CN109674638A - A kind of rehabilitation department robot with auxiliary physical therapy function - Google Patents
A kind of rehabilitation department robot with auxiliary physical therapy function Download PDFInfo
- Publication number
- CN109674638A CN109674638A CN201910059040.6A CN201910059040A CN109674638A CN 109674638 A CN109674638 A CN 109674638A CN 201910059040 A CN201910059040 A CN 201910059040A CN 109674638 A CN109674638 A CN 109674638A
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- China
- Prior art keywords
- motor
- folding rod
- fixed link
- frame
- drives
- Prior art date
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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
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H15/0078—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains power-driven
-
- 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
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H2015/0007—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis
- A61H2015/0014—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis cylinder-like, i.e. rollers
-
- 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
- A61H2201/1623—Back
-
- 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
-
- 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
- A61H2205/08—Trunk
- A61H2205/081—Back
-
- 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
Abstract
The invention discloses a kind of rehabilitation department robots with auxiliary physical therapy function, including fixed bottom plate, massage assembly and bend and stretch component, support baseboard is provided in the middle part of the upper surface of the fixed bottom plate, the upper surface of the support baseboard is provided with supporting vertical plate, the supporting vertical plate is located at the posterior edges of support baseboard upper surface, and the massage assembly is set to the top of support baseboard；The present invention massages user back by Massage roller, drives first connecting rod and the second connecting rod to swing by the second motor of starting and third motor, to carry out lower limb rehabilitation training to user, functional diversities meet the requirement of people；By starting the first cylinder, and the first folding rod and the expansion of the second folding rod are driven by the second fixed link, to drive massage assembly to be moved forward and backward, sitting posture and stand-type rehabilitation training can be met simultaneously, suitable for the different state of an illness and different convalescence disease Man's Demands, strong applicability is worth a wide range of and promotes.
Description
Technical field
The present invention relates to modality technical field more particularly to a kind of rehabilitation department machines with auxiliary physical therapy function
People.
Background technique
Physical therapy is exactly to act on human body using artificial or nature physical factor, is allowed to generate advantageous reaction, reaches pre-
Anti- and treatment disease purpose method, is the important content of rehabilitation, and physical factor passes through the direct effect to part, and mind
Indirectly-acting through, body fluid causes human response, adjusts blood circulation, improves Nutrition and Metabolism, improves immune function, adjusts nerve
System function promotes tissue repair, thus eliminates pathogenic factor, improves pathologic process, reaches purpose of curing the disease, commonly uses artificial physics
Because being known as electricity, light, sound, magnetic, temperature and mechanical force etc., modern physics promotes the development of medicine, while also making ancient object
Physical therapy method is able to continuous perfect, and has enriched content abundant.
The modality function of rehabilitation department is more single at present, is often referred to be treated for the single state of an illness, limitation compared with
Greatly, it is not able to satisfy diversified demand, the equipment having a single function means to multiple devices and is used in combination, and occupied space is big, Er Qie great
More modalities need artificial auxiliary, are more troublesome, and inconvenient for operation, human input is big.
