CN106390377A

CN106390377A - Rehabilitation training robot

Info

Publication number: CN106390377A
Application number: CN201611025116.6A
Authority: CN
Inventors: 冯亚磊; 燕铁斌; 张旭
Original assignee: Guangdong Midea Yaskawa Service Robot Co Ltd
Current assignee: Guangdong Midea Yaskawa Service Robot Co Ltd
Priority date: 2016-11-14
Filing date: 2016-11-14
Publication date: 2017-02-15

Abstract

The invention discloses a rehabilitation training robot. The rehabilitation training robot comprises a bed body assembly and a training device; a storage cavity is formed in the bed body assembly; the training device is rotatably arranged on the bed body assembly between an open position and a storage position, is stored in the storage cavity at the storage position, and extends out of the storage cavity at the open position. According to the rehabilitation training robot disclosed by the invention, when not in use, the training device can be stored in the storage cavity of the bed body assembly, and thus, not only can the training device be protected and the potential safety hazard be avoided, but also a motion range around the rehabilitation training robot can be expanded, the rehabilitation training robot is beneficial for moving a patient to the bed body assembly, and the rehabilitation training robot also can have other purposes at the moment so as to improve utilization rate of the rehabilitation training robot.

Description

Recovery exercising robot

Technical field

The present invention relates to medical rehabilitation apparatus technical field, especially relate to a kind of recovery exercising robot.

Background technology

Recovery exercising robot in correlation technique, the pedal for patient's training is usually fixed at bed body, with bed body structure Become an entirety.When not in use, a part of space of bed body is occupied by pedal so that other purposes of bed body are by certain Limit, greatly reduce the reusability of bed body, and pedal mostly is hard solid material and constitutes, and in crowded places, there is safety hidden Suffer from.

Content of the invention

It is contemplated that at least solving one of technical problem present in prior art.For this reason, the invention reside in proposing one Plant recovery exercising robot, described recovery exercising robot can extend the range of activity around recovery exercising robot, improve The utilization rate of recovery exercising robot.

According to the recovery exercising robot of the present invention, including：Bed body assembly, is formed with containing cavities in described bed body assembly； Training devicess, described training devicess are rotatably arranged on described bed body assembly between open position and reception position, in institute State training devicess described in reception position and be accommodated in described storage intracavity, stretch out described receipts in training devicess described in described open position Receive outside chamber.

According to the recovery exercising robot of the present invention, training devicess can be accommodated in bed body when not using training devicess The storage intracavity of assembly, thus, not only can protect training devicess, it is to avoid there is potential safety hazard, can also extend rehabilitation training Range of activity around robot, is conducive to by mobile for patient to bed body assembly, and recovery exercising robot now also can do Other purposes, to improve the utilization rate of recovery exercising robot.

In certain embodiments, in the upper end of the upper surface of training devicess described in described reception position and described bed body assembly Face is concordant.

In certain embodiments, described training devicess include support member and the training main body being located on described support member, institute The one end stating support member is pivotly connected with described bed body assembly, in support member described in described open position and described bed body group Part is vertical.

In certain embodiments, described recovery exercising robot also includes：Driver, described driver and described training cartridge Put connected, described driver is used for driving described training devicess to rotate between described open position and described reception position.

In certain embodiments, described training devicess include：Upper limb training devicess, described upper limb training devicess include first Support and the cursor being rotatably arranged in first support, one end of described first support is with described bed body assembly pivotly It is connected and the other end is connected with described cursor；Leg training device, described leg training device is located on described bed body assembly, Described leg training device includes second support and treadmill assembly, and one end of described second support is pivotable with described bed body assembly Ground is connected, and described treadmill assembly is rotatably arranged in described second support, and described treadmill assembly is suitable to collaborative human body lower limbs Do treadmill movement.

In certain embodiments, described upper limb training devicess are located at the middle part of described bed body assembly and include along described bed body Spaced two of element width direction, described leg training device is located at along its length the one of described bed body assembly End, described containing cavities include multiple correspondingly with described upper limb training devicess and described leg training device respectively.

Alternatively, described cursor is located at the inner side of described first support, described cursor include first support arm, second Arm and the 3rd support arm, described first support arm is rotatably connected with described first support and the width along described bed body assembly prolongs Stretch, one end of described second support arm is connected with the inner of described first support arm and the other end is connected with described 3rd support arm, described 3rd support arm extends internally along the width of described bed body assembly, described first support arm parallel with described 3rd support arm and with institute State second support arm vertical.

