CN108143586B - Linkage crawling spinal rehabilitation training device - Google Patents
Linkage crawling spinal rehabilitation training device Download PDFInfo
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- CN108143586B CN108143586B CN201611102439.0A CN201611102439A CN108143586B CN 108143586 B CN108143586 B CN 108143586B CN 201611102439 A CN201611102439 A CN 201611102439A CN 108143586 B CN108143586 B CN 108143586B
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- upper limb
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- 210000001015 Abdomen Anatomy 0.000 claims abstract description 98
- 210000003141 Lower Extremity Anatomy 0.000 claims abstract description 84
- 210000001364 Upper Extremity Anatomy 0.000 claims abstract description 75
- 230000005540 biological transmission Effects 0.000 claims description 67
- 230000001360 synchronised Effects 0.000 claims description 40
- 230000003187 abdominal Effects 0.000 claims description 21
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 239000002965 rope Substances 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- 230000000875 corresponding Effects 0.000 claims description 3
- 230000002493 climbing Effects 0.000 abstract description 3
- 230000005484 gravity Effects 0.000 description 3
- 210000003414 Extremities Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 201000005671 spondyloarthropathy Diseases 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 239000003814 drug Substances 0.000 description 1
- 229940079593 drugs Drugs 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 238000007493 shaping process Methods 0.000 description 1
- 238000004642 transportation engineering Methods 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
- 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
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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
- 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
Abstract
A linkage crawling spine rehabilitation training device comprises a bottom frame, a motion angle adjusting mechanism, a linkage crawling motion mechanism, an abdomen supporting mechanism and a tail swinging motion mechanism. The linked crawling motion mechanism can realize the linked motion training of the reverse motion of the side, the upper limb and the lower limb which move in sequence from left to right; the swing motion mechanism can drive the patient to do left-right waist-twisting motion; the movement comfort of the patient can be improved through the abdomen supporting mechanism; the angle of the motion panel can be adjusted through the motion angle adjusting mechanism. The invention realizes the switching between active and passive movement, and can adjust the movement resistance during active movement. Kneeling crawling, climbing crawling and pitching crawling can be achieved by adjusting the angle of the motion panel, and effective rehabilitation training of patients is guaranteed.
Description
Technical Field
The invention relates to a spine medical rehabilitation instrument, in particular to a spine rehabilitation training device with sequential linkage of an upper limb and a lower limb.
Background
The sports medical expert points out: causes of spondylopathy are due to the time spent with the human upright (including sitting). Under the action of gravity, the long-time upright state enables excessive load bearing of the spine, and the crawling can relieve the load bearing of the spine caused by the long-time upright state and change the mechanical structure and the stress state of the spine of a human body. The gravity of the body is dispersed to four limbs when the robot climbs, thereby greatly reducing the burden of the gravity on the cervical vertebra, the thoracic vertebra and the lumbar vertebra. At present, the modern clinical treatment early stage mostly adopts medicines and operations to treat spondylopathy, and the later stage rehabilitation adopts the creeping therapy of physical therapy, and the therapy has obvious curative effect.
At present, some products for active crawling training at home and abroad have the purposes of physical training and body shaping, only have a single active crawling mode, and cannot realize crawling assessment for seriously ill patients needing auxiliary exercise training. In recent years, passive crawling trainers exist, but the four limbs of the trainers are controlled by a plurality of groups of independent motors. The crawling movement process is that the upper limb and the lower limb on one side move in opposite directions, one side and the other side move in sequence, the control of the discrete motor set is not beneficial to realizing the crawling linkage process, and the more the motors are, the more the device is complicated, the misoperation is easy to generate, and the serious safety problem is caused
Disclosure of Invention
The invention aims to solve the problems and provides a linkage crawling spine rehabilitation training device.
In order to achieve the purpose, the invention adopts the following technical scheme:
a linkage crawling spine rehabilitation training device comprises a bottom frame, a motion angle adjusting mechanism, a linkage crawling motion mechanism, an abdomen supporting mechanism and a tail swinging motion mechanism; the motion angle adjusting mechanism is arranged on the underframe, the linkage crawling motion mechanism and the abdomen supporting mechanism are respectively arranged on the motion angle adjusting mechanism and can be inclined at an angle under the action of the motion angle adjusting mechanism, and the tail swinging motion mechanism is connected with the abdomen supporting mechanism and can drive the rear part of the linkage crawling motion mechanism to swing.
