CN203647656U - Multi-position lower limb rehabilitation training robot - Google Patents
Multi-position lower limb rehabilitation training robot Download PDFInfo
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- CN203647656U CN203647656U CN201320860655.7U CN201320860655U CN203647656U CN 203647656 U CN203647656 U CN 203647656U CN 201320860655 U CN201320860655 U CN 201320860655U CN 203647656 U CN203647656 U CN 203647656U
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Abstract
The utility model discloses a multi-position lower limb rehabilitation training robot. A bedstead base comprises a bedstead, a vertical lifting sliding block, a horizontal moving sliding block, a first drive push rod, flexible cables, a rising bedstead, a bedstead body, a second drive push rod and bionic legs, wherein the bedstead comprises a bottom frame and two support frames; the vertical lifting sliding block is arranged on the two support frames; the horizontal moving sliding block is arranged on the bottom frame; the first drive push rod is arranged on the bottom frame; one end of each flexible rope is connected with the vertical lifting sliding block and is linked with the horizontal moving sliding block; the rising bedstead comprises rotating shaft connecting blocks which are arranged on the vertical lifting sliding block; rotating shafts are arranged in the rotating shaft connecting blocks in a rotating way; the bedstead body is connected with the rotating shafts; one end of the second drive push rod is hinged to the vertical lifting sliding block; the other end of the second drive push rod is hinged to the bedstead body; the bionic legs are directly or indirectly connected with the rotating shafts. By using the multi-position lower limb rehabilitation training robot, the multi-position rehabilitation or training of a patient can be realized, physical therapy or sports therapy can be conveniently carried out on the patient by a therapist or a doctor, the work intensity of therapeutic staff is reduced, and the consistency of rehabilitation training actions is ensured.
Description
Technical field
This utility model relates to rehabilitation training equipment technical field, more particularly, relates to a kind of many positions lower limbs rehabilitation training robot.
Background technology
In recent years, the dysbasia causing because of factors such as vehicle accident, industrial accident, apoplexy presents trend occurred frequently, and the Disease crowd scopes such as apoplexy, spinal cord injury are progressively expanding.This type of patient, except performing the operation or Drug therapy, also needs the rehabilitation training of science to help to recover limb activity ability.
Traditional rehabilitation training is generally manually assisted patient's Walking of standing by doctor and therapist.This passive training mode working strength is large, is difficult to ensure the concordance of rehabilitation exercise motion, cannot adapt to different rehabilitation stage patients' requirement.
Therefore, how to reduce treatment personnel's working strength, ensure the concordance of rehabilitation exercise motion, become those skilled in the art's technical problem urgently to be resolved hurrily.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of many positions lower limbs rehabilitation training robot, to reduce treatment personnel's working strength, ensures the concordance of rehabilitation exercise motion.
For achieving the above object, this utility model provides following technical scheme:
A kind of many positions lower limbs rehabilitation training robot, comprises bedstead base, stand up bedstead and bionic leg, and described bionic leg is two;
Described bedstead base comprises:
Bedstead, comprises under(-)chassis and is arranged at two bracing frames on described under(-)chassis;
Be mounted slidably the vertical lift slide block on two support frames as described above;
Be mounted slidably the slide block that moves horizontally on described under(-)chassis;
Be arranged on described under(-)chassis, described in driving, move horizontally the first driving push rod that slide block moves;
Flexible cable, described flexible cable one end is connected with described vertical lift slide block, and links with the described slide block that moves horizontally;
The described bedstead that stands up comprises:
Turning cylinder contiguous block, is arranged on described vertical lift slide block, in described turning cylinder contiguous block, is provided with rotationally turning cylinder;
The bedstead main body being connected with described turning cylinder, is provided with mattress in described bedstead main body;
Second drives push rod, and one end is articulated with on described vertical lift slide block, and the other end is articulated with in described bedstead main body;
Described bionic leg is directly or indirectly connected with described turning cylinder.
