CN112891816B - Limb rehabilitation training robot - Google Patents
Limb rehabilitation training robot Download PDFInfo
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- CN112891816B CN112891816B CN202110078104.4A CN202110078104A CN112891816B CN 112891816 B CN112891816 B CN 112891816B CN 202110078104 A CN202110078104 A CN 202110078104A CN 112891816 B CN112891816 B CN 112891816B
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- 238000012549 training Methods 0.000 title claims abstract description 81
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- 238000009434 installation Methods 0.000 claims abstract description 26
- 210000003414 extremity Anatomy 0.000 claims abstract description 16
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims abstract description 13
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Classifications
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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
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/06—User-manipulated weights
- A63B21/068—User-manipulated weights using user's body weight
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/15—Arrangements for force transmissions
- A63B21/151—Using flexible elements for reciprocating movements, e.g. ropes or chains
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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
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/03575—Apparatus used for exercising upper and lower limbs simultaneously
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0482—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs primarily by articulating the hip joints
- A63B23/0488—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs primarily by articulating the hip joints by spreading the legs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/1209—Involving a bending of elbow and shoulder joints simultaneously
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to the technical field of limb rehabilitation training instruments, in particular to a limb rehabilitation training robot, which comprises a training chair plate and an upper limb strength trainer, wherein a transverse flat plate is fixed on the top of the right side of the training chair plate in a rightward extending manner, a silica gel pillow is arranged on the right side of the top of the training chair plate, handrails are arranged at the front end and the rear end of the left side of the training chair plate, supporting legs are arranged on the front side and the rear side of the bottom of the transverse flat plate, a fixed block is fixed on the top of the transverse flat plate, an upper cross beam is rotatably arranged on the front side and the rear side of the top of the fixed block, a winch installation box is connected to the bottom of the upper cross beam in a sliding manner, an electric winch is arranged in the winch installation box, a traction rope is wound and arranged in the electric winch, one end of the traction rope extends to the outer part of the winch installation box, a clamp leg ring is arranged below the upper cross beam, a fixed pipe is fixed on the top of the outer wall of the clamp leg ring, and one end of the traction rope, which is far away from the winch installation box, extends to the inside of the fixed pipe, the invention can simultaneously carry out rehabilitation training on the upper limbs and the lower limbs of the user and has the advantage of wide practicability.
Description
Technical Field
The invention relates to the technical field of limb rehabilitation training instruments, in particular to a limb rehabilitation training robot.
Background
Rehabilitation refers to physical activity after injury that is beneficial to recovery or improvement of function. General injuries do not have to stop physical exercise completely, except for severe injuries that require rest treatment. Proper, scientific physical exercise has a positive effect on the rapid healing of injuries and promoting functional recovery. The rehabilitation training plan follows the principle of comprehensive training, progressive and suitable large amount of exercise. In the process of injury healing, the amplitude, frequency, duration, load size and the like of rehabilitation actions are gradually increased. Otherwise, the injury may be aggravated or the healing of the injury may be affected, even if the injury is left untreated and old. Rehabilitation exercises should be noted in combination with local specialized exercises and overall physical activity. In the early stage of injury, due to local swelling, congestion, pain, dysfunction, etc., the overall physical activity is mainly performed, and appropriate local activity is performed without aggravating local swelling and pain. Over time, the lesion progressively improves or tends to heal, and the amount and duration of local activity may progressively increase.
With the increasing aging speed of the population, patients with limb dyskinesia caused by diseases are more and more worldwide, and currently, the rehabilitation of patients mainly needs an experienced primary treating physician to provide evaluation, diagnosis, treatment, training, analysis and guidance rehabilitation for the patients, so that the primary treating physician is in a period of time, and guides the patients to work with labor and labor, and the number of patients is more and less. The problems of difficult rehabilitation training and high cost of manual massage are caused, and in the rehabilitation training, besides the drug therapy, instruments for patients who are inconvenient in medical treatment and training and walking also become necessary articles for physical therapy. The prior art lacks a device which can not only train the motion of stretching and bending legs, but also train the motion of opening and closing two legs. Therefore, a limb rehabilitation training robot is provided.
