CN112773629A - Multi-posture gait training rehabilitation robot - Google Patents
Multi-posture gait training rehabilitation robot Download PDFInfo
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- CN112773629A CN112773629A CN202110113063.8A CN202110113063A CN112773629A CN 112773629 A CN112773629 A CN 112773629A CN 202110113063 A CN202110113063 A CN 202110113063A CN 112773629 A CN112773629 A CN 112773629A
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- 230000005021 gait Effects 0.000 title claims abstract description 15
- 210000000689 upper leg Anatomy 0.000 claims description 45
- 210000004394 hip joint Anatomy 0.000 claims description 35
- 210000001699 lower leg Anatomy 0.000 claims description 35
- 210000000629 knee joint Anatomy 0.000 claims description 28
- 230000007246 mechanism Effects 0.000 claims description 27
- 210000002414 leg Anatomy 0.000 claims description 20
- 238000009434 installation Methods 0.000 claims description 14
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- 210000002683 foot Anatomy 0.000 claims description 6
- 210000001624 hip Anatomy 0.000 claims description 6
- 210000003423 ankle Anatomy 0.000 claims description 4
- 230000036544 posture Effects 0.000 claims description 2
- 210000003141 lower extremity Anatomy 0.000 abstract description 9
- 230000009471 action Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010000372 Accident at work Diseases 0.000 description 1
- 208000025978 Athletic injury Diseases 0.000 description 1
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/012—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame raising or lowering of the whole mattress frame
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/005—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame tiltable around transverse horizontal axis, e.g. for Trendelenburg position
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/05—Parts, details or accessories of beds
-
- 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
- A61H1/0218—Drawing-out devices
- A61H1/0229—Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
- A61H1/0244—Hip
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0142—Beds
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/088—Hip
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/102—Knee
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Nursing (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a multi-pose gait training rehabilitation robot which comprises a cabinet, a training bed connected to one side of the cabinet, a cabinet chassis arranged at the bottom of the cabinet, and a display cabinet which is arranged on one side of the training bed and connected with the cabinet through a wire; the cabinet can be controlled to drive the training bed to lift, turn or gait train by operating the display cabinet. The invention realizes the multiple functions of integrating auxiliary movement, standing, overturning, lower limb flexion and extension and gait training, meets different requirements of patients in different rehabilitation stages, can provide different training modes for the patients and achieves the aim of better rehabilitation training.
Description
Technical Field
The invention relates to the field of rehabilitation medical instruments, in particular to a robot for assisting a patient in lower limb rehabilitation training.
Background
Nowadays, patients with lower limb dyskinesia caused by aging degree of population, traffic accidents, industrial accidents, sports injuries and other various injury-causing factors are increasing, and in addition to operation and medical treatment, the patients need to help to recover the lower limb walking ability through scientific rehabilitation training, and continuous passive exercise helps to recover or improve lost nerve functions.
At present, most of traditional rehabilitation training is to assist patients to stand and walk through medical care personnel or family members, but the working strength of the training mode is high, the mode is single, the effect is poor, the consistency of rehabilitation training movement is difficult to guarantee, the requirements of patients in different rehabilitation stages cannot be met, and the labor cost is high, so that the rehabilitation robot technology specially helping patients with walking disorders on lower limbs to carry out standardized gait rehabilitation training gradually becomes a research hotspot.
Disclosure of Invention
The invention aims to provide a robot for lower limb rehabilitation training, which can provide different training modes for patients to achieve the aim of better rehabilitation training.
In order to achieve the purpose, the invention adopts the following technical scheme:
a multi-posture gait training rehabilitation robot comprises a cabinet, a training bed connected to one side of the cabinet, a cabinet chassis arranged at the bottom of the cabinet, and a display cabinet which is arranged on one side of the training bed and connected with the cabinet through wires; the cabinet can be controlled to drive the training bed to lift, turn or gait train by operating the display cabinet.