The movement angle adjusting mechanism includes:
the rotating frame is movably connected with the underframe and is fixedly connected with the abdomen supporting mechanism and the linkage crawling movement mechanism;
the worm and gear speed reduction transmission mechanism is arranged on the underframe and is fixedly connected with the underframe;
the arc-shaped rack is in transmission connection with the worm and gear speed reduction transmission mechanism and is in transmission connection with the abdomen supporting mechanism; can drive the rotating frame and the abdomen supporting mechanism to rotate and incline at an angle together.
The linkage crawling motion mechanism comprises:
the motion panel bracket is arranged on the motion angle adjusting mechanism;
the upper limb crawling support section bars are symmetrically arranged on the left side and the right side of the front part of the moving panel bracket and are fixedly connected with the moving panel bracket;
the lower limb crawling support profiles are symmetrically arranged on the left side and the right side of the rear part of the motion panel bracket and are movably connected with the motion panel bracket;
the upper limb linear guide rails are fixed on the inner bottom plates of the two upper limb crawling support profiles respectively;
the lower limb linear guide rails are fixed on the inner bottom plates of the two lower limb crawling support profiles respectively;
the two upper limb sliding blocks are respectively connected with the two upper limb linear guide rails in a sliding manner;
four lower limb sliding blocks are arranged left and right in two groups, and two lower limb sliding blocks in each group are arranged in front and back and are respectively connected with the two lower limb linear guide rails in a sliding manner;
the two upper limb handles are respectively fixedly connected with the two upper limb sliding blocks;
the two lower limb leg supports are respectively fixedly connected with the two groups of lower limb sliding blocks;
the linkage driving mechanisms are respectively arranged in the upper limb crawling support section bars and the lower limb crawling support section bars on the two sides in two groups, and are respectively connected with the upper limb slide blocks and the lower limb slide blocks on the corresponding sides in a transmission manner; the linkage driving mechanism on one side can drive the upper limb sliding block and the lower limb sliding block on the same side to synchronously move, and further drive the upper limb handle and the lower limb leg support on the same side to synchronously move.
The abdominal support mechanism includes:
the abdomen supporting plate is arranged on the movement angle adjusting mechanism;
the ball screw module is arranged below the abdomen supporting plate and can drive the abdomen supporting plate to move back and forth;
the abdomen linear guide rail is fixedly connected above the abdomen supporting plate;
the abdomen linear guide rail sliding block is connected with the abdomen linear guide rail in a sliding way;
the abdomen push rod mounting block is fixedly connected to the abdomen linear guide rail sliding block and is in transmission connection with the ball screw module;
the left sleeve and the right sleeve are symmetrically arranged on the left side and the right side of the abdomen push rod mounting block and are fixedly connected with the abdomen push rod mounting block;
the electric push rod is arranged in the middle of the abdomen push rod mounting block and is fixedly connected with the abdomen push rod mounting block;
the abdomen upper supporting plate is arranged at the upper ends of the electric push rod and the left and right sleeves and is fixedly connected with the electric push rod and the left and right sleeves;
the abdomen supporting plate is arranged above the abdomen supporting plate and is movably connected with the abdomen supporting plate.
The tail-swinging movement mechanism comprises:
the tail swing transmission mechanism fixing plate is fixed on the abdomen supporting mechanism;
and the tail swinging transmission mechanism is arranged on the tail swinging transmission mechanism fixing plate, is in transmission connection with the linkage crawling motion mechanism and can drive the rear part of the linkage crawling motion mechanism to swing left and right.
