CN106176130A - Support arm and the operational approach thereof of robot is helped in rehabilitation training - Google Patents
Support arm and the operational approach thereof of robot is helped in rehabilitation training Download PDFInfo
- Publication number
- CN106176130A CN106176130A CN201610564805.8A CN201610564805A CN106176130A CN 106176130 A CN106176130 A CN 106176130A CN 201610564805 A CN201610564805 A CN 201610564805A CN 106176130 A CN106176130 A CN 106176130A
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- China
- Prior art keywords
- bar
- motor
- motion platform
- gear
- feed screw
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- 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 14
- 230000000694 effects Effects 0.000 abstract description 7
- 238000004088 simulation Methods 0.000 abstract description 4
- 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
-
- 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 rehabilitation training and help 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 up and down motion platform and parallel four-bar type motion platform.Each motion platform is constituted by motor, platform fixed plate, gear train and outfan.Present invention can be implemented in during gait training one linear degrees of freedom of hipbone and the rehabilitation training of a 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 help robot support arm and
Operational approach.
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 support arm of robot and operational approach thereof, train one efficient training platform of offer for patient.
Its technical scheme is
The support arm of robot is helped in a kind of rehabilitation training, including base 1, crawler type pedipulator 2, balance weight mechanism and motion
Part.Motion parts includes up and down motion platform 19 and parallel four-bar type motion platform.
Balance weight mechanism includes balancing weight 21 and steel wire rope 20；Up and down motion fixed platform 19 includes the first motor 4, and first is main
Moving gear 16, feed screw nut one gear the 15, first leading screw 3, support bar 22 and up and down motion fixed platform 19；Parallel four-bar type
Motion platform includes that second motor the 8, second driving gear 7, driven gear the 6, second leading screw 9, feed screw nut 10, take-off lever are fixed
Plate 11, hinge arrangement 12, parallel bar 13, revolving structure 14, linear bearing the 18, first movement output bar 5 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 22；Join
Heavy-duty machine structure is connected with base 1 by balancing weight 21, is connected with motion platform by steel wire rope 20.
Further, the first motor 4 is fixed on up and down motion platform 19, and the first driving gear 16 is fixed on the first motor 4
On, motor 4 exports torque by the first driving gear 16, and driving gear 15 drives feed screw nut one gear 15 at the first leading screw
Moving up and down on 3, feed screw nut one gear 15 is connected with up and down motion platform 19 by bearing, thus drives and whole transport up and down
Moving platform moves up and down；
Second motor 8 is fixed on up and down motion platform 19, drives driven gear 6, passive tooth by the second driving gear 7
Wheel 6 rotates with the second movable wire thick stick 9, the second movable wire thick stick 9 drives the take-off lever fixed plate 11 being fixed on feed screw nut 10 to follow silk
Thick stick nut 10 seesaws on the second leading screw 9, and take-off lever fixed plate 11 drives the first movement output bar 5 to seesaw, motion
Take-off lever 5 drives parallel bar 13 to complete rotation on revolving structure 14 by hinge arrangement 12 again, parallel bar 13 drives motion defeated
Rod 5 symmetry direction the second movement output bar 17 completes to seesaw by linear bearing 18, forms parallelogram lindage.
Further, balance weight mechanism is connected with motion platform by steel wire rope 20, and provides pulling force by balancing weight 21, effect
In whole motion platform, it is effectively accomplished the effect exempting from weight.
Further, to one linear degrees of freedom of hipbone and a revolution 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 helping 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 5 and the second movement output bar 17；Main
Moving gear 16 drives feed screw nut one gear 15 on the first leading screw 3；
When implementing by instruction person's gait training, coordinating crawler type pedipulator 2, motor is operated under torque mode: the first motor 4
Driving feed screw nut one gear 15 to move up and down on the first leading screw 3 by driving gear 16 drives hip to move up and down；The
Two motors 8 pass through the second driving gear 7, driven gear the 6, second movable wire thick stick 9 rotates, feed screw nut 10 drives parallelogram lindage
Hip is driven to complete rotary motion at horizontal plane.
Compared with prior art, beneficial effects of the present invention:
One, has a linear degrees of freedom and the rehabilitation training of a revolution degree of freedom, and simulation hip is at gait training
In physiological movement；Its two, symmetrical expression exempts from heavy-duty machine structure, to alleviate burden during patient's gait training；Its three, in the rotation of device
The center of rotation of the heart and human hip overlaps, and can simulate the rehabilitation training of body gait training.