The cabinet comprises a cabinet body, a lifting mechanism arranged on the front side of the cabinet body and used for driving the training bed to lift, a lifting counterweight block arranged on the back side of the cabinet body, a pulley block arranged at the top of the cabinet body, an electrical cabinet arranged beside the cabinet body and a steel wire rope; one end of the steel wire rope is connected with the lifting counterweight block, and the other end of the steel wire rope is connected to the lifting mechanism by bypassing the pulley block at the top;
the lifting mechanism comprises a motor positioned at the bottom, a screw rod vertically arranged and driven by the motor, a nut capable of moving on the screw rod, lifting slide rails vertically arranged on two sides of the screw rod respectively and parallel to the screw rod, a slide block capable of sliding up and down along the lifting slide rails and a mounting plate, wherein the motor, the screw rod and the nut form a worm gear screw rod lifter;
the back of mounting panel is equipped with and is used for connecting wire rope's couple, worm wheel screw rod lift still is furnished with the hand wheel.
The training bed comprises a support frame, a bed body frame connected with the support frame, a bed body spongy cushion arranged on the front surface of the bed body frame, a hip joint width adjusting mechanism connected to the lower end of the bed body frame and a leg training mechanism; the support frame is connected to the mounting plate on one hand, and is hinged to the back face of the bed body frame on the other hand through a shaft, a bed body overturning motor and a bed body auxiliary gas spring are mounted between the support frame and the bed body frame, and the output end of the bed body overturning motor and the piston rod of the bed body auxiliary gas spring are hinged to the back face of the bed body frame; the training bed is provided with a bandage fixing support at the upper part of the head of the patient, and armrests and emergency stop switches are respectively arranged at the left side and the right side of the waist of the patient.
The leg part training mechanism comprises a hip joint, a knee joint, a pedal, a thigh supporting rod connected between the hip joint and the knee joint, and a shank supporting rod connected between the knee joint and the pedal; the thigh supporting rod is provided with a thigh bracket, the shank supporting rod is provided with a shank bracket, the hip joint is provided with a hip joint motor and a sensor, and the knee joint is provided with a knee joint motor and a sensor.
The thigh bracket comprises an arc-shaped plate attached to the surface of a thigh, an adjusting block for adjusting the position of the thigh bracket, an L-shaped support for connecting the arc-shaped plate to the adjusting block, an adjustable positioning handle and a self-locking positioning spring pin, wherein the adjustable positioning handle and the self-locking positioning spring pin are arranged on the adjusting block, a U-shaped groove which can slide on the thigh supporting rod and a vertical groove which is vertical to the opening direction of the U-shaped groove are respectively formed on the adjusting block, the horizontal end of the L-shaped bracket is fixed on the back of the arc-shaped plate, the vertical end of the L-shaped bracket passes through the vertical groove of the adjusting block, and the vertical end of the L-shaped bracket is provided with a row of adjusting holes, the screw rod of the adjustable fastening handle penetrates through the U-shaped groove and the vertical groove of the adjusting block from the bottom of the thigh supporting rod, the bottom of the thigh supporting rod is provided with a row of positioning screw holes, and the self-locking positioning spring pin penetrates through the adjusting block from the bottom and is matched with the positioning screw holes.
The shank bracket is provided with an arc-shaped plate attached to the surface of a shank, an adjusting block used for adjusting the position of the shank bracket, a position-adjustable fastening handle and a self-locking positioning spring pin, wherein the position-adjustable fastening handle and the self-locking positioning spring pin are arranged on the adjusting block, the adjusting block is provided with a U-shaped groove capable of sliding on a shank supporting rod, the arc-shaped plate is connected to the side surface of the adjusting block, the shank supporting rod is provided with a row of positioning screw holes, and the self-locking positioning spring pin on the adjusting block is matched with the positioning.
