CN106913448B - It is a kind of for restoring the robot therapeutic device of limbs health - Google Patents
It is a kind of for restoring the robot therapeutic device of limbs health Download PDFInfo
- Publication number
- CN106913448B CN106913448B CN201710231855.9A CN201710231855A CN106913448B CN 106913448 B CN106913448 B CN 106913448B CN 201710231855 A CN201710231855 A CN 201710231855A CN 106913448 B CN106913448 B CN 106913448B
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- robot
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- slip pipe
- restoring
- airbag apparatus
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- 230000001225 therapeutic effect Effects 0.000 title claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims abstract description 15
- 230000006978 adaptation Effects 0.000 claims abstract description 4
- 210000003414 extremity Anatomy 0.000 claims description 38
- 239000001257 hydrogen Substances 0.000 claims description 30
- 229910052739 hydrogen Inorganic materials 0.000 claims description 30
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 claims description 29
- 230000006835 compression Effects 0.000 claims description 24
- 238000007906 compression Methods 0.000 claims description 24
- 230000033228 biological regulation Effects 0.000 claims description 19
- 238000004378 air conditioning Methods 0.000 claims description 16
- 230000004888 barrier function Effects 0.000 claims description 12
- 239000007789 gas Substances 0.000 claims description 8
- 125000006850 spacer group Chemical group 0.000 claims description 8
- 238000003780 insertion Methods 0.000 claims description 7
- 230000037431 insertion Effects 0.000 claims description 7
- 230000000630 rising effect Effects 0.000 claims description 7
- 210000003141 lower extremity Anatomy 0.000 claims description 6
- 230000001464 adherent effect Effects 0.000 claims description 4
- 201000001429 Intracranial Thrombosis Diseases 0.000 abstract description 6
- 206010008132 Cerebral thrombosis Diseases 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 4
- 206010008088 Cerebral artery embolism Diseases 0.000 abstract description 3
- 206010011985 Decubitus ulcer Diseases 0.000 abstract description 3
- 208000004210 Pressure Ulcer Diseases 0.000 abstract description 3
- 201000010849 intracranial embolism Diseases 0.000 abstract description 3
- 208000007101 Muscle Cramp Diseases 0.000 abstract description 2
- 230000015572 biosynthetic process Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 18
- 238000010586 diagram Methods 0.000 description 6
- 238000011084 recovery Methods 0.000 description 6
- 238000001467 acupuncture Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 238000002560 therapeutic procedure Methods 0.000 description 3
- 230000006837 decompression Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 206010003694 Atrophy Diseases 0.000 description 1
- 206010008111 Cerebral haemorrhage Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000005392 Spasm Diseases 0.000 description 1
- 230000037444 atrophy Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 150000002431 hydrogen Chemical class 0.000 description 1
- 238000002078 massotherapy Methods 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of for restoring the robot therapeutic device of health, including robot, support device 1 and carriage 2, support device 1 is equipped with tooth road 6, tooth road 6 is equipped with gear 7, gear 7 is equipped with gear hole, bearing and axis 8 are equipped in gear hole, the standing of robot 3 is fixed on the second slip pipe device 36, the standing adaptation of patient 4 is fixed in robot 3 by the second fixed device 15, pass through the support of support device, patient follows movement under the drive of robot, achievees the purpose that exercise.This is a kind of for restoring the robot therapeutic device of health, solves the problems, such as the exercise of cerebral thrombosis patient's limb rehabilitating, reduce hemiparalysis sequela patient's pressure sore, the formation of muscle cramp, achieve the purpose that and taken exercise instead of manual massage's cerebral embolism manpower, waist, leg, foot activity, so that the limbs of patient are taken exercise and rehabilitation.
Description
Technical field
The present invention relates to rehabilitation medicine equipment technical fields, more particularly, to a kind of for restoring the robot of limbs health
Therapeutic device.
Background technique
Currently, the later period for cerebral thrombus patient's limbs restores, it is generally adopted by bed massage therapy and either nurses
Personnel assist patient's step exercises in, or are that patient leans on alone rod exercise, these are currently used reconditioning methods.