The linkage driving mechanism comprises a synchronous wheel seat, an upper limb synchronous wheel, a lower limb synchronous wheel, a motor seat, a motor, an upper limb synchronous belt, a lower limb synchronous belt, a steel wire rope, a reversing guide wheel seat, a reversing guide wheel, a limiter mounting plate and a limiter;
the synchronous wheel seat is arranged at the rear end of the lower limb crawling support profile, the motor seat is arranged at the front end of the upper limb crawling support profile, the motor and the upper limb synchronous wheel are respectively arranged on the motor seat, the lower limb synchronous wheel is movably arranged on the synchronous wheel seat, the upper limb synchronous belt bypasses the upper limb synchronous wheel and is fixedly connected with the upper limb sliding block, the lower limb synchronous belt bypasses the lower limb synchronous wheel and is fixedly connected with the lower limb sliding block, and the upper limb synchronous belt and the lower limb synchronous belt are connected through a steel wire rope; the reversing guide wheel seat is arranged at the rear end of the upper limb crawling support section bar, the reversing guide wheel is arranged on the reversing guide wheel seat, and the steel wire rope is wound around the reversing guide wheel;
the side of the upper limb crawling support section bar is installed on the limiter mounting plate, a rear end limiter is installed at the rear end of the limiter mounting plate, two front end limiters are installed at the front end of the limiter mounting plate, one front end limiter is connected with the motion amplitude adjusting knob and can be adjusted front and back, and the motion amplitude adjusting knob is installed on the outer side of the limiter mounting plate.
The ball screw module comprises an auxiliary bearing seat, a main bearing seat, a screw, an abdominal motor transmission mechanism and an abdominal ball screw sliding block; the auxiliary bearing seat and the main bearing seat are respectively arranged at two ends below the abdominal supporting plate, the screw rod is connected between the auxiliary bearing seat and the main bearing seat, the abdominal motor transmission mechanism is arranged beside the main bearing seat and is in transmission connection with the screw rod, and the abdominal ball screw sliding block is in meshing transmission connection with the screw rod and is fixedly connected with the abdominal push rod mounting block.
The tail-swinging transmission mechanism comprises:
the tail swing transmission box is connected to the tail swing transmission mechanism fixing plate;
the tail swinging motor is arranged below the tail swinging transmission box and is in transmission connection with the tail swinging transmission box;
the cylindrical rack ejector rod is movably arranged on the swing tail transmission box and can be driven by a swing tail motor to move left and right, so that the lower limb crawling support profile is driven to swing left and right;
the two rack end sleeves are respectively connected to two ends of the cylindrical rack ejector rod;
two groups of tail swing guide wheels are respectively connected to the upper end and the lower end of the two rack end sleeves and are in contact connection with the lower limb crawling support profile;
the connecting rod is connected between the left lower limb crawling support profile and the right lower limb crawling support profile;
the tail swinging roller is arranged below the rear end of the lower limb crawling support profile and can roll left and right on the motion panel bracket;
the guide pin is arranged at the rear end of the lower limb crawling support profile, an arc-shaped guide groove is correspondingly arranged on the motion panel bracket, and the guide pin is inserted into the arc-shaped guide groove and can slide along the arc-shaped guide groove;
the front end of the lower limb crawling support section bar is rotatably connected with the motion panel bracket through a tail swing rotating shaft.
Two rotating shaft mounting seats are symmetrically mounted below the abdomen supporting plate, rack rotating shafts are respectively mounted on the two rotating shaft mounting seats, and the upper end of an arc-shaped rack in the movement angle adjusting mechanism is rotatably connected with the rack rotating shafts.
Dampers are arranged on two sides of the upper limb synchronizing wheel.
The abdomen supporting plate is movably connected with the abdomen supporting plate through an abdomen rotating shaft, so that the abdomen supporting plate can slightly rotate.
The rotating rack is connected with the underframe through a rack rotating shaft, and pointer discs are respectively installed at two ends of the rack rotating shaft.
The invention introduces a linkage transmission mechanism, adopts the left motor and the right motor to carry out the reverse motion combined transportation training, and realizes the reverse passive motion of the upper limb and the lower limb. The problem of the hidden danger of malfunction generated in crawling training is solved. The invention can realize the linkage motion training of the reverse motion of the side, the upper limb and the lower limb which move in sequence from left to right through the linkage crawling motion mechanism; the swing motion mechanism can drive the patient to do left-right waist-twisting motion; the movement comfort of the patient can be improved through the abdomen supporting mechanism; the angle of the motion panel can be adjusted through the motion angle adjusting mechanism. The invention realizes the switching between active and passive movement, and can adjust the movement resistance during active movement. Kneeling crawling, climbing crawling and pitching crawling can be achieved by adjusting the angle of the motion panel, and effective rehabilitation training of patients is guaranteed.
