CN106955223A - Balance training and multifunctional walking aid rehabilitation image training robot - Google Patents
Balance training and multifunctional walking aid rehabilitation image training robot Download PDFInfo
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- CN106955223A CN106955223A CN201710303909.8A CN201710303909A CN106955223A CN 106955223 A CN106955223 A CN 106955223A CN 201710303909 A CN201710303909 A CN 201710303909A CN 106955223 A CN106955223 A CN 106955223A
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- 238000012549 training Methods 0.000 title claims abstract description 154
- 230000007246 mechanism Effects 0.000 claims abstract description 81
- 210000002784 stomach Anatomy 0.000 claims description 25
- 238000011084 recovery Methods 0.000 claims description 18
- 230000000712 assembly Effects 0.000 claims description 16
- 238000000429 assembly Methods 0.000 claims description 16
- 230000033001 locomotion Effects 0.000 claims description 8
- 239000007787 solid Substances 0.000 claims description 5
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 230000005489 elastic deformation Effects 0.000 claims description 4
- 230000036541 health Effects 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 210000001624 hip Anatomy 0.000 description 31
- 230000008859 change Effects 0.000 description 12
- 230000000694 effects Effects 0.000 description 12
- 230000035876 healing Effects 0.000 description 12
- 238000013016 damping Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 9
- 210000003141 lower extremity Anatomy 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 206010008190 Cerebrovascular accident Diseases 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 230000002787 reinforcement Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 206010008088 Cerebral artery embolism Diseases 0.000 description 1
- 206010010356 Congenital anomaly Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 201000010849 intracranial embolism Diseases 0.000 description 1
- 230000006742 locomotor activity Effects 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 201000000585 muscular atrophy Diseases 0.000 description 1
- 230000001769 paralizing effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- 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
-
- 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
- A61H3/04—Wheeled walking aids for patients or disabled persons
- A61H2003/043—Wheeled walking aids for patients or disabled persons with a drive mechanism
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (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 present invention discloses a kind of balance training and multifunctional walking aid rehabilitation image training robot, balance training includes feed screw apparatus, elastic parts, hang plate and adpting flange, leading screw is connected on chassis, upper mounted plate connects the top of leading screw, movable plate is arranged between upper mounted plate and chassis and passes through leading screw, upper mounted plate is connected to the lower end of adpting flange by spherical hinge, housing and connection support bar are stretched out in adpting flange top, adpting flange bottom is connected with hang plate, hang plate is fixedly connected below multiple and elastic parts upper-end contact hemispherical head, rotational lead screw can drive movable plate to be moved up and down in housing.A kind of multifunctional walking aid rehabilitation image training robot is also disclosed, including foregoing balance training, movable chassis mechanism, support rod mechanism, upper frame mechanism, rumble seat mechanism and controller, allow patient and training difficulty and training type are adjusted according to own situation, so as to meet the demand of different degrees of patient exercise.
Description
Technical field
The present invention relates to technical field of medical instruments, more particularly to a kind of balance training and multifunctional walking aid rehabilitation
Image training robot.
Background technology
In recent years, with scientific and technological progress and the raising of living standards of the people, people to healthy and quality of life more
Pay attention to, especially Patients with Apoplexy Sequela is sharply increased to the demand that the exercise ability of lower limbs recovers, therefore recovery exercising robot
Research causes the attention of scientific research personnel generally.Existing recovery exercising robot, can only carry out a kind of single training, function
Single, rehabilitation and therapeutic effect are poor, and rehabilitation machines can not be moved arbitrarily, are only suitable for indoor training, automaticity is not
Height, being so trained alone to patient makes troubles.
The content of the invention
It is an object of the invention to provide a kind of balance training and a kind of multifunctional walking aid rehabilitation image training robot, to solve
The problem of certainly above-mentioned prior art is present, allows patient and training difficulty and training type is adjusted according to own situation, from
And the demand of different degrees of patient exercise can be met.
To achieve the above object, the invention provides following scheme：
The present invention provides a kind of balance training, and the balance training is used to realize that recovery exercising robot is balanced
Train difficulty adjustable change, the balance training include housing and be arranged in the housing leading screw, elastic parts,
Upper mounted plate, movable plate, hang plate and adpting flange, the housing are arranged on the chassis of recovery exercising robot, the silk
Thick stick is set perpendicular to chassis, and the bottom of the leading screw is connected on chassis by lower leading screw fixed seat, and fixed plate passes through
Upper leading screw fixed seat is connected to the top of the leading screw, and the movable plate is arranged between fixed plate and chassis, described
It is fixedly installed and matches thread bush with the leading screw on movable plate, and the leading screw passes through the thread bush, it is fixed
Plate is connected to the lower end of the adpting flange by spherical hinge, and the housing is stretched out and for connecting health in the adpting flange top
The supporting bar structure or armrest of multiple image training robot, the adpting flange bottom is fixedly connected with the hang plate, described
Elastic parts elastic deformation direction is provided with multiple perpendicular to chassis and the elastic parts, is fixedly connected below the hang plate
There are multiple hemispherical heads, the upper-end contact of the hemispherical head and the elastic parts can simultaneously be slided in the elastic parts upper end,
Rotating the thread bush being arranged outside the leading screw, the leading screw can drive the movable plate to be moved up and down in the housing.
It is preferred that, the elastic parts is included under spring moving guide rail, spring spool and spring, the spring moving guide rail
End is fixedly connected on the movable plate, and the spring moving guide rail top is arranged in the spring spool, and the spring
Moving guide rail can be moved in the spring spool, and the spring is set in the spring moving guide rail and the spring spool
Outside.
It is preferred that, the balance training also includes being fixedly installed first straight line axle on the axis of guide, the movable plate
Hold, the axis of guide lower end is fixedly connected on the chassis of recovery exercising robot, the axis of guide passes through the first straight line
Bearing, and the upper end of the axis of guide is fixedly connected on fixed plate.
It is preferred that, the hang plate is locked on the adpting flange by locking nut, and the leading screw is trapezoidal screw,
The leading screw lower end, which to be connected with leading screw motor, fixed plate, be provided with upper limit position switch, chassis downwards upwards
Lower position switch is installed.
The present invention also provides a kind of multifunctional walking aid rehabilitation image training robot, including foregoing balance training,
Also include movable chassis mechanism, support rod mechanism, upper frame mechanism, rumble seat mechanism and controller, the mobile chassis machine
Structure includes chassis and the drive wheel assemblies on the chassis, the balance training and the rumble seat mechanism point
The upper end for the adpting flange not being arranged on the chassis front portion and medium position, the balance training and the branch
Force sensor is set in the lower end connection of support rod mechanism, the support rod mechanism, and the upper frame mechanism includes first and is oriented to
Axle, second axis of guide and two handrails for being fixedly connected on first axis of guide and second axis of guide axis of guide two ends,
First axis of guide and second axis of guide that the upper end of the support rod mechanism be arranged in parallel before and after being fixedly connected with, institute
The power source, the power source of the driving wheel and the force snesor for stating controller and the balance training are communicated to connect.