Summary of the invention
The purpose of the present invention is to provide a kind of rehabilitation department robots with auxiliary physical therapy function, pass through first motor
It is used cooperatively with driving wheel and synchronous belt, so that Massage roller rotation be driven to massage user back, passes through starting the
Two motors and third motor drive first connecting rod and the second connecting rod to swing, so that lower limb rehabilitation training is carried out to user,
It is vdiverse in function；It drives the second fixed link mobile by the first cylinder, and drives the first folding rod and the expansion of the second folding rod, thus
Massage assembly is driven to be moved forward and backward, user can directly be sitting on support baseboard or hand steered curved bar is stood, and can expire simultaneously
Sufficient sitting posture and stand-type rehabilitation training are suitable for the different state of an illness and different convalescence disease Man's Demands, strong applicability.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of rehabilitation department robot with auxiliary physical therapy function, including fix bottom plate, massage assembly and bend and stretch component,
It is provided with support baseboard in the middle part of the upper surface of the fixed bottom plate, the upper surface of the support baseboard is provided with supporting vertical plate, institute
It states supporting vertical plate to be located at the posterior edges of support baseboard upper surface, the massage assembly is set to the top of support baseboard；
The front side surface of the supporting vertical plate is fixedly installed with the first frame, opens at the two sides inner wall of first frame
Equipped with sliding slot, the first fixed link is provided on the inside of first frame, the both ends of first fixed link are located at sliding slot
It is interior, it is symmetrical arranged in first fixed link there are two the first folding rod, the inside of two the first folding rods is connected by pivot pin
It is connected to the second folding rod, one end of second folding rod and supporting vertical plate are hinged, vertical between two second folding rods
It is fixed with the second fixed link, and the both ends of second fixed link are fixedly connected on the middle part of the second folding rod inner surface, institute
It states and is hinged with the first cylinder in the middle part of the first fixed link, the output end of first cylinder is articulated with the middle part of the second fixed link,
One end of first folding rod and the second folding rod is hinged with massage assembly；
There are two shells for the front side surface fixed installation of the fixed bottom plate, and two shells are symmetrically disposed on fixation
The two sides of bottom plate front side surface, the outer surface of two shells, which is bolted, is equipped with support rod, the shell
Two sides inner wall between be fixedly mounted there are two sliding bar, the surface of the fixed bottom plate is bolted installation, and there are two the
One motor, and two first motors are symmetric and are respectively positioned on the inside of respective housings, the output of the first motor
End is fixedly installed with lead screw by shaft coupling, Mobile base is additionally provided on the inside of the shell, the Mobile base is sheathed on two
On sliding bar and two lead screws, the surface of the Mobile base is fixedly connected with two pieces of mounting plates being parallel to each other, the mounting plate
It is connected with component is bent and stretched.
Be furthermore that, the massage assembly include the second frame, the side wall and the first folding rod of second frame and
Second folding rod is hinged, and the front side surface of second frame is also fixedly installed with backrest plate, the upper surface of second frame
It is fixedly installed with the 4th motor, there are two Massage roller, the upper and lower end of the Massage roller is distinguished for the inside setting of second frame
It is connect, and is connected in two shafts of two Massage roller upper ends fixed with the upper and lower wall of the second frame by shaft
Driving wheel is installed, and by synchronous band connection between the driving wheel in two shafts, positioned at right side the shaft with
The output shaft of 4th motor is fixedly connected.
It is furthermore that, the surface of two Massage rollers is fixedly connected to several massage bumps.
It is furthermore that, the two sides of second frame are connected with curved bar.
It being furthermore that, the surface of the backrest plate is symmetrically opened up there are two rectangular through slot, and the Massage roller
Part extends to the front side of backrest plate by through slot.
It is furthermore that, the component that bends and stretches includes first connecting rod, the second connecting rod and heel brace plate, the institute positioned at outside
The outer surface for stating mounting plate is fixedly installed with the second motor, mounting plate and company of the output shaft of second motor through outside
It is connected in the mounting plate of inside, the upper end of the first connecting rod is set between two pieces of mounting plates, and defeated with the second motor
Shaft is fixedly connected, and the lower end of the first connecting rod is fixedly installed with third motor, and the lower end of the first connecting rod passes through
The output shaft of third motor and the second connecting rod are hinged, and the second connecting rod is fixedly connected with the output shaft of third motor, described
The lower end of second connecting rod is fixedly installed with heel brace plate.
It is furthermore that, corresponding two medial surfaces of two shells offer notch.
It is furthermore that, the two side walls of the Mobile base are opened up there are two slide opening and two threaded holes, the slide opening
Cooperate with sliding bar, the threaded hole and threads of lead screw cooperate.
