CN106955217B - Rehabilitation training robot - Google Patents
Rehabilitation training robot Download PDFInfo
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- CN106955217B CN106955217B CN201710118273.XA CN201710118273A CN106955217B CN 106955217 B CN106955217 B CN 106955217B CN 201710118273 A CN201710118273 A CN 201710118273A CN 106955217 B CN106955217 B CN 106955217B
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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
- A61H1/024—Knee
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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
- A61H1/0244—Hip
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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
-
- 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
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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
- 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
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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
- 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
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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
- 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
The invention relates to a rehabilitation training robot which comprises a hand movement device, a foot movement device, a hip joint correction device, a weight reduction device and a human body gravity center adjusting device, wherein the hand movement device comprises a left hand movement device and a right hand movement device, and the foot movement device comprises a left foot movement device and a right foot movement device. The invention has simple structure, convenient and quick operation and can carry out linkage rehabilitation training on limbs and other body parts of a human body.
Description
Technical Field
The invention relates to a rehabilitation training robot.
Background
Traditional rehabilitation training is generally performed by a plurality of professional medical staff to assist patients in completing foot and trunk exercises. The medical staff has high labor intensity and is difficult to ensure stable and continuous exercise training. In order to solve the technical problems, the robot special for rehabilitation training of patients on lower limbs is provided at present, and when the robot is used, the patients stand by means of the robot and exercise training of feet of the patients is achieved through actions of the robot, so that the purpose of helping the patients to recover the exercise functions of the lower limbs is achieved. However, the current lower limb rehabilitation training robot has a single structure, and a patient cannot perform linkage rehabilitation training on limbs and other body parts according to actual conditions.
Disclosure of Invention
The invention aims to solve the technical problems, and provides the rehabilitation training robot which has a simple structure, is convenient and quick to operate and can carry out linkage rehabilitation training on limbs and other body parts of a human body.
The invention is realized by the following technical scheme:
the rehabilitation training robot comprises a hand movement device, a foot movement device, a hip joint correction device, a weight reduction device and a human body gravity center adjusting device, wherein the hand movement device comprises a left hand movement device and a right hand movement device, and the foot movement device comprises a left foot movement device and a right foot movement device.
The hand motion device comprises an armrest, a hand swinging device and a hand adjusting device, wherein the hand swinging device comprises a hand swinging motor, a hand swinging piece and a hand swinging binding hand sheath which are sequentially connected, and the hand swinging motor drives the hand swinging piece to move so as to drive an arm arranged in the hand swinging binding hand sheath to swing.
The hand adjusting device comprises a hand X-axis adjusting device, a hand Y-axis adjusting device and a hand Z-axis adjusting device which are sequentially connected, the hand X-axis adjusting device comprises a hand X-axis adjusting hand wheel and a hand X-axis adjusting screw rod connected with the hand swing binding hand sheath, and the hand X-axis adjusting hand wheel drives the hand X-axis adjusting screw rod to move so as to drive the hand swing binding hand sheath to move along the X-axis direction;
the hand Y-axis adjusting device comprises a hand Y-axis adjusting hand wheel, a hand Y-axis adjusting gear and a hand Y-axis adjusting rack, wherein the hand Y-axis adjusting hand wheel drives the Y-axis hand adjusting gear to be meshed with the hand Y-axis adjusting rack so as to drive the X-axis hand adjusting device to move along the Y-axis direction;
the Z-axis hand adjusting device comprises a hand Z-axis adjusting motor and a hand Z-axis screw rod assembly, and the hand Z-axis adjusting motor drives the hand Z-axis screw rod assembly to move so as to drive the X-axis hand adjusting device and the Y-axis hand adjusting device to move along the Z-axis direction.
The foot motion device comprises a foot Y-axis motion device, a foot Z-axis motion device, a foot rotation device and a foot adjusting device, wherein the foot Y-axis motion device comprises a foot Y-axis motor, a foot Y-axis screw rod bearing seat, a foot Y-axis guide rail, a foot Y-axis sliding block and a foot pedal, the foot pedal is arranged on a supporting plate, the supporting plate is arranged on the foot Y-axis sliding block, and the foot Y-axis motor drives the foot Y-axis screw rod to move so as to drive the supporting plate and the foot pedal arranged on the supporting plate to move along the Y axis.