It is preferred that, the chassis includes the first side base plate, the second side base plate and middle connecting plate, the middle connecting plate
The one end of two ends respectively with first side base plate and second side base plate is connected, and the leading screw lower end is fixed on the centre
On connecting plate；
Drive wheel assemblies described in one, the drive wheel assemblies are equipped with first side base plate and second side base plate
Including driving wheel upper mounted plate, driving wheel bottom plate and hub driving wheel, first side base plate and second side base plate
Medium position be respectively fixedly installed driving wheel bottom plate described in one, the driving wheel upper mounted plate is arranged on the driving wheel
On bottom plate, the installation axle of the hub driving wheel, which is folded in, to be arranged on the driving wheel bottom plate and the driving wheel
Between fixed plate, the hub driving wheel is built-in with wheel hub motor, and the wheel hub motor is electrically connected with lithium battery, the wheel hub electricity
Machine and a driver are communicated to connect, and the controller is communicated to connect with the driver；
Four corner positions on the chassis are respectively provided with a universal wheel, and the universal wheel has locking mechanism, described
Four corner positions on chassis are each provided with an anticollision elastic component.
It is preferred that, the support rod mechanism includes inverted L shape support bar, first sensor ring flange, force snesor, the second biography
Sensor ring flange, mobile support bar, be fixedly connected ring and support rod sleeve, the post upper and first axis of guide and
The medium position of second axis of guide is fixedly connected, and the upper and lower end face of the force snesor has been respectively fixedly connected with described
One sensor ring flange and the second sensor ring flange, the support bar lower end and the first sensor ring flange
Connection, the second sensor ring flange is connected with the mobile support bar, and the mobile support bar is fixedly connected by described
Ring set is located in the support rod sleeve, and the support rod sleeve lower end is connected with the adpting flange upper end, and the fixation is even
Connect ring and be provided with the locking device for being used for locking the mobile support bar.
It is preferred that, the upper frame mechanism also includes stomach protection pad component, lumbar support bar assembly and control box assembly, institute
State the two ends that handrail is fixedly connected on first axis of guide and second axis of guide by contiguous block；The stomach protection pad group
Part includes stomach protection pad fixed plate and stomach protection pad, and the control box assembly includes control cabinet fixed plate and control casing, described
Be installed with first axis of guide and second axis of guide on fixed block, the fixed block be fixedly connected with the stomach protection pad consolidate
Fixed board, the stomach protection pad fixed plate is cladded with the stomach protection pad, and the fixed block upside is fixedly connected the control cabinet and consolidated
Fixed board, the control cabinet is fixedly connected in the control cabinet fixed plate, and the controller is provided with the control cabinet；
The lumbar support bar assembly is symmetrically arranged with two groups, lumbar support described in every group on the inverted L shape support bar
Bar assembly includes front waist support bar and rear waist support bar, and the front waist support bar is provided with the first mounting hole and the second peace
Fill and second straight line bearing is provided with hole, second mounting hole, the front waist support bar passes through first mounting hole respectively
First axis of guide and second axis of guide periphery are set on the second straight line bearing, and in first mounting hole
The first bulb plunger is provided with, first axis of guide is provided with the first plunger hole matched with first bulb plunger,
The front waist support rod rear end and the rear waist support bar front end are connected by gyroaxis, and the rear waist support bar is in institute
State and be provided with below gyroaxis limited support cushion block, be provided with the second bulb plunger on the limited support cushion block, it is described after
Lumbar support bar is provided with the second plunger hole matched with second bulb plunger.
It is preferred that, also including pedal slew gear, the pedal slew gear includes pedal, pedal fixed block
With pedal rotary shaft, pedal fixed block described in one is respectively fixed with first side base plate and second side base plate,
The pedal fixed block is connected with pedal described in one by the pedal gyroaxis.
It is preferred that, the rumble seat mechanism includes being symmetricly set on two rumble seat components of the chassis both sides,
The rumble seat component includes Seat support bar, ratchet Geneva mechanism and seat portion, and the Seat support bar is vertically arranged in
On the chassis, the race for installing the ratchet Geneva mechanism, the ratchet sheave are installed with the Seat support bar
Mechanism includes ratchet disc and Geneva mechanism with jagged neck, and the Geneva mechanism is installed in the race, the groove
Provided with the ratchet shaft for installing ratchet disc in wheel, the ratchet disc is provided with the mounting hole matched with the ratchet shaft, described
Ratchet disc outer wall is fixed with extension bar, and the seat portion is connected on the extension bar of the ratchet disc, pulls the seat
Portion, the seat portion drives the ratchet disc to rotate and the seat can be made to be in horizontality, now, the sheave machine
Structure is connected in the breach neck of the ratchet disc, the seat portion is kept horizontality, the seat is pulled again up
Chair portion, the Geneva mechanism departs from clamping with the breach neck of the ratchet disc, and can move the seat portion；It is described
Seat support bar is provided with the 3rd bulb plunger, and the seat portion is provided with the 3rd post matched with the 3rd bulb plunger
Consent.
The present invention achieves following technique effect relative to prior art：
The balance training that the present invention is provided, supporting bar structure or armrest of the user in recovery exercising robot
Upper force, power will be passed to the elasticity of diverse location inside balance training, balance training by adpting flange
Component be able to will deform elastic parts by the power less than different size and direction, and spring is in compression or extended state, makes to incline
Swash plate run-off the straight；When the decrement or amount of tension of each spring assembly are in equal state, healing robot can be just in
Poised state；And trapezoidal screw because the relation of gradient has locking effect, can prevent that movable plate from sliding from screw mandrel in itself,
So be conducive to avoiding patient from driving healing robot balance training difficult because movable plate slides when carrying out rehabilitation balance training
Spend suddenly change and produce fear.The difficulty that patient finds equalization point, elastic parts can be tempered by such principle
Produced damping is smaller, and patient finds equalization point and is more difficult to.
The multifunctional walking aid rehabilitation image training robot that the present invention is provided, it is mutual by balance training and other various structures
Combine, form multifunctional walking aid rehabilitation image training robot, so as to preferably help patient to carry out multi-functional rehabilitation instruction
Practice.It can not only help patient to carry out sitting-standing rehabilitation training, and patient can be helped to carry out autonomous or passive gait health
Refreshment is practiced；Patient can be according to the damped coefficient of spring in own situation adjustment trainer, to help patient to find row
Walk equalization point ability；And intelligent walking aid rehabilitation image training robot has wheelchair function effect, rested and full for providing patient
The demand of sufficient patient's daily life, while helping to take exercise the ability for patient seat-stand.Finally the machine in order to ensure patient instruction
Safety during white silk, adds the safeguard constructions such as some protection pads, limit switch, emergency stop switch in mechanism.
