CN111714850A - Balance rehabilitation training robot - Google Patents
Balance rehabilitation training robot Download PDFInfo
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- CN111714850A CN111714850A CN202010731420.2A CN202010731420A CN111714850A CN 111714850 A CN111714850 A CN 111714850A CN 202010731420 A CN202010731420 A CN 202010731420A CN 111714850 A CN111714850 A CN 111714850A
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- balance
- suspension
- driving
- base
- rehabilitation training
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B26/00—Exercising apparatus not covered by groups A63B1/00 - A63B25/00
- A63B26/003—Exercising apparatus not covered by groups A63B1/00 - A63B25/00 for improving balance or equilibrium
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The embodiment of the invention discloses a balance rehabilitation training robot, which comprises a base, a pedal plate and a balance training device, wherein the balance training device is arranged on the base; the balance training device comprises at least three tilt drive assemblies; the inclination driving assembly comprises a hinged seat, a driving motor and a telescopic rod, the hinged seat is arranged on the base, one end of the driving motor is hinged to the hinged seat, the telescopic rod is in transmission connection with the driving motor, the driving motor drives the telescopic rod to extend or retract, and one end of the telescopic rod is connected with the bottom of the pedal plate. The balance rehabilitation training robot can control the inclined state of the pedal plate by arranging the inclined driving component, so that a user can exercise muscles for controlling balance on the pedal plate in different inclined states, and the rehabilitation training of a patient is more perfect.
Description
Technical Field
The invention relates to the field of exercise rehabilitation, in particular to a balance rehabilitation training robot.
Background
The balance function is an important function of the human body and the motion system. Many neurological disorders exhibit varying degrees of balance dysfunction. For the balance dysfunction, the modern medical rehabilitation center adopts a rehabilitation mode that a patient stands on a swingable platform, and the patient is forced to stand stably on the platform by using different muscles through multi-directional movement of the platform. However, the existing platform has a single movement direction, can only move back and forth, and is single in training.
Disclosure of Invention
In order to overcome the defects of the prior art, the embodiment of the invention discloses a balance rehabilitation training robot, which comprises a base, a pedal plate and a balance training device, wherein the balance training device is arranged on the base; the balance training device comprises at least three tilt drive assemblies; the inclination driving assembly comprises a hinged seat, a driving motor and a telescopic rod, the hinged seat is arranged on the base, one end of the driving motor is hinged to the hinged seat, the telescopic rod is in transmission connection with the driving motor, the driving motor drives the telescopic rod to extend or retract, and one end of the telescopic rod is connected with the bottom of the pedal plate.
As a further improvement of the invention, the balance training device is provided with three tilt driving components, and three connecting points of the three tilt driving components and the pedal plate are not in the same straight line.
As a further improvement of the present invention, the pedal includes a heel portion and a sole portion, two of the tilt driving units are connected to the sole portion, and the other tilt driving unit is connected to the heel portion.
As a further improvement of the invention, the rotation axes of the hinge seats of the three tilt driving assemblies are intersected in pairs.
As a further improvement of the present invention, the balance training device further comprises a front and rear driving assembly, and the hinged seat is connected with the base through the front and rear driving assembly; the front and rear driving assembly comprises a front and rear driving motor, a front and rear driving screw rod, a base plate, a linear guide rail and a movable plate; the base plate is fixed with the base, the front and back driving motors and the linear guide rail are arranged on the base plate, the front and back driving screw rods are in transmission connection with the front and back driving motors, the front and back driving screw rods are in threaded connection with the movable plate, and the movable plate is in sliding connection with the linear guide rail.
As a further improvement of the invention, the device further comprises a rack and a suspension rack, wherein the rack is erected on the base, and the suspension rack is suspended at the rack.
As a further improvement of the present invention, a suspension assembly is disposed on the frame, the suspension assembly includes a suspension rope and a suspension shaft, and two ends of the suspension rope are respectively fixed to the suspension frame and the suspension shaft.
As a further improvement of the present invention, the suspension assembly further includes a suspension motor, the suspension shaft is hinged to the frame, and the suspension motor is connected to the suspension shaft and can drive the suspension shaft to rotate.
As a further improvement of the invention, the walking frame is arranged on the base.
As a further improvement of the invention, the balance training device comprises two foot pedals and two balance training devices, and each balance training device is arranged below the foot pedals in a one-to-one correspondence manner.
The balance rehabilitation training robot can control the inclined state of the pedal plate by arranging the inclined driving component, so that a user can exercise muscles for controlling balance on the pedal plate in different inclined states, and the rehabilitation training of a patient is more perfect.
For a better understanding and practice, the invention is described in detail below with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic of the present invention.
Fig. 2 is a schematic view of the balance training device of the present invention.