The foot Z-axis movement device comprises a foot Z-axis motor, a foot Z-axis screw rod, a foot Z-axis guide rail and a foot Z-axis sliding block, wherein the foot Z-axis motor adjusts the foot Y-axis screw rod to move so as to drive the foot pedal to move along the Z axis.
The foot rotating device comprises a foot rotating motor, a foot plate gear set, a rotating shaft and a supporting frame, wherein the rotating shaft is arranged in the middle of the lower portion of the foot plate, the supporting frame is arranged at the front end and the rear end of the foot plate, and the foot rotating motor drives the rotating shaft to move through the foot plate gear set so as to drive the foot plate to rotate.
The foot adjustment device includes a knee strap and a knee strap height adjustment device.
The hip joint correction device comprises a hip joint adjustment device and a hip joint lifting device, wherein the hip joint lifting device comprises a hip joint motor and a hip joint lifting screw rod assembly, the hip joint lifting screw rod assembly comprises two longitudinal rods which are arranged at intervals, screw rods are arranged on the two longitudinal rods, sliding blocks are arranged on the screw rods, a cross rod is connected between the two sliding blocks, the hip joint motor drives the screw rods to move so as to drive the sliding blocks and the cross rod connected with the sliding blocks to move up and down, the hip joint adjustment device is arranged on the cross rod and can move up and down along with the cross rod, and the hip joint adjustment device comprises a hip joint adjustment hand wheel, a hip joint adjustment screw rod, a hip joint adjustment block, a hip joint fixing wheel and a hip joint adjustment wheel; the hip joint adjusting wheel is located at the inner side of the hip joint fixing wheel and can rotate along the hip joint fixing wheel, a convex block is arranged on the hip joint adjusting wheel, the hip joint adjusting block is arranged on the hip joint adjusting screw rod, a groove is formed in the hip joint adjusting block, the convex block is matched with the groove, and the hip joint adjusting hand wheel drives the hip joint adjusting screw rod to move so as to drive the hip joint adjusting block and the hip joint adjusting wheel matched with the hip joint adjusting block to move.
The weight reducing device comprises a worm and gear speed reducing motor, a speed reducing gear, a take-up pulley, a pull rope and a binding belt component, wherein the worm and gear motor drives the take-up pulley to rotate through the speed reducing gear so as to drive the binding belt component connected with the pull rope to move along a Z axis.
The human body gravity center adjusting device comprises an inclined step, a base, a push rod motor arranged in the base and an inclined platform connected with the push rod of the push rod motor, wherein an inclined shaft is arranged in the center of the inclined platform and fixed in the bearing seat.
The invention has the beneficial effects that: the rehabilitation training robot comprises a hand movement device, a foot movement device, a hip joint correction device, a weight reduction device and a human body gravity center adjusting device, wherein the hand movement device comprises a left hand movement device and a right hand movement device, and the foot movement device comprises a left foot movement device and a right foot movement device. The invention has simple structure, convenient and quick operation and can carry out linkage rehabilitation training on limbs and other body parts of a human body.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a rehabilitation training robot according to the present invention;
FIG. 2 is a schematic view of a hand movement apparatus of the rehabilitation training robot of the present invention;
FIG. 3 is a schematic view of a foot motion device of the rehabilitation training robot of the present invention;
FIG. 4 is a schematic diagram of a hip joint correction device of the rehabilitation training robot of the present invention;
FIG. 5 is a schematic view of a weight-reducing device of the rehabilitation training robot according to the present invention;
fig. 6 is a diagram showing a human body gravity center adjusting device of the rehabilitation training robot according to the present invention.
