CN106955217A - Recovery exercising robot - Google Patents
Recovery exercising robot Download PDFInfo
- Publication number
- CN106955217A CN106955217A CN201710118273.XA CN201710118273A CN106955217A CN 106955217 A CN106955217 A CN 106955217A CN 201710118273 A CN201710118273 A CN 201710118273A CN 106955217 A CN106955217 A CN 106955217A
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- China
- Prior art keywords
- hand
- axis
- foot
- hip joint
- adjusting
- Prior art date
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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
- A61H1/024—Knee
-
- 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
- A61H1/0244—Hip
-
- 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
-
- 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
- A61H1/0266—Foot
-
- 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- 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
- A61H2001/0211—Walking coordination of arms and legs
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1635—Hand or arm, e.g. handle
- A61H2201/1638—Holding means therefor
-
- 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
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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
- A61H2205/06—Arms
-
- 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
-
- 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
- A61H2205/12—Feet
Abstract
Recovery exercising robot of the present invention, including hand motion device, foot motion device, hip joint correcting device, weight reducing device and gravity center of human body's adjusting apparatus, the hand motion device includes left hand motion device and right hand portion telecontrol equipment, and the foot motion device includes left foot portion telecontrol equipment and right foot part telecontrol equipment.The present invention is simple in construction, easy to operate, quick, can carry out linkage rehabilitation training to human limb and other body parts.
Description
Technical field
The present invention relates to a kind of recovery exercising robot.
Background technology
Traditional rehabilitation training is general to be assisted the exercise that patient completes foot and trunk by several professional medical workers.Doctor
Not only labor intensity is big by shield personnel, and it is difficult to ensure that stable continuation training.In order to solve the above technical problems, carrying at present
A kind of robot that dedicated for patient lower limb are carried out with rehabilitation training is supplied, when in use, patient realizes station by robot
It is vertical, and the training realized to patient feet is acted by robot, so as to reach the fortune for helping patient to recover lower limb body
Motivation energy.But, the current lower limbs rehabilitation training robot structure is more single, patient can not according to actual conditions to four limbs and
Other body parts carry out linkage rehabilitation training.
The content of the invention
The present invention is easy to operate, quick in order to solve the above-mentioned technical problem there is provided one kind is simple in construction, can be to human body
Four limbs and other body parts carry out the recovery exercising robot of linkage rehabilitation training.
The present invention is achieved through the following technical solutions：
Recovery exercising robot, including hand motion device, foot motion device, hip joint correcting device, weight reducing device
With gravity center of human body's adjusting apparatus, the hand motion device includes left hand motion device and right hand portion telecontrol equipment, the pin
Portion's telecontrol equipment includes left foot portion telecontrol equipment and right foot part telecontrol equipment.
The hand motion device includes handrail, hand pendulous device and hand adjusting apparatus, the hand pendulous device
Hand pendulum motor, hand pendulum and hand pendulum including being sequentially connected ties up hand saver set, and the pendulum motion of starting of hand pendulum motor band sets so as to drive
Be placed in hand pendulum tie up hand saver set in arm swung.
The hand adjusting apparatus includes hand X-axis adjusting apparatus, hand Y-axis adjusting apparatus and the hand Z being sequentially connected
Axis adjustment device, the hand X-axis adjusting apparatus includes hand X-axis adjusting handle and put with the hand to tie up the hand that hand saver set is connected
Portion's X-axis adjusting screw, the hand X-axis adjusting handle drives the motion of hand X-axis adjusting screw to drive the hand pendulum to tie up hand
Sheath is moved in the X-axis direction；
The hand Y-axis adjusting apparatus includes hand Y-axis adjusting handle, hand Y-axis regulation gear and hand Y-axis regulation tooth
Bar, the hand Y-axis adjusting handle drives Y-axis hand to adjust gear to engage to drive the X-axis hand with hand Y-axis adjusting gear rack
Portion's adjusting means is moved along Y direction；
The Z axis hand adjusting means includes hand Z axis regulation motor and hand Z axis lead screw assembly, and the hand Z axis is adjusted
Section motor drives the motion of hand Z axis lead screw assembly to drive the X-axis hand adjusting means and Y-axis hand adjusting means along Z
Direction of principal axis is moved.