Preferably, in above-mentioned many positions lower limbs rehabilitation training robot, described bionic leg comprises:
The hip joint width adjustment mechanism being directly or indirectly connected with described turning cylinder;
The hip joint depth adjusting mechanism being slidably matched with described hip joint width adjustment mechanism;
The hip joint contiguous block being slidably matched with described hip joint depth adjusting mechanism;
Be arranged on described hip joint depth adjusting mechanism, for the 3rd driving push rod that drives described hip joint contiguous block to move up and down;
Be arranged at the hip joint swing component on described hip joint contiguous block;
Be arranged on described hip joint contiguous block, for the first oscillatory gearing mechanism that drives described hip joint swing component to swing;
The knee joint contiguous block being connected with described hip joint swing component;
Be arranged at the ankle joint swing component on described knee joint contiguous block;
Be arranged on described knee joint contiguous block, for the second oscillatory gearing mechanism that drives described ankle joint swing component to swing;
The ankle joint contiguous block being connected with described ankle joint swing component;
Be arranged at the pedal on described ankle joint contiguous block;
Be arranged at the thigh fixed block on described knee joint contiguous block;
Be arranged at the shank fixed block on described ankle joint contiguous block;
Be arranged on described ankle joint contiguous block, for the 3rd oscillatory gearing mechanism that drives described pedal to swing.
Preferably, in above-mentioned many positions lower limbs rehabilitation training robot, described hip joint depth adjusting mechanism is provided with for hip joint depth adjusting mechanism being locked to the hip joint width locking mechanism in described hip joint width adjustment mechanism;
Described knee joint contiguous block regulates retaining mechanism to be mounted slidably in described hip joint swing component by the first shank length;
Described ankle joint contiguous block regulates retaining mechanism to be mounted slidably in described ankle joint swing component by the second shank length.
Preferably, in above-mentioned many positions lower limbs rehabilitation training robot, described flexible cable is steel wire rope or nylon cable;
The top of two support frames as described above is provided with the first pulley;
The two ends of described flexible cable are connected with described vertical lift slide block after walking around respectively two described the first pulleys.
Preferably, in above-mentioned many positions lower limbs rehabilitation training robot, on described under(-)chassis, be provided with multiple the second pulleys;
Described moving horizontally on slide block is provided with the 3rd pulley, and described flexible cable is walked around described the second pulley and described the 3rd pulley.
Preferably, in above-mentioned many positions lower limbs rehabilitation training robot, described flexible cable is chain;
The top of two support frames as described above is provided with the first sprocket wheel;
The two ends of described flexible cable are connected with described vertical lift slide block after walking around respectively two described the first sprocket wheels.
Preferably, in above-mentioned many positions lower limbs rehabilitation training robot, on described under(-)chassis, be provided with multiple the second sprocket wheels;
Described moving horizontally on slide block is provided with the 3rd sprocket wheel, and described flexible cable is walked around described the second sprocket wheel and described the 3rd sprocket wheel.
Preferably, in above-mentioned many positions lower limbs rehabilitation training robot, be provided with the first guide rod on support frame as described above, described vertical lift slide block slides along described the first guide rod;
Described under(-)chassis is provided with the second guide rod, described in move horizontally slide block along described second guide rod slide.
Preferably, in above-mentioned many positions lower limbs rehabilitation training robot, described the first driving push rod is electric pushrod, cylinder or hydraulic cylinder;
Described the second driving push rod is electric pushrod, cylinder or hydraulic cylinder;
Described the 3rd driving push rod is electric pushrod, cylinder or hydraulic cylinder.
Preferably, in above-mentioned many positions lower limbs rehabilitation training robot, also comprise the device for fastening suspender being arranged in described bedstead main body;
In described bedstead main body, be provided with the 3rd guide rod, described mattress slides along described the 3rd guide rod.
Can find out from above-mentioned technical scheme, many positions lower limbs rehabilitation training robot that this utility model provides, by the action of the first driving push rod, can drive and move horizontally slide block and move, move horizontally in slide block moving process, flexible cable can be pulled, because flexible cable is connected with vertical lift slide block, thereby moving up and down of vertical lift slide block can be realized.This utility model, by the action of the second driving push rod, can promote the axial rotation of bedstead main body along turning cylinder.
This utility model can, for the patient in different rehabilitation stage, can, by regulating second to drive the flexible length control bedstead subject angle (can select between 0 degree to 90 degree arbitrarily angled) of push rod in the time that bedstead main body is high-order, be selected suitable training position.Bedstead main body is fallen in extreme lower position and can be facilitated patient's bunk bed simultaneously.
