CN206453947U - Whole body for rehabilitation training coordinates multi-functional support robot - Google Patents
Whole body for rehabilitation training coordinates multi-functional support robot Download PDFInfo
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- CN206453947U CN206453947U CN201620755670.9U CN201620755670U CN206453947U CN 206453947 U CN206453947 U CN 206453947U CN 201620755670 U CN201620755670 U CN 201620755670U CN 206453947 U CN206453947 U CN 206453947U
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- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- 210000001624 hip Anatomy 0.000 abstract description 76
- 230000005021 gait Effects 0.000 abstract description 17
- 230000000694 effects Effects 0.000 abstract description 6
- 238000004088 simulation Methods 0.000 abstract description 5
- 230000002708 enhancing effect Effects 0.000 abstract description 3
- 210000001981 hip bone Anatomy 0.000 abstract description 3
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
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Abstract
Coordinate multi-functional support robot the utility model discloses a kind of whole body for rehabilitation training, the device includes base, crawler type walking machine, balance weight mechanism and motion parts；Motion parts include up and down motion platform, side-to-side movement platform, rear movement moving platform, carry hip motion platform and parallel four-bar type motion platform.Each motion platform is constituted by motor, platform fixed plate, gear train and output end.The utility model may be implemented in the rehabilitation training to three linear degrees of freedom of hipbone, two revolution two linear degrees of freedom of the free degree and shoulder and a revolution free degree during gait training；Can the physiological movement of altitude simulation hip and shoulder in gait training, effectively enhancing rehabilitation training effect.
Description
Technical field
The utility model belongs to technical field of medical instruments, and in particular to a kind of whole body for rehabilitation training coordinates many work(
Robot can be helped.
Background technology
China's Aging Problem is increasingly serious, and hemiplegia is the high morbidity in the elderly, therefore for the elderly
Posthemiplegic rehabilitation is particularly important.Hemiplegic patient's gait is normally the mark of rehabilitation, therefore gait training is in rehabilitation
Status in training is especially pronounced.
Traditional Rehabilitation means for hemiplegic patient need the hand steered patient's hip of Physical Therapist to carry out gait training, consume a large amount of
Time with muscle power, and can not ensure abundance training time and enough training strength.Existing gait training rehabilitation is set
The standby free degree that can be trained is few, it is impossible to carry out good exercise for coordination to the gait of patient in the process of walking, an emphasis office
The rehabilitation training in portion result in the problems such as patient recovers not comprehensive, so, the utility model has carried out physiology point to entire patient
Analysis, the design of equipment is carried out with reference to patient motion gait, so as to reach the optimum efficiency of rehabilitation training.
Utility model content
In order to the traditional gait rehabilitation training amount for solving prior art presence is big, inefficiency and common rehabilitation equipment
The problems such as training is not comprehensive, training mode is single, the utility model is used by analyzing hip and shoulder physiological structure there is provided one kind
Coordinate multi-functional support robot in the whole body of rehabilitation training, an efficient training platform is provided for patient's training.
Its technical scheme is：
A kind of whole body for rehabilitation training coordinates multi-functional support robot, including supporting mechanism, training institution, counterweight
Part and walking mechanism.Trainer includes shoulder motion parts 25 and hip motion parts 37.Shoulder motion parts 25 are included above and below shoulder
Motion parts, shoulder side-to-side movement platform, shoulder parallel four-bar type motion platform.Hip motion parts 37 include hip up and down motion platform,
Movement moving platform, hip propose hip motion platform, the motion of hip parallel four-bar type after hip side-to-side movement platform, hip.Supporting mechanism has support
Bar 38；Counterweight part includes balancing weight 39 and steel wire rope 23；Shoulder up and down motion platform includes the 6th motor 12, the 6th gear train
13rd, the 6th motor fixed block 14；Shoulder side-to-side movement platform includes the 7th gear train 15, the 7th motor fixed block 16, the 7th leading screw
Slide block structure 17, the 7th motor 18；Shoulder parallel four-bar type motion platform includes the 8th motor 19, the 8th motor fixed block 20, the
Eight gear trains 21, the 8th screw slider structure 22, the first take-off lever of shoulder 24, the second take-off lever of shoulder 26.Hip up and down motion platform bag
Include the first motor 1, the first motor fixed block 2, first gear group 3；Hip side-to-side movement platform includes the leading screw group of the second motor 4 second
The motor fixed block 7 of 5 second gear group 6 second；Movement moving platform includes the 3rd motor 8, the 3rd screw slider structure 9, the after hip
Three gear trains 10, the 3rd motor fixed block 11；Hip, which carries hip motion platform, includes the 4th take-off lever 27, the 4th gear train the 28, the 4th
Motor 29, the 4th motor fixed block 30；Hip parallel four-bar type motion platform includes the 5th gear train 31, the 5th motor fixed block
32nd, the 5th motor 33, hip the first take-off lever 34, the 5th screw slider structure 35, the second take-off lever of hip 36.
