CN108771609A - A kind of medical assistance lower limb rehabilitation robot - Google Patents
A kind of medical assistance lower limb rehabilitation robot Download PDFInfo
- Publication number
- CN108771609A CN108771609A CN201810354046.1A CN201810354046A CN108771609A CN 108771609 A CN108771609 A CN 108771609A CN 201810354046 A CN201810354046 A CN 201810354046A CN 108771609 A CN108771609 A CN 108771609A
- Authority
- CN
- China
- Prior art keywords
- arm holder
- bearing
- holder device
- mechanical leg
- sliding block
- 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.)
- Withdrawn
Links
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 8
- 210000002414 leg Anatomy 0.000 claims description 46
- 210000001624 hip Anatomy 0.000 claims description 24
- 210000000689 upper leg Anatomy 0.000 claims description 18
- 210000002683 foot Anatomy 0.000 claims description 11
- 210000003423 ankle Anatomy 0.000 claims description 7
- 210000003127 knee Anatomy 0.000 claims description 7
- 201000008482 osteoarthritis Diseases 0.000 claims description 7
- 239000007788 liquid Substances 0.000 claims description 2
- 230000003387 muscular Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 4
- 210000003205 muscle Anatomy 0.000 description 2
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 210000001699 lower leg Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- 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
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- 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
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- 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
- A61H2003/006—Appliances for aiding patients or disabled persons to walk about with forearm rests, i.e. for non-used arms
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- 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)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention discloses a kind of medical assistance lower limb rehabilitation robot, including two side stands, ten Universal wheels, mechanical leg device lifting hydraulic cylinder, mechanical leg device, seat unit, arm holder device, arm holder device lifting hydraulic cylinder；Mechanical leg device and arm holder device are installed in two side stand guide rails, are connected respectively with side stand by mechanical leg device lifting hydraulic cylinder and arm holder device lifting hydraulic cylinder, and seat unit is mounted on side stand rear；Arm holder device plays the role of supporting body for fixing arm, and mechanical leg device is for assisting leg to realize that walking and leg exercises, seat unit take exercise and rest for sitting posture；The present invention was not only so convenient but also comfortable that realize human leg's muscular training and assist the purpose of walking by being provided with arm holder device, mechanical leg device and seat unit.
Description
Technical field
The present invention relates to medical auxiliary walking devices, and in particular to a kind of medical assistance lower limb rehabilitation robot belongs to doctor
Treat health technology field.
Background technology
With the progress of modern science and technology civilization, the raising of human living standard, medicine and hygiene fields obtain more and more
Concern, requirement of the people to daily life quality are also higher and higher.The patient of more and more diseases or unexpected rehabilitation need into
Row reconditioning, some patients that can not voluntarily walk need medical instrument and walk to carry out reconditioning and auxiliary, compel to be essential
Some medical instruments are wanted to help them to restore and regain one's feet to come faster.Therefore the medical treatment auxiliary of more high-efficiency comfortable is needed
Exercising apparatus solves these problems.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of medical assistance lower limb rehabilitation robot, by being provided with arm branch
Rack device, mechanical leg device and seat unit, it is not only so convenient but also comfortable that realize human leg's muscular training and assist walking
Purpose.
The technical solution that the present invention takes is：A kind of medical assistance lower limb rehabilitation robot, including two side stands, ten
Universal wheel, mechanical leg device lifting hydraulic cylinder, mechanical leg device, seat unit, arm holder device, arm holder device liter
Descending liquid cylinder pressure, described ten Universal wheels are separately mounted under two side stands in square hole；The mechanical leg device both ends
Sliding block is slidably mounted on two side stand guide rail lower parts respectively, is connected with side stand by mechanical leg device lifting hydraulic cylinder, and two
A machinery leg device lifting hydraulic cylinder upper end is separately fixed at mechanical leg device both ends sliding block lower part, and lower end is separately fixed at two
On the bearing of side stand guide rail lower end；The arm holder device both ends sliding block is slidably mounted on respectively on two side stand guide rails
Portion is connected by arm holder device lifting hydraulic cylinder with side stand, two arm holder device lifting hydraulic cylinder upper end difference
It is fixed on two side stand guide rail upper end bearings, lower end is separately fixed on the bearing of arm holder device both ends sliding block lower end；
The seat unit both ends are fixedly mounted on by bearing on the outside of two side stand central guide tracks respectively.