In certain embodiments, described treadmill assembly includes：Bearing and crank axle, one end of described bearing and described second Support is connected and vertical with second support, and described crank axle is rotatably arranged at the other end of described bearing, described crank axle bag Include the first pedal spindle on the left of described bearing and be located at the second pedal spindle on the right side of described bearing, described first pedal spindle with Described second pedal spindle parallel and on the rotational plane of described crank axle described first pedal spindle and described second pedal spindle it Between angle be 180 degree.

In certain embodiments, described treadmill assembly also includes pedal, and described pedal includes being respectively provided at described first foot Step on two on axle and described second pedal spindle.

In certain embodiments, described recovery exercising robot also includes actuator, described actuator respectively with described on Limb training devicess are connected with described leg training device, and described actuator is used for driving described cursor and described treadmill assembly to turn Dynamic.

In certain embodiments, described bed body assembly includes：Fixed bed；Standing bed, described standing bed stand up position and It is rotatably arranged between folding position in described fixed bed；Driving means, described driving means respectively with described fixed bed and Described standing bed is connected, and described driving means are used for driving described standing bed to stand up between position and described folding position described Rotate.

In certain embodiments, the bottom of described bed body assembly is provided with multiple rollers, and the plurality of roller is along described bed body The circumferentially-spaced arrangement of assembly.

The additional aspect of the present invention and advantage will be set forth in part in the description, and partly will become from the following description Obtain substantially, or recognized by the practice of the present invention.

Brief description

Fig. 1 is the schematic diagram of recovery exercising robot according to embodiments of the present invention；

Fig. 2 is that the schematic diagram leg training device of the recovery exercising robot shown in Fig. 1 turns to receipts from open position Receive the schematic diagram of position；

Fig. 3 is the schematic diagram of the standing bed shown in Fig. 2；

Fig. 4 is the schematic diagram of another angle of the standing bed shown in Fig. 3；

Fig. 5 is the schematic diagram of the recovery exercising robot according to other embodiments of the present invention；

Fig. 6 is the schematic diagram that the leg training device shown in Fig. 5 turns to reception position from open position.

Reference：

Recovery exercising robot 100,

Bed body assembly 1, fixed bed 11, standing bed 12, containing cavities 101,

Upper limb training devicess 2, first support 21,

Cursor 22, first support arm 221, second support arm 222, the 3rd support arm 223,

Leg training device 3, second support 31,

Treadmill assembly 32, crank axle 321, pedal 322, bearing 323,

Roller 4.

Specific embodiment

Embodiments of the invention are described below in detail, the example of described embodiment is shown in the drawings, wherein from start to finish The element that same or similar label represents same or similar element or has same or like function.Below with reference to attached The embodiment of figure description is exemplary it is intended to be used for explaining the present invention, and is not considered as limiting the invention.

Below with reference to Fig. 1-Fig. 6, recovery exercising robot 100 according to embodiments of the present invention is described.

As shown in Figure 1 and Figure 5, recovery exercising robot 100 according to embodiments of the present invention, including：Bed body assembly 1 and instruction Practice device (upper limb training devicess 2 for example described below and leg training device 3).

Specifically, as shown in Figure 1 and Figure 5, it is formed with containing cavities 101 in bed body assembly 1；Training devicess are in open position (the upper limb training devicess 2 for example shown in Fig. 1 and Fig. 5 and the position shown in leg training device 3) can and reception position between Rotationally it is located on bed body assembly 1, in reception position, training devicess are accommodated in containing cavities 101, in open position, training cartridge Put and stretch out outside containing cavities 101.

So, when patient does not need to carry out rehabilitation training using training devicess, training devicess can be accommodated in bed body In the containing cavities 101 of assembly 1, such that it is able to reduce taking up room of training devicess, the top of extension bed body assembly 1 and surrounding Space, increases the utilization rate of bed body assembly, the upper surface making bed body assembly flat so that recovery exercising robot can also do general Logical sick bed uses.Further, since training devicess mostly are hard solid material in irregular shape, training devicess are accommodated in storage Can also be prevented effectively from because of the exposed potential safety hazard leading to outside of training devicess in chamber 101, training cartridge can also be protected simultaneously Put, it is to avoid training devicess' damaged in collision etc..When client need uses training devicess, training devicess can be made to stretch out containing cavities, It is easy to patient and carry out rehabilitation training.

