CN202590240U - Body weight-supported treadmill training robot - Google Patents
Body weight-supported treadmill training robot Download PDFInfo
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- CN202590240U CN202590240U CN 201220107659 CN201220107659U CN202590240U CN 202590240 U CN202590240 U CN 202590240U CN 201220107659 CN201220107659 CN 201220107659 CN 201220107659 U CN201220107659 U CN 201220107659U CN 202590240 U CN202590240 U CN 202590240U
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Abstract
The utility model discloses a body weight-supported treadmill training robot which comprises a wearable exoskeleton, a weigh-supported training support, a hanging vest, a treadmill and a control system. The wearable exoskeleton comprises a crus connecting block, a thigh connecting block and a buttock connecting block. The weigh-supported training support comprises a support unit, a height adjusting unit and a hanging unit. The hanging vest is connected with the weigh-supported training support. The body weight-supported treadmill training robot can reduces weight on a disabled limb, enables a patient to carry out walking trainings in an early stage, can activate motor cortexes and rhythmicity motor centers of a spinal correspond, has a great clinical significance for motion relearning, gait rebuilding, and walking ability improving of patients with hemiplegia, paraplegia, cerebral trauma, cerebral palsy, multiple sclerosis, Parkinson diseases, lower limb fractures, and prosthetic limbs, or patients after arthroplasty. Moreover, the body weight-supported treadmill training robot can be used for stationary-type weight-supported treadmill trainings and can carry out movable-type treadmill trainings on the ground. In addition, the body weight-supported treadmill training robot can be connected with a computer, and real-time movement monitoring and feedback can be achieved through computer programs. Movements of the robot can also be controlled through parameter setting.
Description
Technical field
The utility model relates to a kind of medical rehabilitation apparatus, relates in particular to a kind of Unweighting walking image training robot that supplies lower limb disorder patients such as hemiplegia, paraplegia, brain trauma, artificial limb installation to use.
Background technology
From the eighties in last century so far; Unweighting walking training (partial body weight support treadmill training; PBWSTT) recent two decades has been carried out in correlative study; Its application clinically also more and more widely, it mainly is that loading by lower limbs reduces when making patient's walking with the loss of weight suspender belt. carry out the walking ability training by means of exercise stress.But, when training, generally need two therapists, one helps the swing of patient's leg, support phase to suffer from heel contact; Prevent to support phase knee hyperextension; Another helps the patient to carry out centre of body weight transfer, hip stretching, extension, pelvis rotation, and keeps the upright of patient's trunk, and cost of labor is higher.So how tame research institution utilizes Robotics to carry out to replace the auxiliary patient of Physical Therapist to accomplish the equipment of Unweighting walking rehabilitation training automatically in succession.Wherein, typical equipment has the Lokomat of Switzerland, the Motorika Ambulator of the U.S., Litegait, Robomedica etc.Utilize this recovery exercising robot to carry out walking rehabilitation training, not only alleviated therapist's working strength.And ambulation training parameter good reproducibility, the time phase index can accurately set, can effectively accelerate the rehabilitation process, improve curative effect.Yet through consulting and comprehensive study of pertinent literature, the inventor has found several common issue with of its existence: (1) clinical practice property is not strong; (2) cost is too high; (3) complex structure; (4) burden is heavy, operation inconvenience.This has brought difficulty on certain degree, for the practical clinical of Unweighting walking exercise equipment, has also hindered the further popularization of loss of weight rehabilitation training simultaneously.So equipment of the prior art still has further improved necessity.
Based on above analysis, the invention human desires proposes a kind of technical scheme with lower limb rehabilitation robot of relative activity and practical application property.Compare with Unweighting walking exercise equipment in the past, it can reduce nursing staff's quantity and labour intensity to greatest extent; Security, accuracy, comfortableness and the science of Unweighting walking training can be improved, the clinical practice property of lower limb rehabilitation robot can be improved.
