CN106176130B - The support arm and its operating method of robot are helped in rehabilitation training - Google Patents

The support arm and its operating method of robot are helped in rehabilitation training Download PDF

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Publication number
CN106176130B
CN106176130B CN201610564805.8A CN201610564805A CN106176130B CN 106176130 B CN106176130 B CN 106176130B CN 201610564805 A CN201610564805 A CN 201610564805A CN 106176130 B CN106176130 B CN 106176130B
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China
Prior art keywords
bar
motion platform
motor
gear
leading screw
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CN201610564805.8A
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Chinese (zh)
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CN106176130A (en
Inventor
王春宝
段丽红
张力心
韦建军
李伟光
王玉龙
龙建军
孙同阳
韦成栋
陆志祥
侯安新
陈朋方
陈浩秋
申亚京
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Weihaitai yiyingtuo Machinery Technology Co., Ltd
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Shenzhen Rui Rui Medical Automation Co Ltd
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane
    • A61H1/0262Walking movement; Appliances for aiding disabled persons to walk
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2203/00Additional characteristics concerning the patient
    • A61H2203/04Position of the patient
    • A61H2203/0406Standing on the feet

Abstract

The invention discloses support arms and its operating method that robot is helped in a kind of rehabilitation training, which includes pedestal, crawler type walking machine, balance weight mechanism and motion parts;Motion parts include up and down motion 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 one 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