The mobile support bar that is connected above by support rod mechanism, ring and support rod sleeve are fixedly connected, can be right
The height of multifunctional walking aid rehabilitation image training robot is adjusted, and can mitigate trouble by left and right lumbar support bar assembly
The distance between the pressure that person's joint of lower extremity is born, adjusted according to the build of patient, so as to meet the need of the different patients of build
Ask.
Pass through the interaction of force snesor and In-wheel motor driving wheel, it is possible to achieve differential motion and many work(can be controlled
Energy walking aid rehabilitation image training robot direction of travel, simultaneously can be certainly so as to help Patients with Apoplexy Sequela to assist lower independent ambulation at nobody
Main carry out rehabilitation training；Help patient to take exercise alone by upper frame mechanism, with the sense of security and reliability, increase patient exercise
Confidence.
Patient is tempered by the balance training of Multi-stage damping and finds equalization point in standing, while can also be
Patient is tempered when walking and finds equalization point, by adjusting spring damping in balance training, so as to change patient's searching
The complexity of equalization point, so as to increase the flexibility of body；Pass through limit switch and the anticollision device, collision-prevention device of chassis corner, Ke Yibao
Card walk help training rehabilitation robot can stop when running into obstacle, ensure the security of patient；
Except control Patients with Apoplexy Sequela realizes step exercises, the exercise of searching equalization point, weight-losing, joint of lower extremity and flesh
Outside the training of meat, also with general wheelchair function；Wheelchair ratchet Geneva mechanism and pedal slew gear can help patient
Safe sits down, and pin can be very good to lay, while space when mechanism is not take up training；Patient can be sitting in wheelchair
On, the direction of travel of walk help training rehabilitation robot is controlled by upper frame mechanism and force snesor, the daily life of patient is met
Demand living.
Balance training and multifunctional walking aid rehabilitation image training robot that the present invention is provided, it is residual available for congenital leg
Disease and caused by cerebral embolism sequela, paralytic's sequelae, spinal cord injury, cerebral paralysis, muscular atrophy, contingency etc.
Posteriority leg disability walking rehabilitation training, allow patient and adjusted according to own situation training difficulty and training class
Type, so as to meet the demand of different degrees of patient exercise.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these accompanying drawings
Obtain other accompanying drawings.
The cross-sectional view for the balance training that Fig. 1 provides for the present invention；
The stereogram for the multifunctional walking aid rehabilitation image training robot that Fig. 2 provides for the present invention；
The rearview for the multifunctional walking aid rehabilitation image training robot that Fig. 3 provides for the present invention；
The left view for the multifunctional walking aid rehabilitation image training robot that Fig. 4 provides for the present invention；
The body chassis stereogram for the multifunctional walking aid rehabilitation image training robot that Fig. 5 provides for the present invention；
The structural representation for the multifunctional walking aid rehabilitation image training robot rumble seat mechanism that Fig. 6 provides for the present invention；
Fig. 7 is the stereogram after Multifunction walk help training rehabilitation robot of the present invention rumble seat mechanism deploying.
In figure：1- handrails protecting pad cover, 2- waists protection pad, 3- rear waists support bar, 4- limited supports cushion block, 5- front waist branch
Strut, 6- contiguous blocks, 7- second straight lines bearing, 8, control casing, 9- scram buttons, 10- gyroaxises, the axis of guides of 111- first,
The axis of guides of 112- second, 12- handrails, 13- safety buckle, 14- stomach protection pad, 15- fixed blocks, 16- stomach protection pads fixed plate,
17- support bars, 181- first sensors ring flange, 182- second sensors ring flange, 19- force snesors, 20- movement supports
Bar, 21- are fixedly connected ring, 22- lock handles, 23- supports rod sleeve, 24- leading screws motor, 25- motor fixing plates, 26-
Middle connecting plate, 27- housings, 28- elastic parts, the 29- axis of guides, 30- hemispherical heads, 31- hang plates, 32- locking nuts, 33-
Adpting flange, 34- spherical hinges, 35- upper mounted plates, 36- upper leading screws fixed seat, 37- leading screws, 38- movable plates, 40- thread bush,
41- upper limit position switch, 42- Seat supports bar, the bulb plungers of 43- the 3rd, 44- ratchets Geneva mechanism, 45- races, 46- seat cushions
Fixed plate, 47- seat cushions, 48- anticollisions elastic component, the first sides of 491- base plate, the second sides of 492- base plate, 50- hub driving wheels,
51- driving wheels upper mounted plate, 52- driving wheels bottom plate, 53- reinforcements, 54- universal wheels, 55- pedals, 56- pedals are consolidated
Determine block, 57- pedals rotary shaft, 58- extension bars.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
It is an object of the invention to provide a kind of balance training and a kind of multifunctional walking aid rehabilitation image training robot, to solve
The problem of certainly above-mentioned prior art is present, allows patient and training difficulty and training type is adjusted according to own situation, from
And the demand of different degrees of patient exercise can be met.
It is below in conjunction with the accompanying drawings and specific real to enable the above objects, features and advantages of the present invention more obvious understandable
Applying mode, the present invention is further detailed explanation.
Embodiment one
The present embodiment provides a kind of balance training, as shown in figure 1, for realizing recovery exercising robot balance training
The adjustable change of difficulty, balance training includes housing 27 and the leading screw 37 being arranged in housing 27, elastic parts 28, upper solid
Fixed board 35, movable plate 38, hang plate 31 and adpting flange 33, adpting flange 33 are threaded ring flange, and housing 27 is arranged on health
On the chassis of multiple image training robot, leading screw 37 is set perpendicular to chassis, and the bottom of leading screw 37 is connected to by lower leading screw fixed seat
On chassis, upper mounted plate 35 is connected to the top of leading screw 37 by upper leading screw fixed seat 36, and movable plate 38 is arranged on upper mounted plate
Between 35 and chassis, it is fixedly installed and matches thread bush 40 with leading screw 37 on movable plate 38, and leading screw 37 passes through thread bush 40,
Upper mounted plate 35 is connected to the lower end of adpting flange 33 by spherical hinge 34, and housing 27 is stretched out and for connecting in the top of adpting flange 33
The supporting bar structure or armrest of recovery exercising robot are connect, the bottom of adpting flange 33 is fixedly connected with hang plate 31, elasticity
The elastic deformation direction of component 28 is provided with multiple perpendicular to chassis and elastic parts 28, and the lower section of hang plate 31 is fixedly connected with multiple
The upper-end contact of hemispherical head 30, hemispherical head 30 and elastic parts 28 can simultaneously be slided, rotational lead screw 37 in the upper end of elastic parts 28,
The thread bush 40 being arranged outside leading screw 37 can drive movable plate 38 to be moved up and down in housing 37.
