CN205252424U - Four limbs linkage rehabilitation training robot - Google Patents
Four limbs linkage rehabilitation training robot Download PDFInfo
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- CN205252424U CN205252424U CN201521043618.2U CN201521043618U CN205252424U CN 205252424 U CN205252424 U CN 205252424U CN 201521043618 U CN201521043618 U CN 201521043618U CN 205252424 U CN205252424 U CN 205252424U
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Abstract
The utility model provides a four limbs linkage rehabilitation training robot, the on -line screen storage device comprises a base, the stand up bedstead, bedstead drive arrangement, it resets to subtract puts and four limbs aggregate unit, stand up bedstead one end articulates on the base, the other end passes through bedstead drive arrangement and is connected with the base, four limbs aggregate unit includes upper limbs telecontrol equipment and low limbs telecontrol equipment, the upper limbs telecontrol equipment sets up the both sides in stand up bedstead upper end, each upper limbs telecontrol equipment includes an upper limbs frame foundation and hinges swing arm support and the drive swivel arm support wobbling pendulum arm driving device on an upper limbs frame foundation, the low limbs telecontrol equipment sets up in the lower extreme of stand up bedstead knee joint push -and -pull device and sole slide device, knee joint push -and -pull device are used for promoting the knee joint and bend and stretch, and sole slide device is used for guiding the foot to lift up and put down, and it resets to subtract puts the middle part of installing in the stand up bedstead for assist and alleviate the weight that the health pushed down to the shank. The utility model discloses four limbs linkage rehabilitation training robot can realize the synchronous cooperative motion of four limbs.
Description
Technical field
The utility model relates to a kind of medical rehabilitation equipment that helps paralysed patient to recover motor function,Relate in particular to a kind of four limbs interlock recovery exercising robot.
Background technology
Apoplexy, craniocerebral injury hemiplegia,, all because there is motor function in paraplegia after spinal cord injury, tetraplegiaObstacle, can't take care of oneself, and has a strong impact on patient's quality of life, also makes to patient family and societyBecome white elephant. Exploration improves the handicapped rehabilitation technique of patient moving and equipment, is health alwaysThe author that returns to work makes great efforts the direction of research and development.
Along with scientific and technological progress, intellectualized technology is constantly dissolved among rehabilitation equipment. Current medical cityThe appearance of some recovery exercising robots on field is its embodiment. But, current walking rehabilitation instructionPractice robot, only pay close attention to lower limb ambulation training, do not pay close attention to the cooperative motion of paralytic upper limb simultaneously. Step onWhen step training, upper limbs is motionless, and trunk is stiff. Obviously, need to provide a kind of as normal person, step onThe recovery exercising robot that when step, four limbs quite naturally link.
Utility model content
In view of the above, the utility model research and development a kind of upper limbs when training of marking time can be worked in coordination with and be linkedFour limbs interlock recovery exercising robot.
A kind of four limbs interlock recovery exercising robot, comprise base, the bedstead that stands up, bedstead drive unit,Weight reducing device and four limbs linkage, the bedstead one end of standing up is hinged on base, and the other end is by bedFrame drive unit is connected with base, and four limbs linkage comprises upper extremity exercise device and lower extremity movement dressPut, upper extremity exercise device is arranged on the both sides of the bedstead upper end of standing up, and each upper extremity exercise device comprisesLimb carrier base and the pendulum that is hinged on the oscillating arm bracket on upper limbs support seat and drives oscillating arm bracket to swingArm drive unit, lower extremity movement device is arranged at the lower end of the bedstead that stands up, and comprises knee joint push-pull device at fixedAnd vola runner device, knee joint push-pull device at fixed bends and stretches in order to promote knee joint, vola runner deviceIn order to guide foot to lift and put down, weight reducing device is installed on the middle part of the bedstead that stands up, for standing upBedstead erects the rear auxiliary weight that health presses down shank that alleviates.
