CN206424280U - A kind of weight-loss type gait rehabilitation training robot - Google Patents
A kind of weight-loss type gait rehabilitation training robot Download PDFInfo
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- CN206424280U CN206424280U CN201621223706.5U CN201621223706U CN206424280U CN 206424280 U CN206424280 U CN 206424280U CN 201621223706 U CN201621223706 U CN 201621223706U CN 206424280 U CN206424280 U CN 206424280U
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Abstract
The utility model discloses a kind of weight-loss type gait rehabilitation training robot.The utility model includes rehabilitation platform, intelligent weight reducing device, gait simulation generator；The intelligent weight reducing device is installed on the top of rehabilitation platform, and the gait simulation generator is installed on the bottom of rehabilitation platform and below intelligent weight reducing device.The utility model can realize that active-passive rehabilitation is trained, the rehabilitation training of the dysbasia trainer caused for brain paralysis, apoplexy etc..The weight-loss type gait rehabilitation training robot that the utility model is provided is by computer control, equipped with corresponding sensor and safety device, different Walking patterns are provided for patient, the bilateral lower limb for driving patient by gait simulative generator can carry out gait rehabilitation training, gradually recover the locomotor activity of patient's lower limb.Compared with traditional loss of weight gait training, the working strength of therapist is significantly reduced, it is more intelligent, treat individuation.
Description
Technical field
The utility model belongs to medical robot field, and in particular to a kind of weight-loss type gait rehabilitation training robot.
Background technology
As Chinese society aging aggravates the increase with various contingencies, there is the patient of dyskinesia in bilateral lower limb
It is more and more.Clinical medicine shows that dyskinesia patient need to carry out necessary limb rehabilitating training, to prevent muscle from withering
Contracting, so as to recover muscle function.Because dyskinesia patient tends not to independently carry out lower limb rehabilitation training, its
Need to carry out rehabilitation training with the help of several rehabilitation therapists.For patients, this rehabilitation training mode efficiency it is low,
Therapist's task is heavy, it is impossible to effectively scientifically recover the motor function of patient to greatest extent.Healing robot is used as one
Medical robot is planted, can not only help patient to complete various rehabilitation trainings, rehabilitation assessment can also be carried out to patient.Walking step
State training is the major way of lower limb disorder rehabilitation training, not only patient can be caused to re-establish walking posture, may be used also
To maintain the coordinated movement of various economic factors in each joint of patient's bilateral lower limb, joint " the useless property used contracture " is prevented, patient can be effectively improved
The recovery progress and degree of bilateral lower limb function sexual dysfunction.
Existing gait rehabilitation training robot is to realize the simulation of walking by driving hip joint and knee joint mostly,
And the movement locus of human body lower limbs ankle-joint in normal walking process can not be simulated so that gait rehabilitation is trained and normal human
The walking posture track of lower limb is inconsistent, so as to have impact on the rehabilitation training of science.In addition, weight reducing device is often hanged using day rail
Mode is hung, while carry out the load that loss of weight adjusts patient's bilateral lower limb in real time by several therapists, it is often relatively time-consuming, and
Training effect is not good.
Utility model content
In order to improve above mentioned problem, the purpose of this utility model is to provide a kind of weight-loss type gait rehabilitation training device
People, to solve rehabilitation training gait track and the consistency problem of the natural walking step state of people.
To achieve these goals, the technical solution adopted in the utility model is as follows：
A kind of weight-loss type gait rehabilitation training robot, including rehabilitation platform, intelligent weight reducing device, gait are simulated and filled
Put；The intelligent weight reducing device is installed on the top of rehabilitation platform, and the gait simulation generator is installed on rehabilitation platform
Bottom is simultaneously located at below intelligent weight reducing device.
Further, the rehabilitation platform includes top workbench, support frame, PC control machines, wheelchair and enters passage, gear
Plate, bottom workbench, guard bar lifting mechanism, left and right guardrail, front and rear guardrail；Respectively install one in the both sides of the bottom workbench
Individual baffle plate；The wheelchair enters the afterbody that passage is arranged at bottom workbench；Support frame as described above is fixed on bottom workbench
Upper rear；The top workbench is installed on support frame top；The guard bar lifting mechanism is in top workbench two
Side respectively sets one, and connects left and right guardrail respectively；The two ends of guardrail connect the two ends of left and right guardrail respectively before and after described；It is described
PC control machines are installed on support frame；The intelligent weight reducing device is connected with top workbench.