This utility model by the first driving push rod make to stand up bedstead rise and center of gravity after move, complete the bedstead that stands up and rise to a high position from low level under level, a level high position (0 degree angle) is to the continuous transformation of orthostatism (an angle of 90 degrees), thereby realize rehabilitation or the training of the many positions of patient, facilitate therapist or doctor to carry out naturopathy or exercise therapy to patient, reduce treatment personnel's working strength, ensured the concordance of rehabilitation exercise motion.
Brief description of the drawings
In order to be illustrated more clearly in this utility model embodiment or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
The structural representation of the bedstead base that Fig. 1 provides for this utility model embodiment;
Structural representation under another angle of the bedstead base that Fig. 2 provides for this utility model embodiment;
The structural representation of the bedstead that stands up that Fig. 3 provides for this utility model embodiment;
The structural representation of the bionic leg that Fig. 4 provides for this utility model embodiment;
The structural representation of another angle of the bionic leg that Fig. 5 provides for this utility model embodiment;
The structural representation of many positions lower limbs rehabilitation training robot that Fig. 6 provides for this utility model embodiment in the time of horizontal low level;
The structural representation of many positions lower limbs rehabilitation training robot that Fig. 7 provides for this utility model embodiment in the time that level is high-order;
The structural representation of many positions lower limbs rehabilitation training robot that Fig. 8 provides for this utility model embodiment in the time of orthostatism.
Wherein:
101 is bedstead, and 102 is vertical lift slide block, and 103 for moving horizontally slide block, 104 is the second guide rod, and 105 is guide bar receiver, and 106 is the first driving push rod, 107 is the first pulley, and 108 is flexible cable, and 109 is bedstead main body, 110 is mattress, and 111 is the second driving push rod, and 112 is bedstead support fixed block, 113 is turning cylinder, and 114 is turning cylinder contiguous block, and 115 is device for fastening suspender, 116 is the 3rd guide rod, and 117 is guide rod seat.
Detailed description of the invention
Core of the present utility model is to provide a kind of many positions lower limbs rehabilitation training robot, to reduce treatment personnel's working strength, ensures the concordance of rehabilitation exercise motion.
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is clearly and completely described, obviously, described embodiment is only this utility model part embodiment, instead of whole embodiment.Based on the embodiment in this utility model, those of ordinary skill in the art are not making the every other embodiment obtaining under creative work prerequisite, all belong to the scope of this utility model protection.
Refer to Fig. 1 and Fig. 2, the structural representation of the bedstead base that Fig. 1 provides for this utility model embodiment; Structural representation under another angle of the bedstead base that Fig. 2 provides for this utility model embodiment.
Many positions lower limbs rehabilitation training robot that this utility model embodiment provides, comprises bedstead base, stand up bedstead and bionic leg, and bionic leg is for supporting patient's shank, so bionic leg should be two.
Bedstead base comprises bedstead 101, vertical lift slide block 102, moves horizontally slide block 103, the first driving push rod 106 and flexible cable 108.
Wherein, bedstead 101 comprises under(-)chassis and is arranged at two bracing frames on under(-)chassis, two bracing frame positioned opposite.Vertical lift slide block 102 is mounted slidably on two bracing frames, moves horizontally slide block 103 and is mounted slidably on under(-)chassis.
First drives push rod 106 to be arranged on under(-)chassis, for driving the movement that moves horizontally slide block 103.Flexible cable 108 one end are connected with vertical lift slide block 102, and link with moving horizontally slide block 103, drive when moving horizontally slide block 103 and moving at the first driving push rod 106, can tractive flexible cable 108, thus change the vertical height of vertical lift slide block 102.
Refer to Fig. 3, the structural representation of the bedstead that stands up that Fig. 3 provides for this utility model embodiment.
The bedstead that stands up comprises that turning cylinder contiguous block 114, bedstead main body 109 and second drive push rod 111.
Wherein, turning cylinder contiguous block 114 is arranged on vertical lift slide block 102, is provided with rotationally turning cylinder 113 in turning cylinder contiguous block 114, and turning cylinder 113 can rotate with respect to turning cylinder contiguous block 114.
Bedstead main body 109 is connected with turning cylinder 113, is provided with mattress 110 in bedstead main body 109, thereby bedstead main body 109 can be rotated with respect to turning cylinder contiguous block 114.Second drives one end of push rod 111 to be articulated with on vertical lift slide block 102, and the other end is articulated with in bedstead main body 109.The rotation of bedstead main body 109 drives by the second driving push rod 111.
Bionic leg is directly or indirectly connected with turning cylinder 113, makes bionic leg and mattress 110 keep maintaining an equal level.
