CN108272602A - A kind of lower limb rehabilitation robot suspention weight reducing device - Google Patents
A kind of lower limb rehabilitation robot suspention weight reducing device Download PDFInfo
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- CN108272602A CN108272602A CN201810212624.8A CN201810212624A CN108272602A CN 108272602 A CN108272602 A CN 108272602A CN 201810212624 A CN201810212624 A CN 201810212624A CN 108272602 A CN108272602 A CN 108272602A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 36
- 208000020442 loss of weight Diseases 0.000 claims abstract description 43
- 230000003287 optical effect Effects 0.000 claims description 11
- 210000005069 ears Anatomy 0.000 claims description 2
- 230000000694 effects Effects 0.000 claims description 2
- 238000012549 training Methods 0.000 description 11
- 239000000725 suspension Substances 0.000 description 5
- 230000005021 gait Effects 0.000 description 4
- 230000005484 gravity Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000001225 therapeutic effect Effects 0.000 description 2
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 206010020772 Hypertension Diseases 0.000 description 1
- 206010061296 Motor dysfunction Diseases 0.000 description 1
- 230000017531 blood circulation Effects 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 235000005911 diet Nutrition 0.000 description 1
- 230000000378 dietary effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 210000005067 joint tissue Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention provides a kind of lower limb rehabilitation robot suspention weight reducing device, including rack, and loss of weight module and dynamic loss of weight module completely.Complete loss of weight module, main includes suspention linear drive apparatus, first pulley group.Dynamic loss of weight module includes mainly that spring force adjusts linear drive apparatus, spring.Lower limb rehabilitation robot according to the present invention suspends weight reducing device in midair, can accurately adjust the supported weight of patient, operability is high, safe and reliable, can be used cooperatively with a variety of lower limb rehabilitation robots such as pedal, exoskeleton-type.
Description
Technical field
The present invention relates to medical instruments field, more particularly to a kind of lower limb rehabilitation robot suspends weight reducing device in midair.
Background technology
In recent years, the dietary structure of people and work and rest the unreasonable of rule cause hypertension, cardiovascular and cerebrovascular diseases etc. various
Disease increases, and thus caused motor dysfunction of lower limb, inconvenience and pain are brought to patient and its family.For lower extremity movement
For impaired patients, restore the main target that walking ability is their rehabilitation trainings.
Traditional lower limb rehabilitation training generally assists patient to carry out standing Walking manually by doctor and therapist, to subtract
The loading weight of light patient, helps its loss of weight to walk.And currently, the weight-losing that most lower limb rehabilitation training passes through suspension type
Device to carry out loss of weight for patient, reduces the difficulty of ambulation training.
In the weight-losing device of existing suspension type, need to feel high to adjust suspention by patient itself mostly
Degree, poor operability.In addition, its elevating movement is using hand equipment or electromechanical equipment as power source, when by suspension by patient
Rise reach a certain height, and power source is stopped, suspention height cannot with position of centre of gravity when patient's gait training variation from
By lifting, therapeutic effect is influenced.
For example, patent document 1：CN104546383A provides a kind of weight-losing device, but the device is not suitable for combining
The lower limb rehabilitation robot of treadmill；Patent document 2：CN202776928U provides a kind of pneumatic walking weight-losing training aids,
But pneumatic device volume is big, and work noise is big.
In view of this, needing to be improved the prior art, to meet at present to the requirement of lower limb rehabilitation device.
Invention content
It is outstanding the technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a kind of lower limb rehabilitation robot
Weight reducing device is hung, can accurately adjust the supported weight of patient, operability is high, safe and reliable, can be with pedal, ectoskeleton
A variety of lower limb rehabilitation robots such as formula are used cooperatively.
To achieve the above object, invention provides the following technical solutions：
A kind of lower limb rehabilitation robot suspention weight reducing device, including rack, and loss of weight module and dynamic loss of weight mould completely
Block.
Further, complete loss of weight module, main includes suspention linear drive apparatus, first pulley group.
Further, dynamic loss of weight module includes mainly that spring force adjusts linear drive apparatus, spring.
