CN117338573A - Robot system for gait training - Google Patents
Robot system for gait training Download PDFInfo
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- CN117338573A CN117338573A CN202311399269.7A CN202311399269A CN117338573A CN 117338573 A CN117338573 A CN 117338573A CN 202311399269 A CN202311399269 A CN 202311399269A CN 117338573 A CN117338573 A CN 117338573A
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- 230000005021 gait Effects 0.000 title claims abstract description 19
- 210000004197 pelvis Anatomy 0.000 abstract description 21
- 210000001624 hip Anatomy 0.000 description 21
- 230000007246 mechanism Effects 0.000 description 9
- 230000001360 synchronised effect Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 210000003141 lower extremity Anatomy 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000003993 interaction Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 210000004394 hip joint Anatomy 0.000 description 3
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 235000004443 Ricinus communis Nutrition 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 208000020339 Spinal injury Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000003287 bathing Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention belongs to the technical field of rehabilitation medical appliances, and in particular relates to a robot system for gait training, which comprises a chassis module, wherein steering wheels are arranged at the front end and the rear end of the chassis module, the chassis module further comprises a directional wheel and a driving wheel, and the directional wheel is connected with a lifting assembly; the middle part of the chassis module is provided with a pair of lifting modules, each lifting module is connected with a body state control module, and each body state control module is driven by the lifting module to move up and down; the present invention provides a robotic system for gait training that allows free movement of the pelvis of a patient, enabling balance training of the patient.
Description
Technical Field
The invention belongs to the technical field of rehabilitation medical instruments, and particularly relates to a robot system for gait training.
Background
In recent years, population aging is intensified, various unhealthy life forms, traffic accidents, industrial injuries and the like are increasing, and patients with walking dysfunction caused by stroke, spinal injury, accidents and the like are becoming common groups in modern society. Except for medicines and surgical treatments, the patients mainly rely on physical treatments, namely rehabilitation training.
The pelvis of the human body is connected with the lumbar vertebra, the lower part and the femur form hip joints, the weight of the human body is transferred to the lower limbs through the pelvis, and the vibration of the lower limbs is also transferred to the spine through the pelvis, so that the human body moves as a ring of the spine and moves relative to the lower limbs by taking the hip joints as axes. The pelvis part of a normal human body has six degrees of freedom, namely three degrees of rotational degrees of torsion, pitching and rolling at the hip joint and three degrees of freedom of movement of the pelvis in the left-right, front-back and up-down directions during walking. Studies show that the pelvis plays an important balance role in various daily activities such as walking, dressing, bathing, sports and the like, and when the pelvis generates an abnormal movement track, the movement characteristics of the gait are directly affected. According to the nerve facilitation technical principle, the strengthening of the pelvis control capability can promote the movement function of lower limbs, the pelvis training can improve the balance capability of two sides of the body, and the recovery efficiency of hemiplegic patients is quickened. Most of the existing lower limb rehabilitation robots are not provided with pelvis mechanisms, patients are greatly restrained in the training process and cannot freely move own body, the importance of balance training on rehabilitation of hemiplegic patients is ignored, and the rehabilitation process is influenced.
Disclosure of Invention
The invention aims to provide a robot system for gait training, which enables a patient to perform balance training, and enables the pelvis of the patient to freely move.
Based on the above purpose, the invention adopts the following technical scheme:
the robot system for gait training comprises a chassis module, wherein steering wheels are arranged at the front end and the rear end of the chassis module, the chassis module further comprises a directional wheel and a driving wheel, and the directional wheel is connected with a lifting assembly; the middle part of chassis module is provided with a pair of lifting module, all is connected with body attitude control module on every lifting module, and every body attitude control module all drives through lifting module and reciprocates.
Further, the chassis module comprises a left chassis and a right chassis which are parallel, a front cross beam and a rear cross beam are connected between the left chassis and the right chassis, and the left chassis, the right chassis, the front cross beam and the rear cross beam form a quadrilateral frame structure; the lifting modules are respectively arranged in the middle of the left chassis and the right chassis.
