CN106913448A - A kind of robot therapeutic system for recovering limbs health - Google Patents
A kind of robot therapeutic system for recovering limbs health Download PDFInfo
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- CN106913448A CN106913448A CN201710231855.9A CN201710231855A CN106913448A CN 106913448 A CN106913448 A CN 106913448A CN 201710231855 A CN201710231855 A CN 201710231855A CN 106913448 A CN106913448 A CN 106913448A
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- robot
- patient
- therapeutic system
- slip pipe
- carriage
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- 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 in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/02—Characteristics of apparatus not provided for in the preceding codes heated or cooled
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
-
- 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
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
Abstract
The invention discloses a kind of for recovering healthy robot therapeutic system, including robot, support meanss 1 and carriage 2, support meanss 1 are provided with tooth road 6, tooth road 6 is provided with gear 7, gear 7 is provided with gear hole, bearing and axle 8 are provided with gear hole, described robot 3 stands and is fixed on the second slip pipe device 36, what the described standing of patient 4 was adapted to is fixed in robot 3 by the second fixing device 15, by the support of support meanss, patient follows motion under the drive of robot, reaches the purpose of exercise.This is a kind of for recovering healthy robot therapeutic system, solve the problems, such as that cerebral thrombus patient limb rehabilitating is taken exercise, reduce hemiparalysis sequela patient's pressure sore, the formation of muscle cramp, reach and instead of manual massage's cerebral embolism staff, waist, leg, the purpose of pin activity exercise so that the limbs of patient are taken exercise and rehabilitation.
Description
Technical field
The present invention relates to rehabilitation medicine equipment technical field, more particularly, to a kind of robot for recovering limbs health
Therapeutic system.
Background technology
At present, for the later stage recovery of cerebral thrombus patient's limbs, bed massage therapy or nursing are generally adopted by
Personnel assist patient's step exercises in, or are that patient leans on alone rod exercise, and these are reconditioning methods conventional at present.
Cerebral embolism sequela badly influences the quality of life and life confidence of patient, positive therapeutic treatment and 3 months after illness
It is interior to coordinate effective rehabilitation training most important, but, the professional apparatus exercised for the effective rehabilitation of hemiplegia of limb at present is also
It is fewer.What particularly the state of an illness was heavier can only be by wheelchair exercise, and this kind of professional apparatus is less.
Chinese patent literature (the day for announcing：2 months 2017 15 days, notification number：CN106390377A a kind of rehabilitation) is disclosed
Image training robot, the recovery exercising robot includes：Bed body component and trainer, containing cavities are formed with bed body component；
Trainer, trainer is rotatably arranged on bed body component between open position and reception position, in reception position instruction
Practice device to be accommodated in containing cavities, in open position, trainer is stretched out outside containing cavities.Can be by when trainer is not used
Trainer is accommodated in the containing cavities of bed body component.
What above-mentioned technical proposal was used can not only protect trainer, it is to avoid there is potential safety hazard, can also extend health
Scope of activities around multiple image training robot, is conducive to being moved to patient on bed body component, and recovery exercising robot is also
Other purposes can be done, the utilization rate of recovery exercising robot is improved.But this technical scheme complex structure, patient can not be straight
The exercise of vertical walking, can not carry out the exercise of across obstacle, and the whole body of patient's waist, leg, pin is not realized more
Activity is taken exercise.
The content of the invention
The invention aims to solve the problems, such as cerebral thrombus patient's limb rehabilitating.First way passes through support meanss
Be supported on the drive of robot under patient follow motion, carry out reconditioning；The branch that the second way passes through support meanss
Support, by the buoyancy of hydrogen airbag apparatus, mitigates body weight to the pressure of lower limb, the limbs of patient is obtained motion exercise,
Reach the purpose of training rehabilitation.