It is furthermore that, the working method of the robot are as follows:
Step 1: starting the first cylinder, and the output rod of the first cylinder is shunk, and second hinged with its end is driven to fix
Bar is mobile, and the second fixed link drives the first folding rod and the second folding rod to shrink, and the first folding rod drives the first fixed link in cunning
Sliding in slot, the first folding rod and the second folding rod drive massage assembly to move backward, and paste the first frame and the second frame
Tightly；
Step 2: user is sitting on support baseboard, and back starts the 4th motor, the 4th motor close to backrest plate
Output shaft rotation drive the shaft rotation being secured to, which drives the driving wheel rotation being secured to, and the driving wheel is logical
Crossing synchronous belt drives another driving wheel to rotate, and makes two Massage roller rotations, and Massage roller massages user back；
Step 3: starting the first cylinder, and the output rod of the first cylinder stretches out, and second hinged with its end is driven to fix
Bar is mobile, and the second fixed link drives the first folding rod and the expansion of the second folding rod, and the first folding rod and the drive of the second folding rod are pressed
The component that rubs moves forward, and massage assembly drives backrest plate to move forward, and flushes backrest plate and the surface of fixed bottom plate；
Step 4: starting first motor, first motor output shaft rotational lead screw rotation, lead screw rotate while drive with
Its Mobile base being threadedly engaged is mobile, and Mobile base drive bends and stretches component and is moved to designated position, and foot is stepped down in heel brace plate by user
On, with hand steered steady curved bar, it is respectively started the second motor and third motor, the output shaft rotation of the second motor and third motor, and
It drives first connecting rod and the second connecting rod to swing respectively, lower limb rehabilitation training is carried out to user.
Beneficial effects of the present invention:
The present invention is used cooperatively by first motor and driving wheel and synchronous belt, to drive Massage roller rotation to using
Person massages at back, drives first connecting rod and the second connecting rod to swing by the second motor of starting and third motor, thus
Lower limb rehabilitation training is carried out to user, high degree of automation is easy to operate, functional diversities, meets the requirement of people；
It drives the second fixed link mobile by the first cylinder, and drives the first folding rod and the expansion of the second folding rod, thus
Massage assembly is driven to be moved forward and backward, user can directly be sitting on support baseboard or hand steered curved bar is stood, and can expire simultaneously
Sufficient sitting posture and stand-type rehabilitation training, being suitable for the different state of an illness and different convalescence disease Man's Demands, strong applicability is worth
It is a wide range of to promote.
Detailed description of the invention
In order to facilitate the understanding of those skilled in the art, the present invention will be further described below with reference to the drawings.
Fig. 1 is a kind of three-dimensional structure diagram of the rehabilitation department robot with auxiliary physical therapy function of the present invention；
Fig. 2 is a kind of local structural graph of the rehabilitation department robot with auxiliary physical therapy function of the present invention；
Fig. 3 is a kind of local structural graph of the rehabilitation department robot with auxiliary physical therapy function of the present invention；
Fig. 4 is that massage assembly faces section in a kind of rehabilitation department robot with auxiliary physical therapy function of the present invention
Figure.
In figure: 1, fixed bottom plate；2, support baseboard；3, supporting vertical plate；4, shell；5, support rod；6, massage assembly；61,
Second frame；62, the 4th motor；63, Massage roller；64, driving wheel；65, synchronous belt；66, massage bumps；7, component is bent and stretched；71,
First connecting rod；72, the second connecting rod；73, heel brace plate；74, the second motor；75, third motor；8, backrest plate；9, the first frame
Frame；90, sliding slot；10, the first fixed link；11, the first folding rod；12, the second fixed link；13, the first cylinder；14, curved bar；15,
Mobile base；16, first motor；17, lead screw；18, sliding bar；19, mounting plate；20, the second folding rod.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with embodiment, it is clear that described reality
Applying example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is general
Logical technical staff all other embodiment obtained without creative efforts belongs to what the present invention protected
Range.
