CN110236885A - A kind of healing robot with waist and leg training function - Google Patents
A kind of healing robot with waist and leg training function Download PDFInfo
- Publication number
- CN110236885A CN110236885A CN201910622842.3A CN201910622842A CN110236885A CN 110236885 A CN110236885 A CN 110236885A CN 201910622842 A CN201910622842 A CN 201910622842A CN 110236885 A CN110236885 A CN 110236885A
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- pitching
- torsion
- seat
- mounting base
- waist
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- 230000035876 healing Effects 0.000 title claims abstract description 31
- 210000000629 knee joint Anatomy 0.000 claims abstract description 49
- 210000002414 leg Anatomy 0.000 claims abstract description 30
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 11
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 29
- 210000002683 foot Anatomy 0.000 claims description 14
- 125000006850 spacer group Chemical group 0.000 claims description 10
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000003014 reinforcing effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 210000001624 hip Anatomy 0.000 abstract description 30
- 210000003141 lower extremity Anatomy 0.000 abstract description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 210000003127 knee Anatomy 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000000153 supplemental effect Effects 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000002651 drug therapy Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002787 reinforcement Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
-
- 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
- A61H1/024—Knee
-
- 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
- A61H1/0266—Foot
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 present invention discloses a kind of healing robot with waist and leg training function, including pedestal, torsion training institution, pitching training institution, seat and Liang Ge knee joint training institution；Reversing training institution includes the torsion mounting base being set on the base, and reverses and is provided with torsion motor and horizontal torsion driven gear in mounting base, reverses the torsion driving gear for being installed on the output shaft of motor and engaging with torsion driven gear；Pitching training institution includes the pitching mounting base connected with torsion driven gear, pitching motor and vertical pitching driven gear are provided in pitching mounting base, the pitching driving gear engaged with pitching driven gear is installed on the output shaft of pitching motor, the bottom end of seat and pitching driven gear are connected；Liang Ge knee joint training institution is divided into the two sides immediately ahead of seat.There is the present invention healing robot of waist and leg training function can carry out rehabilitation training while waist and lower limb to patient.
Description
Technical field
The present invention relates to technical field of medical equipment, more particularly to a kind of rehabilitation with waist and leg training function
Robot.
Background technique
For limbs disturbance patient in addition to need to perform the operation and drug therapy other than, science, safety, reasonable rehabilitation instruction
White silk is process crucial in daily rehabilitation course, can alleviate illness or even fully recover.The limb rehabilitating of patient is controlled at present
Treatment also mostly uses doctor to assist in the treatment of, patient voluntarily or family members' supplemental training rehabilitation, such treatment means inefficiency, and wave
Take the physical strength and energy of family members.And using healing robot to carry out supplemental training to patient is the efficient training method of comparison, but
It is that general healing robot training function is single, can only generally tempers a position such as upper limb, lower limb or waist, universal performance
Difference.
Summary of the invention
The object of the present invention is to provide a kind of healing robot with waist and leg training function, it is above-mentioned existing to solve
The problem of with the presence of technology, rehabilitation training while realizing the waist and lower limb to patient.
To achieve the above object, the present invention provides following schemes: the present invention provides a kind of with waist and leg training
The healing robot of function, including pedestal, torsion training institution, pitching training institution, seat and Liang Ge knee joint training institution；
The torsion training institution includes the torsion mounting base of setting on the base, and torsion electricity is provided in the torsion mounting base
Machine and horizontal torsion driven gear, are installed on the output shaft of the torsion motor and torsion that the torsion driven gear engages
Turn driving gear；The pitching training institution includes the pitching mounting base connected with the torsion driven gear, the pitching peace
It is provided with pitching motor and vertical pitching driven gear on dress seat, is installed on the output shaft of the pitching motor and bows with described
The pitching driving gear of driven gear engagement is faced upward, the bottom end of the seat and the pitching driven gear are connected；Two knees
Joint training institution is divided into the two sides immediately ahead of the seat, and each knee joint training institution includes vertical supporting
Frame, the first swing rod, the second swing rod and cross bar, are installed with knee joint motor in the vertical supports, the knee joint motor it is defeated
Knee-joint active movable belt pulley is installed on shaft, the top of first swing rod is connected with knee joint driven pulley, institute by shaft
It states and is arranged with synchronous belt on knee-joint active movable belt pulley and the knee joint driven pulley, the top of second swing rod passes through auxiliary
Axis connection has knee joint position coder, and the shaft and the asessory shaft pass through a bearing and the vertical supporting frame respectively
The bearing block at top is rotatablely connected, and the both ends of the cross bar connect with the bottom end of first swing rod and second swing rod respectively
It connects, pedal mounting rack and ankle-joint motor is installed on the cross bar, rotation is provided with foot pedal on the pedal mounting rack, institute
The output shaft for stating ankle-joint motor is connect by shaft coupling with the pedal shaft of the foot pedal.
