CN106955223B - Balance training device and multifunctional walking-assisting rehabilitation training robot - Google Patents
Balance training device and multifunctional walking-assisting rehabilitation training robot Download PDFInfo
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- CN106955223B CN106955223B CN201710303909.8A CN201710303909A CN106955223B CN 106955223 B CN106955223 B CN 106955223B CN 201710303909 A CN201710303909 A CN 201710303909A CN 106955223 B CN106955223 B CN 106955223B
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- 230000007246 mechanism Effects 0.000 claims abstract description 87
- 210000002784 stomach Anatomy 0.000 claims description 23
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 9
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 230000005489 elastic deformation Effects 0.000 claims 1
- 238000013016 damping Methods 0.000 description 12
- 230000006835 compression Effects 0.000 description 6
- 238000007906 compression Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 206010008190 Cerebrovascular accident Diseases 0.000 description 4
- 208000006011 Stroke Diseases 0.000 description 4
- 210000003141 lower extremity Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 206010008132 Cerebral thrombosis Diseases 0.000 description 1
- 206010010356 Congenital anomaly Diseases 0.000 description 1
- 201000001429 Intracranial Thrombosis Diseases 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 206010008129 cerebral palsy Diseases 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 201000000585 muscular atrophy Diseases 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 239000011435 rock Substances 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
- 239000013585 weight reducing agent Substances 0.000 description 1
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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
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
-
- 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)
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- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a balance training device and a multifunctional walking-assisting rehabilitation training robot, wherein the balance training device comprises a screw rod device, an elastic component, an inclined plate and a connecting flange, the screw rod is connected to a chassis, an upper fixed plate is connected with the upper part of the screw rod, a moving plate is arranged between the upper fixed plate and the chassis and penetrates through the screw rod, the upper fixed plate is connected to the lower end of the connecting flange through a ball hinge, the upper part of the connecting flange extends out of a shell and is connected with a supporting rod, the lower part of the connecting flange is connected with the inclined plate, a plurality of semi-ball heads contacted with the upper end of the elastic component are fixedly connected below the inclined plate, and the moving plate can be driven to move up and down in the shell by rotating the screw rod. Still disclose a multi-functional helping capable rehabilitation training robot, including as aforementioned balance training device, removal chassis mechanism, bracing piece mechanism, go up frame mechanism, folding seat mechanism and controller, make the patient adjust training degree of difficulty and training type according to self condition to can satisfy the demand of different degree patient exercise.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a balance training device and a multifunctional walking-assisting rehabilitation training robot.
Background
In recent years, with technological progress and improvement of living standard of people, people pay more attention to physical health and living quality, and especially, the requirement of patients with apoplexy sequelae on recovery of lower limb exercise ability is rapidly increased, so that research of rehabilitation training robots attracts general attention of scientific researchers. The existing rehabilitation training robot can only perform single training, has single function and poor rehabilitation and treatment effects, can not move at will, is only suitable for indoor training, has low automation degree, and brings inconvenience to the patient for training alone.
Disclosure of Invention
The invention aims to provide a balance training device and a multifunctional walking-assisting rehabilitation training robot, so as to solve the problems in the prior art, and enable a patient to adjust training difficulty and training types according to the conditions of the patient, thereby meeting the requirements of different degrees of patient exercise.
In order to achieve the above object, the present invention provides the following solutions:
the invention provides a balance training device which is used for realizing adjustable change of balance training difficulty of a rehabilitation training robot, and comprises a shell, a screw rod, an elastic component, an upper fixing plate, a moving plate, an inclined plate and a connecting flange, wherein the screw rod, the elastic component, the upper fixing plate, the moving plate, the inclined plate and the connecting flange are arranged in the shell, the shell is arranged on a chassis of the rehabilitation training robot, the screw rod is perpendicular to the chassis, the lower part of the screw rod is connected to the chassis through a lower screw rod fixing seat, the upper fixing plate is connected to the upper part of the screw rod through an upper screw rod fixing seat, the moving plate is arranged between the upper fixing plate and the chassis, the screw rod passes through a threaded sleeve matched with the screw rod, the upper fixing plate is connected to the lower end of the connecting flange through a ball hinge, the upper part of the connecting flange extends out of the shell and is used for connecting a supporting rod structure or a handrail structure of the rehabilitation training robot, the inclined plate is fixedly connected to the lower part of the connecting flange, the elastic component is perpendicular to the chassis, the elastic component is provided with a plurality of elastic components, the upper half of inclined plates are fixedly connected to the lower parts, and the upper half of the screw rod can be in contact with the threaded sleeve, and the upper half of the screw rod can rotate.
Preferably, the elastic component comprises a spring moving guide rail, a spring sleeve and a spring, wherein the lower end of the spring moving guide rail is fixedly connected to the moving plate, the upper part of the spring moving guide rail is arranged in the spring sleeve, the spring moving guide rail can move in the spring sleeve, and the spring is sleeved outside the spring moving guide rail and the spring sleeve.
Preferably, the balance training device further comprises a guide shaft, a first linear bearing is fixedly arranged on the moving plate, the lower end of the guide shaft is fixedly connected to the chassis of the rehabilitation training robot, the guide shaft penetrates through the first linear bearing, and the upper end of the guide shaft is fixedly connected to the upper fixing plate.
Preferably, the inclined plate is locked on the connecting flange through a locking nut, the screw is a trapezoidal screw, the lower end of the screw is connected with a screw driving motor, an upper limit switch is downwards installed on the upper fixing plate, and a lower limit switch is upwards installed on the chassis.
The invention also provides a multifunctional walking-assisting rehabilitation training robot, which comprises the balance training device, a movable chassis mechanism, a supporting rod mechanism, an upper frame mechanism, a folding seat mechanism and a controller, wherein the movable chassis mechanism comprises a chassis and a driving wheel assembly arranged on the chassis, the balance training device and the folding seat mechanism are respectively arranged at the front part and the middle part of the chassis, the upper end of a connecting flange on the balance training device is connected with the lower end of the supporting rod mechanism, a force sensor is arranged in the supporting rod mechanism, the upper frame mechanism comprises a first guide shaft, a second guide shaft and two handrails fixedly connected to the two ends of the first guide shaft and the second guide shaft, the upper end of the supporting rod mechanism is fixedly connected with the first guide shaft and the second guide shaft which are arranged in parallel, and the controller is in communication connection with a power source of the balance training device, a power source of the driving wheel and the force sensor.