Further, crawler type walking machine 41 is fixed on the base 40 it；Motion parts are connected by support bar 38 with base 40；
Balance weight mechanism is connected by balancing weight 39 with base 40, is connected by steel wire rope 23 with motion platform.
Further, the 6th motor 12 is fixed on the 6th motor fixed block 14, drives shoulder to transport by the 6th gear train 13
Dynamic part 25 moves up and down.
7th motor 18 is fixed on the 7th motor fixed block 16, and the 7th screw slider knot is driven by the 7th gear train 15
The side-to-side movement of structure 17, the 7th screw slider structure 17 is fixed on the 6th motor fixed block 14, so that side-to-side movement platform is left
Right motion.
8th motor 19 is fixed on the 8th motor fixed block 20, and the 8th screw slider knot is driven by eighth gear group 21
Structure 22 and the first take-off lever of shoulder 24, the second take-off lever of shoulder 26 are moved, and form parallelogram lindage.
First motor 1 of hip motion parts is fixed on the first motor fixed block 2, drives hip to transport by first gear group 3
Dynamic part 37 moves up and down.
4th motor 29 is fixed on the 4th motor fixed block 30, drives the 4th take-off lever 27 to carry by the 4th gear train 28
Hip is moved, and the 4th take-off lever 27 is connected with the first take-off lever of hip 34 and the second take-off lever of hip 36, so that the take-off lever of hip first
34 and the second take-off lever of hip 36 carry hip motion.
3rd motor 8 is fixed on the 3rd motor fixed block 11, and the 3rd screw slider knot is driven by the 3rd gear train 10
Structure 9 is moved forward and backward, and the 3rd screw slider structure 9 is fixed on hip motion parts 37, so that fortune before and after moving forward and backward platform
It is dynamic.
Second motor 4 is fixed on the second motor fixed block 7, directly drives the second leading screw group 5 to move by second gear group 6
Dynamic, the second leading screw group 5 is fixed on hip motion parts 37, so that hip side-to-side movement platform side-to-side movement.
5th motor 33 is fixed on the 5th motor fixed block 32, and the 5th screw slider knot is driven by the 5th gear train 31
Structure 35 is moved, and drives the 5th screw slider structure 35 to be moved before and after driving the first take-off lever of hip 34 with the second take-off lever of hip 36, from
And form parallelogram lindage.
Further, balance weight mechanism is connected by steel wire rope 23 with motion platform, and provides pulling force, effect by balancing weight 39
In whole motion platform, the effect for exempting from weight has been effectively accomplished.
Further, the device may be implemented in during gait training to three linear degrees of freedom of hipbone, two revolutions
The rehabilitation training of two linearitys of the free degree and shoulder, degree of turn, altitude simulation hip and shoulder are in gait training
Physiological movement, effectively enhancing rehabilitation training effect.
Compared with prior art, the beneficial effects of the utility model：
First, possessing the rehabilitation training of five linear degrees of freedom and three revolution frees degree, altitude simulation hip is in gait
Physiological movement in training；Second, symmetrical expression exempts from heavy-duty machine structure, to mitigate burden during patient's gait training；Third, the rotation of device
The pivot for turning center and human hip is overlapped, the rehabilitation training that can be trained with altitude simulation body gait.