The utility model content
In view of above problem; The purpose of the utility model is to provide a kind of Unweighting walking image training robot that supplies lower limb disorder patients such as hemiplegia, paraplegia, brain trauma, artificial limb installation to use; This device can be used in combination with medical treadmill at a slow speed, can realize the clinical rehabilitation training of lower limb disabled.This apparatus structure is simple, and is easy to use, and clinical practice property is strong, and left and right sides handrail width, adjustable height can adapt to different heights, and different fat or thin patients use.But these device handrail bilateral abduction 90 degree are beneficial to withdrawing of ectoskeletal wearing and patient's wheelchair.Simultaneously, the Wearable ectoskeleton is connected with slide rail through damping spring with the weight-losing frame, and the center of gravity when being more conducive to person walks is regulated.
For realizing above-mentioned purpose, the utility model adopts following technical scheme: a kind of Unweighting walking image training robot, and it comprises Wearable ectoskeleton, weight-losing frame, suspention vest, treadmill, control system; Wherein
This Wearable ectoskeleton comprises shank contiguous block, thigh contiguous block and buttocks contiguous block; Hinged and be provided with thigh leading screw and buttocks motor between this buttocks contiguous block and this thigh contiguous block, hinged and be provided with shank leading screw and knee joint motor between this thigh contiguous block and this shank contiguous block; This buttocks motor all is connected with this control system through transmission line with this knee joint motor;
This weight-losing frame comprises bracing or strutting arrangement, arrangement for adjusting height and the suspension apparatus that sets gradually from the bottom to top; This suspension apparatus comprises column, the curved column of band and U-shaped arm; This column is provided with backrest, about be provided with the armrest mechanism of adjustable distance; This armrest mechanism below is provided with the ectoskeleton jockey, and this ectoskeleton jockey is connected with this Wearable ectoskeleton;
This suspention vest is connected with four suspension ring on this U-shaped arm through soft lifting rope;
This treadmill is located at this weight-losing frame below.
Said Wearable ectoskeleton main body adopts the magnesium alloy material, dresses the position and is provided with soft fabric and connects thread gluing.
Said bracing or strutting arrangement comprises both sides underframe and intermediate transverse girder side by side, and this underframe end is provided with castor, is provided with lower margin at this castor adjacent.
Said arrangement for adjusting height is the electric up-down post.
Said armrest mechanism comprises arm-rest frame, supports bend pipe, fixed sleeving and armrest adjustment mechanism; It is hinged that this arm-rest frame and this support bend pipe, is provided with the position that alignment pin is used for fixing this arm-rest frame simultaneously; This fixed sleeving one end is connected with said column, and the other end inserts and should support in the bend pipe, and relative this fixed sleeving of this support bend pipe can slide under the adjusting of this armrest adjustment mechanism.
Said support bend pipe is provided with bracing frame; Said armrest adjustment mechanism comprises regulates leading screw and is located at the handwheel on this adjustings leading screw, and the two ends of this adjusting leading screw are respectively positive and negative screw thread, with about this bracing frame be connected, rotate this handwheel positive left-hand thread is rotated simultaneously.
Said ectoskeleton bindiny mechanism comprises guide rail slide block mechanism, guide rail Connection Block, adjustment piece, ectoskeleton contiguous block; This guide rail slide block mechanism is fixed in the connecting plate of said arm-rest frame below, comprises guide rail and slide block, and this slide block can slide along this guide rail; This guide rail Connection Block is a T shape sheet material, is fixedly connected with this slide block; This adjustment piece is a L-square material, and two right-angle sides are connected fixing with this guide rail Connection Block respectively with this ectoskeleton contiguous block.
On the connecting bolt between said adjustment piece and the said ectoskeleton contiguous block damping stage clip is housed.
Can be between said guide rail Connection Block and the said guide rail through a location screw lock.
Said treadmill is medical treadmill at a slow speed.
The beneficial effect of the utility model is: the Wearable ectoskeleton main body of the utility model adopts lightweight magnesium alloy material, can reduce patient's wearing burden, improves flexibility; Weight-losing frame hoisting depth is adjustable, can realize different height patients' weight-losing; Weight-losing frame handrail width, adjustable height, but abduction 90 degree simultaneously can realize different fat or thin patients' use, and are convenient to treadmill about ectoskeletal wearing and the patient's wheelchair; Under the weight-losing frame handrail rail plate is installed, is convenient to wearable ectoskeletal front and back adjustment; Adopt flexure spring to be connected between Wearable ectoskeleton and the weight-losing frame, the center of gravity adjusting when being convenient to person walks makes gait natural and tripping; Weight-losing frame bottom is equipped with castor and lower margin simultaneously, is convenient to the carrying of device and fixing when using; The design of suspention vest is based on human body inverted triangle form, and can exert all one's strength is evenly distributed on around the trunk, the comfort level when improving the loss of weight suspention; The control system can monitor parameters such as rotating speed of motor, acceleration, moment of torsion in real time, is convenient to the quantitative analysis of rehabilitation training.