Further, the lifting assembly comprises a connecting seat fixedly connected to the chassis module, a linear bearing is fixedly connected to the connecting seat, a wheel frame is connected to the linear bearing in a sliding manner, the wheel frame is arranged below the connecting seat, and the directional wheel is rotationally connected to the wheel frame; the connecting seat is rotationally connected with a direction screw rod parallel to the linear bearing, the direction screw rod is in threaded connection with the wheel frame, and the direction screw rod is connected with a direction motor.
Further, the posture control module comprises a waistband seat connected with the lifting module, and a spline is fixedly connected in the waistband seat and is parallel to the left chassis; the spline is connected with a sleeve in a sliding manner, a pair of buffer springs are sleeved on the spline, and the sleeve is arranged between the two buffer springs; the waistband seat is fixedly connected with a front sensor and a rear sensor, one buffer spring is arranged between the front sensor and the rear sensor and the sleeve, and the other buffer spring is arranged between the sleeve and the waistband seat; the sleeve is rotationally connected with a waistband connecting module.
Further, the posture control module comprises a waist rod connecting seat connected with the lifting module, the waist rod connecting seat is in sliding connection with the waistband seat, the sliding direction of the waist rod connecting seat is perpendicular to the spline, a posture lead screw perpendicular to the spline is rotationally connected to the waist rod connecting seat, a left sensor and a right sensor are connected to the posture lead screw in a threaded manner, and the left sensor and the right sensor are fixedly connected with the waistband seat; the body state screw rod is connected with a body state motor.
Further, the rear cross beam comprises two movable sections which are respectively connected with the left chassis and the right chassis in a rotating way.
Further, the front end of the lifting module is connected with a handrail frame, and the handrail frame is connected with a touch screen.
Further, the direction motor is connected with the direction screw rod through a synchronous belt wheel set, and the body state motor is connected with the body state screw rod through a synchronous belt wheel set.
Compared with the prior art, the invention has the following beneficial effects:
the waistband is arranged above the rear end of the chassis module in the prior art, the steering wheel is arranged at the front end and the rear end of the chassis module, and the waistband is arranged above the middle of the chassis module, so that a patient can turn in situ, the turning radius can be reduced, and training can be performed in a smaller space. The liftable directional wheels are arranged, so that the lifting directional wheels can be lifted during steering, and steering of the steering wheels is not affected; when the training is advanced, the directional wheel is lowered to ensure the stable movement direction of the robot, so that the training of a patient is more stable and safer.
The invention has simple structure and convenient use. In rehabilitation, the body state motor of the body state control module can control the left and right width of the waistband according to the body data of an actual patient, and adjust the body posture according to the sensor data in training, so that the front and back direction and the left and right direction are controlled. When the walking rehabilitation training device is used, the waistband seats are clamped on two sides of the pelvis of a patient, five degrees of freedom such as up and down, front and back, left and right, torsion and pitching of the pelvis of the patient can be guaranteed in the gait rehabilitation training process of the patient, the pelvis part of the patient is not constrained, the pelvis part of the patient can move freely, the comfort level of the training process can be improved, the balance capacity is trained while the walking function of the lower limbs is trained, and a better training effect is achieved.