Further, the complete loss of weight module and the loss of weight module are mounted in rack, and flexible strand one end is fixed on
In rack, centre is sequentially connected complete loss of weight module and dynamic loss of weight module, and the other end is fixed on hanger.
Further, dynamic loss of weight module is mainly set at the interior rear wall position of rack, in the interior front of rack
Complete loss of weight module is mainly set at position.
Description of the drawings
Fig. 1 is that the lower limb rehabilitation robot of the present invention suspends the structure principle chart of weight reducing device in midair.
Fig. 2 is that the lower limb rehabilitation robot of the present invention suspends the structural schematic diagram of weight reducing device in midair.
Fig. 3 is that the lower limb rehabilitation robot of the present invention suspends the front sectional view of weight reducing device in midair.
Fig. 4 is that the lower limb rehabilitation robot of the present invention suspends the rear cross sectional view of weight reducing device in midair.
Fig. 5 is that the lower limb rehabilitation robot of the present invention suspends the vernier instruction figure of weight reducing device in midair.
(pay attention to：Shown structure in attached drawing simply to illustrate that inventive features signal, be not intended to according to shown in attached drawing
Structure.)
Specific implementation mode
As shown in Figure 1, 2, lower limb rehabilitation robot according to the present invention suspends weight reducing device, including rack 1 in midair, and
Complete loss of weight module and dynamic loss of weight module.
As shown in figure 4, wherein complete loss of weight module, main includes suspention linear drive apparatus 2, first pulley group 3.
As shown in figure 3, dynamic loss of weight module, includes mainly that spring force adjusts linear drive apparatus 5, spring 6.
The complete loss of weight module and the loss of weight module are mounted in rack 1, and 4 one end of flexible strand is fixed in rack 1,
Centre is sequentially connected complete loss of weight module and dynamic loss of weight module, and the other end is fixed on hanger 7.
Specifically, as Figure 2-3, dynamic loss of weight module is mainly arranged at the interior rear wall position of rack 1.
Wherein, it is electric putter that spring force, which adjusts linear drive apparatus 5, and concretely electric pushrod or Electrohydraulic push rod, pass through
The flexible of electric putter is adjusted, the pulling force of spring 6 can be increased or reduce.
It is hinged with linear drive apparatus support base 14 that spring force adjusts 5 tail portion of linear drive apparatus；Linear drive apparatus branch
Support seat 14 is fixed in rack 1.Meanwhile spring force adjusts 5 head of linear drive apparatus and is hinged with the first sliding block 9；First sliding block 9
It is slidably connected with first straight line optical axis 8.
First straight line optical axis 8 has two, vertically symmetrical to be fixed in rack 1.
Spring 6 has two, and vertically symmetrical arrangement, two ears are hung on 9 upper and lower limited block 11 of the first sliding block.
Second straight line optical axis 13 has two, and vertically symmetrical arrangement is each passed through linear drive apparatus support base 14.Second is straight
13 upper end of linear light axis is fixed on 15 bottom of upper limit block, and lower end is fixed on 11 top of lower limit block.
There are four cushion pads 12, is separately fixed at both sides among 15 bottom of upper limit block, in 11 top of lower limit block
Between both sides.
Second pulley 16 is hinged with upper limit block 15, and upper vernier 17 is fixed on lower limit block 11, and lower vernier 18 is solid
It is scheduled on the first sliding block 9.
First pulley 10 is fixed on rack middle inside, and third pulley 19, the 4th pulley 20 are separately fixed on the inside of rack
Top.
Preferably, upper limit block 15 is triangular structure.
As shown in Figure 2,4, complete loss of weight module is mainly set at the interior front position of rack 1.
Wherein, suspention linear drive apparatus 2 is electric putter, concretely electric pushrod or Electrohydraulic push rod, by adjusting electricity
Push rod it is flexible, can increase or reduce the distance between movable pulley and fixed pulley in first pulley group 3, that is, realize rope closing or
Person puts the effect of rope, to promote or reduce patient.
It is hinged with rack 1 to suspend 2 tail portion of linear drive apparatus in midair, suspention 2 head of linear drive apparatus is cut with scissors with the second sliding block 22
It connects.