The technical scheme adopted by the invention for realizing the object of the invention is：It is a kind of to be ruled by men for recovering the machine of limbs health
Treat device, including support meanss, carriage, it is characterised in that：Described support meanss are provided with tooth road, and tooth road is provided with tooth
Wheel, gear is provided with gear hole, bearing and axle is provided with gear hole.Described carriage is fixedly connected on axle.Described
Robot, airbag apparatus, first exhaust device, second exhaust device, air-conditioning device, hydrogen compression dress are additionally provided with support meanss
Put.Described carriage is provided with pipe device, the first slip pipe device, the second slip pipe device, the first speed governing handle, control
Device, spacer pin, the first fixing device, the second fixing device, buckle, alignment pin, music apparatus, lifting speed governing handle.Described
Robot stands and is fixed on the second slip pipe device, and what described patient's standing was adapted to is fixed on machine by the second fixing device
On people.Ground is corresponding on the downside of described support meanss is provided with the locator for being at least not less than.Under described support meanss
Side ground is provided with barrier, and described barrier is provided with locator.The locator of setting can provide premenstrual to patient
The distance gone, patient is conveyed to by voice device, while encouraging patient to continue to move ahead.The first scheme that the invention is used
It is that described support meanss are provided with tooth road and gear, gear is firmly arranged on engagement rolling on tooth road and moves ahead, described cunning
The upper end of dynamic device is fixed on axle.In order to the traction for realizing patient is walked, support meanss Shang Chi roads, gear can also set
It is set to slideway, the combination of chute or sliding with rolling wheels, magnetic track are slided and other can be used for the dress that patient follows traction to walk
Put.Described robot is bolted on the second slip pipe device, and described patient stands solid by the second fixing device
It is scheduled on the body of robot.Rotate the first speed-regulating handle bar hand robot to move ahead, drive patient to move ahead, reach the mesh of exercise
, it is therefore prevented that robot and patient's falls down.The second scheme that the invention is used is that described support meanss are provided with tooth road
And gear, gear is firmly arranged on tooth road engagement rolling and moves ahead, and the upper end of described carriage is fixed on axle, described
Patient being fixed on the second slip pipe device by what the second fixing device was stood, by speed-regulating handle bar manual control hydrogen compression set
Inflated to airbag apparatus, airbag apparatus rise, drive the second slip pipe device to rise, so as to drive patient to drive body somewhat rise, subtracted
The weight power of lower limb is lacked, patient moves ahead, and reaches the purpose of exercise.In order to the traction for realizing patient is walked, slip dress
Put it can also be provided that spring, stretch cord, hydraulic means and other can be used for elastic traction patient body slightly rise dress
Put.First slip pipe device of described carriage can slide rotation 180 degree in pipe device.Described circular hole has two
Individual and symmetrical is arranged on the circumference of the first slip pipe device, and described alignment pin is inserted in circular hole through pipe device, institute
The spacer pin stated can limit the unlimited rising of the first slip pipe device.The second described slip pipe device can be in the first slip pipe device
Inside slide up and down.The first described speed governing handle can control the movement velocity of robot and patient.The sheet of described robot
Body is a hollow cavity, and its hollow cavity is provided with the first stomata for being not less than, described air-conditioning dress near the side of patient
The warm and cool air for putting discharge is connected by pipeline with the cavity of robot, and the warm and cool air of described air-conditioning device passes through robot
Cavity on stomata to patient's body convey gas.The front side of described robot is similar to the body at the human body back side, so
Setting facilitates the fixed patient that the second fixing device is stood.The power line of described air-conditioning device is electrically connected with controller and civil power
Connect.Described airbag apparatus are connected with buckling by connecting rod, and described buckling is fixedly installed on the second slip pipe device, described
Airbag apparatus are connected by flexible pipe with hydrogen compression set.Airbag apparatus are automatically adjusted, described locator and controller and
Hydrogen compression set is electrically connected, and when the pin of patient encounters barrier, the gps satellite locator of setting is signal transmission to control
Device, the startup of hydrogen compression set is automatically controlled by controller, and the airbag apparatus after startup are quickly filled with appropriate hydrogen, air bag
Expansion rises, and coordinates first exhaust device and second exhaust device, and realization automatically adjusts rising or falling for carriage, so that
Drive rising or falling for patient's body.Described locator is electrically connected with controller with hydrogen compression set with civil power.Air bag
The manual regulation of device, described lifting speed governing handle is electrically connected with controller and hydrogen compression set, coordinates first exhaust dress
Put with second exhaust device, realize manually regulation airbag apparatus inflation/deflation so as to drive rising or falling for carriage.
