CN110236885B - Rehabilitation robot with waist and lower limb training function - Google Patents
Rehabilitation robot with waist and lower limb training function Download PDFInfo
- Publication number
- CN110236885B CN110236885B CN201910622842.3A CN201910622842A CN110236885B CN 110236885 B CN110236885 B CN 110236885B CN 201910622842 A CN201910622842 A CN 201910622842A CN 110236885 B CN110236885 B CN 110236885B
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 30
- 210000000629 knee joint Anatomy 0.000 claims abstract description 50
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 210000001624 hip Anatomy 0.000 claims abstract description 34
- 238000009434 installation Methods 0.000 claims abstract description 11
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 22
- 210000002683 foot Anatomy 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 210000003414 extremity Anatomy 0.000 claims description 3
- 230000003014 reinforcing effect Effects 0.000 claims description 3
- 210000002414 leg Anatomy 0.000 abstract description 6
- 210000001503 joint Anatomy 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 210000003423 ankle Anatomy 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
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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
- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
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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)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a rehabilitation robot with waist and lower limb training functions, which comprises a base, a torsion training mechanism, a pitching training mechanism, a seat and two knee joint training mechanisms, wherein the base is provided with a first leg and a second leg; the torsion training mechanism comprises a torsion mounting seat arranged on the base, a torsion motor and a horizontal torsion driven gear are arranged on the torsion mounting seat, and a torsion driving gear meshed with the torsion driven gear is fixedly arranged on an output shaft of the torsion motor; the pitching training mechanism comprises a pitching installation seat fixedly connected with the torsion driven gear, a pitching motor and a vertical pitching driven gear are arranged on the pitching installation seat, a pitching driving gear meshed with the pitching driven gear is fixedly arranged on an output shaft of the pitching motor, and the bottom end of the seat is fixedly connected with the pitching driven gear; two knee joint training mechanisms are respectively arranged on two sides right in front of the seat. The rehabilitation robot with the waist and lower limb training function can perform rehabilitation training on the waist and the lower limbs of a patient at the same time.
Description
Technical Field
The invention relates to the technical field of medical equipment, in particular to a rehabilitation robot with waist and lower limb training functions.
Background
Besides requiring operations and medical treatment, scientific, safe and reasonable rehabilitation training is a key process in the daily rehabilitation process for patients with limb dysfunction, and can relieve symptoms and even completely recover. At present, doctor auxiliary treatment is adopted for limb rehabilitation treatment of patients, patients can perform rehabilitation by self or by family members in an auxiliary training mode, the treatment means is low in efficiency, and physical strength and energy of the family members are wasted. The adoption of the rehabilitation robot for the auxiliary training of the patient is a relatively efficient training mode, but the general rehabilitation robot has a single training function, can only exercise one part such as the upper limb, the lower limb or the waist, and has poor general performance.
Disclosure of Invention
The invention aims to provide a rehabilitation robot with a waist and lower limb training function, which is used for solving the problems in the prior art and realizing the simultaneous rehabilitation training of the waist and the lower limbs of a patient.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a rehabilitation robot with waist and lower limb training functions, which comprises a base, a torsion training mechanism, a pitching training mechanism, a seat and two knee joint training mechanisms, wherein the base is provided with a first leg and a second leg; the torsion training mechanism comprises a torsion mounting seat arranged on the base, a torsion motor and a horizontal torsion driven gear are arranged on the torsion mounting seat, and a torsion driving gear meshed with the torsion driven gear is fixedly arranged on an output shaft of the torsion motor; the pitching training mechanism comprises a pitching installation seat fixedly connected with the torsion driven gear, a pitching motor and a vertical pitching driven gear are arranged on the pitching installation seat, a pitching driving gear meshed with the pitching driven gear is fixedly arranged on an output shaft of the pitching motor, and the bottom end of the seat is fixedly connected with the pitching driven gear; the two knee joint training mechanisms are respectively arranged at two sides right in front of the seat, each knee joint training mechanism comprises a vertical support frame, a first swing rod, a second swing rod and a cross rod, a knee joint motor is fixedly arranged on the vertical support frame, a knee joint driving pulley is fixedly arranged on an output shaft of the knee joint motor, the top end of the first swing rod is connected with a knee joint driven pulley through a rotating shaft, a synchronous belt is sleeved on the knee joint driving pulley and the knee joint driven pulley, the top end of the second swing rod is connected with a knee joint position encoder through an auxiliary shaft, the rotating shaft and the auxiliary shaft are respectively and rotatably connected with a bearing seat at the top of the vertical support frame through a bearing, two ends of the cross rod are respectively connected with the bottom ends of the first swing rod and the second swing rod, a pedal mounting frame and an ankle joint motor are fixedly, the pedal mounting frame is rotatably provided with a pedal, and an output shaft of the ankle joint motor is connected with a pedal rotating shaft of the pedal through a coupler.