Preferably, the chassis comprises a first side bottom plate, a second side bottom plate and a middle connecting plate, two ends of the middle connecting plate are respectively connected with one ends of the first side bottom plate and the second side bottom plate, and the lower end of the screw rod is fixed on the middle connecting plate;
the first side bottom plate and the second side bottom plate are respectively provided with a driving wheel assembly, the driving wheel assemblies comprise a driving wheel upper fixing plate, a driving wheel lower fixing plate and a hub driving wheel, the driving wheel lower fixing plates are respectively and fixedly arranged at the middle positions of the first side bottom plate and the second side bottom plate, the driving wheel upper fixing plates are arranged on the driving wheel lower fixing plates, the mounting shaft of the hub driving wheel is clamped between the driving wheel lower fixing plates and the driving wheel upper fixing plates, a hub motor is arranged in the hub driving wheel, the hub motor is electrically connected with a lithium battery, the hub motor is in communication connection with a driver, and the controller is in communication connection with the driver;
the four corner positions of the chassis are respectively provided with a universal wheel, the universal wheels are provided with locking structures, and the four corner positions of the chassis are respectively provided with an anti-collision elastic piece.
Preferably, the support rod mechanism comprises an inverted L-shaped support rod, a first sensor flange, a force sensor, a second sensor flange, a movable support rod, a fixed connection ring and a support rod sleeve, wherein the upper end of the support rod is fixedly connected with the middle position of the first guide shaft and the middle position of the second guide shaft, the upper end face and the lower end face of the force sensor are respectively fixedly connected with the first sensor flange and the second sensor flange, the lower end of the support rod is connected with the first sensor flange, the second sensor flange is connected with the movable support rod, the movable support rod is sleeved in the support rod sleeve through the fixed connection ring, the lower end of the support rod sleeve is connected with the upper end of the connection flange, and a locking device for locking the movable support rod is arranged on the fixed connection ring.
Preferably, the upper frame mechanism further comprises a stomach protection pad component, a waist support rod component and a control box component, and the armrests are fixedly connected to two ends of the first guide shaft and the second guide shaft through connecting blocks; the stomach protection pad assembly comprises a stomach protection pad fixing plate and a stomach protection pad, the control box assembly comprises a control box fixing plate and a control box body, fixing blocks are fixedly arranged on the first guide shaft and the second guide shaft, the stomach protection pad fixing plate is fixedly connected to the fixing blocks, the stomach protection pad is covered outside the stomach protection pad fixing plate, the upper side of the fixing blocks is fixedly connected with the control box fixing plate, the control box is fixedly connected to the control box fixing plate, and the controller is arranged in the control box;
The waist bracing piece subassembly is provided with two sets of about the symmetry of falling L type bracing piece, every group waist bracing piece subassembly is including preceding waist bracing piece and back waist bracing piece, be equipped with first mounting hole and second mounting hole on the preceding waist bracing piece, be equipped with second linear bearing in the second mounting hole, preceding waist bracing piece passes through respectively first mounting hole with second linear bearing wears to overlap first guiding axle with the second guiding axle is peripheral, just be provided with first bulb plunger in the first mounting hole, be equipped with on the first guiding axle with first bulb plunger assorted first plunger hole, preceding waist bracing piece rear end with back waist bracing piece front end is connected through the swivel axis, back waist bracing piece is in the below of swivel axis is provided with spacing support cushion, be provided with second bulb plunger on the spacing support cushion, be equipped with on the back waist bracing piece with second bulb plunger assorted second bulb plunger.
Preferably, the pedal rotating mechanism comprises a pedal, a pedal fixing block and a pedal rotating shaft, wherein the first side bottom plate and the second side bottom plate are respectively fixed with the pedal fixing block, and the pedal fixing block is connected with a pedal through the pedal rotating shaft.
Preferably, the folding seat mechanism comprises two folding seat components symmetrically arranged at two sides of the chassis, the folding seat components comprise a seat supporting rod, a ratchet wheel grooved wheel mechanism and a seat part, the seat supporting rod is vertically arranged on the chassis, a wheel groove for installing the ratchet wheel grooved wheel mechanism is fixedly arranged on the seat supporting rod, the ratchet wheel grooved wheel mechanism comprises a ratchet wheel disc with a notch clamping groove and a grooved wheel mechanism, the grooved wheel mechanism is fixedly arranged in the wheel groove, a ratchet wheel shaft for installing the ratchet wheel disc is arranged in the grooved wheel, a waist-shaped hole matched with the ratchet wheel shaft is formed in the ratchet wheel disc, an extending rod is fixedly connected to the outer wall of the ratchet wheel disc, the seat part is connected to the extending rod of the ratchet wheel disc, the seat part is pulled, the seat part drives the ratchet wheel disc to rotate and can enable the seat to be in a horizontal state, at the moment, the grooved wheel mechanism is clamped in the notch clamping groove of the ratchet wheel disc, the seat part is kept in the horizontal state, the seat part is upwards moved again, and the notch clamping groove of the grooved wheel disc is separated from the ratchet wheel disc, and the seat part can be moved; the seat support rod is provided with a third ball plunger, and the seat part is provided with a third plunger hole matched with the third ball plunger.
Compared with the prior art, the invention has the following technical effects:
according to the balance training device provided by the invention, a user applies force on the supporting rod structure or the handrail structure of the rehabilitation training robot, the force is transmitted to the balance training device through the connecting flange, the elastic components at different positions in the balance training device can not receive the forces with different magnitudes and directions, the elastic components can be deformed, and the springs are in a compressed or stretched state, so that the inclined plate is inclined; when the compression amount or the extension amount of each spring assembly is in the same state, the rehabilitation robot talents are in a balanced state; moreover, the trapezoidal screw rod has a locking effect due to the gradient relation, so that the movable plate can be prevented from sliding off from the screw rod, and the fear caused by sudden change of the balance training difficulty of the rehabilitation robot due to the fact that the movable plate slides off when a patient performs rehabilitation balance training is avoided. Through the principle mode, the difficulty of finding the balance point of the patient can be exercised, the damping generated by the elastic assembly is smaller, and the more difficult the patient is to find the balance point.
The multifunctional walking-assisting rehabilitation training robot provided by the invention is formed by mutually combining the balance training device and other various structures, so that the multifunctional walking-assisting rehabilitation training robot can better help a patient to perform multifunctional rehabilitation training. Not only can help the patient perform sitting-standing rehabilitation training, but also can help the patient perform autonomous or passive gait rehabilitation training; the patient can adjust the damping coefficient of the spring in the balance training device according to the self condition to help the patient find the walking balance point capacity; and the intelligent walking-assisting rehabilitation training robot has the function of a wheelchair, is used for providing rest for patients and meeting the daily life requirements of the patients, and is simultaneously helpful for training the sitting-standing ability of the patients. Finally, in order to ensure the safety of the patient in the training process, safety structures such as a plurality of protection pads, limit switches, emergency stop switches and the like are added in the mechanism.
