CN108852758B - Prevent falling shank rehabilitation training robot - Google Patents
Prevent falling shank rehabilitation training robot Download PDFInfo
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- CN108852758B CN108852758B CN201810872947.XA CN201810872947A CN108852758B CN 108852758 B CN108852758 B CN 108852758B CN 201810872947 A CN201810872947 A CN 201810872947A CN 108852758 B CN108852758 B CN 108852758B
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- main body
- telescopic rod
- connecting piece
- contact manner
- leg
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- 210000001364 upper extremity Anatomy 0.000 claims abstract description 54
- 230000007246 mechanism Effects 0.000 claims abstract description 44
- 210000003108 foot joint Anatomy 0.000 claims abstract description 17
- 210000003141 lower extremity Anatomy 0.000 claims description 32
- 238000007789 sealing Methods 0.000 claims description 29
- 229920001971 elastomer Polymers 0.000 claims description 11
- 210000003414 extremity Anatomy 0.000 claims description 5
- 229910000975 Carbon steel Inorganic materials 0.000 claims description 3
- 244000043261 Hevea brasiliensis Species 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010962 carbon steel Substances 0.000 claims description 3
- 229920003052 natural elastomer Polymers 0.000 claims description 3
- 229920001194 natural rubber Polymers 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 210000002683 foot Anatomy 0.000 abstract description 7
- 210000002414 leg Anatomy 0.000 description 57
- 238000005457 optimization Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 241000282414 Homo sapiens Species 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
- 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
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- 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
- 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
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2201/1657—Movement of interface, i.e. force application means
-
- 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
-
- 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
- A61H2205/12—Feet
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- 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 invention relates to the field of robots, in particular to a falling-prevention leg rehabilitation training robot which comprises a lifting parallel bar mechanism, a waist fixing piece, a waist fixing connecting piece, a transverse servo machine, a robot control mechanism, leg upper limbs, leg lower limbs, foot joints, foot pedals and a leg fixing ring. The transverse servo is in contact connection with the lifting parallel bars through grooves, the waist fixing connecting piece is in fixed contact connection with the transverse servo, the waist fixing connecting piece is in movable contact connection with the waist fixing piece, the waist fixing connecting piece is in fixed contact connection with the robot control mechanism, and the leg upper limbs are in movable contact connection with the robot control mechanism.
Description
Technical Field
The invention relates to the field of robots, in particular to a falling-prevention leg rehabilitation training robot.
Background
A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The robot aims to assist or replace the work of human beings, and the rehabilitation training robot is designed to solve the problem in order to facilitate the rehabilitation people to recover the limb functions.
Disclosure of Invention
The invention mainly solves the technical problem of providing a falling-prevention leg rehabilitation training robot, which can ensure that a leg rehabilitation trainer cannot fall down in the training process, can automatically drive legs of a person to make a correct walking posture and slowly drive the person to move forwards, and can adjust the height to adapt to people with different heights.
In order to solve the technical problem, the invention relates to the field of robots, in particular to a falling-prevention leg rehabilitation training robot which comprises a lifting parallel bar mechanism, a waist fixing piece, a waist fixing connecting piece, a transverse servo machine, a robot control mechanism, leg upper limbs, leg lower limbs, foot joints, a pedal plate and a leg fixing ring.
The lifting parallel bar mechanism comprises a parallel bar beam, a longitudinal support bar and a bottom support beam, the parallel bar beam is positioned above the longitudinal support bar, the longitudinal support bar is fixedly contacted and connected with the parallel bar beam, the bottom support beam is positioned at the bottom end of the longitudinal support bar, the longitudinal support bar is fixedly contacted and connected with the bottom support beam, and the number of the longitudinal support bar is two, and the two longitudinal support bars are respectively positioned at the left side and the right side of the parallel bar beam and the bottom support beam;
a servo track groove is formed in the parallel bar beam and is matched with the servo track frame;
the longitudinal support rod comprises a first telescopic rod and an external support tube, the first telescopic rod is fixedly connected with the parallel bar beam in a contact mode, the external support tube is located right below the first telescopic rod and is movably connected with the first telescopic rod in a contact mode, and the external support tube is fixedly connected with the bottom support beam in a contact mode;
a clamping groove is formed in the first telescopic rod and is matched with the T-shaped clamping piece;