Disclosure of Invention
The invention aims to provide a limb rehabilitation training robot to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a limb rehabilitation training robot comprises a training chair plate and an upper limb strength trainer, wherein a transverse plate is fixed to the right side of the top of the right side of the training chair plate in a rightward extending mode, a silica gel pillow is arranged on the right side of the top of the training chair plate, handrails are arranged at the front end and the rear end of the left side of the training chair plate, supporting legs are mounted on the front side and the rear side of the bottom of the transverse plate, a fixed block is fixed to the top of the transverse plate, an upper cross beam is rotatably mounted on the front side and the rear side of the top of the fixed block, a winch installation box is slidably connected to the bottom of the upper cross beam, an electric winch is mounted inside the winch installation box, a traction rope is wound inside the electric winch installation box, one end of the traction rope extends to the outside of the winch installation box, a hoop leg ring which is sleeved on the leg of a user is arranged below the upper cross beam, a fixed pipe is fixed to the top of the outer wall of the hoop leg ring, and one end, far away from the winch installation box, extends to the inside of the fixed pipe, and is fixedly connected with the clamp leg ring;
the bottom of the training chair plate is fixed with a base, the left side of the base is provided with an open groove, the middle of the right end of the open groove is provided with a groove, the front side and the rear side of the interior of the open groove are both rotatably provided with a lower beam, the top of the right side of the lower beam is fixedly connected with a gear, the middle of the bottom of the base is provided with a servo motor, the output end of the servo motor extends to the interior of the groove and is fixed with a rotary plate, one side of the top of the rotary plate is fixed with a support post, the support post is rotatably connected with a connecting rod, the middle of the bottom of the open groove is slidably provided with a double-sided rack which is meshed with the gear, the left end of the double-sided rack is fixed with a stop block, the middle of the bottom of the open groove is provided with a guide sliding groove, the middle of the bottom of the double-sided rack is provided with a fixed block, one end of the connecting rod, which is far away from the support post, is rotatably connected with the fixed block, the other end of the lower cross beam extends to the outside of the open groove, a vertical rod is connected between the left side of the bottom of the upper cross beam and the top of one end of the lower cross beam, which is far away from the gear, a sliding groove is formed in the middle of the top of the lower cross beam, a sliding rod is installed in the sliding groove, a hydraulic cylinder is connected above the lower cross beam in a sliding manner, an electric sliding block is fixed in the sliding groove, the bottom of the hydraulic cylinder extends to the inside of the sliding groove, the electric sliding block is installed on the outer wall of the sliding rod in a sliding manner, an upper fixed block is fixed in the middle of the top of the hydraulic cylinder, and an arc-shaped leg support frame used for supporting the legs of a user is rotatably connected to the top of the upper fixed block;
all seted up T type spout in the middle of the entablature bottom, the capstan winch install bin with upper limbs strength training ware top all be fixed with the T type slider of T type spout adaptation, the confession has all been seted up to the upper limbs strength training ware left and right sides the through-hole that the haulage rope passes through, the inside bottom left and right sides of upper limbs strength training ware all install with haulage rope complex fixed pulley, the haulage rope left end extends to through the through-hole that corresponds upper limbs strength training ware is outside, and fixedly connected with clamp leg ring, the haulage rope right-hand member extends to through the through-hole that corresponds upper limbs strength training ware is outside, and fixedly connected with bracelet.
As a further arrangement of the above scheme, the bottom of the gear is fixedly welded to the top of the lower cross beam, a middle shaft is fixed at the axis of the gear, and the middle shaft is rotatably installed inside the open groove.
As the further setting of above-mentioned scheme, bracelet inner wall bottom bonding has the silica gel to protect the cushion, silica gel protection pad top evenly is provided with the finger groove.
As a further arrangement of the scheme, a seat plate with gentle transition is arranged on the left side of the training chair plate, the width of the seat plate is 30-35CM, and the left end of the seat plate is flush with the left end of the base.
As the further setting of above-mentioned scheme, clamp leg ring inner wall all is provided with the sponge packing ring, clamp leg ring and fixed pipe are made for medical PVC.
As a further arrangement of the scheme, a U-shaped plate is arranged at the bottom of the arc-shaped leg supporting frame, is sleeved outside the upper fixing block and is rotatably connected with the upper fixing block through a pin shaft.
As a further arrangement of the scheme, soft cushion layers are arranged on the inner walls of the arc-shaped leg supporting frames, massage particles are uniformly arranged on the soft cushion layers, and the soft cushion layers are made of medical rubber.