Cerebral embolism sequela seriously affects the quality of life and life confidence of patient, positive therapeutic treatment and 3 months after illness
The interior effective rehabilitation training of cooperation is most important, and still, the professional instrument that rehabilitation effective for hemiplegia of limb is exercised at present is also
It is fewer.Especially the state of an illness is heavier can only be by wheelchair exercise, and this kind of profession instrument is less.
Chinese patent literature (day for announcing: on 2 15th, 2017, notification number: CN106390377A) disclose a kind of rehabilitation
Image training robot, the recovery exercising robot include: bed body component and training device, are formed with containing cavities in bed body component；
Training device, training device are rotatably arranged on bed body component between open position and reception position, are instructed in reception position
Practice device to be accommodated in containing cavities, be stretched out outside containing cavities in open position training device.It can be incited somebody to action when not using training device
Training device is accommodated in the containing cavities of bed body component.
What above-mentioned technical proposal used not only can protect training device, avoids there are security risk, can also extend health
Scope of activities around multiple image training robot, is conducive to be 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 structure is complicated for this technical solution, patient can not be straight
The exercise of vertical walking, can not carry out the exercise of across obstacle, the entire body of patient's waist, leg, foot more cannot be achieved
Activity is taken exercise.
Summary of the invention
The problem of the purpose of the present invention is to solve cerebral thrombosis patient's limb rehabilitatings.First way passes through support device
The patient under the drive of robot that is supported on follow movement, carry out reconditioning；The branch that the second way passes through support device
Support mitigates body weight to the pressure of lower limb, the limbs of patient is made to obtain motion exercise by the buoyancy of hydrogen airbag apparatus,
Achieve the purpose that training rehabilitation.
The technical scheme adopted by the invention for realizing the object of the invention is: a kind of machine for restoring limbs health is ruled by men
Treat device, including support device, carriage, it is characterised in that: the support device is equipped with tooth road, and tooth road is equipped with tooth
Wheel, gear are equipped with gear hole, are equipped with bearing and axis in gear hole.The carriage is fixedly connected on axis.Described
Robot, airbag apparatus, first exhaust device, second exhaust device, air-conditioning device, hydrogen compression dress are additionally provided in support device
It sets.The carriage is equipped with round tube device, the first slip pipe device, the second slip pipe device, the first speed regulation handle, control
Device, spacer pin, the first fixed device, the second fixed device, hanging buckle, positioning pin, music apparatus, lifting speed regulation handle.Described
Robot standing is fixed on the second slip pipe device, and patient's standing adaptation is fixed on machine by the second fixed device
On people.The corresponding locator being equipped at least not less than one in ground on the downside of the support device.Under the support device
Side ground is equipped with barrier, and the barrier is equipped with locator.The locator of setting can provide premenstrual to patient
The distance gone is communicated to patient by voice device, while patient being encouraged to continue to move ahead.The first scheme that the invention uses
It is that the support device is equipped with tooth road and gear, gear is firmly arranged in engagement rolling on tooth road and moves ahead, the cunning
The upper end of dynamic device is fixed on axis.In order to realize the traction walking of patient, the road support device Shang Chi, gear can also be set
It is set to slideway, combination either sliding with rolling wheels, the magnetic track of sliding slot slide and other dresses that can be used for patient and traction is followed to walk
It sets.The robot is bolted on the second slip pipe device, and the patient is stood solid by the second fixed device
It is scheduled on the body of robot.It rotates the first speed-regulating handle bar hand robot to move ahead, drives 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 uses is that the support device is equipped with tooth road
And gear, gear are firmly arranged in engagement rolling on tooth road and move ahead, the upper end of the carriage is fixed on axis, described
Patient being fixed on the second slip pipe device by what the second fixed device was stood, pass through speed-regulating handle bar manual control hydrogen compression set
It is inflated to airbag apparatus, airbag apparatus rises, and the second slip pipe device is driven to rise, and slightly rises so that patient be driven to drive body, subtracts