Yet further, the intelligent weight reducing device includes intelligent drive device, rope, link, weight-carrying waist coat；It is described
Intelligent drive device is fixed on the top of rehabilitation platform, and rope one end is connected with the output end of intelligent drive device, the other end with
Link is connected, and the weight-carrying waist coat is connected with link.
Further, the gait simulation generator includes the rail module being connected with the bottom of rehabilitation platform, with
And the motion module being connected with rail module.
Led in addition, the rail module includes linear electric motors, leading screw, motion module connector, guide rail contiguous block, straight line
Rail, motor cabinet；The linear electric motors are fixed on motor cabinet, and line slideway is fixed on the bottom of rehabilitation platform, and one end is with leading
Rail contiguous block is connected, and the other end is connected with motor cabinet；Described leading screw one end is connected with guide rail contiguous block, the other end and linear electric motors
It is connected；The motion module connector is connected with threads of lead screw；The motion module connector is connected with motion module.
In addition, the motion module includes contiguous block, pedal, the first bearing pin, the first moving link, the second bearing pin, the
Two moving links, gear reduction unit, motor, the 3rd bearing pin；One end of second moving link is by the 3rd bearing pin with being connected
Block is connected, and the other end of the second moving link is connected by the second bearing pin with the first moving link；The pedal passes through first
Bearing pin is connected with the front end of the first moving link；The gear reduction unit is installed on the rear end of the first moving link, for driving
First moving link is moved；The motor is connected with gear reduction unit；The contiguous block is connected with rail module.
Further, the pedal includes forefoot fixing band, rear heel fixing band, pedal, pressure sensor；It is described
Forefoot fixing band is fixed on the front end of pedal, and rear heel fixing band is fixed on pedal rear end, and is connected with forefoot fixing band；
The pressure sensor is fixed on the lower section of pedal；The pedal is connected by the first bearing pin with the first moving link.
What deserves to be explained is, the need for the PC control machines can be according to different patients, the pattern of training is changed, machine is adjusted
Auxiliary driving force size.Left and right guardrail and front and rear shield can be adjusted according to the different patient of height in the guard bar lifting mechanism
Height of the column far from bottom workbench.Described recovery exercising robot can make patient realize level land rehabilitation training and it is upper downstairs
Terraced rehabilitation training.
The utility model compared with prior art, with advantages below and beneficial effect：
（1）The utility model can realize lower extremity motor function sexual dysfunction patient in rehabilitation training using intelligent weight reducing device
The load of patient's bilateral lower limb is automatically adjusted in journey in real time, in favor of the carry out rehabilitation training of the effective science of patient.
（2）The utility model can mitigate the working strength of therapist, and a therapist can complete rehabilitation training.
（3）The utility model can change training mode according to the demand of different patients, adjust machine driving force size,
Ensure effective treatment, realize treatment individuation.
（4）The given movement locus of gait simulation generator of the present utility model is normally being walked according to human body lower limbs
When move contrail fitting form, the ankle-joint of patient can install given movement locus walking, and implementation is simple and reliable.
（5）Gait simulation generator of the present utility model can adjust driving force size, can realize level land and it is upper downstairs
Training simulation.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation of rehabilitation platform in the utility model.
Fig. 3 is the structural representation of gait simulation generator in the utility model.
Fig. 4 is the structural representation of motion module in the utility model.
Fig. 5 is the structural representation of the utility model middle guide module.
Fig. 6 is the structural representation of pedal in the utility model.
Wherein, the corresponding parts title is marked to be in accompanying drawing：
Workbench at the top of 1- rehabilitation platforms, 11-, 12- support frames, 13-PC control machines, 14- wheelchairs enter passage, 15-
Guardrail before and after baffle plate, 16- bottoms workbench, 17- guard bar liftings mechanism, 18- or so guardrail, 19-；
2- intelligence weight reducing devices, 21- intelligent drive devices, 22- ropes, 23- links, 24- weight-carrying waist coats；
3- gait simulation generators, 31- motion modules, 311- contiguous blocks, 312- pedals, 3121- forefoots are fixed
Band, 3122- rear heel fixing bands, 3123- pedals, 3124- pressure sensors, the bearing pins of 313- first, the moving links of 314- first,
The bearing pins of 315- second, the moving links of 316- second, 317- gear reduction units, 318- motors, 32- rail modules, 321- straight-line electrics
Machine, 322- leading screws, 323- motion module connectors, 324- guide rail contiguous blocks, 325- line slideways, 326- motor cabinets.