The movable support rod, the fixed connecting ring and the support rod sleeve are connected and fixed on the support rod mechanism, the height of the multifunctional walking-assisting rehabilitation training robot can be adjusted, the pressure born by the joints of lower limbs of a patient can be relieved through the left and right waist support rod assemblies, the distance between the two joints is adjusted according to the body type of the patient, and therefore the requirements of patients with different body types are met.
Through the interaction of the force sensor and the wheel hub motor driving wheel, differential motion can be realized, and the walking direction of the multifunctional walking-assisting rehabilitation training robot can be controlled, so that a patient with apoplexy sequela can independently walk without being assisted by people and can perform rehabilitation training autonomously; the upper frame mechanism helps the patient to exercise independently, has safety and reliability, and increases the confidence of the patient to exercise.
The balance training device with the multistage damping is used for training a patient to find a balance point when standing, meanwhile, the patient can also be trained to find the balance point when walking, and the difficulty level of the patient to find the balance point is changed by adjusting the spring damping in the balance training device, so that the flexibility of the body is improved; through the limit switch and the anti-collision devices at four corners of the chassis, the walking-assisting training rehabilitation robot can be stopped when encountering an obstacle, and the safety of a patient is guaranteed;
The wheelchair has the functions of a common wheelchair besides controlling a patient with apoplexy sequela to realize walking exercise, balance point searching exercise, weight reduction training and lower limb joint and muscle exercise; the wheel chair ratchet wheel grooved wheel mechanism and the pedal rotating mechanism can help a patient to sit down safely, feet can be placed well, and meanwhile, the mechanism does not occupy space during training; the patient can sit on the wheelchair, controls the walking direction of the walking-assisting training rehabilitation robot through the upper frame mechanism and the force sensor, and meets the daily life requirement of the patient.
The balance training device and the multifunctional walking-assisting rehabilitation training robot provided by the invention can be used for walking rehabilitation training of congenital leg disability and acquired leg disability caused by cerebral thrombosis sequelae, apoplexy patient sequelae, spinal cord injury, cerebral palsy, muscular atrophy, accidents and the like, so that a patient can adjust training difficulty and training type according to the conditions of the patient, and the requirements of different degrees of patient training can be met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic cross-sectional view of a balance training apparatus according to the present invention;
FIG. 2 is a perspective view of the multifunctional walking aid rehabilitation training robot provided by the invention;
FIG. 3 is a rear view of the multifunctional walk-assisting rehabilitation training robot provided by the invention;
FIG. 4 is a left side view of the multifunctional walk-assisting rehabilitation training robot provided by the invention;
FIG. 5 is a perspective view of a chassis mechanism of the multifunctional walking-assisted rehabilitation training robot provided by the invention;
FIG. 6 is a schematic structural view of a folding seat mechanism of the multifunctional walking-aid rehabilitation training robot provided by the invention;
fig. 7 is a perspective view of the novel multifunctional walking aid training rehabilitation robot after the folding seat mechanism is unfolded.
In the figure: 1-armrest pad cover, 2-lumbar pad, 3-rear lumbar support bar, 4-limit support pad, 5-front lumbar support bar, 6-connection block, 7-second linear bearing, 8, control box, 9-scram button, 10-swivel shaft, 111-first guide shaft, 112-second guide shaft, 12-armrest, 13-seat belt buckle, 14-stomach pad, 15-fixed block, 16-stomach pad fixed plate, 17-support bar, 181-first sensor flange, 182-second sensor flange, 19-force sensor, 20-movable support bar, 21-fixed connection ring, 22-locking handle, 23-support bar sleeve, 24-screw drive motor 25-motor fixing plate, 26-intermediate connecting plate, 27-housing, 28-elastic component, 29-guiding shaft, 30-half ball, 31-tilting plate, 32-lock nut, 33-connecting flange, 34-ball hinge, 35-upper fixing plate, 36-upper screw fixing base, 37-screw, 38-moving plate, 40-screw bush, 41-upper limit switch, 42-seat supporting rod, 43-third ball plunger, 44-ratchet grooved pulley mechanism, 45-wheel groove, 46-seat pad fixing plate, 47-seat pad, 48-crashproof elastic piece, 491-first side bottom plate, 492-second side bottom plate, 50-hub driving wheel, 51-driving wheel upper fixing plate, 52-driving wheel lower fixing plate, and, 53-reinforcing ribs, 54-universal wheels, 55-pedals, 56-pedal fixing blocks, 57-pedal rotating shafts and 58-extension rods.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a balance training device and a multifunctional walking-assisting rehabilitation training robot, so as to solve the problems in the prior art, and enable a patient to adjust training difficulty and training types according to the conditions of the patient, thereby meeting the requirements of different degrees of patient exercise.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1
The embodiment provides a balance training device, as shown in fig. 1, an adjustable change for realizing balance training difficulty of a rehabilitation training robot, the balance training device comprises a shell 27, and a screw 37, an elastic component 28, an upper fixing plate 35, a moving plate 38, an inclined plate 31 and a connecting flange 33 which are arranged in the shell 27, wherein the connecting flange 33 is a threaded flange plate, the shell 27 is arranged on a chassis of the rehabilitation training robot, the screw 37 is arranged perpendicular to the chassis, the lower part of the screw 37 is connected to the chassis through a lower screw fixing seat, the upper fixing plate 35 is connected to the upper part of the screw 37 through the upper screw fixing seat 36, the moving plate 38 is arranged between the upper fixing plate 35 and the chassis, a threaded sleeve 40 matched with the screw 37 is fixedly arranged on the moving plate 38, the screw 37 passes through the threaded sleeve 40, the upper fixing plate 35 is connected to the lower end of the connecting flange 33 through a ball joint 34, the upper part of the connecting flange 33 extends out of the shell 27 and is used for connecting a supporting rod structure or a handrail structure of the rehabilitation training robot, the lower part of the connecting flange 33 is fixedly connected with the inclined plate 31, the elastic component 28 is perpendicular to the chassis, the elastic component 28 is provided with a plurality of elastic components, the lower parts are connected to the elastic components 28 through the lower parts, the upper parts are connected to the upper fixing plates 35 through the upper fixing plates 36, the upper parts are connected to the lower parts of the elastic components 30 are capable of being in sliding contact with the screw 37, and the upper parts of the elastic components 30 can slide, and the lower parts of the upper parts can slide on the upper parts 30 are in contact with the lower parts of the elastic components, and can slide on the lower parts, and can slide down the lower parts, and can rotate.
