CN108143586A - Link spine recovering training device of creeping - Google Patents
Link spine recovering training device of creeping Download PDFInfo
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- CN108143586A CN108143586A CN201611102439.0A CN201611102439A CN108143586A CN 108143586 A CN108143586 A CN 108143586A CN 201611102439 A CN201611102439 A CN 201611102439A CN 108143586 A CN108143586 A CN 108143586A
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- 230000007246 mechanism Effects 0.000 claims abstract description 118
- 230000033001 locomotion Effects 0.000 claims abstract description 96
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 77
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 70
- 230000003187 abdominal effect Effects 0.000 claims abstract description 67
- 230000009193 crawling Effects 0.000 claims abstract description 25
- 230000001105 regulatory effect Effects 0.000 claims abstract description 25
- 210000001015 abdomen Anatomy 0.000 claims description 53
- 230000005540 biological transmission Effects 0.000 claims description 51
- 230000001360 synchronised effect Effects 0.000 claims description 30
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- 210000003414 extremity Anatomy 0.000 claims description 8
- 230000009467 reduction Effects 0.000 claims description 7
- 230000008450 motivation Effects 0.000 claims description 3
- 241000282326 Felis catus Species 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 230000005484 gravity Effects 0.000 description 3
- 230000005526 G1 to G0 transition Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008859 change Effects 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
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009207 exercise therapy Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 210000000115 thoracic cavity Anatomy 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
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
- A63B21/0053—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters using alternators or dynamos
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H2001/0211—Walking coordination of arms and legs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
- A61H2001/0233—Pulsating, alternating, fluctuating
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Public Health (AREA)
- Rehabilitation Therapy (AREA)
- Animal Behavior & Ethology (AREA)
- Pain & Pain Management (AREA)
- Epidemiology (AREA)
- Veterinary Medicine (AREA)
- Biophysics (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Orthopedics, Nursing, And Contraception (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of spine recovering training device of creeping that links, including chassis, movement angle regulating mechanism, linkage crawling exercises mechanism, abdominal support mechanism and motion of wagging the tail.It can realize that left and right sequential movements side, upper and lower extremities counter motion ganged movement are trained by the crawling exercises mechanism that links；By wagging the tail, motion can drive patient to do left and right waist torsional movement；The movement comfort level of patient can be improved by abdominal support mechanism；Pass through the angle of movement angle regulating mechanism adjustable movement panel.The present invention realizes the switching of active and passive movement, and when active movement can adjust the resistance of motion.By adjusting move panel angle can realize cat crawling, climb to a higher point creep, facedown is creeped, ensure the effective rehabilitation training of patient.
Description
Technical field
The present invention relates to backbone medical rehabilitation instrument more particularly to it is a kind of up and down limbs sequence linkage creep spine recovering instruction
Practice device.
Background technology
Sports medical science expert points out：The time that the inducement of spondylodynia is attributed to mankind's upright (including seat) excessively causes
's.Under gravity, prolonged upright state makes vertebra load-bearing excessive, and creeps, and can alleviate uprightly causes for a long time
Vertebra load-bearing, change human spine mechanical structure and stress.Body gravity is distributed to four limbs when creeping, so as to subtract significantly
Light gravity to cervical vertebra, thoracic vertebrae, lumbar vertebrae burden.At present, modern clinical treatment uses drug and operative treatment vertebra early period more
Disease, and the rehabilitation in later stage uses the creeping exercise of physical exercise therapy, this therapy is significant in efficacy.
Some domestic and international trained products of actively creeping at present, there is the purposes of physical training and body shaping, only single
Active creep mode can not realize that it is even more impossible to realize the assessment creeped for the severe case that synkinesia is needed to train.It is near several
There is passive training aids of creeping year, but the four limbs of training aids are mostly using multigroup discrete motor control.And crawling exercises process is one
Side limbs counter motion up and down, side are moved and are done in order with opposite side, are unfavorable for realizing using discrete type electricity unit allocation and climb
Row linkage process, and motor is more, and device is cumbersome, easily generates malfunction, causes serious safety problem
Invention content
The purpose of the present invention is exactly to solve the above-mentioned problems, to provide a kind of spine recovering training device of creeping that links.
