CN206730382U - A kind of healthy image training robot of more poses - Google Patents

Abstract

The utility model discloses a multi-position posture health training robot: the health training robot includes a lower limb training machine and an adjustment device, and the adjustment device includes an angle adjustment mechanism and a horizontal motion mechanism that drives the horizontal displacement of the angle adjustment mechanism; The lower limb training machine is fixed on the cover plate of the angle adjustment mechanism; two horizontal motion mechanisms are arranged in parallel, and each horizontal motion mechanism is correspondingly provided with an angle adjustment mechanism and a lower limb training machine; The motion mechanism is respectively provided with a support frame, and the seat supported by the support frame is provided with a controllable slide rail along the length direction of the horizontal motion mechanism on each of the support frames. on the controllable slide rail. The utility model can adjust different postures, and the utility model can adapt to leg training of different groups of people. The adjustment devices on both sides and the lower limb training machine can operate independently, and the user can synchronize the legs in different postures. Asynchronous planning training.

Description

A multi-position health training robot

Technical field:

The utility model relates to a multi-posture health training robot, which belongs to the field of rehabilitation medicine and sports fitness equipment.

Background technique:

The increasing degree of aging society, stroke, spinal cord injury and other reasons lead to the reduction of limb function and movement, or even complete loss, which seriously affects the quality of life. Rehabilitation treatment is an effective way to restore motor function. The traditional one-on-one rehabilitation treatment method between physical therapists and patients has the disadvantages of high labor intensity and high treatment costs. Therefore, rehabilitation training equipment is an effective way to solve this contradiction. Since the middle of the last century, many achievements have been made in rehabilitation training equipment, such as single-degree-of-freedom, exoskeleton, suspension and so on. But they have the following deficiencies: complex operation, single movement form, difficulty in simulating human space movement, inability to adapt to training in various poses, etc. It is of certain practical significance to develop a training device that can realize the health of human lower limbs.

Utility model content:

In order to overcome the defects of the prior art, the purpose of this utility model is to provide a simple and compact structure, a wide range of applications, which can be applied to the rehabilitation and fitness training of the lower limbs, and can realize leg rehabilitation in various postures of lying, sitting and standing. training machine.

The utility model solves the technical problem and adopts the following technical solutions:

A multi-position health training robot:

The health training robot includes a lower limb training machine and an adjustment device, and the adjustment device includes an angle adjustment mechanism and a horizontal motion mechanism that drives the horizontal displacement of the angle adjustment mechanism;

The lower limb training machine is fixed on the cover plate of the angle adjustment mechanism;

There are two horizontal motion mechanisms arranged in parallel, and an angle adjustment mechanism and a lower limb training machine are correspondingly provided on each horizontal motion mechanism;

A support frame is respectively provided on the two described horizontal motion mechanisms, and a seat supported by the support frame is provided with a controllable slide rail along the length direction of the horizontal motion mechanism on each of the support frames. The chair is arranged on the controllable slide rail through the slide block.

Structural features of the present utility model also are:

The angle adjustment mechanism includes the cover plate, the base plate, and the linear push rod; the cover plate and the base plate are hinged at the bottom edge, one end of the linear push rod is hinged with the middle of the cover plate, and the other One end is hinged with the front edge of the bottom plate to form a four-bar mechanism.

The horizontal motion mechanism includes a motor, a lead screw, a guide rail and a slide block. One end of the lead screw is connected to the output shaft of the motor through a coupling, and the other end is connected to the middle of the slide block to form a spiral pair. The guide rail is used to support and guide the slider; the bottom plate of the angle adjustment mechanism is arranged on the slider.

The slide block of each horizontal motion mechanism is provided with a chute, the length direction of the chute is perpendicular to the length direction of the guide rail, and the bottom plate of the angle adjustment mechanism is arranged in the chute of the slide block to form a sliding pair .

A pedal is provided on opposite sides of the two lower limb training machines, and a pressure sensor is provided in each pedal.

The support frame of the seat is a liftable support frame, armrests are fixed on both sides of the seat, and an armrest bar is connected between the two armrests, and a heart rate detection sensor is arranged on the armrest bar ; One end of the handrail rod is hinged on one of the handrails, and the other end is movably connected to the other handrail.

The seat has a cushion body and a backrest, the cushion body is arranged on a sliding block, and a rotating chassis structure for realizing rotation and fixing of the seat is arranged between the cushion body and the sliding block.

Compared with the prior art, the beneficial effects of the utility model are reflected in:

The utility model can adjust different postures, and the utility model can adapt to the leg training of different groups of people. The adjustment devices on both sides and the lower limb training machine can operate independently, and the user can synchronize the legs in different postures. Asynchronous planning training.