Embodiment
The utility model is described in further detail with reference to the accompanying drawings and examples, and embodiment of the present utility model includes
But it is not limited to the following example.
Embodiment
As shown in figure 1, a kind of weight-loss type gait rehabilitation training robot, including rehabilitation platform 1, the intelligent and of weight reducing device 2
Gait simulation generator 3；Rehabilitation platform 1 is installed on the ground, is that gait simulation generator 3 and intelligent weight reducing device 2 are carried
Mounting platform is supplied；Intelligent weight reducing device 2 is installed on the top of rehabilitation platform 1, helps patient real-time in rehabilitation training
Ground adjusts the load of bilateral lower limb；Gait simulation generator 3 is symmetrically arranged on the two bottom sides of rehabilitation platform, is patient's bilateral
Lower limb provide hoofing part, carry out gait rehabilitation training.
As shown in Fig. 2 the rehabilitation platform 1 is entered by top workbench 11, support frame 12, PC control machines 13, wheelchair
Passage 14, baffle plate 15, bottom workbench 16, guard bar lifting mechanism 17, left and right guardrail 18 and front and rear guardrail 19 are constituted.Its midsole
Portion's workbench 16 is fixed on the ground；In bottom, workbench 16 each side installs a baffle plate 15, prevents peace
It is complete unexpected；Wheelchair enters the afterbody that passage 14 is fixed on bottom workbench, enters rehabilitation platform 1 for guiding patient's wheelchair；Branch
Support 12 is fixed on the upper rear of bottom workbench 16, connection top workbench 11 and bottom workbench 16；PC is controlled
Machine 13 is installed on the bottom of support frame 12, the need for different patients, changes training mode, adjusts machine driving force size；
Top workbench 11 is arranged on the top of support frame 12, and platform is provided for intelligent weight reducing device；Guard bar lifting mechanism 17 is on top
Portion's workbench 11 each side sets one, can adjust left and right guardrail 18 and front and rear guardrail 19 from bottom workbench 16
Highly；The two ends of left and right guardrail 18 are connected respectively with the two ends of front and rear guardrail 19, and safeguard protection is provided for patient, prevent to suffer from
Person's body is toppled over.
The intelligent weight reducing device 2 is made up of intelligent drive device 21, rope 22, link 23 and weight-carrying waist coat 24.Institute
State intelligent drive device 21 to be fixed on the workbench 11 of top, the one end of rope 22 is connected in intelligent drive device 21, the other end
Connect link 23, the end of link 23 connection weight-carrying waist coat.The instruction that intelligent drive device 21 receives PC control machines 13 is driven
Running rope rope 22 is moved, and then rope 22 drives the human motion for wearing weight-carrying waist coat 24 by link 23.
As shown in figure 3, the gait simulation generator 3 is made up of motion module 31 and rail module 32.The motion
Module 31 is fixed on motion module connector 323, realizes the motion on vertical direction；Rail module 32 is installed on bottom work
Platform 16, realizes the motion in the horizontal direction of motion module 31.
As shown in figure 4, the motion module 31 includes contiguous block 311, pedal 312, the motion of the first bearing pin 313, first
Component 314, the second bearing pin 315, the second moving link 316, gear reduction unit 317, motor 318, the 3rd bearing pin 319.The company
Connect the first moving link of block 314 to be connected on motion module connector 323, motor 318 drives the gear in gear reduction unit 317
Motion, and then drive the first moving link 314 to move, the first moving link 314 passes through the first bearing pin 313 and the second bearing pin 315
The moving link 316 of pedal 312 and second is driven to move respectively, so as to realize motion of the ankle-joint in vertical direction.
