CN108635181A - A kind of multifunctional walking aid rehabilitation image training robot - Google Patents

A kind of multifunctional walking aid rehabilitation image training robot Download PDF

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Publication number
CN108635181A
CN108635181A CN201810498331.0A CN201810498331A CN108635181A CN 108635181 A CN108635181 A CN 108635181A CN 201810498331 A CN201810498331 A CN 201810498331A CN 108635181 A CN108635181 A CN 108635181A
Authority
CN
China
Prior art keywords
bracket
pedestal
walking aid
image training
fixed frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810498331.0A
Other languages
Chinese (zh)
Inventor
高金刚
徐兵
吴洪
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Institute of Technology
Original Assignee
Shanghai Institute of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Institute of Technology filed Critical Shanghai Institute of Technology
Priority to CN201810498331.0A priority Critical patent/CN108635181A/en
Publication of CN108635181A publication Critical patent/CN108635181A/en
Pending legal-status Critical Current

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61GTRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
    • A61G5/00Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs
    • A61G5/04Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
    • A61G5/041Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven having a specific drive-type
    • A61G5/042Front wheel drive
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H3/00Appliances for aiding patients or disabled persons to walk about
    • A61H3/04Wheeled walking aids for disabled persons
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H3/00Appliances for aiding patients or disabled persons to walk about
    • A61H3/04Wheeled walking aids for disabled persons
    • A61H2003/043Wheeled walking aids for disabled persons with a drive mechanism
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1657Movement of interface, i.e. force application means
    • A61H2201/1659Free spatial automatic movement of interface within a working area, e.g. Robot

Abstract

The invention discloses a kind of multifunctional walking aid rehabilitation image training robots, including fixed frame, pedestal positioned at the fixed frame lower end, synchronous lifting device on the fixed frame, one jiao of bracket, bracket and movable doorboard mounted in the synchronous lifting device upper end, the bracket is equipped with handle, control panel, rocking rod controller and voice controller, and the movable doorboard is rotatably connected between one jiao of the opening of the bracket side and the bracket;The front of chassis is equipped with front truckle, passes through differential controls steering and speed;The pedestal two sides behind is equipped with rear universal wheel, and the motor and transmission device for driving the synchronous lifting device to move synchronously are equipped in the pedestal;The rear side of the fixed frame is equipped with backrest structure, and the movable base plate being rotatedly connected with the backrest structure, and the pedestal is equipped with pedestal threshold, and functional diversities, security performance is high, and user can be with independent operation, and highly practical, production cost is low, easy for installation.