Preferably, still include lifting unit, lifting unit includes the lift mount pad, the lift mount pad includes a horizontal plate and two vertical and have spaced vertical boards, two the bottom of vertical board with the top surface of horizontal plate links firmly, two the inboard of vertical board is provided with a vertical lifting guide respectively, twist reverse the both sides of mount pad be provided with respectively one with lifting guide sliding fit's lift slider, two lifting slider and two lifting guide one-to-one, be provided with vertical electric telescopic handle on the horizontal plate, electric telescopic handle's top with twist reverse the bottom of mount pad and link firmly, twist reverse the mount pad with electric telescopic handle all is located two between the vertical board.
Preferably, the base is provided with two seat adjusting guide rails, the lifting installation seat is provided with only two seat adjusting sliding blocks which are respectively in sliding fit with the two seat adjusting guide rails, the seat adjusting guide rails are evenly provided with a plurality of seat positioning holes, and the seat adjusting sliding blocks are connected with the seat positioning holes through screws.
Preferably, the bottom end of the vertical support frame is fixedly connected with the base, and a reinforcing rod is connected between the bottom of the vertical support frame and the base; the ankle joint motor is further electrically connected with an ankle joint position encoder, and the bottom end of the seat is fixedly connected with the pitching driven gear through a seat connecting plate.
Preferably, a torsion limiting groove is formed in the torsion driven gear, the torsion limiting groove is arc-shaped and coaxial with the torsion driven gear, a vertical torsion limiting pin is fixedly arranged at the top end of the torsion mounting seat, and the torsion limiting pin penetrates through the torsion limiting groove.
Preferably, a pitching limiting groove is formed in the pitching driven gear, the pitching limiting groove is arc-shaped and is coaxial with the pitching driven gear, a horizontal pitching limiting pin is fixedly arranged on the side wall of the pitching mounting seat, and the pitching limiting pin penetrates through the pitching limiting groove.
Preferably, the foot pedal is further provided with a fixing belt for fixing the foot of the patient, the ankle motor is connected with the cross rod through an ankle motor mounting frame, and the knee motor is connected with the vertical support frame through a knee motor mounting frame.
Preferably, a plurality of cross rod positioning holes are uniformly formed in the bottoms of the first swing rod and the second swing rod, and two ends of each cross rod are connected to the cross rod positioning holes through bolts.
Compared with the prior art, the rehabilitation robot with the waist and lower limb training function has the following technical effects:
the rehabilitation robot with the waist and lower limb training function can perform rehabilitation training on the waist and the lower limbs of a patient at the same time. The rehabilitation robot with the waist and lower limb training function can realize synchronous cooperative training or independent training of pitching and twisting of the waist, knee joints and ankle joints, and has the advantages of simple structure and low cost. The rehabilitation robot with the waist and lower limb training function can adjust the height of the seat through the electric telescopic rod, can adjust the front and back positions of the seat through the seat positioning hole, can adjust the height of feet through the cross rod positioning hole, and can adapt to patients with different heights. The rehabilitation robot with the waist and lower limb training function adopts a seat type rehabilitation training structure, reduces the pressure burden of the body weight on the waist and the legs of a patient, and is favorable for better training effect on the waist and the legs. The rehabilitation robot with the waist and lower limb training function is provided with the limiting structures for the pitching training mechanism and the twisting training mechanism for waist training, so that the training safety is ensured, the knee joint training mechanism and the ankle joint component are provided with the position encoders, the rotating angle of the joint is monitored in real time, the rehabilitation training is stopped in time once the signal is abnormal, the rehabilitation robot is safe and reliable, and secondary injury to a patient is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a rehabilitation robot with waist and lower limb training functions according to the present invention;