The knee joint is provided with an adjusting block, an adjustable fastening handle and a self-locking positioning spring pin, the upper half part of the adjusting block forms a U-shaped groove used for sliding at the lower end of the thigh supporting rod, the lower half part of the adjusting block is used for fixing the knee joint motor, the output end of the knee joint motor is connected with the upper end of the shank supporting rod, the lower end part of the thigh supporting rod is provided with a row of positioning screw holes, and the adjusting block is fixed at different positions of the thigh supporting rod through the matching of the self-locking positioning spring pin on the adjusting block and the positioning screw holes at different positions;
the adjustable leg support is characterized in that an adjusting block is integrally formed on the side edge of the foot pedal at the ankle position, the adjusting block is provided with a U-shaped groove capable of sliding on the leg support rod, an adjustable fastening handle and a self-locking positioning spring pin, a row of positioning screw holes are formed in the bottom surface of the lower end of the leg support rod, and the adjusting block is fixed on different positions of the leg support rod through the matching of the self-locking positioning spring pin on the adjusting block and the positioning screw holes at different positions.
The hip joint width adjusting mechanism comprises two installation seats, two screw rods, two sets of guide rods, nuts, two sliding seats and a hip joint width adjusting rocking handle, wherein the two installation seats are respectively arranged at the left side and the right side of the hip of the training bed, the nuts are arranged on the screw rods and matched with the screw rods, the hip joint width adjusting rocking handle is connected to the outer ends of the screw rods, the installation seats are respectively fixed at the left side and the right side of the bed body frame, the two screw rods are respectively connected below the two installation seats through bearing seats, the upper half parts of the sliding seats are connected to the nuts of the screw rods, the lower half parts of the sliding seats are respectively connected to the left hip joint and the right hip joint, the installation seats are also provided with the guide rods parallel to the direction of the screw rods, the middle parts of the guide rods penetrate through the upper parts of the sliding seats, the two ends of the, the two screw rods are connected through a coupler, and the thread directions of the two screw rods are opposite.
The display cabinet is equipped with display and camera in the direction that faces the training bed, still is provided with the hand controller that is used for controlling lathe bed upset and raising and lowering functions on the cabinet body, still sets up touch-sensitive screen, start button, shutdown button and the scram button that has the AI interface that supplies medical personnel to operate.
After adopting the technical scheme, compared with the background technology, the invention has the following advantages:
1. the invention realizes the multiple functions of integrated auxiliary exercise, standing up, overturning, lower limb flexion and extension and gait training, realizes the multi-posture gait rehabilitation training and meets the different requirements of patients in different rehabilitation stages.
2. The adjustable tightening handles are respectively arranged on the thigh, the knee joint, the crus and the ankle, can be adjusted according to different postures and different leg lengths of people, is suitable for patients with different heights and weights, and is simple and convenient in adjustment mode and easy to operate.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view from the back of the cabinet;
FIG. 3 is a schematic view from the back of the training bed;
FIG. 4 is a schematic view of a hip joint width adjustment mechanism;
FIG. 5 is a schematic view of a leg training mechanism;
FIG. 6 is a rear view of the thigh carrier;
FIG. 7 is a schematic view of a strap mount;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Examples
Referring to fig. 1, the invention discloses a multi-posture gait training rehabilitation robot, which comprises a cabinet 1, a training bed 2 connected to one side of the cabinet 1, a cabinet chassis 3 positioned at the bottom of the cabinet 1, and a display cabinet 4 facing the training bed 2 and connected with the cabinet 1.
Referring to fig. 2, the cabinet 1 includes a cabinet body 11, a lifting mechanism disposed on the front side of the cabinet body 11 for driving the training bed 2 to lift, a lifting counterweight block 12 disposed on the back side of the cabinet body 11, a pulley block 13 disposed on the top of the cabinet body 11, a steel wire rope (not shown), and an electrical cabinet 14 disposed beside the cabinet body 11; one end of the steel wire rope is connected with a lifting counterweight block 12, and the other end of the steel wire rope is connected to a lifting mechanism by bypassing the pulley block 13 at the top.