It preferably, further include lifting assembly, the lifting assembly includes lifting mounting base, and the lifting mounting base includes one
A level board and two it is vertical and the spaced vertical plate of tool, the top surface of the bottom end of two vertical plates and the level board
It is connected, a vertical riser guide, the two sides point of the torsion mounting base is respectively arranged on the inside of two vertical plates
It is not provided with the lifting slider being slidably matched with the riser guide, two lifting sliders are led with two liftings
Rail corresponds, and vertical electric telescopic rod, the top of the electric telescopic rod and the torsion are provided on the level board
The bottom end of mounting base is connected, and the torsion mounting base and the electric telescopic rod are respectively positioned between two vertical plates.
Preferably, pedestal setting is there are two seat guide, sets only that there are two difference in the lifting mounting base
The seat adjusting slider being slidably matched with two seat guides is evenly arranged on the seat guide several
A seat positioning hole, the seat adjusting slider pass through the connection of seat positioning hole described in spiral shell.
Preferably, the bottom end of the vertical supporting frame and the pedestal are connected, the bottom of the vertical supporting frame with it is described
Reinforcing rod is connected between pedestal；The ankle-joint motor is also electrically connected with ankle-joint location encoder, the bottom end of the seat
It is connected by seat connecting plate and the pitching driven gear.
Preferably, torsion limiting slot is provided on the torsion driven gear, the torsion limiting slot is arc-shaped and described
It reverses limiting slot and the torsion driven gear is coaxial, the top of the torsion mounting base is installed with a vertical torsion limit
Pin, the torsion spacer pin pass through the torsion limiting slot.
Preferably, pitching limiting slot is provided on the pitching driven gear, the pitching limiting slot is arc-shaped and described
Pitching limiting slot and the pitching driven gear are coaxial, and a horizontal pitching limit is installed on the side wall of the pitching mounting base
Position pin, the pitching spacer pin pass through the pitching limiting slot.
Preferably, the fixing belt of the foot for immobilized patients, the ankle-joint motor are additionally provided on the foot pedal
It is connect by ankle-joint motor mounting rack with the cross bar, the knee joint motor is erected by knee joint motor mounting rack with described
The connection of allotment support.
Preferably, it is fixed to be evenly arranged with several cross bars for the bottom of first swing rod and the bottom of second swing rod
Position hole, the both ends of the cross bar are bolted on the cross bar location hole.