the external supporting tube comprises a T-shaped clamping part, a movable groove, a supporting spring, a T-shaped handle and a sealing fixed cover, the movable groove is arranged on the external supporting tube, the T-shaped clamping part is matched with the external supporting tube through a through hole, the T-shaped clamping part is in fixed contact connection with the supporting spring, the T-shaped handle is meshed with the T-shaped clamping part through threads, the supporting spring is sleeved outside the T-shaped handle and is in fixed contact connection with the sealing fixed cover, the sealing fixed cover is fixed on the external supporting tube through a fastening screw, the sealing fixed cover is matched with the T-shaped handle through the through hole, and the T-shaped clamping part is matched with the first telescopic rod through the groove;
the waist fixing part comprises two waist supports, a waist belt and two waist belt buckles, the two waist supports are respectively positioned at two sides of the robot control mechanism, the waist supports are fixedly contacted and connected with the robot control mechanism, the waist belt is fixedly contacted and connected with the waist supports, and the two waist belts are respectively fixedly contacted and connected with two ends of the waist belt buckles;
the waist part support comprises a support main body, a side sealing cover and a bearing, wherein the bearing is matched with the support main body through a groove, the bearing is fixedly contacted and connected with the support main body through a fastening screw, the side sealing cover is contacted and connected with the bearing, the side sealing cover is fixed on the support main body through the fastening screw, the side sealing cover is matched with a waist part fixing connecting piece through a through hole, and the waist part fixing connecting piece is fixedly contacted and connected with the bearing through the fastening screw;
the waist fixing connecting piece is provided with a connecting bulge, the connecting bulge is matched with the bearing through a through hole, and the connecting bulge is fixedly connected with the bearing in a contact manner through a fastening screw;
the transverse servo comprises a servo body and a servo track frame, the servo track frame is matched with the parallel bar beam through a groove, and the servo body is movably connected with the servo track frame through the groove in a contact manner;
the upper limb of the leg comprises a connecting link, an upper limb main body, a servo and a second telescopic rod, the connecting link is movably connected with the robot control mechanism in a contact manner, the upper limb main body is positioned below the connecting link and fixedly connected with the upper limb main body in a contact manner, the second telescopic rod is positioned below the upper limb main body, the upper limb main body is movably connected with the second telescopic rod through a groove in a contact manner, the servo is movably connected with the upper limb main body in a contact manner, the servo is connected with the second telescopic rod through the upper limb main body, and the second telescopic rod is movably connected with the joint connecting piece in a contact manner;
the leg lower limb comprises a joint speed regulator, a joint connecting piece, a lower limb main body, a telescopic servo machine and a lower limb telescopic rod, wherein the joint speed regulator is connected with a second telescopic rod through the joint connecting piece;
the foot joint comprises a rotary speed regulator, a joint main body and a pedal connecting piece, the rotary speed regulator is connected with the lower limb telescopic rod through the joint main body, the joint main body is positioned below the lower limb telescopic rod, the pedal connecting piece is positioned below the joint main body, the pedal connecting piece is movably connected with the joint main body through a groove in a contact manner, and the rotary speed regulator is connected with the pedal connecting piece through the joint main body;
the pedal comprises a pedal main body, a comfortable rubber cushion and two fixing bands, wherein the pedal main body is matched with the pedal connecting piece through a groove;
the leg fixing ring comprises a first movable fixing ring and a second movable fixing ring, the first movable fixing ring is movably connected with the leg upper limb in a contact manner, the second movable fixing ring is movably connected with the leg upper limb in a contact manner, and the first movable fixing ring is fixedly connected with the second movable fixing ring in a contact manner;
the horizontal servo is located the below of lift parallel bar mechanism, horizontal servo passes through the recess contact with lift parallel bar mechanism and is connected, waist fixed connection spare is located the below of horizontal servo, waist fixed connection spare is connected with horizontal servo fixed contact, waist fixed connection spare is connected with waist mounting swing contact, waist fixed connection spare is connected with robot control mechanism fixed contact, the shank upper limbs is located robot control mechanism's below, the shank upper limbs is connected with robot control mechanism swing contact, shank low limbs and shank upper limbs swing contact are connected, the foot joint is connected with shank low limbs swing contact, the running-board is connected with foot joint swing contact, the shank retainer plate is connected with shank upper limbs swing contact, the shank retainer plate is connected with shank low limbs swing contact.
As a further optimization of the technical scheme, the support spring of the anti-falling leg rehabilitation training robot is made of carbon steel.
As a further optimization of the technical scheme, the bearing of the anti-falling leg rehabilitation training robot is made of bearing steel.
As a further optimization of the technical scheme, the comfortable rubber mat for the anti-falling leg rehabilitation training robot is made of natural rubber.
As a further optimization of the technical scheme, the parallel bar cross beam and the bottom supporting cross beam of the anti-falling leg rehabilitation training robot are parallel in position.
As a further optimization of the technical scheme, the parallel bar cross beam and the bottom supporting cross beam of the anti-falling leg rehabilitation training robot are perpendicular to the longitudinal supporting rod.
