 201610564481A CN 106176129 A CN106176129 A CN 106176129A
- Authority
- CN
- China
- Prior art keywords
- motion
- platform
- hip
- motor
- fixed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012549 training Methods 0.000 title claims abstract description 46
- 230000005021 gait Effects 0.000 claims abstract description 18
- 229910000831 Steel Inorganic materials 0.000 claims description 10
- 239000010959 steel Substances 0.000 claims description 10
- 210000001624 hip Anatomy 0.000 abstract description 43
- 230000000694 effects Effects 0.000 abstract description 7
- 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
- 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
- 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
- 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
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 rehabilitation training and help removable support arm and the operational approach thereof of robot, this device includes base, crawler type pedipulator, balance weight mechanism and motion parts；Motion parts includes side-to-side movement platform, rear shifting movement platform, carries hip motion platform and parallel four-bar type motion platform.Each motion platform is constituted by motor, motion platform fixed plate, gear train and outfan.Present invention can be implemented in during gait training two linear degrees of freedom of hipbone and the rehabilitation trainings of two revolution degree of freedom；Can altitude simulation hip physiological movement in gait training, effectively enhancing rehabilitation training effect.
Description
Technical field
The invention belongs to technical field of medical instruments, be specifically related to a kind of rehabilitation training and help the removable support of robot
Arm and operational approach thereof.
Background technology
China's Aging Problem is day by day serious, and apoplectic hemiplegia is the high morbidity in old people, therefore for old people
Posthemiplegic rehabilitation is particularly important.Hemiplegic patient's gait is normally the mark of rehabilitation, and therefore gait training is in rehabilitation
Status in training is especially pronounced.
Traditional Rehabilitation means for hemiplegic patient need Physical Therapist's hand steered patient hip to carry out gait training, consume a large amount of
Time with muscle power, and cannot ensure abundance training time and enough training strength.Existing gait training rehabilitation sets
For often focusing on ambulation training, and have ignored the physiological structure of hip, it is impossible to the kinematics analysis design for hip meets people
The equipment of machine engineering, thus limit the effect of gait training device.
Summary of the invention
In order to solve that traditional gait rehabilitation training amount that prior art exists is big, inefficiency and common rehabilitation equipment
The problems such as training is comprehensive, training mode is single, the present invention is by analyzing hip physiological structure, it is provided that a kind of rehabilitation training is helped
The removable support arm of robot and operational approach thereof, train one efficient training platform of offer for patient.
Its technical scheme is
The removable support arm of robot is helped in a kind of rehabilitation training, including base 1, crawler type pedipulator 2, motion platform
Fixed plate 4, support bar 23, balance weight mechanism and motion parts.Motion parts includes side-to-side movement platform, rear shifting movement platform, carries
Hip motion platform and parallel four-bar type motion platform.
Balance weight mechanism includes balancing weight 22 and steel wire rope 21；Side-to-side movement platform includes the first motor 18, the first gear train
19 and the first screw slider structure 20；Rear shifting movement platform includes the second motor 3, the second gear train 5 and the second screw slider knot
Structure 6；Carry hip motion platform to include the 3rd motor the 14, the 3rd gear train 15, put forward hip motion fixed platform 7 and carry hip take-off lever 16；
Parallel four-bar type motion platform includes the 4th motor 11, the 4th gear train the 12, the 3rd screw slider structure 9, parallel bar 10, hinge
Structure the 8, first movement output bar 13 and the second movement output bar 17.
Further, crawler type pedipulator 2 is fixed on base 1；Motion parts is connected with base 1 by support bar 23；Join
Heavy-duty machine structure is connected with base by balancing weight 22, is connected with motion platform by steel wire rope 21.
