CN110652426A - Gait training rehabilitation robot - Google Patents
Gait training rehabilitation robot Download PDFInfo
- Publication number
- CN110652426A CN110652426A CN201911000139.5A CN201911000139A CN110652426A CN 110652426 A CN110652426 A CN 110652426A CN 201911000139 A CN201911000139 A CN 201911000139A CN 110652426 A CN110652426 A CN 110652426A
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- CN
- China
- Prior art keywords
- plate
- waist
- supporting plate
- support plate
- rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005021 gait Effects 0.000 title claims abstract description 16
- 210000001624 Hip Anatomy 0.000 claims abstract description 65
- 210000001699 lower leg Anatomy 0.000 claims abstract description 31
- 210000000689 upper leg Anatomy 0.000 claims abstract description 17
- 230000000875 corresponding Effects 0.000 claims abstract description 5
- 230000000149 penetrating Effects 0.000 claims abstract description 5
- 230000003139 buffering Effects 0.000 claims description 29
- 210000003423 Ankle Anatomy 0.000 claims description 16
- 210000002683 Foot Anatomy 0.000 claims description 14
- 210000003127 Knee Anatomy 0.000 claims description 12
- 210000001737 Ankle Joint Anatomy 0.000 claims description 4
- 210000000629 knee joint Anatomy 0.000 claims description 4
- 210000003205 Muscles Anatomy 0.000 abstract description 5
- 210000002414 Leg Anatomy 0.000 description 8
- 238000000034 method Methods 0.000 description 3
- 206010022114 Injury Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 210000003141 Lower Extremity Anatomy 0.000 description 1
- 208000008513 Spinal Cord Injury Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000003213 activating Effects 0.000 description 1
- 230000002490 cerebral Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reaction Methods 0.000 description 1
- 230000001537 neural Effects 0.000 description 1
Images
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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
Abstract
The invention relates to a gait training rehabilitation robot, which comprises a foot bottom plate, a shank rod, a thigh rod and a waist supporting plate, wherein a waist protecting arc plate is installed on the waist supporting plate, a sliding sleeve is fixed at the back of the waist protecting arc plate and sleeved on the waist supporting plate, a fixing hole is formed in the sliding sleeve, a plurality of positioning holes corresponding to the fixing holes are formed in the waist supporting plate, positioning pins penetrating through the fixing holes of the sliding sleeve are connected with the positioning holes, when the sliding sleeve is lifted, the waist protecting arc plate can be lifted together, and the waist protecting arc plate is suitable for being used by rehabilitation people with different heights; the lower part of the foot bottom plate is provided with a moving flat plate, the side surface of the moving flat plate is fixedly provided with a handrail frame, the top of the waist supporting plate is fixedly connected with a guide rod, the end part of the guide rod is hinged with a sliding block, the handrail frame is provided with a horizontal guide groove, the sliding block is clamped in the horizontal guide groove, the guide rod and the sliding block always pull the whole robot structure, the gait training and the injured muscle training of a rehabilitee are facilitated, and the standard gait training of the rehabilitee is ensured.
Description
Technical Field
The invention relates to the field of lower limb rehabilitation training, in particular to a gait training rehabilitation robot.
Background
The rehabilitation training robot is developed for recovering injured parts of patients, and according to the neural plasticity theory, the rehabilitation training robot for repairing the injured parts is provided for patients who cannot walk due to cerebral apoplexy, spinal cord injury and the like to perform rehabilitation training. When the patient moves with gait, the joint movement drives the muscle of the whole body to move, thereby gradually activating the whole body movement system, and the rehabilitation training robot can help the injured part to recover.