As a further optimization of the technical scheme, the number of the waist fixing connecting pieces of the anti-falling leg rehabilitation training robot is two.
The anti-falling leg rehabilitation training robot has the beneficial effects that:
the anti-falling leg rehabilitation training robot can ensure that a leg rehabilitation trainer cannot fall down in the training process, can automatically drive legs of a person to make a correct walking posture, slowly drive the person to move forwards, and can adjust the height to adapt to people with different heights.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is a schematic structural view of an anti-falling leg rehabilitation training robot according to the invention.
Fig. 2 is a schematic structural diagram of a lifting parallel bar mechanism 1 of the anti-falling leg rehabilitation training robot.
Fig. 3 is a partially enlarged structural diagram of B in fig. 2.
Fig. 4 is a schematic cross-sectional view of a-a in fig. 1.
Fig. 5 is a schematic structural diagram of a combination of a waist fixing member 2 and a robot control mechanism 5 of the anti-falling leg rehabilitation training robot of the invention.
Fig. 6 is a schematic partial cross-sectional view of C in fig. 1.
Fig. 7 is a schematic structural diagram of a leg upper limb 6 and a leg fixing ring 10 of the anti-falling leg rehabilitation training robot of the invention.
Fig. 8 is a schematic structural view of a waist fixing and connecting piece 3 of the anti-falling leg rehabilitation training robot.
Fig. 9 is a schematic structural diagram of a foot pedal 9 of the anti-falling leg rehabilitation training robot according to the present invention.
Fig. 10 is a schematic view of a combined structure of the robot control mechanism 5, the leg upper limbs 6, the leg lower limbs 7, the foot joints 8 and the foot pedals 9 of the anti-falling leg rehabilitation training robot according to the present invention.
In the figure: a lifting parallel bar mechanism 1; a parallel bar beam 1-1; a servo track groove 1-1-1; 1-2 of a longitudinal support rod; a first telescopic rod 1-2-1; a clamping groove 1-2-1-1; an outer support tube 1-2-2; a T-like clamping part 1-2-2-1; a movable groove 1-2-2-2; a support spring 1-2-2-3; 1-2-2-4 of a T-shaped handle; sealing and fixing the cover 1-2-2-5; a bottom support beam 1-3; a waist fixing member 2; a waist support 2-1; a stent main body 2-1-1; side sealing covers 2-1-2; 2-1-3 of a bearing; 2-2 of a waistband; 2-3 of a belt buckle; a waist fixing connecting piece 3; a connecting projection 3-1; a transverse servo 4; a server body 4-1; a servo track frame 4-2; a robot control mechanism 5; leg upper limbs 6; 6-1 of a connecting tie; 6-2 parts of an upper limb body; a server 6-3; 6-4 of a second telescopic rod; leg lower limbs 7; a joint governor 7-1; a joint connector 7-2; 7-3 of a lower limb body; a telescopic servo 7-4; 7-5 parts of a lower limb telescopic rod; a foot joint 8; a rotary speed governor 8-1; a joint body 8-2; a pedal attachment 8-3; a foot board 9; a pedal main body 9-1; 9-2 of a comfortable rubber cushion; 9-3 of a fixing bandage; a leg fixing ring 10; a first movable fixing ring 10-1; and a second movable fixing ring 10-2.
Detailed Description
The first embodiment is as follows:
the embodiment is described below with reference to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10, and the present invention relates to the field of robots, and more specifically to a fall-prevention leg rehabilitation training robot, which includes a lifting parallel bar mechanism 1, a waist fixing member 2, a waist fixing connecting member 3, a transverse servo 4, a robot control mechanism 5, leg upper limbs 6, leg lower limbs 7, a foot joint 8, a foot pedal 9, and a leg fixing ring 10.