FIG. 2 is a schematic view of a first partial structure of a rehabilitation robot with a waist and lower limb training function according to the present invention;
FIG. 3 is a schematic view of a second partial structure of the rehabilitation robot with waist and lower limb training functions according to the present invention;
FIG. 4 is a schematic structural view of a knee joint training mechanism in the rehabilitation robot with waist and lower limb training functions according to the present invention;
FIG. 5 is a schematic view of a part of the structure of a knee joint training mechanism in the rehabilitation robot with waist and lower limb training functions according to the present invention;
FIG. 6 is a first schematic structural view of an ankle joint training mechanism of a rehabilitation robot with waist and lower limb training functions according to the present invention;
FIG. 7 is a schematic structural view of an ankle joint training mechanism in the rehabilitation robot with waist and lower limb training functions according to the second embodiment of the present invention;
wherein, 1-a base, 2-a seat, 21-a seat connecting plate, 3-a knee joint training mechanism, 30-a cross bar, 31-a vertical supporting frame, 32-a bearing seat, 33-a knee joint motor mounting rack, 34-a knee joint motor, 35-a knee joint driving pulley, 36-a knee joint driven pulley, 37-a synchronous belt, 38-a first swing bar, 39-a second swing bar, 310-a knee joint position encoder, 311-a cross bar positioning hole, 312-an auxiliary shaft, 4-a pitching training mechanism, 41-a pitching mounting seat, 42-a pitching motor, 43-a pitching driving gear, 44-a pitching driven gear, 441-a pitching limiting groove, 45-a pitching limiting pin, 5-a twisting training mechanism and 51-a twisting mounting seat, 52-torsion motor, 53-torsion driving gear, 54-torsion driven gear, 541-torsion limiting groove, 55-torsion limiting pin, 6-ankle joint component, 61-pedal mounting rack, 62-ankle joint motor mounting rack, 63-ankle joint motor, 64-pedal rotating shaft, 65-pedal, 66-fixing band, 67-ankle joint position encoder, 68-coupler, 7-lifting component, 71-lifting mounting seat, 72-lifting guide rail, 73-electric telescopic rod, 74-lifting slide block, 75-telescopic rod mounting shaft, 8-seat adjusting guide rail, 81-seat positioning hole, 9-seat adjusting slide block and 11-reinforcing rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a rehabilitation robot with a waist and lower limb training function, which is used for solving the problems in the prior art and realizing the simultaneous rehabilitation training of the waist and the lower limbs of a patient.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1 to 7, the present embodiment provides a rehabilitation robot with waist and lower limb training functions, which includes a base 1, a lifting assembly 7, a twisting training mechanism 5, a pitching training mechanism 4, a seat 2, and two knee joint training mechanisms 3.
Referring to fig. 1-3, the torsion training mechanism 5 includes a torsion mounting base 51, a torsion motor 52 and a horizontal torsion driven gear 54 are disposed on the torsion mounting base 51, a torsion driving gear 53 engaged with the torsion driven gear 54 is fixedly disposed on an output shaft of the torsion motor 52, the torsion driving gear 53 is coaxial with the output shaft of the torsion motor 52, the torsion motor 52 is connected with the torsion mounting base 51 through an L-shaped mounting plate, a torsion limiting groove 541 is disposed on the torsion driven gear 54, the torsion limiting groove 541 is arc-shaped and coaxial with the torsion driven gear 54, a vertical torsion limiting pin 55 is fixedly disposed at a top end of the torsion mounting base 51, and the torsion limiting pin 55 passes through the torsion limiting groove 541.
The base 1 is provided with two seat adjusting guide rails 8, is provided with only two seat adjusting slide blocks 9 respectively with two seat adjusting guide rails 8 sliding fit on the lifting installation seat 71, evenly is provided with a plurality of seat positioning holes 81 on the seat adjusting guide rail 8, and the seat adjusting slide blocks 9 are connected through screw seat positioning holes 81.