Drawings
FIG. 1 is a schematic diagram of embodiment 1 of the present invention;
FIG. 2 is a schematic view of a chassis module according to embodiment 1 of the present invention;
FIG. 3 is a schematic view of the right chassis of embodiment 1 of the present invention;
FIG. 4 is a schematic view of a direction locking mechanism according to embodiment 1 of the present invention;
FIG. 5 is a schematic diagram of a display interaction module according to embodiment 1 of the present invention;
FIG. 6 is a schematic diagram of a body control module according to embodiment 1 of the present invention;
fig. 7 is a schematic view of a connection structure between a waist belt and a waist bar connection seat according to embodiment 1 of the present invention;
FIG. 8 is a diagram showing a belt with a larger width according to embodiment 2 of the present invention;
FIG. 9 is a diagram showing a smaller waistband width in accordance with embodiment 2 of the present invention;
FIG. 10 is a left-shifting diagram of the waistband according to example 2 of the present invention;
FIG. 11 is a right-shift diagram of the waistband according to example 2 of the present invention;
FIG. 12 is a diagram showing the waistband twisting to the right and downward in example 2;
fig. 13 is a left-downward torsion view of the waistband of example 2 of the present invention.
In the figure: the device comprises a chassis module 1, an electric module 2, a lifting module 3, a display interaction module 4, a posture control module 5, a right chassis 6, a left chassis 7, a front cross beam 8, a rear cross beam 9, a universal wheel 10, a beam frame 11, a driving wheel 12, a direction locking mechanism 13, a direction motor 14, a synchronous belt wheel set 15, a direction wheel 16, a linear bearing 17, a direction screw 18, a connecting seat 19, a wheel frame 20, a handrail frame 21, a waist rod connecting seat 22, a posture linear bearing 23, a posture screw 24, a posture motor 25, a posture synchronous belt wheel set 26, a waistband seat 27, a left sensor and a right sensor 28, a buffer spring 29, a spline 30, a front sensor and a rear sensor 31, a waistband connecting module 32 and a waistband 33.
Detailed Description
Example 1
A robot system for gait training, as shown in fig. 1-7, comprises a chassis module 1, wherein an electrical module 2 is arranged on the chassis module 1; steering wheels are arranged at the front end and the rear end of the chassis module 1, the steering wheels are universal wheels 10, and the chassis module 1 further comprises a direction locking mechanism 13 and a driving wheel 12; the chassis module 1 can walk back and forth and support the whole robot system to move forward and turn; the middle part of chassis module 1 is provided with a pair of vertical lifting module 3, all is connected with posture control module 5 on every lifting module 3, and every lifting module 3 is all controlling the rising and the decline of posture control module 5. The lifting module 3 is connected with a display interaction module 4.
As shown in fig. 2-3, the chassis module 1 comprises a left chassis 7 and a right chassis 6 which are parallel to each other, a front cross beam 8 and a rear cross beam 9 are connected between the left chassis 7 and the right chassis 6, and the left chassis 7, the right chassis 6, the front cross beam 8 and the rear cross beam 9 form a quadrilateral frame structure, so that the strength of the vehicle body is enough; a pair of lifting modules 3 are respectively arranged in the middle of the left chassis 7 and the right chassis 6. The rear cross beam 9 comprises two movable sections which are respectively connected with the left chassis 7 and the right chassis 6 in a rotating way, and the rotating axis is consistent with the length direction of the left chassis 7 and the right chassis 6; when a patient enters the robot system, the two movable sections are rotated to be separated, the patient can enter the quadrangular frame structure, and then the movable sections are rotated to close and lock the rear cross beam 9.
The left chassis 7 and the front cross beam 8 are connected through bolts, and the right chassis 6 and the front cross beam 8 are connected through bolts; the rear cross beam 9 is connected with the left chassis 7 and the right chassis 6 through hinges, so that two parts of the rear cross beam 9 can rotate around the left chassis 7 and the right chassis 6; the left chassis 7 and the right chassis 6 in the chassis module 1 are of symmetrical structures; the left chassis 7 and the right chassis 6 comprise a beam frame 11, the length direction of the beam frame 11 is the front-back direction, the front end and the back end of the beam frame 11 are both connected with universal wheels 10, the middle part of the beam frame 11 is also connected with a driving wheel 12, and a direction locking mechanism 13 is arranged between each universal wheel 10 and the driving wheel 12. The universal wheel 10 and the beam frame 11 are connected through bolts, and the universal wheel 10 can freely rotate, so that walking is balanced and steering is more convenient; the driving wheel 12 is composed of a hub motor, has small volume and is used for controlling the advancing of the chassis; the steering lock mechanism 13 and the beam 11 are connected by bolts, and when the steering lock mechanism 13 is lowered all the way, the vehicle body can only move forward.