First exhaust device is provided with the downside of described airbag apparatus, the valve inside of described first exhaust device can press exhaust,
Reduce the internal pressure of airbag apparatus.Second exhaust device, described second exhaust are additionally provided with the downside of described airbag apparatus
Device is provided with screw rod and bolt, and described screw rod can be screwed in insertion bolt, and described screw rod is hollow cavity, is set on screw rod
There is the 3rd stomata for being not less than.Described bolt front end is provided with the second stomata, described second exhaust device capacity
Size can be adjusted by screwing for screw rod.The second described fixing device is adherent bundling belt or holding clamp or can
Wearable device.Described music apparatus include play encouragement music, points for attention, take exercise group, number, the time, the cycle and
Spoken re-reading exercise.
Preferably, the first slip pipe device of described carriage can in pipe device rotational slide 180 degree, institute
Through in pipe device insertion circular hole, described circular hole has two and symmetrical is arranged on the first slip pipe dress the alignment pin stated
On the circumference put, the purpose for so setting is in order that can reversely be taken exercise after patient reaches home.When the rotation of the first slip pipe device
After 180 degree, in alignment pin pressing insertion circular hole, the first slip pipe device is set to be relatively fixed with pipe device, not rotational slide.One
As hemiplegic patient, ill side lost consciousness, stresses, and sense of direction is lost, the support meanss of setting, tooth road, carriage, with
And alignment pin, it is ensured that the decompression and straight trip of patient's deformed limb are taken exercise.Described spacer pin can limit the nothing of the first slide block device
Limit is raised, and is set the second slip pipe device and is slided up and down in the first slip pipe device, it is therefore an objective to moves ahead after running into barrier when taking exercise,
Second slip pipe device can be raised as the body of patient is raised.Described the first speed-regulating handle bar hand control robot and patient's
Movement velocity.
Preferably, the body of described robot is a hollow cavity, its hollow cavity is provided near the side of patient
It is not less than first stomata of.The power line of described air-conditioning device is electrically connected with controller and civil power, described air-conditioning dress
The warm and cool air for putting discharge is connected by pipeline with the cavity of robot, and the warm and cool air of described air-conditioning device passes through robot
Cavity on stomata to patient's body convey gas, so set purpose be in order to patient take exercise when provide comfortably
Environment, body is poor, particularly the cold heat of cerebral thrombus patient, easily fatigue, it is accordingly required in particular to a good training ring
Border.
Preferably, described airbag apparatus are connected with buckling by connecting rod, described buckling is fixedly installed on the second cunning
In pipe device, described airbag apparatus are connected by flexible pipe with hydrogen compression set.The airbag apparatus of setting are connected by connecting rod
Second slip pipe device, maintains the stability of airbag apparatus.The flexible pipe of setting is connected with hydrogen compression set, it is ensured that air bag is filled
Put and follow being reliably connected for patient.
Preferably, described locator is electrically connected with controller and hydrogen compression set, the satellite fix of GPS realizes gas
The inflation/deflation of bag apparatus, so as to automatically adjust rising or falling for carriage.Described lifting speed governing handle and controller and
Hydrogen compression set is electrically connected, and realizes the inflation/deflation of regulation airbag apparatus manually, has driven rising or falling for carriage.
Preferably, be provided with first exhaust device on the downside of described airbag apparatus, the gas of described first exhaust device
Door core can press exhaust.The airbag apparatus of setting rise after being filled with hydrogen, and air bag expansion, patient body is somewhat raised, and is reduced
The pressure of disability lower limb, then the fixation for passing through fixing device, make patient need not rely on crutch and assist the exercise that can move ahead in,
Reach the purpose of rehabilitation.After the air pressure in air bag reaches certain pressure, patient feels that suffering limb pressure mitigates comfortable, stops rotation
Lifting speed governing handle is twisted, hydrogen compression set is stopped inflation, patient does reconditioning.The decompression of airbag apparatus, can be by gas
Door core pressing exhaust, can be also vented by screwing second exhaust device.
Preferably, being additionally provided with second exhaust device on the downside of described airbag apparatus, described second exhaust device sets
There are screw rod and bolt, described screw rod can be screwed in insertion bolt, and described screw rod is hollow cavity, is set on described screw rod
There is the 3rd stomata for being not less than, described bolt front end is provided with the second stomata.The second exhaust device of setting is by screwing
Screw rod can adjust the size of capacity.Screw rod is screwable into deeper in bolt, and capacity is bigger.Screw rod is screwable into bolt
Fewer, capacity is smaller, it might even be possible to be not vented.Screw rod is screwable into after terminating in bolt, and its capacity is maximum.Set second
The purpose of exhaust apparatus is that when running into barrier, the body of patient needs appropriate rising to alleviate limbs pressure, now screws tune
Section second exhaust device, and coordinate lifting speed governing handle, raise airbag apparatus.The lifting speed governing handle rotating speed of setting is got over
Height, hydrogen compression set rotating speed is faster, and airbag apparatus get over expansion and become big, and patient's body follows rising, after across obstacle, slowly
Stopping screws lifting speed governing handle, and airbag apparatus are shunk and diminish, and patient's body declines, and the Fail over for realizing patient is taken exercise.