Further, the first motor 18 is fixed on and carries in hip motion fixed platform 7, drives first by the first gear train 19
Thick stick slide block structure 20 side-to-side movement, the first screw slider 20 is fixed in motion platform fixed plate 4, so that side-to-side movement is put down
Platform side-to-side movement；
Second motor 3 is fixed in motion platform fixed plate 4, drives the second screw slider structure 6 by the second gear train 5
Seesawing, the second screw slider structure 6 is fixed on and carries in hip motion fixed platform 7, so that before and after the platform that seesaws
Motion；
3rd motor 14 is fixed on and carries in hip motion fixed platform 7, is directly driven by the 3rd gear train 15 and proposes hip output
Bar 16 turns round by a small margin around sagittal axis on frontal plane, completes to propose hip motion；
4th motor 11 is fixed in hip motion fixed platform 7, drives the 3rd screw slider to tie by the 4th gear train 12
Structure 9 and the first movement output bar 13 seesaw, movement output bar 13 drives symmetry side by hinge arrangement 8 and parallel bar 10 again
Complete rotary motion to the second movement output bar 17 at horizontal plane, form parallelogram lindage.
Further, balance weight mechanism is connected with motion platform by steel wire rope 21, and provides pulling force by balancing weight 22, effect
In whole motion platform, it is effectively accomplished the effect exempting from weight.
Further, to two linear degrees of freedom of hipbone and two revolutions during this device may be implemented in gait training
The rehabilitation training of degree of freedom, altitude simulation hip physiological movement in gait training, effectively strengthen rehabilitation training effect.
The operational approach of the removable support arm of robot is helped in a kind of rehabilitation training, comprises the following steps:
First fixed hip with bandage by instruction person, be connected on the first movement output bar 13 and the second movement output bar 17；
When implementing by instruction person's gait training, coordinating crawler type pedipulator 2, motor is operated under torque mode: the first motor
18 drive the first screw slider structure 20 hip side-to-side movement by the first gear train 19；Second motor 3 is by the second gear train 5
The second screw slider structure 6 is driven to drive hip to seesaw；3rd motor 14 is directly driven by the 3rd gear train 19 and carries hip
Take-off lever 16 turns round by a small margin around sagittal axis on frontal plane, completes to propose hip motion；4th motor 11 is by the 4th gear train 12
Parallelogram lindage is driven to drive hip to complete rotary motion at horizontal plane.
Compared with prior art, beneficial effects of the present invention:
One, has two linear degrees of freedom and the rehabilitation training of two revolution degree of freedom, and altitude simulation hip is in gait
Physiological movement in training；Its two, symmetrical expression exempts from heavy-duty machine structure, to alleviate burden during patient's gait training；Its three, the rotation of device
The center of rotation turning center and human hip overlaps, can be with the rehabilitation training of altitude simulation body gait training.
Accompanying drawing explanation
Fig. 1 is the structural representation that a kind of multiple degrees of freedom for rehabilitation training of the present invention helps robot；Wherein, 1, the end
Seat；2, crawler type pedipulator；3, the second motor；4, motion platform fixed plate；5, the second gear train；6, the second screw slider knot
Structure；7, hip motion fixed platform is put forward；8, hinge arrangement；9, the 3rd screw slider structure；10, parallel bar；11, the 4th motor；12、
4th gear train；13, the first movement output bar；14, the 3rd motor；15, the 3rd gear train；16, hip take-off lever is carried；17, second
Movement output bar；18, the first motor；19, the first gear train；20, the first screw slider structure；21, steel wire rope；22, balancing weight；
23, support bar.
Detailed description of the invention
With detailed description of the invention, the present invention is described in more detail below in conjunction with the accompanying drawings.
With reference to Fig. 1, a kind of multiple degrees of freedom for rehabilitation training of the embodiment of the present invention helps robot, including base 1,
Crawler type pedipulator 2, motion platform fixed plate 4, support bar 23, balance weight mechanism and motion parts.Motion parts includes left and right fortune
Moving platform, rear shifting movement platform, carry hip motion platform and parallel four-bar type motion platform.