In order to achieve the above object, present invention employs following technical schemes：
A kind of spine recovering training device of creeping that links, including chassis, movement angle regulating mechanism, linkage crawling exercises machine
Structure, abdominal support mechanism and motion of wagging the tail；Movement angle regulating mechanism be mounted on chassis on, linkage crawling exercises mechanism and
Abdominal support mechanism is separately mounted on movement angle regulating mechanism, and can together be inclined under the action of movement angle regulating mechanism
An oblique angle, motion of wagging the tail are connected with abdominal support mechanism and the rear portion of linkage crawling exercises mechanism can be driven to swing.
The movement angle regulating mechanism includes：
Rack is rotated, is flexibly connected with chassis, and is fixedly connected with abdominal support mechanism and linkage crawling exercises mechanism；
Worm and gear reduction gearing mechanism, is arranged on chassis, and is fixedly connected with chassis；
Arc-shaped rack is connected, and be connected with abdominal support mechanism driving with the transmission of worm and gear reduction gearing mechanism；It can band
Turn motivation frame and abdominal support mechanism rotate together tilts an angle.
The linkage crawling exercises mechanism includes：
Panel rack is moved, on movement angle regulating mechanism；
Upper limb, which is creeped, supports section bar, totally two left and right sides for being symmetricly set on movement panel rack forepart and and moving surface
Board mount is fixedly connected；
Lower limb, which are creeped, supports section bar, totally two left and right sides for being symmetricly set on movement panel rack rear portion and and moving surface
Board mount is flexibly connected；
Upper limb the linear guide, totally two be separately fixed at two upper limbs creep support section bar internal backplane on；
Lower limb the linear guide, totally two be separately fixed at two lower limb creep support section bar internal backplane on；
Upper limb sliding block is slidably connected for two pieces totally with two upper limb the linear guides respectively；
Lower limb sliding block, is divided to two groups of left and right settings by totally four, and every group of two lower limb sliding blocks are front and rear to be set, respectively under two
Limb the linear guide is slidably connected；
Upper limb handle, totally two are fixedly connected respectively with two pieces of upper limb sliding blocks；
Lower limb leg support, totally two are fixedly connected respectively with two groups of lower limb sliding blocks；
Linkage driving mechanism, totally two groups of upper limbs being respectively provided at both sides, which are creeped, supports section bar and lower limb to creep and support section bar
It is interior, and be connected respectively with the upper limb sliding block of corresponding side, the transmission of lower limb sliding block；The linkage driving mechanism of side can drive the same side
Upper limb sliding block, lower limb sliding block are synchronized with the movement, and then the upper limb handle of the same side and lower limb leg support is driven to be synchronized with the movement.
The abdominal support mechanism includes：
Abdominal support plate, on movement angle regulating mechanism；
Ball-screw module below abdominal support plate, and can drive abdominal support plate to be moved forward and backward；
Abdomen the linear guide is fixedly connected on above abdominal support plate；
Abdomen straight-line guide rail slide block is slidably connected with abdomen the linear guide；
Abdomen push rod mounting blocks, are fixedly connected on abdomen straight-line guide rail slide block, and are sequentially connected with ball-screw module；
Left and right sleeve, the right and left being symmetricly set on abdomen push rod mounting blocks, and fixed with abdomen push rod mounting blocks
Connection；
Electric pushrod is arranged on the centre of abdomen push rod mounting blocks, and is fixedly connected with abdomen push rod mounting blocks；
Abdomen upper backup pad is arranged on electric pushrod and left and right sleeve upper end, and consolidates with electric pushrod and left and right sleeve
Fixed connection；
Abdominal pallets are arranged on above abdominal support plate, and are flexibly connected with abdominal support plate.
The motion of wagging the tail includes：
It wags the tail transmission mechanism fixed plate, is fixed in abdominal support mechanism；
It wags the tail transmission mechanism, is connected in transmission mechanism fixed plate of wagging the tail, and with linkage crawling exercises mechanism driving,
The rear portion of linkage crawling exercises mechanism can be driven to swing.