Accompanying drawing explanation
Fig. 1 is the structural representation helping arm that robot is helped in a kind of rehabilitation training of the present invention；Wherein, 1, base；2、
Crawler type pedipulator；3, the first leading screw；4, the first motor；5, the first movement output bar；6, driven gear；7, the second driving tooth
Wheel；8, the second motor；9, the second leading screw；10, feed screw nut；11, take-off lever fixed plate；12, hinge arrangement；13, parallel bar；
14, revolving structure；15, feed screw nut one gear；16, the first driving gear；17, the second movement output bar；18, linear axis
Hold；19, up and down motion platform；20, steel wire rope；21, balancing weight；22, support bar.
Detailed description of the invention
With reference to Fig. 1, the support arm of robot is helped in a kind of rehabilitation training of the embodiment of the present invention, including base 1, crawler type
Pedipulator 2, balance weight mechanism and motion parts.Motion parts includes up and down motion platform and parallel four-bar type motion platform.
Balance weight mechanism includes balancing weight 21 and steel wire rope 20；Up and down motion platform includes the first motor 4, the first driving gear
16, feed screw nut one gear the 15, first leading screw 3, support bar 22 and up and down motion platform 19；Parallel four-bar type motion platform bag
Include second motor the 8, second driving gear 7, driven gear the 6, second leading screw 9, feed screw nut 10, take-off lever fixed plate 11, hinge
Structure 12, parallel bar 13, revolving structure 14, linear bearing the 18, first movement output bar 5 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 22 and base 1
It is connected；Balance weight mechanism is connected with base by balancing weight 21, is connected with motion platform by steel wire rope 20.
As improving further, the first motor 4 is fixed on up and down motion platform 19, and the first driving gear 16 is fixed on the
On one motor 4, motor 4 exports torque by the first driving gear 16, and driving gear 16 drives feed screw nut one gear 15 to exist
Moving up and down on first leading screw 3, feed screw nut one gear 15 is connected with up and down motion platform 19 by bearing, thus drives whole
Individual up and down motion platform moves up and down；
Second motor 8 is fixed on up and down motion platform 19, drives driven gear 6, passive tooth by the second driving gear 7
Wheel 6 rotates with the second movable wire thick stick 9, the second movable wire thick stick 9 drives the take-off lever fixed plate 11 being fixed on feed screw nut 10 to follow silk
Thick stick nut 10 seesaws on the second leading screw 9, and take-off lever fixed plate 11 drives the first movement output bar 5 to seesaw, motion
Take-off lever 5 drives parallel bar 13 to complete rotation on revolving structure 14 by hinge arrangement 12 again, parallel bar 13 drives motion defeated
Rod 5 symmetry direction the second movement output bar 17 completes to seesaw by linear bearing 18, forms parallelogram lindage.
As improving further, balance weight mechanism is connected with motion platform by steel wire rope 20, and is provided by balancing weight 21
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 one linear degrees of freedom of hipbone and
The rehabilitation training of one 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 5 and the second motion
On take-off lever 17；Driving gear 16 drives feed screw nut one gear 15 on the first leading screw 3；
When implementing by instruction person's gait training, coordinating crawler type pedipulator 2, motor is operated under torque mode: the first motor 4
Driving feed screw nut one gear 15 to move up and down on the first leading screw 3 by driving gear 16 drives hip to move up and down；The
Two motors 8 pass through the second driving gear 7, driven gear the 6, second movable wire thick stick 9 rotates, feed screw nut 10 drives parallelogram lindage
Hip is driven 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 support arm of robot is helped in a rehabilitation training, it is characterised in that: include base (1), crawler type pedipulator (2),
Balance weight mechanism and motion parts；
Described motion parts includes up and down motion platform (19) and parallel four-bar type motion platform；
Described balance weight mechanism includes balancing weight (21) and steel wire rope (20)；Described up and down motion platform includes the first motor (4), the
One driving gear (16), feed screw nut one gear (15), the first leading screw (3), support bar (22) and up and down motion platform (19)；
Described parallel four-bar type motion platform includes the second motor (8), the second driving gear (7), driven gear (6), the second leading screw
(9), feed screw nut (10), take-off lever fixed plate (11), hinge arrangement (12), parallel bar (13), revolving structure (14), linear axis
Hold (18), the first movement output bar (5) and the second movement output bar (17).