Brief description of the drawings
Fig. 1 is the structural representation that a kind of whole body for rehabilitation training of the utility model coordinates multi-functional support robot
Figure；Wherein, the 1, first motor；2nd, the first motor fixed block；3rd, first gear group；4th, the second motor；5th, the second leading screw group；6th,
Two gear trains；7th, the second motor fixed block；8th, the 3rd motor；9th, the 3rd screw slider structure；10th, the 3rd gear train；11st, the 3rd
Motor fixed block；12nd, the 6th motor；13rd, the 6th gear train；14th, the 6th motor fixed block；15th, the 7th gear train；16th, the 7th
Motor fixed block；17th, the 7th screw slider structure；18th, the 7th motor；19th, the 8th motor；20th, the 8th motor fixed block；21、
Eighth gear group；22nd, the 8th screw slider structure；23rd, steel wire rope；24th, the take-off lever of shoulder first；25th, shoulder motion parts；26th, shoulder
Second take-off lever；27th, the 4th take-off lever；28th, the 4th gear train；29th, the 4th motor；30th, the 4th motor fixed block；31st, the 5th
Gear train；32nd, the 5th motor fixed block；33rd, the 5th motor；34th, the take-off lever of hip first；35th, the 5th screw slider structure；36、
The take-off lever of hip second；37th, hip motion parts；38th, support bar；39th, balancing weight；40th, base；41st, crawler type walking machine.
Embodiment
The utility model is described in more detail with embodiment below in conjunction with the accompanying drawings.
A kind of reference picture 1, whole body for rehabilitation training coordinates multi-functional support robot, including base 40, crawler type
Walking machine 41, balance weight mechanism, support section 38, shoulder motion parts 25, hip motion parts 37.
Shoulder motion parts include the 6th motor 12, the 6th gear train 13, the 6th motor fixed block 14；Shoulder side-to-side movement platform
Including the 7th gear train 15, the 7th motor fixed block 16, the 7th screw slider structure 17, the 7th motor 18；Shoulder parallel four-bar type
Motion platform includes the 8th motor 19, the 8th motor fixed block 20, eighth gear group 21, the 8th screw slider structure 22, shoulder the
One take-off lever 24, the second take-off lever of shoulder 26.
Hip motion parts include the first motor 1, the first motor fixed block 2, first gear group 3；Hip side-to-side movement platform bag
Include the motor fixed block 7 of 5 second gear group of the second 4 second leading screw group of motor 6 second；After hip movement moving platform include the 3rd motor 8,
3rd screw slider structure 9, the 3rd gear train 10, the 3rd motor fixed block 11；Hip, which carries hip motion platform, includes the 4th take-off lever
27th, the 4th gear train 28, the 4th motor 29, the 4th motor fixed block 30；Hip parallel four-bar type motion platform includes the 5th gear
The 31, the 5th motor fixed block 32 of group, the 5th motor 33, hip the first take-off lever 34, the 5th screw slider structure 35, hip second are exported
Bar 36.
As a further improvement, crawler type walking machine 41 is fixed on the base 40 it；Motion parts pass through support bar 38 and bottom
Seat 40 is connected；Balance weight mechanism is connected by balancing weight 39 with base 40, is connected by steel wire rope 23 with motion platform.
As a further improvement, the 6th motor 12 is fixed on the 6th motor fixed block 14, pass through the 6th gear train 13
Shoulder motion parts 25 are driven to move up and down.
As a further improvement, the 7th motor 18 is fixed on the 7th motor fixed block 16, pass through the band of the 7th gear train 15
The dynamic side-to-side movement of 7th screw slider structure 17, the 7th screw slider structure 17 is fixed on the 6th motor fixed block 14, so that
Obtain side-to-side movement platform side-to-side movement.