As a further arrangement of the above scheme, the maximum angle between the two lower cross beams is 110 °, and the maximum angle between the two upper cross beams is 110 °, and when the two lower cross beams are parallel to each other, the gear is blocked by the stopper.
As a further arrangement of the above scheme, the length of the lower cross beam is 100CM, the length of the upper cross beam is 180CM, and the widths of the lower cross beam and the upper cross beam are consistent.
As a further arrangement of the scheme, foot pads are fixed at four corners of the bottom of the base, and the bottoms of the foot pads are flush with the bottoms of the supporting legs.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention is provided with the winch installation box, the shank of a user is clamped by the arc-shaped leg support frame, the hoop leg is sleeved on the thigh of the user in a ring manner, the electric slide block slides on the slide rod in a straight line manner to assist the user in the training of bending and stretching the shank, and the electric winch is used for winding or loosening the traction rope, so that the thigh of the user is stretched upwards or released, and the electric winch installation box is matched with the arc-shaped leg support frame, so that the rehabilitation training can be performed on the user with serious illness, and the tiredness of the patient is reduced.
2. According to the upper limb strength trainer, a user holds the hand ring by hand, the traction rope is driven to move along the fixed pulley by pulling the hand ring, so that the clamp leg ring is pulled, the weight of the leg is borne by the clamp leg ring, the upper limb and the lower limb of the user can be rehabilitated and trained simultaneously, the T-shaped sliding groove and the T-shaped sliding block are flexibly arranged, and the practicability of the device is wide.
3. According to the invention, the servo motor is started, the servo motor rotates to drive the rotary table to rotate, the rotary table drives the connecting rod to rotate, the other end of the connecting rod is rotatably connected with the bilateral rack, the bilateral rack is slidably arranged in the middle of the inner wall of the open groove, the rotary table rotates to drive the bilateral rack to move, so that the gear meshed with the bilateral rack is driven to rotate, the two lower cross beams are driven to rotate, a user lies on the training chair plate obliquely, a calf is put on the arc-shaped leg support frame, the arc-shaped leg support frame clamps the calf of the user, and the two lower cross beams rotate, so that the open-close training of the legs of the user is carried out.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of a first perspective structure of the present invention;
FIG. 2 is a schematic view of a second perspective structure of the present invention;
FIG. 3 is a schematic view of a third perspective structure of the present invention;
FIG. 4 is a side view of the structure of the present invention;
FIG. 5 is a top view of the structure of the present invention;
FIG. 6 is a schematic view of the internal structure of the base of the present invention;
FIG. 7 is a fourth perspective view of the present invention;
FIG. 8 is a schematic view of the structure of the present invention at A;
FIG. 9 is a schematic view of the internal structure of the upper limb strength training device of the present invention;
FIG. 10 is a schematic view of the structure of the present invention B.
In the figure: 1. a training chair plate; 112. a transverse plate; 2. a silica gel pillow; 3. a handrail; 4. a fixed block; 5. an upper cross beam; 51. a T-shaped chute; 6. a winch mounting box; 7. erecting a rod; 8. a lower cross beam; 81. a chute; 82. a gear; 9. a hydraulic cylinder; 91. an electric slider; 92. an upper fixed block; 10. an arc-shaped leg supporting frame; 11. a hoop leg ring; 12. a fixed tube; 13. a hauling rope; 14. a base; 141. opening the groove; 142. a groove; 15. supporting legs; 16. a servo motor; 17. a foot pad; 18. a slide bar; 19. a turntable; 20. a connecting rod; 21. an upper limb strength trainer; 22. a T-shaped slider; 23. a bracelet; 24. a fixed pulley; 25. a bilateral rack; 251. and a stop block.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail with reference to the accompanying drawings 1 to 10, in conjunction with the embodiments.