Fig. 3 is a front view of the balance training apparatus of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
Referring to fig. 1-3, an embodiment of the present invention discloses a balance rehabilitation training robot, which includes a base 100, a foot pedal 200, and a balance training device, wherein the balance training device is disposed on the base 100, and the foot pedal 200 is disposed on the balance training device; the balance training device comprises at least three tilt drive assemblies; the tilt driving assembly comprises a hinge seat 310, a driving motor 320 and an expansion link 330, wherein the hinge seat 310 is arranged on the base 100, one end of the driving motor 320 is hinged to the hinge seat 310, the expansion link 330 is in transmission connection with the driving motor 320, the driving motor 320 drives the expansion link 330 to extend or retract, and one end of the expansion link 330 is connected with the bottom of the pedal 200. The plurality of driving motors 320 drive the extension rod 330 to extend or retract, so that the foot pedal 200 is inclined relative to the horizontal plane, and the patient needs to control the body muscles to exert force to keep balance when standing on the foot pedal 200, thereby preventing the patient from falling off the foot pedal 200. Through the arrangement, the patient can exercise the balance ability of the body on the equipment in multiple angles, and the early rehabilitation of the patient is facilitated.
In this embodiment, the balance training device is provided with three tilt driving components, three connection points of the three tilt driving components and the pedal 200 are not in the same straight line, and a connecting line between the three connection points can form a triangular track at the bottom of the pedal 200, so that a high-low staggered support is formed for the pedal 200 in the process of extending and retracting the telescopic rod 330, so as to tilt the pedal 200. In some embodiments, the number of the tilt driving assemblies may be four or more, as long as a height difference can be formed at the bottom of the footrest 200, so that the footrest 200 is tilted.
In order to further enhance the support of the tilt driving assembly on the pedal 200, in this embodiment, the pedal 200 includes a heel portion and a sole portion, two tilt driving assemblies are connected to the sole portion, and the other tilt driving assembly is connected to the heel portion. The two tilt driving assemblies are arranged side by side at the sole position of the pedal 200, and when the telescopic rods 330 of the two tilt driving assemblies extend out, the sole of the pedal 200 can be lifted to form an upward slope, so as to simulate an upward slope state. When the extension lengths of the extension rods 330 of the two tilt driving assemblies connected to the sole portion are different, the foot pedal 200 can be turned inwards or outwards. The rotation axes of the hinge seats 310 of the three tilt driving assemblies intersect with each other two by two, which makes the tilt direction of the foot board 200 more. In some embodiments, the end of the telescopic rod 330 connected to the pedal 200 may be connected to the pedal 200 through a universal joint, so that the pedal 200 may be inclined in various directions. In this embodiment, the device comprises two foot pedals 200 and two balance training devices, each balance training device is correspondingly arranged below the foot pedal 200, when in use, the feet of a patient are respectively placed on the two foot pedals 200, and the inclination states of the two foot pedals 200 can be different, so that the patient can exercise at more angles.
The balance training device further comprises a front-back driving assembly, and the hinge base 310 is connected with the base 100 through the front-back driving assembly; the front and rear driving assembly includes a front and rear driving motor 410, a front and rear driving screw 420, a base plate 430, a linear guide 440 and a movable plate 450; the base plate 430 is fixed to the base 100, the front and rear driving motors 410 and the linear guide 440 are disposed on the base plate 430, the front and rear driving screws 420 are in transmission connection with the front and rear driving motors 410, the front and rear driving screws 420 are in threaded connection with the movable plate 450, and the movable plate 450 is in sliding connection with the linear guide 440. When the front and rear driving motor 410 drives the front and rear driving screw rod 420 to rotate, the movable plate 450 moves closer to or away from the front and rear driving motor 410 through the screw pair matching between the front and rear driving screw rod 420 and the movable plate 450. The movable plate 450 is engaged with and slidably coupled to the linear guide 440, and the movable plate 450 slides along the linear guide 440. When the movable plate 450 moves, the balance training device and the pedal 200 are driven to move back and forth, and the forward and reverse rotation states of the forward and reverse driving motor 410 are controlled to drive the pedal 200 to swing back and forth, so as to exercise the front and rear balance ability of the patient.
In this embodiment, the balance rehabilitation training robot further includes a frame 500 and a suspension frame 610, the frame 500 is erected on the base 100, and the suspension frame 610 is suspended at the frame 500. The frame 500 is provided with a suspension assembly, the suspension assembly comprises a suspension rope 620 and a suspension shaft 640, and two ends of the suspension rope 620 are respectively fixed with the suspension frame 610 and the suspension shaft 640. The suspension assembly further comprises a suspension motor 630, the suspension shaft 640 is hinged to the frame 500, and the suspension motor 630 is connected to the suspension shaft 640 and can drive the suspension shaft 640 to rotate. The suspension frame 610 is suspended right above the pedal 200 through the frame 500, so that a patient can hold the suspension frame 610 with both hands to help to obtain balance during rehabilitation training, or a strap is suspended on the suspension frame and tied on the patient, so that the patient is supported and the rehabilitation training on the pedal 200 is helped. The suspension motor 630 can drive the suspension shaft 640 to rotate, and the suspension rope 620 can be wound outside the suspension shaft 640 along with the rotation of the suspension shaft 640, so as to control the extending length of the other end of the suspension rope 620, so that the height of the suspension frame 610 can be adjusted to meet the needs of patients with different heights.