Second sliding block 22 is slidably connected with third straight optical axis 24.Third straight optical axis 24 has two, vertically symmetrical fixation
In rack 1.
First pulley group 3 includes three movable pulleys i.e. the 6th pulley 23 and two fixed pulleys i.e. the 5th pulley 21.
Three movable pulleys i.e. the 6th pulley 23 is hinged with the second sliding block 22 respectively.
Two fixed pulleys i.e. the 5th pulley 21 is hinged with rack 1 respectively.
5th pulley 21 and the 6th pulley 23 are arranged in " W " shape.
7th pulley 25 is fixed on 1 inside top of rack, and the 8th pulley 26 is fixed on 1 inside portion on the lower side of rack.
As shown in Figs 1-4,4 one end of flexible strand is fixed in rack 1, is being intersected around the 6th pulley 23, the 5th pulley 21
Afterwards, then successively the 8th pulley 26, first pulley 10, third pulley 19, second pulley 16, the 4th pulley 20, the 7th pulley are bypassed
25, the other end is fixed on hanger 7.
6th pulley 23, the 5th pulley 21 are coplanar, and the 8th pulley 26, first pulley 10 are coplanar, and third pulley 19, second is slided
Take turns 16 coplanar, the 4th pulley 20, the 7th pulley 25 are coplanar.
Rope between 6th pulley 23 and the 8th pulley 26 is not only coplanar with the 6th pulley 23, the 5th pulley 21, but also with
Eight pulleys 26, first pulley 10 are coplanar.
Rope between first pulley 10 and third pulley 19 was not only coplanar with the 8th pulley 26, first pulley 10, but also with
Three pulleys 19, second pulley 16 are coplanar.
Rope between second pulley 16 and the 4th pulley 20 was not only coplanar with third pulley 19, second pulley 16, but also with
Four pulleys 20, the 7th pulley 25 are coplanar.
As shown in figure 5,27 left side of upper vernier hole indicates scale, it is used to indicate the position of vernier 17；Lower vernier hole 28 is right
Side indicates scale, is used to indicate the size of spring force.
Lower limb rehabilitation robot according to the present invention suspends weight reducing device in midair, and operating procedure is：
The first step：When patient prepares rehabilitation training, linear drive apparatus 5 is adjusted by spring force and is stretched, extension spring
6, (position of lower vernier 18 is corresponding with loss of weight amount, can pass through and read corresponding scale for the loss of weight amount for pre-setting for patient
Value knows the size of loss of weight amount), spring 6 pulls lower limit block 11, makes the cushion pad and linear drives of upper limit block 15
Device pedestal 14 contacts, and upper vernier 17 is in scale lowermost end at this time；
Second step：It is retracted by suspending linear drive apparatus 2 in midair, so that the position of 4 end of flexible strand is declined, patient is facilitated to pass through
Camisole realizes the connection between hanger 7；
Third walks：It is stretched by suspending linear drive apparatus 2 in midair, so that the position of 4 end of flexible strand is increased, to be continuously increased
To the loss of weight amount of patient, when the loss of weight amount to patient is more than preset loss of weight amount, because the pulling force of flexible strand 4 is more than spring 6
Pulling force, upper limit block 15 and lower limit block 11 move up, and upper vernier 17, which also synchronizes, to move up；
4th step：When upper vernier 17 reaches vernier hole centre position, stops suspention linear drive apparatus 2 and stretches,
Patient starts Walking, and subtracting weight change caused by the height variation of center of gravity when patient walks will be compensated by spring force, be made
Loss of weight amount of the patient in Walking keeps dynamic equilibrium.
Lower limb rehabilitation robot according to the present invention suspends weight reducing device in midair, compared with existing lower limb rehabilitation device,
It has the characteristics that：
(1) after patient is risen to trained position by suspension, power source is stopped, due to dynamic regulation spring
In the presence of suspention height can be freely lifted with the variation of position of centre of gravity when patient's gait training, promote therapeutic effect.
(2) patient body is adjusted to gait training pose, and the offer portion in patient's gait training using suspension apparatus
Divide weight support, the heavy burden of lower limb when patient's ambulation training is made to reduce, reduces patient and do free Walking difficulty.