As shown in fig. 4, the direction locking mechanism 13 includes a connecting seat 19 fixedly connected to the beam frame 11, a vertical linear bearing 17 is fixedly connected to the connecting seat 19, a wheel frame 20 is slidably connected to the linear bearing 17, the wheel frame 20 is disposed below the connecting seat 19, an orientation wheel 16 is rotatably connected to the wheel frame 20, and the orientation wheel 16 can only move back and forth. The direction locking mechanism 13 further comprises a direction motor 14 fixedly connected to the connecting seat 19, and further comprises a synchronous belt wheel set 15 connected with the direction motor 14, the direction motor 14 is connected with a direction screw rod 18 through the synchronous belt wheel set 15, the direction screw rod 18 is rotationally connected with the connecting seat 19 and axially fixedly connected, and the wheel frame 20 is in threaded connection with the direction screw rod 18. The direction motor 14 drives the direction screw rod 18 to rotate through the synchronous belt wheel group 15, and then drives the wheel frame 20 to move, so that the up-and-down movement of the wheel frame 20 is controllable, and meanwhile, the self-locking property of the direction screw rod 18 enables the position of the directional wheel to be controllable. The castor 10 and the directional wheel 16 cooperate to effect a forward movement and a turning.
As shown in fig. 5, the electrical module 2 is composed of a battery and a control board, and provides power and control for the robot system. The lifting module 3 consists of a screw rod and a sliding block, the sliding block is driven by the screw rod to lift, and an upper force sensor and a lower force sensor are arranged on the sliding block; the display interaction module 4 comprises an armrest frame 21 fixedly connected with the front end of the lifting module 3, and a touch screen is connected to the armrest frame 21. The information of the touch screen display equipment can be manually controlled by the touch screen, and after a patient selects a rehabilitation item on the touch screen, the lifting module 3 can drive the sliding block and the posture control module 5 to lift to a proper waist position; during rehabilitation, the posture control module 5 can control the size of the waistband 33 according to the physical data of an actual patient, and adjust the body posture according to the sensor data during training so that the front-back direction and the left-right direction are controlled.
As shown in fig. 6 to 7, the posture control module 5 includes a waist bar connecting base 22 connected with upper and lower force sensors provided between the waist bar connecting base and the slider. The waist bar connecting seat 22 is connected with a waist bar seat 27 in a sliding manner through the body linear bearing 23, the sliding direction is left and right, the waist bar connecting seat 22 is fixedly connected with a bearing bar of the body linear bearing 23, and the waist bar seat 27 is fixedly connected with a bearing on the bearing bar. The waist rod connecting seat 22 is rotationally connected with a left-right body state screw rod 24, a left-right sensor 28 is fixedly connected with a screw nut of the body state screw rod 24, one surface of the left-right sensor 28 is fixedly connected with the screw nut, and the other surface of the left-right sensor 28 is fixedly connected with the waist belt seat 27; when the left sensor 28 and the right sensor 28 sense the force, the posture screw 24 rotates and drives the waistband seat 27 to move; the posture screw rod 24 is connected with a posture motor 25 through a posture synchronous belt wheel set 26, and the posture motor 25 is fixedly connected on the waist rod connecting seat 22.