Present rehabilitation training robot is of a lot of types, all be the structure that adopts ectoskeleton robot, it is articulated between each backup pad on the ectoskeleton robot, the backup pad is binded fixedly through the band with people's thigh and shank, the backup pad is relatively poor to the buffering holding power of people's shank when relative rotation, cause the too big problem of recovered person's shank to take effect easily like this, secondary injury appears even, and some rehabilitation training robots are installed behind recovered person's shank, rehabilitation training robot and handrail frame all are in independent state, recovered person's shank can't guarantee to be in the straight training state of level when walking about, be unfavorable for recovered person's gait and injured muscle training like this.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a gait training rehabilitation robot.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a gait training rehabilitation robot comprises a foot base plate, a shank rod hinged with the foot base plate, a thigh rod hinged with the shank rod and a waist supporting plate hinged with the thigh rod, wherein a machine ankle joint is formed at the hinged position of the foot base plate and the shank rod, a machine knee joint is formed at the hinged position of the shank rod and the shank rod, and a machine waist joint is formed at the hinged position of the shank rod and the waist supporting plate;
the waist support plate is provided with a waist support arc plate, the back of the waist support arc plate is fixed with a sliding sleeve, the sliding sleeve is sleeved on the waist support plate, the sliding sleeve is provided with a fixing hole, the waist support plate is provided with a plurality of positioning holes corresponding to the fixing holes, and a positioning pin penetrating through the fixing hole of the sliding sleeve is connected with the positioning hole;
the lower part of the foot bottom plate is provided with a moving flat plate, the side surface of the moving flat plate is fixedly provided with a handrail frame, the top of the waist supporting plate is fixedly connected with a guide rod, the end part of the guide rod is hinged with a sliding block, the handrail frame is provided with a horizontal guide groove, and the sliding block is clamped in the horizontal guide groove.
Furthermore, a first supporting plate is fixedly connected to the end part of the sole plate, a second supporting plate is fixedly connected to the shank, an ankle buffering part is arranged between the first supporting plate and the second supporting plate, and two ends of the ankle buffering part are respectively hinged with the first supporting plate and the second supporting plate;
the end part of the shank rod is fixedly connected with a third supporting plate, the shank rod is fixedly connected with a fourth supporting plate, a knee buffering component is arranged between the third supporting plate and the fourth supporting plate, and two ends of the knee buffering component are respectively hinged with the third supporting plate and the fourth supporting plate;
the waist support plate end part is fixedly connected with a fifth support plate, the thigh rod is fixedly connected with a sixth support plate, a waist buffering part is arranged between the fifth support plate and the sixth support plate, and two ends of the waist buffering part are respectively hinged with the fifth support plate and the sixth support plate.
Further, the ankle cushioning member, the knee cushioning member and the waist cushioning member are air cylinders or air springs.
Furthermore, the sole plate is provided with a bridle.
The invention has the beneficial effects that: the end part of a sole plate of the rehabilitation robot is fixedly connected with a first supporting plate, a second supporting plate is fixedly connected to the shank, an ankle buffering part is arranged between the first supporting plate and the second supporting plate, and two ends of the ankle buffering part are respectively hinged with the first supporting plate and the second supporting plate; the end part of the shank rod is fixedly connected with a third supporting plate, the shank rod is fixedly connected with a fourth supporting plate, a knee buffering component is arranged between the third supporting plate and the fourth supporting plate, and two ends of the knee buffering component are respectively hinged with the third supporting plate and the fourth supporting plate; the end part of the waist supporting plate is fixedly connected with a fifth supporting plate, the thigh rod is fixedly connected with a sixth supporting plate, a waist buffering part is arranged between the fifth supporting plate and the sixth supporting plate, and two ends of the waist buffering part are respectively hinged with the fifth supporting plate and the sixth supporting plate;