Referring to fig. 3, the lifting mechanism includes a worm gear screw lifter, a lifting slide rail 16 and a mounting plate 17, the worm gear screw lifter is composed of a motor 15 located at the bottom, a screw 18 vertically arranged and driven by the motor 15, and a nut moving up and down on the screw 18, two lifting slide rails 16 are respectively vertically arranged at two sides of the screw 18 and parallel to the screw 18, slide blocks capable of sliding up and down are respectively arranged on the lifting slide rails 16, the slide blocks are respectively fixed at the back of the mounting plate 17, so that the mounting plate 17 can slide along the direction of the lifting slide rails 16, meanwhile, the back surface of the mounting plate 17 is connected with a nut of a worm gear screw rod lifter, the front surface of the mounting plate 17 is connected with the training bed 2, when a motor 15 of the worm gear screw rod lifter drives a screw rod 18 to rotate through a worm gear, the nut engaged with the screw 18 will move linearly up and down along the screw 18, thereby driving the training bed 2 to move up and down along the vertical direction of the lifting slide rail 16. The bed body can be lowered to the height of about 420mm, the height of the lowered bed surface is just as high as that of the wheelchair, and the patient can get on or off the bed conveniently without other auxiliary devices.
The back of mounting panel 17 is equipped with the couple that is used for connecting wire rope one end, and the lift balancing weight 12 that the wire rope other end is connected can be used to help alleviate the load of training bed 2, reduce motor power, and worm gear screw rod lift still is furnished with hand wheel 19, plays reserve effect, and when motor 15 broke down unable the lift, accessible hand wheel 19 shaken training bed 2 from the eminence.
The training bed 2 comprises a support frame 21, a bed body frame 22 connected with the support frame 21, a bed body sponge cushion 28 arranged on the front surface of the bed body frame 22, a leg training mechanism connected to the lower end of the bed body frame 22 and a hip joint width adjusting mechanism; referring to fig. 3, on one hand, the support frame 21 is connected to the mounting plate 17, meanwhile, the edge of the support frame 21 is hinged to the back of the bed body frame 22 through a shaft, a bed body turning motor 23 and a bed body auxiliary gas spring 24 are installed between the support frame 21 and the bed body frame 22, the output end of the bed body turning motor 23 is hinged to the back of the bed body frame 22, the purpose of inclining the bed body frame 22 is achieved through telescopic motion, the bed body is turned over by 0-90 degrees, the piston rod of the bed body auxiliary gas spring 24 is hinged to the back of the bed body frame 22, and the bed body auxiliary gas spring 24 is used for assisting and buffering.
The training bed 2 is provided with a bandage fixing bracket 25 at the position above the head of the patient, and is used for fixing the bandage on the body of the patient and reducing the weight of the lower limb in the training process.
As shown in fig. 7, two strap fixing members 29 are mounted on the strap fixing bracket 25, the strap fixing member 29 is mainly composed of two half-ring bodies fastened together, wherein a hanging lug 45 is extended from the half-ring body toward the front of the bed body for connecting a strap, an adjustable fastening handle 46 is provided at a portion of the two half-ring bodies extending out of the back of the bed body, a screw of the adjustable fastening handle 46 penetrates through the two half-ring bodies for fixing, and the two half-ring bodies can be loosened by rotating a handle, so that the strap fixing member 29 can freely slide on the strap fixing bracket 25, when the strap fixing member 29 is moved to a proper position, the adjustable fastening handle 46 is rotated in the opposite direction to re-lock the two half-rings of the strap fixing member 29, thereby realizing the position and distance adjustment of the two strap fixing members 29.
The training bed 2 is provided with a left handrail 26 and a right handrail 26 and an emergency stop switch 27 at the left and the right sides of the waist of the patient respectively, so that the patient can conveniently hold and borrow force in the training process to reduce the weight of the lower limbs, and the emergency stop switch 27 is arranged beside the handrails 26 to facilitate the emergency stop function under the emergency situation.