As shown in Figs 1-4, a kind of rehabilitation department robot with auxiliary physical therapy function, including fixed bottom plate 1, massage group
Part 6 is provided with support baseboard 2, the upper surface of the support baseboard 2 with component 7, the upper surface middle part of the fixed bottom plate 1 is bent and stretched
It is provided with supporting vertical plate 3, the supporting vertical plate 3 is located at the posterior edges of 2 upper surface of support baseboard, and the massage assembly 6 is set
It is placed in the top of support baseboard 2；
The front side surface of the supporting vertical plate 3 is fixedly installed with the first frame 9, at the two sides inner wall of first frame 9
Sliding slot 90 is offered, the inside of first frame 9 is provided with the first fixed link 10, the both ends point of first fixed link 10
It Wei Yu not be symmetrical arranged that there are two the first folding rod 11, two the first folding rods 11 in sliding slot 90, in first fixed link 10
Inside pass through pivot pin and be connected with the second folding rod 20, one end of second folding rod 20 and supporting vertical plate 3 are hinged, two
The second fixed link 12 is vertically and fixedly provided between second folding rod 20, and the both ends of second fixed link 12 are fixedly connected on
The middle part of second folding rod, 20 inner surface, the middle part of first fixed link 10 are hinged with the first cylinder 13, first gas
The output end of cylinder 13 is articulated with the middle part of the second fixed link 12, one end of first folding rod 11 and the second folding rod 20 with
Massage assembly 6 is hinged；
There are two shells 4 for the front side surface fixed installation of the fixed bottom plate 1, and two shells 4 are symmetrically disposed on
The two sides of fixed 1 front side surface of bottom plate, the outer surface of two shells 4, which is bolted, is equipped with support rod 5, institute
Sliding bar 18 there are two being fixedly mounted between the two sides inner wall of shell 4 is stated, the surface of the fixed bottom plate 1 is bolted peace
There are two first motors 16 for dress, and two first motors 16 are symmetric and are respectively positioned on the inside of respective housings 4, described
The output end of first motor 16 is fixedly installed with lead screw 17 by shaft coupling, and the inside of the shell 4 is additionally provided with Mobile base 15,
The Mobile base 15 is sheathed on two sliding bars 18 and two lead screws 17, and the surface of the Mobile base 15 is fixedly connected with two pieces
The mounting plate 19 being parallel to each other, the mounting plate 19 are connected with component 7 is bent and stretched.
The massage assembly 6 includes the second frame 61, the side wall of second frame 61 and the first folding rod 11 and second
Folding rod 20 is hinged, and the front side surface of second frame 61 is also fixedly installed with backrest plate 8, the upper end of second frame 61
Face is fixedly installed with the 4th motor 62, and the inside of second frame 61 is arranged there are two Massage roller 63, the Massage roller 63
Upper and lower end passes through shaft respectively and connect with the upper and lower wall of the second frame 61, and is connected to the two of two 63 upper ends of Massage roller
It is fixedly installed with driving wheel 64 in a shaft, and is connected between the driving wheel 64 in two shafts by synchronous belt 65,
The shaft positioned at right side is fixedly connected with the output shaft of the 4th motor 62, and the surface of two Massage rollers 63 is fixed to be connected
Several massage bumps 66 are connected to, the two sides of second frame 61 are connected with the same curved bar 14, the surface of the backrest plate 8
Rectangular through slot there are two symmetrically opening up, and the part of the Massage roller 63 extends to the front side of backrest plate 8 by through slot.