Description of drawings
Fig. 1 is the general structure sketch map of the utility model.
Fig. 2 A is that the ectoskeletal master of the Wearable of the utility model looks sketch map.
Fig. 2 B is the ectoskeletal schematic side view of the Wearable of the utility model.
Fig. 3 is the weight-losing frame sketch map of the utility model.
Fig. 4 is the bracing or strutting arrangement sketch map of the weight-losing frame of the utility model.
Fig. 5 is the suspension apparatus sketch map of the weight-losing frame of the utility model.
Fig. 6 is the armrest mechanism sketch map of the weight-losing frame of the utility model.
Fig. 7 is the ectoskeleton jockey sketch map of the weight-losing frame of the utility model.
Drawing reference numeral: 1: Wearable ectoskeleton; 2: the suspention vest; 3: the weight-losing frame; 4: the control system; 5: treadmill; 1-1: knee joint motor; 1-2: shank leading screw; 1-3: shank contiguous block; 1-4: thigh contiguous block; 1-5: thigh leading screw; 1-6: buttocks motor; 1-7: buttocks contiguous block; 3-1: bracing or strutting arrangement; 3-2: arrangement for adjusting height; 3-3: suspension apparatus; 3-4: backrest; 3-5: armrest mechanism; 3-6: ectoskeleton jockey; 3-1-1: underframe; 3-1-2: intermediate transverse girder; 3-1-3: square tube; 3-1-4: lower margin; 3-1-5: castor; 3-3-1: column; 3-3-2: the curved column of band; 3-3-3:U shape arm; 3-5-1: arm-rest frame; 3-5-2: support bend pipe; 3-5-3: fixed sleeving; 3-5-4: regulate leading screw; 3-5-5: handwheel; 3-5-6: bracing frame; 3-6-1: guide rail slide block mechanism; 3-6-2: guide rail Connection Block; 3-6-3: adjustment piece; 3-6-4: ectoskeleton contiguous block; 3-6-5: damping stage clip; 3-6-6: dog screw.
The specific embodiment
Below only the characteristics of the utility model and the technique effect of desiring to reach are described, yet are not category in order to the desire protection of restriction the utility model institute with embodiment, close chat earlier bright.
As shown in Figure 1, the utility model provides a kind of Unweighting walking image training robot, and it comprises Wearable ectoskeleton 1, suspention vest 2, weight-losing frame 3, control system 4, treadmill 5.
Shown in Fig. 2 A and Fig. 2 B; Described Wearable ectoskeleton 1 is made up of knee joint motor 1-1, shank leading screw 1-2, shank contiguous block 1-3, thigh contiguous block 1-4, thigh leading screw 1-5, buttocks motor 1-6 and buttocks contiguous block 1-7; Main body adopts the magnesium alloy material, dresses the position and is provided with soft fabric and connects thread gluing.Buttocks contiguous block 1-7 and thigh contiguous block 1-4 are hinged, and other is provided with thigh leading screw 1-5 and with buttocks motor 1-6 the two is connected, and thigh contiguous block 1-4 and shank contiguous block 1-3 are hinged, and other is provided with shank leading screw 1-2 and with knee joint motor 1-1 the two is connected.Buttocks motor 1-6 all is connected with control system 4 through transmission line with knee joint motor 1-1, can show parameters such as rotating speed of motor, acceleration, moment of torsion on computers, and through control system 4 control above-mentioned parameters.
As shown in Figure 3, described weight-losing frame 3 is made up of bracing or strutting arrangement 3-1, arrangement for adjusting height 3-2, suspension apparatus 3-3, backrest 3-4, armrest mechanism 3-5, ectoskeleton jockey 3-6.