Further, the bedstead that stands up described in comprise lathe bed frame and respectively telescopically be connected to lathe bed frame topThe neck frame of end and the vola runner device support that is connected to lathe bed frame bottom.
Further, described neck frame is connected with the flexible of lathe bed frame, and vola runner device supportBe connected with lathe bed frame flexible and all adopt screw mandrel syndeton to connect.
Further, one end of described base is provided with hinge bar, the bottom of described lathe bed frame and baseHinge bar hinged, the telescopic end of described bedstead drive unit is connected to the bottom of lathe bed frame.
Further, described weight reducing device comprises seat cushion and push-pull device at fixed, and cushion one end rotationallyBe connected on lathe bed frame, the other end connects push-pull device at fixed.
Further, described upper extremity exercise device space is relatively arranged on neck frame both sides adjustablely.
Further, described upper limbs support seat comprises connection body and is connected to the swing arm connecting on bodyConnecting portion, connects body and is connected to neck frame by screw mandrel, and described oscillating arm bracket is hinged on described swing armOn connecting portion.
Further, described oscillating arm bracket comprises armlet section and is connected to slidably the holder in armlet sectionArm section, armlet section and swing arm connecting portion are hinged, and all sides of trailing arm section are provided with fixed band.
Further, described knee joint push-pull device at fixed comprises support push rod and drives support push rod to come and goKnee joint actuator, supporting push rod is " V " type, intermediate portion is connected to lathe bed frame by jointUpper, one end of supporting push rod is bare terminal end, and the other end that supports push rod is connected to knee through lathe bed frame and closesJoint actuator.
Further, described vola runner device comprises pedal collet, is hinged on stepping on pedal colletPlate, pedal collet is slidably mounted in two parallel slideways on the runner device support of vola, steps onPlate collet one end is set in slideway slidably, and the other end forms the hinged described pedal of a hinge segment.
Further, described pedal comprises toe end and heel end, and the bottom of toe end is formed withThe hinge segment of hinged projection and described pedal collet is hinged, and the bottom of described heel portion is provided with cover slingAnd noose links one end of connecting cord, the cotton rope other end is connected to pedal collet.
Further, described vola runner device comprises elastic construction, and elastic construction is arranged in slidewayAnd be positioned at the below of pedal collet, in order to accumulation of energy in the time that pedal collet presses down and provide on pedal collet and liftShi Zhuli.
Further, four limbs interlock recovery exercising robot comprises virtual reality system, accepts from four, after control system is processed, on curtain, there is virtual reality scenario in the information such as limb linkage.
Further, described elastic construction adopts assembly pulley to coordinate structure or the Compress Spring of extension spring.
Further, described four limbs interlock recovery exercising robot comprises virtual reality system, acceptsFrom the information of four limbs linkage, after processing, control system on curtain, there is virtual reality scenario.
The beneficial effects of the utility model, the utility model four limbs interlock recovery exercising robot, passes throughFour limbs linkage is set, in the time that paralysed patient is marked time training, the motion that paralytic upper limb can be worked in coordination with,Not only realize comprehensive rehabilitation, and rehabilitation efficacy is better.
Brief description of the drawings
Above-mentioned explanation is only the general introduction of technical solutions of the utility model, in order to be illustrated more clearly in this practicalityNovel technical scheme, makes the accompanying drawing to required use in embodiment or description of the Prior Art belowIntroduce simply, the accompanying drawing in description is only corresponding to specific embodiment of the utility model, forThose of ordinary skill in the art, are not paying under the prerequisite of creative work, in needsCan also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the stereochemical structure of the utility model preferred embodiment four limbs interlock recovery exercising robotSchematic diagram;
Fig. 2 is the understructure schematic diagram of the four limbs interlock recovery exercising robot shown in Fig. 1;
Fig. 3 is the lathe bed shelf structure of the bedstead that stands up of the four limbs interlock recovery exercising robot shown in Fig. 1Signal;
Fig. 4 is the neck shelf structure of the bedstead that stands up of the four limbs interlock recovery exercising robot shown in Fig. 1Signal;
Fig. 5 is that the upper limbs of the upper extremity exercise device of the four limbs interlock recovery exercising robot shown in Fig. 1 props upStand and oscillating arm bracket structural representation;
Fig. 6 is that the vola of the lower extremity movement device of the four limbs interlock recovery exercising robot shown in Fig. 1 is slidedThe decomposing schematic representation of duct device;
Fig. 7 is the structural representation of the elastic construction in the vola runner device shown in Fig. 6.
