CN108836740A - A kind of multidigit appearance limbs coordination recovery exercising robot - Google Patents
A kind of multidigit appearance limbs coordination recovery exercising robot Download PDFInfo
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- CN108836740A CN108836740A CN201810444526.7A CN201810444526A CN108836740A CN 108836740 A CN108836740 A CN 108836740A CN 201810444526 A CN201810444526 A CN 201810444526A CN 108836740 A CN108836740 A CN 108836740A
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- 238000011084 recovery Methods 0.000 title claims abstract description 23
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 34
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 238000012549 training Methods 0.000 claims abstract description 31
- 210000003414 extremity Anatomy 0.000 claims abstract description 21
- 210000003141 lower extremity Anatomy 0.000 claims description 14
- 230000001012 protector Effects 0.000 claims description 8
- 230000017260 vegetative to reproductive phase transition of meristem Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000013461 design Methods 0.000 description 7
- 230000007812 deficiency Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000034657 Convalescence Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 229920001821 foam rubber Polymers 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper 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
- A61H1/0237—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
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—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
- 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 invention discloses a kind of multidigit appearance limbs to coordinate recovery exercising robot, including supporting mechanism, the left side and/or right side of the supporting mechanism are equipped with exercising apparatus for recovery of upper limb, and the exercising apparatus for recovery of upper limb includes support, the rack being connected on the support to adjustable angle and the upper limb trainer for driving upper limb to be moved being connected in the rack.The present invention passes through rack by upper limb trainer in conjunction with support, since frame angle is adjustable, can be realized the rehabilitation training of upper limbs of human body multidigit appearance, for example stand, sit, the rehabilitation training of upper limbs of clinostatism appearance.
Description
Technical field
The present invention relates to rehabilitation medicals and sport and body-building instrument field, relate in particular to a kind of multidigit appearance limbs coordination health
Multiple image training robot.
Background technique
The reasons such as social senilization's degree increasingly deepens, cerebral apoplexy, spinal cord injury cause limb function movement to reduce, even
It all loses, has seriously affected quality of life.Rehabilitation be restore motor function effective way, conventional physical therapist with
The one-to-one rehabilitation mode of patient there are large labor intensity, medical expense is high the deficiencies of, therefore, rehabilitation training equipment be solution
Certainly this contradictory effective way.
Many achievements are achieved in rehabilitation training equipment since the middle of last century, such as single-degree-of-freedom formula, ectoskeleton, outstanding
Hanging etc..But there is following deficiencies for they：It is complicated for operation, forms of motion is single, is difficult to simulate human space movement, Bu Nengshi
The training etc. of a variety of main bodys is answered, developing a human body that can be realized various track movements in plane, limbs coordinate rehabilitation instruction up and down
Practicing robot has certain realistic meaning.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of rehabilitation training of upper limbs that can be realized human body multidigit appearance
Multidigit appearance limbs coordinate recovery exercising robot.
In order to solve the above-mentioned technical problem, the present invention adopts the following technical scheme that：A kind of multidigit appearance limbs coordination rehabilitation instruction
Practice robot, including supporting mechanism, the left side and/or right side of the supporting mechanism are equipped with exercising apparatus for recovery of upper limb, it is described on
Limbs rehabilitation training device includes support, the rack being connected on the support to adjustable angle and is connected in the rack
Upper limb trainer for driving upper limb to be moved.
Further, the upper limb trainer be five-rod, the five-rod include the first crank, first connecting rod,
Second connecting rod, the first sliding block and guide rail；One end of first crank is rotatably installed in the rack, first crank
One end of the other end and the first connecting rod be hinged and connected, one end of the other end of the first connecting rod and the second connecting rod
It is hinged and connected, the other end of the second connecting rod is hinged and connected with first sliding block, and first sliding block is slidably connected at institute
It states on guide rail.
Further, the five-rod further include crank-drive mechanism for driving first crank rotation and
Slider-actuated mechanism for driving first sliding block to move back and forth along the guide rail.
Further, the five-rod further includes the handle that position is adjustably connected on the first connecting rod.