The foot motion device includes foot's Y-axis telecontrol equipment, foot's Z axis telecontrol equipment, foot's whirligig and pin
Portion's adjusting means, foot's Y-axis telecontrol equipment include foot's y-axis motor, foot's Y-axis leading screw, foot's Y-axis lead screw shaft bearings,
Foot's Y-axis guide rail, foot's Y-axis sliding block and pedal, the pedal are arranged in supporting plate, and the supporting plate is arranged at described
On foot's Y-axis sliding block, foot's y-axis motor drives foot's Y-axis guide screw movement to drive supporting plate and be arranged at the branch
Pedal on fagging is moved along Y-axis.
Foot's Z axis telecontrol equipment includes foot's Z axis motor, foot's Z axis leading screw, foot's Z axis guide rail and foot's Z axis and slided
Block, foot's Z axis motor regulation foot's Y-axis guide screw movement is so as to drive the pedal to be moved along Z axis.
Foot's whirligig includes foot's electric rotating machine, sole gear train, rotary shaft and support frame, the rotary shaft
Middle part below the pedal is arranged at, support frame is arranged at the rear and front end of the pedal, and foot's electric rotating machine leads to
The motion of sole gear set drive rotary shaft is crossed to drive pedal rotary motion.
Foot's adjusting means includes knee joint bandage and knee joint bandage height adjustable regulating device.
The hip joint correcting device includes hip joint adjusting means and hip joint lowering or hoisting gear, hip joint lowering or hoisting gear bag
Hip joint motor and hip joint elevating screw component are included, hip joint elevating screw component includes spaced two vertical pole, and two indulge
It is provided with bar on leading screw, leading screw and is provided with sliding block, a cross bar is connected between two sliding blocks, hip joint motor drives leading screw
Motion is so as to drive sliding block and the cross bar being connected with sliding block to move up and down, and hip joint adjusting means is arranged on cross bar, can be with horizontal stroke
Bar moves up and down, and hip joint adjusting means includes hip joint adjusting handle, hip joint adjusting screw, hip joint regulating block, hip and closed
Save fast pulley and hip joint left regulation wheel；Hip joint fast pulley and hip joint left regulation wheel are in circular arc type, and hip joint left regulation wheel is located at hip
The inner side of arthrodesis wheel, and can be rotated along hip joint fast pulley, projection, hip joint regulating block are provided with hip joint left regulation wheel
It is arranged on hip joint adjusting screw, sets fluted on hip joint regulating block, the described raised and groove cooperates, hip
Joint adjusting handle drive the motion of hip joint adjusting screw so as to drive hip joint regulating block and with hip joint regulating block phase interworking
The hip joint left regulation wheel motion of conjunction.
The weight reducing device includes Worm reduction motor, reduction gearing, take-up pulley, drawstring and bandage component, described
Worm and gear motor drives take-up pulley to rotate to drive the bandage component being connected with drawstring to move along Z axis by reduction gearing.
Gravity center of human body's adjusting means includes sloping platform rank, base and push-rod electric machine and push-rod electric machine in base
Push rod connection sloping platform, the center of the sloping platform is provided with sloping shaft, and the sloping shaft is fixed in bearing block.
Beneficial effect of the present invention：Recovery exercising robot, including hand motion device, foot motion device, hip joint entangle
Equipment, weight reducing device and gravity center of human body's adjusting apparatus, hand motion device includes left hand motion device and right hand portion is moved
Device, foot motion device includes left foot portion telecontrol equipment and right foot part telecontrol equipment.The present invention is simple in construction, easy to operate,
Fast, linkage rehabilitation training can be carried out to human limb and other body parts.
Brief description of the drawings
Fig. 1 is recovery exercising robot overall structure diagram of the present invention；
Fig. 2 is the hand motion device schematic diagram of recovery exercising robot of the present invention；
Fig. 3 is the foot motion schematic device of recovery exercising robot of the present invention；
Fig. 4 is the hip joint correcting device schematic diagram of recovery exercising robot of the present invention；
Fig. 5 is the weight reducing device schematic diagram of recovery exercising robot of the present invention；
Fig. 6 is gravity center of human body's adjusting apparatus of recovery exercising robot of the present invention.