Refer to Fig. 6-Fig. 8, the structural representation of many positions lower limbs rehabilitation training robot that Fig. 6 provides for this utility model embodiment in the time of horizontal low level; The structural representation of many positions lower limbs rehabilitation training robot that Fig. 7 provides for this utility model embodiment in the time that level is high-order; The structural representation of many positions lower limbs rehabilitation training robot that Fig. 8 provides for this utility model embodiment in the time of orthostatism.
Many positions lower limbs rehabilitation training robot that this utility model provides, by the action of the first driving push rod 106, can drive and move horizontally slide block 103 and move, move horizontally in slide block 103 moving process, can pull flexible cable 108, because flexible cable 108 is connected with vertical lift slide block 102, thereby can realize moving up and down of vertical lift slide block 102.This utility model, by the action of the second driving push rod 111, can promote the axial rotation of bedstead main body 109 along turning cylinder 113.
This utility model can be for the patient in different rehabilitation stage, can, by regulating the angle (can select between 0 degree to 90 degree arbitrarily angled) of the second driving push rod 111 flexible length control bedstead main bodys 109 in the time that bedstead main body 109 is high-order, select suitable training position.Bedstead main body 109 is fallen in extreme lower position and can be facilitated patient's bunk bed simultaneously.
This utility model by the first driving push rod 106 make to stand up bedstead rise and center of gravity after move, complete the bedstead that stands up and rise to a high position from low level under level, a level high position (0 degree angle) is to the continuous transformation of orthostatism (an angle of 90 degrees), thereby realize rehabilitation or the training of the many positions of patient, facilitate therapist or doctor to carry out naturopathy or exercise therapy to patient, reduce treatment personnel's working strength, ensured the concordance of rehabilitation exercise motion.
Refer to Fig. 4 and Fig. 5, the structural representation of the bionic leg that Fig. 4 provides for this utility model embodiment; The structural representation of another angle of the bionic leg that Fig. 5 provides for this utility model embodiment.
In this utility model one specific embodiment, bionic leg comprises that hip joint width adjustment mechanism 118, hip joint depth adjusting mechanism 120, hip joint contiguous block 123, the 3rd drive push rod 121, hip joint swing component 124, the first oscillatory gearing mechanism, ankle joint contiguous block 130, pedal 133, the second oscillatory gearing mechanism and the 3rd oscillatory gearing mechanism.
Wherein, hip joint width adjustment mechanism 118 is directly or indirectly connected with turning cylinder 113, hip joint depth adjusting mechanism 120 is slidably matched with hip joint width adjustment mechanism 118, particularly, in hip joint width adjustment mechanism 118, there is width adjusting guide rod, hip joint depth adjusting mechanism 120 is provided with the width adjusting slippage cover being slidably matched with width adjusting guide rod, regulates slippage to be enclosed within the position on width adjusting guide rod by adjustment width, carrys out adjustment width.
Hip joint contiguous block 123 is slidably matched with hip joint depth adjusting mechanism 120, particularly, on hip joint depth adjusting mechanism 120, there is depth adjustment guide rod, hip joint contiguous block 123 is provided with the depth adjustment slippage cover being slidably matched with depth adjustment guide rod, regulate slippage to be enclosed within the position on depth adjustment guide rod by regulation depth, carry out regulation depth.
The 3rd drives push rod 121 to be arranged on hip joint depth adjusting mechanism 120, be used for driving hip joint contiguous block 123 to move up and down, for fear of stuck, can drive the two ends of push rod 121 hinged with hip joint depth adjusting mechanism 120 and hip joint contiguous block 123 respectively by the 3rd.This utility model, by the expanding-contracting action of the 3rd driving push rod 121, can promote hip joint contiguous block 123 and move up and down along depth adjustment guide rod.
Hip joint swing component 124 is arranged on hip joint contiguous block 123, and can rotate with respect to hip joint contiguous block 123.The first oscillatory gearing mechanism 122 is arranged on hip joint contiguous block 123, be used for driving hip joint swing component 124 to swing, particularly, the first oscillatory gearing mechanism 122 can pass to hip joint swing component 124 by power by gear mechanism, and hip joint swing component 124 is swung.The first oscillatory gearing mechanism 122 can be motor.