The mechanical leg device includes waist bearing sliding block, waist bracket, thigh articulation stepping motor system, big
Leg support, knee endoprosthesis rotaty step motor system, small leg support, ankle arthrosis rotaty step motor system, foot stand；Institute
The waist bearing sliding block stated is mounted on side stand guide rail lower part；Waist bracket cross slide way is slidably mounted on waist bearing sliding block side
In shape hole；Stomidium is matched by the axis of thigh articulation stepping motor system under thigh support frame upper end hole and waist bracket；It is small
Stomidium is matched by the axis of knee endoprosthesis rotaty step motor system under leg support upper end hole and thigh support frame；In foot stand
Stomidium is matched by the axis of ankle arthrosis rotaty step motor system under stomidium and small leg support.
The seat unit includes seat frame bearing, seat frame, seat；Two seat frame bearings are separately mounted to two
On the outside of side stand central guide track, seat frame both ends cross slide way is slidably mounted in seat frame bearing square hole, seat rear two
Guide rail is slidably mounted in the middle part of seat frame respectively in two square holes.
The arm holder device includes horizontal support, handrail, shoulder support；Two shoulder supports are separately mounted to cross
To holder both ends, it is connected by bolt；Handrail is mounted in horizontal support upper hole.
Since present invention employs above-mentioned technical proposal, the present invention has the following advantages：The present invention is by being provided with arm
Holder device, mechanical leg device and seat unit, it is not only so convenient but also comfortable that realize human leg's muscular training and auxiliary walking
Purpose.
Description of the drawings
Fig. 1 is the whole assembly dimensional structure diagram of the present invention.
Fig. 2 is that mechanical leg device assembles three-dimensional structure diagram in the present invention.
Fig. 3 is that seat unit assembles three-dimensional structure diagram in the present invention.
Fig. 4 is that arm holder device assembles three-dimensional structure diagram in the present invention.
Drawing reference numeral：1- side stands；2- Universal wheels；3- machinery leg device lifting hydraulic cylinders；4- machinery leg devices；5-
Chair apparatus；6- arm holder devices；7- arm holder device lifting hydraulic cylinders；401- waist bearing sliding blocks；402- waist brackets；
403- thigh articulation stepping motor systems；404- thigh support frames；405- knee endoprosthesis rotaty step motor systems；406 is small
Leg support；407 ankle arthrosis rotaty step motor systems；408- foot stands；501- seat frame bearings；502- seat frames；503
Seat；601 horizontal supports；602 handrails；603 shoulder supports.
Specific implementation mode
With reference to specific embodiment, the invention will be further described, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
As shown in Figure 1, Figure 2, Figure 3, Figure 4, a kind of medical assistance lower limb rehabilitation robot, including two side stands 1, ten
Universal wheel 2, mechanical leg device lifting hydraulic cylinder 3, mechanical leg device 4, seat unit 5, arm holder device 6, arm holder
Device lifting hydraulic cylinder 7, ten Universal wheels 2 are separately mounted in two side stands, 1 time square hole.It slides at 4 both ends of mechanical leg device
Block is slidably mounted on two 1 guide rail lower parts of side stand respectively, is connected with side stand 1 by mechanical leg device lifting hydraulic cylinder 3, and two
A 3 upper end of machinery leg device lifting hydraulic cylinder is separately fixed at 4 both ends sliding block lower part of mechanical leg device, and lower end is separately fixed at two
On 1 guide rail lower end bearing of a side stand.6 both ends sliding block of arm holder device is slidably mounted on respectively on two 1 guide rails of side stand
Portion is connected by arm holder device lifting hydraulic cylinder 7 with side stand, two 7 upper ends of arm holder device lifting hydraulic cylinder point
It is not fixed on two 1 guide rail upper end bearings of side stand, lower end is separately fixed at 6 both ends sliding block lower end bearing of arm holder device
On.5 both ends of seat unit are fixedly mounted on by bearing on the outside of two 1 central guide tracks of side stand respectively.