Description

A kind of multifunctional walking aid rehabilitation image training robot
Technical field
The present invention relates to rehabilitation training the field of medical instrument technology, specially a kind of multifunctional walking aid rehabilitation training machine People.
Background technology
With increasing for motor dysfunction of lower limb patient caused by the aged and various diseases, especially apoplexy sequelae The demand that patient restores the exercise ability of lower limbs sharply increases, and helps to restore very laborious effect only according to family members or medical staff Also not significantly, the healing robot technology that medical science of recovery therapy combines with robotics is increasingly becoming the heat studied both at home and abroad Point.Input household or the recovery exercising robot type that uses of clinical treatment and few at present are successfully few in actually promoting It is again few, and in mechanism design, modularized design, Human-computer Interactive Design etc. and immature.Existing rehabilitation trainer Device people can only carry out single training, have a single function, and rehabilitation training effect is poor, and barrier propterty is poor, be unsuitable for lower extremity movement barrier Hinder patient independently to carry out rehabilitation training, be easy to cause secondary injury, and complicated of high cost, being unsuitable for promoting on a large scale makes With.
Invention content
The object of the present invention is to provide a kind of security performance height, and comfort is good, can be independently operated, and at low cost multi-functional Walking aid rehabilitation image training robot.
To achieve the goals above, a kind of multifunctional walking aid rehabilitation image training robot provided by the invention, which is characterized in that Including fixed frame, it is located at the pedestal of the fixed frame lower end, the synchronous lifting device being mounted on the fixed frame, mounted in described One jiao of bracket, the bracket and movable doorboard of synchronous lifting device upper end, the bracket are equipped with handle, control panel, rocking bar control Device and voice controller processed, the movable doorboard are rotatably connected between one jiao of the opening of the bracket side and the bracket; The front of chassis is equipped with by two motors and the separately-driven front truckle of retarder, passes through differential controls steering and speed; The pedestal two sides behind is equipped with rear universal wheel, and the motor for driving the synchronous lifting device to move synchronously is equipped in the pedestal And transmission device;The rear side of the fixed frame is equipped with backrest structure, and the movable base plate being rotatedly connected with the backrest structure.
Preferably, the front of chassis and side are L-shaped, and the other side is equipped with pedestal threshold.
Preferably, the synchronous lifting device includes four ball-screws being mounted on the fixed frame quadrangle.
Preferably, the transmission device includes the belt pulley and belt being coaxially disposed respectively with four ball-screws, The belt pulley is by motor-driven rotation.
Preferably, before the bracket and side is L-shaped, and the bracket is equipped with the control panel fixing device and connects Mouthful, at least provided with voice map navigation and the public place of entertainment on the control panel.
Preferably, further include the foot pad plate of flexible connection on the base.
Preferably, the foot pad plate is rotatedly connected by rotation axis and the front of chassis or side, the foot pad plate with Limited block and resetting spring are equipped between the pedestal.
Preferably, the movable base plate is rotatedly connected by rotation axis and the backrest structure, the movable base plate and institute It states and is additionally provided with limited block and resetting spring between backrest structure.
The multifunctional walking aid rehabilitation image training robot provided by the invention, has the advantages that:
1. functional diversities, security performance is high, and user can be with independent operation, highly practical and reasonable for structure simple, life Produce it is at low cost, it is easy for installation.
2. can automatically switch actively or passively to train according to the walking ability of user, and have the function of electric wheelchair, The height that user can independently arrive when rehabilitation training, the bracket and seating wheelchair are done in outdoor can be adjusted, and ensure to use Comfort.
Description of the drawings
Fig. 1 is the structural schematic diagram of multifunctional walking aid rehabilitation image training robot of the present invention;
Fig. 2 is the structural representation that multifunctional walking aid rehabilitation image training robot of the present invention is converted into saddle horse or resting state Figure;
Fig. 3 is the front view of Fig. 2;
In figure:
1. 2. movable doorboard of bracket, 3. bracket, one jiao of 4. 5. pedestal of ball-screw, 6. front truckle, 7. movable base plate 8. 10. pedestal threshold of universal wheel after backrest structure 9..
Specific implementation mode