The pitching training mechanism 4 comprises a pitching installation seat 41 fixedly connected with a torsion driven gear 54, a pitching motor 42 and a vertical pitching driven gear 44 are arranged on the pitching installation seat 41, a pitching driving gear 43 meshed with the pitching driven gear 44 is fixedly arranged on an output shaft of the pitching motor 42, the output shaft of the pitching driving gear 43 and the pitching motor 42 is coaxial and fixedly connected with the bottom end of the seat 2 and the pitching driven gear 44; the pitching driven gear 44 is provided with a pitching limiting groove 441, the pitching limiting groove 441 is arc-shaped, the pitching limiting groove 441 is coaxial with the pitching driven gear 44, a horizontal pitching limiting pin 45 is fixedly arranged on the side wall of the pitching mounting seat 41, and the pitching limiting pin 45 penetrates through the pitching limiting groove 441.
The two knee joint training mechanisms 3 are respectively arranged on two sides right in front of the seat 2; each knee joint training mechanism 3 comprises a vertical support 31, a first swing rod 38, a second swing rod 39 and a cross rod 30, a knee joint motor 34 is fixedly arranged on the vertical support, a knee joint driving pulley 35 is fixedly arranged on an output shaft of the knee joint motor 34, the knee joint driving pulley 35 is coaxial with the output shaft of the knee joint motor 34, a knee joint driven pulley 36 is connected to the top end of the first swing rod 38 through a rotating shaft, a synchronous belt 37 is sleeved on the knee joint driving pulley 35 and the knee joint driven pulley 36, a knee joint position encoder 310 is connected to the top end of the second swing rod 39 through an auxiliary shaft 312, the rotating shaft and the auxiliary shaft 312 are respectively rotatably connected with a bearing seat 32 at the top of the vertical support 31 through a bearing, two ends of the cross rod 30 are respectively connected with the bottom ends of the first swing rod 38 and the second swing rod 39, a pedal mounting rack 61 and an ankle joint motor 63, an output shaft of the ankle motor 63 is connected to a pedal rotating shaft 64 of the foot pedal 65 through a coupling 68.
The bottom end of the vertical support frame 31 is fixedly connected with the base 1, and a reinforcing rod 11 is connected between the bottom of the vertical support frame 31 and the base 1; the ankle joint motor 63 is also electrically connected with an ankle joint position encoder 67, and the bottom end of the seat 2 is fixedly connected with the pitch driven gear 44 through the seat connecting plate 21. The foot plate 65 is further provided with a fixing belt 66 for fixing the foot of the patient, the ankle joint motor 63 is connected with the cross bar 30 through the ankle joint motor mounting frame 62, and the knee joint motor 34 is connected with the vertical support frame through the knee joint motor mounting frame 33. The bottom of the first swing rod 38 and the bottom of the second swing rod 39 are uniformly provided with a plurality of cross rod positioning holes 311, two ends of the cross rod 30 are connected to the cross rod positioning holes 311 through bolts, and the cross rod 30 is fixed with different cross rod positioning holes 311 through bolts to adjust the height of the ankle joint assembly 6.
In order to ensure the safety of the patient in the rehabilitation training process, an emergency stop switch is arranged on the armrest of the chair 2, the patient can press the emergency stop switch by himself or herself when having any discomfort, the emergency stop switch is electrically connected with the knee joint motor 34, the ankle joint motor 63, the electric telescopic rod 73, the pitching motor 42 and the torsion motor 52, and the knee joint motor 34, the ankle joint motor 63, the electric telescopic rod 73, the pitching motor 42 and the torsion motor 52 can be directly closed after the emergency stop switch is pressed.