Mechanical leg device 4 includes waist bearing sliding block 401, waist bracket 402, thigh articulation stepping motor system
403, thigh support frame 404, knee endoprosthesis rotaty step motor system 405, small leg support 406, ankle arthrosis rotaty step motor
System 407, foot stand 408.Waist bearing sliding block 401 is mounted on 1 guide rail lower part of side stand.402 cross slide way of waist bracket
It is slidably mounted in 401 square hole of waist bearing sliding block.402 times stomidiums of 404 upper end hole of thigh support frame and waist bracket are by thigh
The axis of articulation stepping motor system 403 matches.404 times stomidiums of 406 upper end hole of small leg support and thigh support frame pass through knee
The axis of lid articulation stepping motor system 405 matches.406 times stomidiums of 408 upper end hole of foot stand and small leg support pass through
The axis of ankle arthrosis rotaty step motor system 407 matches.
Seat unit 5 includes seat frame bearing 501, seat frame 502, seat 503.Two seat frame bearings are separately mounted to
On the outside of two 1 central guide tracks of side stand, 502 both ends cross slide way of seat frame is slidably mounted in 501 square hole of seat frame bearing,
503 rear of seat, two guide rail is slidably mounted on respectively in 502 two square holes in middle part of seat frame.Arm holder device 6 includes cross
To holder 601, handrail 602, shoulder support 603.Two shoulder supports 603 are separately mounted to horizontal support both ends, pass through bolt
It is connected.Handrail 602 is mounted in 601 upper hole of horizontal support.
The operation principle of the present invention is that：The present invention when in use there are two function it is optional, the first：Arm branch is adjusted first
Rack device lifting hydraulic cylinder and mechanical leg device lifting hydraulic cylinder, reach itself height comfortable position；Then by foot, small
Leg, thigh are fixed on mechanical leg device, and adjustment waist bracket transverse slider makes waist be fixed in waist bracket；By arm branch
The bearing of upper end two is clamped in transaxillary position in rack device, and hand firmly grasps handrail；Power supply is opened, pedipulator will assist human body to carry out
It trains on foot.Second, as first method fixes foot, shank, thigh, waist；Seat unit is adjusted, people sits on the seat
Carry out leg muscle exercise.The present invention can not only carry out auxiliary step exercises but also can carry out leg muscle exercise, by being provided with arm
Arm holder device, mechanical leg device and seat unit, it is not only so convenient but also comfortable that realize human leg's muscular training and secondary row
The purpose walked.