Detailed description of the invention
The technical scheme of taking for reaching predetermined technique object in order to elaborate the utility model,Below in conjunction with the accompanying drawing in the utility model embodiment, to the technical side in the utility model embodimentCase is clearly and completely described, and obviously, described embodiment is only portion of the present utility modelDivide embodiment, instead of whole embodiment, and, do not paying under the prerequisite of creative work,Technological means in embodiment of the present utility model or technical characterictic can be replaced, below with reference to the accompanying drawingsAnd describe the utility model in detail in conjunction with the embodiments.
Refer to Fig. 1, a kind of four limbs interlock recovery exercising robot, comprises base 1, bedstead stands up2, bedstead drive unit 3, weight reducing device 4 and four limbs linkage 5, the bedstead 2 one end hinges of standing upBe connected on base 1, the other end is connected with base 1 by bedstead drive unit 3, by described bedsteadDrive unit 3 drives, make to stand up bedstead 2 from base 1 hold up or fall flat, weight reducing device 4Be installed on the middle part of the bedstead 2 that stands up, alleviate health to shank for auxiliary after erecting at the bedstead 2 that stands upThe weight pressing down, four limbs linkage 5 comprises upper extremity exercise device 51 and lower extremity movement device 52,Upper extremity exercise device 52 is arranged on the both sides of bedstead 2 upper ends of standing up, each upper extremity exercise device 51Comprise upper limbs support seat 511 and be hinged on the oscillating arm bracket 512 on upper limbs support seat 511 and driveThe swing arm drive device 513 that oscillating arm bracket 512 swings, lower extremity movement device 52 is arranged at standing bedThe lower end of frame 2, comprises knee joint push-pull device at fixed 521 and vola runner device 522, and knee joint pushes awayDrawing device 521 bends and stretches in order to promote knee joint, vola runner device 522 in order to guide foot lift andPut down.
Refer to Fig. 2, base 1 comprises pony sill 11 and the land wheel that is arranged on pony sill 11 bottoms12. Pony sill 11 comprise two hack levers that are oppositely arranged 111 and be connected to two hack levers 111 itBetween crossbeam 112, wherein on the crossbeam 112 of one end, be provided with hinge bar 113, in order to hinged (againClaim joint to connect) one end of the bedstead 2 that stands up.
Incorporated by reference to consulting Fig. 1 and Fig. 3, the bedstead 2 that stands up comprises lathe bed frame 21 and is connected to bedThe neck frame 22 on stature 21 tops and the vola runner device support 23 that is connected to lathe bed frame 21 bottoms.Lathe bed frame 21 is connected with neck frame 22 telescopicallies. Particularly, can be by screw mandrel syndeton be setRealize neck frame 22 relatively lathe bed frame 21 away from or press close to, leading screw syndeton comprise screw mandrel 211,Drive joystick or the motor (not shown) of screw mandrel rotation and be set in the screw shell on screw mandrel(not shown), screw shell can be two, is separately positioned in lathe bed frame 21 and neck frame 22,Drive screw mandrel to rotate by joystick or motor, screw shell moves relative to screw mandrel, thereby drives neckThe relative lathe bed frame 21 of frame 22 away from or press close to; Be appreciated that screw shell also can only adopt one, peaceBe contained in lathe bed frame 21 or neck frame 22, the other end of screw mandrel is installed in rotation on relative thread bushIn the neck frame 22 or lathe bed frame 21 of one end of cylinder. In like manner, lathe bed frame 21 and vola runner deviceSupport 23 telescopicallies connect, and also can adopt screw mandrel syndeton to realize vola runner device support 23Relatively lathe bed frame 21 away from or press close to. Further, a side of lathe bed frame 21 be provided with forThe wind or the button 212 that drive. Wind or the button 212 of corresponding neck frame 22 one end startNeck frame 22 relative lathe bed framves 21 flexible, runner device support 23 one end, corresponding vola handHandle or button 213 start the flexible of vola runner device support 23 relative lathe bed framves 21. So, byAll can relative lathe bed frame 21 in neck frame 22 and vola runner device support 23 flexible, thereby canTo meet the couching of people of differing heights.