As shown in figure 5, the rail module 32 includes linear electric motors 321, leading screw 322, motion module connector 323, led
Rail contiguous block 324, line slideway 325, motor cabinet 326.The linear electric motors 321 are fixed on motor cabinet 326, are filled as power
Put；Line slideway 325 is fixed on bottom workbench 16, and motion module connector 323 is arranged on line slideway 325, silk
The two ends of thick stick 322 are connected with linear electric motors 321 and guide rail contiguous block 324 respectively, and guide rail contiguous block 324 is fixed on line slideway
On 325.The driving of linear electric motors 321 leading screw 322 is moved, and then drives motion module connector 323 to realize in horizontal direction
Motion.
As shown in fig. 6, the pedal 312 is by forefoot fixing band 3121, rear heel fixing band 3122, the and of pedal 3123
Pressure sensor 3124 is constituted.The forefoot fixing band 3121 is fixed on the front end of pedal 3123, rear heel fixing band 3122
The rear end for being fixed on pedal 3123 is connected with forefoot fixing band 3121, and pressure sensor 3124 is fixed under pedal 3123
Side.Patient's biped is fixed on pedal 3123, pressure sensor by the forefoot fixing band 3121 and rear heel fixing band 3122
3124 receive the pressure signal formation feedback that pedal 3123 is produced, and are sent to PC control machines 13.
What deserves to be explained is, the utility model can realize that active-passive rehabilitation is trained, the walking caused for brain paralysis, apoplexy etc.
The rehabilitation training of obstacle trainer.The weight-loss type gait rehabilitation training robot that the utility model is provided is matched somebody with somebody by computer control
There are corresponding sensor and safety device, different Walking patterns are provided for patient, pass through gait simulative generator band
The bilateral lower limb of dynamic patient can carry out gait rehabilitation training, gradually recover the locomotor activity of patient's lower limb.Walked with traditional loss of weight
State training is compared, and significantly reduces the working strength of therapist, more intelligent, treats individuation.
According to above-described embodiment, the utility model just can be realized well.What deserves to be explained is, based on said structure design
On the premise of, to solve same technical problem, some made on the utility model are without substantial change or profit
Color, the essence of the technical scheme used is still as the utility model, therefore it should also be as in protection model of the present utility model
In enclosing.
Claims (7)
1. a kind of weight-loss type gait rehabilitation training robot, it is characterised in that including rehabilitation platform（1）, intelligent weight reducing device
（2）, gait simulation generator（3）；The intelligent weight reducing device is installed on the top of rehabilitation platform, and the gait simulation occurs
Device is installed on the bottom of rehabilitation platform and below intelligent weight reducing device.
2. a kind of weight-loss type gait rehabilitation training robot according to claim 1, it is characterised in that the rehabilitation platform
Including top workbench（11）, support frame（12）, PC control machines（13）, wheelchair enter passage（14）, baffle plate（15）, bottom work
Make platform（16）, guard bar lifting mechanism（17）, left and right guardrail（18）, front and rear guardrail（19）；The both sides of the bottom workbench
One baffle plate is respectively installed；The wheelchair enters the afterbody that passage is arranged at bottom workbench；Support frame as described above is fixed on bottom
The upper rear of workbench；The top workbench is installed on support frame top；The guard bar lifting mechanism is in top work
Make platform both sides and respectively set one, and connect left and right guardrail respectively；The two ends of guardrail connect left and right guardrail respectively before and after described
Two ends；The PC control machines are installed on support frame；The intelligent weight reducing device is connected with top workbench.
3. a kind of weight-loss type gait rehabilitation training robot according to claim 1, it is characterised in that the intelligent loss of weight
Device includes intelligent drive device（21）, rope（22）, link（23）, weight-carrying waist coat（24）；The intelligent drive device is consolidated
Due to the top of rehabilitation platform, rope one end is connected with the output end of intelligent drive device, and the other end is connected with link, described
Weight-carrying waist coat is connected with link.
4. a kind of weight-loss type gait rehabilitation training robot according to claim 1, it is characterised in that the gait simulation
Generating means includes the rail module being connected with the bottom of rehabilitation platform（32）, and the motion module being connected with rail module
（31）.
