CN208659846U - A kind of Multifunctional lower limb rehabilitation image training robot - Google Patents
A kind of Multifunctional lower limb rehabilitation image training robot Download PDFInfo
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- CN208659846U CN208659846U CN201721191194.3U CN201721191194U CN208659846U CN 208659846 U CN208659846 U CN 208659846U CN 201721191194 U CN201721191194 U CN 201721191194U CN 208659846 U CN208659846 U CN 208659846U
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Abstract
The utility model relates to a kind of Multifunctional lower limb rehabilitation image training robots, including drive shell；Drive shell is mounted on the installation frame of bottom, bottom installation frame is connect by shock absorption buffering mechanism with top installation frame, support beam is provided on the installation frame of top, it is flexibly connected by two groups of fixed ropes with rest board in support beam, the rest board other end is fixedly connected by two groups of ropes with two groups of hooks, hook setting is on hook cross bar, hook cross bar both ends are fixedly connected respectively at one group of lifting cylinder, top installation frame two sides are also separately installed with one group of rest counter weight device, and overhead support frame top is fixedly installed U-shaped frame；The utility model is provided with rest board on installation frame, it can rest in time when rehabilitation patient carries out rehabilitation training, and rest board is separately mounted on two pillars by two groups of ropes, wherein the hook cross bar of one end can be gone up and down, and provide more comfortable rest angle for rehabilitation patient.
Description
Technical field
The utility model relates to leg training equipment technical field more particularly to a kind of Multifunctional lower limb rehabilitation training machines
People.
Background technique
Healing robot is the new kinesitherapy nerve Rehabilitation Treatment Technique of one kind developed in recent years, as medical machine
The important branch of people, it run through medical science of recovery therapy, biomethanics, mechanics, electronics, materialogy, computer science with
And the numerous areas such as robotics, it is a kind of automedica rehabilitation equipment.It using theory of medicine as foundation, medical science of recovery therapy and
Robot technology perfect combination helps patient to carry out science and effective rehabilitation training, obtains the motion function of patient faster
Preferably restore, has become 1 research hotspot of international robot field.The major function of recovery exercising robot is side
It helps patient to complete resuming training for various motor functions, mainly there is Walking, arm motion training, motion of the vertebra training etc..
For the patients such as apoplexy, hemiplegia, lower extremity movement legion, lower limbs rehabilitation training robot has treatment effect well
Fruit.
Current lower limb rehabilitation robot is trained only for the exercise ability of lower limbs of patient, and rehabilitation patient into
When capable rehabilitation training alone, when overtraining, timely rest not can guarantee.
Summary of the invention
The utility model overcomes above-mentioned the deficiencies in the prior art, provides a kind of Multifunctional lower limb rehabilitation training machine
People.The utility model is provided with rest board on installation frame, can stop in time when rehabilitation patient carries out rehabilitation training
Breath, and rest board is separately mounted on two pillars by two groups of ropes, wherein the hook cross bar of one end can be gone up and down, and be rehabilitation
Patient provides more comfortable rest angle.
The technical solution of the utility model includes:
A kind of Multifunctional lower limb rehabilitation image training robot, including drive shell, driving device one, driving device two, bottom
Installation frame, top installation frame, rest board, rest counter weight device；The drive shell is mounted on the bottom installation frame
On, the bottom installation frame is connect by shock absorption buffering mechanism with top installation frame, is arranged on the top installation frame
There is support beam, is flexibly connected by two groups of fixed ropes with the rest board in the support beam, the rest board is another
End is fixedly connected by two groups of ropes with two groups of hooks, and the hook setting is on hook cross bar, the hook cross bar both ends point
It is not fixedly connected in one group of lifting cylinder, the lifting cylinder is fixedly mounted on top installation frame two sides, the top
Installation frame two sides be also separately installed with one group described in rest counter weight device, the drive shell is internally provided with driving dress
One and the driving device two are set, the drive shell front end is additionally provided with automatic fault avoidnig device, the automatic fault avoidnig device, institute
It states driving device one and the driving device two is electrically connected with control device respectively, the overhead support frame top fixed setting
There is U-shaped frame, control panel is provided in the U-shaped frame, multiple groups control button, the control button point are provided on the control panel
It is not electrically connected in the control device.