Lathe bed frame 21 is in order to support the trunk of paralysed patient, and neck frame 22 is in order to support paralysed patientHead and Neck, vola runner device support 23 is for settling vola runner device 522, vola slidewayInstall 522 for supporting the foot of paralysed patient, the bottom of lathe bed frame 21 lower ends and the hinge of base 1Extension bar 113 is hinged.
Bedstead drive unit 3 is arranged on base 1, stands up bedstead 2 from base 1 in order to driveHold up or fall flat. Bedstead drive unit 3 may be selected to be electronic or manual, and the external part of electronic screw mandrel connectsBe connected to the bottom of lathe bed frame 21, electronic screw mandrel stretches out and boosts the hinge of vertical bedstead 2 around hinge bar 113The place of connecing rotate and relatively base 1 erect.
Weight reducing device 4 is arranged on lathe bed frame 21, for auxiliary alleviating after erecting at the bedstead 2 that stands upThe weight that health presses down shank. Weight reducing device 4 comprise seat cushion 41, push-pull device at fixed (not shown),And fixed band. Cushion 41 one end are rotatably connected on lathe bed frame 21, and the other end connects push-and-pullDevice, by the other end of push-pull device at fixed push-and-pull cushion 41, thereby makes paralysed patient can pass through to sitPad 41 support and alleviate the pressure to shank. Push-pull device at fixed can be by being arranged on lathe bed frame 21Pull bar structure realizes. Pull bar can be electronic screw mandrel or manual rocking bar, is arranged on lathe bed by startupOne side wind or the button 214 of frame 21, realize seat cushion from flat crouch in stand up bedstead 2 to perpendicular toThe motion of vertical bedstead 2, plays simultaneously and alleviates the weight that health presses down shank. Fixed band connects presentPad 41 both sides and lathe bed frame 21, for tying up to paralysed patient body or thigh root, reinforce paralysis and suffer fromStability and the security of person on seat cushion 41.
Refer to Fig. 1 and Fig. 4, upper extremity exercise device 51 is two, is relatively arranged on standing bedThe both sides of frame 2 upper ends, two upper extremity exercise devices 51 can be respectively relatively neck frame 22 carry out distance tuneJoint, can relative neck frame close neighbour or separation. Particularly, can realize by leading screw syndeton. ItsStructure and the leading screw syndeton phase that drives described lathe bed frame 21 to be connected with neck frame 22 telescopicalliesWith, be not described in detail in this. And, can arrange for wind or the button 215 of controlling screw mandrel startupOn neck frame 22, so that rehabilitation therapist's adjustment operation.