The lifting parallel bar mechanism 1 comprises a parallel bar beam 1-1, longitudinal support rods 1-2 and a bottom support beam 1-3, the parallel bar beam 1-1 is positioned above the longitudinal support rods 1-2, the longitudinal support rods 1-2 are fixedly contacted and connected with the parallel bar beam 1-1, the bottom support beam 1-3 is positioned at the bottom end of the longitudinal support rods 1-2, the longitudinal support rods 1-2 are fixedly contacted and connected with the bottom support beam 1-3, the number of the longitudinal support rods 1-2 is two, the longitudinal support rods 1-2 are respectively positioned at the left side and the right side of the parallel bar beam 1-1 and the bottom support beam 1-3, and the parallel bar beam 1-1, the longitudinal support rods 1-2 and the bottom support beam 1-3 form an integral framework of the device;
a servo track groove 1-1-1 is arranged on the parallel bar beam 1-1, and the servo track groove 1-1-1 is matched with a servo track frame 4-2;
the longitudinal support rod 1-2 comprises a first telescopic rod 1-2-1 and an external support tube 1-2-2, the first telescopic rod 1-2-1 is fixedly connected with the parallel bar beam 1-1 in a contact mode, the external support tube 1-2-2 is located right below the first telescopic rod 1-2-1, the external support tube 1-2-2 is movably connected with the first telescopic rod 1-2-1 in a contact mode, the external support tube 1-2-2 is fixedly connected with the bottom support beam 1-3 in a contact mode, and the first telescopic rod 1-2-1 and the external support tube 1-2-2 play a role in height adjustment;
a clamping groove 1-2-1-1 is arranged on the first telescopic rod 1-2-1, and the clamping groove 1-2-1-1 is adapted to a T-shaped clamping piece 1-2-2-1;
the external support tube 1-2-2 comprises a T-like clamping piece 1-2-2-1, a movable groove 1-2-2, a support spring 1-2-2-3, a T-shaped handle 1-2-2-4 and a sealing fixed cover 1-2-2-5, the movable groove 1-2-2-2 is arranged on the external support tube 1-2-2, the T-like clamping piece 1-2-2-1 is matched with the external support tube 1-2-2 through a through hole, the T-like clamping piece 1-2-2-1 is fixedly contacted and connected with the support spring 1-2-2-3, the T-shaped handle 1-2-2-4 is meshed with the T-like clamping piece 1-2-2-1 through threads, the supporting spring 1-2-2-3 is sleeved outside the T-shaped handle 1-2-2-4, the supporting spring 1-2-2-3 is fixedly contacted and connected with the sealing fixed cover 1-2-5, the sealing fixed cover 1-2-2-5 is fixed on the external supporting tube 1-2-2 through a fastening screw, the sealing fixed cover 1-2-2-5 is adapted to the T-shaped handle 1-2-2-4 through a through hole, the T-like clamping piece 1-2-2-1 is adapted to the first telescopic rod 1-2-1 through a groove, the T-shaped handle 1-2-2-4 is pulled, the T-shaped handle 1-2-2-4 drives the T-like clamping piece 1-2-2-1, the T-like clamping piece 1-2-2-1 is separated from the clamping groove 1-2-1-1, the first telescopic rod 1-2-1 can be moved upwards to a proper position at the moment, the T-shaped handle 1-2-2-4 is loosened, the T-like clamping piece 1-2-2-1 is matched with the first telescopic rod 1-2-1 again through the groove under the action of the supporting spring 1-2-2-3 to play a role in fixing, and the sealing and fixing cover 1-2-2-5 plays a role in sealing and fixing;
the waist fixing part 2 comprises two waist supports 2-1, two waistbands 2-2 and two waist belt buckles 2-3, the number of the waist supports 2-1 is two, the two waist supports are respectively positioned at two sides of the robot control mechanism 5, the waist supports 2-1 are fixedly contacted and connected with the robot control mechanism 5, the two waistbands 2-2 are fixedly contacted and connected with the waist support 2-1, the number of the two waistbands 2-2 is respectively fixedly contacted and connected with two ends of the waist belt buckles 2-3, and the waist support 2-1, the two waistbands 2-2 and the waist belt buckles 2-3 form a structure for fixing the waist;
the waist part bracket 2-1 comprises a bracket main body 2-1-1, a side sealing cover 2-1-2 and a bearing 2-1-3, wherein the bearing 2-1-3 is matched with the bracket main body 2-1-1 through a groove, the bearing 2-1-3 is fixedly contacted and connected with the bracket main body 2-1-1 through a fastening screw, the side sealing cover 2-1-2 is contacted and connected with the bearing 2-1-3, the side sealing cover 2-1-2 is fixed on the bracket main body 2-1-1 through the fastening screw, the side sealing cover 2-1-2 is matched with a waist part fixing and connecting piece 3 through a through hole, the waist part fixing and connecting piece 3 is fixedly contacted and connected with the bearing 2-1-3 through the fastening screw, and the side sealing cover 2-1-2 plays a role of fixing parts, the bearings 2-1-3 play a role in assisting rotation;
the waist fixing connecting piece 3 is provided with a connecting bulge 3-1, the connecting bulge 3-1 is matched with the bearing 2-1-3 through a through hole, the connecting bulge 3-1 is fixedly contacted and connected with the bearing 2-1-3 through a fastening screw, and the connecting bulge 3-1 plays a role in fixed connection;