When Fail over is taken exercise, the inflation of hydrogen compression set is carried out simultaneously with the deflation of second exhaust device, and described second
The deflation of exhaust apparatus is a fixed value.
Preferably, the second described fixing device is adherent bundling belt or holding clamp or wearable device, purpose
It is the body for fixing patient, the body of patient is raised simultaneously or is declined with carriage.
Preferably, described music apparatus include the encouragement music for setting, points for attention, temper number of times, time, cycle
And spoken re-reading exercise.The music apparatus being provided with can play voice, allow patient to be followed when walking re-reading, temper the mouth of patient
Language, reaches the purpose taken exercise and recover spoken.The encouragement music of setting is played when taking exercise, the letter that patient limb can be encouraged to recover
The heart, brave overcomes the difficulty, and calm faces the reality, and wishes patient's early recovery.
The beneficial effects of the invention are as follows：A kind of robot therapeutic system for recovering limbs health, solves limbs
Patient, the limb rehabilitating of cerebral thrombus patient temper problem, reduce spasm, atrophy, the formation of pressure sore of bed patient's muscle, subtract
Light medical care burden, eliminates crutch support, the limbs of patient is taken exercise and rehabilitation.The branch that the present invention passes through support meanss
Under the drive of robot, patient follows motion, reaches the purpose of exercise for support.Also can be by by the floating of hydrogen airbag apparatus
Power, mitigates patient body deadweight to the pressure of lower limb, allows a patient to walking movement, has equally reached the mesh of motion exercise rehabilitation
's.A kind of robot therapeutic system for recovering limbs health, can be widely applied to hospital, recovery centre, body-building
Square etc..
Brief description of the drawings
Fig. 1 is the robot therapeutic system structural representation that the present invention recovers limbs health；
Fig. 2 is the therapeutic system structural representation that the present invention recovers limbs health；
Fig. 3 is the first air hole structure schematic diagram that the present invention recovers limbs health robot；
Fig. 4 is the first exhaust apparatus structure schematic diagram of the airbag apparatus that the present invention recovers limbs health；
Fig. 5 is the second exhaust apparatus structure close-up schematic view of the airbag apparatus that the present invention recovers limbs health；
Fig. 6 is the structural representation that the present invention recovers limbs health carriage；
Fig. 7 is the upward view that the present invention recovers limbs health carriage；
Fig. 8 is the close-up top view that the present invention recovers limbs health carriage；
In figure：1st, support meanss, 2, carriage, 3, robot, 4, patient, 5, barrier, 6, tooth bar, 7, gear, 8, axle, 9,
Pipe device, the 10, first slip pipe device, the 11, first speed governing handle, 12, controller, 13, spacer pin, the 14, first fixing device,
15th, the second fixing device, 16, air-conditioning device, 17, power line, 18, pipeline, 19, locator, 20, buckle, 21, connecting rod, 22, hydrogen
Air bag, 23, flexible pipe, 24, hydrogen compression set, 25, alignment pin, 26, music module, the 27, first stomata, 28, lifting speed-regulating handle bar
Hand, 29, first exhaust device, 30, valve inside, 31, second exhaust device, 32, screw rod, 33, bolt, the 34, second stomata, 35,
3rd stomata, the 36, second slip pipe device, 37, circular hole.
Specific embodiment
Technical scheme is described in further detail below by specific embodiment and with reference to accompanying drawing.