Upper extremity exercise device 51 comprises upper limbs support seat 511, is hinged on upper limbs support seat 511Oscillating arm bracket 512, and the swing arm drive device 513 that drives oscillating arm bracket 512 to swing. Upper limbs props upStand 511 is connected to a side of neck frame 22 by screw mandrel. Refer to Fig. 5, upper limbs support seat 511Comprise and connect body 5111 and be connected to the swing arm connecting portion 5112 that connects body 5111 downside one end,Connect body 5111 and surround shoulder cover space 5113 with swing arm connecting portion 5112, for coordinating paralysis to suffer fromPerson's shoulder. Connect body 5111 for coordinating to come the screw mandrel to neck frame, make to connect body 5111Can in the time that rotating, screw mandrel slide. On swing arm connecting portion 5112, offer hinged groove 5114, in order to hingedDescribed oscillating arm bracket 512. Oscillating arm bracket 512 comprises armlet section 5121 and trailing arm section 5122, armletSection 5121 is roughly edge-on setting, a section of the arm of the corresponding arm of length, armlet section 5121 one endStretch to hinged groove 5114 hinged with the swing arm connecting portion 5112 of upper limbs support seat 511, trailing arm section5122 are roughly and are horizontally disposed with, and a section of the arm of the corresponding arm of length carries a supporting arm part for holder,Further, all sides of trailing arm section 5122 are provided with fixed band 5123, for by the arm of paralysed patientPortion fastens and is positioned on oscillating arm bracket 512. Be appreciated that in order to be applicable to different arm length,Trailing arm section 5122 can be set to slidably connect. Swing arm drive device 513 can be selected electric push rod,The main body of pull bar is arranged on upper limbs support seat 511, and the telescopic end of pull bar connects oscillating arm bracket512, so, drive by pull bar, can realize oscillating arm bracket 512 around itself and upper limbs support seat 511Hinged place swing, realize oscillating arm bracket 512 reciprocally swingings.
Refer to Fig. 1, lower extremity movement device 52 comprises knee joint push-pull device at fixed 521 and vola cunningDuct device 522. Knee joint push-pull device at fixed 521 is two, is respectively arranged on lathe bed frame 21,In order to push against knee joint. Knee joint push-pull device at fixed 521 comprises support push rod 5211 and drives support to push awayThe knee joint actuator (not shown) that bar 5211 is round, supporting push rod 5211 is " V " type, centrePart is connected on lathe bed frame 21 by joint, and one end of supporting push rod 5211 is bare terminal end, to press from both sidesHold knee joint, the other end that supports push rod 5211 is connected on knee joint actuator through lathe bed frame 21,Knee joint actuator can be arranged on lathe bed frame 21, by the effect of knee joint actuator, can makeSupporting the relative lathe bed frame 21 of push rod 5211 stretches out or reclines.
Refer to Fig. 1 and Fig. 6, vola runner device 522 is two, is arranged on side by side vola slidingOn duct device support 23, in order to guide the vola of paralysed patient to lift and put down, just to imitate human bodyJoint motion state while often marking time. Vola runner device 522 comprises pedal collet 5221, hingedPedal 5222, slideway 5225 and elastic construction on pedal collet 5221. Pedal colletIn the 5221 two parallel slideways 5225 that are slidably mounted on vola runner device support 23,Pedal collet 5221 one end are set in slideway 5225 slidably, and the other end is bent upwards and forms oneThe roughly hinge segment parallel with slideway 5225. Pedal 5222 comprises toe end and heel end, tiptoeThe bottom of end be formed with hinged protruding 5223 with the end hinge of the hinge segment of described pedal collet 5221Connect. The bottom of heel portion is provided with cover sling 5224, to limit pedal 5222 by connection cotton rope etc.The maximum pendulum angle rotating around hinged end, particularly, cotton rope is set with default length, and its one end connectsTo pedal collet 5221, the other end is connected to cover sling 5224. Elastic construction is arranged at slidewayIn 5225 and be positioned at the below of pedal collet 5221, in order to accumulation of energy in the time that pedal collet 5221 presses downPower-assisted when lifting on pedal collet. Elastic construction can be Compress Spring, is appreciated that elastic construction canAdopt structure as shown in Figure 7, coordinate extension spring to realize the elastic force to pedal collet 5221 by assembly pulley,The end of abseiling 5227 is connected on pedal collet 5221, and the collet that makes to slide is along slideway 5225 timesWhen sliding, extension spring 5226 is stretched, savings elastic potential energy, at pedal collet 5221 along slideway 5225Upper when sliding, elastic potential energy discharges, and elastic force sliding on slip collet can be provided.