the transverse servo 4 comprises a servo main body 4-1 and a servo track frame 4-2, the servo track frame 4-2 is adapted to the parallel bar beam 1-1 through a groove, the servo main body 4-1 is movably connected with the servo track frame 4-2 through the groove in a contact manner, and the servo main body 4-1 moves on the servo track frame 4-2 to drive a rehabilitation trainer to move, so that the function of assisting training is achieved;
the leg upper limb 6 comprises a connecting link 6-1, an upper limb main body 6-2, a servo 6-3 and a second telescopic rod 6-4, the connecting link 6-1 is movably connected with the robot control mechanism 5 in a contact way, the upper limb main body 6-2 is positioned below the connecting link 6-1, the connecting link 6-1 is fixedly connected with the upper limb main body 6-2 in a contact way, the second telescopic rod 6-4 is positioned below the upper limb main body 6-2, the upper limb main body 6-2 is movably connected with the second telescopic rod 6-4 through a groove in a contact way, the servo 6-3 is movably connected with the upper limb main body 6-2 in a contact way, the servo 6-3 is connected with the second telescopic rod 6-4 through the upper limb main body 6-2, the second telescopic rod 6-4 is movably connected with the joint connecting piece 7-2 in a contact way, the connecting link 6-1 plays a role in fixed connection, the upper limb main body 6-2 plays a role in fixed connection, and the servo 6-3 plays a role in assisting the second telescopic rod 6-4 to stretch;
the leg lower limb 7 comprises a joint speed regulator 7-1, a joint connecting piece 7-2, a lower limb main body 7-3, a telescopic servo 7-4 and a lower limb telescopic rod 7-5, wherein the joint speed regulator 7-1 is connected with a second telescopic rod 6-4 through the joint connecting piece 7-2, the second telescopic rod 6-4 is movably connected with the joint speed regulator 7-1 through a groove, the lower limb main body 7-3 is positioned below the joint connecting piece 7-2, the lower limb main body 7-3 is movably connected with the joint connecting piece 7-2, the joint speed regulator 7-1 is connected with the lower limb main body 7-3 through the joint connecting piece 7-2, the lower limb telescopic rod 7-5 is positioned below the lower limb main body 7-3, the lower limb telescopic rod 7-5 is movably connected with the lower limb main body 7-3 through a groove, the lower limb telescopic rod 7-5 is movably connected with the joint main body 8-2 through a groove in a contact manner, the joint speed regulator 7-1 plays a role in regulating the speed, the joint connecting piece 7-2 and the lower limb main body 7-3 play a role in fixed connection, and the telescopic servo 7-4 drives the lower limb telescopic rod 7-5 to stretch;
the foot joint 8 comprises a rotary speed regulator 8-1, a joint main body 8-2 and a pedal connecting piece 8-3, the rotary speed regulator 8-1 is connected with a lower limb telescopic rod 7-5 through the joint main body 8-2, the joint main body 8-2 is positioned below the lower limb telescopic rod 7-5, the pedal connecting piece 8-3 is positioned below the joint main body 8-2, the pedal connecting piece 8-3 is movably connected with the joint main body 8-2 through a groove, the rotary speed regulator 8-1 is connected with the pedal connecting piece 8-3 through the joint main body 8-2, the rotary speed regulator 8-1 plays a role in regulating speed, and the joint main body 8-2 and the pedal connecting piece 8-3 play a role in connecting;
the pedal plate 9 comprises a pedal plate main body 9-1, a comfortable rubber cushion 9-2 and fixing bands 9-3, the pedal plate main body 9-1 is matched with the pedal connecting piece 8-3 through a groove, the pedal plate main body 9-1 is fixedly contacted and connected with the pedal connecting piece 8-3, the comfortable rubber cushion 9-2 is fixedly contacted and connected with the pedal plate main body 9-1, the number of the fixing bands 9-3 is two, the fixing bands are respectively positioned on the right side of the pedal plate main body 9-1, feet are placed on the pedal plate 9 and are fixed through the fixing bands 9-3, and the comfortable rubber cushion 9-2 plays a role in providing comfort;
the leg fixing ring 10 comprises a first movable fixing ring 10-1 and a second movable fixing ring 10-2, the first movable fixing ring 10-1 is movably connected with a leg upper limb 6 in a contact manner, the second movable fixing ring 10-2 is movably connected with the leg upper limb 6 in a contact manner, the first movable fixing ring 10-1 is fixedly connected with the second movable fixing ring 10-2 in a contact manner, and the leg fixing rings 10 are respectively fixed on thighs and shanks of a trainer to play a role in fixed connection;
The second embodiment is as follows:
the present embodiment is described below with reference to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10, and the present embodiment further describes the first embodiment, in which the material of the support spring 1-2-2-3 is carbon steel.