Balance weight mechanism includes balancing weight 22 and steel wire rope 21；Side-to-side movement platform includes the first motor 18, the first gear train
19 and the first screw slider structure 20；Rear shifting movement platform includes the second motor 3, the second gear train 5 and the second screw slider knot
Structure 6；Carry hip motion platform to include the 3rd motor the 14, the 3rd gear train 15, put forward hip motion fixed platform 7 and carry hip take-off lever 16；
Parallel four-bar type motion platform includes the 4th motor 11, the 4th gear train the 12, the 3rd screw slider structure 9, parallel bar 10, hinge
Structure the 8, first movement output bar 13 and the second movement output bar 17.
As improving further, crawler type pedipulator 2 is fixed on base 1；Motion parts is by support bar 23 and base 1
It is connected；Balance weight mechanism is connected with base by balancing weight 22, is connected with motion platform by steel wire rope 21.
As improving further, the first motor 18 is fixed on and carries in hip motion fixed platform 7, carried by the first gear train 19
Dynamic first screw slider structure 20 side-to-side movement, the first screw slider 20 is fixed in motion platform fixed plate 4, so that left
Right motion platform side-to-side movement；
Second motor 3 is fixed in motion platform fixed plate 4, drives the second screw slider structure 6 by the second gear train 5
Seesawing, the second screw slider structure 6 is fixed on and carries in hip motion fixed platform 7, so that before and after the platform that seesaws
Motion；
3rd motor 14 is fixed on and carries in hip motion fixed platform 7, is directly driven by the 3rd gear train 15 and proposes hip output
Bar 16 turns round by a small margin around sagittal axis on frontal plane, completes to propose hip motion；
4th motor 11 is fixed in hip motion fixed platform 7, drives the 3rd screw slider to tie by the 4th gear train 12
Structure 9 and the first movement output bar 13 seesaw, movement output bar 13 drives symmetry side by hinge arrangement 8 and parallel bar 10 again
Complete rotary motion to the second movement output bar 17 at horizontal plane, form parallelogram lindage.
As improving further, balance weight mechanism is connected with motion platform by steel wire rope 21, and is provided by balancing weight 22
Pulling force, acts on whole motion platform, has been effectively accomplished the effect exempting from weight.
As improving further, this device may be implemented in during gait training two linear degrees of freedom of hipbone and
The rehabilitation training of two revolution degree of freedom, altitude simulation hip physiological movement in gait training, effectively strengthen rehabilitation training
Effect.
When using the present invention, first fixed hip with bandage by instruction person, be connected to the first movement output bar 13 and the second fortune
On dynamic take-off lever 17；
When implementing by instruction person's gait training, coordinating crawler type pedipulator 2, motor is operated under torque mode: the first motor
18 drive the first screw slider structure 20 hip side-to-side movement by the first gear train 19；Second motor 3 is by the second gear train 5
The second screw slider structure 6 is driven to drive hip to seesaw；3rd motor 14 is directly driven by the 3rd gear train 15 and carries hip
Take-off lever 16 turns round by a small margin around sagittal axis on frontal plane, completes to propose hip motion；4th motor 11 is by the 4th gear train 12
Parallelogram lindage is driven to drive hip to complete rotary motion at horizontal plane.
The above, the only present invention preferably detailed description of the invention, protection scope of the present invention is not limited to this, any ripe
Know those skilled in the art in the technical scope of present disclosure, the letter of the technical scheme that can become apparent to
Altered or equivalence are replaced and are each fallen within protection scope of the present invention.
Claims (5)
1. the removable support arm of robot is helped in a rehabilitation training, it is characterised in that: include base (1), crawler type walking
Machine (2), motion platform fixed plate (4), support bar (23), balance weight mechanism and motion parts；
Described motion parts includes side-to-side movement platform, rear shifting movement platform, carry hip motion platform and parallel four-bar type motion is flat
Platform；
Described balance weight mechanism includes balancing weight (22) and steel wire rope (21)；Described side-to-side movement platform includes the first motor (18),
First gear train (19) and the first screw slider structure (20)；Described rear shifting movement platform includes the second motor (3), the second gear
Group (5) and the second screw slider structure (6)；The described hip motion platform that carries includes the 3rd motor (14), the 3rd gear train (15), carries
Hip motion fixed platform (7) and carry hip take-off lever (16)；Described parallel four-bar type motion platform includes the 4th motor (11), the 4th
Gear train (12), the 3rd screw slider structure (9), parallel bar (10), hinge arrangement (8), the first movement output bar (13) and
Two movement output bars (17).