It is same that the linkage driving mechanism includes synchronous wheel seat, upper limb synchronizing wheel, lower limb synchronizing wheel, motor cabinet, motor, upper limb
Walk band, lower limb synchronous belt, steel wire rope, commutation wheel stand, commutation guide wheel, limiter installing plate and limiter；
Synchronous wheel seat is creeped mounted on lower limb supports section bar rear end, and motor cabinet creeps mounted on upper limb and supports section bar front end,
Motor and upper limb synchronizing wheel are separately mounted on motor cabinet, and lower limb synchronizing wheel is movably arranged on synchronous wheel seat, upper limb synchronous belt
Be fixedly linked around upper limb synchronizing wheel and with upper limb sliding block, lower limb synchronous belt around lower limb synchronizing wheel and with lower limb sliding block stationary phase
Even, upper limb synchronous belt is connected with lower limb synchronous belt by steel wire rope；Commutation wheel stand creeps mounted on upper limb and supports section bar rear end,
The guide wheel that commutates is mounted on commutation wheel stand, and steel wire rope is bypassed from commutation guide wheel；
Limiter installing plate is creeped mounted on upper limb supports the side of section bar, and one is mounted in the rear end of limiter installing plate
A rear end limiter is mounted with two front end limiters, one of front end limiter and fortune in the front end of limiter installing plate
Dynamic amplitude adjusted knob, which is connected, front and rear to be adjusted, and motion amplitude adjusting knob is mounted on the outside of limiter installing plate.
The ball-screw module includes countershaft bearing, main bearing seat, leading screw, abdomen motor transmission mechanism and abdomen ball
Screw slider；Countershaft bearing and main bearing seat are separately mounted to the both ends below abdominal support plate, and leading screw is connected to countershaft bearing
Between main bearing seat, abdomen motor transmission mechanism is mounted on beside main bearing seat and is connected with lead screw transmission, abdomen ball wire
Thick stick sliding block is connected with leading screw engaged transmission and is fixedly linked with abdomen push rod mounting blocks.
The transmission mechanism of wagging the tail includes：
It wags the tail transmission case, is connected to and wags the tail in transmission mechanism fixed plate；
It wags the tail motor, be arranged below transmission case of wagging the tail and be connected with transmission case transmission of wagging the tail；
Cylindricality rack mandril, is movably arranged on and wags the tail on transmission case, and can drive side-to-side movement by motor of wagging the tail, so as to band
Dynamic lower limb, which are creeped, supports section bar to swing；
Rack end cap, totally two both ends for being connected to cylindricality rack mandril；
It wags the tail guide wheel, totally two groups of upper and lower ends for being connected to two rack end caps, and creeps support section bar with lower limb
Contact is connected；
Connecting rod, be connected to left and right two lower limb creep support section bar between；
It wags the tail idler wheel, is arranged on lower limb and creeps below support section bar rear end, it can the left and right rolling on movement panel rack
It is dynamic；
Guide pin is arranged on lower limb and creeps support section bar rear end, arcuate guide is correspondingly provided on the movement panel rack
Slot, guide pin, which is inserted into arc guide groove, arcuately guide groove to be slided；
The lower limb, which are creeped, supports the front end of section bar to be rotatably connected with movement panel rack by shaft of wagging the tail.
Shaft mounting base there are two being symmetrically installed below the abdominal support plate, is installed respectively in two shaft mounting bases
Rack shaft, the upper end of the arc-shaped rack in movement angle regulating mechanism are rotatably connected with the rack shaft.
The upper limb synchronizing wheel both sides are equipped with damper.
The abdominal pallets are flexibly connected by abdomen rotation axis with abdominal support plate, make abdominal pallets can fine rotation.
The rotation rack is connected by rack shaft with chassis, and needle dial is separately installed at rack shaft both ends.
Present invention introduces actuator linkages, are trained using left motor and right motor counter motion through transport, in realization
The reversed passive movement of lower limb body.It solves training of creeping and generates malfunction security hidden trouble.The present invention passes through the fortune of creeping that links
Motivation structure can realize left and right sequential movements side, the training of upper and lower extremities counter motion ganged movement；By wagging the tail, motion can be with
Patient is driven to do left and right waist torsional movement；The movement comfort level of patient can be improved by abdominal support mechanism；Pass through movement angle
The angle of regulating mechanism adjustable movement panel.The present invention realizes the switching of active and passive movement, and when active movement can be adjusted
The resistance of motion.By adjusting move panel angle can realize cat crawling, climb to a higher point creep, facedown is creeped, ensure patient it is effective
Rehabilitation training.
Description of the drawings
Fig. 1 is that present invention linkage is creeped the dimensional structure diagram of spine recovering instrument for training；
Setting state when Fig. 2 is device upper for patient of the invention；
Fig. 3 is the setting state of the invention that is used to climb to a higher point and creep；
Fig. 4 is the setting state that the present invention creeps for facedown；
Fig. 5 is the structure diagram of the linkage crawling exercises mechanism in the present invention；
Fig. 6 is the internal drive mechanism structure schematic diagram of the linkage crawling exercises mechanism in the present invention；
Fig. 7 is the partial structural diagram of the motion of wagging the tail in the present invention；
Fig. 8 is the tail motion drive modular construction schematic diagram in present invention pendulum；
Fig. 9 is, the structure diagram of abdominal support mechanism in Figure 10 present invention；
Figure 11, Figure 12, Figure 13 are the structure diagram of the angle adjusting mechanism in the present invention.