The third concrete implementation mode:
the present embodiment will be described below with reference to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10, and the first embodiment will be further described, in which the bearing 2-1-3 is made of bearing steel.
The fourth concrete implementation mode:
the present embodiment will be described with reference to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10, and the present embodiment further describes the first embodiment, in which the comfort rubber pad 9-2 is made of natural rubber.
The fifth concrete implementation mode:
the present embodiment will be described with reference to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10, and the present embodiment further describes the first embodiment, in which the parallel bar beam 1-1 and the bottom support beam 1-3 are parallel.
The sixth specific implementation mode:
the present embodiment is described below with reference to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10, and the present embodiment further describes the first embodiment, in which the parallel bar beam 1-1 and the bottom support beam 1-3 are perpendicular to the longitudinal support bar 1-2.
The seventh embodiment:
the present embodiment will be described below with reference to fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, and 10, and the present embodiment further describes the first embodiment in which two lumbar fixing links 3 are provided.
The use method of the device comprises the following steps: the device has the function of height adjustment, the T-shaped handle 1-2-2-4 is pulled, the T-shaped handle 1-2-2-4 drives the T-shaped clamping piece 1-2-2-1 and the T-shaped clamping piece 1-2-2-1 to be separated from the clamping groove 1-2-1-1, the first telescopic rod 1-2-1 can be moved upwards to a proper position at the moment, the T-shaped handle 1-2-2-4 is loosened, and the T-shaped clamping piece 1-2-2-1 is matched with the first telescopic rod 1-2-1 again through the groove under the action of the supporting spring 1-2-2-3 to play a fixing role.
The servo track frame 4-2 is fixed on the parallel bar beam 1-1, and the servo main body 4-1 moves on the servo track frame 4-2 to drive the rehabilitation trainee to move, thereby playing the role of assisting the training.
The waist belt buckles 2-3 are opened, the waist fixing piece 2 is locked on the waist of a human body through the waist belt buckles 2-3, the leg fixing rings 10 are respectively fixed on the thighs and the calves of a trainer, feet are placed on the pedal plates 9 and are fixed through the fixing belts 9-3, the comfortable rubber pads 9-2 play a role in providing comfort, at the moment, the robot control mechanism 5 plays a role in device, the servo machines 6-3 and the telescopic servo machines 7-4 play a role in device stretching, the joint speed regulators 7-1 and the rotary speed regulators 8-1 play a role in controlling the rotating speeds of the foot joints 8, the leg lower limbs 7 and the leg upper limbs 6, the transverse servo machine 4 drives the trainer to move forwards, the control mechanism 5, the leg upper limbs 6, the leg lower limbs 7, the foot joints 8, the pedal plates 9 and the leg fixing rings 10 are mutually matched to simulate the leg movement of the human body, the leg of the trainer is driven to move.
The device can ensure that a leg rehabilitation trainer cannot fall down in the training process, can automatically drive legs of a person to make a correct walking posture, and can slowly drive the person to move forwards, and the height of the device can be adjusted to adapt to people with different heights.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.
Claims (7)
1. The utility model provides a prevent falling shank rehabilitation training robot, includes lift parallel bars mechanism (1), waist mounting (2), waist fixed connection spare (3), horizontal servo (4), robot control mechanism (5), shank upper limbs (6), shank low limbs (7), foot joint (8), running-board (9), shank retainer plate (10), its characterized in that: the lifting parallel bar mechanism (1) comprises a parallel bar beam (1-1), longitudinal support bars (1-2) and bottom support beams (1-3), the parallel bar beam (1-1) is positioned above the longitudinal support bars (1-2), the longitudinal support bars (1-2) are fixedly connected with the parallel bar beam (1-1) in a contact manner, the bottom support beams (1-3) are positioned at the bottom ends of the longitudinal support bars (1-2), the longitudinal support bars (1-2) are fixedly connected with the bottom support beams (1-3) in a contact manner, two longitudinal support bars (1-2) are respectively positioned at the left side and the right side of the parallel bar beam (1-1) and the bottom support beams (1-3);
a parallel bar beam (1-1) is provided with a servo track groove (1-1-1), and the servo track groove (1-1-1) is adapted to a servo track frame (4-2);