Embodiment 1：
In the embodiment shown in fig. 1, a kind of robot therapeutic system for recovering limbs health, including support meanss
1 and carriage 2, support meanss 1 are provided with tooth road 6, and tooth road 6 is provided with gear 7, and gear 7 is provided with gear hole, in gear hole
Bearing and axle 8 are provided with, described carriage 2 is fixedly connected on axle 8, it is not horizontally slipped, and can rolls forward.It is described
Carriage 2 be provided with pipe device 9, the first slip pipe device 10, the first speed governing handle 11, controller 12, spacer pin 13,
One fixing device 14, buckle 20, connecting rod 21, music module 26, lifting speed governing handle 28.Air-conditioning device is additionally provided with support meanss
16th, pipeline 18, airbag apparatus 22, flexible pipe 23, hydrogen compression set 24.Robot 3 stand fixation be connected to the second slip pipe dress
Put on 36, what the standing of patient 4 was adapted to is fixed in robot 3 by the second fixing device 15.In fig. 2, support meanss downside
Ground is corresponding to be provided with the locator 19 for being at least not less than, and ground is corresponding for support meanss downside is provided with barrier 5, in barrier
Hinder and locator 19 also is provided with thing 5.Locator 19 is electrically connected with controller 12 with music module 26 and civil power.In Fig. 4, Fig. 5,
Airbag apparatus 22 are provided with first exhaust device 29, second exhaust device 31.In Fig. 6, Fig. 7, Fig. 8, the first of carriage 2
Slip pipe device 10 can in pipe device 9 rotational slide 180 degree, alignment pin 25 through pipe device 9 insertion circular hole 37 in, circle
Hole 37 has two and symmetrical is arranged on the circumference of the first slip pipe device 10.Spacer pin 13 can limit the first sliding block dress
10 unlimited rising is put, the second slip pipe device 36 can be slided up and down in the first slip pipe device 10, it is therefore an objective to be run into when forward
Second slip pipe device 36 can be raised as the body of patient is raised during barrier 5.First speed governing handle 11 controls robot 3
With the movement velocity of patient 4.In figure 3, the body of robot 3 is a hollow cavity, and its hollow cavity is near the side of patient
Be provided with the first stomata 27 for being not less than, the stomata 27 on cavity that the warm and cool air of air-conditioning device 16 passes through robot 3 to
Patient's body conveys gas, and the warm and cool air of the discharge of air-conditioning device 16 is connected by pipeline 18 with the cavity of robot 3, air-conditioning dress
The power line 17 for putting 16 is electrically connected with controller 12 and civil power.Airbag apparatus 22 are connected by connecting rod 21 with buckling 20, buckle 20
It is fixedly installed on the second slip pipe device 36, airbag apparatus 22 are connected by flexible pipe 23 with hydrogen compression set 24.Locator 19
Electrically connected with controller 12 and hydrogen compression set 24, gps satellite positioning realizes the inflation/deflation of airbag apparatus, so as to adjust automatically
Save rising or falling for carriage 2.Lifting speed governing handle 28 is electrically connected with controller 12 and hydrogen compression set 24, is realized
The inflation/deflation of regulation airbag apparatus is so as to drive rising or falling for carriage 2 manually.The downside of airbag apparatus 22 is provided with
One exhaust apparatus 29, the valve inside 30 of first exhaust device 29 can carry out pressing exhaust.The downside of airbag apparatus 22 is additionally provided with
Second exhaust device 31.Second exhaust device 31 is provided with screw rod 32 and bolt 33, and screw rod 32 can be screwed in insertion bolt 33,
Screw rod 32 is hollow cavity, and screw rod 32 is provided with the 3rd stomata 35 for being not less than, and the front end of bolt 33 is provided with the second stomata 34.
Second fixing device 15 is adherent bundling belt or holding clamp or wearable device, the purpose is to be used to fix patient.Music
Device 26 includes the encouragement music for setting, points for attention, tempers number of times, time, cycle and spoken re-reading exercise.
In Fig. 1, when robot drives patient 4 to operate, robot 3 is first fixed on slip by the first fixing device 14
On second slip pipe device 36 of device 2, then the waist for being fixed on robot 3 that patient 4 is adapted to by the second fixing device 15,
Ensure that robot 3 and the firm of patient 4 are not fallen down.Rotate the robot 3 of the first speed governing handle 11 to move, while driving patient 4
Motion.When barrier 5 is run into, the body of robot 3 and patient 4 is raised, and the second slip pipe device 36 is slided in pipe device 9
Raise, raised while realizing the body and the second slip pipe device 36 of patient 4, tempered the climbing capacity of patient.Reach eventually
During point revolution, the alignment pin 25 that carriage 2 is provided with is pulled up, and is inserted in pin-and-hole alignment pin 25 after patient's rotation 180 degree, reversely
Step exercises, realize reciprocal exercise of the patient 4 under the framework of support meanss 1.