The component 7 that bends and stretches includes first connecting rod 71, the second connecting rod 72 and heel brace plate 73, the peace positioned at outside
The outer surface of loading board 19 is fixedly installed with the second motor 74, and the output shaft of second motor 74 runs through the mounting plate 19 in outside
And be connected in the mounting plate 19 of inside, the upper end of the first connecting rod 71 is set between two pieces of mounting plates 19, and with the
The output shaft of two motors 74 is fixedly connected, and the lower end of the first connecting rod 71 is fixedly installed with third motor 75, and described first
The lower end of connecting rod 71 is hinged by the output shaft of third motor 75 and the second connecting rod 72, and the second connecting rod 72 and third electricity
The output shaft of machine 75 is fixedly connected, and the lower end of second connecting rod 72 is fixedly installed with heel brace plate 73, two 4 phases of shell
Corresponding two medial surfaces offer notch, and the two side walls of the Mobile base 15 open up that there are two slide opening and two screw threads
Hole, the slide opening and sliding bar 18 cooperate, and the threaded hole is threadedly engaged with lead screw 17.
The working method of the robot are as follows:
Step 1: the output rod of the first cylinder 13 of starting, the first cylinder 13 is shunk, and drives hinged with its end second
Fixed link 12 is mobile, and the second fixed link 12 drives the first folding rod 11 and the second folding rod 20 to shrink, and the first folding rod 11 drives
First fixed link 10 is slided in sliding slot 90, and the first folding rod 11 and the second folding rod 20 drive massage assembly 6 to move backward, and
It is adjacent to the first frame 9 and the second frame 61；
Step 2: user is sitting on support baseboard 2, and back starts the 4th motor 62 close to backrest plate 8, and the 4th
The output shaft rotation of motor 62 drives the shaft rotation being secured to, which drives the driving wheel 64 being secured to rotate, should
Driving wheel 64 drives the rotation of another driving wheel 64 by synchronous belt 65, and rotates two Massage rollers 63, and Massage roller 63 is to making
User massages at back；
Step 3: the output rod of the first cylinder 13 of starting, the first cylinder 13 stretches out, and drives hinged with its end second
Fixed link 12 is mobile, and the second fixed link 12 drives the first folding rod 11 and the expansion of the second folding rod 20, the first folding rod 11 and the
Two-fold bar 20 drives massage assembly 6 to move forward, and massage assembly 6 drives backrest plate 8 to move forward, and makes backrest plate 8 and solid
The surface for determining bottom plate 1 flushes；
Step 4: the output shaft rotational lead screw 17 of starting first motor 16, first motor 16 rotates, and lead screw 17 rotates same
When drive the Mobile base 15 that is threadedly engaged with it mobile, the drive of Mobile base 15 bends and stretches component 7 and is moved to designated position, user general
Foot steps down on heel brace plate 73, and with hand steered steady curved bar 14, the second motor 74 and third motor 75, the second motor 74 and is respectively started
The output shaft of three motors 75 rotates, and first connecting rod 71 and the second connecting rod 72 is driven to swing respectively, carries out down to user
Limbs rehabilitation training.
The present invention is used cooperatively by first motor 16 with driving wheel 64 and synchronous belt 65, to drive 63 turns of Massage roller
It is dynamic that user back is massaged, drive first connecting rod 71 and second to connect by the second motor 74 of starting and third motor 75
Extension bar 72 is swung, to carry out lower limb rehabilitation training to user, high degree of automation is easy to operate, functional diversities, is met
The requirement of people；
It drives the second fixed link 12 mobile by the first cylinder 13, and drives the first folding rod 11 and the exhibition of the second folding rod 20
It opens, so that massage assembly 6 be driven to be moved forward and backward, user can directly be sitting on support baseboard 2 or 14 station of hand steered curved bar
It is vertical, sitting posture and stand-type rehabilitation training can be met simultaneously, be suitable for the different state of an illness and different convalescence disease Man's Demands,
Strong applicability is worth a wide range of and promotes.
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to better explain the present invention
Principle and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only
It is limited by claims and its full scope and equivalent.