Specific embodiment
Referring to Fig. 1, coordinate referring to Fig. 2, Fig. 3, Fig. 4.The linkage of the present invention is creeped spine recovering training device, including chassis
1, movement angle regulating mechanism 2, linkage crawling exercises mechanism 3, abdominal support mechanism 4 and motion 5 of wagging the tail；Movement angle tune
It saves mechanism to be mounted on chassis, the crawling exercises mechanism that links and abdominal support mechanism are separately mounted to movement angle regulating mechanism
On, and an angle can be tilted together under the action of movement angle regulating mechanism, wag the tail motion and abdominal support mechanism
It is connected and the rear portion of linkage crawling exercises mechanism can be driven to swing.
Referring to Figure 11, Figure 12, Figure 13, the movement angle regulating mechanism 2 in the present invention further comprises rotating rack for cooperation
21st, worm and gear reduction gearing mechanism 22 and arc-shaped rack 23.
Rotation rack 21 is flexibly connected with chassis 1, and is creeped with the abdominal support plate 41 in abdominal support mechanism and linkage
Movement panel rack in motion is fixedly connected；The rotation rack is connected by rack shaft 211 with chassis, is turned in rack
Axis both ends are separately installed with needle dial 212.
Worm and gear reduction gearing mechanism 22 is arranged on chassis, and is fixedly connected with chassis.
The transmission of arc-shaped rack 23 and worm and gear reduction gearing mechanism is connected, and with the abdominal support in abdominal support mechanism
The transmission of plate 41 is connected；Rotation rack and abdominal support mechanism can be driven to rotate tilt an angle together.In abdominal support plate 41
It is symmetrically installed below there are two shaft mounting base 24, is mounted with rack shaft 25 respectively in two shaft mounting bases, move angle
The upper end of arc-shaped rack 23 in degree regulating mechanism is rotatably connected with the rack shaft.
Cooperation referring to Fig. 5, Fig. 6, the linkage crawling exercises mechanism 3 in the present invention further comprise moving panel rack 31,
Creep support section bar 32, lower limb of upper limb are creeped support section bar 33, upper limb the linear guide 34, lower limb the linear guide 35, upper limb sliding block
36th, lower limb sliding block 37, upper limb handle 38, lower limb leg support 39 and linkage driving mechanism 30.Wherein, movement panel rack 31 is mounted on
On movement angle regulating mechanism；Upper limb, which is creeped, supports totally two left and right two for being symmetricly set on movement panel rack forepart of section bar 32
Side is simultaneously fixedly connected with movement panel rack；Lower limb, which are creeped, supports section bar 33 to be symmetricly set on movement panel rack rear portion for totally two
The left and right sides and with movement panel rack be flexibly connected；Lower limb creep support section bar 33 front end by wag the tail shaft 331 with
Panel rack 31 is moved rotatably to be connected.Upper limb the linear guide 34 is separately fixed at two upper limbs and creeps support section bar for totally two
In internal backplane；Lower limb the linear guide 35 totally two be separately fixed at two lower limb creep support section bar internal backplane on；On
Limb sliding block 36 is slidably connected for two pieces totally with two upper limb the linear guides respectively；Lower limb sliding block 37 totally four, is divided to two groups of left and right settings,
Every group of two lower limb sliding blocks are front and rear to be set, and is slidably connected respectively with two lower limb the linear guides；Totally two difference of upper limb handle 38
It is fixedly connected with two pieces of upper limb sliding blocks；Lower limb leg support 39 is fixedly connected for two totally with two groups of lower limb sliding blocks respectively；Linkage driving machine
Structure 30 totally two groups of upper limbs being respectively provided at both sides creep support section bar and lower limb creep support section bar in, and respectively with corresponding side
Upper limb sliding block, lower limb sliding block transmission be connected；The linkage driving mechanism of side can drive the upper limb sliding block of the same side, lower limb sliding block
It is synchronized with the movement, and then the upper limb handle of the same side and lower limb leg support is driven to be synchronized with the movement.The linkage driving mechanism 30 is again including same
It is same to walk wheel seat 301, upper limb synchronizing wheel 302, lower limb synchronizing wheel 303, motor cabinet 304, motor 305, upper limb synchronous belt 306, lower limb
Walk band 307, steel wire rope 308, commutation wheel stand 309, commutation guide wheel 310, limiter installing plate 311 and limiter 312.