The weight power of lower limb is lacked, patient moves ahead, and achievees the purpose that exercise.In order to realize the traction walking of patient, sliding dress
It sets and may be set to be spring, stretch cord, hydraulic device and other dresses that can be used for elastic traction patient's body and rise slightly
It sets.First slip pipe device of the carriage can slide rotation 180 degree in round tube device.The circular hole has two
A and be symmetrically arranged on the circumference of the first slip pipe device, the positioning pin passes through in round tube device insertion circular hole, institute
The spacer pin stated can limit the unlimited raising of the first slip pipe device.The second slip pipe device can be in the first slip pipe device
Inside slide up and down.The first speed regulation handle can control robot and the movement velocity of patient.The sheet of the robot
Body is a hollow cavity, and hollow cavity is equipped with the first stomata not less than one, the air-conditioning dress close to the side of patient
The warm and cool air for setting discharge is connected by the cavity of pipeline and robot, and the warm and cool air of the air-conditioning device passes through robot
Cavity on stomata to patient's body convey gas.The front side of the robot is similar to the body at the human body back side, in this way
The fixation patient for facilitating the second fixed device to stand is set.The power supply line of the air-conditioning device is electrically connected with controller and alternating current
It connects.The airbag apparatus is connect by connecting rod with hanging buckle, and the hanging buckle is fixed on the second slip pipe device, described
Airbag apparatus is connect by hose with hydrogen compression set.The automatic adjustment of airbag apparatus, the locator and controller and
The electrical connection of hydrogen compression set, when the foot of patient encounters barrier, signal is transmitted to control by the GPS satellite locator of setting
Device is automatically controlled the starting of hydrogen compression set by controller, and the airbag apparatus after starting is quickly filled with hydrogen appropriate, air bag
Expansion rises, and cooperates first exhaust device and second exhaust device, realizes rising or falling for automatic adjustment carriage, thus
Drive rising or falling for patient's body.The locator is electrically connected with controller with hydrogen compression set with alternating current.Air bag
Device manually adjusts, and the lifting speed regulation handle is electrically connected with controller and hydrogen compression set, cooperation first exhaust dress
It sets and second exhaust device, realizes the inflation/deflation for manually adjusting airbag apparatus to drive rising or falling for carriage.
The downside of the airbag apparatus is equipped with first exhaust device, and the valve inside of the first exhaust device can press exhaust,
Reduce the internal pressure of airbag apparatus.Second exhaust device, the second exhaust are additionally provided on the downside of the airbag apparatus
Device is equipped with screw rod and bolt, and the screw rod can screw in insertion bolt, and the screw rod is hollow cavity, sets on screw rod
There is the third stomata not less than one.The bolt front end is equipped with the second stomata, the second exhaust device capacity
Size can be adjusted by screwing for screw rod.The fixed device of described second is adherent bundling belt or holding clamp or can
Wearable device.The music apparatus include play encouragement music, points for attention, take exercise group, number, the time, the period and
Spoken re-reading exercise.
Preferably, the first slip pipe device of the carriage can in round tube device rotational slide 180 degree, institute
The positioning pin stated passes through in round tube device insertion circular hole, and there are two the circular hole tools and the first slip pipe dress is symmetrically arranged in
On the circumference set, the purpose being arranged in this way is to can be reversed exercise after so that patient is reached home.When the first slip pipe device revolves
After 180 degree, in positioning pin pressing insertion circular hole, keep the first slip pipe device and round tube device relatively fixed, not rotational slide.One
As hemiplegic patient, illness side loses consciousness, stresses, and sense of direction is lost, the support device of setting, tooth road, carriage, with
And positioning pin, it is ensured that the decompression and straight trip of patient's deformed limb are taken exercise.The spacer pin can limit the nothing of the first slide block device
Limit increases, and the second slip pipe device of setting slides up and down in the first slip pipe device, it is therefore an objective to it moves ahead after encountering barrier when taking exercise,
Second slip pipe device can be increased as the body of patient increases.The first speed-regulating handle bar hand control robot and patient
Movement velocity.