Example 1
This embodiment 1 introduces a limb rehabilitation training robot, which includes a training chair plate 1 and an upper limb strength training device 21, wherein a horizontal plate 112 is fixed on the right side of the top of the training chair plate 1 in a rightward extending manner, a silica gel pillow 2 is arranged on the right side of the top of the training chair plate 1, handrails 3 are arranged at the front and rear ends of the left side of the training chair plate 1, support legs 15 are arranged at the front and rear sides of the bottom of the horizontal plate 112, a fixed block 4 is fixed on the top of the horizontal plate 112, an upper beam 5 is rotatably arranged on the front and rear sides of the top of the fixed block 4, a winch installation box 6 is slidably connected to the bottom of the upper beam 5, a T-shaped chute 51 is arranged in the middle of the bottom of the upper beam 5, a T-shaped slider 22 adapted to the T-shaped chute 51 is fixed on the top of the winch installation box 6, an electric winch is arranged inside the electric winch, and a traction rope 13 is wound around the electric winch, one end of the traction rope 13 extends to the outside of the winch installation box 6, a hoop leg ring 11 used for being sleeved on the leg of a user is arranged below the upper cross beam 5, sponge washers are arranged on the inner wall of the hoop leg ring 11, the buffer protection effect is achieved, the user cannot be hurt, the hoop leg ring 11 and the fixing pipe 12 are both made of medical PVC, the fixing pipe 12 is fixed to the top of the outer wall of the hoop leg ring 11, one end, far away from the winch installation box 6, of the traction rope 13 extends into the fixing pipe 12 and is fixedly connected with the hoop leg ring 11, a base 14 is fixed to the bottom of the training chair plate 1, an open groove 141 is formed in the left side of the base 14, the lower cross beam 8 is rotatably installed on the front side and the rear side of the inside of the open groove 141, a hydraulic cylinder 9 is slidably connected above the lower cross beam 8, and an electric slider 91 is fixed to the bottom of the hydraulic cylinder 9 and extends into the sliding groove 81, electric slider 91 slidable mounting in slide bar 18 outer wall, be fixed with fixed block 92 in the middle of the pneumatic cylinder 9 top, go up fixed block 92 top and rotate to be connected with the arc leg support frame 10 that is used for holding user's shank, arc leg support frame 10 bottom is provided with the U template, the U template cover is established go up fixed block 92 outside, and through the round pin axle with go up fixed block 92 and rotate the connection, arc leg support frame 10 inner wall all is provided with soft bed course, evenly be provided with massage granule on the soft bed course, soft bed course is made for medical rubber, and during the use, the user lies on training chair board 1 to one side, puts on arc leg support frame 10 with the calf, makes arc leg support frame 10 block user's calf, overlaps clamp leg ring 11 on user's thigh again, through electric slider 91 straight line slip on slide bar 18, helps the user to do the training that the leg is crooked and extends, carry out the rolling or relax to haulage rope 13 through electric capstan to upwards stretch or transfer the pine with the user thigh, the comparatively serious user of the state of an illness can carry out the rehabilitation training to cooperation arc bracket 10's use, reduces patient's sense of fatigue.
Example 2
This embodiment 2 introduces a limb rehabilitation training robot, which comprises a training chair plate 1 and an upper limb strength training device 21, wherein a horizontal plate 112 is fixed on the top of the right side of the training chair plate 1 in a rightward extending manner, a silica gel pillow 2 is arranged on the right side of the top of the training chair plate 1, handrails 3 are arranged at the front and rear ends of the left side of the training chair plate 1, supporting legs 15 are arranged on the front and rear sides of the bottom of the horizontal plate 112, a fixed block 4 is fixed on the top of the horizontal plate 112, an upper beam 5 is rotatably arranged on the front and rear sides of the top of the fixed block 4, a winch installation box 6 is slidably connected to the bottom of the upper beam 5, an electric winch is arranged inside the winch installation box 6, a traction rope 13 is wound inside the electric winch, one end of the traction rope 13 extends to the outside of the winch installation box 6, a hoop 11 for sleeving the legs of a user is arranged below the upper beam 5, a fixing tube 12 is fixed on the top of the outer wall of the clamp leg ring 11, one end of the traction rope 13 far away from the winch installation box 6 extends into the fixing tube 12 and is fixedly connected with the clamp leg ring 11, a T-shaped chute 51 is arranged in the middle of the bottom of the upper cross beam 5, a T-shaped slider 22 matched with the T-shaped chute 51 is fixed on the top of the upper limb strength trainer 21, through holes for the traction rope 13 to pass through are arranged on the left side and the right side of the upper limb strength trainer 21, fixed pulleys 24 matched with the traction rope 13 are arranged on the left side and the right side of the inner bottom of the upper limb strength trainer 21, the left end of the traction rope 13 extends to the outer part of the upper limb strength trainer 21 through corresponding through holes and is fixedly connected with the clamp leg ring 11, and the right end of the traction rope 13 extends to the outer part of the upper limb strength trainer 21 through corresponding through holes, and fixedly connected with a hand ring 23, the bottom of the inner wall of the hand ring 23 is bonded with a silica gel cushion block, the top of the silica gel cushion block is uniformly provided with finger grooves, in the actual use, an electric capstan drives a traction rope 13 to move, drives a clamp leg ring 11 to carry out stretching training on a user, and is suitable for users whose upper limbs do not need to be exercised or whose upper limbs are not suitable for training, when the upper limbs of the user need to be trained, the capstan mounting box 6 is taken down, then an upper limb strength trainer 21 is slidably mounted at the bottom of an upper beam 5, then the clamp leg ring 11 is sleeved on the legs of the user, then the user holds the hand ring 23, drives the traction rope 13 to move along a fixed pulley 24 by pulling the hand ring 23, thereby pulling the clamp leg ring 11, the clamp leg ring 11 bears the weight of the legs, thereby carrying out rehabilitation training on the upper limbs and the lower limbs of the user at the same time, the T-shaped sliding groove 51 and the T-shaped sliding block 22 are arranged flexibly, the device has wide practicability.