in addition, the waist support plate is provided with a waist support arc plate, the back of the waist support arc plate is fixed with a sliding sleeve, the sliding sleeve is sleeved on the waist support plate, the sliding sleeve is provided with a fixing hole, the waist support plate is provided with a plurality of positioning holes corresponding to the fixing holes, positioning pins penetrating through the fixing holes of the sliding sleeve are connected with the positioning holes, when the sliding sleeve is lifted, the waist support arc plate can be lifted together, and the waist support arc plate is suitable for being used by rehabilitation people with different heights; the lower part of the foot bottom plate is provided with a moving flat plate, the side surface of the moving flat plate is fixedly provided with a handrail frame, the top of the waist supporting plate is fixedly connected with a guide rod, the end part of the guide rod is hinged with a sliding block, the handrail frame is provided with a horizontal guide groove, the sliding block is clamped in the horizontal guide groove, after the whole structure is worn by the legs of a rehabilitee, the legs of the rehabilitee horizontally walk on the moving flat plate in the process, the guide rod and the sliding block always pull the whole robot structure, the legs of the rehabilitee and the robot structure are ensured to be in a horizontal straight line training state, gait and injured muscle training of the rehabilitee are facilitated, and the.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Detailed Description
As shown in fig. 1, a gait training rehabilitation robot comprises a foot base plate 1, a shank rod 2 hinged with the foot base plate 1, a thigh rod 3 hinged with the shank rod 2 and a waist support plate 4 hinged with the thigh rod 3, wherein a machine ankle joint 5 is formed at the hinged part of the foot base plate 1 and the shank rod 2, a machine knee joint 6 is formed at the hinged part of the shank rod 2 and the thigh rod 3, and a machine waist joint 7 is formed at the hinged part of the thigh rod 3 and the waist support plate 4;
the end part of the sole plate 1 is fixedly connected with a first supporting plate 8, the shank rod 2 is fixedly connected with a second supporting plate 9, an ankle buffering part 10 is arranged between the first supporting plate 8 and the second supporting plate 9, and two ends of the ankle buffering part 10 are respectively hinged with the first supporting plate 8 and the second supporting plate 9;
the end part of the shank rod 2 is fixedly connected with a third supporting plate 11, the upper leg rod 3 is fixedly connected with a fourth supporting plate 12, a knee buffering part 13 is arranged between the third supporting plate 11 and the fourth supporting plate 12, and two ends of the knee buffering part 13 are respectively hinged with the third supporting plate 11 and the fourth supporting plate 12;
the end part of the waist supporting plate 4 is fixedly connected with a fifth supporting plate 14, the thigh rod 3 is fixedly connected with a sixth supporting plate 15, a waist buffering part 16 is arranged between the fifth supporting plate 14 and the sixth supporting plate 15, and two ends of the waist buffering part 16 are respectively hinged with the fifth supporting plate 14 and the sixth supporting plate 15.
Further, the ankle cushioning member 10, the knee cushioning member 13, and the waist cushioning member 16 are air cylinders or air springs.
Further, a waist support arc plate 17 is installed on the waist support plate 4. A sliding sleeve 18 is fixed on the back of the waist support arc-shaped plate 17, the sliding sleeve 18 is sleeved on the waist support plate 4, a fixing hole 19 is formed in the sliding sleeve 18, a plurality of positioning holes 20 corresponding to the fixing holes 19 are formed in the waist support plate 4, and positioning pins penetrating through the fixing holes 19 of the sliding sleeve 18 are connected with the positioning holes 20; when the sliding sleeve 18 is lifted, the waist protecting arc-shaped plate 17 can be lifted together, and the waist protecting arc-shaped plate 17 is suitable for the rehabilitation people with different heights to use.
Furthermore, a moving flat plate 21 is arranged below the foot bottom plate 1, a strap 22 is arranged on the foot bottom plate 1, a handrail frame 23 is fixedly arranged on the side surface of the moving flat plate 21, a guide rod 24 is fixedly connected to the top of the waist supporting plate 4, a sliding block 25 is hinged to the end part of the guide rod 24, a horizontal guide groove 26 is arranged on the handrail frame 23, and the sliding block 25 is clamped in the horizontal guide groove 26. After the whole structure is worn by the legs of a rehabilitee, in the process that the legs of the rehabilitee horizontally walk on the motion flat plate 21, the guide rod 24 and the sliding block 25 always pull the whole robot structure, so that the legs and the robot structure of the rehabilitee are ensured to be in a horizontal straight line training state, gait and injured muscle training of the rehabilitee is facilitated, and the standard training of the gait of the rehabilitee is ensured.