Knee joint contiguous block 126 is connected with hip joint swing component 124, and ankle joint swing component 129 is arranged on knee joint contiguous block 126, and can swing with respect to knee joint contiguous block 126.The second oscillatory gearing mechanism 125 is arranged on knee joint contiguous block 126, be used for driving ankle joint swing component 129 to swing, particularly, the second oscillatory gearing mechanism 125 can pass to ankle joint swing component 129 by power by gear mechanism, and ankle joint swing component 129 is swung.The second oscillatory gearing mechanism 125 can be motor.
Ankle joint contiguous block 130 is connected with ankle joint swing component 129, pedal 133 is arranged on ankle joint contiguous block 130, the 3rd oscillatory gearing mechanism 131 is arranged on ankle joint contiguous block 130, be used for driving pedal 133 to swing, particularly, the 3rd oscillatory gearing mechanism 131 can pass to pedal 133 by power by gear mechanism, and pedal 133 is swung.The 3rd oscillatory gearing mechanism 131 can be motor.
Knee joint contiguous block 126 is provided with thigh fixed block 127, and ankle joint contiguous block 130 is provided with shank fixed block 132.
In this utility model one specific embodiment, hip joint depth adjusting mechanism 120 is provided with for hip joint depth adjusting mechanism 120 being locked to the hip joint width locking mechanism 119 in hip joint width adjustment mechanism 118, hip joint depth adjusting mechanism 120 can be fixed on the relevant position of hip joint width adjustment mechanism 118 by this hip joint width locking mechanism 119.
Knee joint contiguous block 126 regulates retaining mechanism 128 to be mounted slidably in hip joint swing component 124 by the first shank length, on hip joint swing component 124, there is the first length adjustment guide rod, the first shank length regulates retaining mechanism 128 and the first length adjustment guide rod to be slidably matched, and can be locked on the relevant position of the first length adjustment guide rod.The mode that can realize locking in prior art has a lot, for example, adopt the mode of lock-screw, herein the mode of locking is not construed as limiting.
Ankle joint contiguous block 130 regulates retaining mechanism 134 to be mounted slidably in ankle joint swing component 129 by the second shank length, on ankle joint swing component 129, there is the second length adjustment guide rod, the second shank length regulates retaining mechanism 134 and the second length adjustment guide rod to be slidably matched, and can be locked on the relevant position of the second length adjustment guide rod.The mode that can realize locking in prior art has a lot, for example, adopt the mode of lock-screw, herein the mode of locking is not construed as limiting.
This utility model mates the patient of different heights by adjusting bionic leg, long by corresponding retaining mechanism Convenient table; The basin bone degree of depth, also scalable of width simultaneously, many positions lower limbs rehabilitation training robot is strong to different types of patient's adaptive faculty.
It should be noted that, hip joint width locking mechanism 119 can substitute with electronic guide rail.In the skimulated motion of bionical both legs gait, motor drives and also can use motor gear drive, the driving of electrical servo push rod to substitute.
In this utility model one specific embodiment, flexible cable 108 is steel wire rope or nylon cable, and the top of two bracing frames is provided with the first pulley 107, and the two ends of flexible cable 108 are connected with vertical lift slide block 102 after walking around respectively two the first pulleys 107.The two ends of flexible cable 108 are connected with the both sides of vertical lift slide block 102 respectively, thereby make vertical lift slide block 102 be pulled up stably or fall.
This utility model can reach the object of the direction of change power by the first pulley is set, thereby can make, moving horizontally under the condition that slide block 103 moves horizontally, to drive vertical lift slide block 102 in the vertical directions to move by flexible cable 108.
In this utility model one specific embodiment, on under(-)chassis, be provided with multiple the second pulleys, move horizontally on slide block 103 and be provided with the 3rd pulley, flexible cable 108 is walked around the second pulley and the 3rd pulley.This utility model moves horizontally slide block 103 by the first driving push rod 106 drives and moves, thereby flexible cable 108 length between the second pulley and the 3rd pulley are changed, flexible cable 108 length between corresponding the second pulley and the first pulley also can change, thereby the height of vertical lift slide block 102 is changed.Wherein, the first pulley and the second pulley are fixed pulley, and for changing application of force direction, and not movable pulley of the 3rd pulley can reduce the size of driving force, thereby reaches labour-saving object.