Wherein, the device comprises a 1-hand movement device, a 2-foot movement device, a 3-hip joint correction device, a 4-weight reduction device, a 5-human body gravity center adjustment device, a 11-handrail, a 12-hand swing motor, a 13-hand swing piece, a 14-hand swing binding hand sheath, a 15-hand X-axis adjusting hand wheel, a 16-hand X-axis adjusting screw rod, a 17-hand Y-axis adjusting hand wheel, a 18-hand Y-axis adjusting gear, a 19-hand Y-axis adjusting rack, a 110-hand Z-axis adjusting motor, a 111-hand Z-axis screw rod assembly, a 21-foot Y-axis motor, a 22-foot Y-axis slide block, a 23-foot Y-axis guide rail, a 24-foot pedal, a 25-foot Y-axis screw rod and a 26-foot Y-axis screw rod bearing seat, 27-foot Z-axis motor, 28-foot Z-axis screw, 29-foot Z-axis guide rail, 210-foot Z-axis slider, 211-foot plate gear set, 212-rotation axis, 213-knee joint bandage, 214-knee joint bandage height adjustable device, 215-support plate, 216-support frame, 31-hip joint adjusting hand wheel, 32-hip joint adjusting screw, 33-hip joint adjusting block, 34-hip joint fixed wheel, 35-hip joint adjusting wheel, 36-hip joint motor, 37-hip joint elevating screw assembly, 38-back cushion, 41-worm gear reduction motor, 42-reduction gear, 43-take-up pulley, 44-bearing seat, 45-guide wheel, 46-pull rope, 47-bandage assembly, 51-oblique step, 52-base, 53-push rod motor, 54-inclined platform, 55-bearing frame.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
As shown in fig. 1 to 6, the rehabilitation robot includes a hand motion device 1, a foot motion device 2, a hip joint correction device 3, a weight reduction device 4, and a body center of gravity adjustment device 5, the hand motion device 1 includes a left hand motion device and a right hand motion device, and the foot motion device includes a left foot motion device and a right foot motion device.
In this embodiment, rehabilitation training robot still includes casing and lower casing, and the casing includes upper left casing and upper right casing, and lower casing includes lower left casing and lower right casing, and left hand motion device and right hand motion device correspond respectively to set up on upper left casing and upper right casing, and left foot motion device and right foot motion device correspond respectively to set up on lower left casing and lower right casing. And the left lower shell and the right lower shell are internally provided with a feeding system, an electrocardiograph monitoring system and an electric stimulation system.
In this embodiment, the hand movement device 1 includes a handrail 11, a hand swinging device and a hand adjusting device, the hand swinging device includes a hand swinging motor 12, a hand swinging piece 13 and a hand swinging binding hand sheath 14 which are sequentially connected, and the hand swinging motor 12 drives the hand swinging piece 13 to move so as to drive an arm arranged in the hand swinging binding hand sheath 14 to swing. In this setting, when the patient does not need rehabilitation training upper limbs, can hold left and right handrail, when the patient need rehabilitation training upper limbs, control the arm and place in corresponding control hand pendulum binding gloves, thereby hand pendulum motor 12 drive hand pendulum piece 13 motion drive hand pendulum binding arm back-and-forth movement in the hand sheath 14, realize the rehabilitation training of the human hand back-and-forth swing of emulation and training effect better.
In this embodiment, the hand adjusting device includes a hand X-axis adjusting device, a hand Y-axis adjusting device, and a hand Z-axis adjusting device that are sequentially connected, where the hand X-axis adjusting device includes a hand X-axis adjusting hand wheel 15 and a hand X-axis adjusting screw 16 connected to the hand swing binding hand sheath 14, and the hand X-axis adjusting hand wheel 15 drives the hand X-axis adjusting screw 16 to move so as to drive the hand swing binding hand sheath 14 to move along the X-axis direction. The hand Y-axis adjusting device comprises a hand Y-axis adjusting hand wheel 17, a hand Y-axis adjusting gear 18 and a hand Y-axis adjusting rack 19, wherein the hand Y-axis adjusting hand wheel 17 drives the Y-axis hand adjusting gear 18 to be meshed with the hand Y-axis adjusting rack 19 so as to drive the X-axis hand adjusting device to move along the Y-axis direction. The Z-axis hand adjusting device comprises a hand Z-axis adjusting motor 110 and a hand Z-axis screw assembly 111, and the hand Z-axis adjusting motor 110 drives the hand Z-axis screw assembly 111 to move so as to drive the X-axis hand adjusting device and the Y-axis hand adjusting device to move along the Z-axis direction. The hand X-axis adjusting device, the hand Y-axis adjusting device and the hand Z-axis adjusting device can be suitable for people with different body types, and the comfort level and the rehabilitation training effect of the arms are optimal.