Drawings
FIG. 1 is a schematic perspective view of the linked crawling spine rehabilitation training instrument of the present invention;
FIG. 2 is a set-up condition of the invention when used on a patient;
FIG. 3 is a setup state of the present invention for climbing;
FIG. 4 is a setting state for the nose-down crawling of the present invention;
FIG. 5 is a schematic structural view of a linked crawling motion mechanism in the present invention;
FIG. 6 is a schematic structural view of an internal transmission mechanism of the linkage crawling motion mechanism in the invention;
FIG. 7 is a partial structural view of the swing tail motion mechanism of the present invention;
FIG. 8 is a schematic view of the tail motion mechanism drive component of the pendulum of the present invention;
FIG. 9 is a schematic view of the abdominal support mechanism of FIG. 10;
fig. 11, 12, and 13 are schematic structural views of the angle adjustment mechanism according to the present invention.
Detailed Description
See fig. 1, fig. 2, fig. 3, and fig. 4. The invention relates to a linkage crawling spine rehabilitation training device, which comprises an underframe 1, a motion angle adjusting mechanism 2, a linkage crawling motion mechanism 3, an abdomen supporting mechanism 4 and a tail swinging motion mechanism 5, wherein the motion angle adjusting mechanism is arranged on the underframe; the motion angle adjusting mechanism is arranged on the underframe, the linkage crawling motion mechanism and the abdomen supporting mechanism are respectively arranged on the motion angle adjusting mechanism and can be inclined at an angle under the action of the motion angle adjusting mechanism, and the tail swinging motion mechanism is connected with the abdomen supporting mechanism and can drive the rear part of the linkage crawling motion mechanism to swing.
Referring to fig. 11, 12 and 13, the movement angle adjusting mechanism 2 of the present invention further includes a rotating frame 21, a worm gear reduction transmission mechanism 22 and an arc-shaped rack 23.
The rotating frame 21 is movably connected with the underframe 1 and is fixedly connected with an abdomen supporting plate 41 in the abdomen supporting mechanism and a moving panel bracket in the linkage crawling moving mechanism; the rotating frame is connected with the underframe through a frame rotating shaft 211, and two ends of the frame rotating shaft are respectively provided with a pointer disc 212.
The worm gear speed reducing transmission mechanism 22 is arranged on the underframe and is fixedly connected with the underframe.
The arc-shaped rack 23 is in transmission connection with the worm gear and worm reduction transmission mechanism and is in transmission connection with an abdomen supporting plate 41 in the abdomen supporting mechanism; can drive the rotating frame and the abdomen supporting mechanism to rotate and incline at an angle together. Two rotating shaft mounting seats 24 are symmetrically mounted below the abdomen supporting plate 41, rack rotating shafts 25 are respectively mounted on the two rotating shaft mounting seats, and the upper ends of arc-shaped racks 23 in the movement angle adjusting mechanism are rotatably connected with the rack rotating shafts.