Synchronous wheel seat is creeped mounted on lower limb supports section bar rear end, and motor cabinet creeps mounted on upper limb and supports section bar front end,
Motor and upper limb synchronizing wheel are separately mounted on motor cabinet, and lower limb synchronizing wheel is movably arranged on synchronous wheel seat, upper limb synchronous belt
Be fixedly linked around upper limb synchronizing wheel and with upper limb sliding block, lower limb synchronous belt around lower limb synchronizing wheel and with lower limb sliding block stationary phase
Even, upper limb synchronous belt is connected with lower limb synchronous belt by steel wire rope；Commutation wheel stand creeps mounted on upper limb and supports section bar rear end,
The guide wheel that commutates is mounted on commutation wheel stand, and steel wire rope is bypassed from commutation guide wheel.
Limiter installing plate is creeped mounted on upper limb supports the side of section bar, and one is mounted in the rear end of limiter installing plate
A rear end limiter is mounted with two front end limiters, one of front end limiter and fortune in the front end of limiter installing plate
Dynamic amplitude adjusted knob 313, which is connected, front and rear to be adjusted, and motion amplitude adjusting knob is mounted on the outside of limiter installing plate.
302 both sides of upper limb synchronizing wheel are equipped with damper 314.
Referring to Fig. 9, Figure 10, the abdominal support mechanism 4 in the present invention further comprises abdominal support plate 41, ball wire for cooperation
It is thick stick module 42, abdomen the linear guide 43, abdomen straight-line guide rail slide block 44, abdomen push rod mounting blocks 45, left and right sleeve 46, electronic
Push rod 47, abdomen upper backup pad 48 and abdominal pallets 49.Wherein, abdominal support plate 41 is mounted on movement angle regulating mechanism；
It is symmetrically installed below abdominal support plate there are two shaft mounting base 24, is mounted with that rack turns respectively in two shaft mounting bases
Axis 25, the upper end of the arc-shaped rack 23 in movement angle regulating mechanism are rotatably connected with the rack shaft.Ball-screw module
42 are mounted below abdominal support plate, and abdominal support plate can be driven to be moved forward and backward；The ball-screw module 42 includes supplementary bearing
Seat 421, main bearing seat 422, leading screw 423, abdomen motor transmission mechanism 424 and abdomen ball-screw sliding block 425；Countershaft bearing and
Main bearing seat is separately mounted to the both ends below abdominal support plate, and leading screw is connected between countershaft bearing and main bearing seat, abdomen
Motor transmission mechanism is mounted on beside main bearing seat and is connected with lead screw transmission, abdomen ball-screw sliding block and leading screw engaged transmission
It is connected and is fixedly linked with abdomen push rod mounting blocks.Abdomen the linear guide 43 is fixedly connected on above abdominal support plate；Abdomen is straight
Line guide rail slide block 44 is slidably connected with abdomen the linear guide；Abdomen push rod mounting blocks 45 are fixedly connected on abdomen straight-line guide rail slide block
On, and be sequentially connected with ball-screw module；Left and right sleeve 46 is symmetricly set on the right and left on abdomen push rod mounting blocks,
And it is fixedly connected with abdomen push rod mounting blocks；Electric pushrod 47 is arranged on the centre of abdomen push rod mounting blocks, and with abdomen push rod
Mounting blocks are fixedly connected；Abdomen upper backup pad 48 is arranged on electric pushrod and left and right sleeve upper end, and with electric pushrod and a left side,
Right sleeve is fixedly connected；Abdominal pallets 49 are arranged on above abdominal support plate and pass through abdomen rotation axis 40 and live with abdominal support plate
Dynamic connection, makes abdominal pallets can fine rotation.