As a further improvement, the 8th motor 19 is fixed on the 8th motor fixed block 20, pass through the band of eighth gear group 21
Dynamic 8th screw slider structure 22 and the first take-off lever of shoulder 24, the second take-off lever of shoulder 26 are moved, and form parallelogram lindage.
As a further improvement, the first motor 1 of hip motion parts is fixed on the first motor fixed block 2, pass through first
Gear train 3 drives hip motion parts 37 to move up and down.
As a further improvement, the 4th motor 29 is fixed on the 4th motor fixed block 30, pass through the band of the 4th gear train 28
Dynamic 4th take-off lever 27 proposes hip motion, and the 4th take-off lever 27 is connected with the first take-off lever of hip 34 and the second take-off lever of hip 36, so that
So that the first take-off lever of hip 34 and the second take-off lever of hip 36 propose hip motion.
As a further improvement, the 3rd motor 8 is fixed on the 3rd motor fixed block 11, driven by the 3rd gear train 10
3rd screw slider structure 9 is moved forward and backward, and the 3rd screw slider structure 9 is fixed on hip motion parts 37, so that front and rear
Motion platform is moved forward and backward.
As a further improvement, the second motor 4 is fixed on the second motor fixed block 7, pass through the direct band of second gear group 6
Dynamic second leading screw group 5 is moved, and the second leading screw group 5 is fixed on hip motion parts 37, so that hip side-to-side movement platform or so is transported
It is dynamic.
As a further improvement, the 5th motor 33 is fixed on the 5th motor fixed block 32, pass through the band of the 5th gear train 31
Dynamic 5th screw slider structure 35 is moved, and drives the 5th screw slider structure 35 to drive the first take-off lever of hip 34 front and rear and hip second
Take-off lever 36 is moved, so as to form parallelogram lindage.
As a further improvement, balance weight mechanism is connected by steel wire rope 23 with motion platform, and provided by balancing weight 39
Pulling force, acts on whole motion platform, has been effectively accomplished the effect for exempting from weight.
As a further improvement, the device may be implemented in during gait training to three linear degrees of freedom of hipbone,
The rehabilitation training of the two revolution free degree and shoulder two linear degrees of freedom, revolution free degree, altitude simulation hip and shoulder
Physiological movement of the portion in gait training, effectively enhancing rehabilitation training effect.
During using the utility model, hip is fixed with bandage first by instruction person, the first take-off lever of shoulder 24, shoulder second is connected to
With the first take-off lever of hip 34, the second take-off lever of hip 36 on take-off lever 26.
When implementing by instruction person's gait training, coordinate crawler type walking machine 41, motor is operated under torque mode：6th motor
12 are fixed on the 6th motor fixed block 14, drive shoulder motion parts 25 to move up and down by the 6th gear train 13.7th electricity
Machine 18 is fixed on the 7th motor fixed block 16, and the side-to-side movement of the 7th screw slider structure 17 is driven by the 7th gear train 15.
8th motor 19 is fixed on the 8th motor fixed block 20, and the 8th screw slider structure 22 and shoulder are driven by eighth gear group 21
First take-off lever 24, the second take-off lever of shoulder 26 are moved, and form parallelogram lindage.First motor 1 is fixed on the first motor and fixed
On block 2, hip motion parts 37 are driven to move up and down by first gear group 3.4th motor 29 is fixed on the 4th motor fixed block
On 30, drive the 4th take-off lever 27 to carry hip by the 4th gear train 28 and move, the 4th take-off lever 27 and the first take-off lever of hip 34 and
The second take-off lever of hip 36 is connected, so that the first take-off lever of hip 34 and the second take-off lever of hip 36 propose hip motion.3rd motor 8
It is fixed on the 3rd motor fixed block 11, drives the 3rd screw slider structure 9 to move forward and backward by the 3rd gear train 10, the 3rd
Thick stick slide block structure 9 is fixed on hip motion parts 37, is moved forward and backward so that moving forward and backward platform.Second motor 4 is fixed on
On second motor fixed block 7, directly the second leading screw group 5 is driven to move by second gear group 6, the second leading screw group 5 is fixed on hip
On motion parts 37, so that hip side-to-side movement platform side-to-side movement.5th motor 33 is fixed on the 5th motor fixed block 32,
Drive the 5th screw slider structure 35 to move by the 5th gear train 31, drive the 5th screw slider structure 35 to drive hip first defeated
Moved before and after rod 34 with the second take-off lever of hip 36, so as to form parallelogram lindage.