In this embodiment, the foot motion device realizes rehabilitation training of hip joints, knee joints and ankle joints, and comprises a foot Y-axis motion device, a foot Z-axis motion device, a foot rotation device and a foot adjustment device, wherein the foot Y-axis motion device comprises a foot Y-axis motor 21, a foot Y-axis screw 25, a foot Y-axis screw bearing seat 26, a foot Y-axis guide rail 23, a foot Y-axis sliding block 22 and a foot pedal 24, the foot pedal 24 is arranged on a supporting plate 215, the supporting plate 215 is arranged on the foot Y-axis sliding block 22, and the foot Y-axis motor 21 drives the foot Y-axis screw 25 to move so as to drive the supporting plate 215 and the foot pedal 24 arranged on the supporting plate 215 to move along the Y axis. In this embodiment, the support plate 215 is disposed on the foot Y-axis slider 22, and the foot rest 24, the foot Z-axis movement device, the foot rotation device and the foot adjustment device are disposed on the support plate 215, and in this embodiment, the left and right soles of the patient are worn in the corresponding left and right foot rest 24, and the foot Y-axis motor drives the foot Y-axis screw 25 to move so as to drive the support plate and the foot rest 24, the foot Z-axis movement device, the foot rotation movement and the foot adjustment device disposed on the support plate to slide along the Y-axis on the Y-axis guide rail. The device can realize rehabilitation training simulating the front and back strides of the human feet, and has better rehabilitation training effect.
In this embodiment, the foot Z-axis movement device includes a foot Z-axis motor 27, a foot Z-axis screw 28, a foot Z-axis guide rail 29, and a foot Z-axis slider 210, where the foot Z-axis motor 27 drives the foot Y-axis screw 28 to move so as to drive the foot pedal 24 to move along the Z-axis. The device can realize rehabilitation training of lifting the feet of the human body up and down in a simulation manner, and the rehabilitation effect is better.
In this embodiment, the foot rotating device includes a foot rotating motor, a foot plate gear set 211, a rotating shaft 212 and a supporting frame 216, wherein the rotating shaft 212 is disposed at the middle of the lower portion of the foot pedal 24, the supporting frame 216 is disposed above the supporting plate 215, and the foot rotating motor drives the rotating shaft 212 to move through the foot plate gear set 211 so as to drive the foot pedal 24 to rotate. Wherein the support frame 216 is used for adjusting the rotation angle of the foot pedal 24. The device can realize the motion of the simulated ankle joint, realize the rehabilitation training of the foot part and has better rehabilitation effect.
In this embodiment, the foot adjustment means includes a knee strap 213 and a knee strap height adjustable means 214. The knee joint bandage height adjusting device comprises a supporting rod and a supporting block, wherein the supporting rod is vertically connected with a supporting plate 215, the supporting block is connected with a knee joint bandage 213 and is sleeved on the supporting rod, the supporting block can drive the knee joint bandage to move up and down along the supporting rod, after being adjusted to a proper position, the knee joint bandage can be locked by a screw, the device can be suitable for people with different body types, and the comfort level and the rehabilitation training effect of feet are optimal.