The elastic component 28 includes spring moving guide 281, spring sleeve 282 and spring 293, and spring moving guide 281 lower extreme fixed connection is provided with the blotter on moving plate 38, and spring moving guide 281 upper portion sets up in spring sleeve 282, and spring moving guide 281 can remove in spring sleeve 282, and the spring 283 cover is established outside spring moving guide 281 and spring sleeve 282.
The balance training device further comprises a guide shaft 29, a first linear bearing 381 is fixedly arranged on the moving plate 38, the lower end of the guide shaft 29 is fixedly connected to the chassis of the rehabilitation training robot, the guide shaft 29 penetrates through the first linear bearing 381, and the upper end of the guide shaft 29 is fixedly connected to the upper fixing plate 35.
The inclined plate 31 is locked on the connecting flange 33 through the locking nut 32, the screw rod 37 is a trapezoidal screw rod, the lower end of the screw rod 37 is connected with the screw rod driving motor 24, the upper limiting switch is installed downwards on the upper fixing plate 35, and the lower limiting switch is installed upwards on the chassis.
The guide shaft 29 is fixed on the chassis of the rehabilitation training robot through round nuts, nuts at two ends of the connection of the guide shaft 29, the upper fixing plate and the chassis of the rehabilitation training robot are tightened at the same time, and the upper fixing plate and the chassis of the rehabilitation training robot play a role in fixing up and down in the whole balance training device; the threaded sleeve 40 of the screw 37 is fixedly connected to the moving plate 38, so that movement of the screw 37 will drive the moving plate 38 up and down along the guide shaft 29 past the first linear bearing 40. After fixing the guide shaft 29 and the screw rod 37, the ball hinge 34 is mounted on the upper fixing plate 35 through screw connection before the upper fixing plate 35 is mounted, and then the upper limit switch device 41 and the lower limit switch are mounted on the upper fixing plate 35 and the chassis respectively. The upper limit switch device 41 can control the movement limit position of the movable plate 38 to prevent the spring from being excessively extruded; the lower limit switch can control the lower movement limit position of the movable plate 38, when the movable plate 38 contacts the limit switch, the circuit in the balance training device will be in a broken state and timely powered off, so that the screw driving motor 24 stops working, which helps to protect the motor and determine the limit position of the movable plate 38 at the same time, and prevent the spring from being excessively extruded.
After the screw 37 and the upper fixing plate 35 are installed, the screw driving motor 24 is fixed on the chassis of the rehabilitation training robot through the motor fixing plate 25, and simultaneously the plurality of elastic components 28 are installed on the moving plate 38 through the round nuts and the stop washers; the number of elastic components in the present invention may be 8-12, preferably even, and the force applied to the elastic components 28 is more uniformly distributed, and in this embodiment, 12 elastic components are provided. Then fixing the threaded flange 33 and the ball hinge 34 to each other, and then mounting the inclined plate 31 on the threaded flange 33 and locking the inclined plate with respect to each other by the lock nut 32; before the inclined plate 31 is installed, the half ball head 30 is screwed on the inclined plate 31 through a round nut, the half ball head and the elastic component are contacted with each other after the inclined plate is installed, and the half ball head 30 can slide in the elastic component 28; finally, the housing 27 is mounted on the chassis and screwed down. The screw driving motor 24 is controlled to drive the screw 37 to move, and the threaded sleeve 40 which is in threaded connection with the screw 37 drives the moving plate 38 to move up and down along the guide shaft 29, so that the compression amount of the spring 283 is changed to play a role in adjusting the damping of the elastic assembly 28, and the greater the compression amount of the spring 283 is, the greater the damping generated by the elastic assembly 28 is. When the spring 283 is in a compressed state, the inclined plate 31 is not inclined; when the spring assembly 28 is in a relaxed state or other damping state, a user applies force on the support rod structure or the handrail structure of the rehabilitation training robot, the force is transmitted to the balance training device through the connecting flange 33, the spring assembly 28 at different positions in the balance training device cannot receive forces with different magnitudes and directions, the spring assembly 28 is deformed, and the spring 283 is in a compressed or stretched state, so that the inclined plate 31 is inclined; when the compression or extension of each spring assembly is in the same state, the rehabilitation robot is in a balanced state, and the trapezoidal screw 37 has a locking effect due to the gradient, so that the movable plate 38 can be prevented from sliding off the screw, and fear caused by sudden change of the balance training difficulty of the rehabilitation robot due to sliding of the movable plate when a patient performs rehabilitation balance training is avoided. By doing so, the difficulty of the patient to find the point of equilibrium can be exercised, with less damping produced by the spring assembly 28, and the more difficult the patient is to find the point of equilibrium.
Example two
The embodiment provides a multifunctional walking-assisting rehabilitation training robot, as shown in fig. 2, the multifunctional walking-assisting rehabilitation training robot comprises a balance training device in the first embodiment, and further comprises a movable chassis mechanism, a support rod mechanism, an upper frame mechanism, a folding seat mechanism and a controller, wherein the movable chassis mechanism comprises a chassis and a driving wheel assembly arranged on the chassis, the balance training device and the folding seat mechanism are respectively arranged at the front part and the middle part of the chassis, the upper end of a connecting flange 33 on the balance training device is connected with the lower end of the support rod mechanism, a dustproof rubber sleeve for sealing is arranged at the connection position of the lower end of the support rod mechanism and the connecting flange 33, a force sensor 19 is arranged in the support rod mechanism, the upper frame mechanism comprises a first guide shaft 11, a second guide shaft 112 and two armrests 12 fixedly connected to two ends of the first guide shaft 111 and the second guide shaft 112, the upper end of the support rod mechanism is fixedly connected with the first guide shaft 11 and the second guide shaft 112 which are arranged in front-back parallel, and the controller is in communication connection with a power source of the balance training device, a power source of the driving wheel and the force sensor 19.
When a patient carries out rehabilitation training, the patient who needs to have certain walking ability and supporting force can operate alone under the nursing of medical personnel or family members, the control panel on the multifunctional walking-assisting training rehabilitation robot controller can control each action of the robot, and the patient is controlled to carry out multi-functional training, and can include sitting-standing balance, standing balance training, walking static balance, walking dynamic balance and other training modes, so that the patient can adjust the training difficulty and training types according to the self conditions, the requirements of different degrees of patient training can be met, and meanwhile, the operation panel of the controller can display parameters such as the walking-assisting training rehabilitation robot speed and the state of the rehabilitation robot, and timely learn training results.