There is the present invention healing robot of waist and leg training function to achieve following technology compared with the existing technology
Effect:
The present invention have waist and leg training function healing robot can waist and lower limb to patient while
Carry out rehabilitation training.The present invention have the healing robot of waist and leg training function can be realized the pitching of waist, torsion,
The synchronous synergetic training of knee joint and ankle-joint or individually training, and structure is simple, it is at low cost.The present invention has waist and lower limb
The healing robot of training function can be adjusted the height of seat by electric telescopic rod, can be to seat by seat positioning hole
The front-rear position of chair is adjusted, and is adjusted by the height that cross bar location hole can place foot, can adapt to not
With the patient of height.There is the present invention waist and the healing robot of leg training function to use chair type rehabilitation training structure,
It alleviates body wt to bear the pressure of patient's waist and leg, facilitate to the better training effect of waist and leg.This
Inventing has the healing robot of waist and leg training function to the pitching training institution of waist training and torsion training institution
It is designed with position limiting structure, guarantees the safety of training, knee joint training institution and ankle-joint component are provided with position coder, real
When the rotation of monitoring joint angle stop rehabilitation training in time once signal occurs abnormal, securely and reliably, patient will not be made
At secondary injury.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structural schematic diagram for the healing robot that the present invention has waist and leg training function；
Fig. 2 is the partial structure diagram one for the healing robot that the present invention has waist and leg training function；
Fig. 3 is the partial structure diagram two for the healing robot that the present invention has waist and leg training function；
Fig. 4 is that there is the present invention structure of knee joint training institution in waist and the healing robot of leg training function to show
It is intended to；
Fig. 5 is the part knot that the present invention has knee joint training institution in waist and the healing robot of leg training function
Structure schematic diagram；
Fig. 6 is that there is the present invention structure of ankle-joint training institution in waist and the healing robot of leg training function to show
It is intended to one；
Fig. 7 is that there is the present invention structure of ankle-joint training institution in waist and the healing robot of leg training function to show
It is intended to two；
Wherein, 1- pedestal, 2- seat, 21- seat connecting plate, 3- knee joint training institution, 30- cross bar, 31- vertical supporting
Frame, 32- bearing block, 33- knee joint motor mounting rack, 34- knee joint motor, 35- knee-joint active movable belt pulley, 36- knee joint from
Movable belt pulley, 37- synchronous belt, the first swing rod of 38-, the second swing rod of 39-, 310- knee joint position coder, 311- cross bar location hole,
312- asessory shaft, 4- pitching training institution, 41- pitching mounting base, 42- pitching motor, 43- pitching driving gear, 44- pitching from
Moving gear, 441- pitching limiting slot, 45- pitching spacer pin, 5- reverse training institution, and 51- reverses mounting base, and 52- reverses motor,
53- reverses driving gear, and 54- reverses driven gear, and 541- reverses limiting slot, and 55- reverses spacer pin, 6- ankle-joint component, 61-
Pedal mounting rack, 62- ankle-joint motor mounting rack, 63- ankle-joint motor, 64- pedal shaft, 65- foot pedal, 66- fixing belt,
67- ankle-joint location encoder, 68- shaft coupling, 7- lifting assembly, 71- go up and down mounting base, and 72- riser guide, 73- is electronic to be stretched
Contracting bar, 74- lifting slider, 75- telescopic rod installation axle, 8- seat guide, 81- seat positioning hole, 9- seat adjusting slider,
11- reinforcing rod.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts all other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of healing robot with waist and leg training function, it is above-mentioned existing to solve
The problem of with the presence of technology, rehabilitation training while realizing the waist and lower limb to patient.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
As shown in figs. 1-7, the present embodiment provides a kind of healing robot with waist and leg training function, including bottom
Seat 1, lifting assembly 7, torsion training institution 5, pitching training institution 4, seat 2 and Liang Ge knee joint training institution 3.
Referring to Fig.1-3, torsion training institution 5 includes torsion mounting base 51, reverses and is provided with torsion motor in mounting base 51
52 and horizontal torsion driven gear 54, reverse the torsion for being installed on the output shaft of motor 52 with reversing driven gear 54 and engaging
Driving gear 53, torsion driving gear 53 and the output shaft for reversing motor 52 are coaxial, and torsion motor 52 passes through a L-shaped installation
Plate is connect with torsion mounting base 51；Torsion limiting slot 541 is provided on torsion driven gear 54, torsion limiting slot 541 is arc-shaped
And torsion limiting slot 541 and torsion driven gear 54 are coaxial, the top of torsion mounting base 51 is installed with a vertical torsion limit
Position pin 55, torsion spacer pin 55 pass through torsion limiting slot 541.
Lifting assembly 7 includes lifting mounting base 71, lifting mounting base 71 include a level board and two it is vertical and have
Spaced vertical plate, the bottom end of two vertical plates and the top surface of level board are connected, and are respectively arranged on the inside of two vertical plates
The two sides of one vertical riser guide 72, torsion mounting base 51 are respectively arranged with the liter being slidably matched with riser guide 72
Sliding block 74 drops, and two lifting sliders 74 and two riser guides 72 correspond, and are provided with vertical electric expansion on level board
Bar 73, the top of electric telescopic rod 73 and the bottom end of torsion mounting base 51 are connected, and reverse mounting base 51 and electric telescopic rod 73 is equal
Between two vertical plates.It reverses and is provided with telescopic rod installation axle 75 on the bottom end and lifting mounting base 71 of mounting base 51,
Electric telescopic rod 73 is separately mounted to torsion mounting base 51 by telescopic rod installation axle 75 and goes up and down in mounting base 71.