The apparatus further includes a handrail 510, the handrail 510 is disposed on the base 100, and the patient can step on the footboard 200 by grasping the handrail 510.
The balance rehabilitation training robot can control the inclined state of the pedal plate by arranging the inclined driving component, so that a user can exercise muscles for controlling balance on the pedal plate in different inclined states, and the rehabilitation training of a patient is more perfect.
In the description of the present invention, it is to be understood that the terms "central", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "left", "right", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The present invention is not limited to the above-described embodiments, and various modifications and variations of the present invention are intended to be included within the scope of the claims and the equivalent technology of the present invention if they do not depart from the spirit and scope of the present invention.
Claims (10)
1. Balance rehabilitation training robot, its characterized in that: the balance training device comprises a base, a pedal plate and a balance training device, wherein the balance training device is arranged on the base, and the pedal plate is arranged on the balance training device; the balance training device comprises at least three tilt drive assemblies; the inclination driving assembly comprises a hinged seat, a driving motor and a telescopic rod, the hinged seat is arranged on the base, one end of the driving motor is hinged to the hinged seat, the telescopic rod is in transmission connection with the driving motor, the driving motor drives the telescopic rod to extend or retract, and one end of the telescopic rod is connected with the bottom of the pedal plate.
2. The balance rehabilitation training robot of claim 1, wherein: the balance training device is provided with three inclination driving components, and three connection points of the three inclination driving components and the pedal plate are not in the same straight line.
3. The balance rehabilitation training robot of claim 2, wherein: the pedal comprises a heel part and a sole part, the two inclination driving components are connected with the sole part, and the other inclination driving component is connected with the heel part.
4. The balance rehabilitation training robot of claim 2, wherein: the rotation axes of the hinge seats of the three inclination driving assemblies are intersected in pairs.
5. The balance rehabilitation training robot of claim 1, wherein: the balance training device further comprises a front driving assembly and a rear driving assembly, and the hinged seat is connected with the base through the front driving assembly and the rear driving assembly; the front and rear driving assembly comprises a front and rear driving motor, a front and rear driving screw rod, a base plate, a linear guide rail and a movable plate; the base plate is fixed with the base, the front and back driving motors and the linear guide rail are arranged on the base plate, the front and back driving screw rods are in transmission connection with the front and back driving motors, the front and back driving screw rods are in threaded connection with the movable plate, and the movable plate is in sliding connection with the linear guide rail.
6. The balance rehabilitation training robot of claim 1, wherein: the rack is erected on the base, and the suspension rack is suspended at the rack.
7. The balance rehabilitation training robot of claim 6, wherein: the frame is provided with a suspension assembly, the suspension assembly comprises a suspension rope and a suspension shaft, and two ends of the suspension rope are respectively fixed with the suspension frame and the suspension shaft.
8. The balance rehabilitation training robot of claim 7, wherein: the suspension assembly further comprises a suspension motor, the suspension shaft is hinged to the rack, and the suspension motor is connected with the suspension shaft and can drive the suspension shaft to rotate.
9. The balance rehabilitation training robot of claim 1, wherein: still include the handrail, the handrail sets up on the base.
10. The balance rehabilitation training robot of claim 1, wherein: the device comprises two foot pedals and two balance training devices, wherein each balance training device is arranged below the foot pedals in a one-to-one correspondence mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010731420.2A CN111714850A (en) | 2020-07-27 | 2020-07-27 | Balance rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010731420.2A CN111714850A (en) | 2020-07-27 | 2020-07-27 | Balance rehabilitation training robot |
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| Publication Number | Publication Date |
|---|---|
| CN111714850A true CN111714850A (en) | 2020-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010731420.2A Pending CN111714850A (en) | 2020-07-27 | 2020-07-27 | Balance rehabilitation training robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114126098A (en) * | 2021-12-02 | 2022-03-01 | 山东国兴机器人联合研究院有限公司 | Communication base station for robot and arrangement method |
-
2020
- 2020-07-27 CN CN202010731420.2A patent/CN111714850A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114126098A (en) * | 2021-12-02 | 2022-03-01 | 山东国兴机器人联合研究院有限公司 | Communication base station for robot and arrangement method |
| CN114126098B (en) * | 2021-12-02 | 2024-04-26 | 山东国兴智能科技股份有限公司 | Communication base station for robot and laying method |
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