Adopt four limbs interlock recovery exercising robot described in the utility model to carry out health to paralysed patientWhen refreshment is practiced, promote successively by two support push rod 5211 front and back of knee joint push-pull device at fixed 521Two knees of paralysed patient move in turn, curved time in the wrong at knee, to should knee be to drive volaThis side pedal collet 5221 of runner device 522 is along cunning on slideway 5225, the simultaneously pin of paralysed patientRelative tiptoe is mentioned at the end, and accordingly, pedal is hinged on pedal collet 5221 one end relative to it and rotates,Rotate after preset angles, pedal is connected cotton rope and limits rotational angle, limits the relative tiptoe of soleRising height. Then, this curved knee in the wrong is straight next time in the effect of knee joint push-pull device at fixed 521, returnsWhen straight, will jam on pedal, pedal together glides along slideway 5225 together with pedal collet 5221, glidesAfter preset height, further glide the elastic construction to pedal collet 5221 belows produced to deformation,Elastic construction savings elastic potential energy, with curved time in the wrong again at this knee, to pedal collet 5221 along slidewayWhen sliding on 5225, provide the elastic force of a segment distance, until elastic construction returns to original state. SeparatelyThe course of action of one knee and the course of action of this knee carry out successively in turn, and start principle is identical. ?When shank is trained, drive arm to carry out wobbling action by swing arm drive device 513,Particularly, can according to normal person remain where one is walk appearance, curvedly bend right leg, show left hand, a curved left side in the wrongLeg, shows the right hand. So, realize the synchronous proper motion of four limbs.
Further, four limbs interlock recovery exercising robot can comprise virtual reality system (not shown),Accept from information such as four limbs linkages, after control system is processed, on curtain, occur virtual reality fieldScape.
Be appreciated that between knee joint push-pull device at fixed 521 and upper extremity exercise device 51 interlock can be setControlling organization, realizes brothers when by an action executing and is synchronized with the movement.
To sum up, the utility model four limbs interlock recovery exercising robot, by arranging four limbs interlock dressPut, in the time that paralysed patient is marked time training, the motion that paralytic upper limb can be worked in coordination with, not only realizes comprehensive healthMultiple, and rehabilitation efficacy is better.
The above, be only preferred embodiment of the present utility model, not the utility model doneAny pro forma restriction, although the utility model disclose as above with preferred embodiment, but notIn order to limit the utility model, any those skilled in the art, are not departing from the utility modelWithin the scope of technical scheme, when utilizing the technology contents of above-mentioned announcement make a little change or be modified to etc.With the equivalent embodiment changing, be not depart from technical solutions of the utility model content in every case, according to this realityBy novel technical spirit, within spirit of the present utility model and principle, above embodiment is doneAny simple amendment, be equal to and replace and improve etc., all still belong to technical solutions of the utility modelWithin protection domain.
Claims (10)
1. a four limbs interlock recovery exercising robot, comprise base (1), bedstead (2) stands up, bedstead drive unit (3), weight reducing device (4) and four limbs linkage (5), bedstead (2) one end of standing up is hinged on base (1), the other end is connected with base (1) by bedstead drive unit (3), it is characterized in that: four limbs linkage (5) comprises upper extremity exercise device (51) and lower extremity movement device (52), upper extremity exercise device (51) is arranged on the both sides of the bedstead that stands up (2) upper end, the swing arm drive device (513) that each upper extremity exercise device (51) comprises upper limbs support seat (511) and is hinged on the oscillating arm bracket (512) on upper limbs support seat (511) and drives oscillating arm bracket (512) to swing, lower extremity movement device (52) is arranged at the lower end of the bedstead that stands up (2), comprise knee joint push-pull device at fixed (521) and vola runner device (522), knee joint push-pull device at fixed (521) bends and stretches in order to promote knee joint, vola runner device (522) is in order to guide foot to lift and put down, weight reducing device (4) is installed on the middle part of the bedstead that stands up (2), for erect the rear auxiliary weight that health presses down shank that alleviates at the bedstead that stands up (2).