Further, the rack by being connected on the support with realizing adjustable angle with flowering structure：The rack
Lower end be connected with supporting block, support shaft is connected in the supporting block, the support shaft is rotatably installed on the support, institute
It states and is provided with more than two jacks along its circumferentially-spaced distribution in supporting block, be provided with inner thread sleeve, a spiral shell on the support
Rasp bar is plugged in any one jack across the inner thread sleeve and the threaded rod and the inner thread sleeve form spiral shell
Rotation is secondary.
Further, the supporting mechanism is respectively arranged on the left side and the right side protector, and the protector includes one piece or more of shield
Plate and telescoping mechanism for driving the backplate to be moved left and right.
Further, the telescoping mechanism includes first motor and the first lead screw, is connected with and cuts on the outside of the backplate
V shape expansion bracket, two connecting pin of outside of the scissor type telescopic frame have been respectively articulated with second sleeve and feed screw nut, and described
Two sleeves are set on first lead screw, and the feed screw nut is threaded on first lead screw.
Further, the thread rotary orientation on the front and rear of first lead screw on the contrary, the backplate be configured with two pieces,
The feed screw nut on the scissor type telescopic frame on two pieces of backplates is threaded in first lead screw respectively
Front and rear.
It further, further include exerciser for lower limbs, the exerciser for lower limbs includes the second crank of rotational installation, and described the
One end of two cranks and interlocking bar is hinged and connected, and the other end of the interlocking bar is hinged with convergence piece, and the convergence piece position can
It is connected on the second connecting rod with adjusting.
Further, the interlocking bar is length adjustable structure.
The beneficial effects of the present invention are embodied in：
The present invention by rack by upper limb trainer in conjunction with support, since frame angle is adjustable, can be realized people
The rehabilitation training of upper limbs of body multidigit appearance, for example stand, sit, the rehabilitation training of upper limbs of clinostatism appearance.
Structure of the invention flexible compact is applicable to a variety of main bodys such as seat, wheelchair, bed.
The present invention be adapted to different crowd limbs up and down collaboration rehabilitation training, it can be achieved that crouch, sit, a variety of poses of standing it is more
The limbs up and down of kind track cooperate with rehabilitation training.
The present invention has a wide range of application, and the active/passive of upper and lower limbs may be implemented in rehabilitation training mode multiplicity, use process
Training.
The present invention realizes the training of different tracks, different amplitudes, it is made both to have adapted to same position trainer in difference
Convalescence and training pose training, and be able to satisfy different heights trainer carry out rehabilitation training.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment of the invention.
Fig. 2 is the structural schematic diagram of slider-actuated mechanism in one embodiment of the invention.
Fig. 3 is the structural schematic diagram of crank-drive mechanism in one embodiment of the invention.
Fig. 4 is the mounting structure schematic diagram of handle in one embodiment of the invention.
Fig. 5 is the mounting structure schematic diagram of rack and support in one embodiment of the invention.
Fig. 6 is B-B cross-sectional view.
Fig. 7 is C-C cross-sectional view.
Fig. 8 is the structural schematic diagram of protector in one embodiment of the invention.
Fig. 9 is the mounting structure schematic diagram of foot pedal.
In attached drawing the label of each component be：Supporting mechanism 10, support 20, rack 30, the first crank 401, first connecting rod
402, sliding slot 4021, second connecting rod 403, the first sliding block 404, guide rail 405, the second motor 406, the second lead screw 407, the second torque
Sensor 408, photoelectric sensor 409, third motor 410, third torque sensor 411, casing 412, handle 413, second are sliding
Block 414, connecting rod 415, swivel head 416, supporting block 501, jack 5011, limited block 5012, support shaft 502, inner thread sleeve
503, threaded rod 504, first sleeve 505, damper 506, turntable 507, limiting bracket 508, backplate 601, first motor 602,
First lead screw 603, the first torque sensor 604, scissor type telescopic frame 605, second sleeve 606, feed screw nut 607, lower limb instruction
Practice device 70, the second crank 701, interlocking bar 702, convergence piece 703, heel brace bar 704, foot pedal 705.