The support arm and its operating method of robot are helped in rehabilitation training
Technical field
The invention belongs to the field of medical instrument technology, and in particular to a kind of rehabilitation training help robot support arm and its Operating 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 It is standby often to focus on ambulation training, and the physiological structure of hip is had ignored, the kinematics analysis design that cannot be directed to hip meets people The equipment of machine engineering science, to limit the effect of gait training device.
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 provide a kind of rehabilitation training support by analyzing hip physiological structure The support arm and its operating method of robot provide an efficient training platform for patient's training.
Its technical solution is
The support arm of robot, including pedestal 1, crawler type walking machine 2, balance weight mechanism and movement are helped in a kind of rehabilitation training Part.Motion parts include up and down motion platform 19 and parallel four-bar type motion platform.
Balance weight mechanism includes clump weight 21 and steel wire rope 20;Up and down motion fixed platform 19 includes first motor 4, the first master Moving gear 16, feed screw nut one gear 15, the first leading screw 3, supporting rod 22 and up and down motion fixed platform 19;Parallel four-bar type Motion platform is fixed including the second motor 8, the second driving gear 7, driven gear 6, the second leading screw 9, feed screw nut 10, output rod Plate 11, hinge arrangement 12, parallel bar 13, revolving structure 14, linear bearing 18, the first movement output bar 5 and the second movement output Bar 17.
Further, crawler type walking machine 2 is fixed on pedestal 1;Motion parts are connected by supporting rod 22 with pedestal 1;Match Heavy-duty machine structure is connected by clump weight 21 with pedestal 1, is connected with motion platform by steel wire rope 20.
Further, first motor 4 is fixed on up and down motion platform 19, and the first driving gear 16 is fixed on first motor 4 On, motor 4 drives feed screw nut one gear 15 in the first leading screw by 16 output torque of the first driving gear, driving gear 15 It moves up and down on 3, feed screw nut one gear 15 is connected by bearing with up and down motion platform 19, to drive entire fortune up and down Moving platform moves up and down;
Second motor 8 is fixed on up and down motion platform 19, and driven gear 6, passive tooth are driven by the second driving gear 7 6 the second leading screw 9 of drive rotation of wheel, the second leading screw 9 drive the output rod fixed plate 11 being fixed on feed screw nut 10 to follow leading screw Nut 10 moves forward and backward on the second leading screw 9, and output rod fixed plate 11 drives the first movement output bar 5 to move forward and backward, and movement is defeated Rod 5 drives parallel bar 13 to complete rotation, the drive movement output of parallel bar 13 on revolving structure 14 by hinge arrangement 12 again 5 the second movement output of symmetry direction bar 17 of bar is moved forward and backward by the completion of linear bearing 18, forms parallelogram lindage.
Further, balance weight mechanism is connected by steel wire rope 20 with motion platform, and provides pulling force, effect by clump weight 21 In entire motion platform, it is effectively accomplished the effect for exempting from weight.
Further, which turns round one 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.
The operating method for helping arm of robot is helped in a kind of rehabilitation training, is included the following steps:
Hip is fixed with bandage first by instruction person, is connected on the first movement output bar 5 and the second movement output bar 17;It is 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, cooperation crawler type walking machine 2, motor is operated under torque mode: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 drive parallelogram lindage band by the second driving gear 7, driven gear 6, the rotation of the second leading screw 9, feed screw nut 10 Dynamic hip completes rotary motion in horizontal plane.
Compared with prior art, beneficial effects of the present invention:
First, gathering around, there are one the rehabilitation trainings of linear degrees of freedom and a revolution degree of freedom, and simulation hip is in gait training In physiological movement;Second, symmetrical expression exempts from heavy-duty machine structure, to mitigate burden when patient's gait training;Third, in the rotation of device The rotation center of the heart and human hip overlaps, and can simulate the rehabilitation training of body gait training.
Description of the drawings
Fig. 1 is the structural schematic diagram for the support arm that robot is helped in a kind of rehabilitation training of the present invention;Wherein, 1, pedestal;2、 Crawler type walking machine;3, the first leading screw;4, 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, output rod 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 It holds;19, up and down motion platform;20, steel wire rope;21, clump weight;22, supporting rod.
Specific implementation mode
Referring to Fig.1, the support arm of robot, including pedestal 1, crawler type are helped in a kind of rehabilitation training of the embodiment of the present invention Walking machine 2, balance weight mechanism and motion parts.Motion parts include up and down motion platform and parallel four-bar type motion platform.
Balance weight mechanism includes clump weight 21 and steel wire rope 20;Up and down motion platform includes first motor 4, the first driving gear 16, feed screw nut one gear 15, the first leading screw 3, supporting rod 22 and up and down motion platform 19;Parallel four-bar type motion platform packet Include the second motor 8, the second driving gear 7, driven gear 6, the second leading screw 9, feed screw nut 10, output rod fixed plate 11, hinge Structure 12, parallel bar 13, revolving structure 14, linear bearing 18, the first movement output bar 5 and the second movement output bar 17;
As a further improvement, crawler type walking machine 2 is fixed on pedestal 1;Motion parts pass through supporting rod 22 and pedestal 1 It is connected;Balance weight mechanism is connected by clump weight 21 with pedestal, is connected with motion platform by steel wire rope 20.
As a further improvement, first motor 4 is fixed on up and down motion platform 19, the first driving gear 16 is fixed on On one motor 4, motor 4 drives feed screw nut one gear 15 to exist by 16 output torque of the first driving gear, driving gear 16 It moves up and down on first leading screw 3, feed screw nut one gear 15 is connected by bearing with up and down motion platform 19, whole to drive A up and down motion platform moves up and down;
Second motor 8 is fixed on up and down motion platform 19, and driven gear 6, passive tooth are driven by the second driving gear 7 6 the second leading screw 9 of drive rotation of wheel, the second leading screw 9 drive the output rod fixed plate 11 being fixed on feed screw nut 10 to follow leading screw Nut 10 moves forward and backward on the second leading screw 9, and output rod fixed plate 11 drives the first movement output bar 5 to move forward and backward, and movement is defeated Rod 5 drives parallel bar 13 to complete rotation, the drive movement output of parallel bar 13 on revolving structure 14 by hinge arrangement 12 again 5 the second movement output of symmetry direction bar 17 of bar is moved forward and backward by the completion of linear bearing 18, forms parallelogram lindage.
As a further improvement, balance weight mechanism is connected by steel wire rope 20 with motion platform, and provided by clump weight 21 Pulling force 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 one 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 5 and second On output rod 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, cooperation crawler type walking machine 2, motor is operated under torque mode: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 drive parallelogram lindage band by the second driving gear 7, driven gear 6, the rotation of the second leading screw 9, feed screw nut 10 Dynamic hip completes rotary motion in horizontal plane.
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. the support arm of robot is helped in a kind of rehabilitation training, it is characterised in that:Including pedestal (1), crawler type walking machine (2), Balance weight mechanism and motion parts;
The motion parts include up and down motion platform (19) and parallel four-bar type motion platform;
The balance weight mechanism includes clump weight (21) and steel wire rope (20);The up and down motion platform includes first motor (4), the One driving gear (16), feed screw nut one gear (15), the first leading screw (3), supporting rod (22) and up and down motion platform (19); The 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), output rod fixed plate (11), hinge arrangement (12), parallel bar (13), revolving structure (14), linear axis It holds (18), the first movement output bar (5) and the second movement output bar (17);
The first motor (4) is fixed on up and down motion platform (19), and the first driving gear (16) is fixed on first motor (4) on, motor (4) drives feed screw nut one gear by the first driving gear (16) output torque, driving gear (15) (15) it moves up and down on the first leading screw (3), feed screw nut one gear (15) passes through bearing and up and down motion platform (19) phase Even, to drive entire up and down motion platform to move up and down;
Second motor (8) is fixed on up and down motion platform (19), and driven gear is driven by the second driving gear (7) (6), driven gear (6) drives the second leading screw (9) to rotate, the second leading screw (9) drives the output being fixed on feed screw nut (10) Bar fixed plate (11) follows feed screw nut (10) to be moved forward and backward on the second leading screw (9), and output rod fixed plate (11) drives first Movement output bar (5) moves forward and backward, and movement output bar (5) drives parallel bar (13) to be tied in revolution by hinge arrangement (12) again Rotation is completed on structure (14), parallel bar (13) drives movement output bar (5) symmetry direction the second movement output bar (17) by straight Spool holds (18) and completes to move forward and backward, and forms parallelogram lindage.
2. the support arm of robot is helped in rehabilitation training according to claim 1, it is characterised in that:The crawler type walking Machine (2) is fixed on pedestal (1);Motion parts are connected by supporting rod (22) with pedestal (1);Balance weight mechanism passes through clump weight (21) it is connected with pedestal (1), is connected with motion platform by steel wire rope (20).
3. the support arm of robot is helped in rehabilitation training according to claim 1, it is characterised in that:The balance weight mechanism is logical It crosses steel wire rope (20) with motion platform to be connected, and pulling force is provided by clump weight (21).
4. the operating method of the support arm of robot is helped in a kind of rehabilitation training described in claim 1, which is characterized in that including Following steps:
Hip is fixed with bandage first by instruction person, is connected on the first movement output bar (5) and the second movement output bar (17);
When implementing by instruction person's gait training, coordinate crawler type walking machine (2), motor is operated under torque mode: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 transport up and down It is dynamic;Second motor (8) passes through the second driving gear (7), driven gear (6), the second leading screw (9) rotation, feed screw nut (10) band Dynamic parallelogram lindage drives hip to complete rotary motion in horizontal plane.
CN201610564805.8A 2016-07-18 2016-07-18 The support arm and its operating method of robot are helped in rehabilitation training Active CN106176130B (en)

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Application Number Priority Date Filing Date Title
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CN106176130B true CN106176130B (en) 2018-09-28

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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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* Cited by examiner, † Cited by third party
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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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