When carrying out rehabilitation training using recovery exercising robot, can first training devicess be accommodated in bed body assembly, Again patient is moved to bed body assembly, it is to avoid during moving patient, patient and training devicess collide, when by disease When people is located on bed body assembly, then training devicess will be opened so that training devicess is stretched out outside accommodating chamber, finally recycle bandage by disease The body of people is fixed on bed body assembly, and the extremity of patient are fixed on training devicess, carries out rehabilitation training.Thus, may be used Recovery exercising robot is used with convenient patient, improves the convenience using.

Training devicess can be received by recovery exercising robot according to embodiments of the present invention when not using training devicess In the storage intracavity of bed body assembly, thus, training devicess not only can be protected, it is to avoid there is potential safety hazard, health can also be extended Range of activity around multiple image training robot, is conducive to by mobile for patient to bed body assembly, and recovery exercising robot is now Other purposes also can be done, to improve the utilization rate of recovery exercising robot.

In some embodiments of the invention, when training devicess are located at reception position, the upper surface of training devicess is permissible Substantially concordant with the upper surface of bed body assembly that is to say, that when training devicess be located at reception position when, the upper surface of training devicess Can be slightly above the upper surface of bed body assembly, the upper surface of training devicess can be slightly below bed body assembly upper surface it is preferable that The upper surface of training devicess is concordant with the upper surface of bed body assembly.Thus, it is possible to make bed body assembly upper surface more flat, Thus improving patient to use comfortableness during recovery exercising robot.

In some embodiments of the invention, with reference to Fig. 1 and Fig. 5, training devicess can include support member (for example hereinafter Described first support 21 and second support 31) and the training main body (cursor for example described below that is located on support member 22 and treadmill assembly 32), one end (lower end of first support 21 for example shown in Fig. 1 and Fig. 5 and the second support 31 of support member Lower end) be pivotly connected with bed body assembly 1, now, support member can turn with respect to the pivotal axis of bed body assembly around support member Dynamic.Preferably, when training devicess are in open position, support member can be vertical with bed body assembly, so, when patient is using training When device carries out rehabilitation training, the stability in open position for the training devicess can be strengthened, it is to avoid training devicess glance off.

In some embodiments of the invention, recovery exercising robot can also include：Driver, driver and training cartridge Put connected, driver is used for driving training devicess to rotate between open position and reception position.For example, driver can be distinguished It is connected with upper limb training devicess and leg training device, when needing using training devicess, driver can drive upper limb to train Device and/or leg training device turn to open position, and after the completion of training, driving means can drive upper limb to train again Device and/or leg training device turn to reception position, thus, it is possible to realize the automatic spring of training devicess and automatic receipts Return, improve the automaticity of recovery exercising robot, improve the convenience using.

Certainly, training devicess can also be manually operated makes training devicess turn to open position from reception position, and/ Or manual operation makes training devicess turn to reception position from open position.

As shown in figure 1, in some embodiments of the invention, training devicess can include：Upper limb training devicess 2 and lower limb Training devicess 3.Wherein it is possible to be only upper limb training devicess between open position and reception position rotatable it is also possible to only limit Rotatable between open position and reception position in leg training device, it is, of course, also possible to be upper limb training devicess and lower limb Training devicess are rotatable all between its corresponding open position and reception position.In other words, when not using training devicess, can To be that only upper limb training devicess can be accommodated in bed body assembly, and leg training device is fixedly connected (i.e. lower limb with bed body assembly Training devicess can not receive), or only leg training device can be accommodated in bed body assembly, and upper limb training devicess and bed body group Part is affixed；Or upper limb training devicess and leg training device all can be accommodated in bed body assembly.

Specifically, upper limb training devicess 2 are located on bed body assembly 1, and upper limb training devicess 2 include first support 21 and rotate Arm 22, cursor 22 is rotatably arranged in first support 21, and when cursor 22 rotates, cursor 22 can drive that patient's is upper Limb is rotated, thus reaching the effect of training upper limb.

More specifically, one end (lower end of the first support 21 for example shown in Fig. 2) of first support 21 and bed body assembly 1 It is connected, and the other end (upper end of the first support 21 for example shown in Fig. 2) of first support 21 is connected with cursor 22.By This, first support 21 can play the effect supporting and installing cursor 22.