When the patient performs standing balance training, the power source of the driving wheel assembly does not work, and the rehabilitation robot is in a static state relative to the ground. When the patient applies forces in different directions to the armrests, the walking-assisting training rehabilitation robot can be in a swaying state in different directions, and the patient can perform standing balance training through the principle. The patient adjusts the lead screw driving motor 24 of the balance training device according to the self rehabilitation situation to change the compression amount of the elastic component 28 in the balance training structure, so as to adjust the damping generated by the elastic component required by the rehabilitation training, thereby changing the difficulty of the patient in finding the standing balance point. The greater the distance the lead screw drive motor 24 moves the movable plate 38 upward, the greater the damping generated by the spring assembly 28, and the easier the patient is to find the point of equilibrium.
When a patient walks for static balance training, the elastic component 28 in the balance training device is in a locking state, the elastic component 28 cannot elastically deform due to external force, the driving wheel component is in a working state, the rehabilitation robot is driven to walk, and meanwhile, the patient follows the rehabilitation robot to conduct rehabilitation training. When a patient applies torque and force to the handrail, the force and the torque act on the force sensor 19, the force sensor in the embodiment is a six-dimensional force sensor, the force and the moment in the three directions can be sensed X, Y, Z, the force sensor 19 converts the obtained force signals into electric signals and sends the electric signals to the controller, the controller sends corresponding control signals to the power sources of the driving wheel assemblies, the power sources of the driving wheel assemblies on two sides of the chassis can change in rotating speed after receiving the signals, and therefore differential speed is generated when the driving wheel assemblies move, and the walking direction of the rehabilitation robot is changed; the walking direction of the rehabilitation walking aid robot can be controlled by a controller in the hand of a medical staff to exercise the walking capacity of a patient.
When a patient performs walking dynamic balance training, an elastic component in the balance training device is in a loose state or different damping states, and a driving wheel component is in a working state to drive a rehabilitation robot to walk; when the patient applies different direction effort to the handrail, the multi-functional walking training rehabilitation robot can change the walking direction to the effort of applying is transmitted to balance training device through handrail 12, thereby also can make multi-functional walking training rehabilitation robot be in different direction and rock the state, through this principle patient can walk dynamic balance training. According to the self rehabilitation condition of the patient, the screw driving motor is controlled, the motor drives the screw 37 to move, so that the screw drives the movable plate 38 to move up and down to change the compression amount of the elastic component 28 in the balance training structure, the spring damping required by the rehabilitation training is adjusted, and the difficulty level of the patient in searching for standing balance points in the walking process is changed.
When a patient needs to rest or is used as a wheelchair, the rehabilitation robot stops moving through the controller firstly, the rehabilitation robot does not shake, and the controller can be a manual controller or a controller arranged on the multifunctional walking-assisting rehabilitation training robot; then the seat part of the folding seat mechanism is manually lifted, so that a patient can sit on the seat part, and the patient can control the power source of the driving wheel assembly to work through the controller of the multifunctional walking-assisting rehabilitation training robot, so that the multifunctional walking-assisting rehabilitation training robot can reach any place, the daily life requirement of the patient is met, and the standing-sitting capability of the patient can be exercised.
As shown in fig. 5, the chassis of the multifunctional walking-assisting rehabilitation training robot provided by the embodiment comprises a first side bottom plate 491, a second side bottom plate 492 and a middle connecting plate 26, wherein two ends of the middle connecting plate 26 are respectively connected with one ends of the first side bottom plate 491 and the second side bottom plate 192, and the lower end of a screw rod 37 is fixed on the middle connecting plate 26; the joint between the intermediate connecting plate 26 and the first side floor 491 and the second side floor 492 is reinforced and fixed by the reinforcing plate ribs 53, so that the joint is prevented from being loosened after long-term use.
The first side bottom plate 491 and the second side bottom plate 491 are respectively provided with a driving wheel assembly, the driving wheel assemblies comprise a driving wheel upper fixing plate 51, a driving wheel lower fixing plate 52 and a hub driving wheel 50, the driving wheel lower fixing plates 52 are respectively fixedly arranged in the middle of the first side bottom plate 491 and the second side bottom plate 491, the driving wheel upper fixing plates 51 are arranged on the driving wheel lower fixing plates 52, the mounting shaft of the hub driving wheel 50 is clamped between the driving wheel lower fixing plates 52 and the driving wheel upper fixing plates 51, a hub motor is arranged in the hub driving wheel 50, the hub motor is electrically connected with a lithium battery, and the lithium battery outputs current to the hub motor in the hub driving wheel 50 so as to drive the hub motor to rotate, and the hub motor is in communication connection with a driver which is in communication connection with a controller.
The four corners of the chassis are each provided with a universal wheel 54, the universal wheels 54 having a locking structure, and the four corners of the chassis are each provided with an anti-collision elastic member 48. During the course of the walking training, the four universal wheels 54 serve as auxiliary steering; when the rehabilitation training robot is in a static state or in standing training, the four universal wheels 54 play a role in locking and supporting, the universal wheels cannot follow up by stirring the locking structure of the universal wheels 54, and the multifunctional walking-assisting rehabilitation training robot is relatively fixed. The four corners of the chassis mechanism are respectively provided with an anti-collision elastic piece 48, and the anti-collision elastic piece plays a role in buffering and anti-collision when encountering obstacles.
As shown in fig. 4, the support rod mechanism includes a support rod 17, a first sensor flange 181, a force sensor 19, a second sensor flange 182, a movable support rod 20, a fixed connection ring 21 and a support rod sleeve 23, the support rod 18 in this embodiment is an inverted L-shaped support rod, the upper end of the support rod 18 is fixedly connected with the middle positions of the first guide shaft 111 and the second guide shaft 112, the upper end surface and the lower end surface of the force sensor 19 are respectively fixedly connected with the first sensor flange 181 and the second sensor flange 182, the lower end of the support rod 17 is connected with the first sensor flange 181, the second sensor flange 182 is connected with the movable support rod 20, the movable support rod 20 is sleeved in the support rod sleeve 23 through the fixed connection ring 21, the lower end of the support rod sleeve 23 is connected with the upper end of the connection flange 33, and a locking device for locking the movable support rod 20 is arranged on the fixed connection ring 21.
In this embodiment, the locking device on the fixed connection ring 21 for locking the movable support rod 20 is a locking handle 22, the movable support rod 20 can move up and down in the support rod sleeve 23, a proper position is adjusted according to the height of a patient, and the fixed connection ring 21, i.e. the movable support rod positioned in the fixed connection ring, is screwed by the locking handle 22 when the proper position is reached. Wherein the support rod 20 is connected with the upper frame mechanism through bolts, and plays a role in fixedly supporting the upper frame mechanism; the force sensor 19 is used for receiving force signals applied to the multifunctional walking-assisting rehabilitation training robot by a patient, converting the force signals into electric signals and sending the electric signals to the controller, the controller sends corresponding control signals to the driver, the driver transmits the signals to the hub motor, the hub motor is controlled, different motion control is achieved, and the driver can feed back the working conditions of the hub motor to the controller.