In fig. 2, when patient 4 does not take exercise by robot 3, the fixation that patient 4 is adapted to by the second fixing device 15
On the second slip pipe device 36, by and control airbag apparatus 22, reduce weight of the body weight to lower limb, realize patient 4 in branch
Reciprocal exercise under the framework of support arrangement 1.
According to the different state of an illness, different workout schemes are made.As support meanss spacing is set to 25 meters, 50 meters are plowed back and forth
It is a whole process.For the first time, take exercise in 5 minutes and cover whole process, 3 whole process in morning, 2 whole process of noon, 3 whole process of evening, 5 days
It is an exercise period, coordinates acupuncture therapy, after one course for the treatment of of treatment, adjusts exercise plan.Second, take exercise in 4 minutes
Complete full journey, 5 whole process in morning, 3 whole process of noon, 4 whole process of evening, 7 days are an exercise period, coordinate acupuncture therapy, are controlled
After treating a period of time, exercise plan is adjusted.For the third time, take exercise 3 minutes in cover whole process, 6 whole process in morning, 5 whole process of noon,
6 whole process of evening, 7 days are a cycle, and medication, cooperation acupuncture therapy after treatment 30, adjust exercise plan, check the state of an illness, note
Record, the basic rehabilitation of the state of an illness adjusts workout-parameters again.N-th, takes exercise in 3 minutes and covers whole process, morning 10 whole process, noon 6
Individual whole, 8 whole process of evening, check the state of an illness, adjust exercise plan.After treatment 90 days, the motion of patient limb is normal.90
After it, workout-parameters are adjusted, gradually accelerate speed, increase exercise intensity, after taking exercise 180 days, patient limb motion is normal.According to
The difference of male and female patient, sets different workout-parameters, takes regular exercise, until body returns to one's perfect health.Played before exercise and encouraged
Music, increases restoring confidence for patient.The locator of setting makes patient often trample a locator, music during moving ahead
The voice system of device 26 can all remind the distance that patient moves ahead.Spoken re-reading exercise is combined with motion, side motion, while with
With re-reading.Patient's history enters to suffer from cerebral hemorrhage hospitalization within 2 10th, 2016, body after being taken exercise 3 months using the device after discharge
Basic rehabilitation, the body on the 16th of August in 2017 returns to one's perfect health, works on.
This is a kind of for recovering healthy robot therapeutic system, solves the exercise of cerebral thrombus patient limb rehabilitating
Problem, reduces the pressure sore of hemiparalysis sequela patient, and muscle cramp is formed, limbs exercise walking can make cerebral embolism human brain, mouth,
Hand, waist, leg, the collaboration of pin are taken exercise.The device is using safety, and low cost is sturdy and durable, can anti-skidding, shatter-resistant, raising for patient
Medical and nursing quality.
Healing robot of the invention also can be applicable to aphasic, plant person, the limbs training of the elderly and Post operation flesh
Recovery of meat etc., the effect performed physical exercise using the device, hence it is evident that better than existing exercise method.
The inspiration that those skilled in the art obtain on the basis of of the invention, the structural change for carrying out, in this hair
Within bright protection domain.
Claims (9)
1. a kind of robot therapeutic system for recovering limbs health, including support meanss [1], carriage [2], robot
[3], it is characterised in that：Described support meanss [1] are provided with tooth road [6], and tooth road [6] are provided with gear [7], on gear [7]
Gear hole is provided with, bearing and axle [8] are provided with gear hole, described carriage [2] is fixedly connected on axle [8], described
Be additionally provided with support meanss [1] robot [3], airbag apparatus [22], first exhaust device [29], second exhaust device [31],
Air-conditioning device [16], hydrogen compression set [24], described carriage are provided with pipe device [9], the first slip pipe device
[10], the first speed governing handle [11], controller [12], spacer pin [13], the first fixing device [14], buckle [20], alignment pin
[25], music apparatus [26], lifting speed governing handle [28], the second slip pipe device [36], circular hole [37], described robot [3]
Standing is fixed on the second slip pipe device [36], and it is fixed by the second fixing device [15] that described patient [4] standing is adapted to
In robot [3], described support meanss downside ground is corresponding to be provided with the locator [19] for being at least not less than, described
Ground is corresponding is provided with barrier [5] for support meanss downside, described barrier [5] is provided with locator [19], described
Locator [19] is connected with controller [12], music apparatus [26], and controller [12] is electrically connected with city.