Referring to fig. 2, the leg training mechanism includes a left leg training mechanism and a right leg training mechanism, each leg training mechanism includes a hip joint 31, a knee joint 32, a foot rest 33, a thigh support bar 34 connected between the hip joint 31 and the knee joint 32, and a shank support bar 35 connected between the knee joint 32 and the foot rest 33; a thigh bracket 36 is arranged on the thigh supporting rod 34, a shank bracket 37 is arranged on the shank supporting rod 35, a hip joint motor 38 is arranged at the hip joint 31 and used for providing power for hip joint movement to control the rotation of the thigh supporting rod 34, a knee joint motor 39 is arranged at the knee joint 32 and used for providing power for knee joint movement to control the rotation of the shank supporting rod 35, and sensors are arranged at all joints.
The back of the training bed 2 is provided with a hip joint width adjusting mechanism, the hip joint width adjusting mechanism comprises two installation bases 51 respectively arranged at the left side and the right side of the hip of the training bed, two screw rods 52, two sets of guide rods 55, nuts 53 arranged on the screw rods 52, two sliding bases 54 and a hip joint width adjusting rocking handle 58 connected with the outer ends of the screw rods 52, the two installation bases 51 are respectively fixed below the left side and the right side of the bed body frame 22, the screw rods 52 are connected below the installation bases 51 through bearing seats, the upper half parts of the sliding bases 54 are connected on the nuts 53 of the screw rods 52, the lower half parts of the sliding bases 54 are respectively connected to the left hip joint 31 and the right hip joint 31, the installation bases 51 are also provided with the guide rods 55 parallel to the direction of the screw rods 52, the middle parts of the guide rods 55 penetrate through the upper parts of the sliding bases 54, and the two, the two ends of the guide rod 55 are further provided with a limiting block 56, and the limiting block 56 is a sleeve made of PU material, has a buffering effect and is used for limiting the moving stroke of the sliding seat 54 on the guide rod 55.
The left and right lead screws 52 are connected through a coupler 57, the thread directions of the two lead screws 52 are opposite, when the hip joint width adjusting rocking handle 58 is rotated to drive the two lead screws 52 to rotate in the same direction, the two nuts 53 matched with the two lead screws respectively drive the two sliding seats 54 to linearly move in different directions, the two lead screws simultaneously move towards the middle to reduce the distance or simultaneously move towards the two sides to increase the distance, and therefore the distance between the two hip joints changes, and the effect of adjusting the width of the hip joint is achieved.
As shown in fig. 5 and 6, the thigh bracket 36 includes an arc plate 61 attached to the surface of the thigh, an adjusting block 62 for adjusting the position of the thigh bracket 36, an L-shaped bracket 64 for connecting the arc plate 61 to the adjusting block 62, and a self-locking positioning spring pin 63 provided on the adjusting block 62, an adjustable positioning handle 65, and a self-locking positioning spring pin 66, wherein a U-shaped groove capable of sliding on the thigh supporting rod 34 and a vertical groove perpendicular to the opening direction of the U-shaped groove are respectively formed on the adjusting block 62, the horizontal end of the L-shaped bracket 64 is fixed on the back of the arc plate 61, the vertical end of the L-shaped bracket 64 passes through the vertical groove of the adjusting block 62, and a row of adjusting holes 67 are provided on the vertical end of the L-shaped bracket 64, the self-locking positioning spring pin 63 on the adjusting block 62 is clamped on the adjusting holes 67 with different heights, so as to adjust the height position of the arc plate 61, the screw of the adjustable positioning handle 65 passes through the U-shaped groove and the, the adjustable position tightening handle 65 is rotated, the screw rod is rotated to loosen the U-shaped groove of the adjusting block 62 clamped on the thigh supporting rod 34, so that the locking can be released, the adjusting block 62 can freely slide on the thigh supporting rod 34 to adjust the position, the bottom of the thigh supporting rod 34 is provided with a row of positioning screw holes 68, the adjustable position tightening handle is also provided with a self-locking positioning spring pin 66 which penetrates through the adjusting block 62 from the bottom and is matched with the screw holes 68, a spring and a bolt are arranged in the self-locking positioning spring pin 66, the inner bolt is pressed against the screw holes 68 under the action of the spring, when the adjusting block 62 is moved, the bolt clamped in the screw holes is pulled out by hand, after the adjusting block 62 is moved to a proper screw hole position, the bolt is clamped into a new screw hole under the action of the spring by loosening the hand, the adjustable position tightening handle 65 is simultaneously screwed, the U-shaped groove and the vertical groove clamp the thigh supporting rod 34, the vertical groove clamps the vertical end of, this achieves a quick positioning adjustment of the thigh carrier 36.