With reference to fig. 5 and 6, the linked crawling motion mechanism 3 of the present invention further includes a motion panel bracket 31, an upper limb crawling support profile 32, a lower limb crawling support profile 33, an upper limb linear guide rail 34, a lower limb linear guide rail 35, an upper limb slider 36, a lower limb slider 37, an upper limb handle 38, a lower limb leg support 39, and a linked driving mechanism 30. Wherein, the moving panel bracket 31 is installed on the moving angle adjusting mechanism; the upper limb crawling support section bars 32 are symmetrically arranged on the left side and the right side of the front part of the moving panel bracket and are fixedly connected with the moving panel bracket; the lower limb crawling support profiles 33 are symmetrically arranged on the left side and the right side of the rear part of the motion panel bracket and are movably connected with the motion panel bracket; the front end of the lower limb crawling support section bar 33 is rotatably connected with the motion panel bracket 31 through a swing tail rotating shaft 331. The upper limb linear guide rails 34 are respectively fixed on the inner bottom plates of the two upper limb crawling support profiles; the lower limb linear guide rails 35 are respectively fixed on the inner bottom plates of the two lower limb crawling support profiles; the two upper limb slide blocks 36 are respectively connected with the two upper limb linear guide rails in a sliding way; the four lower limb sliding blocks 37 are arranged left and right in two groups, and two lower limb sliding blocks in each group are arranged in front and back and are respectively connected with the two lower limb linear guide rails in a sliding manner; the two upper limb handles 38 are respectively fixedly connected with the two upper limb sliding blocks; the two lower limb leg supports 39 are respectively fixedly connected with the two groups of lower limb sliding blocks; the linkage driving mechanisms 30 are respectively arranged in two groups of upper limb crawling support profiles and lower limb crawling support profiles on two sides and are respectively connected with upper limb sliders and lower limb sliders on corresponding sides in a transmission manner; the linkage driving mechanism on one side can drive the upper limb sliding block and the lower limb sliding block on the same side to synchronously move, and further drive the upper limb handle and the lower limb leg support on the same side to synchronously move. The linkage driving mechanism 30 further includes a synchronizing wheel base 301, an upper limb synchronizing wheel 302, a lower limb synchronizing wheel 303, a motor base 304, a motor 305, an upper limb synchronizing belt 306, a lower limb synchronizing belt 307, a steel wire rope 308, a reversing guide wheel base 309, a reversing guide wheel 310, a stopper mounting plate 311 and a stopper 312.
The synchronous wheel seat is arranged at the rear end of the lower limb crawling support profile, the motor seat is arranged at the front end of the upper limb crawling support profile, the motor and the upper limb synchronous wheel are respectively arranged on the motor seat, the lower limb synchronous wheel is movably arranged on the synchronous wheel seat, the upper limb synchronous belt bypasses the upper limb synchronous wheel and is fixedly connected with the upper limb sliding block, the lower limb synchronous belt bypasses the lower limb synchronous wheel and is fixedly connected with the lower limb sliding block, and the upper limb synchronous belt and the lower limb synchronous belt are connected through a steel wire rope; the reversing guide wheel seat is arranged at the rear end of the upper limb crawling support section bar, the reversing guide wheel is arranged on the reversing guide wheel seat, and the steel wire rope bypasses the reversing guide wheel.
The side of the upper limb crawling support section bar is installed on the limiter mounting plate, a rear end limiter is installed at the rear end of the limiter mounting plate, two front end limiters are installed at the front end of the limiter mounting plate, one front end limiter is connected with a motion amplitude adjusting knob 313 to be adjusted forwards and backwards, and the motion amplitude adjusting knob is installed on the outer side of the limiter mounting plate. Dampers 314 are mounted on either side of the upper limb synchronizing wheel 302.
Referring to fig. 9 and 10, the abdomen support mechanism 4 of the present invention further includes an abdomen support plate 41, a ball screw module 42, an abdomen linear guide 43, an abdomen linear guide slider 44, an abdomen push rod mounting block 45, left and right sleeves 46, an electric push rod 47, an abdomen upper support plate 48, and an abdomen support plate 49. Wherein, the abdomen supporting plate 41 is installed on the movement angle adjusting mechanism; two rotating shaft mounting seats 24 are symmetrically mounted below the abdomen supporting plate, rack rotating shafts 25 are respectively mounted on the two rotating shaft mounting seats, and the upper ends of arc-shaped racks 23 in the movement angle adjusting mechanism are rotatably connected with the rack rotating shafts. The ball screw module 42 is arranged below the abdomen supporting plate and can drive the abdomen supporting plate to move back and forth; the ball screw module 42 includes a sub bearing seat 421, a main bearing seat 422, a screw 423, an abdominal motor transmission mechanism 424 and an abdominal ball screw slider 425; the auxiliary bearing seat and the main bearing seat are respectively arranged at two ends below the abdominal supporting plate, the screw rod is connected between the auxiliary bearing seat and the main bearing seat, the abdominal motor transmission mechanism is arranged beside the main bearing seat and is in transmission connection with the screw rod, and the abdominal ball screw sliding block is in meshing transmission connection with the screw rod and is fixedly connected with the abdominal push rod mounting block. The abdomen linear guide rail 43 is fixedly connected above the abdomen supporting plate; the abdomen linear guide rail slide block 44 is connected with the abdomen linear guide rail in a sliding way; the abdomen push rod mounting block 45 is fixedly connected to the abdomen linear guide rail slide block and is in transmission connection with the ball screw module; the left sleeve 46 and the right sleeve 46 are symmetrically arranged on the left side and the right side of the abdomen push rod mounting block and are fixedly connected with the abdomen push rod mounting block; the electric push rod 47 is arranged in the middle of the abdomen push rod mounting block and is fixedly connected with the abdomen push rod mounting block; the abdomen upper supporting plate 48 is arranged at the upper ends of the electric push rod and the left and right sleeves and is fixedly connected with the electric push rod and the left and right sleeves; the belly support plate 49 is disposed above the belly support plate and is movably connected to the belly support plate by the belly rotation shaft 40 so that the belly support plate can slightly rotate.