2. four limbs according to claim 1 interlock recovery exercising robot, is characterized in that: described in stand up bedstead (2) comprise lathe bed frame (21) and respectively telescopically be connected to the neck frame (22) and the vola runner device support (23) that is connected to lathe bed frame (21) bottom on lathe bed frame (21) top.
3. four limbs interlock recovery exercising robot according to claim 2, it is characterized in that: one end of described base (1) is provided with hinge bar (113), the hinge bar (113) of the bottom of described lathe bed frame (21) and base (1) is hinged, and the telescopic end of described bedstead drive unit (3) is connected to the bottom of lathe bed frame (21).
4. four limbs interlock recovery exercising robot according to claim 2, is characterized in that: described upper extremity exercise device (51) spacing is relatively arranged on neck frame (22) both sides adjustablely.
5. four limbs interlock recovery exercising robot according to claim 2, it is characterized in that: described upper limbs support seat (511) comprises and connects body (5111) and be connected to the swing arm connecting portion (5112) connecting on body (5111), connect body (5111) and be connected to neck frame (22) by screw mandrel, described oscillating arm bracket (512) is hinged on described swing arm connecting portion (5112).
6. four limbs interlock recovery exercising robot according to claim 5, it is characterized in that: described oscillating arm bracket (512) comprises armlet section (5121) and is connected to slidably the trailing arm section (5122) in armlet section (5121), armlet section (5121) is hinged with swing arm connecting portion (5112), and all sides of trailing arm section (5122) are provided with fixed band (5123).
7. four limbs interlock recovery exercising robot according to claim 2, it is characterized in that: described knee joint push-pull device at fixed (521) comprises support push rod (5211) and drives the round knee joint actuator of support push rod (5211), supporting push rod (5211) is " V " type, intermediate portion is connected on lathe bed frame (21) by joint, one end of supporting push rod (5211) is bare terminal end, and the other end that supports push rod (5211) is connected to knee joint actuator through lathe bed frame (21).
8. four limbs interlock recovery exercising robot according to claim 2, it is characterized in that: described vola runner device (522) comprises pedal collet (5221), is hinged on the pedal (5222) on pedal collet (5221), pedal collet (5221) is slidably mounted in two parallel slideways (5225) on vola runner device support (23), pedal collet (5221) one end is set in slideway (5225) slidably, and the other end forms a hinged described pedal of hinge segment (5222).
9. four limbs interlock recovery exercising robot according to claim 8, it is characterized in that: described pedal (5222) comprises toe end and heel end, it is hinged with the hinge segment of described pedal collet (5221) that the bottom of toe end is formed with hinged projection (5223), the bottom of described heel portion is provided with one end of cover sling (5224) and cover sling (5224) connection cotton rope, and the cotton rope other end is connected to pedal collet (5221).