Further, further, the driving device one and the driving device two are separately positioned on the driving shell
The left and right sides in internal portion, the driving device one and the driving device two respectively include a driving motor, the driving
Electric machine main shaft is directly keyed with driving wheel, and two driving motors are electrically connected with control device.
Further, the shock absorption buffering mechanism includes shock strut, is provided with several groups on the bottom installation frame
The shock strut, the top installation frame and bottom installing frame corresponding position are machined with pillar mounting hole, described
Shock strut outer end is provided with damping spring, and described damping spring one end is fixedly connected with the bottom installation frame, described to subtract
The shake spring other end is fixedly connected with the top installation frame.
Further, the urgent obstacle avoidance apparatus includes two groups of infrared sensors, and the infrared sensor is mounted on described
The front end of drive shell, the infrared sensor are electrically connected with the control device.
Further, the control device includes dsp processor, the dsp processor input terminal and the infrared sensing
Device and control button electrical connection, the output end of the DSP are electrically connected with two groups of driving motors.
Further, the rest counter weight device includes two set of weights electric pushrods, and the counterweight electric pushrod is set respectively
It sets in top installation frame two sides, the counterweight electric pushrod movable end is fixedly connected with counterweight box, on the counterweight box
It is machined with the mobile unthreaded hole in center and counterweight hole slot, the counterweight box is mounted on the mobile optical track by the mobile unthreaded hole in the center
On, the mobile optical track setting is provided with clump weight, the counterweight in top installation frame two sides, the counterweight hole slot
Electric pushrod is electrically connected with counterweight adjusting device.
Further, the counterweight adjusting device includes pressure sensor, and the pressure sensor is arranged in the damping
Pillar top, the pressure sensor are electrically connected with PLC controller, and the PLC controller is electrically connected with the counterweight electric pushrod
It connects.
The utility model has the advantages that compared with the existing technology
The utility model is provided with rest board on installation frame, can rehabilitation patient carry out rehabilitation training when can and
When rest, and rest board is separately mounted on two pillars by two groups of ropes, and wherein the hook cross bar of one end can be gone up and down, and be
Rehabilitation patient provides more comfortable rest angle.
The utility model can experience the pressure signal of patient's seating position when rehabilitation patient carries out urgent rest, and
The position of counterweight box is adjusted by counterweight adjusting device, guarantees that rehabilitation patient will not surprisingly topple over during the break.
Obstacle avoidance apparatus is arranged in the utility model drive shell front end, and can encounter when patient is in electric walking training can not
Can be according to the signal judgment means that infrared sensor provides whether close to wall when the problem of stopping, and then control driving device
Whether emergent stopping.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the top view of the utility model；
Fig. 3 is the partial enlarged view of Fig. 1；
Fig. 4 is the control block diagram of the counterweight adjusting device of the utility model；
Fig. 5 is the control block diagram of the control device of the utility model.
1- drive shell in figure；2- driving device one；3- driving device two；The bottom 4- installation frame；Installing frame at the top of 5-
Frame；6- rest board；7- rest counter weight device；8- support beam；9- hook；10- links up with cross bar；11- lifting cylinder；12-U shape
Frame；13- control panel；14- control button；15- driving motor；16- driving wheel；17- damping spring；18- infrared sensor； 19-
Dsp processor；20- counterweight electric pushrod；21- counterweight box；22- moves optical track；23- pressure sensor；24-PLC controller；
25- shock strut.
Specific embodiment
The utility model is described in detail below with reference to attached drawing.