The support arm of robot is helped in rehabilitation training the most according to claim 1, it is characterised in that: described crawler type walking
Machine (2) is fixed on base (1)；Motion parts is connected with base (1) by support bar (22)；Balance weight mechanism passes through balancing weight
(21) it is connected with base (1), is connected with motion platform by steel wire rope (20).
The support arm of robot is helped in rehabilitation training the most according to claim 1, it is characterised in that: described first motor
(4) being fixed on up and down motion platform (19), the first driving gear (16) is fixed on the first motor (4), and motor (4) is by the
One driving gear (16) output torque, driving gear (15) drives feed screw nut one gear (15) upper at the first leading screw (3)
Lower motion, feed screw nut one gear (15) is connected with up and down motion platform (19) by bearing, thus drives and whole transport up and down
Moving platform moves up and down；
Described second motor (8) is fixed on up and down motion platform (19), drives driven gear by the second driving gear (7)
(6), driven gear (6) rotate with the second movable wire thick stick (9), second movable wire thick stick (9) drive be fixed on feed screw nut (10) defeated
Rod fixed plate (11) is followed feed screw nut (10) and is seesawed on the second leading screw (9), and take-off lever fixed plate (11) drives the
One movement output bar (5) seesaws, and movement output bar (5) drives parallel bar (13) at revolution knot by hinge arrangement (12) again
Complete rotation on structure (14), parallel bar (13) drives movement output bar (5) symmetry direction the second movement output bar (17) by straight
Bobbin holds (18) and completes to seesaw, and forms parallelogram lindage.
The support arm of robot is helped in rehabilitation training the most according to claim 1, it is characterised in that: described balance weight mechanism leads to
Cross steel wire rope (20) to be connected with motion platform, and provide pulling force by balancing weight (21).
5. the operational approach helping arm of robot is helped in the rehabilitation training described in a claim 1, it is characterised in that include
Following steps:
First fixed hip with bandage by instruction person, be connected on the first movement output bar (5) 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 (4)
Feed screw nut one gear (15) is driven to drive hip to transport up and down upper up and down motion of the first leading screw (3) by driving gear (16)
Dynamic；Second motor (8) is by the second driving gear (7), driven gear (6), the second movable wire thick stick (9) rotation, feed screw nut (10)
Parallelogram lindage is driven to drive hip to complete rotary motion at horizontal plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610564805.8A CN106176130B (en) | 2016-07-18 | 2016-07-18 | The support arm and its operating method of robot are helped in rehabilitation training |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610564805.8A CN106176130B (en) | 2016-07-18 | 2016-07-18 | The support arm and its operating method of robot are helped in rehabilitation training |
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| Publication Number | Publication Date |
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| CN106176130A true CN106176130A (en) | 2016-12-07 |
| CN106176130B CN106176130B (en) | 2018-09-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610564805.8A Active CN106176130B (en) | 2016-07-18 | 2016-07-18 | The support arm and its operating method of robot are helped in rehabilitation training |
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Cited By (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 |
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 CN201610564805.8A patent/CN106176130B/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 |
|---|---|---|---|---|
| CN108514494A (en) * | 2018-02-02 | 2018-09-11 | 上海交通大学 | Device for the training of postoperative gait rehabilitation |
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| Publication number | Publication date |
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| CN106176130B (en) | 2018-09-28 |
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Effective date of registration: 20180702 Address after: 518035 room 823, Yinhua mansion, 3002 Sungang West Road, Futian District, Shenzhen, Guangdong. Applicant after: Wang Chunbao Address before: 541200 the Guangxi Zhuang Autonomous Region Guilin Guilin eight Li street, "Sunshine beauty" District 8 Guilin Guilin Kokusai Hotel, 718, 720, 722 Applicant before: Guangxi Ying Rui Intelligent Machinery Co., Ltd. |
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Effective date of registration: 20180726 Address after: 518035 Guangdong Shenzhen Futian District Lotus Street West Sungang road 3002 Yinhua building 823 room Applicant after: Shenzhen Rui Rui Medical Automation Co., Ltd. Address before: 518035 room 823, Yinhua mansion, 3002 Sungang West Road, Futian District, Shenzhen, Guangdong. Applicant before: Wang Chunbao |
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