As shown in fig. 2 and 3, the upper frame mechanism further comprises a stomach protection pad assembly, a waist support rod assembly and a control box assembly, and handrails are fixedly connected to two ends of the first guide shaft 111 and the second guide shaft 112 through connecting blocks 6; the stomach protection pad assembly comprises a stomach protection pad fixing plate 16 and a stomach protection pad 14, the control box assembly comprises a control box fixing plate and a control box body 8, fixing blocks are fixedly arranged on a first guide shaft 111 and a second guide shaft 112, the stomach protection pad fixing plate 16 is fixedly connected to the inner side of each fixing block, the stomach protection pad 14 is covered outside the stomach protection pad fixing plate 16, the control box fixing plate is fixedly connected to the upper side of each fixing block 15, the control box 8 is fixedly connected to the control box fixing plate, and a controller is arranged in the control box 8;
The waist bracing piece subassembly is provided with two sets of with regard to falling L bracing piece symmetry, every waist bracing piece subassembly of group includes preceding waist bracing piece 5 and back waist bracing piece 6, be equipped with first mounting hole and second mounting hole on the preceding waist bracing piece 5, be equipped with second linear bearing 7 in the second mounting hole, preceding waist bracing piece 5 wears to overlap at first guiding axle 111 and second guiding axle 112 periphery through first mounting hole and second linear bearing 7 respectively, and be provided with first bulb plunger in the first mounting hole, be equipped with on the first guiding axle 111 with first bulb plunger assorted first plunger hole, preceding waist bracing piece 5 rear end and back waist bracing piece 3 front end pass through the swivel connection, back waist bracing piece 3 is provided with spacing supporting cushion 4 in the below of swivel, be provided with second bulb plunger on the spacing supporting cushion 4, be equipped with on the back waist bracing piece 3 with second bulb plunger assorted second bulb plunger hole.
The multifunctional walking-assisting rehabilitation training robot provided by the embodiment is characterized in that a first guide shaft 111 and a second guide shaft 112 in an upper frame mechanism are fixedly connected with a support rod 17 in a support rod mechanism through bolts, and clamp springs are respectively clamped at two sides of the support rod 17 to prevent the linear guide shaft 11 from moving on the support rod 17 after long-time use; the fixing block 15 and the waist support rod assembly are sequentially arranged on the first guide shaft 111 and the second guide shaft 112, then the control box body fixing plate is fixed on the first guide shaft 111 and the second guide shaft 112 through the fixing block 15 and the bolts, and then the control box body 8 is fixed on the control box body fixing plate; the armrests 12 are arranged at the left and right sides of the first guide shaft 111 and the second guide shaft 112, the connecting block 6 and the armrests protection pad sleeve 1 are arranged on the armrests 12 before the armrests 12 are arranged, and then the armrests 12 and the first guide shaft 111 and the second guide shaft 112 are mutually tightened through round nuts and stop washers; the emergency stop switch 9 is arranged on the control box body 8, when a patient encounters an emergency, the emergency stop switch 9 can be pressed to cut off the power supply of the battery, the power supply comprises a hub motor and a screw driving motor 24, and the device stops walking at the moment to play a role in safety protection; finally, the stomach protecting pad 14 is firstly fixed on the stomach protecting pad fixing plate 16, and then is arranged on the fixing block 15 through screws, so that the body of a patient is protected.
The left and right waist support rod assemblies can relieve the pressure born by the joints of lower limbs of a patient, the distance between the waist support rod assemblies can be adjusted by moving the first guide shaft 111 and the second guide shaft 112 to adapt to different body types of the patient, a first ball plunger is arranged in a first mounting hole of the front waist support rod 5, a plurality of first plunger holes matched with the first ball plunger are arranged on the first guide shaft 111, and after moving to a proper position, the first ball plunger pops out and stretches into the first plunger hole to clamp the front waist support rod 5, so that a positioning effect is achieved.
The rear waist support rod 3 is provided with a limiting support cushion block 4 below the rotating shaft 10, the limiting support cushion block 4 is provided with a second ball plunger, the rear waist support rod 3 is provided with a second plunger hole matched with the second ball plunger, the rear waist support rod 3 can move around the rotating shaft 10, and the limiting cushion block 4 is arranged below the rear waist support rod to support and limit the rear waist support rod 3, so that the rear waist support rod 3 can only rotate 180 degrees around the rotating shaft 10; when the ball is rotated to 0 degree and 180 degrees, the second ball plunger arranged on the upper surface of the limit cushion block 4 can spring up and extend into the second plunger hole of the rear lumbar support rod, and the rear lumbar support rod 3 is locked and fixed. Finally, the waist protection pad 2 and the safety belt buckle 13 are respectively arranged at the left side and the right side of the rear waist support rod 3, wherein the waist protection pad 14 plays a role in protecting the waist position of a human body, and the safety belt buckle 13 can be connected with a safety belt to play a role in protecting the safety of a patient.
The multifunctional walking-assisting rehabilitation training robot provided in this embodiment further includes a pedal turning mechanism, as shown in fig. 7, the pedal turning mechanism includes a pedal 55, a pedal fixing block 56 and a pedal rotating shaft 57, a first side bottom plate 491 and a second side bottom plate 492 are respectively fixed with a pedal fixing block 56, and the pedal fixing block 56 is connected with a pedal 55 through the pedal turning shaft 57. The pedal swivel mechanisms are respectively fixed at the rear end positions of the first side bottom plate 491 and the second side bottom plate 492 of the chassis, and can be used for the pedal action of a patient when the device is in a wheelchair state.
The folding seat mechanism includes two folding seat assemblies symmetrically disposed on both sides of the chassis, and are mounted at intermediate positions of the first side floor 491 and the second side floor 492, respectively, of the chassis by screws. As shown in fig. 6, the folding seat assembly comprises a seat supporting rod 42, a ratchet wheel grooved pulley mechanism 44 and a seat part, wherein the seat part 47 comprises a seat cushion fixing plate 46 and a seat cushion 47 fixed at the upper part of the seat supporting rod, the seat supporting rod 42 is vertically arranged on a chassis, a wheel groove 45 for installing a ratchet wheel grooved pulley mechanism is fixedly arranged on the seat supporting rod 42, the ratchet wheel grooved pulley mechanism comprises a ratchet wheel disc with a notch clamping groove and a grooved pulley mechanism, the grooved pulley mechanism is fixedly arranged in the wheel groove 45, the wheel groove 45 is fixedly connected to the upper part of the seat supporting rod, a protruding clamping part is arranged on the grooved pulley mechanism and matched with the notch clamping groove, a ratchet wheel shaft for installing a ratchet wheel disc is arranged in the grooved pulley 45, a waist-shaped hole matched with the ratchet wheel shaft is formed in the ratchet wheel disc, an extending rod 58 is fixedly connected to the outer wall of the ratchet wheel disc, the seat part is connected to the extending rod 58 of the ratchet wheel disc, the seat part is driven by the seat part to rotate and can enable the seat part to be in a horizontal state, at the moment, the protruding clamping part of the grooved pulley mechanism is clamped in the notch clamping groove of the ratchet wheel disc, so that the seat part keeps a horizontal state, the protruding clamping part of the grooved pulley mechanism is upwards, the protruding clamping part is separated from the ratchet wheel disc, and the ratchet wheel part can move upwards; the seat support rod is provided with a third ball plunger 43, the seat part is provided with a third plunger hole matched with the third ball plunger, the third ball plunger 43 in the embodiment is arranged in the two sides of the seat support rod 42, when the seat part is put down, the front end of the third ball plunger 43 is jacked into the third plunger hole in the seat part, and the seat part is prevented from shaking in the training process.