As shown in Figure 4; Described bracing or strutting arrangement 3-1 is connected to form by both sides underframe 3-1-1 and intermediate transverse girder 3-1-2 side by side; Be connected fixing between two underframe and the intermediate transverse girder through bolt; The centre of intermediate transverse girder is provided with square tube 3-1-3, and the upper end of square tube 3-1-3 is provided with connection side's plate, and the bottom of connection side's plate and arrangement for adjusting height 3-2 links together through bolt.The utility model arrangement for adjusting height can be realized through electric lifting vertical column.Be provided with castor 3-1-5 in underframe 3-1-1 end, be connected fixing through the sheet that is threaded with underframe 3-1-1.Be provided with lower margin 3-1-4 at castor 3-1-5 adjacent, be connected with thread bush on the underframe.The height of castor 3-1-5 and lower margin 3-1-4 can be regulated through screw thread, so that carry out moving and carrying of the utility model device.
As shown in Figure 5; Described suspension apparatus 3-3 is located at arrangement for adjusting height 3-2 top; Comprise column 3-3-1, the curved column 3-3-2 of band and U-shaped arm 3-3-3, the lower end of described column 3-3-1 is connected with the curved column 3-3-2 of electric up-down post and band respectively with the upper end, and the curved column 3-3-2 of band is connected with arm 3-3-3 through bolt; U-shaped arm 3-3-3 is provided with four suspension ring, is used to hang the loss of weight suspender belt that supplies the patient to dress.The electric up-down post can be regulated the height of column 3-3-1, and then regulates the height of armrest mechanism 3-5 and arm 3-3-3, and the patient who adapts to different heights uses.
As shown in Figure 1, described suspention vest 2 is connected with four suspension ring on the U-shaped arm 3-3-3 through soft lifting rope.
Described backrest 3-4 is connected with column 3-3-1 through bolt, is used for the patient and leans on.The bottom of column 3-3-1 is provided with pushing hands, uses when being used to shift.
As shown in Figure 6; The left and right side of column 3-3-1 is provided with armrest mechanism 3-5, and armrest mechanism 3-5 comprises arm-rest frame 3-5-1, supports bend pipe 3-5-2, fixed sleeving 3-5-3 and armrest adjustment mechanism, and arm-rest frame 3-5-1 is connected through hinged mode with support bend pipe 3-5-2 and can horizontally rotates; Be provided with the position that alignment pin is used for fixing arm-rest frame 3-5-1 simultaneously; When alignment pin took out, arm-rest frame 3-5-1 can outwards stretch, and fixed sleeving 3-5-3 one end is connected through bolt with column 3-3-1; The other end inserts and supports in the bend pipe 3-5-2, under the adjusting of armrest adjustment mechanism, supports bend pipe 3-5-2 relative fixed sleeve pipe 3-5-3 and can slide.Armrest adjustment mechanism comprises regulates leading screw 3-5-4 and is located at the handwheel 3-5-5 on this adjusting leading screw; The two ends of regulating leading screw 3-5-4 are respectively the screw thread of positive and negative silk; With about the support bend pipe on the bracing frame 3-5-6 that is provided be connected; Rotate handwheel 3-5-5 positive left-hand thread is rotated simultaneously, reach the purpose of regulating both sides arm-rest frame spacing.After regulating the spacing of two arm-rest frames, can make itself and the fixed-site of fixed sleeving 3-5-3, and then fix the position of two arm-rest frames by the screw that supports bend pipe 3-5-2 bottom.The spacing of two arm-rest frames of the utility model can be regulated, and to adapt to the wide patient of dissimilar arm, two arm-rest frames can outwards rotate stretching, extension, gets into and install suspender so that the patient takes wheelchair.
As shown in Figure 7; Armrest mechanism 3-5 below is provided with ectoskeleton jockey 3-6; Wearable ectoskeleton 1 is connected through this ectoskeleton jockey 3-6 with weight-losing frame 3, and the ectoskeleton jockey comprises guide rail slide block mechanism 3-6-1, guide rail Connection Block 3-6-2, adjustment piece 3-6-3, ectoskeleton contiguous block 3-6-4.Guide rail slide block mechanism 3-6-1 is fixed in the connecting plate 3-6-7 of arm-rest frame 3-6-1 below, comprises guide rail and slide block, and slide block can slide along guide rail.Guide rail Connection Block 3-6-2 is a T shape sheet material, is fixedly connected with slide block through screw.Adjustment piece 3-6-3 is a L-square material; Article two, right-angle side is connected fixing with guide rail Connection Block 3-6-2 respectively with ectoskeleton contiguous block 3-6-4; On the connecting bolt between adjustment piece 3-6-3 and the ectoskeleton contiguous block 3-6-4 damping stage clip 3-6-5 is housed, is used for adapting to walking training gravity center of human body's variation.Ectoskeleton contiguous block 3-6-4 is connected fixing with the corresponding ectoskeletal buttocks contiguous block of Wearable 1-7.Can be used for the location of Wearable ectoskeleton adjustment back and patient's training process through dog screw 3-6-6 locking between guide rail Connection Block and the guide rail.