As shown in figure 5, the structure of the lower leg bracket 37 is similar to that of the thigh bracket 36, and the lower leg bracket 37 is also provided with an arc-shaped plate 70 attached to the surface of the lower leg, an adjusting block 71 for adjusting the position of the lower leg bracket 37, a position-adjustable fastening handle 72 and a self-locking positioning spring pin 73 which are installed on the adjusting block 71, because the lower leg has no height adjustment, the adjusting block 71 is only provided with a U-shaped groove which can slide on the lower leg support rod 35, the arc-shaped plate 70 is directly connected to the side surface of the adjusting block 71, the lower leg support rod 35 is provided with a row of positioning screw holes 74, the self-locking positioning spring pin 73 on the adjusting block 71 is matched with the positioning screw holes 74, and the position of the lower leg bracket 37 on the lower.
The back of arc 61 and arc 70 forms the vertical notch of multichannel, makes things convenient for bandage (not shown in the figure) to pass the notch from behind and fixes on the arc, and the both ends opening of bandage is equipped with the magic subsides, and the thigh is hugged closely on the arc during the use, with the bandage around on the thigh through the magic subsides fixed can.
The knee joint 32 and the ankle joint can also realize position adjustment through the adjustable position tightening handle and the self-locking positioning spring pin, the upper half part of the adjusting block 80 at the knee joint 32 is formed into a U-shaped groove used for sliding at the lower end of the thigh supporting rod 34, the lower half part is used for fixing the knee joint motor 39, the output of the knee joint motor 39 is connected with the upper end of the shank supporting rod 35, the side surface of the lower end part of the thigh supporting rod 34 is provided with a row of positioning screw holes 81, the adjusting block 80 is fixed at different positions of the thigh supporting rod 34 through the matching of the self-locking positioning spring pin 82 on the adjusting block 80 and the positioning screw holes 81 at different positions, and the adjustable position tightening handle 83 is used for locking, so that the position of the knee joint can be changed according.
The side edge of the foot pedal 33 at the ankle position is integrally formed with an adjusting block 84 with a similar structure, the adjusting block 84 is provided with a U-shaped groove sliding on the shank support rod 35, an adjustable fastening handle 85 and a self-locking positioning spring pin 86, the bottom surface of the lower end of the shank support rod 35 is provided with a row of positioning screw holes, the position of the adjusting block 84 is adjusted and locked by the adjustable fastening handle 85 and the self-locking positioning spring pin 86, and therefore the position of the foot pedal 33 on the tail end of the shank support rod 35 is changed to adapt to different leg lengths.
The cabinet body of display cabinet 4 is equipped with display 41 in the direction that faces training bed 2, a scene interface for showing virtual training, still be provided with the camera in the direction just to training bed, a motion portrait for catching when the patient trains, to the human training action of VR scene feedback, still be provided with hand controller 42 on the cabinet body and be used for controlling the upset and the raising and lowering functions of lathe bed, touch-sensitive screen 43 has the AI interface that supplies medical personnel to operate, optional training mode, still be equipped with start button in addition on the cabinet body, shut down button and emergency stop button.