When carrying out rehabilitation training using upper limb training devicess 2, patient can hold cursor 22, in the band of cursor 22 Carry out the rehabilitation training of rotation mode under dynamic；If patient cannot grasp cursor 22, it is possible to use bandage is by the upper limb of patient It is fixed on cursor 22, rehabilitation training is carried out by the upper limb that cursor 22 drives patient.

Additionally, upper limb training devicess 2 can also be for resistance exercise that is to say, that the upper limb of patient be in cursor 22 Drive under move, but patient actively promotes cursor 22 to be rotated, as a result, upper limb training devicess 2 To realize active training it is also possible to realize passive exercise.

Leg training device 3 is also provided on bed body assembly 1, and leg training device 3 includes second support 31 and treadmill assembly 32, treadmill assembly 32 is rotatably arranged in second support 31, and treadmill assembly 32 is suitable to collaborative human body lower limbs and does treadmill movement. That is, treadmill assembly 32 can drive the lower limb of patient to do treadmill movement, or patient can using treadmill assembly 32 actively Carry out treadmill movement, wherein, treadmill movement refers to the motion similar to stepping bicycle.Thus, by using leg training device 3 The rehabilitation training of treadmill movement is carried out to the lower limb of patient, compared with the gait training in correlation technique, can improve and lower limb are instructed The effect practiced, rehabilitation efficacy is more preferable.

When patient carries out rehabilitation training using upper limb training devicess 2 and leg training device 3 simultaneously, the rotation fortune of upper limb Dynamic and lower limb treadmill movements can realize extremity linkage, and the state of jogging trained similar to people of extremity linkage, thus, can So that training is more fully, rehabilitation efficacy is more preferable.Additionally, during rehabilitation training, patient and bed body group can also be adjusted The extruded parts of the contact surface of part 1, the pressure ulcer position of adjustment body, thus preventing and improving pressure ulcer problem, it is more applicable for growing The rehabilitation training of the patient of phase bed.

Preferably, as shown in Fig. 2 upper limb training devicess 2 are located at bed body assembly 1 middle part along its length, upper limb is trained Device 2 can include two, and two upper limb training devicess 2 can be along bed body assembly 1 width (for example shown in Fig. 2 Left and right directions) interval setting.So, two upper limb training devicess 2 can be located at the left and right sides of patient body respectively so that disease The right-hand man of people can carry out rehabilitation training using upper limb training devicess 2 respectively, such that it is able to reduce upper limb training devicess 2 Take up room, so that upper limb training devicess 2 is more adapted to the position of patient body simultaneously, make structure setting more reasonable.Under Limb training devicess 3 are located at bed body assembly 1 one end along its length, thus being more adapted to organization of human body, conveniently carry out simultaneously Upper limb and the training of lower limb, facilitate the training of extremity linkage.Containing cavities can include instructing with upper limb training devicess and lower limb respectively Practice device multiple correspondingly.That is, two upper limb training devicess and leg training device are respectively to should have One containing cavities, thus, it is possible to be easy to receive training devicess so that the more anxious compact and reasonable of structure in corresponding position.

Further, as shown in Fig. 2 cursor 22 can be located at inner side (towards human body of first support 21 Side), cursor 22 can include first support arm 221, second support arm 222 and the 3rd support arm 223, first support arm 221 and first Frame 21 is rotatably connected, and the width (left and right directions for example shown in Fig. 2) along bed body assembly 1 extends, second support arm 222 one end is connected with the inner (one end of the neighbouring human body of first support arm 221) of first support arm 221, and second support arm 222 The other end is connected with the 3rd support arm 223, and the 3rd support arm 223 is along the width (left and right for example shown in Fig. 2 of bed body assembly 1 Direction) inwardly (towards the direction of patient body) extension, first support arm 221 is parallel with the 3rd support arm 223, and first support arm 221 All vertical with second support arm 222 with the 3rd support arm 223, now, first support arm 221, second support arm 222 and the 3rd support arm 223 shape Become " Z " font.Thus, it is possible to simplify the structure of cursor, simultaneously facilitate patient and grasp cursor 22 or be easy to patient's Upper limb colligation is on cursor 22, thus realizing the upper limb of patient using cursor 22 jointly carry out rotation fortune with cursor 22 Dynamic, and the plane of rotation of rotary motion is parallel with human body, realizes the rehabilitation training of upper limb.