In another specific embodiment of this utility model, flexible cable 108 is chain, and the top of two bracing frames is provided with the first sprocket wheel, and the two ends of flexible cable 108 are connected with vertical lift slide block 102 after walking around respectively two the first sprocket wheels.The two ends of flexible cable 108 are connected with the both sides of vertical lift slide block 102 respectively, thereby make vertical lift slide block 102 be pulled up stably or fall.
This utility model can reach the object of the direction of change power by the first sprocket wheel is set, thereby can make, moving horizontally under the condition that slide block 103 moves horizontally, to drive vertical lift slide block 102 in the vertical directions to move by flexible cable 108.
Further, be provided with multiple the second sprocket wheels on under(-)chassis, move horizontally on slide block 103 and be provided with the 3rd sprocket wheel, flexible cable 108 is walked around the second sprocket wheel and the 3rd sprocket wheel.This utility model moves horizontally slide block 103 by the first driving push rod 106 drives and moves, thereby flexible cable 108 length between the second sprocket wheel and the 3rd sprocket wheel are changed, flexible cable 108 length between corresponding the second sprocket wheel and the first sprocket wheel also can change, thereby the height of vertical lift slide block 102 is changed.
In this utility model one specific embodiment, on bracing frame, be provided with the first guide rod, vertical lift slide block 102 slides along the first guide rod, accordingly, can on vertical lift slide block 102, be provided for the slippage cover being slidably matched with the first guide rod, overlap and the coordinating of the first guide rod by slippage, realized vertical lift slide block 102 slip in a certain direction.For the stability that ensures to be slidably matched, two the first guide rods can be set on each bracing frame.
Under(-)chassis is provided with the second guide rod 104, moves horizontally slide block 103 and slides along the second guide rod 104.Particularly, on under(-)chassis, being provided with guide bar receiver 105, the second guide rods 104 is supported on guide bar receiver 105.Accordingly, can on slide block 103, be provided for the slippage cover that is slidably matched with the second guide rod 104 moving horizontally, overlap and the coordinating of the second guide rod 104 by slippage, realize and moved horizontally slide block 103 slip in a certain direction.For the stability that ensures to be slidably matched, 104, two the second guide rods 104 of two the second guide rods can be set on under(-)chassis lay respectively at the both sides of the first driving push rod 106.
In order to realize the convenience of many positions lower limbs rehabilitation training robot, be provided with four road wheels in the bottom of under(-)chassis, by the road wheel of bottom, can move easily this many positions lower limbs rehabilitation training robot.
In this utility model one specific embodiment, the first driving push rod 106 is electric pushrod, cylinder or hydraulic cylinder.It should be noted that, this utility model is not limited to above-mentioned three kinds of concrete drives structure forms, all can be used as the first driving push rod 106 as long as can realize the driving mechanism of axial stretching function, reaches corresponding object.
In this utility model one specific embodiment, this utility model also can comprise the device for fastening suspender 115 being arranged in bedstead main body 109.Device for fastening suspender 115 can rotate by 180 degree, and as shown in Figure 6, under bedstead erectility, patient can hang over suspender belt body support on device for fastening suspender 115.
In this utility model one specific embodiment, in bedstead main body 109, be provided with the 3rd guide rod 116, concrete guide rod seat 117, the three guide rods 116 that are provided with in bedstead main body 109 are supported on guide rod seat 117, and mattress 110 slides along the 3rd guide rod 116.Correspondingly, should the slippage cover being slidably matched with the 3rd guide rod 116 be set in the bottom of mattress 110, overlap with being slidably matched of the 3rd guide rod 116 and realize the slip of mattress 110 by slippage.
In this utility model one specific embodiment, the end of turning cylinder 113 is provided with bedstead and supports fixed block 112, and bedstead main body 109 is fixed on bedstead and supports on fixed block 112, and bedstead main body 109 supports fixed block 112 by bedstead and is connected with turning cylinder 113.
In this utility model one specific embodiment, the second driving push rod 111 is electric pushrod, cylinder or hydraulic cylinder.It should be noted that, this utility model is not limited to above-mentioned three kinds of concrete drives structure forms, all can be used as the first driving push rod 106 as long as can realize the driving mechanism of axial stretching function, reaches corresponding object.
This utility model electric pushrod, realizes bedstead lifting, steady, the continuous transformation of bedstead from horizontal position (0 degree angle) to orthostatism (an angle of 90 degrees).The present invention is applicable to all kinds of medical apparatus and instruments that contain standing bed shelf structure, can be widely used in the places such as hospital, sanatorium, family ward.