The setting of pedestal 1 there are two seat guide 8, go up and down set in mounting base 71 only there are two respectively with two seat tune
The seat adjusting slider 9 that guide rail 8 is slidably matched is saved, is evenly arranged with several seat positioning holes 81, seat on seat guide 8
Chair adjusting slider 9 is connected by spiral shell seat positioning hole 81.
Pitching training institution 4 includes the pitching mounting base 41 connected with torsion driven gear 54, is set in pitching mounting base 41
It is equipped with pitching motor 42 and vertical pitching driven gear 44, is installed on the output shaft of pitching motor 42 and pitching driven gear
44 engagement pitching driving gears 43, the output shaft of 43 pitching motor 42 of pitching driving gear is coaxial, the bottom end with seat 2 with bow
Driven gear 44 is faced upward to be connected；Pitching limiting slot 441 is provided on pitching driven gear 44, pitching limiting slot 441 is arc-shaped and bows
It faces upward limiting slot 441 and pitching driven gear 44 is coaxial, a horizontal pitching limit is installed on the side wall of pitching mounting base 41
Pin 45, pitching spacer pin 45 pass through pitching limiting slot 441.
Liang Ge knee joint training institution 3 is divided into the two sides in 2 front of seat；Each knee joint training institution 3 includes
Vertical supporting frame 31, the first swing rod 38, the second swing rod 39 and cross bar 30, knee joint motor 34 is installed in vertical supports, and knee closes
It saves and is installed with knee-joint active movable belt pulley 35, the output of knee-joint active movable belt pulley 35 and knee joint motor 34 on the output shaft of motor 34
Axis is coaxial, and the top of the first swing rod 38 is connected with knee joint driven pulley 36 by shaft, and knee-joint active movable belt pulley 35 and knee close
Synchronous belt 37 is arranged on section driven pulley 36, the top of the second swing rod 39 is connected with knee joint position volume by asessory shaft 312
Code device 310, shaft and asessory shaft 312 are rotatablely connected by the bearing block 32 at 31 top of a bearing and vertical supporting frame respectively,
The both ends of cross bar 30 are connect with the bottom end of the first swing rod 38 and the second swing rod 39 respectively, and pedal mounting rack 61 is installed on cross bar 30
With ankle-joint motor 63, rotation is provided with foot pedal 65 on pedal mounting rack 61, and the output shaft of ankle-joint motor 63 passes through shaft coupling
Device 68 is connect with the pedal shaft 64 of foot pedal 65.
The bottom end of vertical supporting frame 31 and pedestal 1 are connected, and are connected with reinforcement between the bottom and pedestal 1 of vertical supporting frame 31
Bar 11；Ankle-joint motor 63 is also electrically connected with ankle-joint location encoder 67, and the bottom end of seat 2 passes through seat connecting plate 21 and bows
Driven gear 44 is faced upward to be connected.The fixing belt 66 of the foot for immobilized patients, ankle-joint motor 63 are additionally provided on foot pedal 65
It is connect by ankle-joint motor mounting rack 62 with cross bar 30, knee joint motor 34 passes through knee joint motor mounting rack 33 and vertical branch
Support connection.The bottom of first swing rod 38 and the bottom of the second swing rod 39 are evenly arranged with several cross bar location holes 311, horizontal
The both ends of bar 30 are bolted on cross bar location hole 311, and cross bar 30 is solid from different cross bar location holes 311 by bolt
The fixed height to adjust ankle-joint component 6.
In order to guarantee safety of the patient in rehabilitation training, emergency stop switch, patient are provided on the handrail of seat 2
There is any discomfort that can voluntarily press emergency stop switch, emergency stop switch and knee joint motor 34, ankle-joint motor 63, electric telescopic rod
73, pitching motor 42 and torsion motor 52 are electrically connected, and can directly close knee joint motor 34, ankle-joint after pressing emergency stop switch
Motor 63, electric telescopic rod 73, pitching motor 42 and torsion motor 52.
