CN106420264B - Leg training device and recovery exercising robot with it - Google Patents
Leg training device and recovery exercising robot with it Download PDFInfo
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- CN106420264B CN106420264B CN201611025107.7A CN201611025107A CN106420264B CN 106420264 B CN106420264 B CN 106420264B CN 201611025107 A CN201611025107 A CN 201611025107A CN 106420264 B CN106420264 B CN 106420264B
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Abstract
Description
Technical field
The present invention relates to the field of medical instrument technology, more particularly to a kind of leg training for recovery exercising robot fills It sets and the recovery exercising robot with the leg training device.
Background technology
For paralytic, since its own can not be trained, in order to avoid muscular atrophy, need that patient is assisted to carry out Movement, can not only prevent the muscular atrophy of patient, but also can also aid in Rehabilitation, therefore, provide in the related technology A kind of healing robot can provide patient and assist training, and generally, in training process, patient needs foot etc. being positioned over health In multiple robot, allow rear patient actively or machine assistance patient motion, but during doing pedal exercising, shank is needed with thigh In predetermined angular, that is, knee bends, pedal exercising is otherwise cannot achieve, but the locomitivity of patient is limited, Ke Nengwu Method effectively realizes knee bends.
Invention content
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, the present invention the On the one hand it is to propose that a kind of leg training device for recovery exercising robot, the leg training device may be implemented to lift The movement of shank.
Leg training device according to the ... of the embodiment of the present invention for recovery exercising robot, the leg training device packet It includes：Holder；Footrest component, the footrest component are rotatably provided on the holder and suitable for foot-operated training；Foot-operated driving group Part, the foot-operated drive component are connected with the footrest component to drive the footrest component to rotate；Leg support, the shank Support is connected with the footrest component, and the relatively described footrest component of the leg support is rotatable；Leg support drive component, The leg support drive component sets on the bracket and is connected with the leg support, and the leg support drive component Often with the power and the shank suitable for lifting user for having the driving leg support movement.
Leg training device according to the ... of the embodiment of the present invention for recovery exercising robot is driven by the way that leg support is arranged Dynamic component can drive shank to lift conveniently by leg support drive component, to successfully complete training.In addition, will Leg support drive component is arranged to a part for leg training device, can facilitate maintenance, the assembly of recovery exercising robot Deng convenient for the modularization of recovery exercising robot each section, raising maintainability.
In addition, the leg training device according to the above embodiment of the present invention for recovery exercising robot, can also have There is following additional technical characteristic：
In some embodiments of the invention, the leg support drive component includes：Elastic string, the elastic string difference It is connected with the leg support and the holder.
Advantageously, the leg support drive component further includes：Spooler, the spooler are set on the bracket, and The elastic string is connected with the spooler to adjust the length that the elastic string is stretched out.
Further, the spooler includes：Cylindrical central sleeve, the cylindrical central sleeve are set on the bracket, and it is described in Heart sleeve and the relative position of the holder are fixed；Take-up handle, the take-up handle rotatably with the cylindrical central sleeve phase Even, the end of the elastic string is connect with being relatively fixed with the take-up handle；Locking device, the locking device are located at described To lock or discharge the take-up handle on cylindrical central sleeve or the take-up handle.
Preferably, one end of the take-up handle is rotatably embedding is set in the cylindrical central sleeve, the locking dress The radial direction set along the take-up handle is movably located on the cylindrical central sleeve, is formed on the take-up handle and the lock The corresponding locking hole of tight device, the locking device are adapted to extend into the locking hole to lock described in the take-up handle or extraction Locking hole is to discharge the take-up handle.
Advantageously, the locking hole includes along the circumferentially spaced multiple of the take-up handle.
Further, it is formed with anti-skid chequer on the circumferential surface of the other end of the take-up handle.
Advantageously, the appearance wire casing of the circumferentially extending along the take-up handle is formed on the take-up handle.
Preferably, the footrest component includes two pedals, and the leg support includes is connected corresponding with two pedals Two, the take-up handle and the elastic string include two corresponding with two leg supports.