Show in conjunction with Fig. 1-Fig. 5, a kind of Multifunctional lower limb rehabilitation image training robot disclosed in the present embodiment, including drive shell
1, driving device 1, driving device 23, bottom installation frame 4, top installation frame 5, rest board 6, rest counter weight device 7；
The drive shell 1 is mounted on the bottom installation frame 4, and the bottom installation frame 4 passes through shock absorption buffering mechanism and top
Portion's installation frame 5 connects, and support beam 8 is provided on the top installation frame 5, is consolidated in the support beam 8 by two groups
To determine rope to be flexibly connected with the rest board 6,6 other end of rest board is fixedly connected by two groups of ropes with two groups of hooks 9,
9 setting of hook is on hook cross bar 10, and 10 both ends of hook cross bar are fixedly connected respectively at one group of lifting cylinder 11, institute
It states lifting cylinder 11 and is fixedly mounted on 5 two sides of top installation frame, 5 two sides of top installation frame are also separately installed with
Rest counter weight device 7 described in one group, the drive shell 1 are internally provided with the driving device 1 and the driving device two
3,1 front end of drive shell is additionally provided with automatic fault avoidnig device, the automatic fault avoidnig device, the driving device 1 and institute
It states driving device 23 to be electrically connected with control device respectively, 5 top of overhead support frame is fixedly installed U-shaped frame 12, described
It is provided with control panel 13 in U-shaped frame 12, multiple groups control button 14 is provided on the control panel 13, the control button 14 divides
It is not electrically connected in the control device.
Specifically, the driving device 1 and the driving device 23 are separately positioned on inside the drive shell 1
The left and right sides, the driving device 1 and the driving device 23 respectively include a driving motor 15, the driving motor
15 main shafts are directly keyed with driving wheel 16, and two driving motors 15 are electrically connected with control device.
Specifically, the shock absorption buffering mechanism includes shock strut 25, several groups are provided on the bottom installation frame 4
The shock strut 25, the top installation frame 5 are machined with pillar installation with 4 corresponding position of bottom installation frame
Hole, 25 outer end of shock strut are provided with damping spring 17, and described 17 one end of damping spring and the bottom installation frame 4 are solid
Fixed connection, 17 other end of damping spring are fixedly connected with the top installation frame 5.
Specifically, the urgent obstacle avoidance apparatus includes two groups of infrared sensors 18, the infrared sensor 18 is mounted on institute
The front end of drive shell 1 is stated, the infrared sensor 18 is electrically connected with the control device.
Specifically, the control device includes dsp processor 19,19 input terminal of dsp processor and the infrared biography
Sensor 18 and the control button 14 are electrically connected, and the output end of the dsp processor 19 is electrically connected with two groups of driving motors 15.
Specifically, the rest counter weight device 7 includes two set of weights electric pushrods 20, the counterweight electric pushrod 20 is distinguished
It is arranged in 5 two sides of top installation frame, 20 movable end of counterweight electric pushrod is fixedly connected with counterweight box 21, described to match
The mobile unthreaded hole in center and counterweight hole slot are machined on weight box 21, the counterweight box 21 is mounted on institute by the mobile unthreaded hole in the center
It states on mobile optical track 22, the mobile setting of optical track 22 is provided in 5 two sides of top installation frame, the counterweight hole slot
Clump weight, the counterweight electric pushrod 20 are electrically connected with counterweight adjusting device.
Specifically, the counterweight adjusting device includes pressure sensor 23, the setting of pressure sensor 23 subtracts described
25 top of pillar is shaken, the pressure sensor 23 is electrically connected with PLC controller 24, the PLC controller 24 and the counterweight electricity
Dynamic push rod 20 is electrically connected.
Above embodiments are exemplary description of this patent, do not limit its protection scope, those skilled in the art
Member can also be changed its part, as long as it does not exceed the essence of this patent, within the protection scope of the present patent.