In the description of the present invention, it should be noted that the instruction such as term " preceding ", "top", "bottom", "vertical", "horizontal"
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings, be merely for convenience of description the present invention and simplification retouch
It states, rather than the device or element of indication or suggestion meaning must have a particular orientation, be constructed and operated in a specific orientation,
Therefore it is not considered as limiting the invention.In addition, term " first ", " mat woven of fine bamboo strips two " are used for description purposes only, and cannot understand
For indication or suggestion relative importance.
Specific examples are applied in the present invention, and principle and implementation of the present invention are described, above embodiments
Illustrate to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to
According to thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification
It should not be construed as limiting the invention.
Claims (8)
1. a kind of healing robot with waist and leg training function, it is characterised in that: including pedestal, torsion training airplane
Structure, pitching training institution, seat and Liang Ge knee joint training institution；The torsion training institution includes being arranged on the base
Torsion mounting base, be provided with torsion motor and horizontal torsion driven gear, the torsion motor in the torsion mounting base
Output shaft on be installed with and the torsion driving gear that engages of torsion driven gear；The pitching training institution includes and institute
The connected pitching mounting base of torsion driven gear is stated, pitching motor is provided in the pitching mounting base and vertical pitching is driven
Gear is installed with the pitching driving gear engaged with the pitching driven gear, the seat on the output shaft of the pitching motor
The bottom end of chair and the pitching driven gear are connected；Two knee joint training institutions are divided into two immediately ahead of the seat
Side, each knee joint training institution include vertical supporting frame, the first swing rod, the second swing rod and cross bar, the vertical branch
It is installed with knee joint motor on frame, knee-joint active movable belt pulley, first pendulum are installed on the output shaft of the knee joint motor
The top of bar is connected with knee joint driven pulley by shaft, on the knee-joint active movable belt pulley and the knee joint driven pulley
It is arranged with synchronous belt, the top of second swing rod is connected with knee joint position coder, the shaft and institute by asessory shaft
State the bearing block rotation connection that asessory shaft passes through a bearing and the vertical supporting top of the trellis respectively, the both ends point of the cross bar
It is not connect with the bottom end of first swing rod and second swing rod, pedal mounting rack and ankle-joint electricity is installed on the cross bar
Machine, rotation is provided with foot pedal on the pedal mounting rack, and the output shaft of the ankle-joint motor passes through shaft coupling and the foot
The pedal shaft of pedal connects.
2. the healing robot according to claim 1 with waist and leg training function, it is characterised in that: further include
Lifting assembly, the lifting assembly include lifting mounting base, and the lifting mounting base includes that a level board and two are vertical
And the spaced vertical plate of tool, the bottom end of two vertical plates and the top surface of the level board are connected, two vertical plates
Inside be respectively arranged with a vertical riser guide, the two sides of the torsion mounting base are respectively arranged with one and the liter
The lifting slider that drop guide rail is slidably matched, two lifting sliders and two riser guides correspond, the level
Vertical electric telescopic rod is provided on plate, the top of the electric telescopic rod and the bottom end for reversing mounting base are connected, institute
It states torsion mounting base and the electric telescopic rod is respectively positioned between two vertical plates.
3. the healing robot according to claim 2 with waist and leg training function, it is characterised in that: the bottom
Seat setting there are two seat guide, set in the lifting mounting base only there are two respectively with two seat guides
The seat adjusting slider being slidably matched is evenly arranged with several seat positioning holes, the seat on the seat guide
Adjusting slider passes through the connection of seat positioning hole described in spiral shell.
4. the healing robot according to claim 1 with waist and leg training function, it is characterised in that: described perpendicular
It is connected to the bottom end of support frame and the pedestal, is connected with reinforcing rod between the bottom and the pedestal of the vertical supporting frame；
The ankle-joint motor is also electrically connected with ankle-joint location encoder, and the bottom end of the seat is bowed by seat connecting plate with described
Driven gear is faced upward to be connected.