Described treadmill 5 is selected medical treadmill at a slow speed for use, is located at weight-losing frame 3 belows, can use with weight-losing frame 3 couplings, is used for the patient and walks it.
Connection between above-described each parts, each device is not to be limited to bolt to connect, and under the situation that does not influence result of use, any connected mode that it can be expected for those skilled in the art is like welding, mode such as one-body molded.
In sum, the utlity model has following advantage:
1. Wearable ectoskeleton main body adopts the magnesium alloy material, has reduced patient's wearing burden, has improved the use flexibility;
2. the adjustable height of the arm of weight-losing frame and arm-rest frame can be fit to patient's use of different heights;
3. the spacing of the left and right sides arm-rest frame of weight-losing frame can be regulated, and can adapt to arm width different patients, improves comfort;
4. the arm-rest frame of weight-losing frame can outwards rotate expansion, makes things convenient for the patient to take wheelchair and sails the middle suspender of dressing of device into.
5. the guide rail slide block of weight-losing frame can be regulated front and back, makes the patient body lower limb be in comfortable locus with respect to this device;
6. the damping stage clip on the ectoskeleton jockey can adapt to gravity center of human body's in the leg training process height change, makes walking step state smooth and easy naturally.
7. on the bottom support frame of weight-losing frame castor and lower margin are housed simultaneously, are convenient to the carrying of device and fixing when using.
8. the design of suspention vest is beneficial to the dispersion of power based on human body inverted triangle form, improves comfort;
9. control system can monitor parameters such as ectoskeleton rotating speed of motor, acceleration, moment of torsion in real time, is beneficial to the quantification of clinical training;
10. overall structure is simple, and cost is low, and application is strong, and service range is wide.
Claims (10)
1. Unweighting walking image training robot is characterized in that: it comprises Wearable ectoskeleton, weight-losing frame, suspention vest, treadmill, control system; Wherein
This Wearable ectoskeleton comprises shank contiguous block, thigh contiguous block and buttocks contiguous block; Hinged and be provided with thigh leading screw and buttocks motor between this buttocks contiguous block and this thigh contiguous block, hinged and be provided with shank leading screw and knee joint motor between this thigh contiguous block and this shank contiguous block; This buttocks motor all is connected with this control system through transmission line with this knee joint motor;
This weight-losing frame comprises bracing or strutting arrangement, arrangement for adjusting height and the suspension apparatus that sets gradually from the bottom to top; This suspension apparatus comprises column, the curved column of band and U-shaped arm; This column is provided with backrest, about be provided with the armrest mechanism of adjustable distance; This armrest mechanism below is provided with the ectoskeleton jockey, and this ectoskeleton jockey is connected with this Wearable ectoskeleton;
This suspention vest is connected with four suspension ring on this U-shaped arm through soft lifting rope;
This treadmill is located at this weight-losing frame below.
2. Unweighting walking image training robot as claimed in claim 1 is characterized in that: said Wearable ectoskeleton main body adopts the magnesium alloy material, dresses the position and is provided with soft fabric and connects thread gluing.
3. Unweighting walking image training robot as claimed in claim 1 is characterized in that: said bracing or strutting arrangement comprises both sides underframe and intermediate transverse girder side by side, and this underframe end is provided with castor, is provided with lower margin at this castor adjacent.
4. Unweighting walking image training robot as claimed in claim 1 is characterized in that: said arrangement for adjusting height is the electric up-down post.