(3) abilities such as patient's walking, balance, standing can be promoted to improve, to promote the blood circulation of lower limb, enhance limbs
Muscle improves being adhered for joint tissue, increases range of motion, is finally reached rehabilitation.
The above, the preferred embodiment only invented are not intended to limit the protection domain of invention, all to invent
Spirit and principle within made by all any modification, equivalent and improvement etc., should be included within the protection domain of invention.
Claims (10)
1. a kind of lower limb rehabilitation robot suspends weight reducing device, including rack (1), and loss of weight module and dynamic loss of weight mould completely in midair
Block, it is characterised in that：
Complete loss of weight module, main includes suspention linear drive apparatus (2), first pulley group (3)；
Dynamic loss of weight module includes mainly that spring force adjusts linear drive apparatus (5), spring (6)；
The complete loss of weight module and the loss of weight module are mounted in rack (1), and flexible strand (4) one end is fixed on rack (1)
On, centre is sequentially connected complete loss of weight module and dynamic loss of weight module, and the other end is fixed on hanger (7)；
Wherein, dynamic loss of weight module is mainly set at the interior rear wall position of rack (1), in the interior front position of rack (1)
Complete loss of weight module is mainly arranged in the place of setting.
2. lower limb rehabilitation robot according to claim 1 suspends weight reducing device in midair, it is characterised in that：
It is electric putter that spring force, which adjusts linear drive apparatus (5), by adjusting the flexible of electric putter, can increase or reduce bullet
The pulling force of spring (6)；
It is hinged with linear drive apparatus support base (14) that spring force adjusts linear drive apparatus (5) tail portion；Linear drive apparatus branch
Support seat (14) is fixed in rack (1)；
Meanwhile spring force adjusts linear drive apparatus (5) head and is hinged with the first sliding block (9)；First sliding block (9) and first straight line
Optical axis (8) is slidably connected.
3. lower limb rehabilitation robot according to claim 2 suspends weight reducing device in midair, it is characterised in that：
Electric pushrod or Electrohydraulic push rod can be used in the electric putter that spring force adjusts linear drive apparatus (5).
4. lower limb rehabilitation robot according to claim 3 suspends weight reducing device in midair, it is characterised in that：
First straight line optical axis (8) has two, vertically symmetrical to be fixed in rack (1)；
Spring (6) has two, and vertically symmetrical arrangement, two ears are hung on the first sliding block (9) upper and lower limited block (11)；
Second straight line optical axis (13) has two, and vertically symmetrical arrangement is each passed through linear drive apparatus support base (14)；
Second straight line optical axis (13) upper end is fixed on upper limit block (15) bottom, and lower end is fixed on lower limit block (11) top
Portion.
5. lower limb rehabilitation robot according to claim 4 suspends weight reducing device in midair, it is characterised in that：
There are four cushion pads (12), is separately fixed at both sides among upper limit block (15) bottom, at the top of lower limit block (11)
Intermediate both sides；
Second pulley (16) is hinged with upper limit block (15), and upper vernier (17) is fixed on lower limit block (11), lower vernier
(18) it is fixed on the first sliding block (9)；
First pulley (10) is fixed on rack middle inside, and third pulley (19), the 4th pulley (20) are separately fixed in rack
Side roof part.
6. lower limb rehabilitation robot according to claim 5 suspends weight reducing device in midair, it is characterised in that：
It is electric putter to suspend linear drive apparatus (2) in midair, by adjusting the flexible of electric putter, can increase or reduce first pulley
The distance between the interior movable pulley of group (3) and fixed pulley realize that rope closing is either put the effect of rope and suffered to be promoted or be reduced
Person.