Wherein, 1- hand motion devices, 2- foot motion devices, 3- hip joint correcting devices, 4- weight reducing devices, 5- human bodies
Gravity center adjuster, 11- handrails, 12- hand pendulum motors, 13- hand pendulums, 14- hands pendulum ties up hand saver set, 15- hands X-axis regulation hand
Wheel, 16- hand X-axis adjusting screws, 17- hand Y-axis adjusting handles, 18- hands Y-axis regulation gear, 19- hands Y-axis regulation tooth
Bar, 110- hand Z axis regulation motors, 111- hand Z axis lead screw assemblies, 21- foots y-axis motor, 22- foots Y-axis sliding block, 23-
Foot's Y-axis guide rail, 24- pedals, 25- foots Y-axis leading screw, 26- foots Y-axis lead screw shaft bearings, 27- foots Z axis motor, 28-
Foot's Z axis leading screw, 29- foots Z axis guide rail, 210- foots Z axis sliding block, 211- sole gear trains, 212- rotary shafts, 213- knees are closed
Section bandage, 214- knee joint bandage height adjustable regulating devices, 215- supporting plates, 216- support frames, 31- hip joint adjusting handles,
32- hip joint adjusting screws, 33- hip joint regulating blocks, 34- hip joint fast pulleys, 35- hip joint left regulation wheels, 36- hip joints electricity
Machine, 37- hip joint elevating screw components, 38- back cushions, 41- Worm reduction motors, 42- reduction gearing, 43- take-up pulleies,
44- bearing blocks, 45- directive wheels, 46- drawstrings, 47- bandage components, 51- sloping platform ranks, 52- bases, 53- push-rod electric machines, 54- is tilted
Platform.
Specific embodiment
As shown in Figures 1 to 6, recovery exercising robot, including hand motion device 1, foot motion device 2, hip joint entangle
Equipment 3, weight reducing device 4 and gravity center of human body's adjusting apparatus 5, hand motion device 1 include left hand motion device and right hand portion
Telecontrol equipment, foot motion device includes left foot portion telecontrol equipment and right foot part telecontrol equipment.
In the present embodiment, recovery exercising robot, also including upper shell and lower house, upper shell includes left case and the right side
Upper shell, lower house includes lower-left housing and bottom right housing, and left hand motion device and right hand portion telecontrol equipment are corresponded to respectively to be set
It is placed on left case and right upper case, left foot portion telecontrol equipment and right foot part telecontrol equipment are correspondingly arranged in lower-left housing respectively
On the housing of bottom right.Keeping system, cardioelectric monitor system and electric stimulation are provided with lower-left housing and bottom right housing.
In the present embodiment, hand motion device 1 includes handrail 11, hand pendulous device and hand adjusting apparatus, hand pendulum
Hand pendulum motor 12, hand pendulum 13 and the hand pendulum that dynamic device includes being sequentially connected tie up hand saver set 14, and the band of hand pendulum motor 12 is started pendulum
13 motion so as to drive be arranged at hand pendulum tie up hand saver set 14 in arm swung.When patient does not need rehabilitation instruction in the setting
When practicing upper limbs, left and right handrail can be held, when patient needs rehabilitation training upper limbs, left and right arm is placed on corresponding right-hand man's pendulum
Tie up in gloves, the motion of pendulum 13 of starting of the band of hand pendulum motor 12 is tied up the arm in hand saver set 14 and moved forward and backward so as to which band starts to put, real
The rehabilitation training of existing simulated humanbody hand swing and training effect is more preferably.
In the present embodiment, hand adjusting apparatus includes hand X-axis adjusting apparatus, the hand Y-axis adjusting apparatus being sequentially connected
With hand Z axis adjusting apparatus, hand X-axis adjusting apparatus includes hand X-axis adjusting handle 15 and ties up hand saver set with hand pendulum 14 being connected
Hand X-axis adjusting screw 16, hand X-axis adjusting handle 15 drives hand X-axis adjusting screw 16 to move to drive hand pendulum to tie up
Hand saver set 14 is moved in the X-axis direction.Hand Y-axis adjusting apparatus includes hand Y-axis adjusting handle 17, hand Y-axis regulation gear 18
With hand Y-axis adjusting gear rack 19, hand Y-axis adjusting handle 17 drives Y-axis hand to adjust gear 18 to be nibbled with hand Y-axis adjusting gear rack 19
Close to drive X-axis hand adjusting means to move along Y direction.Z axis hand adjusting means includes hand Z axis regulation motor 110
With hand Z axis lead screw assembly 111, hand Z axis regulation motor 110 drives hand Z axis lead screw assembly 111 to move to drive X-axis
Hand adjusting means and Y-axis hand adjusting means are moved along Z-direction.The hand X-axis adjusting apparatus, hand Y-axis adjusting apparatus
With hand Z axis adjusting apparatus, the different crowd of build can be adapted to and used, and comfort level, the rehabilitation training best results of arm.