5. Unweighting walking image training robot as claimed in claim 1 is characterized in that: said armrest mechanism comprises arm-rest frame, supports bend pipe, fixed sleeving and armrest adjustment mechanism; It is hinged that this arm-rest frame and this support bend pipe, is provided with the position that alignment pin is used for fixing this arm-rest frame simultaneously; This fixed sleeving one end is connected with said column, and the other end inserts and should support in the bend pipe, and relative this fixed sleeving of this support bend pipe can slide under the adjusting of this armrest adjustment mechanism.
6. Unweighting walking image training robot as claimed in claim 5 is characterized in that: said support bend pipe is provided with bracing frame; Said armrest adjustment mechanism comprises regulates leading screw and is located at the handwheel on this adjustings leading screw, and the two ends of this adjusting leading screw are respectively positive and negative screw thread, with about this bracing frame be connected, rotate this handwheel positive left-hand thread is rotated simultaneously.
7. Unweighting walking image training robot as claimed in claim 1 is characterized in that: said ectoskeleton bindiny mechanism comprises guide rail slide block mechanism, guide rail Connection Block, adjustment piece, ectoskeleton contiguous block; This guide rail slide block mechanism is fixed in the connecting plate of said arm-rest frame below, comprises guide rail and slide block, and this slide block can slide along this guide rail; This guide rail Connection Block is a T shape sheet material, is fixedly connected with this slide block; This adjustment piece is a L-square material, and two right-angle sides are connected fixing with this guide rail Connection Block respectively with this ectoskeleton contiguous block.
8. Unweighting walking image training robot as claimed in claim 7 is characterized in that: on the connecting bolt between said adjustment piece and the said ectoskeleton contiguous block damping stage clip is housed.
9. Unweighting walking image training robot as claimed in claim 8 is characterized in that: can be through a location screw lock between said guide rail Connection Block and the said guide rail.
10. Unweighting walking image training robot as claimed in claim 1 is characterized in that: said treadmill is medical treadmill at a slow speed.
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| CN 201220107659 CN202590240U (en) | 2012-03-21 | 2012-03-21 | Body weight-supported treadmill training robot |
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| CN 201220107659 CN202590240U (en) | 2012-03-21 | 2012-03-21 | Body weight-supported treadmill training robot |
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| CN103417356A (en) * | 2013-07-10 | 2013-12-04 | 南京升泰元机器人科技有限公司 | Gait rehabilitation training robot |
| CN103637864A (en) * | 2013-12-25 | 2014-03-19 | 国家康复辅具研究中心 | Auxiliary training tool for comprehensive rehabilitation of cerebral palsy |
| CN104274299A (en) * | 2014-06-05 | 2015-01-14 | 长春工业大学 | Lower limb rehabilitation training device |
| CN104759060A (en) * | 2014-01-06 | 2015-07-08 | 上海理工大学 | Double-airbag body weight support treadmill training device |
| CN105147493A (en) * | 2015-06-24 | 2015-12-16 | 合肥工业大学 | Lower limb automatic regulating platform for waist rehabilitation training and training method |
| CN105311794A (en) * | 2014-05-27 | 2016-02-10 | 丰田自动车株式会社 | Walking training system and walking training method of the same |
| CN105832496A (en) * | 2016-03-17 | 2016-08-10 | 合肥工业大学 | Novel lower extremity exoskeleton rehabilitation training device and training method |
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| CN110559163A (en) * | 2019-09-06 | 2019-12-13 | 山东中医药大学附属医院 | Gait walking rehabilitation training device |
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| CN112451320A (en) * | 2020-11-25 | 2021-03-09 | 上海电气集团股份有限公司 | Weight-losing supporting mechanism and lower limb rehabilitation robot comprising same |
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| CN112891152A (en) * | 2020-12-02 | 2021-06-04 | 山东科技大学 | Double-freedom-degree backrest and active weight reduction rack suitable for rehabilitation exoskeleton |
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| CN103637864A (en) * | 2013-12-25 | 2014-03-19 | 国家康复辅具研究中心 | Auxiliary training tool for comprehensive rehabilitation of cerebral palsy |
| CN104759060B (en) * | 2014-01-06 | 2017-01-11 | 上海理工大学 | Double-airbag body weight support treadmill training device |
| CN104759060A (en) * | 2014-01-06 | 2015-07-08 | 上海理工大学 | Double-airbag body weight support treadmill training device |
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