As illustrated in fig. 1 and 2, a kind of multifunctional walking aid rehabilitation image training robot, including fixed frame are located under the fixed frame The pedestal 5 at end, the synchronous lifting device being mounted on the fixed frame, bracket 1, support mounted in the synchronous lifting device upper end One jiao 3 of frame and movable doorboard 2, the bracket 1 are equipped with annular safety handle, control panel, rocking rod controller and voice control Device (is not drawn into) in figure, it is convenient by voice or rocking bar control the forward direction of the multifunctional walking aid rehabilitation image training robot with Route, the movable doorboard 2 are rotatably connected between one jiao 3 of the opening and the bracket of 1 side of the bracket, can open institute Movable doorboard 2 is stated, personnel is facilitated to pass in and out in the circle zone of the bracket 1, prevents from carrying out health when closing the movable doorboard 2 Tumble injury causes secondary injury when refreshment is practiced, and ensures the safety of personnel;5 front of the pedestal is equipped with by two motors and retarder point The front truckle 6 not driven, by differential controls steering and speed, stationarity when ensureing to move ahead and turn;After the pedestal 5 Face both sides are equipped with rear universal wheel 9, and the motor for driving the synchronous lifting device to move synchronously is equipped in the pedestal 5 and transmission fills It sets, ensures that the bracket 1 steadily lifts;The rear side of the fixed frame is equipped with backrest structure 8, and is rotated with the backrest structure 8 Connected movable base plate 7 can also play protective action for being used when personnel's rest or saddle horse;Further include be movably connected in it is described Foot pad plate (being not drawn into figure) on pedestal 5, the foot pad plate rotate phase by rotation axis and before the pedestal 5 or side Even, it is equipped with limited block and resetting spring between the foot pad plate and the pedestal 5, institute is stepped on convenient for users to foot when rest or saddle horse Foot pad plate is stated until touching the limited block, can be automatically reset by the resetting spring after use, with the bottom The fitting of before seat 5 or side, is not take up zone of action.
As shown in figure 3,5 front of the pedestal and side are L-shaped, the other side is equipped with for connecting and reinforcing the pedestal 5 Pedestal threshold 10, the central movable region of the multifunctional walking aid rehabilitation image training robot is passed in and out convenient for user.
The synchronous lifting device includes four ball-screws 4 being mounted on the fixed frame quadrangle, the transmission dress Set belt pulley and belt (being not drawn into figure) including being coaxially disposed respectively with four ball-screws 4, the belt pulley by Motor-driven rotation ensures bracket 1 described in synchronization lifting, realizes loss of weight bearing walking aid rehabilitation training;1 front of the bracket and one Side is L-shaped, and the bracket 1 is equipped with the control panel fixing device and interface, at least provided with voice on the control panel Digital map navigation and the public place of entertainment, realize that Voice Navigation is easy to use, entertain and loosen when being also available for users to rest.
As shown in Fig. 1,2 or 3, the movable base plate 7 is rotatedly connected by rotation axis and the backrest structure 8, the work It is dynamic that limited block and resetting spring (being not drawn into figure) are additionally provided between seat board 7 and the backrest structure 8, facilitate rest or saddle horse to make With can also automatically reset after use, be not take up zone of action.
The use state of multifunctional walking aid rehabilitation image training robot of the present invention is:User is in use, first by institute The movable doorboard 2 stated on bracket 1 is opened, and was slightly stepped the pedestal threshold 10 and is entered walking aid rehabilitation training zone of action, choosing The mode for selecting actively or passively carries out ambulation training, after training, the movable base plate 7 can be opened sit down back against The backrest structure 8, while hand steered residence states handle and reduces the bracket 1 by the synchronous lifting device, and foot steps down in On the foot pad plate of 5 front of the pedestal or side setting, it is converted into saddle horse state, user is in buttocks, step and upper arm Place is supported, and can be used as the better electric wheelchair of saddle horse comfort, is used by the Voice Navigation or rocking bar help Person independently returns, and after can also being introduced into saddle horse state to open area, then carries out walking aid rehabilitation training, and security performance is high, makes User can be adjusted according to the needs rehabilitation training intensity with independent operation, highly practical, and reasonable for structure simple, be produced into This is low, easy for installation.
Specific case used herein elaborates inventive concept, the explanation of above example is only intended to Help understands core of the invention thought.It should be pointed out that for those skilled in the art, not departing from this Under the premise of inventive concept, any obvious modification, equivalent replacement or the other improvements made should be included in the present invention Protection domain within.