Specific embodiment
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.It should be noted that in the feelings not conflicted
Under condition, the features in the embodiments and the embodiments of the present application be can be combined with each other.
Referring to Fig. 1.
Multidigit appearance limbs of the present invention coordinate recovery exercising robot, including supporting mechanism 10, a left side for the supporting mechanism 10
Side and/or right side are equipped with exercising apparatus for recovery of upper limb, and the exercising apparatus for recovery of upper limb includes support 20, connects to adjustable angle
In the rack 30 on the support 20 and the upper limb training for driving upper limb to be moved being connected in the rack 30
Device.
The present invention by rack by upper limb trainer in conjunction with support, since frame angle is adjustable, can be realized people
The rehabilitation training of upper limbs of body multidigit appearance, for example stand, sit, the rehabilitation training of upper limbs of clinostatism appearance.In the present invention, the supporting mechanism 10
The seat that can be diagram, is able to carry out sitting posture and Stance Training, naturally it is also possible to and it is other people weight force supporting devices, it can be into
Row adapts to the training mode of other postures such as prone position.
In one embodiment, referring to Fig. 1, the supporting mechanism 10 is respectively arranged on the left side and the right side protector, the protector packet
Include one piece or more of backplate 601 and the telescoping mechanism for driving the backplate 601 to be moved left and right.In use, left and right
The backplate of the protector of two sides is stuck in human body waist, plays fixed function in rehabilitation training.
In one embodiment, referring to Fig. 8, the telescoping mechanism includes first motor 602 and the first lead screw 603, described
The outside of backplate 601 is connected with scissor type telescopic frame 605, and two connecting pin of outside of the scissor type telescopic frame 605 is respectively articulated with
There are second sleeve 606 and feed screw nut 607, the second sleeve 606 is set on first lead screw 603, the lead screw spiral shell
Mother 607 is threaded on first lead screw 603.
Start motor, motor drives the rotation of the first lead screw, and feed screw nut can move on the first lead screw, and second sleeve
Position is motionless, and the distance of two connecting pins changes on the outside of such scissor type telescopic frame, and scissor type telescopic frame can stretch, thus band
Dynamic backplate is moved left and right.
Preferably, the output shaft of the first motor 602 passes through the first torque sensor 604 and first lead screw 603
Connection；The backplate 601 is arc-shaped, higher with human body compatible degree.
In one embodiment, the thread rotary orientation on the front and rear of first lead screw 603 is on the contrary, the backplate 601
Configured with two pieces, the feed screw nut 607 on the scissor type telescopic frame 605 on two pieces of backplates 601 distinguishes screw thread
It is connected to the front and rear of first lead screw 603.It designs in this way, stretching for two backplates is non-interference, and only needs a set of
Driving, in use, can according to need selection backplate, practicability is more preferable.
In specific implementation, Pasting foam-rubber cushion etc. can increase the material of comfort level on backplate 601.
In one embodiment, the upper limb trainer is five-rod, and the five-rod includes the first crank 401, the
One connecting rod 402, second connecting rod 403, the first sliding block 404 and guide rail 405；One end of first crank 401 is rotatably installed in
In the rack 30, the other end of first crank 401 and one end of the first connecting rod 402 are hinged and connected, and described first
The other end of connecting rod 402 and one end of the second connecting rod 403 are hinged and connected, the other end of the second connecting rod 403 with it is described
First sliding block 404 is hinged and connected, and first sliding block 404 is slidably connected on the guide rail 405.
In one embodiment, referring to Fig. 1, the five-rod further includes that position is adjustably connected to the first connecting rod
Handle 413 on 402.Handle is held for manpower, is realized and is driven upper extremity exercise, and the adjustable design in position, how enough to make to fill
Set the need of exercise suitable for different people.