Claims (9)
1. a kind of rehabilitation department robot with auxiliary physical therapy function, which is characterized in that including fixed bottom plate (1), massage group
It part (6) and bends and stretches component (7), is provided with support baseboard (2), the support baseboard in the middle part of the upper surface of the fixed bottom plate (1)
(2) upper surface is provided with supporting vertical plate (3), and the supporting vertical plate (3) is located at the posterior edges of support baseboard (2) upper surface
Place, the massage assembly (6) are set to the top of support baseboard (2)；
The front side surface of the supporting vertical plate (3) is fixedly installed with the first frame (9), the two sides inner wall of first frame (9)
Place offers sliding slot (90), is provided with the first fixed link (10) on the inside of first frame (9), first fixed link
(10) both ends are located in sliding slot (90), and arranged symmetrically on first fixed link (10) there are two the first folding rods
(11), the inside of two the first folding rods (11) passes through pivot pin and is connected with the second folding rod (20), second folding rod
(20) one end and supporting vertical plate (3) hingedly, is vertically and fixedly provided with the second fixed link between two second folding rods (20)
(12), and the both ends of second fixed link (12) are fixedly connected on the middle part of the second folding rod (20) inner surface, and described
It is hinged in the middle part of one fixed link (10) the first cylinder (13), the output end of first cylinder (13) is articulated with the second fixed link
(12) one end of middle part, first folding rod (11) and the second folding rod (20) is hinged with massage assembly (6)；
There are two shell (4) for the front side surface fixed installation of the fixed bottom plate (1), and two shells (4) are symmetrical arranged
In the two sides of fixed bottom plate (1) front side surface, the outer surface of two shells (4), which is bolted, is equipped with support
Bar (5), is fixedly mounted that there are two sliding bar (18), the surfaces of the fixed bottom plate (1) between the two sides inner wall of the shell (4)
Being bolted installation, there are two first motor (16), and two first motors (16) are symmetric and are respectively positioned on phase
The inside of shell (4) is answered, the output end of the first motor (16) is fixedly installed with lead screw (17), the shell by shaft coupling
(4) it is additionally provided on the inside of Mobile base (15), the Mobile base (15) is sheathed on two sliding bars (18) and two lead screws (17)
On, the surface of the Mobile base (15) is fixedly connected with two pieces of mounting plates being parallel to each other (19), the mounting plate (19) and bends
Component (7) is stretched to be connected.
2. a kind of rehabilitation department robot with auxiliary physical therapy function according to claim 1, which is characterized in that described
Massage assembly (6) includes the second frame (61), and the side wall and the first folding rod (11) of second frame (61) and second fold
Hingedly, the front side surface of second frame (61) is also fixedly installed with backrest plate (8) bar (20), second frame (61)
Upper surface is fixedly installed with the 4th motor (62), and there are two Massage roller (63) for the inside setting of second frame (61), described
The upper and lower end of Massage roller (63) passes through shaft respectively and connect with the upper and lower wall of the second frame (61), and described in being connected to two by
Rub roller (63) upper end two shafts on be fixedly installed with driving wheel (64), and the driving wheel (64) in two shafts it
Between connected by synchronous belt (65), the shaft positioned at right side is fixedly connected with the output shaft of the 4th motor (62).
3. a kind of rehabilitation department robot with auxiliary physical therapy function according to claim 2, which is characterized in that two
The surface of the Massage roller (63) is fixedly connected to several massage bumps (66).
4. a kind of rehabilitation department robot with auxiliary physical therapy function according to claim 2, which is characterized in that described
The two sides of second frame (61) are connected with the same curved bar (14).
5. a kind of rehabilitation department robot with auxiliary physical therapy function according to claim 2, which is characterized in that described
The surface of backrest plate (8) is symmetrically opened up there are two rectangular through slot, and the part of the Massage roller (63) passes through through slot extension
To the front side of backrest plate (8).