Elastic parts 28 is included under spring moving guide rail 281, spring spool 282 and spring 293, spring moving guide rail 281
End is fixedly connected on movable plate 38, and the upper end of spring moving guide rail 281 is provided with cushion pad, and the top of spring moving guide rail 281 is set
Put in spring spool 282, and spring moving guide rail 281 can be moved in spring spool 282, spring 283 is set in spring
Outside moving guide rail 281 and spring spool 282.
Balance training also includes being fixedly installed first straight line bearing 381, the axis of guide on the axis of guide 29, movable plate 38
29 lower ends are fixedly connected on the chassis of recovery exercising robot, and the axis of guide 29 passes through first straight line bearing 381, and the axis of guide 29
Upper end be fixedly connected on upper mounted plate 35.
Hang plate 31 is locked on adpting flange 33 by locking nut 32, and leading screw 37 is trapezoidal screw, the lower end of leading screw 37
It is connected with leading screw motor 24, upper mounted plate 35 to be provided with upper limit position switch, chassis downwards and lower limit is installed upwards
Switch.
The axis of guide 29 is fixed on the chassis of recovery exercising robot by round nut, at the same tighten up the axis of guide 29 with it is upper solid
The chassis of fixed board and recovery exercising robot connects the nut at two ends, and now the chassis of upper mounted plate and recovery exercising robot exists
Fixation above and below being served in whole balance training；The thread bush 40 of leading screw 37 is fixedly connected with movable plate 38, therefore
The motion of leading screw 37 will drive movable plate 38 to cross first straight line bearing 40 and be moved up and down along the axis of guide 29.Fix the axis of guide 29
After leading screw 37, before upper mounted plate 35 is installed, first spherical hinge 34 is connected by screw on upper mounted plate 35, then
Upper limit position switch device 41 and lower position switch are separately mounted on upper mounted plate 35 and chassis.Upper limit position switch device 41 can
To control limit of sports record position on movable plate 38, prevent that spring is extruded excessively；Lower position switch can be controlled under movable plate 38
Limit of sports record position, when movable plate 38 touches limit switch, circuit will produce off state in balance training, and
When power off, therefore leading screw motor 24 is stopped, and so contributes to protection motor while the limit of movable plate 38 is determined
Put, while preventing that spring is extruded excessively.
After leading screw 37 and upper mounted plate 35 is installed, leading screw motor 24 is fixed on by motor fixing plate 25
Above the chassis of recovery exercising robot, while multiple elastic parts 28 are arranged on into movable plate by round nut and stop washer
Above 38；Elastic parts in the present invention can set 8~12, be preferably provided with the work being subject on even number, elastic parts 28
Firmly it is more evenly distributed, the present embodiment is provided with 12 elastic parts.Then threaded ring flange 33 is fixed and spherical hinge 34
Interfix, then hang plate 31 is arranged on threaded ring flange 33, and locked it relatively with locking nut 32；Install
Before hang plate 31, hemispherical head 30 is tightened on hang plate 31 by round nut, hang plate install after hemispherical head with
Elastic parts is contacted with each other, and hemispherical head 30 can be slided in elastic parts 28；Finally housing 27 is arranged on chassis, used
Screw-driving.Control leading screw motor 24 drives leading screw 37 to move, and the thread bush 40 being threaded on leading screw 37 will drive
Movable plate 38 moves up and down along the axis of guide 29, so that the decrement for changing spring 283 plays the damping of regulation elasticity component 28
Effect, spring 283 is bigger by decrement, and the damping produced by elastic parts 28 is bigger.When spring 283 is in impaction state
When, hang plate 31 will not run-off the straight；When spring assembly 28 is in relaxed state or other damping states, user is in rehabilitation
Exerted a force on the supporting bar structure or armrest of image training robot, power will be passed to balance training dress by adpting flange 33
Put, the elastic parts 28 of diverse location can will be made elasticity by the power less than different size and direction inside balance training
Component 28 is deformed, and spring 283 is in compression or extended state, makes the run-off the straight of hang plate 31；When the compression of each spring assembly
When amount or amount of tension are in equal state, healing robot can just be in poised state, and trapezoidal screw 37 itself is because ladder
The relation of degree has locking effect, can prevent that movable plate 38 from sliding from screw mandrel, is so conducive to avoiding patient from carrying out rehabilitation
Because movable plate slides drive healing robot balance training difficulty suddenly change and produces fear during balance training.By so
Principle can temper the difficulty that patient finds equalization point, the damping produced by elastic parts 28 is smaller, and patient finds flat
Weighing apparatus point is more difficult to.
Embodiment two
The present embodiment provides a kind of multifunctional walking aid rehabilitation image training robot, as shown in Fig. 2 including flat in embodiment one
Weigh trainer, also including movable chassis mechanism, support rod mechanism, upper frame mechanism, rumble seat mechanism and controller, mobile
Body chassis includes chassis and the drive wheel assemblies on chassis, and balance training and rumble seat mechanism are set respectively
Connected in the lower end of the upper end of the adpting flange 33 on chassis front portion and medium position, balance training and support rod mechanism,
The lower end of support rod mechanism is provided with the dust protection rubber set for sealing, support rod mechanism with the junction of adpting flange 33 and set
Force sensor 19, upper frame mechanism includes first axis of guide 11, second axis of guide 112 and is fixedly connected on first axis of guide
111 and two handrails 12 at the two ends of second axis of guide 112, the upper end of support rod mechanism be arranged in parallel before and after being fixedly connected with the
One axis of guide 11 and second axis of guide 112, controller and the power source of balance training, the power source of driving wheel and power sensing
Device 19 is communicated to connect.
, it is necessary under the nurse of medical personnel or kinsfolk, be walked if certain when patient carries out rehabilitation training
The patient of ability and support force can individually be operated, the control panel on multifunction walking-aid training rehabilitation robot controller
Can control machine people each action, and control patient to carry out the training of a variety of functions, seat-balance of standing, standing can be included
A variety of training methods such as the training of balance training, walking static balancing and dynamic equilibrium of walking, allow patient according to itself feelings
Condition trains difficulty and training type to adjust, so as to meet the demand of different degrees of patient exercise, while controller
Guidance panel can show the parameters such as walk help training rehabilitation robot speed and healing robot state in which, and instruction is known in time
Practice achievement.