the longitudinal support rod (1-2) comprises a first telescopic rod (1-2-1) and an external support tube (1-2-2), the first telescopic rod (1-2-1) is fixedly connected with the parallel bar beam (1-1) in a contact mode, the external support tube (1-2-2) is located right below the first telescopic rod (1-2-1), the external support tube (1-2-2) is movably connected with the first telescopic rod (1-2-1) in a contact mode, and the external support tube (1-2-2) is fixedly connected with the bottom support beam (1-3) in a contact mode;
a clamping groove (1-2-1-1) is formed in the first telescopic rod (1-2-1), and the clamping groove (1-2-1-1) is matched with the T-shaped clamping piece (1-2-2-1);
the external support tube (1-2-2) comprises a T-like clamping piece (1-2-2-1), a movable groove (1-2-2-2), a support spring (1-2-2-3), a T-shaped handle (1-2-2-4) and a sealing fixed cover (1-2-2-5), the movable groove (1-2-2-2) is arranged on the external support tube (1-2-2), the T-like clamping piece (1-2-2-1) is matched with the external support tube (1-2-2) through a through hole, the T-like clamping piece (1-2-2-1) is fixedly contacted and connected with the support spring (1-2-2-3), and the T-shaped handle (1-2-2-4) is connected with the T-like clamping piece (1-2- 2-1) are meshed through threads, a supporting spring (1-2-2-3) is sleeved outside a T-shaped handle (1-2-2-4), the supporting spring (1-2-2-3) is fixedly contacted and connected with a sealing fixed cover (1-2-2-5), the sealing fixed cover (1-2-2-5) is fixed on an external supporting pipe (1-2-2) through a fastening screw, the sealing fixed cover (1-2-2-5) is matched with the T-shaped handle (1-2-2-4) through a through hole, and a T-shaped clamping part (1-2-2-1) is matched with a first telescopic rod (1-2-1) through a groove;
the waist fixing part (2) comprises two waist supports (2-1), two waistbands (2-2) and two waistband buckles (2-3), the number of the waist supports (2-1) is two, the two waist supports are respectively positioned at two sides of the robot control mechanism (5), the waist supports (2-1) are fixedly connected with the robot control mechanism (5) in a contact manner, the waistbands (2-2) are fixedly connected with the waist supports (2-1) in a contact manner, and the number of the waistbands (2-2) is two, and the two waistbands are respectively fixedly connected with two ends of the waistband buckles (2-3) in a contact manner;
the waist support (2-1) comprises a support main body (2-1-1) and a side sealing cover (2-1-2), the bearing (2-1-3), the bearing (2-1-3) is adapted to the support main body (2-1-1) through a groove, the bearing (2-1-3) is fixedly connected with the support main body (2-1-1) through a fastening screw in a contact manner, the side sealing cover (2-1-2) is connected with the bearing (2-1-3) in a contact manner, the side sealing cover (2-1-2) is fixed on the support main body (2-1-1) through a fastening screw, the side sealing cover (2-1-2) is adapted to the waist fixing connecting piece (3) through a through hole, and the waist fixing connecting piece (3) is fixedly connected with the bearing (2-1-3) through a fastening screw in a contact manner;
the waist fixing connecting piece (3) is provided with a connecting bulge (3-1), the connecting bulge (3-1) is matched with the bearing (2-1-3) through a through hole, and the connecting bulge (3-1) is fixedly contacted and connected with the bearing (2-1-3) through a fastening screw;
the transverse servo (4) comprises a servo main body (4-1) and a servo track frame (4-2), the servo track frame (4-2) is matched with the parallel bar beam (1-1) through a groove, and the servo main body (4-1) is movably connected with the servo track frame (4-2) through the groove in a contact manner;
the leg upper limb (6) comprises a connecting link (6-1), an upper limb main body (6-2), a servo (6-3) and a second telescopic rod (6-4), the connecting link (6-1) is movably connected with the robot control mechanism (5) in a contact manner, the upper limb main body (6-2) is positioned below the connecting link (6-1), the connecting link (6-1) is fixedly connected with the upper limb main body (6-2) in a contact manner, the second telescopic rod (6-4) is positioned below the upper limb main body (6-2), the upper limb main body (6-2) is movably connected with the second telescopic rod (6-4) through a groove in a contact manner, the servo (6-3) is movably connected with the upper limb main body (6-2), and the servo (6-3) is connected with the second telescopic rod (6-4) through the upper limb main body (6-2), the second telescopic rod (6-4) is movably connected with the joint connecting piece (7-2) in a contact manner;
the leg lower limb (7) comprises a joint speed regulator (7-1), a joint connecting piece (7-2), a lower limb main body (7-3), a telescopic servo machine (7-4) and a lower limb telescopic rod (7-5), wherein the joint speed regulator (7-1) is connected with a second telescopic rod (6-4) through the joint connecting piece (7-2), the second telescopic rod (6-4) is movably connected with the joint speed regulator (7-1) through a groove in a contact manner, the lower limb main body (7-3) is positioned below the joint connecting piece (7-2), the lower limb main body (7-3) is movably connected with the joint connecting piece (7-2), the joint speed regulator (7-1) is connected with the lower limb main body (7-3) through the joint connecting piece (7-2), the lower limb telescopic rod (7-5) is positioned below the lower limb main body (7-3), the lower limb telescopic rod (7-5) is movably connected with the lower limb main body (7-3) through a groove in a contact manner, and the lower limb telescopic rod (7-5) is movably connected with the joint main body (8-2) through a groove in a contact manner;