Example 3
This embodiment 3 introduces a limb rehabilitation training robot, which includes a training chair plate 1 and an upper limb strength training device 21, wherein a horizontal plate 112 is fixed to the top of the right side of the training chair plate 1 in a rightward extending manner, a silica gel pillow 2 is arranged on the right side of the top of the training chair plate 1, handrails 3 are arranged at the front and rear ends of the left side of the training chair plate 1, a seat plate with a smooth transition is arranged on the left side of the training chair plate 1, the width of the seat plate is 30-35CM, the left end of the seat plate is flush with the left end of a base 14, supporting legs 15 are arranged on the front and rear sides of the bottom of the horizontal plate 112, a fixed block 4 is fixed to the top of the horizontal plate 112, an upper beam 5 is rotatably arranged on the front and rear sides of the top of the fixed block 4, a winch installation box 6 is slidably connected to the bottom of the upper beam 5, a base 14 is fixed to the bottom of the training chair plate 1, foot pads 17 are fixed at four corners of the bottom of the base 14, the bottoms of the foot pads 17 are flush with the bottoms of the support legs 15, an open groove 141 is formed in the left side of the base 14, a groove 142 is formed in the middle of the right end of the open groove 141, lower cross beams 8 are rotatably installed on the front side and the rear side of the inside of the open groove 141, a gear 82 is fixedly connected to the top of the right side of each lower cross beam 8, the bottom of the gear 82 is fixedly welded to the top of each lower cross beam 8, a central shaft is fixed to the axis of the gear 82, the maximum angle between the two lower cross beams 8 is 110 degrees, the maximum angle between the two upper cross beams 5 is 110 degrees, when the two lower cross beams 8 are parallel to each other, the gear 82 is blocked by a stopper 251, the central shaft is rotatably installed inside the open groove 141, a servo motor 16 is installed in the middle of the bottom of the base 14, and a turntable 19 is fixed inside the groove 142 at the output end of the servo motor 16, a support is fixed on one side of the top of the turntable 19, a connecting rod 20 is connected to the support in a rotating manner, a double-sided rack 25 meshed with the gear 82 is slidably mounted in the middle of the bottom of the open groove 141, a stop block 251 is fixed at the left end of the double-sided rack 25, a guide sliding groove is formed in the middle of the bottom of the open groove 141, a guide sliding block matched with the guide sliding groove is fixed in the middle of the bottom of the double-sided rack 25, a fixed block is arranged in the middle of the right end of the double-sided rack 25, one end, far away from the support, of the connecting rod 20 is rotatably connected with the fixed block, the other end of the lower beam 8 extends to the outside of the open groove 141, a vertical rod 7 is connected between the left side of the bottom of the upper beam 5 and the top of one end, far away from the gear 82, of the lower beam 8 is 100CM in length, the upper beam 5 is 180CM in length, and the lower beam 8 is consistent with the upper beam 5 in width, when the training chair is used, the servo motor 16 is started, the servo motor 16 rotates to drive the rotary disc 19 to rotate, the rotary disc 19 drives the connecting rod 20 to rotate, the other end of the connecting rod 20 is rotatably connected with the bilateral rack 25, the bilateral rack 25 is slidably installed in the middle of the inner wall of the open groove 141, the rotary disc 19 rotates to drive the bilateral rack 25 to move, so that the gear 82 meshed with the bilateral rack is driven to rotate, the two lower cross beams 8 are driven to rotate, a user lies on the training chair plate 1 obliquely, the calf is put on the arc-shaped leg support frame 10, the arc-shaped leg support frame 10 clamps the calf of the user, the two lower cross beams 8 rotate, so that the open and close training of the legs of the user are carried out, meanwhile, the upper cross beam 5 is driven to rotate by the lower cross beam 8, the use of the winch installation box 6 and the upper limb strength training device 21 is not influenced, when the two gears 82 are parallel to each other, the gear 82 is clamped 82 by the stop block 251, so that the two lower cross beams 8 cannot rotate towards each other, the length of bilateral rack 25 is limited, and consequently two bottom end rail 8 scope of opening and shutting is limited, can not cause the injury to the user, constantly rotates through servo motor 16, drives connecting rod 20 and constantly rotates, drives bilateral rack 25 round trip movement to drive gear 82 reciprocating rotation, thereby make two bottom end rail 8 constantly open and shut, train effectually.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (4)