10. four limbs interlock recovery exercising robot according to claim 9, it is characterized in that: described vola runner device (522) comprises elastic construction, elastic construction is arranged in slideway (5225) and is positioned at the below of pedal collet (5221), in order to accumulation of energy in the time that pedal collet (5221) presses down and power-assisted while lifting on pedal collet (5221) is provided.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521043618.2U CN205252424U (en) | 2015-12-15 | 2015-12-15 | Four limbs linkage rehabilitation training robot |
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| CN201521043618.2U CN205252424U (en) | 2015-12-15 | 2015-12-15 | Four limbs linkage rehabilitation training robot |
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| CN201521043618.2U Expired - Fee Related CN205252424U (en) | 2015-12-15 | 2015-12-15 | Four limbs linkage rehabilitation training robot |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105396266A (en) * | 2015-12-15 | 2016-03-16 | 王俊华 | Four-limb linkage rehabilitation training robot |
| CN106109132A (en) * | 2016-06-22 | 2016-11-16 | 刘德平 | A kind of auxiliary both legs rehabilitation rehabilitation medical bed |
| CN106345104A (en) * | 2016-11-03 | 2017-01-25 | 赵丹阳 | Limb rehabilitation training and exercising device |
| CN107432779A (en) * | 2017-09-05 | 2017-12-05 | 刘波 | A kind of orthopaedics auxiliary hitch |
| CN108324507A (en) * | 2018-03-26 | 2018-07-27 | 柯文光 | Lower limb rehabilitation training equipment |
| CN108324508A (en) * | 2018-03-26 | 2018-07-27 | 柯文光 | A kind of lower limb rehabilitation training equipment |
| CN108324506A (en) * | 2018-03-26 | 2018-07-27 | 柯文光 | Intelligent standing bed |
| CN108433939A (en) * | 2018-03-26 | 2018-08-24 | 柯文光 | Standing bed |
| CN108703863A (en) * | 2018-04-19 | 2018-10-26 | 广西综改咨询服务有限公司 | One kind being used for elbow arm treatment draft gear |
| CN111671637A (en) * | 2020-06-16 | 2020-09-18 | 江苏工程职业技术学院 | Be suitable for old inconvenience person's recovered nursing equipment of family |
| CN114681869A (en) * | 2022-03-30 | 2022-07-01 | 常州工学院 | Upper and lower limb linkage active and passive rehabilitation training device |
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- 2015-12-15 CN CN201521043618.2U patent/CN205252424U/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105396266A (en) * | 2015-12-15 | 2016-03-16 | 王俊华 | Four-limb linkage rehabilitation training robot |
| CN105396266B (en) * | 2015-12-15 | 2018-01-12 | 王俊华 | Four limbs linkage recovery exercising robot |
| CN106109132B (en) * | 2016-06-22 | 2018-09-11 | 北京源康龙医疗设备有限公司 | A kind of auxiliary both legs rehabilitation rehabilitation medical bed |
| CN106109132A (en) * | 2016-06-22 | 2016-11-16 | 刘德平 | A kind of auxiliary both legs rehabilitation rehabilitation medical bed |
| CN106345104A (en) * | 2016-11-03 | 2017-01-25 | 赵丹阳 | Limb rehabilitation training and exercising device |
| CN107432779A (en) * | 2017-09-05 | 2017-12-05 | 刘波 | A kind of orthopaedics auxiliary hitch |
| CN107432779B (en) * | 2017-09-05 | 2019-10-18 | 刘波 | A kind of orthopaedics auxiliary hitch |
| CN108324508A (en) * | 2018-03-26 | 2018-07-27 | 柯文光 | A kind of lower limb rehabilitation training equipment |
| CN108324506A (en) * | 2018-03-26 | 2018-07-27 | 柯文光 | Intelligent standing bed |
| CN108433939A (en) * | 2018-03-26 | 2018-08-24 | 柯文光 | Standing bed |
| CN108324507A (en) * | 2018-03-26 | 2018-07-27 | 柯文光 | Lower limb rehabilitation training equipment |
| CN108703863A (en) * | 2018-04-19 | 2018-10-26 | 广西综改咨询服务有限公司 | One kind being used for elbow arm treatment draft gear |
| CN108703863B (en) * | 2018-04-19 | 2020-08-04 | 奉节县中医院 | Be used for elbow and arm treatment to use draw gear |
| CN111671637A (en) * | 2020-06-16 | 2020-09-18 | 江苏工程职业技术学院 | Be suitable for old inconvenience person's recovered nursing equipment of family |
| CN114681869A (en) * | 2022-03-30 | 2022-07-01 | 常州工学院 | Upper and lower limb linkage active and passive rehabilitation training device |
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