6. a kind of rehabilitation department robot with auxiliary physical therapy function according to claim 1, which is characterized in that described
Bending and stretching component (7) includes first connecting rod (71), the second connecting rod (72) and heel brace plate (73), the mounting plate positioned at outside
(19) outer surface is fixedly installed with the second motor (74), and the output shaft of second motor (74) runs through the mounting plate in outside
(19) and be connected to inside mounting plate (19) in, the upper end of the first connecting rod (71) be set to two pieces of mounting plates (19) it
Between, and be fixedly connected with the output shaft of the second motor (74), the lower end of the first connecting rod (71) is fixedly installed with third electricity
Machine (75), the lower end of the first connecting rod (71) by the output shaft and the second connecting rod (72) of third motor (75) hingedly,
And second connecting rod (72) be fixedly connected with the output shaft of third motor (75), the fixed peace in the lower end of second connecting rod (72)
Equipped with heel brace plate (73).
7. a kind of rehabilitation department robot with auxiliary physical therapy function according to claim 1, which is characterized in that two
Corresponding two medial surfaces of the shell (4) offer notch.
8. a kind of rehabilitation department robot with auxiliary physical therapy function according to claim 1, which is characterized in that described
The two side walls of Mobile base (15) are opened up there are two slide opening and two threaded holes, and the slide opening and sliding bar (18) cooperate, institute
Threaded hole is stated to be threadedly engaged with lead screw (17).
9. a kind of rehabilitation department robot with auxiliary physical therapy function according to claim 1, which is characterized in that the machine
The working method of device people are as follows:
Step 1: the output rod of starting the first cylinder (13), the first cylinder (13) is shunk, and drives hinged with its end second
Fixed link (12) is mobile, and the second fixed link (12) drives the first folding rod (11) and the second folding rod (20) to shrink, and first folds
Bar (11) drives the first fixed link (10) sliding in sliding slot (90), and the first folding rod (11) and the second folding rod (20) drive are pressed
The component (6) that rubs moves backward, and is adjacent to the first frame (9) and the second frame (61)；
Step 2: user is sitting on support baseboard (2), and back starts the 4th motor (62) close to backrest plate (8), the
The output shaft rotation of four motors (62) drives the shaft rotation being secured to, which drives the driving wheel (64) being secured to turn
Dynamic, which drives another driving wheel (64) to rotate by synchronous belt (65), and makes two Massage roller (63) rotations,
Massage roller (63) massages user back；
Step 3: the output rod of starting the first cylinder (13), the first cylinder (13) stretches out, and drives hinged with its end second
Fixed link (12) is mobile, and the second fixed link (12) drives the first folding rod (11) and the second folding rod (20) expansion, and first folds
Bar (11) and the second folding rod (20) drive massage assembly (6) to move forward, and massage assembly (6) drives backrest plate (8) Xiang Qianyi
It is dynamic, and flush backrest plate (8) and the surface of fixed bottom plate (1)；
Step 4: starting first motor (16), output shaft rotational lead screw (17) rotation of first motor (16), lead screw (17) rotation
While drive the Mobile base (15) that is threadedly engaged with it mobile, Mobile base (15), which drives, to be bent and stretched component (7) and is moved to specific bit
It sets, user steps down in foot on heel brace plate (73), and with hand steered steady curved bar (14), the second motor (74) and third motor is respectively started
(75), the output shaft of the second motor (74) and third motor (75) rotates, and first connecting rod (71) and second is driven to connect respectively
Extension bar (72) is swung, and carries out lower limb rehabilitation training to user.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910059040.6A CN109674638B (en) | 2019-01-22 | 2019-01-22 | Robot with auxiliary physical therapy function for rehabilitation department |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910059040.6A CN109674638B (en) | 2019-01-22 | 2019-01-22 | Robot with auxiliary physical therapy function for rehabilitation department |
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| CN109674638B CN109674638B (en) | 2020-11-20 |
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Cited By (1)
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| CN111685983A (en) * | 2020-06-15 | 2020-09-22 | 江苏医药职业学院 | Back massage device for medical care |
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| CN109674638B (en) | 2020-11-20 |
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