1. The utility model provides a limbs rehabilitation training robot, includes training chair board (1) and upper limbs strength training ware (21), its characterized in that: a transverse flat plate (112) extends rightwards from the top of the right side of the training chair plate (1) and is fixed;
the training chair plate is characterized in that a silica gel pillow (2) is arranged on the right side of the top of the training chair plate (1), handrails (3) are arranged at the front end and the rear end of the left side of the training chair plate (1), supporting legs (15) are installed on the front side and the rear side of the bottom of a transverse plate (112), a fixing block (4) is fixed at the top of the transverse plate (112), an upper cross beam (5) is installed on the front side and the rear side of the top of the fixing block (4) in a rotating mode, a winch installation box (6) is connected to the bottom of the upper cross beam (5) in a sliding mode, an electric winch is installed inside the winch installation box (6), a traction rope (13) is wound inside the electric winch, one end of the traction rope (13) extends to the outside of the winch installation box (6), a hoop leg ring (11) for sleeving legs of a user is arranged below the upper cross beam (5), and a fixing pipe (12) is fixed at the top of the outer wall of the hoop leg ring (11), one end, far away from the winch installation box (6), of the traction rope (13) extends into the fixing pipe (12) and is fixedly connected with the hoop leg ring (11);
the training chair plate is characterized in that a base (14) is fixed to the bottom of the training chair plate (1), an open groove (141) is formed in the left side of the base (14), a groove (142) is formed in the middle of the right end of the open groove (141), a lower cross beam (8) is rotatably mounted on the front side and the rear side of the interior of the open groove (141), a gear (82) is fixedly connected to the top of the right side of the lower cross beam (8), a servo motor (16) is mounted in the middle of the bottom of the base (14), the output end of the servo motor (16) extends to a rotary table (19) fixed inside the groove (142), a support column is fixed to one side of the top of the rotary table (19), a connecting rod (20) is rotatably connected to the support column, a double-sided rack (25) meshed with the gear (82) is slidably mounted in the middle of the bottom of the open groove (141), and a stop block (251) is fixed to the left end of the double-sided rack (25), the middle of the bottom of the open groove (141) is provided with a guide sliding groove, the middle of the bottom of the double-sided rack (25) is fixed with a guide sliding block matched with the guide sliding groove, the middle of the right end of the double-sided rack (25) is provided with a fixed block, the connecting rod (20) is far away from one end of the pillar and the fixed block is connected in a rotating manner, the other end of the lower beam (8) extends to the outside of the open groove (141), the left side of the bottom of the upper beam (5) and the top of one end, far away from the lower beam (8), of the gear (82) are connected with a vertical rod (7), the middle of the top of the lower beam (8) is provided with a sliding groove (81), the sliding rod (18) is installed inside the sliding groove (81), the upper part of the lower beam (8) is connected with a hydraulic cylinder (9) in a sliding manner, the bottom of the hydraulic cylinder (9) extends to the inside of the sliding groove (81) is fixed with an electric sliding block (91), the electric sliding block (91) is slidably mounted on the outer wall of the sliding rod (18), an upper fixing block (92) is fixed in the middle of the top of the hydraulic cylinder (9), the top of the upper fixing block (92) is rotatably connected with an arc-shaped leg supporting frame (10) used for supporting the legs of a user, a U-shaped plate is arranged at the bottom of the arc-shaped leg supporting frame (10), and the U-shaped plate is sleeved outside the upper fixing block (92) and is rotatably connected with the upper fixing block (92) through a pin shaft;