Described above, only the utility model preferably embodiment, protection domain of the present utility model is not limited to
This, any one skilled in the art can become apparent in the technical scope that the utility model is disclosed
Technical scheme simple change or equivalence replacement each fall within protection domain of the present utility model.
Claims (5)
1. a kind of whole body for rehabilitation training coordinates multi-functional support robot, it is characterised in that：Including base (40), crawler belt
Formula walking machine (41), balance weight mechanism (39), support section (38), shoulder motion parts (25), hip motion parts (37)；
The balance weight mechanism includes balancing weight (39) and steel wire rope (23)；
The shoulder motion parts include shoulder up and down motion platform, shoulder side-to-side movement platform and shoulder parallel four-bar type motion platform；
The hip motion parts include movement moving platform, hip after hip up and down motion platform, hip side-to-side movement platform, hip and propose hip motion
Platform and hip parallel four-bar type motion platform；
The shoulder up and down motion platform includes the 6th motor (12)；6th gear train (13)；6th motor fixed block (14)；It is described
Shoulder side-to-side movement platform includes the 7th gear train (15)；7th motor fixed block (16)；7th screw slider structure (17)；7th
Motor (18)；The shoulder parallel four-bar type motion platform includes the 8th motor (19)；8th motor fixed block (20)；Eighth gear
Group (21)；8th screw slider structure (22)；The take-off lever of shoulder first (24)；The take-off lever of shoulder second (26)；
The hip up and down motion platform includes the first motor (1)；First motor fixed block (2)；First gear group (3)；The hip
Side-to-side movement platform includes the second motor (4)；Second leading screw group (5)；Second gear group (6)；Second motor fixed block (7)；Institute
Stating movement moving platform after hip includes the 3rd motor (8)；3rd screw slider structure (9)；3rd gear train (10)；3rd motor is consolidated
Determine block (11)；The hip, which carries hip motion platform, includes the 4th take-off lever (27)；4th gear train (28)；4th motor (29)；The
Four motor fixed blocks (30)；The hip parallel four-bar type motion platform includes the 5th gear train (31)；5th motor fixed block
(32)；5th motor (33)；The take-off lever of hip first (34)；5th screw slider structure (35)；The take-off lever of hip second (36).
2. the whole body according to claim 1 for rehabilitation training coordinates multi-functional support robot, it is characterised in that：Institute
Crawler type walking machine (41) is stated to be fixed on base (40)；Motion parts are connected by support bar (38) with base (40)；Counterweight
Mechanism is connected by balancing weight (39) with base, is connected by steel wire rope (23) with motion platform.
3. the whole body according to claim 1 for rehabilitation training coordinates multi-functional support robot, it is characterised in that：Institute
The 6th motor (12) for stating shoulder motion parts is fixed on the 6th motor fixed block (14), is driven by the 6th gear train (13)
Shoulder motion parts (25) move up and down；
7th motor (18) is fixed on the 7th motor fixed block (16), and the 7th leading screw is driven by the 7th gear train (15)
Slide block structure (17) side-to-side movement, the 7th screw slider structure (17) is fixed on the 6th motor fixed block (14), so that left
Right motion platform side-to-side movement；
8th motor (19) is fixed on the 8th motor fixed block (20), and the 8th leading screw is driven by eighth gear group (21)
Slide block structure (22) and the take-off lever of shoulder first (24), the take-off lever of shoulder second (26) motion, form parallelogram lindage.