Preferably, the ontology of the robot is a hollow cavity, hollow cavity is equipped with close to the side of patient
The first stomata not less than one.The power supply line of the air-conditioning device is electrically connected with controller and alternating current, the air-conditioning dress
The warm and cool air for setting discharge is connected by the cavity of pipeline and robot, and the warm and cool air of the air-conditioning device passes through robot
Cavity on stomata convey gas to patient's body, the purpose being arranged in this way is comfortable in order to provide to patient when taking exercise
Environment, body is poor, especially the cold heat of cerebral thrombus patient, easily tired, it is accordingly required in particular to a good training ring
Border.
Preferably, the airbag apparatus is connect by connecting rod with hanging buckle, it is sliding that the hanging buckle is fixed at second
In pipe device, the airbag apparatus is connect by hose with hydrogen compression set.The airbag apparatus of setting is connected by connecting rod
Second slip pipe device, maintains the stability of airbag apparatus.The hose of setting is connect with hydrogen compression set, it is ensured that air bag dress
It sets and follows being reliably connected for patient.
Preferably, the locator is electrically connected with controller and hydrogen compression set, the satellite positioning of GPS realizes gas
The inflation/deflation of bag apparatus, to automatically adjust rising or falling for carriage.The described lifting speed regulation handle and controller and
The electrical connection of hydrogen compression set, realizes the inflation/deflation for manually adjusting airbag apparatus, has driven rising or falling for carriage.
Preferably, the downside of the airbag apparatus is equipped with first exhaust device, the gas of the first exhaust device
Door core can press exhaust.The airbag apparatus of setting rises after being filled with hydrogen, and air bag expansion, patient body slightly increases, and reduces
The pressure of disability lower limb, then by the fixation of fixed device, patient is made to need not rely on crutch and assist the exercise that can move ahead in,
Achieve the purpose that rehabilitation.After the air pressure in air bag reaches certain pressure, it is comfortable that patient feels that suffering limb pressure mitigates, and stops rotation
Lifting speed regulation handle is twisted, so that hydrogen compression set is stopped inflation, patient does reconditioning.The decompression of airbag apparatus can pass through gas
Door core pressing exhaust, can also be by screwing second exhaust device exhaust.
Preferably, being additionally provided with second exhaust device on the downside of the airbag apparatus, the second exhaust device is set
There are screw rod and bolt, the screw rod can screw in insertion bolt, and the screw rod is hollow cavity, set on the screw rod
There is the third stomata not less than one, the bolt front end is equipped with the second stomata.The second exhaust device of setting is by screwing
The size of the adjustable capacity of screw rod.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 not be vented.Screw rod is screwable into bolt after termination, and capacity is maximum.Setting second
The purpose of exhaust apparatus is when encountering barrier, and the body of patient needs appropriate raising to alleviate limbs pressure, screws tune at this time
Second exhaust device is saved, and cooperates lifting speed regulation handle, increases airbag apparatus.The lifting speed regulation handle revolving speed of setting is got over
Height, hydrogen compression set revolving speed is faster, and airbag apparatus, which more expands, to become larger, and patient's body follows raising, after across obstacle, slowly
Stopping screws lifting speed regulation handle, and airbag apparatus contraction becomes smaller, and patient's body decline, the Fail over for realizing patient is taken exercise.
When Fail over is taken exercise, the inflation of hydrogen compression set and the deflation of second exhaust device carry out simultaneously, and described second
The deflation of exhaust apparatus is a fixed value.
Preferably, the second fixed device is adherent bundling belt or holding clamp or wearable device, purpose
It is the body of fixed patient, the body of patient is made to raise simultaneously or decline with carriage.
Preferably, the music apparatus includes the encouragement music of setting, points for attention, tempers number, time, period
And spoken re-reading exercise.The music apparatus being equipped with can play voice, allow patient to follow when walking re-reading, tempered the mouth of patient
Language achievees the purpose that take exercise and restores spoken.The encouragement music of setting is played when taking exercise, the letter that patient limb can be encouraged to restore
The heart, brave overcomes the difficulty, and calm faces the reality, and wishes patient's early recovery.