When patient carries out standing balance training, the power source of drive wheel assemblies does not work, and now healing robot is relative
Remained static in ground.When patient applies different directions active force to handrail, walk help training rehabilitation robot can locate
In different directions vibrating state, standing balance training can be carried out by such principle patient.Patient is according to itself rehabilitation feelings
Condition transfers the leading screw motor 24 of balance training, to change the decrement of elastic parts 28 in balance training structure, reaches
Damping to produced by the elastic parts required for adjustment rehabilitation training, so as to change the difficulty or ease journey that patient finds standing balance point
Degree.Leading screw motor 24 drive movable plate 38 move up distance it is more, the damping produced by elastic parts 28 is bigger, and patient is easier to
Search out equalization point.
When patient carries out walking static balance training, the elastic parts 28 in balance training is in locking state,
Due to external force elastic deformation will not occur for spring assembly 28, and drive wheel assemblies are in running order, drive healing robot walking,
Patient follows healing robot to carry out rehabilitation training simultaneously.When patient applies moment of torsion and power to handrail, power and moment of torsion are acted on
Force snesor in force snesor 19, the present embodiment is six-dimension force sensor, can perceive the power and torque in tri- directions of X, Y, Z,
The force signal of acquisition is converted into electric signal again and is sent to controller by force snesor 19, controller send corresponding control signal to
The power source of drive wheel assemblies, the power source of the drive wheel assemblies of chassis both sides, which receives rotating speed after signal, to change, so that
So that producing differential during drive wheel assemblies motion, the direction for changing healing robot walking is realized；Medical personnel can also be passed through
Controller in hand controls recovery walking aiding robot direction of travel, to temper patient's locomotor activity.
When patient carries out walking dynamic balance training, the elastic parts in balance training is in relaxed state or not
Same damping state, drive wheel assemblies are in running order, drive healing robot walking；When patient to handrail applies not Tongfang
During to active force, multifunction walking-aid training rehabilitation robot can change direction of travel, and the active force applied passes through handrail
12 are transferred to balance training, so that multifunction walking-aid training rehabilitation robot is in different directions vibrating state,
Walking dynamic balance training can be carried out by such principle patient.Leading screw driving electricity is controlled according to patient itself rehabilitation situation
Machine, motor drives leading screw 37 to move, so that leading screw drives movable plate 38 to move up and down to change elastic group in balance training structure
The decrement of part 28, reaches the spring damping required for adjustment rehabilitation training, contributes to change patient to find in the process of walking
The complexity of standing balance point.
When patient needs to rest or as wheelchair in use, first make healing robot stop motion by controller, and
Make healing robot not produce to rock, controller can be setting on personal control or multifunctional walking aid rehabilitation image training robot
Controller；Then by make manually rumble seat mechanism seat portion rise come, such patient can be sitting in seat portion, this
When patient can then control the power source of drive wheel assemblies to work by the controller of multifunctional walking aid rehabilitation image training robot, make many
Function walking aid rehabilitation image training robot can be reached anywhere, meet the demand of patient's daily life, can also temper patient
Stand-seat ability.
As shown in figure 5, the chassis for the multifunctional walking aid rehabilitation image training robot that the present embodiment is provided includes the first side base plate
491st, the second side base plate 492 and middle connecting plate 26, the two ends of middle connecting plate 26 respectively with the first side base plate 491 and the second side
One end connection of base plate 192, the lower end of leading screw 37 is fixed on middle connecting plate 26；In the side base plate of middle connecting plate 26 and first
491st, the junction of the second side base plate 492 carries out reinforcement fixation with reinforcing plate muscle 53, prevents from using for a long time, and junction is produced
Relaxation.
A drive wheel assemblies are equipped with first side base plate 491 and the second side base plate 491, drive wheel assemblies include driving wheel
The middle part of upper mounted plate 51, driving wheel bottom plate 52 and hub driving wheel 50, the first side base plate 491 and the second side base plate 491
Position is respectively fixedly installed a driving wheel bottom plate 52, and driving wheel upper mounted plate 51 is arranged on driving wheel bottom plate 52,
The installation axle of hub driving wheel 50, which is folded in, to be arranged between driving wheel bottom plate 52 and driving wheel upper mounted plate 51, and wheel hub drives
Driving wheel 50 is built-in with wheel hub motor, and wheel hub motor is electrically connected with lithium battery, and lithium battery output current gives the inside of hub driving wheel 50
Wheel hub motor so as to driving it to rotate, wheel hub motor is communicated to connect with a driver, driver and controller communication connection.
Four corner positions on chassis are respectively provided with a universal wheel 54, and universal wheel 54 has locking mechanism, the four of chassis
Individual corner positions are each provided with an anticollision elastic component 48.During Walking, four universal wheels 54 play assisted diversion
Effect；When recovery exercising robot remains static or during standing exercise, four universal wheels 54 play locking and support is made
With making universal wheel itself not to be servo-actuated by stirring universal wheel 54 locking mechanism itself, now multifunctional walking aid rehabilitation training airplane
Device people be relatively fixed.An anticollision elastic component 48 is respectively mounted at the corner of body chassis, buffering is played when running into barrier anti-
The effect hit.
As shown in figure 4, support rod mechanism includes support bar 17, first sensor ring flange 181, force snesor 19, second
Sensor ring flange 182, mobile support bar 20, the support bar 18 being fixedly connected in ring 21 and support rod sleeve 23, the present embodiment
For inverted L shape support bar, the upper end of support bar 18 is fixedly connected with the medium position of first axis of guide 111 and second axis of guide 112, power
The upper and lower end face of sensor 19 has been respectively fixedly connected with first sensor ring flange 181 and second sensor ring flange 182, branch
The lower end of strut 17 is connected with first sensor ring flange 181, and second sensor ring flange 182 is connected with mobile support bar 20, is moved
Dynamic support bar 20 is set in support rod sleeve 23 by being fixedly connected ring 21, on the support lower end of rod sleeve 23 and adpting flange 33
End connection, is fixedly connected ring 21 and is provided with the locking device for being used for locking mobile support bar 20.
Being fixedly connected in the present embodiment on ring 21 is used to lock the locking device of mobile support bar 20 for lock handle 22, moves
Dynamic support bar 20 can be moved up and down in the inside of support rod sleeve 23, and correct position is adjusted according to the height of patient, reaches and closes
Ring 21 will be fixedly connected when right position is put with lock handle 22 to tighten positioned at the mobile support bar being fixedly connected in ring.Wherein support
Bar 20 is connected with each other by bolt and upper frame mechanism, plays the upper frame mechanism effect of fixed support；Force snesor 19 is used to connect
The force signal of multifunctional walking aid rehabilitation image training robot is applied to by patient, electric signal is converted into and is sent to controller, controller
Corresponding control signal is sent to driver, driver transmits a signal to wheel hub motor again, control wheel hub motor, realized different
Motion control, and the working condition of wheel hub motor can be fed back to controller by driver.