The utility model can realize leg movements with different trajectories in multiple postures of lying, sitting and standing, and can realize active and passive rehabilitation training.

The utility model can adjust different postures and realize track planning under different postures.

The utility model has wide application range, various rehabilitation training modes, and can realize active/passive training.

The utility model has a compact and flexible structure, can be retracted freely, can shrink when not in use, and occupies little space.

The utility model realizes exercise training with different trajectories and different amplitudes, so that it can not only adapt to the situation of the same trainer in different rehabilitation periods and different training states, but also meet the needs of trainers of different heights for rehabilitation and fitness exercises.

When actively training, it can not only be used as a rehabilitation training device, but also can be used as a fitness equipment to enhance physical fitness.

Description of drawings:

Fig. 1 is a structural schematic diagram of the utility model; Fig. 2 and Fig. 3 are the structural schematic diagrams of the connection relation of the horizontal movement mechanism, the adjustment mechanism and the training machine.

Labels in the figure: 1 motor, 2 lead screw, 3 guide rail, 4 slider, 5 bottom plate, 6 cover plate, 7 training machine, 8 linear actuator, 9 handrail rod, 10 heart rate detection sensor, 11 support frame, 12 seat , 13 controllable slide rails, 14 pedals, 15 pressure sensors, 16 armrests, 121 cushion bodies, 122 backrests.

The utility model will be further described below through specific embodiments in conjunction with the accompanying drawings.

detailed description:

Embodiment: The utility model multi-posture health training robot includes a lower limb training machine and an adjustment device, and the adjustment device includes an angle adjustment mechanism and a horizontal motion mechanism that drives the horizontal displacement of the angle adjustment mechanism;

The lower limb training machine 7 is fixed on the cover plate 6 of the angle adjustment mechanism. For the structure of the training machine, see the prior application of 2015104980520. The opposite sides of the two training machines are respectively provided with pedals 14, and pressure sensors are provided in each pedal 14 15. It can detect the user's plantar pressure in real time, which is convenient for observing the user's training balance.

Two horizontal motion mechanisms are arranged in parallel, and an angle adjustment mechanism and a lower limb training machine 7 are correspondingly provided on each horizontal motion mechanism.

Two horizontal motion mechanisms are respectively provided with a support frame 11, and the seat 12 supported by the support frame 11 is provided with a controllable slide rail 13 along the length direction of the horizontal motion mechanism on each support frame 11, and the seat 12 passes through the sliding block. Set on the controllable slide rail 13.

The angle adjustment mechanism includes a cover plate 6, a bottom plate 5, and a linear push rod 8; the bottom edge of the cover plate 6 is hinged to the bottom edge of the bottom plate 5, and the linear push rod is between the facing surfaces of the cover plate and the bottom plate, and the linear push rod One end of 8 is hinged with the middle part of cover plate 6, and the other end is hinged with the front edge portion of base plate 5 to form a four-bar mechanism.

The horizontal motion mechanism includes a motor 1, a screw 2, a guide rail 3 and a slider 4. One end of the screw is connected to the output shaft of the motor 1 through a coupling, and the other end is connected to the middle of the slider 4 to form a spiral pair. The guide rail 3 is used To support and guide the slider 4; the bottom plate 5 of the angle adjustment mechanism is fixed on the slider 4.

In a specific setting, the above-mentioned linear push rod 8 may be driven by electric, hydraulic, pneumatic or other methods, and this embodiment adopts electric drive.

The slide block 4 of each horizontal movement mechanism is provided with a chute, the length direction of the chute is perpendicular to the length direction of the guide rail, and the bottom plate 5 of the angle adjustment mechanism is arranged in the chute of the slide block to form a sliding pair. The horizontal distance between the training machines on both sides can be adjusted to realize the adjustment of the horizontal distance between the user's legs.

Referring to Fig. 1, the support frame 11 of seat is the support frame that can lift, and armrest 16 is fixedly provided with on both sides of seat 12, and is connected with armrest bar 9 between two armrests 16, and armrest bar 9 is provided with There is a heart rate detection sensor 10; one end of the armrest rod 9 is hinged on one of the armrests 16, and the other end is movably connected on the other armrest 16. The armrest bar 9 is used to prevent the user from leaning forward and cause potential safety hazards, and to further protect the user. In specific implementation, there are many ways to realize detachment, such as pin connection, bolt connection and the like. The middle part of the armrest bar 9 is provided with a heart rate detection sensor 10, which detects changes in the heart rate in real time during the user's training process, and is convenient for observing the user's physical condition.