In one embodiment, referring to Fig. 1 and Fig. 4, the handle 413 is by realizing that position is adjustably connected to flowering structure
On the first connecting rod 402：It is provided with sliding slot on the first connecting rod 402, the second sliding block 414 is slidably connected in the sliding slot,
Connecting rod 415 is connected on the handle 413, the connecting rod 415 passes through second sliding block 414 and the first connecting rod
402 and the swivel head 416 that is threadedly attached in the connecting rod 415 be locked on the first connecting rod 402.Specific implementation
In, what the swivel head 416 was threaded in the connecting rod 415 is pierced by second sliding block 414 and the first connecting rod 402
Part on.
Swivel head is tightened, the stiction between the second sliding block and chute wall increases, and the second sliding block can not move, unscrew
Swivel head, stiction between the two reduce, and the second sliding block can move freely, and the movement and fixation of handle are realized with this.
This mounting means, operation is very easy, quick, and practicability is high.
There are two freedom degrees for above-mentioned this five-rod, in use, past by the rotation of the first crank of driving and driving sliding block
Multiple mobile, the movement for driving the handle on first connecting rod to do elliptical orbit is stretched when palm is held on handle so that upper limb is done
Curved rehabilitation training.
Preferably, each hinged place of the five-rod forms revolute pair using rolling bearing.Smoothness is rotated to improve；
The guide rail 405 is connected in the rack 30.It does not need separately to set component and carrys out supporting guide 405, supported design is more reasonable.
In one embodiment, the five-rod further includes the crank driving for driving first crank 401 to rotate
Mechanism.
In one embodiment, the five-rod further includes for driving first sliding block 404 past along the guide rail 405
The slider-actuated mechanism moved again.
In one embodiment, referring to fig. 2, the slider-actuated mechanism includes the second motor 406 and the second lead screw 407,
Second lead screw 407 is rotatably installed on the guide rail 405, first sliding block 404 be threaded through on the lead screw and with institute
It states the second lead screw 407 to be threadedly engaged, the output shaft of second motor 406 is connect with second lead screw 407.Preferably, institute
The output shaft for stating the second motor 406 is connect by the second torque sensor 408 with second lead screw 407.This slider-actuated
Mechanism structure is simple, is easy to implement, the first sliding block can smooth, accurately be driven to move back and forth along guide rail.
In one embodiment, the both ends of the guide rail 405 are installed with photoelectric sensor 409 respectively, sliding for monitoring first
The position of block 404, when the first sliding block 404 slides into the both ends of guide rail 405, the second motor 406 is auto-reverse, makes the first sliding block
404 move in the opposite direction, the distance that the first sliding block 404 of limitation moves left and right.
In one embodiment, referring to Fig. 3, crank-drive mechanism includes third motor 410, the third motor 410 it is defeated
Shaft is connect with one end of first crank 401.Preferably, the output shaft of the third motor 410 is passed by third torque
Sensor 411 is connect with one end of first crank 401.
In one embodiment, crank-drive mechanism further includes casing 412, and the third motor 410 is arranged in the casing
In 412, the casing 412 is fixed in the rack 30.Casing plays protective action, is arranged on the rack, and structure has more
Globality.
The effect of above-mentioned each torque sensor is the torque and power for detecting motor output, improves monitoring accuracy.
In one embodiment, referring to fig. 4 to Fig. 7, the rack 30 by being connected to realizing adjustable angle with flowering structure
On the support 20：The lower end of the rack 30 is connected with supporting block 501, is connected with support shaft 502 in the supporting block 501,
The support shaft 502 is rotatably installed on the support 20, and two or more is provided in the supporting block 501 along its circumferentially-spaced point
The jack 5011 of cloth, inner thread sleeve 503 is provided on the support 20, and a threaded rod 504 passes through the inner thread sleeve 503
It is plugged in any one jack 5011 and the threaded rod 504 and the inner thread sleeve 503 forms screw pair.
Rack can be rotated relative to support by support shaft and carry out angular adjustment, and after angle is adjusted, pass through screw thread
Bar 504 is inserted into corresponding jack the positioning for realizing rack.Inner thread sleeve plays the role of fixed thread bar.