In one embodiment of the invention, as shown in Figure 1 and Figure 5, treadmill assembly 32 can include：Bearing and crank axle 321, one end (front end of the bearing for example shown in Fig. 5) of bearing 323 is connected with second support 31, and bearing 323 and second Support 31 is vertical and extends along the longitudinal direction, and crank axle 321 is rotatably arranged at the other end of bearing 323 (for example shown in Fig. 5 Bearing rear end), crank axle 321 includes the first pedal spindle and the second pedal spindle, wherein, the first pedal spindle be located at bearing 323 Left side, the second foot-operated axle position is in the right side of bearing 323, and the first pedal spindle is parallel to each other with the second pedal spindle, in crank axle On 321 rotational plane, the angle between the first pedal spindle and the second pedal spindle is 180 degree.So, in the process of rehabilitation training In, the left lower extremity of patient and right lower extremity can step on respectively on the first pedal spindle and the second pedal spindle, carries out similar to jogging Treadmill movement rehabilitation training.

Certainly, the angle between the first pedal spindle and the second pedal spindle can also be 0 degree, so, in the mistake of rehabilitation training Cheng Zhong, the left lower extremity of patient is identical with the movement locus of right lower extremity, i.e. synchronous axial system, rather than the alternate rotation in 180 degree, by This, can improve the rehabilitation training pattern increasing treadmill assembly 32 for lower limb, and training is more comprehensive.

Advantageously, as depicted in figs. 1 and 2, treadmill assembly 32 can also include pedal 322, and pedal 322 can include being spaced Two of setting, and two pedals 322 are respectively provided at the two ends of crank axle 321, further, two pedals 322 are respectively provided at On first pedal spindle and the second pedal spindle, thus, compared to directly stepping down on the first pedal spindle and the second pedal spindle, pedal is set 322 can increase the foot of patient with the contact area of treadmill assembly 32 it is ensured that the foot of patient can trample treadmill assembly effectively 32, it is to avoid slip.

In some embodiments of the invention, recovery exercising robot 100 can also include actuator, and actuator can be only Be connected with upper limb training devicess 2, actuator can also be only connected with leg training device 3, actuator can also simultaneously with upper limb Training devicess 2 are connected with leg training device 3, and actuator is used for driving cursor 22 and treadmill assembly 32 to rotate.Work as actuator When driving cursor 22 and/or treadmill assembly 32 to rotate, the mode of operation of upper limb training devicess 2 and/or leg training device 3 is The passive exercise that driven by actuator that is to say, that the upper limb of patient and/or the motion of lower limb are driven by actuator, rather than The active training of patient, this kind of pattern be applied to upper limb and lower limb unable, cannot active training patient.

Additionally, when actuator does not work that is to say, that actuator does not drive cursor 22 and/or 32 turns of treadmill assembly When dynamic, the upper limb training devicess 2 of recovery exercising robot 100 and/or leg training device 3 are in resistance exercise state, i.e. disease The upper limb of people and/or lower limb actively promote cursor 22 and/or treadmill assembly 32 to rotate, and carry out the rehabilitation similar to the pattern of jogging Training.

In some embodiments of the invention, as shown in figure 1, bed body assembly 1 can include：Fixed bed 11, standing bed 12 And driving means, wherein, standing bed 12 is in position of standing up (standing bed 12 location in such as Fig. 1 and Fig. 2) and folding position It is rotatably arranged between putting in fixed bed 11；Driving means are connected with fixed bed 11 and standing bed 12 respectively, and driving means are used In driving standing bed 12 in rotation between position and folding position of standing up.When user needs to enter using recovery exercising robot 100 During row rehabilitation training, standing bed 12 is located at folding position, and standing bed 12 is folded with fixed bed 11, at this point it is possible to be easy to patient Shifting is placed in standing bed 12, recycles bandage that patient is fixed in standing bed 12, then can be driven using driving means Vertical bed 12 turns to position of standing up, and so, patient can proceed by rehabilitation training.