2. it is according to claim 1 it is a kind of for recover limbs health robot therapeutic system, it is characterised in that：It is described
The first slip pipe device [10] of carriage [2] can be in the interior rotational slide 180 degree of pipe device [9], described alignment pin
[25] inserted in circular hole [37] through pipe device [9], described circular hole [37] is with two and symmetrical is arranged on first
On the circumference of slip pipe device [10], described spacer pin [13] can limit the rising of the first slide block device [10], described
Two slip pipe devices [36] can be slided up and down in the first slip pipe device [10], and the first described speed governing handle [11] can be controlled
Robot [3] and the movement velocity of patient [4].
3. it is according to claim 1 it is a kind of for recover limbs health robot therapeutic system, it is characterised in that：It is described
The body of robot [3] be a hollow cavity, its hollow cavity is provided with the first gas for being not less than one near the side of patient
Hole [27], the power line [17] of described air-conditioning device [16] is electrically connected with controller [12] and civil power, described air-conditioning device
[16] warm and cool air of discharge is connected by pipeline [18] with the cavity of robot [3], the changes in temperature of described air-conditioning device [16]
Gas is conveyed by stomata [27] to patient's body.
4. it is according to claim 1 it is a kind of for recover limbs health robot therapeutic system, it is characterised in that：It is described
Airbag apparatus [22] be connected with [20] are buckled by connecting rod [21], described buckle [20] are fixedly installed on the second slip pipe device
[36] on, described airbag apparatus [22] are connected by flexible pipe [23] with hydrogen compression set [24].
5. according to claim 1 or 4 it is a kind of for recover limbs health robot therapeutic system, it is characterised in that：
Described locator [19] is electrically connected with controller [12] and hydrogen compression set [24], realizes that gps satellite positioning realizes air bag
The inflation/deflation of device is so as to automatically adjust rising or falling for carriage [2], described lifting speed governing handle [28] and control
Device [12] and hydrogen compression set [24] are electrically connected, and realize the inflation/deflation of regulation airbag apparatus manually so as to drive carriage
Rising or falling [2].
6. a kind of robot therapeutic system for recovering limbs health according to claim 1 or 4 or 5, its feature exists
In：First exhaust device [29], described first exhaust device [29] capacity are provided with the downside of described airbag apparatus [22]
Size can adjust, the valve inside [30] of described first exhaust device [29] can press exhaust.
7. according to claim 1 or 4 or 5 or 6 it is a kind of for recover limbs health robot therapeutic system, its feature
It is：Second exhaust device [31] is additionally provided with the downside of described airbag apparatus [22], described second exhaust device [31] sets
There are screw rod [32] and bolt [33], described screw rod [32] can be screwed in insertion bolt [33], during described screw rod [32] is
Cavity body, described screw rod [32] is provided with the 3rd stomata [35] for being not less than, and described bolt [33] front end is provided with
Two stomatas [34].
8. it is according to claim 1 it is a kind of for recover limbs health robot therapeutic system, it is characterised in that：Second
Fixing device [15] is adherent bundling belt or holding clamp or wearable device.
9. it is according to claim 1 it is a kind of for recover limbs health robot therapeutic system, it is characterised in that：It is described
Music apparatus [26] including set encouragement music, points for attention, temper number of times, time, cycle and spoken re-reading exercise.
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| CN201710231855.9A CN106913448B (en) | 2017-03-29 | 2017-03-29 | It is a kind of for restoring the robot therapeutic device of limbs health |
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| CN201710231855.9A CN106913448B (en) | 2017-03-29 | 2017-03-29 | It is a kind of for restoring the robot therapeutic device of limbs health |
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| CN108670722A (en) * | 2018-06-04 | 2018-10-19 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of healing robot anti-down transfer and its forward method |
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| CN109078293A (en) * | 2018-06-21 | 2018-12-25 | 龙青梅 | Blind person's straight line traveling device that is a kind of efficient based on training and adapting to a variety of blind persons' walkings |
| CN112221082A (en) * | 2020-10-16 | 2021-01-15 | 洛阳守正科技服务有限公司 | Auxiliary instrument for training limbs of cerebral palsy patient in recovery period |
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| CN106913448B (en) | 2019-03-15 |
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