As shown in Figure 2 and Figure 3, upper frame mechanism also includes stomach protection pad component, lumbar support bar assembly and control cabinet group
Part, handrail is fixedly connected on the two ends of first axis of guide 111 and second axis of guide 112 by contiguous block 6；Stomach protection pad component bag
Stomach protection pad fixed plate 16 and stomach protection pad 14 are included, control box assembly includes control cabinet fixed plate and control casing 8, and first is oriented to
Fixed block is installed with the axis of guide 112 of axle 111 and second, fixed block inboard is fixedly connected with stomach protection pad fixed plate 16, stomach
Protection pad fixed plate 16 is cladded with stomach protection pad 14, and the upside of fixed block 15 is fixedly connected control cabinet fixed plate, and control cabinet 8 is fixedly connected
In control cabinet fixed plate, controller is provided with control cabinet 8；
Lumbar support bar assembly is symmetrically arranged with two groups, before every group of lumbar support bar assembly includes on inverted L shape support bar
Lumbar support bar 5 and rear waist support bar 6, front waist support bar 5 are provided with the first mounting hole and the second mounting hole, and second installs
Second straight line bearing 7 is provided with hole, front waist support bar 5 is set on the by the first mounting hole and second straight line bearing 7 respectively
One axis of guide 111 and the periphery of second axis of guide 112, and the first bulb plunger, first axis of guide 111 are provided with the first mounting hole
Provided with the first plunger hole matched with the first bulb plunger, the rear end of front waist support bar 5 and the front end of rear waist support bar 3 are logical
Gyroaxis connection is crossed, rear waist support bar 3 is provided with limited support cushion block 4, limited support cushion block 4 below gyroaxis and set
The second bulb plunger is equipped with, rear waist support bar 3 is provided with the second plunger hole matched with the second bulb plunger.
The multifunctional walking aid rehabilitation image training robot that the present embodiment is provided, is led first in upper frame mechanism by bolt
It is mutually permanently connected to the axis of guide 112 of axle 111 and second and support bar in support rod mechanism 17, support bar is stuck in jump ring
17 both sides, prevent from using rear linear steering axle 11 play on support bar 17 for a long time；By fixed block 15 and lumbar support bar
Component controls casing fixed plate to pass through the He of fixed block 15 above first axis of guide 111 and second axis of guide 112, then successively
It is bolted on first axis of guide 111 and second axis of guide 112, then control casing 8 is fixed in control cabinet fixed plate；Help
Hand 12 is arranged on first axis of guide 111 and the left and right sides position of second axis of guide 112, will connection before handrail 12 is installed
Block 6 and handrail protecting pad cover 1 are arranged on above handrail 12, then by round nut and stop washer by the axis of guide of handrail 12 and first
111 and second the axis of guide 112 mutually tighten up；And emergency stop switch 9 is arranged on above control casing 8, when patient runs into promptly
During situation, the power supply that emergency stop switch 9 disconnects battery can be pressed, includes the power supply of wheel hub motor and leading screw motor 24, this
When device will stop walking, play safeguard protection effect；Stomach protection pad 14 is first first finally fixed on stomach protection pad fixed plate
On 16, then it is arranged on by screw on fixed block 15, patient body is played a protective role.
Left and right lumbar support bar assembly can mitigate the pressure that patient's joint of lower extremity is born, and pass through mobile first axis of guide
111 and second the lumbar support bar 5 of going forward of the axis of guide 112 the distance between lumbar support bar assembly can be adjusted to adapt to patient's
The first bulb plunger is provided with different building shape, the first mounting hole of front waist support bar 5, first axis of guide 111 is provided with more
Individual the first plunger hole matched with the first bulb plunger, after suitable position is moved to, the first bulb plunger is ejected and stretched
Enter card column front waist support bar 5 in the first plunger hole, play positioning action.
Rear waist support bar 3 is provided with limited support cushion block 4, limited support cushion block 4 in the lower section of gyroaxis 10 and set
There is the second bulb plunger, rear waist support bar 3 is provided with the second plunger hole matched with the second bulb plunger, rear waist support
Bar 3 can be moved around gyroaxis 10, because limiting cushion block 4 is arranged on rear waist support bar in the lower section of gyroaxis, to rear waist
3 supports of support bar and position-limiting action, rear waist support bar 3 can only rotate 180 degree around gyroaxis 10；When rotating to 0 degree and 180
When spending, the second bulb plunger for being arranged on the upper surface of limiting cushion block 4 will upspring and extend into the second plunger of rear waist support bar
Hole, rear waist support bar 3 is locked.Waist protection pad 2 and safety buckle 13 are finally separately mounted to rear waist support bar 3
The left and right sides, wherein waist protection pad 14 play a protective role to human body waist position, and safety buckle 13 can be right with safety harness
Patient plays safeguard protection effect.
The multifunctional walking aid rehabilitation image training robot that the present embodiment is provided, also including pedal slew gear, such as Fig. 7 institutes
Show, pedal slew gear includes pedal 55, pedal fixed block 56 and pedal rotary shaft 57, the He of the first side base plate 491
A pedal fixed block 56 is respectively fixed with second side base plate 492, pedal fixed block 56 is connected by pedal gyroaxis 57
It is connected to a pedal 55.Foot-operated slew gear has two groups, is separately fixed at the first side base plate 491 and the second side base plate on chassis
492 back-end location, when device is in wheelchair state, can be used for patient's step effect.
Rumble seat mechanism includes being symmetricly set on two rumble seat components of chassis both sides, is respectively mounted by screw
The first side base plate 491 and the centre position of the second side base plate 492 on chassis.As shown in fig. 6, rumble seat component includes seat
Support bar 42, ratchet Geneva mechanism 44 and seat portion, seat portion 47 include seat cushions fixed plate 46 and are fixed thereon the seat in portion
Chair cushion 47, Seat support bar 42 is vertically arranged on chassis, is installed with Seat support bar 42 for installing ratchet Geneva mechanism
Race 45, ratchet Geneva mechanism includes ratchet disc and Geneva mechanism with jagged neck, and Geneva mechanism is installed in race
In 45, race 45 is fixedly connected on Seat support bar top, Access Division of the Geneva mechanism provided with protrusion, Access Division and breach card
Groove matches, provided with the ratchet shaft for installing ratchet disc in sheave 45, and ratchet disc is provided with the mounting hole matched with ratchet shaft,
Ratchet disc outer wall is fixed with extension bar 58, and seat portion is connected on the extension bar 58 of ratchet disc, pulls seat portion, seat portion
Drive ratchet disc to rotate and seat portion can be made to be in horizontality, now, the Access Division that Geneva mechanism is protruded above is connected to
In the breach neck of ratchet disc, seat portion is kept horizontality, seat portion is pulled again up, what Geneva mechanism was protruded above
The breach neck of Access Division and ratchet disc departs from clamping, and can move seat portion；Seat support bar is provided with the 3rd ball
Headpin plug 43, seat portion is provided with the 3rd bulb plunger in the 3rd plunger hole matched with the 3rd bulb plunger, the present embodiment
43 are arranged on the inside of the both sides of Seat support bar 42, and when seat portion is put down, the front end of the 3rd bulb plunger 43 is headed into seat portion
On the 3rd plunger hole, prevent training motion process in seat portion produce rock.