The cabinet chassis 3 is used for supporting the weight of the cabinet 1 and the training bed 2, and a plurality of casters are mounted at the bottom of the cabinet chassis, so that the equipment can be conveniently moved and locked.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. The utility model provides a recovered robot of many postures gait training which characterized in that: the training bed is connected to one side of the cabinet, the cabinet chassis is arranged at the bottom of the cabinet, and the display cabinet is erected on one side of the training bed and connected with the cabinet through an electric wire; the cabinet can be controlled to drive the training bed to lift, turn or gait train by operating the display cabinet.
2. The multi-pose gait-training rehabilitation robot of claim 1, wherein: the cabinet comprises a cabinet body, a lifting mechanism arranged on the front side of the cabinet body and used for driving the training bed to lift, a lifting counterweight block arranged on the back side of the cabinet body, a pulley block arranged at the top of the cabinet body, an electrical cabinet arranged beside the cabinet body and a steel wire rope; one end of the steel wire rope is connected with the lifting counterweight block, and the other end of the steel wire rope is connected to the lifting mechanism by bypassing the pulley block at the top;
the lifting mechanism comprises a motor positioned at the bottom, a screw rod vertically arranged and driven by the motor, a nut capable of moving on the screw rod, lifting slide rails vertically arranged on two sides of the screw rod respectively and parallel to the screw rod, a slide block capable of sliding up and down along the lifting slide rails and a mounting plate, wherein the motor, the screw rod and the nut form a worm gear screw rod lifter;
the back of mounting panel is equipped with and is used for connecting wire rope's couple, worm wheel screw rod lift still is furnished with the hand wheel.
3. The multi-pose gait-training rehabilitation robot of claim 2, wherein: the training bed comprises a support frame, a bed body frame connected with the support frame, a bed body spongy cushion arranged on the front surface of the bed body frame, a hip joint width adjusting mechanism connected to the lower end of the bed body frame and a leg training mechanism; the support frame is connected to the mounting plate on one hand, and is hinged to the back face of the bed body frame on the other hand through a shaft, a bed body overturning motor and a bed body auxiliary gas spring are mounted between the support frame and the bed body frame, and the output end of the bed body overturning motor and the piston rod of the bed body auxiliary gas spring are hinged to the back face of the bed body frame; the training bed is provided with a bandage fixing support at the upper part of the head of the patient, and armrests and emergency stop switches are respectively arranged at the left side and the right side of the waist of the patient.
4. A multi-pose gait training rehabilitation robot according to claim 3, characterized in that: the leg part training mechanism comprises a hip joint, a knee joint, a pedal, a thigh supporting rod connected between the hip joint and the knee joint, and a shank supporting rod connected between the knee joint and the pedal; the thigh supporting rod is provided with a thigh bracket, the shank supporting rod is provided with a shank bracket, the hip joint is provided with a hip joint motor and a sensor, and the knee joint is provided with a knee joint motor and a sensor.
5. The multi-pose gait-training rehabilitation robot of claim 4, wherein: the thigh bracket comprises an arc-shaped plate attached to the surface of a thigh, an adjusting block for adjusting the position of the thigh bracket, an L-shaped support for connecting the arc-shaped plate to the adjusting block, an adjustable positioning handle and a self-locking positioning spring pin, wherein the adjustable positioning handle and the self-locking positioning spring pin are arranged on the adjusting block, a U-shaped groove which can slide on the thigh supporting rod and a vertical groove which is vertical to the opening direction of the U-shaped groove are respectively formed on the adjusting block, the horizontal end of the L-shaped bracket is fixed on the back of the arc-shaped plate, the vertical end of the L-shaped bracket passes through the vertical groove of the adjusting block, and the vertical end of the L-shaped bracket is provided with a row of adjusting holes, the screw rod of the adjustable fastening handle penetrates through the U-shaped groove and the vertical groove of the adjusting block from the bottom of the thigh supporting rod, the bottom of the thigh supporting rod is provided with a row of positioning screw holes, and the self-locking positioning spring pin penetrates through the adjusting block from the bottom and is matched with the positioning screw holes.