The seat 12 has a cushion body 121 and a backrest 122, the cushion body 121 is arranged on the sliding block, and a rotating chassis structure for realizing the rotation and fixing of the seat is arranged between the cushion body and the sliding block. The user can sit on the cushion structure for training, and the four telescopic rods in the support frame 11 drive the support frame to move up and down to adjust the cushion structure to a suitable height to meet the needs of different groups of people; It is an electric linear push rod, hydraulic push rod or even a worm gear that can be stretched and adjusted in length, and the separation and combination of the angle lock lever and the angle lock plate can be controlled by pressing the rotary switch through the pulley to realize the rotation and angle of the seat. It is fixed and has a simple structure, and can ensure the stability and safety of the device in use.

The design of the seat back can realize exercise in sitting and lying positions, and there are various training postures for users to choose, with various modes, a wide range of applications, and increased comfort. During specific implementation, the existing flipped backrest structure can be used to switch the state. For example, the motor arranged on the seat cushion body 121 drives the hinge shaft to rotate, which has a high degree of automation. When it is necessary to train in a standing posture, the cushion structure is raised through the telescopic rod, the thigh part passes through the vacancy of the cushion body 121 to stand, and the height of the seat is adjusted through the driving structure to meet the standing posture requirements, and then the standing posture can be performed train.

The multi-posture health training robot of the utility model can be applied to the training and recovery of people whose lower limb motor function has declined or lost, and helps them easily realize standard motion trajectory training in various postures of lying, sitting, and standing. For ordinary people with sound lower body functions, health training can also be carried out to help them enhance their physical ability. A new type of multi-position health training robot in this embodiment has low energy consumption and high cost performance. Great prospects for industrial application.

The above descriptions are only preferred embodiments of the utility model, and are not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present utility model shall be included in the protection scope of the present utility model.

Claims (7)

1. A kind of 1. healthy image training robot of more poses, it is characterised in that：

   The healthy image training robot includes leg training machine and adjusting means, the adjusting means include angle adjusting mechanism and Drive the horicontal motion mechanism of the angle adjusting mechanism horizontal displacement；

   The leg training machine (7) is fixed on the cover plate (6) of the angle adjusting mechanism；

   The horicontal motion mechanism is arranged with two in parallel, be correspondingly provided with each horicontal motion mechanism angle adjusting mechanism and under Limb training airplane (7)；

   Support frame (11) is each provided with two horicontal motion mechanisms, the seat supported by support frame as described above (11) (12) controllable slide rail (13), the seat, are provided with along the length direction of the horicontal motion mechanism on each support frame as described above (11) (12) by sliding shoe on the controllable slide rail (13).
2. A kind of 2. more healthy image training robots of pose according to claim 1, it is characterised in that：

   The angle adjusting mechanism includes the cover plate (6), bottom plate (5), line handspike (8)；The cover plate (6) and the bottom plate (5) in bottom, edge is hinged between, and one end and the middle part of cover plate (6) of the line handspike (8) are hinged, the other end and bottom The front end edge of plate (5) is be hinged to form four-bar mechanism.
3. A kind of 3. more healthy image training robots of pose according to claim 1, it is characterised in that：

   The horicontal motion mechanism includes motor (1), leading screw (2), guide rail (3) and sliding block (4), one end of the leading screw and passed through The output axis connection of shaft coupling and the motor (1), the other end is connected to form screw pair with the middle part of the sliding block (4), described Guide rail (3) is used for the slider support, guiding；The bottom plate (5) of the angle adjusting mechanism is arranged on the sliding block (4).
4. A kind of 4. more healthy image training robots of pose according to claim 3, it is characterised in that：

   The sliding block (4) of each horicontal motion mechanism is provided with chute, the length of the length direction of the chute perpendicular to guide rail Direction is spent, the bottom plate (5) of the angle adjusting mechanism, which is arranged in the chute of the sliding block, forms sliding pair.
5. A kind of 5. more healthy image training robots of pose according to claim 1, it is characterised in that：

   The opposite sides of two leg training machines (7) are each provided with riding (14), and pressure is provided with each foot-operated (14) Force snesor (15).
6. A kind of 6. more healthy image training robots of pose according to claim 1, it is characterised in that：

   The support frame (11) of the seat is liftable support frame, and handrail (16) is installed with the both sides of the seat (12), And bar (9) is connected between two handrails (16), heart rate detection sensor (10) is provided with the bar (9)； One end of the bar (9) is hinged wherein on a handrail (16), and the other end is movably connected on another handrail (16).
7. A kind of 7. more healthy image training robots of pose according to claim 6, it is characterised in that：

   The seat (12) has cushion (121) and backrest (122), and the cushion (121) is arranged on sliding shoe On, and the swivel base structure for realizing that seat rotates and fixed is provided between cushion and sliding shoe.