In the description of the present invention, it should be noted that the terms "front", "top", "bottom", "vertical", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (4)
1. The utility model provides a recovered robot with waist and low limbs training function which characterized in that: comprises a base, a torsion training mechanism, a pitching training mechanism, a seat and two knee joint training mechanisms; the torsion training mechanism comprises a torsion mounting seat arranged on the base, a torsion motor and a horizontal torsion driven gear are arranged on the torsion mounting seat, and a torsion driving gear meshed with the torsion driven gear is fixedly arranged on an output shaft of the torsion motor; the pitching training mechanism comprises a pitching installation seat fixedly connected with the torsion driven gear, a pitching motor and a vertical pitching driven gear are arranged on the pitching installation seat, a pitching driving gear meshed with the pitching driven gear is fixedly arranged on an output shaft of the pitching motor, and the bottom end of the seat is fixedly connected with the pitching driven gear; the two knee joint training mechanisms are respectively arranged at two sides right in front of the seat, each knee joint training mechanism comprises a vertical support frame, a first swing rod, a second swing rod and a cross rod, a knee joint motor is fixedly arranged on the vertical support frame, a knee joint driving pulley is fixedly arranged on an output shaft of the knee joint motor, the top end of the first swing rod is connected with a knee joint driven pulley through a rotating shaft, a synchronous belt is sleeved on the knee joint driving pulley and the knee joint driven pulley, the top end of the second swing rod is connected with a knee joint position encoder through an auxiliary shaft, the rotating shaft and the auxiliary shaft are respectively and rotatably connected with a bearing seat at the top of the vertical support frame through a bearing, two ends of the cross rod are respectively connected with the bottom ends of the first swing rod and the second swing rod, a pedal mounting frame and an ankle joint motor are fixedly, a pedal is rotatably arranged on the pedal mounting frame, and an output shaft of the ankle joint motor is connected with a pedal rotating shaft of the pedal through a coupler;
the lifting assembly comprises a lifting mounting seat, the lifting mounting seat comprises a horizontal plate and two vertical plates which are vertical and spaced, the bottom ends of the two vertical plates are fixedly connected with the top surface of the horizontal plate, the inner sides of the two vertical plates are respectively provided with a vertical lifting guide rail, two sides of the twisting mounting seat are respectively provided with a lifting slide block which is in sliding fit with the lifting guide rails, the two lifting slide blocks are in one-to-one correspondence with the two lifting guide rails, the horizontal plate is provided with a vertical electric telescopic rod, the top end of the electric telescopic rod is fixedly connected with the bottom end of the twisting mounting seat, and the twisting mounting seat and the electric telescopic rod are both positioned between the two vertical plates;
the base is provided with two seat adjusting guide rails, only two seat adjusting sliding blocks which are respectively matched with the two seat adjusting guide rails in a sliding manner are arranged on the lifting installation seat, a plurality of seat positioning holes are uniformly formed in the seat adjusting guide rails, and the seat adjusting sliding blocks are connected through the seat positioning holes;
the bottom end of the vertical supporting frame is fixedly connected with the base, and a reinforcing rod is connected between the bottom of the vertical supporting frame and the base; the ankle joint motor is also electrically connected with an ankle joint position encoder, and the bottom end of the seat is fixedly connected with the pitching driven gear through a seat connecting plate;
the torsion driven gear is provided with a torsion limiting groove, the torsion limiting groove is arc-shaped and is coaxial with the torsion driven gear, the top end of the torsion mounting seat is fixedly provided with a vertical torsion limiting pin, and the torsion limiting pin penetrates through the torsion limiting groove.
2. The rehabilitation robot with waist and lower limb training function according to claim 1, characterized in that: the pitching driven gear is provided with a pitching limiting groove, the pitching limiting groove is arc-shaped and is coaxial with the pitching driven gear, a horizontal pitching limiting pin is fixedly arranged on the side wall of the pitching mounting seat, and the pitching limiting pin penetrates through the pitching limiting groove.
3. The rehabilitation robot with waist and lower limb training function according to claim 1, characterized in that: the foot pedal is further provided with a fixing belt for fixing the foot of a patient, the ankle joint motor is connected with the cross rod through an ankle joint motor mounting frame, and the knee joint motor is connected with the vertical support frame through a knee joint motor mounting frame.
4. The rehabilitation robot with waist and lower limb training function according to claim 1, characterized in that: the bottom of the first swing rod and the bottom of the second swing rod are uniformly provided with a plurality of cross rod positioning holes, and two ends of each cross rod are connected to the cross rod positioning holes through bolts.
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 |
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| 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 |
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| CN110236885A CN110236885A (en) | 2019-09-17 |
| CN110236885B true CN110236885B (en) | 2020-07-31 |
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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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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110547949B (en) * | 2019-09-28 | 2024-04-16 | 河北工业大学 | Muscle strength training robot |
| CN110815196B (en) * | 2019-10-18 | 2023-06-20 | 平安科技（深圳）有限公司 | Waist structure of robot |
| 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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| 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 |
-
2019
- 2019-07-11 CN CN201910622842.3A patent/CN110236885B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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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 |