The line slideway that this utility model embodiment provides, owing to having adopted the disclosed many positions lower limbs rehabilitation training robot of above-described embodiment, the institute therefore with above-mentioned many positions lower limbs rehabilitation training robot produces effect, and does not repeat them here herein.
In this description, each embodiment adopts the mode of going forward one by one to describe, and what each embodiment stressed is and the difference of other embodiment, between each embodiment identical similar part mutually referring to.
To the above-mentioned explanation of the disclosed embodiments, make professional and technical personnel in the field can realize or use this utility model.To be apparent for those skilled in the art to the multiple amendment of these embodiment, General Principle as defined herein can, in the situation that not departing from spirit or scope of the present utility model, realize in other embodiments.Therefore, this utility model will can not be restricted to these embodiment shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. the lower limbs rehabilitation training robot of position more than, is characterized in that, comprises bedstead base, stand up bedstead and bionic leg, and described bionic leg is two;
Described bedstead base comprises:
Bedstead (101), comprises under(-)chassis and is arranged at two bracing frames on described under(-)chassis;
Be mounted slidably the vertical lift slide block (102) on two support frames as described above;
Be mounted slidably and move horizontally slide block (103) on described under(-)chassis;
Be arranged on described under(-)chassis, described in driving, move horizontally the first mobile driving push rod (106) of slide block (103);
Flexible cable (108), described flexible cable (108) one end is connected with described vertical lift slide block (102), and links with the described slide block (103) that moves horizontally;
The described bedstead that stands up comprises:
Turning cylinder contiguous block (114), is arranged at described vertical lift slide block (102) upper, is provided with rotationally turning cylinder (113) in described turning cylinder contiguous block (114);
The bedstead main body (109) being connected with described turning cylinder (113), is provided with mattress (110) in described bedstead main body (109);
Second drives push rod (111), and it is upper that one end is articulated with described vertical lift slide block (102), and the other end is articulated with in described bedstead main body (109);
Described bionic leg is directly or indirectly connected with described turning cylinder (113).
2. many positions lower limbs rehabilitation training robot as claimed in claim 1, is characterized in that, described bionic leg comprises:
The hip joint width adjustment mechanism (118) being directly or indirectly connected with described turning cylinder (113);
The hip joint depth adjusting mechanism (120) being slidably matched with described hip joint width adjustment mechanism (118);
The hip joint contiguous block (123) being slidably matched with described hip joint depth adjusting mechanism (120);
Be arranged at described hip joint depth adjusting mechanism (120) upper, for the 3rd driving push rod (121) that drives described hip joint contiguous block (123) to move up and down;
Be arranged at the hip joint swing component (124) on described hip joint contiguous block (123);
Be arranged at described hip joint contiguous block (123) upper, for the first oscillatory gearing mechanism that drives described hip joint swing component (124) to swing;
The knee joint contiguous block (126) being connected with described hip joint swing component (124);
Be arranged at the ankle joint swing component (129) on described knee joint contiguous block (126);
Be arranged at described knee joint contiguous block (126) upper, for the second oscillatory gearing mechanism that drives described ankle joint swing component (129) to swing;
The ankle joint contiguous block (130) being connected with described ankle joint swing component (129);
Be arranged at the pedal (133) on described ankle joint contiguous block (130);
Be arranged at described ankle joint contiguous block (130) upper, for the 3rd oscillatory gearing mechanism that drives described pedal (133) to swing;
Be arranged at the thigh fixed block (127) on described knee joint contiguous block (126);
Be arranged at the shank fixed block (132) on described ankle joint contiguous block (130).
3. many positions lower limbs rehabilitation training robot as claimed in claim 2, it is characterized in that, described hip joint depth adjusting mechanism (120) is provided with for hip joint depth adjusting mechanism (120) being locked to the hip joint width locking mechanism (119) in described hip joint width adjustment mechanism (118);
Described knee joint contiguous block (126) regulates retaining mechanism (128) to be mounted slidably in described hip joint swing component (124) by the first shank length;
Described ankle joint contiguous block (130) regulates retaining mechanism (134) to be mounted slidably in described ankle joint swing component (129) by the second shank length.
4. many positions lower limbs rehabilitation training robot as claimed in claim 1, is characterized in that, described flexible cable (108) is steel wire rope or nylon cable;
The top of two support frames as described above is provided with the first pulley (107);
The two ends of described flexible cable (108) are connected with described vertical lift slide block (102) after walking around respectively two described the first pulleys (107).