In the present embodiment, foot motion device realizes the rehabilitation training of hip joint, knee joint and ankle-joint, including foot
Y-axis telecontrol equipment, foot's Z axis telecontrol equipment, foot's whirligig and foot's adjusting means, foot's Y-axis telecontrol equipment include pin
Portion's y-axis motor 21, foot's Y-axis leading screw 25, foot's Y-axis lead screw shaft bearings 26, foot's Y-axis guide rail 23, foot's Y-axis sliding block 22 and pin
Pedal 24, pedal 24 is arranged at 215 in supporting plate, and supporting plate 215 is arranged on foot's Y-axis sliding block 22, foot's y-axis motor 21
Foot's Y-axis leading screw 25 is driven to move to drive pedal 24 of the supporting plate 215 with being arranged in supporting plate 25 to move along Y-axis.
Supporting plate 215 is arranged on foot's Y-axis sliding block 22 in the present embodiment, pedal 24, foot's Z axis telecontrol equipment, foot's rotating dress
Put and be arranged on foot adjusting means in supporting plate 215, to be worn on corresponding left and right foot-operated for patient or so sole in the present embodiment
In plate 24, foot's y-axis motor drives foot's Y-axis leading screw 25 to move to drive supporting plate and set the pedal in its supporting plate
24th, foot's Z axis telecontrol equipment, foot's rotary motion and foot's adjusting means are slided in Y-axis guide rail along Y-axis together.The setting
The rehabilitation training striden before and after simulated humanbody foot can be achieved, and rehabilitation training is better.
In the present embodiment, foot's Z axis telecontrol equipment includes foot's Z axis motor 27, foot's Z axis leading screw 28, foot's Z axis guide rail
29 and foot's Z axis sliding block 210, foot's Z axis motor 27 drives foot's Y-axis leading screw 28 to move to drive pedal 24 to transport along Z axis
It is dynamic.The rehabilitation training lifted above and below simulated humanbody foot can be achieved in the setting, and rehabilitation efficacy is more preferably.
In the present embodiment, foot's whirligig includes foot's electric rotating machine, sole gear train 211, rotary shaft 212 and support
Frame 216, rotary shaft 212 is arranged at the lower section of pedal 24 middle part, and the top of supporting plate 215, support frame 216 is located at before pedal
Rear end, foot's electric rotating machine is rotated the motion of axle 212 to drive the rotary motion of pedal 24 by sole gear train 211.
Wherein, support frame 216 is used for the anglec of rotation for adjusting pedal 24.Emulation ankle motion can be achieved in the setting, realizes foot
Rehabilitation training, its rehabilitation efficacy is more preferably.
In the present embodiment, foot's adjusting means includes knee joint bandage 213 and knee joint bandage height adjustable regulating device
214.The knee joint bandage arrangement for adjusting height includes support bar and support block, and support bar is vertical with supporting plate to be connected, support block
It is connected, and is set on support bar with knee joint bandage 213, the support block can drives knee joint bandage to be transported along above and below support bar
It is dynamic, can be by screw locking when adjusting to suitable position, the setting can be adapted to the different crowd of build and use, and foot
Comfort level, rehabilitation training best results.
In the present embodiment, hip joint correcting device includes hip joint adjusting means and hip joint lowering or hoisting gear, hip joint liter
Falling unit includes hip joint motor 36 and hip joint elevating screw component 37.Hip joint motor 36 is provided with two in the present embodiment
It is individual.Hip joint elevating screw component, which includes being provided with leading screw, leading screw on spaced two vertical pole, two vertical poles, to be provided with
A cross bar is connected between sliding block, two sliding blocks, hip joint motor 36 drives guide screw movement to drive sliding block and be connected with sliding block
Cross bar move up and down.