4. the whole body according to claim 1 for rehabilitation training coordinates multi-functional support robot, it is characterised in that：Institute
The first motor (1) for stating hip motion parts is fixed on the first motor fixed block (2), drives hip to transport by first gear group (3)
Dynamic part (37) moves up and down；
4th motor (29) is fixed on the 4th motor fixed block (30), drives the 4th to export by the 4th gear train (28)
Bar (27) proposes hip motion, and the 4th take-off lever (27) is connected with the take-off lever of hip first (34) and the take-off lever of hip second (36), so that
Obtain the take-off lever of hip first (34) and the take-off lever of hip second (36) proposes hip motion；
3rd motor (8) is fixed on the 3rd motor fixed block (11), and the 3rd leading screw is driven by the 3rd gear train (10)
Slide block structure (9) is moved forward and backward, and the 3rd screw slider structure (9) is fixed on hip motion parts (37), so that front and rear fortune
Moving platform is moved forward and backward；
Second motor (4) is fixed on the second motor fixed block (7), and second is directly driven by second gear group (6)
Thick stick group (5) is mobile, and the second leading screw group (5) is fixed on hip motion parts (37), so that hip side-to-side movement platform side-to-side movement；
5th motor (33) is fixed on the 5th motor fixed block (32), and the 5th leading screw is driven by the 5th gear train (31)
Slide block structure (35) is moved, and drives the 5th screw slider structure (35) to be exported before and after driving the take-off lever of hip first (34) with hip second
Bar (36) is moved, so as to form parallelogram lindage.
5. the whole body according to claim 1 for rehabilitation training coordinates multi-functional support robot, it is characterised in that：Institute
State balance weight mechanism by steel wire rope (23) with motion platform to be connected, and pulling force is provided by balancing weight (39).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620755670.9U CN206453947U (en) | 2016-07-18 | 2016-07-18 | Whole body for rehabilitation training coordinates multi-functional support robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620755670.9U CN206453947U (en) | 2016-07-18 | 2016-07-18 | Whole body for rehabilitation training coordinates multi-functional support robot |
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| Publication Number | Publication Date |
|---|---|
| CN206453947U true CN206453947U (en) | 2017-09-01 |
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ID=59692324
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620755670.9U Expired - Fee Related CN206453947U (en) | 2016-07-18 | 2016-07-18 | Whole body for rehabilitation training coordinates multi-functional support robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106176127A (en) * | 2016-07-18 | 2016-12-07 | 广西盈锐智能机械有限公司 | Whole body for rehabilitation training coordinates multi-functional support robot and operational approach thereof |
| CN108514494A (en) * | 2018-02-02 | 2018-09-11 | 上海交通大学 | Device for the training of postoperative gait rehabilitation |
| RU207012U1 (en) * | 2021-06-15 | 2021-10-06 | Общество с ограниченной ответственностью "Кузбасский Центр лечения и реабилитации "Протэкс-Гарант" | Multifunctional standing support |
-
2016
- 2016-07-18 CN CN201620755670.9U patent/CN206453947U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106176127A (en) * | 2016-07-18 | 2016-12-07 | 广西盈锐智能机械有限公司 | Whole body for rehabilitation training coordinates multi-functional support robot and operational approach thereof |
| CN106176127B (en) * | 2016-07-18 | 2018-08-10 | 广东铭凯医疗机器人有限公司 | Whole body for rehabilitation training coordinates multi-functional support robot and its operating method |
| CN108514494A (en) * | 2018-02-02 | 2018-09-11 | 上海交通大学 | Device for the training of postoperative gait rehabilitation |
| RU207012U1 (en) * | 2021-06-15 | 2021-10-06 | Общество с ограниченной ответственностью "Кузбасский Центр лечения и реабилитации "Протэкс-Гарант" | Multifunctional standing support |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190710 Address after: 518000 No. 3002 Sungang West Road, Futian District Huafu street, Shenzhen, Guangdong Patentee after: SHENZHEN INSTITUTE OF GERIATRICS Address before: 518000 C 1903, Shennan Avenue, 1006 Shenzhen International Innovation Center, Futian District Hua Fu Street, Shenzhen, Guangdong Patentee before: GUANGDONG MINGKAI MEDICAL ROBOT Co.,Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170901 |