Referring to fig. 7 and 8, the tail-swinging motion mechanism 5 of the present invention further includes:
the tail swinging transmission mechanism fixing plate 50 is fixed on an abdomen supporting plate 41 on the abdomen supporting mechanism, and the tail swinging transmission mechanism is installed on the tail swinging transmission mechanism fixing plate 50 and is in transmission connection with the linkage crawling motion mechanism, so that the rear part of the linkage crawling motion mechanism can be driven to swing left and right. The tail-swinging transmission mechanism comprises a tail-swinging transmission box 51, a tail-swinging motor 52, a cylindrical rack ejector rod 53, a rack end sleeve 54, a tail-swinging guide wheel 55, a connecting rod 56, a tail-swinging roller 57 and a guide pin 58. Wherein, the swing tail transmission case 51 is connected on the swing tail transmission mechanism fixing plate; the tail swinging motor 52 is arranged below the tail swinging transmission box and is in transmission connection with the tail swinging transmission box; the cylindrical rack ejector rod 53 is movably arranged on the swing tail transmission box and can be driven by a swing tail motor to move left and right, so that the lower limb crawling support section bar is driven to swing left and right; two rack end sleeves 54 are respectively connected to two ends of the cylindrical rack mandril; two groups of tail-swinging guide wheels 55 are respectively connected to the upper end and the lower end of the two rack end sleeves and are in contact connection with the lower limb crawling support profile; the connecting rod 56 is connected between the left lower limb crawling support section bar and the right lower limb crawling support section bar, a connecting rod connecting groove 561 is fixedly installed on the inner side of the lower limb crawling support section bar, the connecting rod 56 is in ball-and-socket connection with the connecting rod connecting groove 561, and the moving degree is good. The swing tail roller 57 is arranged below the rear end of the lower limb crawling support profile and can roll left and right on the motion panel bracket; a guide pin 58 is provided at the rear end of the lower limb crawling support profile. An arc guide groove 3101 is correspondingly formed on the moving panel bracket 31, and a guide pin is inserted into the arc guide groove and can slide along the arc guide groove.
Claims (9)
1. The utility model provides a linkage spine rehabilitation training device of crawling which characterized in that: comprises a bottom frame, a movement angle adjusting mechanism, a linkage crawling movement mechanism, an abdomen supporting mechanism and a tail swinging movement mechanism; the tail swinging motion mechanism is connected with the abdomen supporting mechanism and can drive the rear part of the linkage crawling motion mechanism to swing;
the tail-swinging movement mechanism comprises:
the tail swing transmission mechanism fixing plate is fixed on the abdomen supporting mechanism;
and the tail swinging transmission mechanism is arranged on the tail swinging transmission mechanism fixing plate, is in transmission connection with the linkage crawling motion mechanism and can drive the rear part of the linkage crawling motion mechanism to swing left and right.
2. The rehabilitation training device for the linked crawling spine according to claim 1, characterized in that: the movement angle adjusting mechanism includes:
the rotary rack is connected with the underframe through a rack rotating shaft and is fixedly connected with the abdomen supporting mechanism and the linkage crawling movement mechanism, and pointer discs are respectively arranged at two ends of the rack rotating shaft;
the worm and gear speed reduction transmission mechanism is arranged on the underframe and is fixedly connected with the underframe;
the arc-shaped rack is in transmission connection with the worm and gear speed reduction transmission mechanism and is in transmission connection with the abdomen supporting mechanism; can drive the rotating frame and the abdomen supporting mechanism to rotate and incline at an angle together.