The waistband seat 27 is fixedly connected with a spline 30, and the spline 30 is parallel to the beam frame 11; the spline 30 is connected with a sleeve in a sliding manner, and the sleeve is connected with the waistband connecting module 32 in a universal rotation manner, so that the waistband connecting module 32 can move back and forth along the spline 30; the waistband 33 is fixed to the waistband connection module 32 by a screw. The spline 30 is also sleeved with a pair of buffer springs 29, and the sleeve is arranged between the two buffer springs 29; the front end position in the waistband seat 27 is fixedly connected with a front sensor 31 and a rear sensor 31 through screws, one buffer spring 29 is pressed between the front sensor 31 and the rear sensor 31 and the sleeve, and the other buffer spring 29 is pressed between the sleeve and the rear end of the waistband seat 27.
When the human body moves forwards, the front-rear sensor 31 senses signals to control the driving wheel 12 to move forwards and backwards; the left and right sensors 28 sense the left and right body models and control the left and right belt seat 27 to move in opposite, opposite or same directions, and simultaneously control the front and rear and turning of the driving wheel 12.
Example 2
The embodiment is a robotic system for gait training employing the method comprising the steps of:
step 1, adjusting the position of the waistband 33, and fixing the patient: the patient carries out various walking mode training such as level land, step, ramp, obstacle according to the rehabilitation needs, uses the touch-sensitive screen to select recovered project, and input patient's body data, and lifting module 3 drives the body attitude control module 5 to rise to suitable waist position according to patient's body data. As shown in fig. 8-9, according to the waist width of the patient, the posture motor 25 drives the posture screw 24 to rotate, the posture screw 24 drives the left-right sensor 28 and the waistband seat 27 to move left and right, the waistband seat 27 drives the spline 30, the sleeve and the waistband connecting module 32 to move left and right, so that the two waistband connecting modules 32 move in opposite directions or move in opposite directions, and the distance between the waistband connecting modules 32 is matched with the waist width of the patient; the belt 33 is then wrapped around the patient's pelvis to connect the patient to the training robot.
Step 2, training: the patient is free to move his body, up and down, back and forth, and left and right, and twist and pitch, after attaching the belt 33. As shown in fig. 10-11, when the patient moves left and right, the pelvis applies force in the left and right direction to the waistband connecting module 32, and transmits the force to the left and right sensors 28 through the waistband connecting module 32, the sleeve, the spline 30 and the waistband seat 27, after the left and right sensors 28 are applied with the force, the two posture motors 25 drive the posture screw 24 to rotate through the synchronous pulley group, the posture screw 24 drives the pressure sensor and the waistband seat 27 to move left and right, and finally the waistband 33 is driven by the two waistband connecting modules 32 to move left or right, so that the left and right movement direction of the patient is consistent, assistance can be provided for the patient, and the waist left and right movement is very flexible.
As shown in fig. 12-13, when the patient twists up and down, the pelvis applies force in the up and down direction to the waistband connection module 32 through the waistband 33, and the force is transmitted to the up and down force sensor through the waistband connection module 32, the sleeve, the spline 30, the waistband seat 27, the posture linear bearing 23 and the waistband rod connection seat 22, the up and down force sensor senses signals and enables the two lifting modules 3 to control the screw rod to rotate, so that the two sliding blocks are driven to move up and down in different directions, and the torsion of the body of the patient is realized.
When the patient moves up and down, the pelvis transmits force in the up-down direction to the up-down force sensor, and the two lifting modules 3 control the screw rod to rotate so as to drive the two sliding blocks to lift or descend at the same time, so that the patient can move up and down.
When the patient moves forwards, the pelvis applies force in the front-rear direction to the waistband connecting module 32 through the waistband 33, and the force is transmitted to the front-rear sensor 31 through the waistband connecting module 32, the sleeve and the buffer spring 29, and the front-rear sensor 31 senses signals to control the driving wheel 12 to move forwards and backwards; the left and right sensors 28 sense the left and right body signals to control the left and right belt seats 27 to move in opposite directions, back directions or in the same direction, and simultaneously control the driving wheel 12 to advance and turn.