The beneficial effects of the present invention are: this is a kind of for restoring the robot therapeutic device of limbs health, solve limbs
Patient, cerebral thrombosis patient limb rehabilitating temper problem, reduce the spasm of bed patient's muscle, atrophy, pressure sore formation, subtract
Light medical care burden, eliminates crutch support, tempers the limbs of patient and rehabilitation.The branch that the present invention passes through support device
Under the drive of robot, patient follows movement, achievees the purpose that exercise for support.It can also be by by the floating of hydrogen airbag apparatus
Power mitigates patient body self weight to the pressure of lower limb, allows a patient to walking movement, equally reached the mesh of motion exercise rehabilitation
's.This is a kind of for restoring the robot therapeutic device of limbs health, can be widely applied to hospital, recovery centre, body-building
Square etc..
Detailed description of the invention
Fig. 1 is the robot therapeutic device structural schematic diagram that the present invention restores limbs health；
Fig. 2 is the therapeutic device structural schematic diagram that the present invention restores limbs health；
Fig. 3 is the first air hole structure schematic diagram that the present invention restores limbs health robot；
Fig. 4 is the first exhaust apparatus structure schematic diagram for the airbag apparatus that the present invention restores limbs health；
Fig. 5 is the second exhaust device structure partial enlarged diagram for the airbag apparatus that the present invention restores limbs health；
Fig. 6 is the structural schematic diagram that the present invention restores limbs health carriage；
Fig. 7 is the bottom view that the present invention restores limbs health carriage；
Fig. 8 is the partly enlarged top view that the present invention restores limbs health carriage；
In figure: 1, support device, 2, carriage, 3, robot, 4, patient, 5, barrier, 6, rack gear, 7, gear, 8,
Axis, 9, round tube device, the 10, first slip pipe device, the 11, first speed regulation handle, 12, controller, 13, spacer pin, 14, first is fixed
Device, the 15, second fixed device, 16, air-conditioning device, 17, power supply line, 18, pipeline, 19, locator, 20, hanging buckle, 21, connecting rod,
22, hydrogen capsule, 23, hose, 24, hydrogen compression set, 25, positioning pin, 26, music module, the 27, first stomata, 28, rising-falling tone
Fast handle, 29, first exhaust device, 30, valve inside, 31, second exhaust device, 32, screw rod, 33, bolt, the 34, second stomata,
35, third stomata, the 36, second slip pipe device, 37, circular hole.
Specific embodiment
Technical solution of the present invention is described in further detail below by specific embodiment and in conjunction with attached drawing.
Embodiment 1:
In the embodiment shown in fig. 1, a kind of for restoring the robot therapeutic device of limbs health, including support device
1 and carriage 2, support device 1 is equipped with tooth road 6, and tooth road 6 is equipped with gear 7, and gear 7 is equipped with gear hole, in gear hole
Equipped with bearing and axis 8, the carriage 2 is fixedly connected on axis 8, it is made not horizontally slip, and can rolls forward.It is described
Carriage 2 be equipped with round tube device 9, the first slip pipe device 10, first speed regulation handle 11, controller 12, spacer pin 13, the
One fixed device 14, hanging buckle 20, connecting rod 21, music module 26, lifting speed regulation handle 28.Air-conditioning device is additionally provided in support device
16, pipeline 18, airbag apparatus 22, hose 23, hydrogen compression set 24.Robot 3, which stands, fixed is connected to the second slip pipe dress
It sets on 36, the standing adaptation of patient 4 is fixed in robot 3 by the second fixed device 15.In Fig. 2, on the downside of support device
The corresponding locator 19 being equipped at least not less than one in ground, support device downside ground is corresponding to be equipped with barrier 5, is hindering