Preferably, one end (front end of the standing bed 12 for example shown in Fig. 2) of standing bed 12 is pivotable with fixed bed 11 It is connected, when standing bed 12 is located at folding position, standing bed 12 and fixed bed 11 stacked on top of one another, to reduce recovery exercising robot 100 take up room, simultaneously facilitates to move patient and puts to standing bed 12；When standing bed 12 is located at and stands up position, standing bed 12 Angle and fixed bed 11 between is at an acute angle.Thus, it is possible to make patient carry out rehabilitation training in the state of being similar to stand, turn Move the centre of body weight of patient, the blood circulation of body can be accelerated during training, thus strengthening training effect, prevention and Improve pressure ulcer.

Wherein, the angle between standing bed 12 and fixed bed 11 can be adjusted according to the concrete condition of patient, Angle for example between standing bed 12 and fixed bed 11 can be 30 °, 45 °, 60 °, 70 °, 80 °, 85 ° etc..

Alternatively, the type of drive of driving means can be one of Motor drive, air pressure driving and hydraulic-driven.By This, can flexibly select the type of drive of driving means as needed, improves the suitability of recovery exercising robot 100.

In some embodiments of invention, the bottom of bed body assembly 1 can be provided with multiple rollers 4, and multiple roller 4 is along bed body The circumferentially-spaced arrangement of assembly 1.In conjunction with Fig. 2, fixed bed 11 is in horizontally extending oblong-shaped, the bottom surface of fixed bed 11 On four rolling 4 is installed, four rolling 4 respectively be located at fixed bed 11 four Angle Position, by arrange roller 4, can so that In mobile recovery exercising robot 100.

Below with reference to Fig. 1-Fig. 6, the recovery exercising robot 100 according to one specific embodiment of the present invention is described.

Embodiment one,

With reference to Fig. 5 and Fig. 6, healing robot 100 includes bed body assembly 1, upper limb training devicess 2, leg training device 3 and Actuator.

Specifically, as shown in figure 5, bed body assembly 1 includes fixed bed 11, standing bed 12 and driving means, standing bed 12 exists Stand up and be rotatably arranged between position and folding position in fixed bed 11；The front end of standing bed 12 pivotable phase with fixed bed 11 Even, driving means are connected with fixed bed 11 and standing bed 12 respectively, for driving standing bed 12 in position and the folding position of standing up Between rotate.In folding position standing bed 12 and fixed bed 11 stacked on top of one another, stand up position standing bed 12 and fixed bed 11 it Between angle be not more than 90 degree.The type of drive of driving means is Motor drive, air pressure drives and one of hydraulic-driven.Rise Vertical bed 12 when standing up the angle between position and fixed bed 11 can by driving means be adjusted that is to say, that drive Dynamic device can adjust the adjustable height of standing bed 12.

The bottom of fixed bed 11 is provided with four rolling 4, and four rolling 4 is along the circumferentially-spaced arrangement of fixed bed 11.

Upper limb training devicess 2 and leg training device 3 are rotatable all between its corresponding open position and reception position Be located in standing bed 12, and upper limb training devicess 2 include being arranged on two of the standing bed 12 middle part left and right sides, leg training Device 3 is arranged on the front side of standing bed 12.Actuator is connected with leg training device 3 respectively at upper limb training devicess 2.Standing bed On be formed with and upper limb training devicess and the one-to-one containing cavities of leg training device, in reception position, upper limb training cartridge Put and be all accommodated in corresponding storage intracavity with leg training device, in open position, upper limb training devicess and leg training fill Put and all stretch out outside containing cavities.

Upper limb training devicess 2 include first support 21 and cursor 22, and one end of first support 21 and standing bed 12 can pivots Turn ground to be connected, in open position, first support is mutually perpendicular to standing bed, in reception position, first support and standing bed Parallel, and the upper surface of first support is concordant with the long end face of standing bed.Cursor 22 is rotatably arranged at first support 21 Inner side, cursor 22 includes first support arm 221, second support arm 222 and the 3rd support arm 223, first support arm 221 and first support 21 are rotatably connected and the width extension along bed body assembly 1, the inner of one end of second support arm 222 and first support arm 221 It is connected and the other end is connected with the 3rd support arm 223, the 3rd support arm 223 extends internally along the width of bed body assembly 1, first Arm 221 is parallel and vertical with second support arm 222 with the 3rd support arm 223.