The multifunctional walking aid rehabilitation image training robot that the present embodiment is provided, with a variety of training modes：Seat-training of standing, master
It is dynamic to train, follow training, impedance to train to meet the rehabilitation needs of patient's different levels.
There are two kinds of different training methods in seat-training mode of standing, one is that setting countdown is trained, and can be set
5 minutes, 10 minutes, 15 minutes, scored after countdown terminates according to the number of times for sitting station, another sets seat station at the beginning
Number, when reach sit station number when terminate training.
Active training pattern is that patient oneself pushes away dolly, and power is acted on force snesor, and force snesor is transmitted signals to
Controller controls the travel direction of dolly so as to realize.There are two kinds of different training methods, the first is setting countdown training,
Scored after countdown terminates according to travel distance, the speed of travel, stride and cadence；Second is 100 meters of progress of setting
Training, terminates training after distance reaches 100 meters, is scored according to the speed of travel, time used, stride and cadence.
It is travel direction of the medical personnel by remote control control dolly to follow training mode, allows patient to follow moving of car
It is trained.Have two kinds of different training methods, the first be setting countdown training, after countdown terminates according to walking away from
From, the speed of travel, stride and cadence scored；Second is that 100 meters of setting is trained, and is tied after distance reaches 100 meters
Shu Xunlian, is scored according to the speed of travel, time used, stride and cadence.
Under impedance mode, balance training is in running order, and sensor is by different drag effects, according to resistance
When the difference of power is that elastic parts is in different confined states, these three simple, medium, difficult difficulty can be divided into and carried out
Training.Impedance training mode is also that patient oneself pushes away dolly, and the travel direction of dolly is controlled by force snesor.There are two kinds of differences
Training method, the first be setting countdown training, after countdown terminates according to travel distance, the speed of travel, stride and
Cadence is scored；Second is that 100 meters of setting is trained, and terminates training after distance reaches 100 meters, according to walking speed
Degree, time used, stride and cadence are scored.
Specific case is applied in the present invention to be set forth the principle and embodiment of the present invention, above example
Illustrate that being only intended to help understands the method for the present invention and its core concept；Simultaneously for those of ordinary skill in the art, according to
According to the thought of the present invention, it will change in specific embodiments and applications.To sum up, this specification content should not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of balance training, what the balance training was used to realizing recovery exercising robot balance training difficulty can
Modulation, it is characterised in that：The balance training include housing and be arranged in the housing leading screw, elastic parts,
Upper mounted plate, movable plate, hang plate and adpting flange, the housing are arranged on the chassis of recovery exercising robot, the silk
Thick stick is set perpendicular to chassis, and the bottom of the leading screw is connected on chassis by lower leading screw fixed seat, and fixed plate passes through
Upper leading screw fixed seat is connected to the top of the leading screw, and the movable plate is arranged between fixed plate and chassis, described
It is fixedly installed and matches thread bush with the leading screw on movable plate, and the leading screw passes through the thread bush, it is fixed
Plate is connected to the lower end of the adpting flange by spherical hinge, and the housing is stretched out and for connecting health in the adpting flange top
The supporting bar structure or armrest of multiple image training robot, the adpting flange bottom is fixedly connected with the hang plate, described
Elastic parts elastic deformation direction is provided with multiple perpendicular to chassis and the elastic parts, is fixedly connected below the hang plate
There are multiple hemispherical heads, the upper-end contact of the hemispherical head and the elastic parts can simultaneously be slided in the elastic parts upper end,
Rotating the thread bush being arranged outside the leading screw, the leading screw can drive the movable plate to be moved up and down in the housing.
2. balance training according to claim 1, it is characterised in that：The elastic parts, which includes spring movement, leads
Rail, spring spool and spring, the spring moving guide rail lower end are fixedly connected on the movable plate, the spring moving guide rail
Top is arranged in the spring spool, and the spring moving guide rail can be moved in the spring spool, the spring
It is set in outside the spring moving guide rail and the spring spool.
3. balance training according to claim 1, it is characterised in that：The balance training also includes being oriented to
First straight line bearing is fixedly installed on axle, the movable plate, the axis of guide lower end is fixedly connected on recovery exercising robot
Chassis on, the axis of guide pass through the first straight line bearing, and the axis of guide upper end be fixedly connected on it is described solid
In fixed board.
4. balance training according to claim 1, it is characterised in that：The hang plate is locked at by locking nut
On the adpting flange, the leading screw is trapezoidal screw, and the leading screw lower end is connected with leading screw motor, fixed plate
On be provided with downwards on upper limit position switch, chassis lower position switch be installed upwards.
5. a kind of multifunctional walking aid rehabilitation image training robot, it is characterised in that：Including according to any one of claims 1 to 4
Balance training, also including movable chassis mechanism, support rod mechanism, upper frame mechanism, rumble seat mechanism and controller, institute
Stating movable chassis mechanism includes chassis and the drive wheel assemblies on the chassis, the balance training and the folding
Folded chair mechanism is respectively arranged at the adpting flange on the chassis front portion and medium position, the balance training
Upper end is connected with the lower end of the support rod mechanism, and force sensor, the upper frame mechanism are set in the support rod mechanism
Including first axis of guide, second axis of guide and it is fixedly connected on first axis of guide and second axis of guide axis of guide two ends
Two handrails, first axis of guide that the upper end of the support rod mechanism be arranged in parallel before and after being fixedly connected with and described the
Two axis of guides, the power source, the power source of the driving wheel and the power of the controller and the balance training are sensed
Device is communicated to connect.
6. multifunctional walking aid rehabilitation image training robot according to claim 5, it is characterised in that：The chassis includes first
Side base plate, the second side base plate and middle connecting plate, the two ends of the middle connecting plate respectively with first side base plate and described
One end connection of second side base plate, the leading screw lower end is fixed on the middle connecting plate；
Drive wheel assemblies described in one are equipped with first side base plate and second side base plate, the drive wheel assemblies include
In driving wheel upper mounted plate, driving wheel bottom plate and hub driving wheel, first side base plate and second side base plate
Portion position is respectively fixedly installed driving wheel bottom plate described in one, and the driving wheel upper mounted plate is arranged under the driving wheel solid
In fixed board, the installation axle of the hub driving wheel is folded in be arranged on the driving wheel bottom plate and the driving wheel and fixed
Between plate, the hub driving wheel is built-in with wheel hub motor, and the wheel hub motor is electrically connected with lithium battery, the wheel hub motor with
One driver is communicated to connect, and the controller is communicated to connect with the driver；
Four corner positions on the chassis are respectively provided with a universal wheel, and the universal wheel has locking mechanism, the chassis
Four corner positions be each provided with an anticollision elastic component.