Second aspect of the present invention proposes a kind of recovery exercising robot, including：Stand up device, and the device that stands up includes Bed board, the bed board extend longitudinally and around transversely axis may be reversed, the transverse direction with it is described longitudinally perpendicular；Leg training Device, the leg training device be located at it is described stand up on device and positioned at the bed board along longitudinal end, it is described Leg training device is the leg training device for being previously described for recovery exercising robot, and the leg support drive component is always With the power for driving the leg support to be moved towards the separate bed board.
Recovery exercising robot according to the ... of the embodiment of the present invention applies leg training device above-mentioned, can facilitate reality Existing pedal exercising.
Description of the drawings
Fig. 1 is the schematic diagram of the recovery exercising robot of one embodiment of the invention.
Fig. 2 is the schematic diagram of leg training device in Fig. 1.
Fig. 3 is the cross section view of the middle sections Fig. 2 A-A.
Reference numeral：Recovery exercising robot 100, leg training device 1, holder 11, footrest component 12 ride driving group Part, leg support 13, leg support drive component 14, elastic string 15, spooler 16, cylindrical central sleeve 161, take-up handle 162, lock Tight device 163, anti-skid chequer 164 hold wire casing 101, and locking hole 102, stand up device 2, bed board 21.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
The lower limb for recovery exercising robot 100 of 1 to Fig. 3 detailed description embodiment of the present invention are instructed with reference to the accompanying drawings Practice device 1, the leg training device 1 includes：Holder 11, footrest component 12, foot-operated drive component, leg support 13 and shank Support drive component 14.
Specifically, the footrest component 12 is rotatably provided on the holder 11 and suitable for foot-operated training.The foot Drive component is stepped on to be connected with the footrest component 12 to drive the footrest component 12 to rotate.The leg support 13 and the foot It steps on component 12 to be connected, and the relatively described footrest component 12 of the leg support 13 is rotatable.The leg support drive component 14 It is located on the holder 11 and is connected with the leg support 13, and the leg support drive component 14 is often with having described in driving The power of the movement of leg support 13 and the shank for being suitable for lifting user.
Footrest component 12 may be adapted to foot and place and position, and leg support 13 is suitable for the placement and positioning of shank, to In the training process, foot and shank can be positioned, drives pedal exercising to assist to forge by foot-operated drive component Refining, and 13 actuator of leg support can drive leg support 13, to lift the shank of user, to which assisting user is complete At training process.
Leg training device 1 according to the ... of the embodiment of the present invention for recovery exercising robot 100, by the way that shank branch is arranged Drive component 14 is supportted, shank can be driven to lift conveniently by leg support drive component 14, to successfully complete training. In addition, leg support drive component 14 to be arranged to a part for leg training device 1, recovery exercising robot can be facilitated The modularization of 100 each section of recovery exercising robot is convenient in 100 maintenance, assembly etc., improves maintainable.
Such as Fig. 1 and Fig. 2, in some embodiments of the invention, the leg support drive component 14 includes：Elastic string 15, the elastic string 15 is connected with the leg support 13 and the holder 11 respectively.By the way that elastic string 15, elastic string 15 is arranged It can be arranged to be in the state for lifting shank always, in this way, in 12 operational process of footrest component, the shank being lifted will Very successfully with movement, to play the purpose of leg rehabilitation instruction, in addition, in conjunction with the elastic deformation energy of elastic string 15 Power can give patient one environment being easily adapted to, and more easily adaptation does not have to the patient of build.
Preferably, in rehabilitation training, shank can be made to be in the state of micro- lift always by elastic string 15, Be exactly so that angle among shank and thigh is not less than the angle for being suitable for doing footrest movement always, as shank and thigh it Between be suitable for doing the minimum angles of footrest movement, be easy to know in related fields such as medicine, therefore, the present invention not to shank with it is big The specific angle for being suitable for doing pedal exercising between leg illustrates.