Leg training device 3 includes second support 31 and treadmill assembly 32, and one end of second support 31 and standing bed 12 can Pivotally be connected, in open position, second support is mutually perpendicular to standing bed, in reception position, second support with stand up Bed parallel, and the upper surface of second support is concordant with the long end face of standing bed.Treadmill assembly 32 is rotatably arranged at second On frame 31, and treadmill assembly 32 is suitable to collaborative human body lower limbs and does treadmill movement.Treadmill assembly 32 includes：Crank axle 321, pedal 322 and bearing 323, one end of bearing is connected with second support and vertical with second support, and crank axle 321 is rotatably arranged at The other end of seat, crank axle 321 includes the first pedal spindle and the crus secunda being located at bearing 323 right side positioned at bearing 323 left side Step on axle, the first pedal spindle parallel with the second pedal spindle and on the rotational plane of crank axle 321 first pedal spindle and second foot-operated Angle between axle is 180 degree.Pedal 322 includes be respectively provided on the first pedal spindle and the second pedal spindle two.

During using recovery exercising robot 100 training, the treadmill training that lower limb step on treadmill assembly 32 is similar In cycling.The rotation of upper limb then refers to hold cursor, and cursor is with first support arm as axis of rotation, but the direction of plane of rotation Body parallel with people.And the training of upper and lower limb can be the resistance instruction being set to set resistance according to the practical situation of patient Practice, or the passive exercise being driven by actuator, wherein actuator can be motor.

When client need carries out rehabilitation training, first with bandage, patient is fixed in standing bed 12, adjustment is stood up Bed 12 arrives the angle needing, and patient can start to train.Wherein training content includes：Lower limb step on the treadmill mould of treadmill assembly 32 The rotation training of formula training and upper limb and cursor 22 synchronous axial system.Upper and lower limb simultaneously participates in training and is extremity linkage instruction Practice.Extremity linkage training mode is similar to the pattern of jogging with people.Upper and lower limb training can also separately individually be trained as needed.

Recovery exercising robot 100 according to embodiments of the present invention, using the function of standing up of standing bed 12, transferable patient Centre of body weight, in conjunction with the training mode of extremity linkage, can accelerate the blood circulation of patient body, reduce or pre- against pressure during training The generation of skin ulcer, also improves the rehabilitation effect of patient simultaneously.

Recovery exercising robot according to embodiments of the present invention, is located at upper limb training devicess and the leg training dress of standing bed Put and changed into and can be folded by fixation, and after folding and standing bed is combined into an entirety, extend people's nigh activity model Enclose.Recovery exercising robot after folding can serve as other purposes, increased the reusability of recovery exercising robot.After folding The potential safety hazard brought outside because training devicess are exposed can be eliminated.

Embodiment two,

As depicted in figs. 1 and 2, the present embodiment is roughly the same with the structure of embodiment one, and wherein identical part adopts phase Same reference, the difference is that only：Described in embodiment one, leg training device can in open position and folding position Rotationally it is located on bed body assembly, described leg training device includes the first bearing and treadmill assembly, and institute in the present embodiment two State leg training device to be relatively fixed with described bed body assembly, leg training device only includes treadmill assembly that is to say, that lower limb Training devicess are not foldable.

See figures.1.and.2, the front end of bed body assembly is formed with installation cavity, and treadmill assembly is fixed on installation intracavity, specifically Ground, treadmill assembly includes bearing, crank axle 321 and pedal 322, and wherein, bearing is fixed on bed body assembly.

In describing the invention it is to be understood that term " " center ", " longitudinal ", " horizontal ", " length ", " width ", " thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outward ", " up time The orientation of instruction such as pin ", " counterclockwise ", " axial ", " radially ", " circumferential " or position relationship be based on orientation shown in the drawings or Position relationship, is for only for ease of the description present invention and simplifies description, rather than the device of instruction or hint indication or element must Must have specific orientation, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.

Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or hint relative importance Or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or Implicitly include one or more this feature.In describing the invention, " multiple " are meant that two or more, Unless otherwise expressly limited specifically.

In the present invention, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection ", " fixation " etc. Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integral；Can be that machinery connects Connect or electrically connect, can also be communication；Can be to be joined directly together it is also possible to be indirectly connected to by intermediary, permissible It is the connection of two element internals or the interaction relationship of two elements.For the ordinary skill in the art, may be used To understand above-mentioned term concrete meaning in the present invention as the case may be.