7. multifunctional walking aid rehabilitation image training robot according to claim 5, it is characterised in that：The support rod mechanism bag
Include inverted L shape support bar, first sensor ring flange, force snesor, second sensor ring flange, mobile support bar, be fixedly connected
Ring and support rod sleeve, the post upper is fixed with the medium position of first axis of guide and second axis of guide to be connected
Connect, the upper and lower end face of the force snesor has been respectively fixedly connected with the first sensor ring flange and described second and passed
Sensor ring flange, the support bar lower end is connected with the first sensor ring flange, the second sensor ring flange and institute
Mobile support bar connection is stated, the mobile support bar is located in the support rod sleeve by the ring set that is fixedly connected, described
Support rod sleeve lower end is connected with the adpting flange upper end, and the ring that is fixedly connected is provided with for locking the mobile support
The locking device of bar.
8. multifunctional walking aid rehabilitation image training robot according to claim 7, it is characterised in that：The upper frame mechanism is also
Including stomach protection pad component, lumbar support bar assembly and control box assembly, the handrail is fixedly connected on described by contiguous block
The two ends of first axis of guide and second axis of guide；The stomach protection pad component includes stomach protection pad fixed plate and stomach is protected
Pad, the control box assembly is included on control cabinet fixed plate and control casing, first axis of guide and second axis of guide
It is installed with fixed block, the fixed block and is fixedly connected with the stomach protection pad fixed plate, the stomach protection pad fixed plate is cladded with
Having be fixedly connected the control cabinet fixed plate on the upside of the stomach protection pad, the fixed block, and the control cabinet is fixedly connected on institute
State in control cabinet fixed plate, the controller is provided with the control cabinet；
The lumbar support bar assembly is symmetrically arranged with two groups on the inverted L shape support bar, lumbar support bar group described in every group
Part includes front waist support bar and rear waist support bar, and the front waist support bar is installed provided with the first mounting hole and second
Hole, is provided with second straight line bearing in second mounting hole, the front waist support bar respectively by first mounting hole and
The second straight line bearing is set on first axis of guide and second axis of guide periphery, and is set in first mounting hole
The first bulb plunger is equipped with, first axis of guide is provided with the first plunger hole matched with first bulb plunger, institute
State front waist support rod rear end and the rear waist support bar front end is connected by gyroaxis, the rear waist support bar is described
It is provided with below gyroaxis on limited support cushion block, the limited support cushion block and is provided with the second bulb plunger, the low back
Portion's support bar is provided with the second plunger hole matched with second bulb plunger.
9. multifunctional walking aid rehabilitation image training robot according to claim 6, it is characterised in that：Also include pedal to turn round
Mechanism, the pedal slew gear include pedal, pedal fixed block and pedal rotary shaft, first side base plate and
Pedal fixed block described in one is respectively fixed with the base plate of second side, the pedal fixed block is returned by the pedal
Rotating shaft is connected with pedal described in one.
10. multifunctional walking aid rehabilitation image training robot according to claim 5, it is characterised in that：The rumble seat machine
Structure includes two rumble seat components for being symmetricly set on the chassis both sides, and the rumble seat component includes Seat support
Bar, ratchet Geneva mechanism and seat portion, the Seat support bar are vertically arranged on the chassis, solid on the Seat support bar
Provided with the race for installing the ratchet Geneva mechanism, the ratchet Geneva mechanism includes the ratchet disc with jagged neck
And Geneva mechanism, the Geneva mechanism is installed in the race, provided with the ratchet shaft for installing ratchet disc, institute in the sheave
State ratchet disc and be provided with the mounting hole matched with the ratchet shaft, the ratchet disc outer wall is fixed with extension bar, the seat
Chair portion is connected on the extension bar of the ratchet disc, pulls the seat portion, and the seat portion drives the ratchet disc to turn
Move and the seat can be made to be in horizontality, now, the Geneva mechanism is connected to the breach neck of the ratchet disc
It is interior, the seat portion is kept horizontality, the seat portion, the Geneva mechanism and the ratchet disc are pulled again up
Breach neck depart from clamping, and can move the seat portion；The Seat support bar is provided with the 3rd bulb plunger, institute
State seat portion and be provided with the 3rd plunger hole matched with the 3rd bulb plunger.
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| CN201710303909.8A CN106955223B (en) | 2017-05-03 | 2017-05-03 | Balance training device and multifunctional walking-assisting rehabilitation training robot |
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| CN201710303909.8A CN106955223B (en) | 2017-05-03 | 2017-05-03 | Balance training device and multifunctional walking-assisting rehabilitation training robot |
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| CN108096794A (en) * | 2018-01-31 | 2018-06-01 | 力迈德医疗（广州）有限公司 | Balance rehabilitation training robot |
| CN108433943A (en) * | 2018-05-06 | 2018-08-24 | 王先平 | Healing robot with anti-down defencive function |
| CN108464916A (en) * | 2018-03-29 | 2018-08-31 | 周琦 | It is a kind of multi-functional for the moveable equipment of rehabilitation training |
| CN108670739A (en) * | 2018-05-28 | 2018-10-19 | 国家康复辅具研究中心 | Walk helper |
| CN108744416A (en) * | 2018-06-04 | 2018-11-06 | 上海金矢机器人科技有限公司 | Lower limb rehabilitation training assistant robot |
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| CN108852667A (en) * | 2018-07-24 | 2018-11-23 | 北京理工大学 | Control method, device and the seat robot of seat robot |
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| CN110464608A (en) * | 2019-08-23 | 2019-11-19 | 广西医科大学第二附属医院 | The walk helper of cardiothoracic surgery nursing |
| CN110812122A (en) * | 2019-12-04 | 2020-02-21 | 上海金矢机器人科技有限公司 | Sitting and standing training method and system for lower limb rehabilitation robot |
| CN113041550A (en) * | 2021-04-01 | 2021-06-29 | 江苏绿柏智能科技有限公司 | Active balance training module and dynamic balance training system |
| CN113995622A (en) * | 2021-09-26 | 2022-02-01 | 上海机器人产业技术研究院有限公司 | Lower limb rehabilitation robot with balance training function |
| CN114404894A (en) * | 2021-12-16 | 2022-04-29 | 西安大兴医院 | Neurosurgery hemiplegia patient suffers from limb rehabilitation and tempers device |
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