In this embodiment, the hip joint correcting device includes a hip joint adjusting device and a hip joint elevating device, and the hip joint elevating device includes a hip joint motor 36 and a hip joint elevating screw assembly 37. The hip motor 36 is provided with two in this embodiment. The hip joint lifting screw rod assembly comprises two longitudinal rods arranged at intervals, screw rods are arranged on the two longitudinal rods, sliding blocks are arranged on the screw rods, a cross rod is connected between the two sliding blocks, and the hip joint motor 36 drives the screw rods to move so as to drive the sliding blocks and the cross rod connected with the sliding blocks to move up and down.
The hip joint adjusting device is arranged on the cross bar and can move up and down along with the cross bar, and comprises a hip joint adjusting hand wheel 31, a hip joint adjusting screw rod 32, a hip joint adjusting block 33, a hip joint fixing wheel 34 and a hip joint adjusting wheel 35; the hip adjustment wheel 35 is connected to the hip adjustment block 33. The hip joint fixed wheel 34 and the hip joint adjusting wheel 35 are arc-shaped, the hip joint adjusting wheel 35 is positioned on the inner side of the hip joint fixed wheel 34 and can rotate along the hip joint fixed wheel 34, the hip joint adjusting block 33 is arranged on the hip joint adjusting screw rod 32, further, the hip joint adjusting wheel 35 is provided with a convex block, the hip joint adjusting block 33 is provided with a groove, the convex block on the hip joint adjusting wheel 35 is embedded into the groove on the hip joint adjusting block 33, the hip joint adjusting hand wheel 31 drives the hip joint adjusting screw rod 32 to move so as to drive the hip joint adjusting block 33 and the hip joint adjusting wheel matched with the hip joint adjusting block 33 to move, the hip joint correcting and rehabilitation training is finally realized, and the rehabilitation effect is better. Further, the hip joint guide rails can be arranged on two sides of the hip joint adjusting screw rod, the hip joint adjusting block 33 can run along the hip joint guide rails, the hip joint adjusting block 33 can run more stably, and the hip joint correcting rehabilitation training effect is better. In addition, the hip correction device is provided with a cushion 38 for the patient to rest on, which cushion reduces the pain of the patient to a more comfortable condition.
In this embodiment, the weight reducing device includes a worm gear reduction motor 41, a reduction gear 42, a take-up pulley 43, a pull rope 46 and a binding belt assembly 47, the take-up pulley 43 is disposed in a bearing seat 44, the pull rope 46 is guided to the take-up pulley 43 by a guide wheel 45, and the worm gear reduction motor 41 drives the take-up pulley 43 to rotate by the reduction gear 42 so as to drive the binding belt assembly 47 connected with the pull rope 46 to move along the Z axis. The device reduces the bearing pressure of the sole of the foot, so that the rehabilitation training of the limbs and other bodies reaches the optimal state.
In this embodiment, the body gravity center adjusting device includes a slant step 51, a base 52, a push rod motor 53 disposed in the base 52, and a slant platform 54 connected to the push rod of the push rod motor 53, wherein a slant shaft is disposed in the center of the slant platform 54, and the slant shaft is fixed in a bearing seat 55.
The foregoing has described in detail the technical solutions provided by the embodiments of the present invention, and specific examples have been applied to illustrate the principles and implementations of the embodiments of the present invention, where the above description of the embodiments is only suitable for helping to understand the principles of the embodiments of the present invention; meanwhile, as for those skilled in the art, according to the embodiments of the present invention, there are variations in the specific embodiments and the application scope, and the present description should not be construed as limiting the invention.