Hinder and also is provided with locator 19 on object 5.Locator 19 is electrically connected with controller 12 with music module 26 and alternating current.In Fig. 4, Fig. 5,
Airbag apparatus 22 is equipped 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 rotational slide 180 degree, positioning pin 25 can pass through round tube device 9 and be inserted into circular hole 37 in round tube device 9, circle
There are two the tools of hole 37 and is symmetrically arranged on the circumference of the first slip pipe device 10.Spacer pin 13 can limit the first sliding block dress
10 unlimited raising is set, the second slip pipe device 36 can slide up and down in the first slip pipe device 10, it is therefore an objective to encounter when forward
Second slip pipe device 36 can be increased as the body of patient increases when barrier 5.First speed regulation handle 11 controls robot 3
With the movement velocity of patient 4.In Fig. 3, the ontology of robot 3 is a hollow cavity, and hollow cavity is close to the side of patient
Equipped with being not less than one the first stomata 27, 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 that air-conditioning device 16 is discharged is connect by pipeline 18 with the cavity of robot 3, air-conditioning dress
16 power supply line 17 is set to be electrically connected with controller 12 and alternating current.Airbag apparatus 22 is connect by connecting rod 21 with hanging buckle 20, hanging buckle 20
It is fixed on the second slip pipe device 36, airbag apparatus 22 is connect by hose 23 with hydrogen compression set 24.Locator 19
It is electrically connected with controller 12 and hydrogen compression set 24, GPS satellite positions the inflation/deflation for realizing airbag apparatus, to adjust automatically
Section carriage 2 rises or falls.Lifting speed regulation handle 28 is electrically connected with controller 12 and hydrogen compression set 24, is realized
The inflation/deflation of airbag apparatus is manually adjusted to drive rising or falling for carriage 2.The downside of airbag apparatus 22 is equipped with the
The valve inside 30 of one exhaust apparatus 29, 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 equipped with screw rod 32 and bolt 33, and screw rod 32 can screw in insertion bolt 33,
Screw rod 32 is hollow cavity, and screw rod 32 is equipped with the third stomata 35 not less than one, and 33 front end of bolt is equipped with the second stomata 34.
Second fixed device 15 is adherent bundling belt or holding clamp or wearable device, and the purpose is to for fixing patient.Music
Device 26 includes the encouragement music of setting, points for attention, tempers number, time, period and spoken re-reading exercise.
In Fig. 1, when robot drives patient 4 to operate, robot 3 is first fixed on sliding by the first fixed 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 fixed device 15,
Ensure that robot 3 and the firm of patient 4 are not fallen down.The movement of the first speed regulation of rotation 11 robot 3 of handle, while driving patient 4
Movement.When encountering barrier 5, the body of robot 3 and patient 4 are increased, and the second slip pipe device 36 slides in round tube device 9
It increases, the climbing capacity of patient has been tempered in raising while realizing the body and the second slip pipe device 36 of patient 4.It reaches eventually
When point revolution, the positioning pin 25 that carriage 2 is equipped with is pulled up, and positioning pin 25 is inserted into pin hole by patient after rotating 180 degree, reversely
Step exercises realize reciprocal exercise of the patient 4 under 1 frame of support device.
In Fig. 2, when patient 4 does not take exercise by robot 3, patient 4 is fixed the fixation that device 15 is adapted to by second
On the second slip pipe device 36, by and control airbag apparatus 22, reduce weight to the weight of lower limb, realize patient 4 and propping up
Reciprocal exercise under 1 frame of support arrangement.