3. The rehabilitation training device for the linked crawling spine according to claim 1, characterized in that: the linkage crawling motion mechanism comprises:
the motion panel bracket is arranged on the motion angle adjusting mechanism;
the upper limb crawling support section bars are symmetrically arranged on the left side and the right side of the front part of the moving panel bracket and are fixedly connected with the moving panel bracket;
the lower limb crawling support profiles are symmetrically arranged on the left side and the right side of the rear part of the motion panel bracket and are movably connected with the motion panel bracket;
the upper limb linear guide rails are fixed on the inner bottom plates of the two upper limb crawling support profiles respectively;
the lower limb linear guide rails are fixed on the inner bottom plates of the two lower limb crawling support profiles respectively;
the two upper limb sliding blocks are respectively connected with the two upper limb linear guide rails in a sliding manner;
four lower limb sliding blocks are arranged left and right in two groups, and two lower limb sliding blocks in each group are arranged in front and back and are respectively connected with the two lower limb linear guide rails in a sliding manner;
the two upper limb handles are respectively fixedly connected with the two upper limb sliding blocks;
the two lower limb leg supports are respectively fixedly connected with the two groups of lower limb sliding blocks;
the linkage driving mechanisms are respectively arranged in the upper limb crawling support section bars and the lower limb crawling support section bars on the two sides in two groups, and are respectively connected with the upper limb slide blocks and the lower limb slide blocks on the corresponding sides in a transmission manner; the linkage driving mechanism on one side can drive the upper limb sliding block and the lower limb sliding block on the same side to synchronously move, and further drive the upper limb handle and the lower limb leg support on the same side to synchronously move.
4. The rehabilitation training device for the linked crawling spine according to claim 1, characterized in that: the abdominal support mechanism includes:
the abdomen supporting plate is arranged on the movement angle adjusting mechanism;
the ball screw module is arranged below the abdomen supporting plate and can drive the abdomen supporting plate to move back and forth;
the abdomen linear guide rail is fixedly connected above the abdomen supporting plate;
the abdomen linear guide rail sliding block is connected with the abdomen linear guide rail in a sliding way;
the abdomen push rod mounting block is fixedly connected to the abdomen linear guide rail sliding block and is in transmission connection with the ball screw module;
the left sleeve and the right sleeve are symmetrically arranged on the left side and the right side of the abdomen push rod mounting block and are fixedly connected with the abdomen push rod mounting block;
the electric push rod is arranged in the middle of the abdomen push rod mounting block and is fixedly connected with the abdomen push rod mounting block;
the abdomen upper supporting plate is arranged at the upper ends of the electric push rod and the left and right sleeves and is fixedly connected with the electric push rod and the left and right sleeves;
the abdomen supporting plate is arranged above the abdomen supporting plate and is movably connected with the abdomen supporting plate.
5. The rehabilitation training device for the linked crawling spine according to claim 3, characterized in that: the linkage driving mechanism comprises a synchronous wheel seat, an upper limb synchronous wheel, a lower limb synchronous wheel, a motor seat, a motor, an upper limb synchronous belt, a lower limb synchronous belt, a steel wire rope, a reversing guide wheel seat, a reversing guide wheel, a limiter mounting plate and a limiter;
the synchronous wheel seat is arranged at the rear end of the lower limb crawling support profile, the motor seat is arranged at the front end of the upper limb crawling support profile, the motor and the upper limb synchronous wheel are respectively arranged on the motor seat, the lower limb synchronous wheel is movably arranged on the synchronous wheel seat, the upper limb synchronous belt bypasses the upper limb synchronous wheel and is fixedly connected with the upper limb sliding block, the lower limb synchronous belt bypasses the lower limb synchronous wheel and is fixedly connected with the lower limb sliding block, and the upper limb synchronous belt and the lower limb synchronous belt are connected through a steel wire rope; the reversing guide wheel seat is arranged at the rear end of the upper limb crawling support section bar, the reversing guide wheel is arranged on the reversing guide wheel seat, and the steel wire rope is wound around the reversing guide wheel;
the side of the upper limb crawling support section bar is installed on the limiter mounting plate, a rear end limiter is installed at the rear end of the limiter mounting plate, two front end limiters are installed at the front end of the limiter mounting plate, one front end limiter is connected with the motion amplitude adjusting knob and can be adjusted front and back, and the motion amplitude adjusting knob is installed on the outer side of the limiter mounting plate.