Claims (8)
1. Rehabilitation training robot, its characterized in that: the device comprises a hand motion device, a foot motion device, a hip joint correction device, a weight reduction device and a human body gravity center adjustment device, wherein the hand motion device comprises a left hand motion device and a right hand motion device, and the foot motion device comprises a left foot motion device and a right foot motion device; the hand movement device comprises an armrest, a hand swinging device and a hand adjusting device, wherein the hand swinging device comprises a hand swinging motor, a hand swinging piece and a hand swinging binding hand sheath which are sequentially connected, and the hand swinging motor drives the hand swinging piece to move so as to drive an arm arranged in the hand swinging binding hand sheath to swing; the hand adjusting device comprises a hand X-axis adjusting device, a hand Y-axis adjusting device and a hand Z-axis adjusting device which are sequentially connected, the hand X-axis adjusting device comprises a hand X-axis adjusting hand wheel and a hand X-axis adjusting screw rod connected with the hand swing binding hand sheath, and the hand X-axis adjusting hand wheel drives the hand X-axis adjusting screw rod to move so as to drive the hand swing binding hand sheath to move along the X-axis direction;
the hand Y-axis adjusting device comprises a hand Y-axis adjusting hand wheel, a hand Y-axis adjusting gear and a hand Y-axis adjusting rack, wherein the hand Y-axis adjusting hand wheel drives the Y-axis hand adjusting gear to be meshed with the hand Y-axis adjusting rack so as to drive the hand X-axis adjusting device to move along the Y-axis direction;
the hand Z-axis adjusting device comprises a hand Z-axis adjusting motor and a hand Z-axis screw rod assembly, and the hand Z-axis adjusting motor drives the hand Z-axis screw rod assembly to move so as to drive the hand X-axis adjusting device and the hand Y-axis adjusting device to move along the Z-axis direction.
2. The rehabilitation training robot of claim 1 wherein: the foot motion device comprises a foot Y-axis motion device, a foot Z-axis motion device, a foot rotation device and a foot adjusting device, wherein the foot Y-axis motion device comprises a foot Y-axis motor, a foot Y-axis screw rod bearing seat, a foot Y-axis guide rail, a foot Y-axis sliding block and a foot pedal, the foot pedal is arranged on a supporting plate, the supporting plate is arranged on the foot Y-axis sliding block, and the foot Y-axis motor drives the foot Y-axis screw rod to move so as to drive the supporting plate and the foot pedal arranged on the supporting plate to move along the Y axis.
3. The rehabilitation training robot of claim 2 wherein: the foot Z-axis movement device comprises a foot Z-axis motor, a foot Z-axis screw rod, a foot Z-axis guide rail and a foot Z-axis sliding block, wherein the foot Z-axis motor adjusts the foot Y-axis screw rod to move so as to drive the foot pedal to move along the Z axis.
4. A rehabilitation training robot according to claim 3, characterized in that: the foot rotating device comprises a foot rotating motor, a foot plate gear set, a rotating shaft and a supporting frame, wherein the rotating shaft is arranged in the middle of the lower portion of the foot plate, the supporting frame is arranged at the front end and the rear end of the foot plate, and the foot rotating motor drives the rotating shaft to move through the foot plate gear set so as to drive the foot plate to rotate.
5. The rehabilitation training robot of claim 4 wherein: the foot adjustment device includes a knee strap and a knee strap height adjustment device.
6. The rehabilitation training robot of claim 1 wherein: the hip joint correction device comprises a hip joint adjustment device and a hip joint lifting device, wherein the hip joint lifting device comprises a hip joint motor and a hip joint lifting screw rod assembly, the hip joint lifting screw rod assembly comprises two longitudinal rods which are arranged at intervals, screw rods are arranged on the two longitudinal rods, sliding blocks are arranged on the screw rods, a cross rod is connected between the two sliding blocks, the hip joint motor drives the screw rods to move so as to drive the sliding blocks and the cross rod connected with the sliding blocks to move up and down, the hip joint adjustment device is arranged on the cross rod and can move up and down along with the cross rod, and the hip joint adjustment device comprises a hip joint adjustment hand wheel, a hip joint adjustment screw rod, a hip joint adjustment block, a hip joint fixing wheel and a hip joint adjustment wheel; the hip joint adjusting wheel is located at the inner side of the hip joint fixing wheel and can rotate along the hip joint fixing wheel, a convex block is arranged on the hip joint adjusting wheel, the hip joint adjusting block is arranged on the hip joint adjusting screw rod, a groove is formed in the hip joint adjusting block, the convex block is matched with the groove, and the hip joint adjusting hand wheel drives the hip joint adjusting screw rod to move so as to drive the hip joint adjusting block and the hip joint adjusting wheel matched with the hip joint adjusting block to move.