the foot joint (8) comprises a rotary speed regulator (8-1), a joint main body (8-2) and a pedal connecting piece (8-3), the rotary speed regulator (8-1) is connected with a lower limb telescopic rod (7-5) through the joint main body (8-2), the joint main body (8-2) is positioned below the lower limb telescopic rod (7-5), the pedal connecting piece (8-3) is positioned below the joint main body (8-2), the pedal connecting piece (8-3) is movably connected with the joint main body (8-2) through a groove in a contact manner, and the rotary speed regulator (8-1) is connected with the pedal connecting piece (8-3) through the joint main body (8-2);
the pedal (9) comprises a pedal main body (9-1), comfortable rubber pads (9-2) and fixing bands (9-3), the pedal main body (9-1) is matched with the pedal connecting piece (8-3) through a groove, the pedal main body (9-1) is fixedly connected with the pedal connecting piece (8-3) in a contact manner, the comfortable rubber pads (9-2) are fixedly connected with the pedal main body (9-1) in a contact manner, and the number of the fixing bands (9-3) is two and is respectively positioned on the right side of the pedal main body (9-1);
the leg fixing ring (10) comprises a first movable fixing ring (10-1) and a second movable fixing ring (10-2), the first movable fixing ring (10-1) is movably connected with the leg upper limb (6) in a contact manner, the second movable fixing ring (10-2) is movably connected with the leg upper limb (6) in a contact manner, and the first movable fixing ring (10-1) is fixedly connected with the second movable fixing ring (10-2) in a contact manner;
the transverse servo machine (4) is positioned below the lifting parallel bar mechanism (1), the transverse servo machine (4) is in contact connection with the lifting parallel bar mechanism (1) through a groove, the waist fixing connecting piece (3) is positioned below the transverse servo machine (4), the waist fixing connecting piece (3) is in fixed contact connection with the transverse servo machine (4), the waist fixing connecting piece (3) is in movable contact connection with the waist fixing piece (2), the waist fixing connecting piece (3) is in fixed contact connection with the robot control mechanism (5), the leg upper limbs (6) are positioned below the robot control mechanism (5), the leg upper limbs (6) are in movable contact connection with the robot control mechanism (5), the leg lower limbs (7) are in movable contact connection with the leg upper limbs (6), the foot joints (8) are in movable contact connection with the foot joints (8), the leg fixing ring (10) is movably connected with the leg upper limb (6) in a contact manner, and the leg fixing ring (10) is movably connected with the leg lower limb (7) in a contact manner.
2. The anti-falling leg rehabilitation training robot according to claim 1, wherein: the supporting spring (1-2-2-3) is made of carbon steel.
3. The anti-falling leg rehabilitation training robot according to claim 1, wherein: the bearing (2-1-3) is made of bearing steel.
4. The anti-falling leg rehabilitation training robot according to claim 1, wherein: the comfortable rubber cushion (9-2) is made of natural rubber.
5. The anti-falling leg rehabilitation training robot according to claim 1, wherein: the parallel bar beam (1-1) is parallel to the bottom supporting beam (1-3).
6. The anti-falling leg rehabilitation training robot according to claim 1, wherein: the parallel bar beam (1-1) and the bottom supporting beam (1-3) are both vertical to the longitudinal supporting rod (1-2).
7. The anti-falling leg rehabilitation training robot according to claim 1, wherein: the number of the waist fixing connecting pieces (3) is two.
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| CN109330827A (en) * | 2018-12-12 | 2019-02-15 | 西安市红会医院 | A kind of hip joint power-assisted convalescence device based on lasso trick transmission |
| CN110123590A (en) * | 2019-05-31 | 2019-08-16 | 武汉轻工大学 | Convalescence device |
| CN110652426A (en) * | 2019-10-21 | 2020-01-07 | 漫步者（天津）康复设备有限公司 | Gait training rehabilitation robot |
| CN111821141A (en) * | 2020-07-15 | 2020-10-27 | 南京工程学院 | Lower limb fixing and adjusting device of rope traction rehabilitation training robot |
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Effective date of registration: 20200819 Address after: Department of orthopedics, people's Hospital of Pingdu, Shandong Province Applicant after: Li Jianguo Address before: 223735 25 group two, Southeast village, Pei Wei Town, Siyang, Suqian, Jiangsu. Applicant before: Chen Xi |
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