the middle of the bottom of the upper cross beam (5) is provided with a T-shaped sliding groove (51), the top of the winch installation box (6) and the top of the upper limb strength trainer (21) are respectively fixed with a T-shaped sliding block (22) matched with the T-shaped sliding groove (51), the left side and the right side of the upper limb strength trainer (21) are respectively provided with a through hole for the traction rope (13) to pass through, the left side and the right side of the inner bottom of the upper limb strength trainer (21) are respectively provided with a fixed pulley (24) matched with the traction rope (13), the left end of the traction rope (13) extends to the outer part of the upper limb strength trainer (21) through corresponding through holes and is fixedly connected with the hoop leg ring (11), the right end of the traction rope (13) extends to the outer part of the upper limb strength trainer (21) through corresponding through holes and is fixedly connected with the bracelet (23), the bottom of the gear (82) is fixedly welded at the top of the lower cross beam (8), a middle shaft is fixed at the axis of the gear (82), and is rotatably arranged in the open groove (141); the maximum angle between the two lower cross beams (8) is 110 degrees, the maximum angle between the two upper cross beams (5) is 110 degrees, and when the two lower cross beams (8) are parallel to each other, the stop block (251) blocks the gear (82).
2. The limb rehabilitation training robot of claim 1, wherein: bracelet (23) inner wall bottom bonding has the silica gel to protect the cushion, silica gel protection pad top evenly is provided with the finger groove.
3. The limb rehabilitation training robot of claim 1, wherein: the left side of the training chair plate (1) is provided with a seat plate with a gentle transition, the width of the seat plate is 30-35CM, and the left end of the seat plate is flush with the left end of the base (14).
4. A limb rehabilitation training robot according to any of claims 1-3, characterized in that: the clamp leg ring (11) inner wall all is provided with the sponge packing ring, clamp leg ring (11) and fixed pipe (12) are medical PVC and make.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110078104.4A CN112891816B (en) | 2021-01-20 | 2021-01-20 | Limb rehabilitation training robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110078104.4A CN112891816B (en) | 2021-01-20 | 2021-01-20 | Limb rehabilitation training robot |
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| CN112891816A CN112891816A (en) | 2021-06-04 |
| CN112891816B true CN112891816B (en) | 2021-10-22 |
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| CN114073632B (en) * | 2021-11-11 | 2023-10-13 | 北京理工大学 | Rehabilitation equipment control method based on track optimization |
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| CN202086734U (en) * | 2011-05-13 | 2011-12-28 | 高兵 | Multifunctional limb training device for neurology patients |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN206700615U (en) * | 2017-04-28 | 2017-12-05 | 中国人民解放军南京军区福州总医院 | Portable bed upper limb body hardening shelf |
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- 2021-01-20 CN CN202110078104.4A patent/CN112891816B/en not_active Expired - Fee Related
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| CN202086734U (en) * | 2011-05-13 | 2011-12-28 | 高兵 | Multifunctional limb training device for neurology patients |
| CN103976844A (en) * | 2014-05-13 | 2014-08-13 | 江苏永发医用设备有限公司 | Device for rehabilitation exercise of arms |
| US20180311526A1 (en) * | 2017-04-27 | 2018-11-01 | Malcolm R. Eddy | Mobility enhancement system having a force multiplier |
| CN206853013U (en) * | 2017-06-19 | 2018-01-09 | 营口春港康复辅助器具科技有限公司 | Upper and lower extremities comprehensive rehabilitation training device |
| CN209828098U (en) * | 2019-01-24 | 2019-12-24 | 杭州市第一人民医院 | Straight leg is raised and is tempered hoist |
| CN109998819A (en) * | 2019-05-06 | 2019-07-12 | 南阳市中心医院 | A kind of movable limbs instrument of Internal Medicine-Cardiovascular Dept. |
| CN212369496U (en) * | 2020-04-18 | 2021-01-19 | 彭兰芬 | Lower limb recovery training device for paralyzed patient |
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| CN112891816A (en) | 2021-06-04 |
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