6. The multi-pose gait-training rehabilitation robot of claim 5, wherein: the shank bracket is provided with an arc-shaped plate attached to the surface of a shank, an adjusting block used for adjusting the position of the shank bracket, a position-adjustable fastening handle and a self-locking positioning spring pin, wherein the position-adjustable fastening handle and the self-locking positioning spring pin are arranged on the adjusting block, the adjusting block is provided with a U-shaped groove capable of sliding on a shank supporting rod, the arc-shaped plate is connected to the side surface of the adjusting block, the shank supporting rod is provided with a row of positioning screw holes, and the self-locking positioning spring pin on the adjusting block is matched with the positioning.
7. The multi-pose gait-training rehabilitation robot of claim 5, wherein: the knee joint is provided with an adjusting block, an adjustable fastening handle and a self-locking positioning spring pin, the upper half part of the adjusting block forms a U-shaped groove used for sliding at the lower end of the thigh supporting rod, the lower half part of the adjusting block is used for fixing the knee joint motor, the output end of the knee joint motor is connected with the upper end of the shank supporting rod, the lower end part of the thigh supporting rod is provided with a row of positioning screw holes, and the adjusting block is fixed at different positions of the thigh supporting rod through the matching of the self-locking positioning spring pin on the adjusting block and the positioning screw holes at different positions;
the adjustable leg support is characterized in that an adjusting block is integrally formed on the side edge of the foot pedal at the ankle position, the adjusting block is provided with a U-shaped groove capable of sliding on the leg support rod, an adjustable fastening handle and a self-locking positioning spring pin, a row of positioning screw holes are formed in the bottom surface of the lower end of the leg support rod, and the adjusting block is fixed on different positions of the leg support rod through the matching of the self-locking positioning spring pin on the adjusting block and the positioning screw holes at different positions.
8. A multi-pose gait training rehabilitation robot according to claim 3, characterized in that: the hip joint width adjusting mechanism comprises two installation seats, two screw rods, two sets of guide rods, nuts, two sliding seats and a hip joint width adjusting rocking handle, wherein the two installation seats are respectively arranged at the left side and the right side of the hip of the training bed, the nuts are arranged on the screw rods and matched with the screw rods, the hip joint width adjusting rocking handle is connected to the outer ends of the screw rods, the installation seats are respectively fixed at the left side and the right side of the bed body frame, the two screw rods are respectively connected below the two installation seats through bearing seats, the upper half parts of the sliding seats are connected to the nuts of the screw rods, the lower half parts of the sliding seats are respectively connected to the left hip joint and the right hip joint, the installation seats are also provided with the guide rods parallel to the direction of the screw rods, the middle parts of the guide rods penetrate through the upper parts of the sliding seats, the two ends of the, the two screw rods are connected through a coupler, and the thread directions of the two screw rods are opposite.
9. The multi-pose gait-training rehabilitation robot of claim 1, wherein: the display cabinet is equipped with display and camera in the direction that faces the training bed, still is provided with the hand controller that is used for controlling lathe bed upset and raising and lowering functions on the cabinet body, still sets up touch-sensitive screen, start button, shutdown button and the scram button that has the AI interface that supplies medical personnel to operate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110113063.8A CN112773629A (en) | 2021-01-27 | 2021-01-27 | Multi-posture gait training rehabilitation robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110113063.8A CN112773629A (en) | 2021-01-27 | 2021-01-27 | Multi-posture gait training rehabilitation robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113827446A (en) * | 2021-10-31 | 2021-12-24 | 清华大学 | Lower limb bedside exercise rehabilitation device |
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2021
- 2021-01-27 CN CN202110113063.8A patent/CN112773629A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113827446A (en) * | 2021-10-31 | 2021-12-24 | 清华大学 | Lower limb bedside exercise rehabilitation device |
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