5. a kind of weight-loss type gait rehabilitation training robot according to claim 4, it is characterised in that the rail module
Including linear electric motors（321）, leading screw（322）, motion module connector（323）, guide rail contiguous block（324）, line slideway
（325）, motor cabinet（326）；The linear electric motors are fixed on motor cabinet, and line slideway is fixed on the bottom of rehabilitation platform, and
One end is connected with guide rail contiguous block, and the other end is connected with motor cabinet；Described leading screw one end is connected with guide rail contiguous block, the other end with
Linear electric motors are connected；The motion module connector is connected with threads of lead screw；The motion module connector and motion module phase
Even.
6. a kind of weight-loss type gait rehabilitation training robot according to claim 4, it is characterised in that the motion module
Including contiguous block（311）, pedal（312）, the first bearing pin（313）, the first moving link（314）, the second bearing pin（315）,
Two moving links（316）, gear reduction unit（317）, motor（318）, the 3rd bearing pin（319）；The one of second moving link
End is connected by the 3rd bearing pin with contiguous block, and the other end of the second moving link passes through the second bearing pin and the first moving link phase
Even；The pedal is connected by the first bearing pin with the front end of the first moving link；The gear reduction unit is installed on the first fortune
The rear end of dynamic component, for driving the motion of the first moving link；The motor is connected with gear reduction unit；The contiguous block is with leading
Rail module is connected.
7. a kind of weight-loss type gait rehabilitation training robot according to claim 6, it is characterised in that the pedal bag
Include forefoot fixing band（3121）, rear heel fixing band（3122）, pedal（3123）, pressure sensor（3124）；The front foot
Palm fixing band is fixed on the front end of pedal, and rear heel fixing band is fixed on pedal rear end, and is connected with forefoot fixing band；It is described
Pressure sensor is fixed on the lower section of pedal；The pedal is connected by the first bearing pin with the first moving link.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621223706.5U CN206424280U (en) | 2016-11-14 | 2016-11-14 | A kind of weight-loss type gait rehabilitation training robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201621223706.5U CN206424280U (en) | 2016-11-14 | 2016-11-14 | A kind of weight-loss type gait rehabilitation training robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106361543A (en) * | 2016-11-14 | 2017-02-01 | 四川理工学院 | Weight losing type gait rehabilitation training robot |
| CN108272602A (en) * | 2018-03-15 | 2018-07-13 | 哈工大机器人（合肥）国际创新研究院 | A kind of lower limb rehabilitation robot suspention weight reducing device |
| CN111111096A (en) * | 2019-12-30 | 2020-05-08 | 浙江八瓦文化创意发展有限公司 | Recovered exerciser that uses of disabled patient |
| CN111150606A (en) * | 2020-01-15 | 2020-05-15 | 南京市第一医院 | Multifunctional lower limb load bearing treatment system |
| CN112370304A (en) * | 2020-11-10 | 2021-02-19 | 皖南医学院第一附属医院（皖南医学院弋矶山医院） | Neurological cerebral apoplexy rehabilitation medical device and rehabilitation method |
-
2016
- 2016-11-14 CN CN201621223706.5U patent/CN206424280U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106361543A (en) * | 2016-11-14 | 2017-02-01 | 四川理工学院 | Weight losing type gait rehabilitation training robot |
| CN106361543B (en) * | 2016-11-14 | 2019-05-24 | 四川理工学院 | A kind of weight-loss type gait rehabilitation training robot |
| CN108272602A (en) * | 2018-03-15 | 2018-07-13 | 哈工大机器人（合肥）国际创新研究院 | A kind of lower limb rehabilitation robot suspention weight reducing device |
| CN108272602B (en) * | 2018-03-15 | 2023-12-19 | 合肥哈工力训智能科技有限公司 | Lower limb rehabilitation robot suspension weight-reducing device |
| CN111111096A (en) * | 2019-12-30 | 2020-05-08 | 浙江八瓦文化创意发展有限公司 | Recovered exerciser that uses of disabled patient |
| CN111150606A (en) * | 2020-01-15 | 2020-05-15 | 南京市第一医院 | Multifunctional lower limb load bearing treatment system |
| CN112370304A (en) * | 2020-11-10 | 2021-02-19 | 皖南医学院第一附属医院（皖南医学院弋矶山医院） | Neurological cerebral apoplexy rehabilitation medical device and rehabilitation method |
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Granted publication date: 20170822 Termination date: 20201114 |