In addition, it is necessary to which explanation, the purpose that elastic string 15 is arranged in of the invention include but not limited to：Driving shank lifts And shank is assisted to lift.Certainly, it for the patient that need not assist to lift, can also use smaller without elasticity or elasticity Rope, plastic part, metalwork etc., the elastic string 15 that the present invention describes is only the specific embodiment of the present invention, no It can be interpreted as limiting the scope of the invention.
Preferably, such as Fig. 1 and Fig. 2, the leg support drive component 14 further includes：Spooler 16, the spooler 16 It is located on the holder 11, and the elastic string 15 is connected with the spooler 16 to adjust the length of the stretching of the elastic string 15 Degree.By the way that spooler 16 is arranged, the extension elongation of elastic string 15 can be adjusted, different patients is directed to, elasticity can be adjusted The length of rope 15, meets the needs of different, to improve the use scope of leg training device 1.
Further, such as Fig. 3, the spooler 16 includes：Cylindrical central sleeve 161, take-up handle 162 and locking device 163. The cylindrical central sleeve 161 is located on the holder 11, and the cylindrical central sleeve 161 and the relative position of the holder 11 are fixed； The take-up handle 162 is rotatably connected with the cylindrical central sleeve 161, the end of the elastic string 15 and the take-up handle 162 connect with being relatively fixed；The locking device 163 is located on the cylindrical central sleeve 161 or the take-up handle 162 to lock Or discharge the take-up handle 162.
In use, by rotating take-up handle 162, the length of elastic string 15 can be adjusted, to adjust shank The position of support 13, can also be adjusted in training process, and elastic string 15 is to the pulling force of shank, to realize best training side Formula.And it can also facilitate and be adapted to different patients.
Preferably, such as Fig. 3, one end of the take-up handle 162 is rotatably embedding to be set on the cylindrical central sleeve 161 Interior, the locking device 163 is movably located at along the radial direction of the take-up handle 162 on the cylindrical central sleeve 161, the receipts Locking hole 102 corresponding with the locking device 163 is formed on line handle 162, the locking device 163 is adapted to extend into described Locking hole 102 is to lock the take-up handle 162 or extract the locking hole 102 out to discharge the take-up handle 162.To side Just the rotation of handle first, and locking device 163 is set, it can realize take-up when take-up handle 162 is run to precalculated position The locking of handle 162 meets the normal training of patient, carries to make the length of elastic string 15 may remain in scheduled length The stability of high lower limb training device 1.
Further, such as Fig. 3, the locking hole 102 includes along the circumferentially spaced more of the take-up handle 162 It is a.Multiple take-up handles 162, which are arranged, can improve the degree of regulation of spooler 16.
Wherein, locking hole 102 can be arranged one, that is to say, that each take-up handle 162 needs to be rotated by 360 °, so that it may To complete the action of a unwrapping wire or take-up, if two locking holes 102 of setting, take-up handle 162 rotates a circle can Positioning interval to be positioned twice, and at least once is that rotating handle rotates less than 180 °.And locking hole 102 is set Quantity is more, then the precision adjusted is higher.
Preferably, such as Fig. 2, anti-skid chequer 164 is formed on the circumferential surface of the other end of the take-up handle 162.Pass through setting Anti-skid chequer 164, during rotary wire-reeling handle 162, handle will not skid first, to make the rotation of handle first be easy And it is convenient, take-up and defence line are realized in the adjusting of convenient handle first, quickly and easily adjust the length of elastic string 15.
Further, the appearance wire casing of the circumferentially extending along the take-up handle 162 is formed on the take-up handle 162 101.Wire casing 101 is held in setting, and the elastic string 15 being recovered on take-up handle 162 that can make, which is stably positioned in, to be held in wire casing 101, And the appearance line by holding wire casing 101 acts on, and in 162 rotary course of take-up handle, harness will steadily be in holding tank It is interior, facilitate the arrangement of harness, to facilitate the use of spooler 16.