In specific implementation, the both ends of the support shaft 502 pass through rolling bearing respectively and are rotatably installed on the support 20,
To guarantee that rotation is smooth；The outer end of the threaded rod 504 is connected with turntable 507, applies external force rotation threaded rod to facilitate.
In one embodiment, the jack 5011 is in tapered, in the insertion jack 5011 of the threaded rod 504 portion
Divide and also facilitates in screw thread insertion jack in tapered, design in this way with guiding role.
In one embodiment, it is arranged with first sleeve 505 in the support shaft 502, is connected in the first sleeve 505
The damper 506 contacted with the support 20.Damper is for preventing rack from arbitrarily swinging.
In one embodiment, further include limiting bracket 508, the supporting block 501 be equipped with for the limiting bracket
508 constitute the limited block 5012 of limit cooperation.It designs, contradicts when supporting block turns to limited block thereon to limiting bracket in this way
When, supporting block stops operating, so that the slewing area to supporting block limits, prevents rotation excessive, convenient for operation.
In one embodiment, the supporting block 501 is in disk form, and the limiting bracket 508 is arc-shaped, the supporting block
501 are supported on the limiting bracket 508 and match with the limiting bracket 508.It designs in this way, limiting bracket can support
The supporting block and do not interfere supporting block rotation carry out angular adjustment.
It in one embodiment, further include exerciser for lower limbs 70, the exerciser for lower limbs 70 includes the second song of rotational installation
Handle 701, second crank 701 and one end of interlocking bar 702 are hinged and connected, and the other end of the interlocking bar 702 is hinged with rank
Fitting 703,703 position of convergence piece are adjustably connected on the second connecting rod 403.
The exerciser for lower limbs of body-building bicycle type can be formed by the second crank, training effect is good.It designs, leads in this way
The rotation and the second motor for crossing crank drive the first sliding block to move back and forth, and entire five-rod can also be driven to move, in realization
The training of lower limb body cooperative motion.First motor does not rotate at this time.
In specific implementation, second crank 701 is hinged and connected by heel brace bar 704 and one end of interlocking bar 702, heel brace
Bar 704 is used to support foot, it is preferable that foot pedal 705 is equipped on the heel brace bar 704, as shown in figure 9, can be preferably
Support foot is trained.
In specific implementation, the connection type that handle can be used in the convergence piece 703 realizes that position adjustably connects.
In one embodiment, the interlocking bar 702 is length adjustable structure.Length-adjusting rod is this field common part,
It realizes structure type multiplicity, such as self-timer rod structure, and what is illustrated in figure is telescopic sleeving rod, and realizes positioning using lock-screw
Structure.
In specific implementation, two cranks of setting two exercising apparatus for recovery of upper limb in left and right and left and right, upper limbs double in this way and pair
Lower limb, which are corresponded, realizes linkage by interlocking bar.
In one embodiment, exerciser for lower limbs is mounted on angular adjustment frame, and angular adjustment frame is fixed on ground, adjustment
Angular dimension realizes the appearance training of lower limb multidigit.
Crowd's rehabilitation training that present invention can apply to upper and lower extremities motor function decline or lose helps it to realize a variety of positions
Rehabilitation training under the standard movement track of appearance, and its low energy consumption and cost performance is high, have a wide range of application, there is very big industry
Change application prospect.
It should be understood that example as described herein and embodiment are not intended to restrict the invention, this field only for explanation
Technical staff can make various modifications or variation according to it, all within the spirits and principles of the present invention, made any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of multidigit appearance limbs coordinate recovery exercising robot, it is characterised in that：Including supporting mechanism, the supporting mechanism
Left side and/or right side are equipped with exercising apparatus for recovery of upper limb, and the exercising apparatus for recovery of upper limb includes support, connects to adjustable angle
In the rack on the support and the upper limb trainer for driving upper limb to be moved being connected in the rack.
2. multidigit appearance limbs as described in claim 1 coordinate recovery exercising robot, it is characterised in that：The upper limb trainer
For five-rod, the five-rod includes the first crank, first connecting rod, second connecting rod, the first sliding block and guide rail；Described
One end of one crank is rotatably installed in the rack, and one end of the other end and the first connecting rod of first crank is hinged
Be connected, the other end of the first connecting rod and one end of the second connecting rod are hinged and connected, the other end of the second connecting rod and
First sliding block is hinged and connected, and first sliding block is slidably connected on the guide rail.