During training, the sole plate of a person is fixed on the sole plate 1 through the bridle 22, the waist protecting arc-shaped plate 17 is bound on the waist of the person, when the person walks on the moving plate 21, the ankle joint, the knee joint and the waist joint move, in the moving process, the ankle buffering part 10, the knee buffering part 13 and the waist buffering part 16 can play a good role in buffering assistance, the impact force on the injured part of the leg of the person is reduced, and the secondary injury of the leg is avoided.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. A gait training rehabilitation robot comprises a foot base plate, a shank rod hinged with the foot base plate, a thigh rod hinged with the shank rod and a waist supporting plate hinged with the thigh rod, and is characterized in that a machine ankle joint is formed at the hinged position of the foot base plate and the shank rod, a machine knee joint is formed at the hinged position of the shank rod and the thigh rod, and a machine waist joint is formed at the hinged position of the thigh rod and the waist supporting plate;
the waist support plate is provided with a waist support arc plate, the back of the waist support arc plate is fixed with a sliding sleeve, the sliding sleeve is sleeved on the waist support plate, the sliding sleeve is provided with a fixing hole, the waist support plate is provided with a plurality of positioning holes corresponding to the fixing holes, and a positioning pin penetrating through the fixing hole of the sliding sleeve is connected with the positioning hole;
the lower part of the foot bottom plate is provided with a moving flat plate, the side surface of the moving flat plate is fixedly provided with a handrail frame, the top of the waist supporting plate is fixedly connected with a guide rod, the end part of the guide rod is hinged with a sliding block, the handrail frame is provided with a horizontal guide groove, and the sliding block is clamped in the horizontal guide groove.
2. The gait training rehabilitation robot of claim 1, wherein the end of the sole plate is fixedly connected with a first support plate, the shank is fixedly connected with a second support plate, an ankle buffering part is arranged between the first support plate and the second support plate, and two ends of the ankle buffering part are respectively hinged with the first support plate and the second support plate;
the end part of the shank rod is fixedly connected with a third supporting plate, the shank rod is fixedly connected with a fourth supporting plate, a knee buffering component is arranged between the third supporting plate and the fourth supporting plate, and two ends of the knee buffering component are respectively hinged with the third supporting plate and the fourth supporting plate;
the waist support plate end part is fixedly connected with a fifth support plate, the thigh rod is fixedly connected with a sixth support plate, a waist buffering part is arranged between the fifth support plate and the sixth support plate, and two ends of the waist buffering part are respectively hinged with the fifth support plate and the sixth support plate.
3. The gait-training rehabilitation robot of claim 2, wherein the ankle cushioning member, the knee cushioning member and the waist cushioning member are air cylinders or air springs.
4. The gait-training rehabilitation robot of claim 2, wherein the footplate is provided with a strap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911000139.5A CN110652426A (en) | 2019-10-21 | 2019-10-21 | Gait training rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911000139.5A CN110652426A (en) | 2019-10-21 | 2019-10-21 | Gait training rehabilitation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110652426A true CN110652426A (en) | 2020-01-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911000139.5A Pending CN110652426A (en) | 2019-10-21 | 2019-10-21 | Gait training rehabilitation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110652426A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111135020A (en) * | 2020-01-09 | 2020-05-12 | 郭继相 | Exoskeleton auxiliary treatment rehabilitation device |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0911015A1 (en) * | 1997-10-27 | 1999-04-28 | Benito Ferrati | Orthopedic rehabilitation apparatus using virtual reality units |
| CN101862255A (en) * | 2010-06-21 | 2010-10-20 | 哈尔滨工程大学 | Gait rehabilitation robot for using rope to pull lower limbs |
| CN108210245A (en) * | 2018-01-09 | 2018-06-29 | 洛阳理工学院 | A kind of leg training healing robot |
| CN108852758A (en) * | 2018-08-02 | 2018-11-23 | 陈熹 | A kind of new-type falling-resistant leg recovery exercising robot |
| CN208659839U (en) * | 2018-01-24 | 2019-03-29 | 李海圣 | A kind of assistant robot |
-
2019
- 2019-10-21 CN CN201911000139.5A patent/CN110652426A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0911015A1 (en) * | 1997-10-27 | 1999-04-28 | Benito Ferrati | Orthopedic rehabilitation apparatus using virtual reality units |
| CN101862255A (en) * | 2010-06-21 | 2010-10-20 | 哈尔滨工程大学 | Gait rehabilitation robot for using rope to pull lower limbs |
| CN108210245A (en) * | 2018-01-09 | 2018-06-29 | 洛阳理工学院 | A kind of leg training healing robot |
| CN208659839U (en) * | 2018-01-24 | 2019-03-29 | 李海圣 | A kind of assistant robot |
| CN108852758A (en) * | 2018-08-02 | 2018-11-23 | 陈熹 | A kind of new-type falling-resistant leg recovery exercising robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111135020A (en) * | 2020-01-09 | 2020-05-12 | 郭继相 | Exoskeleton auxiliary treatment rehabilitation device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200107 |