5. many positions lower limbs rehabilitation training robot as claimed in claim 4, is characterized in that, is provided with multiple the second pulleys on described under(-)chassis;
Described moving horizontally on slide block (103) is provided with the 3rd pulley, and described flexible cable (108) is walked around described the second pulley and described the 3rd pulley.
6. many positions lower limbs rehabilitation training robot as claimed in claim 1, is characterized in that, described flexible cable (108) is chain;
The top of two support frames as described above is provided with the first sprocket wheel;
The two ends of described flexible cable (108) are connected with described vertical lift slide block (102) after walking around respectively two described the first sprocket wheels.
7. many positions lower limbs rehabilitation training robot as claimed in claim 6, is characterized in that, is provided with multiple the second sprocket wheels on described under(-)chassis;
Described moving horizontally on slide block (103) is provided with the 3rd sprocket wheel, and described flexible cable (108) is walked around described the second sprocket wheel and described the 3rd sprocket wheel.
8. many positions lower limbs rehabilitation training robot as claimed in claim 1, is characterized in that, is provided with the first guide rod on support frame as described above, and described vertical lift slide block (102) slides along described the first guide rod;
Described under(-)chassis is provided with the second guide rod, described in move horizontally slide block (103) along described second guide rod slide.
9. many positions lower limbs rehabilitation training robot as claimed in claim 2, is characterized in that, described the first driving push rod (106) is electric pushrod, cylinder or hydraulic cylinder;
Described the second driving push rod (111) is electric pushrod, cylinder or hydraulic cylinder;
Described the 3rd driving push rod (121) is electric pushrod, cylinder or hydraulic cylinder.
10. the many positions lower limbs rehabilitation training robot as described in claim 1-9 any one, is characterized in that, also comprises the device for fastening suspender (115) being arranged in described bedstead main body (109);
In described bedstead main body (109), be provided with the 3rd guide rod, described mattress (110) slides along described the 3rd guide rod.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320860655.7U CN203647656U (en) | 2013-12-24 | 2013-12-24 | Multi-position lower limb rehabilitation training robot |
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| CN201320860655.7U CN203647656U (en) | 2013-12-24 | 2013-12-24 | Multi-position lower limb rehabilitation training robot |
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| CN203647656U true CN203647656U (en) | 2014-06-18 |
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| CN201320860655.7U Withdrawn - After Issue CN203647656U (en) | 2013-12-24 | 2013-12-24 | Multi-position lower limb rehabilitation training robot |
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| CN (1) | CN203647656U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104287943A (en) * | 2014-10-09 | 2015-01-21 | 秦宪菊 | Lower limb rehabilitation training device |
| CN104800043A (en) * | 2015-04-27 | 2015-07-29 | 上海璟和技创机器人有限公司 | Rehabilitation training robot for lower limbs |
| CN104721011B (en) * | 2013-12-24 | 2016-09-07 | 上海璟和技创机器人有限公司 | A kind of many positions lower limbs rehabilitation training robot |
| WO2016173091A1 (en) * | 2015-04-27 | 2016-11-03 | 上海璟和技创机器人有限公司 | Lower limb rehabilitation training robot |
-
2013
- 2013-12-24 CN CN201320860655.7U patent/CN203647656U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104721011B (en) * | 2013-12-24 | 2016-09-07 | 上海璟和技创机器人有限公司 | A kind of many positions lower limbs rehabilitation training robot |
| CN104287943A (en) * | 2014-10-09 | 2015-01-21 | 秦宪菊 | Lower limb rehabilitation training device |
| CN104800043A (en) * | 2015-04-27 | 2015-07-29 | 上海璟和技创机器人有限公司 | Rehabilitation training robot for lower limbs |
| WO2016173091A1 (en) * | 2015-04-27 | 2016-11-03 | 上海璟和技创机器人有限公司 | Lower limb rehabilitation training robot |
| EP3290016A4 (en) * | 2015-04-27 | 2018-04-25 | Jimho Robot (Shanghai) Co., Ltd. | Lower limb rehabilitation training robot |
| US10413470B2 (en) | 2015-04-27 | 2019-09-17 | Jimho Robot (Shanghai) Co., Ltd. | Lower limb rehabilitation training robot |
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