According to the different state of an illness, different workout schemes is made.If support device spacing is set as 25 meters, 50 meters are plowed back and forth
For a whole process.For the first time, it takes exercise in 5 minutes and covers whole process, 23 whole process in morning, noon whole process, at night 3 whole process, 5 days
For an exercise period, cooperate acupuncture therapy, after treating a course for the treatment of, adjusts exercise plan.It second, takes exercise in 4 minutes
Complete full journey, 5 whole process in morning, 3 whole process of noon, at night 4 whole process, 7 days are an exercise period, cooperate acupuncture therapy, control
After treating a period of time, exercise plan is adjusted.For the third time, take exercise 3 minutes in cover whole process, 56 whole process in morning, noon whole process,
6 whole process at night, 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 adjust workout-parameters again.N-th takes exercise in 3 minutes and covers whole process, morning 10 whole process, noon 6
A whole, 8 whole process of evening, check the state of an illness, adjust exercise plan.After treatment 90 days, the movement 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 movement is normal.According to
The difference of male and female patient is arranged different workout-parameters, takes regular exercise, until body fully recovers.It plays and encourages before exercise
Music increases restoring confidence for patient.The locator of setting makes patient often trample a locator, music during forward
The distance that the voice system of device 26 all can remind patient to move ahead.Spoken re-reading exercise is combined with movement, Bian Yundong, while with
With re-reading.On 2 10th, 2016 patient's histories use body after device exercise 3 months into cerebral hemorrhage hospitalization is suffered from after discharge
Basic rehabilitation, the body on the 16th of August in 2017 fully recover, work on.
This is a kind of for restoring the robot therapeutic device of health, solves the exercise of cerebral thrombosis patient's 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,
The collaboration of hand, waist, leg, foot is taken exercise.The device is at low cost using safe, sturdy and durable, for patient can anti-skidding, shatter-resistant, improve
Medical and nursing quality.
Healing robot of the invention also can be applicable to flesh after aphasic, plant person, the limbs training of the elderly and operation
The recovery etc. of meat, the effect to be performed physical exercise using the device, hence it is evident that be better than existing exercise method.
The structure of the inspiration that those skilled in the art obtain on the basis of the present invention, progress changes, in this hair
Within bright protection scope.
Claims (8)
1. a kind of for restoring the robot therapeutic device of limbs health, including support device (1), carriage (2), robot
(3), it is characterised in that: the support device (1) is equipped with tooth road (6), and tooth road (6) are equipped with gear (7), on gear (7)
Equipped with gear hole, it is equipped with bearing and axis (8) in gear hole, the carriage (2) is fixedly connected on axis (8), described
Be additionally provided in support device (1) robot (3), airbag apparatus (22), first exhaust device (29), second exhaust device (31),
Air-conditioning device (16), hydrogen compression set (24), the carriage include round tube device (9), the first slip pipe device (10),
First speed regulation handle (11), spacer pin (13), first fixed device (14), hanging buckle (20), positioning pin (25), lifting speed regulation handle
(28), the second slip pipe device (36), circular hole (37) are provided with controller (12) and music apparatus on the carriage
(26), the downside of the airbag apparatus (22) is equipped with first exhaust device (29), and the downside of the airbag apparatus (22) is also
Equipped with second exhaust device (31), the robot (3) standing is fixed on the second slip pipe device (36), and patient (4) stands
Adaptation is fixed on robot (3) by second fixed device (15), and the ground on the downside of the support device is equipped with extremely
Lack one locator (19), the ground on the downside of the support device is equipped with barrier (5), on the barrier (5)
Equipped with locator (19), the locator (19) is connect with controller (12), music apparatus (26), controller (12) and alternating current
Connection；The locator (19) is electrically connected with controller (12) and hydrogen compression set (24), when the foot of patient encounters obstacle
When object, signal is transmitted to controller by the locator (19) that barrier (5) is equipped with, and automatically controls hydrogen compression dress by controller
The starting set, the airbag apparatus after starting are quickly filled with hydrogen appropriate, and air bag expansion rises, and patient body slightly increases, subtracts
The pressure of disability lower limb is lacked, the first slip pipe device (10) of the carriage can be slided in rotation in round tube device (9)
Dynamic 180 degree, on the circumference of the first slip pipe device (10) be symmetrical arranged two described in circular hole (37), the positioning pin (25)
Both ends pass through round tube device (9) be inserted into two afterwards described in circular hole (37), keep the first slip pipe device opposite with round tube device
Fixed, not rotational slide, the second slip pipe device (36) can slide up and down in the first slip pipe device (10), described
Airbag apparatus (22) is connect by connecting rod (21) with hanging buckle (20), and the hanging buckle (20) is fixed at the second slip pipe device
(36) on, cooperate first exhaust device and second exhaust device, realize the second slip pipe device (36) by airbag apparatus (22)
The adjusting risen or fallen, so that rising or falling for patient's body is driven, lifting speed regulation handle (28) and controller
(12) and hydrogen compression set (24) is electrically connected, and realizes the inflation/deflation for manually adjusting airbag apparatus to drive carriage
(2) rise or fall.