6. The rehabilitation training device for the linked crawling spine according to claim 4, characterized in that: the ball screw module comprises an auxiliary bearing seat, a main bearing seat, a screw, an abdominal motor transmission mechanism and an abdominal ball screw sliding block; the auxiliary bearing seat and the main bearing seat are respectively arranged at two ends below the abdominal supporting plate, the screw rod is connected between the auxiliary bearing seat and the main bearing seat, the abdominal motor transmission mechanism is arranged beside the main bearing seat and is in transmission connection with the screw rod, and the abdominal ball screw sliding block is in meshing transmission connection with the screw rod and is fixedly connected with the abdominal push rod mounting block.
7. The rehabilitation training device for the linked crawling spine according to claim 4, characterized in that: the tail-swinging transmission mechanism comprises:
the tail swing transmission box is connected to the tail swing transmission mechanism fixing plate;
the tail swinging motor is arranged below the tail swinging transmission box and is in transmission connection with the tail swinging transmission box;
the cylindrical rack ejector rod is movably arranged on the swing tail transmission box and can be driven by a swing tail motor to move left and right, so that the lower limb crawling support profile is driven to swing left and right;
the two rack end sleeves are respectively connected to two ends of the cylindrical rack ejector rod;
two groups of tail swing guide wheels are respectively connected to the upper end and the lower end of the two rack end sleeves and are in contact connection with the lower limb crawling support profile;
the connecting rod is connected between the left lower limb crawling support profile and the right lower limb crawling support profile;
the tail swinging roller is arranged below the rear end of the lower limb crawling support profile and can roll left and right on the motion panel bracket;
the guide pin is arranged at the rear end of the lower limb crawling support profile, an arc-shaped guide groove is correspondingly arranged on the motion panel bracket, and the guide pin is inserted into the arc-shaped guide groove and can slide along the arc-shaped guide groove;
the front end of the lower limb crawling support section bar is rotatably connected with the motion panel bracket through a tail swing rotating shaft.
8. The rehabilitation training device for the linked crawling spine according to claim 4, characterized in that: two rotating shaft mounting seats are symmetrically mounted below the abdomen supporting plate, rack rotating shafts are respectively mounted on the two rotating shaft mounting seats, and the upper ends of arc racks in the movement angle adjusting mechanism are rotatably connected with the rack rotating shafts; the abdomen supporting plate is movably connected with the abdomen supporting plate through an abdomen rotating shaft, so that the abdomen supporting plate can slightly rotate.
9. The rehabilitation training device for the linked crawling spine according to claim 5, characterized in that: dampers are arranged on two sides of the upper limb synchronizing wheel.
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| CN201611102439.0A CN108143586B (en) | 2016-12-05 | 2016-12-05 | Linkage crawling spinal rehabilitation training device |
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| CN201611102439.0A CN108143586B (en) | 2016-12-05 | 2016-12-05 | Linkage crawling spinal rehabilitation training device |
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| CN108143586B true CN108143586B (en) | 2020-04-10 |
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| CN110584947B (en) * | 2019-08-20 | 2021-04-27 | 长春理工大学 | Crawling rehabilitation training baby carriage for cerebral palsy child |
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| CN111111114A (en) * | 2020-01-13 | 2020-05-08 | 合肥工业大学 | Training device and training method |
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| CN113117287B (en) * | 2021-04-23 | 2022-03-08 | 河南省中医院（河南中医药大学第二附属医院） | Cardiovascular patient rehabilitation training device |
| CN113101146B (en) * | 2021-05-12 | 2022-07-26 | 江苏医药职业学院 | Hemiplegia patient kneels a position rehabilitation training device |
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