Claims (8)

1. a kind of multifunctional walking aid rehabilitation image training robot, which is characterized in that including fixed frame, be located at the fixed frame lower end Pedestal, the synchronous lifting device being mounted on the fixed frame are mounted in one jiao of bracket, the bracket of the synchronous lifting device upper end And movable doorboard, the bracket are equipped with handle, control panel, rocking rod controller and voice controller, the movable doorboard turns It is dynamic to be connected between one jiao of the opening of the bracket side and the bracket;The front of chassis is equipped with by two motors and deceleration The separately-driven front truckle of device passes through differential controls steering and speed;The pedestal two sides behind is equipped with rear universal wheel, described The motor and transmission device for driving the synchronous lifting device to move synchronously are equipped in pedestal;The rear side of the fixed frame is equipped with and leans on Back structure, and the movable base plate that is rotatedly connected with the backrest structure.
2. multifunctional walking aid rehabilitation image training robot according to claim 1, which is characterized in that the front of chassis and one Side is L-shaped, and the other side is equipped with pedestal threshold.
3. multifunctional walking aid rehabilitation image training robot according to claim 1, which is characterized in that the synchronous lifting device Include four ball-screws on the fixed frame quadrangle.
4. multifunctional walking aid rehabilitation image training robot according to claim 3, which is characterized in that the transmission device includes Respectively with the belt pulley and belt of four ball-screw coaxial arrangements, the belt pulley is by motor-driven rotation.
5. multifunctional walking aid rehabilitation image training robot according to claim 1, which is characterized in that before the bracket and one Side is L-shaped, and the bracket is equipped with the control panel fixing device and interface, on the control panel at least provided with voice Figure navigation and the public place of entertainment.
6. multifunctional walking aid rehabilitation image training robot according to claim 1, which is characterized in that further include being movably connected in Foot pad plate on the pedestal.
7. multifunctional walking aid rehabilitation image training robot according to claim 6, which is characterized in that the foot pad plate is by turning Moving axis is rotatedly connected with the front of chassis or side, and limited block is equipped between the foot pad plate and the pedestal and resets bullet Spring.
8. multifunctional walking aid rehabilitation image training robot according to claim 1, which is characterized in that the movable base plate passes through Rotation axis is rotatedly connected with the backrest structure, and limited block and reset are additionally provided between the movable base plate and the backrest structure Spring.
CN201810498331.0A 2018-05-22 2018-05-22 A kind of multifunctional walking aid rehabilitation image training robot Pending CN108635181A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810498331.0A CN108635181A (en) 2018-05-22 2018-05-22 A kind of multifunctional walking aid rehabilitation image training robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810498331.0A CN108635181A (en) 2018-05-22 2018-05-22 A kind of multifunctional walking aid rehabilitation image training robot

Publications (1)

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CN108635181A true CN108635181A (en) 2018-10-12

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111297644A (en) * 2020-02-25 2020-06-19 武汉尚诚源健康科技有限公司 Walking aid for old people

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201949237U (en) * 2011-01-07 2011-08-31 上海市第十人民医院 Wheel chair with height-adjustable handles
CN202161529U (en) * 2011-07-04 2012-03-14 李冰 Walking rehabilitation cart
CN202386867U (en) * 2011-11-30 2012-08-22 徐州工程学院 Simple rehabilitation-training wheel chair
CN203263754U (en) * 2013-05-16 2013-11-06 何燕娴 Multifunctional anti-tumble walking vehicle
CN203874012U (en) * 2014-06-13 2014-10-15 王忠平 Living assisting vehicle for disabled person
CN104398347A (en) * 2014-11-24 2015-03-11 中国科学院自动化研究所 Novel wheelchair type electric walking training device and control method
CN106361545A (en) * 2016-09-14 2017-02-01 武汉软工硕成技术有限公司 Adjustable rehabilitation walker
CN106821691A (en) * 2017-03-24 2017-06-13 段遵虎 A kind of self-service security combination medical treatment shifting machine

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201949237U (en) * 2011-01-07 2011-08-31 上海市第十人民医院 Wheel chair with height-adjustable handles
CN202161529U (en) * 2011-07-04 2012-03-14 李冰 Walking rehabilitation cart
CN202386867U (en) * 2011-11-30 2012-08-22 徐州工程学院 Simple rehabilitation-training wheel chair
CN203263754U (en) * 2013-05-16 2013-11-06 何燕娴 Multifunctional anti-tumble walking vehicle
CN203874012U (en) * 2014-06-13 2014-10-15 王忠平 Living assisting vehicle for disabled person
CN104398347A (en) * 2014-11-24 2015-03-11 中国科学院自动化研究所 Novel wheelchair type electric walking training device and control method
CN106361545A (en) * 2016-09-14 2017-02-01 武汉软工硕成技术有限公司 Adjustable rehabilitation walker
CN106821691A (en) * 2017-03-24 2017-06-13 段遵虎 A kind of self-service security combination medical treatment shifting machine

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111297644A (en) * 2020-02-25 2020-06-19 武汉尚诚源健康科技有限公司 Walking aid for old people

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Application publication date: 20181012

RJ01 Rejection of invention patent application after publication