7. lower limb rehabilitation robot according to claim 6 suspends weight reducing device in midair, it is characterised in that：
It is hinged with rack (1) to suspend linear drive apparatus (2) tail portion in midair, suspention linear drive apparatus (2) head and the second sliding block
(22) hinged；
Second sliding block (22) is slidably connected with third straight optical axis (24)；
Third straight optical axis (24) has two, vertically symmetrical to be fixed in rack (1)；
First pulley group (3) includes three movable pulleys i.e. the 6th pulley (23) and two fixed pulleys i.e. the 5th pulley (21)；
Three movable pulleys i.e. the 6th pulley (23) is hinged with the second sliding block (22) respectively；
Two fixed pulleys i.e. the 5th pulley (21) is hinged with rack (1) respectively；
5th pulley (21) is arranged with the 6th pulley (23) in " W " shape；
7th pulley (25) is fixed on rack (1) inside top, and the 8th pulley (26) is fixed on portion on the lower side on the inside of rack (1).
8. lower limb rehabilitation robot according to claim 7 suspends weight reducing device in midair, it is characterised in that：
Flexible strand (4) one end is fixed in rack (1), after intersecting around the 6th pulley (23), the 5th pulley (21), then successively
Around the 8th pulley (26), first pulley (10), third pulley (19), second pulley (16), the 4th pulley (20), the 7th pulley
(25), the other end is fixed on hanger (7).
9. lower limb rehabilitation robot according to claim 8 suspends weight reducing device in midair, it is characterised in that：
6th pulley (23), the 5th pulley (21) are coplanar, and the 8th pulley (26), first pulley (10) are coplanar, third pulley (19),
Second pulley (16) is coplanar, and the 4th pulley (20), the 7th pulley (25) are coplanar；
Rope between 6th pulley (23) and the 8th pulley (26) was not only coplanar with the 6th pulley (23), the 5th pulley (21), but also
It is coplanar with the 8th pulley (26), first pulley (10)；
Rope between first pulley (10) and third pulley (19) was not only coplanar with the 8th pulley (26), first pulley (10), but also
It is coplanar with third pulley (19), second pulley (16)；
Rope between second pulley (16) and the 4th pulley (20) was not only coplanar with third pulley (19), second pulley (16), but also
It is coplanar with the 4th pulley (20), the 7th pulley (25).
10. lower limb rehabilitation robot according to claim 9 suspends weight reducing device in midair, it is characterised in that：
Scale is indicated on the left of upper vernier hole (27), is used to indicate the position of vernier (17)；
Scale is indicated on the right side of lower vernier hole (28), is used to indicate the size of spring force.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810212624.8A CN108272602B (en) | 2018-03-15 | 2018-03-15 | Lower limb rehabilitation robot suspension weight-reducing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810212624.8A CN108272602B (en) | 2018-03-15 | 2018-03-15 | Lower limb rehabilitation robot suspension weight-reducing device |
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| Publication Number | Publication Date |
|---|---|
| CN108272602A true CN108272602A (en) | 2018-07-13 |
| CN108272602B CN108272602B (en) | 2023-12-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810212624.8A Active CN108272602B (en) | 2018-03-15 | 2018-03-15 | Lower limb rehabilitation robot suspension weight-reducing device |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108853928A (en) * | 2018-09-10 | 2018-11-23 | 安庆中船柴油机有限公司 | A kind of healing robot |
| CN109077898A (en) * | 2018-09-10 | 2018-12-25 | 安庆中船柴油机有限公司 | A kind of adaptive loss of weight system of the suspension type of rehabilitation training |
| CN110450135A (en) * | 2019-07-30 | 2019-11-15 | 华中科技大学鄂州工业技术研究院 | A kind of dynamic suspension type weight support system |
| CN110507516A (en) * | 2019-08-06 | 2019-11-29 | 北京航空航天大学 | A kind of constant force human body suspension system for rehabilitation training |
| CN113143695A (en) * | 2021-04-15 | 2021-07-23 | 北航歌尔(潍坊)智能机器人有限公司 | Weight reduction device for rehabilitation training and limb rehabilitation system |
| CN114344094A (en) * | 2021-12-31 | 2022-04-15 | 华南理工大学 | Robot capable of realizing weight reduction and gravity center transfer |
| CN114714326A (en) * | 2021-01-04 | 2022-07-08 | 重庆牛迪创新科技有限公司 | Waist assisting mechanism and waist exoskeleton |
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| CN108272602B (en) | 2023-12-19 |
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