2. according to claim 1 a kind of for restoring the robot therapeutic device of limbs health, it is characterised in that: described
The first slip pipe device (10) of carriage (2) can be in the interior rotational slide 180 degree of round tube device (9), the positioning pin
(25) it passes through in round tube device (9) insertion circular hole (37), there are two circular hole (37) tools and is symmetrically arranged in first
On the circumference of slip pipe device (10), the spacer pin (13) can limit the raising of the first slip pipe device, and described second is sliding
Pipe device (36) can slide up and down in the first slip pipe device (10), and first speed regulation handle (11) can control machine
The movement velocity of people (3) and patient (4).
3. according to claim 1 a kind of for restoring the robot therapeutic device of limbs health, it is characterised in that: described
The ontology of robot (3) be a hollow cavity, hollow cavity is equipped with close to the side of patient not less than one the first gas
The power supply line (17) in hole (27), the air-conditioning device (16) is electrically connected with controller (12) and alternating current, the air-conditioning device
(16) warm and cool air being discharged is connect by pipeline (18) with the cavity of robot (3), the changes in temperature of the air-conditioning device (16)
Gas is conveyed by the first stomata (27) to patient's body.
4. according to claim 1 a kind of for restoring the robot therapeutic device of limbs health, it is characterised in that: described
Airbag apparatus (22) connect with hanging buckle (20) by connecting rod (21), the hanging buckle (20) is fixed at the second slip pipe device
(36) on, the airbag apparatus (22) is connect by hose (23) with hydrogen compression set (24).
5. according to claim 4 a kind of for restoring the robot therapeutic device of limbs health, it is characterised in that: described
First exhaust device (29) capacity size it is adjustable, the valve inside (30) of the first exhaust device (29) can be with
Pressing exhaust.
6. according to claim 4 a kind of for restoring the robot therapeutic device of limbs health, it is characterised in that: described
Second exhaust device (31) be equipped with screw rod (32) and bolt (33), the screw rod (32) can screw is inserted into bolt (33)
Interior, the screw rod (32) is hollow cavity, and the screw rod (32) is equipped with the third stomata (35) not less than one, described
Bolt (33) front end be equipped with the second stomata (34).
7. according to claim 1 a kind of for restoring the robot therapeutic device of limbs health, it is characterised in that: second
Fixed device (15) are adherent bundling belt or holding clamp.
8. according to claim 1 a kind of for restoring the robot therapeutic device of limbs health, it is characterised in that: described
Music apparatus (26) include the encouragement music of setting, points for attention, temper number 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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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108670722B (en) * | 2018-06-04 | 2019-08-09 | 青岛市中心医院 | A kind of healing robot anti-down transfer and its forward method |
| CN109078293B (en) * | 2018-06-21 | 2020-12-25 | 浙江智柔科技有限公司 | Blind person linear walking device based on training is high-efficient and adapts to multiple blind person and walks |
| CN108852758B (en) * | 2018-08-02 | 2020-09-15 | 李建国 | Prevent falling shank rehabilitation training robot |
| 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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| CN106913448A (en) | 2017-07-04 |
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Effective date of registration: 20190729 Address after: 234000 Business Startup Center of Suzhou Institute of Technicians, Suzhou City, Anhui Province Patentee after: Anhui Huazhong Robot Technology Development Co., Ltd. Address before: 234000 Suzhou Province Economic Development Zone, Fu Village, the village of small Wang Group, No. 20 Patentee before: Li Zimu |