7. The rehabilitation training robot of claim 1 wherein: the weight reducing device comprises a worm gear speed reducing motor, a speed reducing gear, a take-up pulley, a pull rope and a binding belt component, wherein the worm gear speed reducing motor drives the take-up pulley to rotate through the speed reducing gear so as to drive the binding belt component connected with the pull rope to move along a Z axis.
8. The rehabilitation training robot of claim 1 wherein: the human body gravity center adjusting device comprises an inclined step, a base, a push rod motor arranged in the base and an inclined platform connected with the push rod of the push rod motor, wherein an inclined shaft is arranged in the center of the inclined platform and fixed in the bearing seat.
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| CN201710118273.XA CN106955217B (en) | 2017-03-01 | 2017-03-01 | Rehabilitation training robot |
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| CN108030638A (en) * | 2017-12-29 | 2018-05-15 | 力迈德医疗（广州）有限公司 | Gait robot for walking training |
| KR101963869B1 (en) * | 2018-02-05 | 2019-07-31 | 김형식 | Upper and lower limbs gait rehabilitation apparatus |
| CN108451750B (en) * | 2018-02-08 | 2019-05-17 | 重庆医科大学附属永川医院 | A kind of weight reducing device for rehabilitation training |
| CN108743213A (en) * | 2018-04-02 | 2018-11-06 | 东莞市北扬工业设计有限公司 | A kind of leg rehabilitation with carrying foot machine automatically |
| CN109771219B (en) * | 2019-03-07 | 2019-11-29 | 吉林大学 | A kind of neurologic examination gait adjustment reference test device |
| CN110584945B (en) * | 2019-09-20 | 2021-08-10 | 杨慧 | Rehabilitation training device for fixing hip and shoulder of cerebral palsy patient |
| CN111297629B (en) * | 2020-02-25 | 2021-06-08 | 中国科学院自动化研究所 | Rehabilitation training method for simulating going upstairs and downstairs and lower limb rehabilitation robot |
| CN111374867B (en) * | 2020-03-25 | 2022-02-25 | 江苏医药职业学院 | Hemiplegia patient sits station and exchanges and assists device |
| CN111544255B (en) * | 2020-04-24 | 2022-03-18 | 卢松 | Recovered robot of intelligence |
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| JP2001008987A (en) * | 1999-04-26 | 2001-01-16 | Shiriusu:Kk | Machine for practicing cross-pattern walking |
| CN100536809C (en) * | 2006-05-26 | 2009-09-09 | 清华大学 | Partial weight-reducing support device with gravity center adjustment function |
| CN101536955B (en) * | 2009-04-21 | 2011-01-05 | 清华大学 | Vertical follow-up type lightened walking rehabilitation training robot |
| CN101862256B (en) * | 2010-06-13 | 2011-11-16 | 上海交通大学 | Vehicle-mounted movable type walk-assisting exoskeleton rehabilitation robot |
| JP2014061106A (en) * | 2012-09-21 | 2014-04-10 | Meinan Machinery Works Kk | Lower limb training device |
| US20140100491A1 (en) * | 2012-10-05 | 2014-04-10 | Jianjuen Hu | Lower Extremity Robotic Rehabilitation System |
| CN103919659B (en) * | 2014-04-21 | 2016-03-02 | 安阳工学院 | The autonomous recovery training appliance for recovery of a kind of shoulder joint |
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| CN105167965B (en) * | 2015-10-10 | 2018-01-16 | 合肥工业大学 | One kind considers joint pivot coordinated type walking aid rehabilitation robot |
| CN105662782B (en) * | 2016-03-21 | 2024-02-06 | 上海卓道医疗科技有限公司 | Exoskeleton type upper limb rehabilitation training robot |
| CN208114776U (en) * | 2017-03-01 | 2018-11-20 | 力迈德医疗（广州）有限公司 | Recovery exercising robot |
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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. |