Example 3
This embodiment is the same as the other portions of embodiment 1 except that: the electric module 2 is internally provided with a control system, and the control system is used for controlling the motion parameters such as the motion range, the angle, the intensity and the like of each degree of freedom to assist a patient to perform rehabilitation training, and the motion parameters are adjusted according to different training periods of the patient so that the patient performs training modes with different intensities such as active, auxiliary and passive; the rehabilitation condition of the patient is known in real time by measuring the relevant parameters such as the movement intensity and the range of the patient through the sensor, and a therapist can flexibly change the training scheme according to the data measured by the sensor, so that the rehabilitation of the patient is facilitated.
Claims (8)
1. The robot system for gait training comprises a chassis module, and is characterized in that steering wheels are arranged at the front end and the rear end of the chassis module, the chassis module further comprises a directional wheel and a driving wheel, and the directional wheel is connected with a lifting assembly; the middle part of chassis module is provided with a pair of lifting module, every lifting module is last to be connected with posture control module.
2. The robotic system for gait training of claim 1, wherein the chassis module comprises parallel left and right chassis with front and rear cross members connected therebetween, the left, right, front and rear cross members forming a quadrilateral frame structure; the lifting modules are respectively arranged in the middle of the left chassis and the right chassis.
3. The robotic system for gait training of claim 2, wherein the lifting assembly comprises a connection base fixedly connected to the chassis module, a linear bearing fixedly connected to the connection base, a wheel frame slidably connected to the linear bearing, the wheel frame disposed below the connection base, and the directional wheel rotatably connected to the wheel frame; the connecting seat is rotationally connected with a direction screw rod parallel to the linear bearing, the direction screw rod is in threaded connection with the wheel frame, and the direction screw rod is connected with a direction motor.
4. A robotic system for gait training as claimed in any one of claims 1 to 3, wherein the posture control module comprises a belt seat connected to the lifting module, wherein splines are fixedly connected in the belt seat, and wherein the splines are parallel to the left chassis; the spline is connected with a sleeve in a sliding manner, a pair of buffer springs are sleeved on the spline, and the sleeve is arranged between the two buffer springs; the waistband seat is fixedly connected with a front sensor and a rear sensor, one buffer spring is arranged between the front sensor and the rear sensor and the sleeve, and the other buffer spring is arranged between the sleeve and the waistband seat; the sleeve is rotationally connected with a waistband connecting module.
5. The robot system for gait training of claim 4, wherein the posture control module comprises a waist bar connecting seat connected with the lifting module, the waist bar connecting seat is slidingly connected with the waist bar seat, the sliding direction of the waist bar connecting seat is vertical to the spline, a posture screw rod vertical to the spline is rotationally connected on the waist bar connecting seat, a left sensor and a right sensor are connected on the posture screw rod in a threaded manner, and the left sensor and the right sensor are fixedly connected with the waist bar seat; the posture lead screw is connected with a posture motor.
6. The robotic system for gait training of claim 5, wherein the rear cross-beam includes two movable segments rotatably coupled to the left chassis and the right chassis, respectively.
7. The robotic system for gait training of claim 6, wherein the front end of the lift module is connected to a handrail frame to which a touch screen is connected.
8. The robotic system for gait training of claim 7, wherein the steering motor is coupled to the steering screw via a timing belt set and the posture motor is coupled to the posture screw via a timing belt set.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311399269.7A CN117338573A (en) | 2023-10-26 | 2023-10-26 | Robot system for gait training |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311399269.7A CN117338573A (en) | 2023-10-26 | 2023-10-26 | Robot system for gait training |
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| Publication Number | Publication Date |
|---|---|
| CN117338573A true CN117338573A (en) | 2024-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311399269.7A Pending CN117338573A (en) | 2023-10-26 | 2023-10-26 | Robot system for gait training |
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| CN (1) | CN117338573A (en) |
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2023
- 2023-10-26 CN CN202311399269.7A patent/CN117338573A/en active Pending
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