5. the healing robot according to claim 1 with waist and leg training function, it is characterised in that: the torsion
Turn to be provided with torsion limiting slot on driven gear, the torsion limiting slot is arc-shaped and the torsion limiting slot and the torsion from
Moving gear is coaxial, and the top of the torsion mounting base is installed with a vertical torsion spacer pin, and the torsion spacer pin passes through
The torsion limiting slot.
6. the healing robot according to claim 1 with waist and leg training function, it is characterised in that: described to bow
Face upward and be provided with pitching limiting slot on driven gear, the pitching limiting slot is arc-shaped and the pitching limiting slot and the pitching from
Moving gear is coaxial, and a horizontal pitching spacer pin is installed on the side wall of the pitching mounting base, and the pitching spacer pin is worn
Cross the pitching limiting slot.
7. the healing robot according to claim 1 with waist and leg training function, it is characterised in that: the foot
Be additionally provided with the fixing belt of the foot for immobilized patients on pedal, the ankle-joint motor by ankle-joint motor mounting rack with
The cross bar connection, the knee joint motor are connect by knee joint motor mounting rack with the vertical support frame.
8. the healing robot according to claim 1 with waist and leg training function, it is characterised in that: described the
The bottom of one swing rod and the bottom of second swing rod are evenly arranged with several cross bar location holes, and the both ends of the cross bar are logical
It crosses and is bolted on the cross bar location hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910622842.3A CN110236885B (en) | 2019-07-11 | 2019-07-11 | Rehabilitation robot with waist and lower limb training function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910622842.3A CN110236885B (en) | 2019-07-11 | 2019-07-11 | Rehabilitation robot with waist and lower limb training function |
Publications (2)
| Publication Number | Publication Date |
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| CN110236885A true CN110236885A (en) | 2019-09-17 |
| CN110236885B CN110236885B (en) | 2020-07-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910622842.3A Active CN110236885B (en) | 2019-07-11 | 2019-07-11 | Rehabilitation robot with waist and lower limb training function |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110547949A (en) * | 2019-09-28 | 2019-12-10 | 河北工业大学 | Muscle strength training robot |
| CN110815196A (en) * | 2019-10-18 | 2020-02-21 | 平安科技（深圳）有限公司 | Waist structure of robot |
| CN112438859A (en) * | 2020-10-23 | 2021-03-05 | 河南医学高等专科学校 | Autonomic swing ankle rehabilitation training device |
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| CN106176143A (en) * | 2016-08-30 | 2016-12-07 | 合肥工业大学 | A kind of healthy plint of multi-pose lower limb |
| CN107174475A (en) * | 2017-04-18 | 2017-09-19 | 燕山大学 | A kind of frame of sitting and lying formula lower limb rehabilitation robot |
| CN107174476A (en) * | 2017-04-18 | 2017-09-19 | 燕山大学 | A kind of pedipulator of lower limb rehabilitation robot |
| CN108743230A (en) * | 2018-06-19 | 2018-11-06 | 武汉理工大学 | It is a kind of to stretch the chair type robot assisted device restored for four limbs |
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| CN110547949A (en) * | 2019-09-28 | 2019-12-10 | 河北工业大学 | Muscle strength training robot |
| CN110547949B (en) * | 2019-09-28 | 2024-04-16 | 河北工业大学 | Muscle strength training robot |
| CN110815196A (en) * | 2019-10-18 | 2020-02-21 | 平安科技（深圳）有限公司 | Waist structure of robot |
| CN112438859A (en) * | 2020-10-23 | 2021-03-05 | 河南医学高等专科学校 | Autonomic swing ankle rehabilitation training device |
| CN112438859B (en) * | 2020-10-23 | 2023-09-19 | 河南医学高等专科学校 | Self-swinging ankle rehabilitation training device |
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Effective date of registration: 20210910 Address after: 101199 No. 306, floor 3, building 1, No. a, Guanghua Road, Tongzhou District, Beijing Patentee after: Beijing Zhiyin Robot Technology Co.,Ltd. Address before: 066000 No. 438, Hebei Avenue, Qinhuangdao, Hebei Patentee before: Yanshan University |