3. multidigit appearance limbs as claimed in claim 2 coordinate recovery exercising robot, it is characterised in that：The five-rod is also
Including for driving the crank-drive mechanism of the first crank rotation and for driving first sliding block along the guide rail
The slider-actuated mechanism of reciprocating movement.
4. multidigit appearance limbs as claimed in claim 2 or claim 3 coordinate recovery exercising robot, it is characterised in that：The five bars machine
Structure further includes the handle that position is adjustably connected on the first connecting rod.
5. the multidigit appearance limbs as described in claims 1 or 2 or 3 coordinate recovery exercising robot, it is characterised in that：The rack
By being connected on the support with realizing adjustable angle with flowering structure：The lower end of the rack is connected with supporting block, the branch
Support shaft is connected on bracer, the support shaft is rotatably installed on the support, and more than two edges are provided in the supporting block
The jack of its circumferentially-spaced distribution, inner thread sleeve is provided on the support, and a threaded rod is inserted across the inner thread sleeve
It is located in any one jack and the threaded rod and the inner thread sleeve forms screw pair.
6. the multidigit appearance limbs as described in claims 1 or 2 or 3 coordinate recovery exercising robot, it is characterised in that：The support
Mechanism is respectively arranged on the left side and the right side protector, and the protector includes one piece or more of backplate and for driving the backplate to carry out
The telescoping mechanism moved left and right.
7. multidigit appearance limbs as claimed in claim 6 coordinate recovery exercising robot, it is characterised in that：The telescoping mechanism packet
Include first motor and the first lead screw, be connected with scissor type telescopic frame on the outside of the backplate, the scissor type telescopic frame it is outer
Two connecting pin of side has been respectively articulated with second sleeve and feed screw nut, and the second sleeve is set on first lead screw, described
Feed screw nut is threaded on first lead screw.
8. multidigit appearance limbs as claimed in claim 7 coordinate recovery exercising robot, it is characterised in that：First lead screw
Thread rotary orientation on front and rear is on the contrary, the backplate is configured with two pieces, the scissor type telescopic on two pieces of backplates
The feed screw nut on frame is threaded in the front and rear of first lead screw respectively.
9. multidigit appearance limbs as claimed in claim 2 or claim 3 coordinate recovery exercising robot, it is characterised in that：It further include lower limb
Training aids, the exerciser for lower limbs include the second crank of rotational installation, the hinged phase in one end of second crank and interlocking bar
Even, the other end of the interlocking bar is hinged with convergence piece, and the convergence piece position is adjustably connected on the second connecting rod.
10. multidigit appearance limbs as claimed in claim 9 coordinate recovery exercising robot, it is characterised in that：The interlocking bar is
Length adjustable structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810444526.7A CN108836740B (en) | 2018-05-10 | 2018-05-10 | Multi-posture limb coordination rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810444526.7A CN108836740B (en) | 2018-05-10 | 2018-05-10 | Multi-posture limb coordination rehabilitation training robot |
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| Publication Number | Publication Date |
|---|---|
| CN108836740A true CN108836740A (en) | 2018-11-20 |
| CN108836740B CN108836740B (en) | 2021-02-26 |
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| CN201810444526.7A Active CN108836740B (en) | 2018-05-10 | 2018-05-10 | Multi-posture limb coordination rehabilitation training robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109431717A (en) * | 2018-11-08 | 2019-03-08 | 陈日 | A kind of multifunctional hospital patient bed-changing bracket |
| CN112473080A (en) * | 2020-11-06 | 2021-03-12 | 天津大学 | Multifunctional lower limb rehabilitation training bed |
| CN113057815A (en) * | 2020-09-25 | 2021-07-02 | 江西应用科技学院 | Horizontal four-limb rehabilitation physiotherapy method and device |
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