In the description of this specification, reference term " embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or the spy describing with reference to this embodiment or example Point is contained at least one embodiment or the example of the present invention.In this manual, to the schematic representation of above-mentioned term not Identical embodiment or example must be directed to.And, the specific features of description, structure, material or feature can be in office Combine in an appropriate manner in one or more embodiments or example.Additionally, in the case of not conflicting, the skill of this area The feature of the different embodiments described in this specification or example and different embodiment or example can be tied by art personnel Close and combine.

Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not Multiple changes, modification, replacement and modification can be carried out to these embodiments in the case of the principle of the disengaging present invention and objective, this The scope of invention is limited by claim and its equivalent.

Claims

1. a kind of recovery exercising robot is it is characterised in that include：

Bed body assembly, is formed with containing cavities in described bed body assembly；

Training devicess, described training devicess are rotatably arranged on described bed body assembly between open position and reception position, It is accommodated in described storage intracavity in training devicess described in described reception position, stretch out institute in training devicess described in described open position State outside containing cavities.

2. recovery exercising robot according to claim 1 is it is characterised in that in training devicess described in described reception position Upper surface concordant with the upper surface of described bed body assembly.

3. recovery exercising robot according to claim 1 is it is characterised in that described training devicess include support member and set Training main body on described support member, one end of described support member is pivotly connected with described bed body assembly, beats described Support member described in open position is vertical with described bed body assembly.

4. recovery exercising robot according to claim 1 is it is characterised in that also include：Driver, described driver with Described training devicess are connected, described driver be used for driving described training devicess described open position and described reception position it Between rotate.

5. the recovery exercising robot according to claim 1-4 is it is characterised in that described training devicess include：

Upper limb training devicess, the rotation that described upper limb training devicess include first support and are rotatably arranged in first support Arm, one end of described first support is pivotly connected with described bed body assembly and the other end is connected with described cursor；

Leg training device, described leg training device is located on described bed body assembly, and described leg training device includes second Support and treadmill assembly, one end of described second support is pivotly connected with described bed body assembly, and described treadmill assembly can turn It is located in described second support dynamicly, and described treadmill assembly is suitable to collaborative human body lower limbs and does treadmill movement.

6. recovery exercising robot according to claim 5 is it is characterised in that described upper limb training devicess are located at described bed The middle part of body assembly and including along spaced two of described bed body element width direction, described leg training device is located at institute State one end along its length of bed body assembly, described containing cavities include instructing with described upper limb training devicess and described lower limb respectively Practice device multiple correspondingly.

7. recovery exercising robot according to claim 6 is it is characterised in that described cursor is located at described first support Inner side, described cursor includes first support arm, second support arm and the 3rd support arm, and described first support arm and described first support can It is rotatedly connected and the width along described bed body assembly extends, the inner of one end of described second support arm and described first support arm It is connected and the other end is connected with described 3rd support arm, described 3rd support arm extends internally along the width of described bed body assembly, Described first support arm is parallel and vertical with described second support arm with described 3rd support arm.

8. recovery exercising robot according to claim 5 is it is characterised in that described treadmill assembly includes：Bearing and song Arbor, one end of described bearing is connected and vertical with second support with described second support, and described crank axle is rotatably arranged at The other end of described bearing, described crank axle includes the first pedal spindle on the left of described bearing and is located on the right side of described bearing The second pedal spindle, described first pedal spindle is parallel with described second pedal spindle and described on the rotational plane of described crank axle Angle between first pedal spindle and described second pedal spindle is 180 degree.

9. recovery exercising robot according to claim 8 is it is characterised in that described treadmill assembly also includes pedal, institute State two that pedal includes being respectively provided on described first pedal spindle and described second pedal spindle.

10. recovery exercising robot according to claim 5 is it is characterised in that described recovery exercising robot also includes Actuator, described actuator is connected with described upper limb training devicess and described leg training device respectively, and described actuator is used for Described cursor and described treadmill assembly is driven to rotate.

11. recovery exercising robots according to claim 1 are it is characterised in that described bed body assembly includes：

Fixed bed；

Standing bed, described standing bed is rotatably arranged between position and folding position in described fixed bed standing up；

Driving means, described driving means are connected with described fixed bed and described standing bed respectively, and described driving means are used for driving Move described standing bed to rotate between position and described folding position in described standing up.

12. recovery exercising robots according to claim 1 it is characterised in that the bottom of described bed body assembly be provided with many Individual roller, the plurality of roller is along the circumferentially-spaced arrangement of described bed body assembly.