The removable support arm of robot is helped in rehabilitation training the most according to claim 1, it is characterised in that: described crawler belt
Formula pedipulator (2) is fixed on base (1)；Motion parts is connected with base (1) by support bar (23)；Balance weight mechanism is by joining
Pouring weight (22) is connected with base, is connected with motion platform by steel wire rope (21).
The removable support arm of robot is helped in rehabilitation training the most according to claim 1, it is characterised in that: described first
Motor (18) is fixed on and carries on hip motion fixed platform (7), drives the first screw slider structure by the first gear train (19)
(20) side-to-side movement, the first screw slider (20) is fixed in motion platform fixed plate (4), so that side-to-side movement platform is left
Right motion；
Described second motor (3) is fixed in motion platform fixed plate (4), drives the second leading screw sliding by the second gear train (5)
Block structure (6) seesaws, and the second screw slider structure (6) is fixed on and carries on hip motion fixed platform (7), so that front and back
Motion platform seesaws；
Described 3rd motor (15) is fixed on and carries on hip motion fixed platform (7), is directly driven by the 3rd gear train (15) and carries
Hip take-off lever (16) turns round by a small margin around sagittal axis on frontal plane, completes to propose hip motion；
Described 4th motor (11) is fixed on hip motion fixed platform (9), drives the 3rd leading screw by the 4th gear train (12)
Slide block structure (9) seesaws with the first movement output bar (13), movement output bar (13) passes through hinge arrangement (8) again with parallel
Bar (10) drives symmetry direction the second movement output bar (17) to complete rotary motion at horizontal plane, forms parallelogram lindage.
The removable support arm of robot is helped in rehabilitation training the most according to claim 1, it is characterised in that: described counterweight
Mechanism is connected with motion platform by steel wire rope (21), and provides pulling force by balancing weight (22).
5. the operational approach of removable support arm of robot is helped in a rehabilitation training, it is characterised in that comprise the following steps:
First fixed hip with bandage by instruction person, be connected on the first movement output bar (13) and the second movement output bar (17)；
When implementing by instruction person's gait training, coordinating crawler type pedipulator (2), motor is operated under torque mode: the first motor
(18) the first screw slider structure (20) hip side-to-side movement is driven by the first gear train (19)；Second motor (3) is by the
Two gear trains (5) drive the second screw slider structure (6) to drive hip to seesaw；3rd motor (14) passes through the 3rd gear train
(15) directly drive and carry hip take-off lever (16) and turn round by a small margin around sagittal axis on frontal plane, complete to propose hip motion；4th motor
(11) parallelogram lindage is driven to drive hip to complete rotary motion at horizontal plane by the 4th gear train (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610564481.8A CN106176129B (en) | 2016-07-18 | 2016-07-18 | Movable supporting arm of rehabilitation training supporting robot and operation method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610564481.8A CN106176129B (en) | 2016-07-18 | 2016-07-18 | Movable supporting arm of rehabilitation training supporting robot and operation method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106176129A true CN106176129A (en) | 2016-12-07 |
| CN106176129B CN106176129B (en) | 2019-12-13 |
Family
ID=57492996
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610564481.8A Active CN106176129B (en) | 2016-07-18 | 2016-07-18 | Movable supporting arm of rehabilitation training supporting robot and operation method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106176129B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115212077A (en) * | 2022-08-12 | 2022-10-21 | 燕山大学 | Truck rehabilitation training robot with self-aligning function |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102058464A (en) * | 2010-11-27 | 2011-05-18 | 上海大学 | Motion control method of lower limb rehabilitative robot |
| CN102961231A (en) * | 2009-08-05 | 2013-03-13 | 广州一康医疗设备实业有限公司 | Gait rehabilitation training robot |