Referring to Fig. 7, Fig. 8, the motion 5 of wagging the tail in the present invention further comprises for cooperation：
Transmission mechanism fixed plate 50 of wagging the tail and transmission mechanism of wagging the tail, transmission mechanism fixed plate 50 of wagging the tail are fixed on abdominal support
On abdominal support plate 41 in mechanism, transmission mechanism of wagging the tail is mounted on and wags the tail in transmission mechanism fixed plate 50, and creep with linkage
Motion drive is connected, and the rear portion of linkage crawling exercises mechanism can be driven to swing.Transmission mechanism of wagging the tail includes biography of wagging the tail
Dynamic case 51, cylindricality rack mandril 53, rack end cap 54, guide wheel 55 of wagging the tail, connecting rod 56, is wagged the tail and idler wheel 57 and is led at motor 52 of wagging the tail
To pin 58.Wherein, transmission case 51 of wagging the tail, which is connected to, wags the tail in transmission mechanism fixed plate；Motor 52 of wagging the tail is arranged on transmission case of wagging the tail
Lower section is simultaneously connected with transmission case transmission of wagging the tail；Cylindricality rack mandril 53, which is movably arranged on, wags the tail on transmission case, and can be by electricity of wagging the tail
Machine drives side-to-side movement, section bar is supported to swing so as to which lower limb be driven to creep；Rack end cap 54 is connected to column for totally two
The both ends of shape rack mandril；It wags the tail the totally two groups of upper and lower ends for being connected to two rack end caps of guide wheel 55, and is climbed with lower limb
Row support section bar contact is connected；Connecting rod 56 is connected to two lower limb in left and right and creeps between support section bar, creeps support type in lower limb
Link connector slot 561 has been fixedly mounted in the inside of material, is ball-and-socket connection between connecting rod 56 and link connector slot 561, mobility is very
It is good.Idler wheel 57 of wagging the tail is arranged on lower limb and creeps below support section bar rear end, can be scrolled left and right on movement panel rack；It leads
Lower limb are arranged on to pin 58 to creep support section bar rear end.Arc guide groove 3101 is correspondingly provided on movement panel rack 31, is led
Being inserted into arc guide groove to pin arcuately guide groove to slide.
Claims (10)
- The spine recovering training device 1. a kind of linkage is creeped, it is characterised in that：Including chassis, movement angle regulating mechanism, linkage Crawling exercises mechanism, abdominal support mechanism and motion of wagging the tail；Movement angle regulating mechanism is mounted on chassis, and linkage is creeped Motion and abdominal support mechanism are separately mounted on movement angle regulating mechanism, and can be in the work of movement angle regulating mechanism Tilt an angle together under, motion of wagging the tail is connected with abdominal support mechanism and can drive linkage crawling exercises mechanism Rear portion is swung.
- The spine recovering training device 2. linkage according to claim 1 is creeped, it is characterised in that：The movement angle is adjusted Mechanism includes：Rack is rotated, is connected by rack shaft with chassis, and fixes and connects with abdominal support mechanism and linkage crawling exercises mechanism It connects, needle dial is separately installed at rack shaft both ends；Worm and gear reduction gearing mechanism, is arranged on chassis, and is fixedly connected with chassis；Arc-shaped rack is connected, and be connected with abdominal support mechanism driving with the transmission of worm and gear reduction gearing mechanism；It can be with turn Motivation frame and abdominal support mechanism rotate together tilts an angle.
- The spine recovering training device 3. linkage according to claim 1 is creeped, it is characterised in that：The linkage crawling exercises Mechanism includes：Panel rack is moved, on movement angle regulating mechanism；Upper limb is creeped support section bar, totally two left and right sides for being symmetricly set on movement panel rack forepart and with moving panel branch Frame is fixedly connected；Lower limb are creeped support section bar, totally two left and right sides for being symmetricly set on movement panel rack rear portion and with moving panel branch Frame is flexibly connected；Upper limb the linear guide, totally two be separately fixed at two upper limbs creep support section bar internal backplane on；Lower limb the linear guide, totally two be separately fixed at two lower limb creep support section bar internal backplane on；Upper limb sliding block is slidably connected for two pieces totally with two upper limb the linear guides respectively；Lower limb sliding block, is divided to two groups of left and right settings by totally four, and every group of two lower limb sliding blocks are front and rear to be set, straight with two lower limb respectively Line guide rail is slidably connected；Upper limb handle, totally two are fixedly connected respectively with two pieces of upper limb sliding blocks；Lower limb leg support, totally two are fixedly connected respectively with two groups of lower limb sliding blocks；Linkage driving mechanism, totally two groups of upper limbs being respectively provided at both sides, which are creeped, supports section bar and lower limb to creep in support section bar, And it is connected respectively with the upper limb sliding block of corresponding side, the transmission of lower limb sliding block；The linkage driving mechanism of side can drive the upper of the same side Limb sliding block, lower limb sliding block are synchronized with the movement, and then the upper limb handle of the same side and lower limb leg support is driven to be synchronized with the movement.