Hip joint adjusting means is arranged on cross bar, can be moved up and down with cross bar, and hip joint adjusting means includes hip joint
Adjusting handle 31, hip joint adjusting screw 32, hip joint regulating block 33, hip joint fast pulley 34 and hip joint left regulation wheel 35；Hip
Joint left regulation wheel 35 is connected with hip joint regulating block 33.Hip joint fast pulley 34 and hip joint left regulation wheel 35 are in circular arc type, and hip is closed
Save left regulation wheel 35 and be located at the inner side of hip joint fast pulley 34, and can be rotated along hip joint fast pulley 34, hip joint regulating block 33 is set
It is placed on hip joint adjusting screw 32, further, is provided with projection, hip joint regulating block 33 and sets in hip joint left regulation wheel 35
In the groove on the embedded hip joint regulating block 33 of projection being equipped with groove, hip joint left regulation wheel 35, hip joint adjusting handle 31
Hip joint adjusting screw 32 is driven to move so as to the hip for driving hip joint regulating block 33 and being cooperated with hip joint regulating block 33
Joint left regulation wheel motion, finally realizes that hip joint corrects rehabilitation training, and rehabilitation efficacy is more preferably.Further, can be in hip joint
The both sides of adjusting screw are provided with hip joint guide rail, and hip joint regulating block 33 can be run along hip joint guide rail, and the setting causes hip
It is more steady that joint regulating block 33 is run, and it is better that hip joint corrects rehabilitation training.In addition, hip joint correcting device is also set
The back cushion 38 for being easy to patient to rely on is equipped with, the back cushion can mitigate patient pain's sense and be allowed to be in more comfortable state.
In the present embodiment, weight reducing device includes Worm reduction motor 41, reduction gearing 42, take-up pulley 43, drawstring 46
And bandage component 47, take-up pulley 43 is arranged in bearing block 44, and drawstring 46 is directed on take-up pulley 43 by directive wheel 45, worm gear
Endless screw electric motor 41 drives take-up pulley 43 to rotate to drive the bandage component 47 being connected with drawstring 46 along Z axis by reduction gearing 42
Motion.The setting, which is realized, alleviates sole load-bearing pressure so that the rehabilitation training of four limbs and other bodies reaches optimum state.
In the present embodiment, gravity center of human body's adjusting means includes sloping platform rank 51, base 52 and the push rod electricity in base 52
Machine 53, the sloping platform 54 being connected with the push rod of push-rod electric machine 53, the center of sloping platform 54 are provided with sloping shaft, and sloping shaft is fixed
In in bearing block.
The technical scheme provided above inventive embodiments is described in detail, specific case pair used herein
The principle and embodiment of the embodiment of the present invention are set forth, and the explanation of above example is only applicable to help and understands this hair
The principle of bright embodiment；Simultaneously for those of ordinary skill in the art, according to the embodiment of the present invention, in embodiment
And will change in application, in summary, this specification content should not be construed as the limitation to invention.
Claims (10)
1. recovery exercising robot, it is characterised in that：Including hand motion device, foot motion device, hip joint correcting device,
Weight reducing device and gravity center of human body's adjusting apparatus, the hand motion device include left hand motion device and right hand portion sportswear
Put, the foot motion device includes left foot portion telecontrol equipment and right foot part telecontrol equipment.
2. recovery exercising robot according to claim 1, it is characterised in that：The hand motion device include handrail,
Hand pendulous device and hand adjusting apparatus, the hand pendulous device include hand pendulum motor, hand pendulum and the hand being sequentially connected
Pendulum ties up hand saver set, and hand pendulum motor band is started pendulum motion and swung so as to drive to be arranged at hand pendulum and tie up the arm in hand saver set.
3. recovery exercising robot according to claim 2, it is characterised in that：The hand adjusting apparatus includes connecting successively
Hand X-axis adjusting apparatus, hand Y-axis adjusting apparatus and the hand Z axis adjusting apparatus connect, the hand X-axis adjusting apparatus includes
Hand X-axis adjusting handle and put with the hand and tie up the hand X-axis adjusting screw that is connected of hand saver set, the hand X-axis adjusting handle
Drive the motion of hand X-axis adjusting screw and moved in the X-axis direction so as to drive the hand pendulum to tie up hand saver set；
The hand Y-axis adjusting apparatus includes hand Y-axis adjusting handle, hand Y-axis regulation gear and hand Y-axis adjusting gear rack,
The hand Y-axis adjusting handle drives Y-axis hand to adjust gear to engage to drive the X-axis hand with hand Y-axis adjusting gear rack
Adjusting means is moved along Y direction；
The Z axis hand adjusting means includes hand Z axis regulation motor and hand Z axis lead screw assembly, the hand Z axis regulation electricity
Machine drives the motion of hand Z axis lead screw assembly to drive the X-axis hand adjusting means and Y-axis hand adjusting means along Z axis side
To motion.
4. recovery exercising robot according to claim 1, it is characterised in that：The foot motion device includes foot Y
Axle telecontrol equipment, foot's Z axis telecontrol equipment, foot's whirligig and foot's adjusting means, foot's Y-axis telecontrol equipment include
Foot's y-axis motor, foot's Y-axis leading screw, foot's Y-axis lead screw shaft bearings, foot's Y-axis guide rail, foot's Y-axis sliding block and pedal, institute
State pedal to be arranged in supporting plate, the supporting plate is arranged on foot's Y-axis sliding block, foot's y-axis motor drives
Foot's Y-axis guide screw movement is so as to drive pedal of the supporting plate with being arranged in the supporting plate to be moved along Y-axis.