| EP2671559A1 (en) * | 2011-03-02 | 2013-12-11 | University of Tsukuba | Ambulation training device and ambulation training system |
| CN105392461A (en) * | 2013-06-21 | 2016-03-09 | 浩康股份公司 | Apparatus for automated walking training |
-
2016
- 2016-07-18 CN CN201610564481.8A patent/CN106176129B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102961231A (en) * | 2009-08-05 | 2013-03-13 | 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 |
| EP2671559A1 (en) * | 2011-03-02 | 2013-12-11 | University of Tsukuba | Ambulation training device and ambulation training system |
| CN105392461A (en) * | 2013-06-21 | 2016-03-09 | 浩康股份公司 | Apparatus for automated walking training |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115212077A (en) * | 2022-08-12 | 2022-10-21 | 燕山大学 | Truck rehabilitation training robot with self-aligning function |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106176129B (en) | 2019-12-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106963597B (en) | A kind of wearable apery gait lower limb rehabilitation walking aid device | |
| CN106109183B (en) | Both arms help recovery exercising robot and its operating method | |
| CN109223447B (en) | Upper limb rehabilitation and activity auxiliary device capable of realizing left-right interchange | |
| CN102665827A (en) | Improved rehabilitation and exercise machine | |
| CN106473897A (en) | The four limbs linkage recovery exercising robot of achievable normal gait track | |
| CN105456002A (en) | Rehabilitation training robot capable of achieving normal gait pattern | |
| CN105167959A (en) | Multifunctional gait rehabilitation training device | |
| CN106236512B (en) | A kind of gait rehabilitation robot for realizing walking foot pose | |
| CN103191543A (en) | Foldable and orbital transfer upper and lower limb coordinate exercise training mechanism | |
| CN105919776A (en) | Multi-working condition upper limb rehabilitation training robot | |
| CN206630836U (en) | A kind of upper limbs press exerciser | |
| CN102688135B (en) | Upper and lower limb rehabilitation training device with variable rod length | |
| CN206630838U (en) | The four limbs linkage recovery exercising robot of normal gait track can be achieved | |
| CN206597136U (en) | A kind of gait rehabilitation robot for realizing walking foot pose | |
| CN106074091A (en) | Multiple degrees of freedom for rehabilitation training helps robot and operational approach thereof | |
| CN206453947U (en) | Whole body for rehabilitation training coordinates multi-functional support robot | |
| CN105944318A (en) | Sports instrument with hand, foot and back training function | |
| Ren et al. | Develop a wearable ankle robot for in-bed acute stroke rehabilitation | |
| CN106176129A (en) | Removable support arm and the operational approach thereof of robot is helped in rehabilitation training | |
| CN103349602B (en) | Upper and lower limb fitness training device adjustable in wide range of amplitude | |
| CN106176130B (en) | The support arm and its operating method of robot are helped in rehabilitation training | |
| CN102614630B (en) | Amplitude-adjustable upper and lower limb rehabilitation and fitness training device | |
| CN106176128B (en) | Support robot and its operating method for rehabilitation training | |
| CN203436735U (en) | Full-automatic speed adjusting fitness rehabilitative instrument | |
| CN102614062B (en) | Upper and lower limb fitness training device with adjustable extensive scope |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20191114 Address after: 523000 Room 401, building 1, No.7, Lane 1, Guangming 1st ring road, Dongcheng Street, Dongguan City, Guangdong Province Applicant after: Guangdong Huirong Network Technology Co., Ltd Address before: Lingchuan County, Guilin City, the Guangxi Zhuang Autonomous Region 541200 eight Street in the Applicant before: Guangxi Ying Rui Intelligent Machinery Co., Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220328 Address after: 523000 No. 3 Yanhe Road, Xicheng Industrial Zone, Hengli Town, Dongguan, Guangdong Patentee after: WINTOP (DONGGUAN) INDUSTRIAL TECHNOLOGY Co.,Ltd. Address before: Room 401, building 1, No.7, Lane 1, Guangming 1st ring road, Dongcheng Street, Dongguan City, Guangdong Province Patentee before: Guangdong Huirong Network Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right |