- The spine recovering training device 4. linkage according to claim 1 is creeped, it is characterised in that：The abdominal support mechanism Including：Abdominal support plate, on movement angle regulating mechanism；Ball-screw module below abdominal support plate, and can drive abdominal support plate to be moved forward and backward；Abdomen the linear guide is fixedly connected on above abdominal support plate；Abdomen straight-line guide rail slide block is slidably connected with abdomen the linear guide；Abdomen push rod mounting blocks, are fixedly connected on abdomen straight-line guide rail slide block, and are sequentially connected with ball-screw module；Left and right sleeve, the right and left being symmetricly set on abdomen push rod mounting blocks, and fix and connect with abdomen push rod mounting blocks It connects；Electric pushrod is arranged on the centre of abdomen push rod mounting blocks, and is fixedly connected with abdomen push rod mounting blocks；Abdomen upper backup pad is arranged on electric pushrod and left and right sleeve upper end, and fixes and connect with electric pushrod and left and right sleeve It connects；Abdominal pallets are arranged on above abdominal support plate, and are flexibly connected with abdominal support plate.
- The spine recovering training device 5. linkage according to claim 1 is creeped, it is characterised in that：The motion of wagging the tail Including：It wags the tail transmission mechanism fixed plate, is fixed in abdominal support mechanism；It wags the tail transmission mechanism, is connected in transmission mechanism fixed plate of wagging the tail, and with linkage crawling exercises mechanism driving, it can band The rear portion of dynamic linkage crawling exercises mechanism swings.
- The spine recovering training device 6. linkage according to claim 3 is creeped, it is characterised in that：The linkage driving mechanism Including synchronous wheel seat, upper limb synchronizing wheel, lower limb synchronizing wheel, motor cabinet, motor, upper limb synchronous belt, lower limb synchronous belt, steel wire rope, Commutate wheel stand, commutation guide wheel, limiter installing plate and limiter；Synchronous wheel seat is creeped mounted on lower limb supports section bar rear end, and motor cabinet creeps mounted on upper limb and supports section bar front end, motor It is separately mounted on motor cabinet with upper limb synchronizing wheel, lower limb synchronizing wheel is movably arranged on synchronous wheel seat, and upper limb synchronous belt bypasses Upper limb synchronizing wheel is simultaneously fixedly linked with upper limb sliding block, and lower limb synchronous belt is fixedly linked around lower limb synchronizing wheel and with lower limb sliding block, Upper limb synchronous belt is connected with lower limb synchronous belt by steel wire rope；Commutation wheel stand creeps mounted on upper limb and supports section bar rear end, changes It is mounted on commutation wheel stand to guide wheel, steel wire rope is bypassed from commutation guide wheel；Limiter installing plate is creeped mounted on upper limb supports the side of section bar, after being mounted with one in the rear end of limiter installing plate Limiter is held, two front end limiters, one of front end limiter and movement width are mounted in the front end of limiter installing plate Degree adjusting knob, which is connected, front and rear to be adjusted, and motion amplitude adjusting knob is mounted on the outside of limiter installing plate.
- The spine recovering training device 7. linkage according to claim 3 is creeped, it is characterised in that：The ball-screw module Including countershaft bearing, main bearing seat, leading screw, abdomen motor transmission mechanism and abdomen ball-screw sliding block；Countershaft bearing and main shaft Bearing is separately mounted to the both ends below abdominal support plate, and leading screw is connected between countershaft bearing and main bearing seat, abdomen motor Transmission mechanism is mounted on beside main bearing seat and is connected with lead screw transmission, and abdomen ball-screw sliding block is connected with leading screw engaged transmission And it is fixedly linked with abdomen push rod mounting blocks.