5. recovery exercising robot according to claim 4, it is characterised in that：Foot's Z axis telecontrol equipment includes pin
Portion's Z axis motor, foot's Z axis leading screw, foot's Z axis guide rail and foot's Z axis sliding block, foot's Z axis motor regulation foot Y-axis leading screw
Motion is so as to drive the pedal to be moved along Z axis.
6. recovery exercising robot according to claim 4, it is characterised in that：Foot's whirligig revolves including foot
Rotating motor, sole gear train, rotary shaft and support frame, the rotary shaft are arranged at middle part below the pedal, and support is set up
The rear and front end of the pedal is placed in, foot's electric rotating machine moves to drive by sole gear set drive rotary shaft
Pedal rotary motion.
7. recovery exercising robot according to claim 4, it is characterised in that：Foot's adjusting means includes knee joint
Bandage and knee joint bandage height adjustable regulating device.
8. recovery exercising robot according to claim 1, it is characterised in that：The hip joint correcting device is closed including hip
Adjusting means and hip joint lowering or hoisting gear are saved, hip joint lowering or hoisting gear includes hip joint motor and hip joint elevating screw component,
Hip joint elevating screw component, which includes being provided with leading screw, leading screw on spaced two vertical pole, two vertical poles, is provided with cunning
A cross bar is connected between block, two sliding blocks, hip joint motor drives guide screw movement to drive sliding block and the horizontal stroke being connected with sliding block
Bar is moved up and down, and hip joint adjusting means is arranged on cross bar, can moved up and down with cross bar, and hip joint adjusting means is closed including hip
Save adjusting handle, hip joint adjusting screw, hip joint regulating block, hip joint fast pulley and hip joint left regulation wheel；Hip joint is fixed
Wheel and hip joint left regulation wheel are in circular arc type, and hip joint left regulation wheel is located at the inner side of hip joint fast pulley, and can be fixed along hip joint
Wheel is rotated, and is provided with projection in hip joint left regulation wheel, hip joint regulating block is arranged on hip joint adjusting screw, hip joint regulation
Set fluted on block, the described raised and groove cooperates, hip joint adjusting handle drives hip joint adjusting screw fortune
Move so as to which the hip joint left regulation wheel for driving hip joint regulating block and being cooperated with hip joint regulating block is moved.
9. recovery exercising robot according to claim 1, it is characterised in that：The weight reducing device subtracts including worm and gear
Speed motor, reduction gearing, take-up pulley, drawstring and bandage component, the worm and gear motor drive take-up pulley by reduction gearing
Rotate to drive the bandage component being connected with drawstring to move along Z axis.
The health image training robot 10. four limbs according to claim 1 link, it is characterised in that：Gravity center of human body's regulation dress
The push-rod electric machine including sloping platform rank, base and in base, the sloping platform being connected with the push rod of push-rod electric machine are put, it is described to incline
The center of sloping platform is provided with sloping shaft, and the sloping shaft is fixed in bearing block.
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| CN201710118273.XA CN106955217B (en) | 2017-03-01 | 2017-03-01 | Rehabilitation training robot |
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| CN201710118273.XA CN106955217B (en) | 2017-03-01 | 2017-03-01 | Rehabilitation training robot |
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| CN106955217B CN106955217B (en) | 2023-04-28 |
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| CN110584945A (en) * | 2019-09-20 | 2019-12-20 | 吴碧云 | Rehabilitation training device for fixing hip and shoulder of cerebral palsy patient |
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| CN111374867A (en) * | 2020-03-25 | 2020-07-07 | 江苏医药职业学院 | Hemiplegia patient sits station and exchanges and assists device |
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Address after: 511495 No. 3, Jinshanhu street, Zhongcun street, Panyu District, Guangzhou City, Guangdong Province Patentee after: LEANMED MEDICAL (GUANGZHOU) CO.,LTD. Address before: 511495 baishanqiao 102, the Third Industrial Development Zone, Zhongcun street, Zhonger village, Panyu District, Guangzhou City, Guangdong Province Patentee before: GUANGZHOU BOOM WISDOM MEDICAL TECHNOLOGY Co.,Ltd. |