Claims (1)
1. a kind of medical assistance lower limb rehabilitation robot, including two side stands（1）, ten Universal wheels（2）, mechanical leg device
Lifting hydraulic cylinder（3）, mechanical leg device（4）, seat unit（5）, arm holder device（6）, arm holder device raise-lower hydraulic
Cylinder（7）, it is characterised in that：Ten Universal wheels（2）It is separately mounted to two side stands（1）In lower square hole；Described
Mechanical leg device（4）Both ends sliding block is slidably mounted on two side stands respectively（1）Guide rail lower part lifts liquid by mechanical leg device
Cylinder pressure（3）With side stand（1）It is connected, two mechanical leg device lifting hydraulic cylinders（3）Upper end is separately fixed at mechanical leg device（4）
Both ends sliding block lower part, lower end are separately fixed at two side stands（1）On the bearing of guide rail lower end；The arm holder device（6）
Both ends sliding block is slidably mounted on two side stands respectively（1）Guide upper passes through arm holder device lifting hydraulic cylinder（7）With side
Holder is connected, two arm holder device lifting hydraulic cylinders（7）Upper end is separately fixed at two side stands（1）Guide rail upper end bearing
On, lower end is separately fixed at arm holder device（6）On the bearing of both ends sliding block lower end；5 both ends of seat unit lead to respectively
It crosses bearing and is fixedly mounted on two side stands（1）On the outside of central guide track；The mechanical leg device（4）Including waist bearing sliding block
（401）, waist bracket（402）, thigh articulation stepping motor system（403）, thigh support frame（404）, knee endoprosthesis rotation
Stepping motor system（405）, small leg support（406）, ankle arthrosis rotaty step motor system（407）, foot stand（408）；
The waist bearing sliding block（401）Mounted on side stand（1）Guide rail lower part；Waist bracket（402）Cross slide way is slidably installed
In waist bearing sliding block（401）In square hole；Thigh support frame（404）Upper end hole and waist bracket（402）Lower stomidium is closed by thigh
Save rotaty step motor system（403）Axis match；Small leg support（406）Upper end hole and thigh support frame（404）Lower stomidium is logical
Cross knee endoprosthesis rotaty step motor system（405）Axis match；Foot stand（408）Upper end hole and small leg support（406）
Lower stomidium passes through ankle arthrosis rotaty step motor system（407）Axis match；The seat unit（5）Including seat frame
Bearing（501）, seat frame（502）, seat（503）；Two seat frame bearings are separately mounted to two side stands（1）Central guide track
Outside, seat frame（502）Both ends cross slide way is slidably mounted on seat frame bearing（501）In square hole, seat（503）Rear two
Guide rail is slidably mounted on seat frame respectively（502）In the square hole of two, middle part；The arm holder device（6）Including lateral branch
Frame（601）, handrail（602）, shoulder support（603）；Two shoulder supports（603）Horizontal support both ends are separately mounted to, are passed through
Bolt is connected；Handrail（602）Mounted on horizontal support（601）In upper hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810354046.1A CN108771609A (en) | 2018-04-19 | 2018-04-19 | A kind of medical assistance lower limb rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810354046.1A CN108771609A (en) | 2018-04-19 | 2018-04-19 | A kind of medical assistance lower limb rehabilitation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108771609A true CN108771609A (en) | 2018-11-09 |
Family
ID=64026434
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810354046.1A Withdrawn CN108771609A (en) | 2018-04-19 | 2018-04-19 | A kind of medical assistance lower limb rehabilitation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108771609A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110960403A (en) * | 2019-12-31 | 2020-04-07 | 布法罗机器人科技（成都）有限公司 | Walking safety support and exoskeleton robot |
| CN111685979A (en) * | 2020-06-10 | 2020-09-22 | 遂宁市中心医院 | Neural recovered motion trainer |
| CN111888193A (en) * | 2020-08-05 | 2020-11-06 | 燕山大学 | Multi-posture lower limb rehabilitation robot |
| CN113797066A (en) * | 2020-06-13 | 2021-12-17 | 山东天赐慧邦医养健康产业集团有限公司 | Be applied to anti-ageing rehabilitation training device of old person's leg and foot |
-
2018
- 2018-04-19 CN CN201810354046.1A patent/CN108771609A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110960403A (en) * | 2019-12-31 | 2020-04-07 | 布法罗机器人科技（成都）有限公司 | Walking safety support and exoskeleton robot |
| CN110960403B (en) * | 2019-12-31 | 2021-08-24 | 布法罗机器人科技（成都）有限公司 | Walking safety support and exoskeleton robot |
| CN111685979A (en) * | 2020-06-10 | 2020-09-22 | 遂宁市中心医院 | Neural recovered motion trainer |
| CN113797066A (en) * | 2020-06-13 | 2021-12-17 | 山东天赐慧邦医养健康产业集团有限公司 | Be applied to anti-ageing rehabilitation training device of old person's leg and foot |
| CN111888193A (en) * | 2020-08-05 | 2020-11-06 | 燕山大学 | Multi-posture lower limb rehabilitation robot |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181109 |