The multi-functional helping rehabilitation training robot that this embodiment provided has multiple training mode: sit-stand training, active training, follow training, impedance training to meet the rehabilitation needs of different levels of patients.
Two different training modes exist in the sitting-standing training mode, one training mode is to set a countdown for training, 5 minutes, 10 minutes and 15 minutes can be set, scoring is carried out according to the number of sitting stations after the countdown is finished, the number of sitting stations is set at the beginning, and the training is finished when the number of sitting stations is reached.
The active training mode is that the patient pushes the trolley by himself, force acts on the force sensor, and the force sensor transmits signals to the controller so as to control the running direction of the trolley. There are two different training modes, the first is to set a countdown training, and score according to the walking distance, the walking speed, the stride and the step frequency after the countdown is finished; the second is to set one hundred meters for training, and finish training when the distance reaches 100 meters, and score according to walking speed, time, stride and step frequency.
The following training mode is that medical staff controls the running direction of the trolley through a remote controller, so that patients train along with the movement of the trolley. There are two different training modes, the first is to set a countdown training, and score according to the walking distance, the walking speed, the stride and the step frequency after the countdown is finished; the second is to set one hundred meters for training, and finish training when the distance reaches 100 meters, and score according to walking speed, time, stride and step frequency.
Under the impedance mode, the balance training device is in a working state, the sensor is subjected to different resistance actions, and the sensor can be trained in three difficulties of simplicity, medium and difficulty according to different resistance, namely, when the elastic component is in different compressed states. The impedance training mode is also that the patient pushes the trolley by himself, and the driving direction of the trolley is controlled through the force sensor. There are two different training modes, the first is to set a countdown training, and score according to the walking distance, the walking speed, the stride and the step frequency after the countdown is finished; the second is to set one hundred meters for training, and finish training when the distance reaches 100 meters, and score according to walking speed, time, stride and step frequency.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In summary, the present description should not be construed as limiting the invention.
Claims (8)
1. Balance training device, balance training device is used for realizing the adjustable change of rehabilitation training robot balance training degree of difficulty, its characterized in that: the balance training device comprises a shell, a screw rod, an elastic component, an upper fixing plate, a moving plate, an inclined plate and a connecting flange, wherein the screw rod, the elastic component, the upper fixing plate, the moving plate, the inclined plate and the connecting flange are arranged in the shell, the shell is arranged on a chassis of the rehabilitation training robot, the screw rod is perpendicular to the chassis, the lower part of the screw rod is connected to the chassis through a lower screw rod fixing seat, the upper fixing plate is connected to the upper part of the screw rod through an upper screw rod fixing seat, the moving plate is arranged between the upper fixing plate and the chassis, the moving plate is fixedly provided with a threaded sleeve matched with the screw rod, the screw rod penetrates through the threaded sleeve, the upper fixing plate is connected to the lower end of the connecting flange through a ball hinge, the upper part of the connecting flange extends out of the shell and is used for connecting a supporting rod structure or a handrail structure of the rehabilitation training robot, the inclined plate is fixedly connected to the lower part of the connecting flange, the elastic component elastic deformation direction perpendicular to the chassis and the elastic component is provided with a plurality of, a plurality of hemispheres are fixedly connected with below the inclined plate, the hemispheres are contacted with the upper end of the elastic component and can slide at the upper end of the elastic component, the screw rod is rotated, a thread bush sleeved outside the screw rod can drive the movable plate to move up and down in the shell, the elastic component comprises a spring movable guide rail, a spring sleeve and a spring, the lower end of the spring movable guide rail is fixedly connected with the movable plate, the upper part of the spring movable guide rail is arranged in the spring sleeve, the spring movable guide rail can move in the spring sleeve, the spring bush is arranged outside the spring movable guide rail and the spring sleeve, the balance training device also comprises a guide shaft, a first linear bearing is fixedly arranged on the movable plate, the lower end of the guide shaft is fixedly connected to the chassis of the rehabilitation training robot, the guide shaft penetrates through the first linear bearing, and the upper end of the guide shaft is fixedly connected to the upper fixing plate.
2. The balance training apparatus of claim 1 wherein: the inclined plate is locked on the connecting flange through a locking nut, the screw is a trapezoidal screw, the lower end of the screw is connected with a screw driving motor, an upper limit switch is installed downwards on the upper fixing plate, and a lower limit switch is installed upwards on the chassis.
3. A multifunctional walking-assisting rehabilitation training robot is characterized in that: the balance training device comprises the balance training device according to any one of claims 1-2, and further comprises a movable chassis mechanism, a supporting rod mechanism, an upper frame mechanism, a folding seat mechanism and a controller, wherein the movable chassis mechanism comprises a chassis and a driving wheel assembly arranged on the chassis, the balance training device and the folding seat mechanism are respectively arranged at the front part and the middle part of the chassis, the upper end of a connecting flange on the balance training device is connected with the lower end of the supporting rod mechanism, a force sensor is arranged in the supporting rod mechanism, the upper frame mechanism comprises a first guide shaft, a second guide shaft and two armrests fixedly connected to the two ends of the first guide shaft and the second guide shaft, the upper end of the supporting rod mechanism is fixedly connected with the first guide shaft and the second guide shaft which are arranged in parallel, and the controller is in communication connection with a power source of the balance training device, a power source of the driving wheel and the force sensor.