In conjunction with Fig. 1 to Fig. 3, advantageously, the footrest component 12 includes two pedals, and the leg support 13 includes and two A pedal corresponds to two to be connected, and the take-up handle 162 and the elastic string 15 include and two leg supports 13 Corresponding two.That is, two leg supports 13 are adjusted respectively, to realize that two leg supports 13 are single The convenient quickly solely adjusted.Facilitate self-defined.
Such as Fig. 1, the invention also discloses a kind of recovery exercising robots 100, including：Stand up device and leg training device 1.The device that stands up includes bed board 21, and the bed board 21 extends longitudinally；The leg training device 1 is located at the dress that stands up Set and be located at the bed board 21 along longitudinal end, the leg training device 1 is to be previously described for rehabilitation training The leg training device 1 of robot 100, the leg support drive component 14 has always drives the leg support 13 towards remote The power moved from the bed board 21.
Recovery exercising robot 100 according to the ... of the embodiment of the present invention applies leg training device 1, Ke Yifang above-mentioned Just pedal exercising is realized.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on ... shown in the drawings or Position relationship is merely for convenience of description of the present invention and simplification of the description, and does not indicate or imply the indicated device or element must There must be specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relative importance Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc. Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；Can be that machinery connects It connects, can also be electrical connection；It can be directly connected, can also can be indirectly connected through an intermediary in two elements The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature can be with "above" or "below" second feature It is that the first and second features are in direct contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be One feature is directly under or diagonally below the second feature, or is merely representative of fisrt feature level height and is less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office It can be combined in any suitable manner in one or more embodiments or example.In addition, without conflicting with each other, the skill of this field Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned Embodiment is changed, changes, replacing and modification.
Claims (10)
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611025107.7A CN106420264B (en) | 2016-11-14 | 2016-11-14 | Leg training device and recovery exercising robot with it |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611025107.7A CN106420264B (en) | 2016-11-14 | 2016-11-14 | Leg training device and recovery exercising robot with it |
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| CN106420264A CN106420264A (en) | 2017-02-22 |
| CN106420264B true CN106420264B (en) | 2018-09-11 |
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| CN107496134A (en) * | 2017-07-10 | 2017-12-22 | 广西浙缘农业科技有限公司 | One kind auxiliary lower limb rehabilitation training device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101536955B (en) * | 2009-04-21 | 2011-01-05 | 清华大学 | Vertical follow-up type lightened walking rehabilitation training robot |
| CN102697622B (en) * | 2012-06-12 | 2013-12-11 | 燕山大学 | Sitting and lying lower limb rehabilitation robot |
| KR20150054883A (en) * | 2012-09-07 | 2015-05-20 | 더 리전츠 오브 더 유니버시티 오브 캘리포니아 | Controllable Passive Artificial Knee |
| EP2842527A1 (en) * | 2013-08-26 | 2015-03-04 | ETH Zurich | Wearable posture assisting device |
| EP3068360A4 (en) * | 2013-11-12 | 2017-05-17 | Ekso Bionics, Inc. | Machine to human interfaces for communication from a lower extremity orthotic |
| CN103622796B (en) * | 2013-12-17 | 2016-01-27 | 哈尔滨工程大学 | One kind wearable lower limb rehabilitation training device |
| CN104434466B (en) * | 2014-11-12 | 2016-08-31 | 济南鲁智电子科技有限公司 | Apoplexy old people's recovery robot system |
| CN204636917U (en) * | 2015-05-04 | 2015-09-16 | 台州学院 | Special low limbs ectoskeleton of hemiplegia patient |
| CN105125377B (en) * | 2015-08-13 | 2017-07-14 | 广东工业大学 | A kind of lower extremity movement rehabilitation instrument |
| CN106038170B (en) * | 2016-06-17 | 2019-04-23 | 合肥工业大学 | A kind of pedal type lower limb rehabilitation training robot surveying plantar nervous arch |
| CN206508206U (en) * | 2016-11-14 | 2017-09-22 | 广东美的安川服务机器人有限公司 | Leg training device and the recovery exercising robot with it |
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