- The spine recovering training device 8. linkage according to claim 4 is creeped, it is characterised in that：The transmission mechanism of wagging the tail Including：It wags the tail transmission case, is connected to and wags the tail in transmission mechanism fixed plate；It wags the tail motor, be arranged below transmission case of wagging the tail and be connected with transmission case transmission of wagging the tail；Cylindricality rack mandril, is movably arranged on and wags the tail on transmission case, and can drive side-to-side movement by motor of wagging the tail, so as to drive down Limb, which is creeped, supports section bar to swing；Rack end cap, totally two both ends for being connected to cylindricality rack mandril；It wags the tail guide wheel, totally two groups of upper and lower ends for being connected to two rack end caps, and is contacted with lower limb support section bar of creeping It is connected；Connecting rod, be connected to left and right two lower limb creep support section bar between；It wags the tail idler wheel, is arranged on lower limb and creeps below support section bar rear end, can be scrolled left and right on movement panel rack；Guide pin is arranged on lower limb and creeps support section bar rear end, is correspondingly provided with arc guide groove on the movement panel rack, leads Being inserted into arc guide groove to pin arcuately guide groove to slide；The lower limb, which are creeped, supports the front end of section bar to be rotatably connected with movement panel rack by shaft of wagging the tail.
- The spine recovering training device 9. linkage according to claim 4 is creeped, it is characterised in that：Under the abdominal support plate Face is symmetrically installed with two shaft mounting bases, is mounted with rack shaft respectively in two shaft mounting bases, and movement angle is adjusted The upper end of arc-shaped rack in mechanism is rotatably connected with the rack shaft；The abdominal pallets pass through abdomen rotation axis and abdomen Support plate is flexibly connected, and makes abdominal pallets can fine rotation.
- The spine recovering training device 10. linkage according to claim 6 is creeped, it is characterised in that：The upper limb synchronizing wheel Both sides are equipped with damper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611102439.0A CN108143586B (en) | 2016-12-05 | 2016-12-05 | Linkage crawling spinal rehabilitation training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611102439.0A CN108143586B (en) | 2016-12-05 | 2016-12-05 | Linkage crawling spinal rehabilitation training device |
Publications (2)
| Publication Number | Publication Date |
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| CN108143586A true CN108143586A (en) | 2018-06-12 |
| CN108143586B CN108143586B (en) | 2020-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611102439.0A Expired - Fee Related CN108143586B (en) | 2016-12-05 | 2016-12-05 | Linkage crawling spinal rehabilitation training device |
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| CN (1) | CN108143586B (en) |
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| CN108853938A (en) * | 2018-08-20 | 2018-11-23 | 安阳市翔宇医疗设备有限责任公司 | A kind of upper limb election interactive evaluation training aids |
| CN110123580A (en) * | 2019-05-20 | 2019-08-16 | 东北大学 | A kind of tail end traction type upper limb healing platform |
| CN110584947A (en) * | 2019-08-20 | 2019-12-20 | 长春理工大学 | Crawling rehabilitation training baby carriage for cerebral palsy child |
| CN111067762A (en) * | 2020-01-13 | 2020-04-28 | 合肥工业大学 | Training device and training method |
| CN111068251A (en) * | 2020-01-13 | 2020-04-28 | 合肥工业大学 | Training device and training method |
| CN111111114A (en) * | 2020-01-13 | 2020-05-08 | 合肥工业大学 | Training device and training method |
| CN111359157A (en) * | 2020-03-27 | 2020-07-03 | 苏州崇本智能科技有限公司 | Four-limb cooperative running machine |
| CN111870479A (en) * | 2020-07-23 | 2020-11-03 | 贵州医科大学 | Crawling device for cerebrovascular patient rehabilitation |
| CN111870887A (en) * | 2020-08-19 | 2020-11-03 | 深圳市帕灯贸易有限公司 | Body-building abdominal muscle wheel equipment of supplementary regulation in area |
| CN113101146A (en) * | 2021-05-12 | 2021-07-13 | 江苏医药职业学院 | Kneeling position rehabilitation training device for hemiplegic patient |
| CN113101133A (en) * | 2021-03-31 | 2021-07-13 | 青岛市中心医院 | Surgical rehabilitation nursing device |
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| CN111870479A (en) * | 2020-07-23 | 2020-11-03 | 贵州医科大学 | Crawling device for cerebrovascular patient rehabilitation |
| CN111870887A (en) * | 2020-08-19 | 2020-11-03 | 深圳市帕灯贸易有限公司 | Body-building abdominal muscle wheel equipment of supplementary regulation in area |
| CN113101133A (en) * | 2021-03-31 | 2021-07-13 | 青岛市中心医院 | Surgical rehabilitation nursing device |
| CN113117287A (en) * | 2021-04-23 | 2021-07-16 | 河南省中医院（河南中医药大学第二附属医院） | Cardiovascular patient rehabilitation training device |
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| CN113101146A (en) * | 2021-05-12 | 2021-07-13 | 江苏医药职业学院 | Kneeling position rehabilitation training device for hemiplegic patient |
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