4. A multi-functional walk-assisting rehabilitation training robot according to claim 3, wherein: the chassis comprises a first side bottom plate, a second side bottom plate and a middle connecting plate, two ends of the middle connecting plate are respectively connected with one ends of the first side bottom plate and the second side bottom plate, and the lower end of the screw rod is fixed on the middle connecting plate; the first side bottom plate and the second side bottom plate are respectively provided with a driving wheel assembly, the driving wheel assemblies comprise a driving wheel upper fixing plate, a driving wheel lower fixing plate and a hub driving wheel, the driving wheel lower fixing plates are respectively and fixedly arranged at the middle positions of the first side bottom plate and the second side bottom plate, the driving wheel upper fixing plates are arranged on the driving wheel lower fixing plates, the mounting shaft of the hub driving wheel is clamped between the driving wheel lower fixing plates and the driving wheel upper fixing plates, a hub motor is arranged in the hub driving wheel, the hub motor is electrically connected with a lithium battery, the hub motor is in communication connection with a driver, and the controller is in communication connection with the driver; the four corner positions of the chassis are respectively provided with a universal wheel, the universal wheels are provided with locking structures, and the four corner positions of the chassis are respectively provided with an anti-collision elastic piece.
5. A multi-functional walk-assisting rehabilitation training robot according to claim 3, wherein: the support rod mechanism comprises an inverted L-shaped support rod, a first sensor flange, a force sensor, a second sensor flange, a movable support rod, a fixed connection ring and a support rod sleeve, wherein the upper end of the support rod is fixedly connected with the middle position of the first guide shaft and the middle position of the second guide shaft, the upper end face and the lower end face of the force sensor are fixedly connected with the first sensor flange and the second sensor flange respectively, the lower end of the support rod is connected with the first sensor flange, the second sensor flange is connected with the movable support rod, the movable support rod is sleeved in the support rod sleeve through the fixed connection ring, the lower end of the support rod sleeve is connected with the upper end of the connection flange, and a locking device for locking the movable support rod is arranged on the fixed connection ring.
6. The multi-functional walk-aiding rehabilitation training robot according to claim 5, wherein: the upper frame mechanism further comprises a stomach protection pad component, a waist supporting rod component and a control box component, and the armrests are fixedly connected to two ends of the first guide shaft and the second guide shaft through connecting blocks; the stomach protection pad assembly comprises a stomach protection pad fixing plate and a stomach protection pad, the control box assembly comprises a control box fixing plate and a control box body, fixing blocks are fixedly arranged on the first guide shaft and the second guide shaft, the stomach protection pad fixing plate is fixedly connected to the fixing blocks, the stomach protection pad is covered outside the stomach protection pad fixing plate, the upper side of the fixing blocks is fixedly connected with the control box fixing plate, the control box is fixedly connected to the control box fixing plate, and the controller is arranged in the control box; the waist bracing piece subassembly is provided with two sets of about the symmetry of falling L type bracing piece, every group waist bracing piece subassembly is including preceding waist bracing piece and back waist bracing piece, be equipped with first mounting hole and second mounting hole on the preceding waist bracing piece, be equipped with second linear bearing in the second mounting hole, preceding waist bracing piece passes through respectively first mounting hole with second linear bearing wears to overlap first guiding axle with the second guiding axle is peripheral, just be provided with first bulb plunger in the first mounting hole, be equipped with on the first guiding axle with first bulb plunger assorted first plunger hole, preceding waist bracing piece rear end with back waist bracing piece front end is connected through the swivel axis, back waist bracing piece is in the below of swivel axis is provided with spacing support cushion, be provided with second bulb plunger on the spacing support cushion, be equipped with on the back waist bracing piece with second bulb plunger assorted second bulb plunger.
7. The multi-functional walk-aiding rehabilitation training robot according to claim 4, wherein: the pedal rotating mechanism comprises a pedal, a pedal fixing block and a pedal rotating shaft, wherein the pedal fixing block is respectively fixed on the first side bottom plate and the second side bottom plate, and the pedal fixing block is connected with a pedal through the pedal rotating shaft.
8. A multi-functional walk-assisting rehabilitation training robot according to claim 3, wherein: the folding seat mechanism comprises two folding seat components symmetrically arranged on two sides of the chassis, the folding seat components comprise a seat supporting rod, a ratchet wheel grooved pulley mechanism and a seat part, the seat supporting rod is vertically arranged on the chassis, a wheel groove for installing the ratchet wheel grooved pulley mechanism is fixedly arranged on the seat supporting rod, the ratchet wheel grooved pulley mechanism comprises a ratchet wheel disc with a notch clamping groove and a grooved pulley mechanism, the grooved pulley mechanism is fixedly arranged in the wheel groove, a ratchet wheel shaft for installing the ratchet wheel disc is arranged in the grooved pulley, a waist-shaped hole matched with the ratchet wheel shaft is formed in the ratchet wheel disc, an extending rod is fixedly connected with the outer wall of the ratchet wheel disc, the seat part is connected with the extending rod of the ratchet wheel disc, the seat part is pulled, the seat part drives the ratchet wheel disc to rotate and can enable the seat to be in a horizontal state, at the moment, the grooved pulley mechanism is clamped in the notch clamping groove of the ratchet wheel disc, the seat part is enabled to keep in a horizontal state, the grooved pulley mechanism is upwards blocked with the notch clamping groove of the ratchet wheel disc, and the seat part is enabled to move upwards, and the seat part can be pulled and moved. The seat support rod is provided with a third ball plunger, and the seat part is provided with a third plunger hole matched with the third ball plunger.
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| CN108096794B (en) * | 2018-01-31 | 2023-08-11 | 力迈德医疗（广州）有限公司 | Balance rehabilitation training robot |
| CN108464916B (en) * | 2018-03-29 | 2019-12-17 | 郑州大学 | Multifunctional movable equipment for rehabilitation training |
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| CN108670739A (en) * | 2018-05-28 | 2018-10-19 | 国家康复辅具研究中心 | Walk helper |
| CN108744416B (en) * | 2018-06-04 | 2023-10-24 | 上海金矢机器人科技有限公司 | Walking aid robot for lower limb rehabilitation training |
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| CN102179036A (en) * | 2011-04-21 | 2011-09-14 | 江苏苏云医疗器材有限公司 | Stand dynamic and static balance exercise device |
| CN202028110U (en) * | 2011-04-21 | 2011-11-09 | 江苏苏云医疗器材有限公司 | Device for training dynamic balance and static balance of patient while standing |
| CN105748264A (en) * | 2015-12-16 | 2016-07-13 | 北京理工大学 | Human body lower limb motion rehabilitation training robot |
| CN106137681A (en) * | 2016-07-27 | 2016-11-23 | 营口春港康复辅助器具科技有限公司 | Intelligent lower limb recovery training appliance for recovery |
| CN207734340U (en) * | 2017-05-03 | 2018-08-17 | 上海金矢机器人科技有限公司 | Balance training and multifunctional walking aid rehabilitation image training robot |
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