Claims (7)
1. a kind of Multifunctional lower limb rehabilitation image training robot, it is characterised in that: including drive shell (1), driving device one (2),
Driving device two (3), bottom installation frame (4), top installation frame (5), rest board (6), rest counter weight device (7)；It is described
Drive shell (1) is mounted on the bottom installation frame (4), the bottom installation frame (4) by shock absorption buffering mechanism with
Top installation frame (5) connects, and is provided with support beam (8) on the top installation frame (5), on the support beam (8)
It is flexibly connected by two groups of fixed ropes with the rest board (6), rest board (6) other end passes through two groups of ropes and two groups
Hook (9) is fixedly connected, and hook (9) setting is on hook cross bar (10), and hook cross bar (10) both ends are respectively at one
Group lifting cylinder (11) is fixedly connected, and the lifting cylinder (11) is fixedly mounted on top installation frame (5) two sides, described
Top installation frame (5) two sides be also separately installed with one group described in rest counter weight device (7), sets inside the drive shell (1)
It is equipped with the driving device one (2) and the driving device two (3), drive shell (1) front end is additionally provided with automatic obstacle-avoiding
Device, the automatic fault avoidnig device, the driving device one (2) and the driving device two (3) are electrically connected with control device respectively
It connects, overhead support frame (5) top is fixedly installed U-shaped frame (12), is provided with control panel on the U-shaped frame (12)
(13), it is provided with multiple groups control button (14) on the control panel (13), the control button (14) fills respectively at the control
Electrical connection is set, bottom installation frame (4) rear end is provided with two groups of servo-actuated universal wheels.
2. a kind of Multifunctional lower limb rehabilitation image training robot according to claim 1, which is characterized in that the driving device
One (2) and the driving device two (3) are separately positioned on the internal left and right sides of the drive shell (1), the driving device
One (2) and the driving device two (3) respectively include a driving motor (15), driving motor (15) main shaft directly with drive
Driving wheel (16) key connection, two driving motors (15) are electrically connected with control device.
3. a kind of Multifunctional lower limb rehabilitation image training robot according to claim 2, which is characterized in that the damping, buffering
Device includes shock strut (25), is provided with shock strut described in several groups (25), the top on the bottom installation frame (4)
Portion's installation frame (5) and bottom installation frame (4) corresponding position are machined with pillar mounting hole, the shock strut (25)
Outer end is provided with damping spring (17), and described damping spring (17) one end is fixedly connected with the bottom installation frame (4), described
Damping spring (17) other end is fixedly connected with the top installation frame (5).
4. a kind of Multifunctional lower limb rehabilitation image training robot according to claim 2, which is characterized in that the automatic obstacle-avoiding
Device includes two groups of infrared sensors (18), and the infrared sensor (18) is mounted on the front end of the drive shell (1), described
Infrared sensor (18) is electrically connected with the control device.
5. a kind of Multifunctional lower limb rehabilitation image training robot according to claim 4, which is characterized in that the control device
Including dsp processor (19), dsp processor (19) input terminal and the infrared sensor (18) and the control button
(14) it is electrically connected, the output end of the dsp processor (19) is electrically connected with two groups of driving motors (15).
6. a kind of Multifunctional lower limb rehabilitation image training robot according to claim 3, which is characterized in that the rest counterweight
Device (7) includes two set of weights electric pushrods (20), and the counterweight electric pushrod (20) is separately positioned on the top installing frame
Frame (5) two sides, counterweight electric pushrod (20) movable end are fixedly connected with counterweight box (21), are processed on the counterweight box (21)
There are the mobile unthreaded hole in center and counterweight hole slot, the counterweight box (21) is mounted on mobile optical track (22) by the mobile unthreaded hole in the center
On, mobile optical track (22) setting is provided with clump weight in top installation frame (5) two sides, the counterweight hole slot,
The counterweight electric pushrod (20) is electrically connected with counterweight adjusting device.
7. a kind of Multifunctional lower limb rehabilitation image training robot according to claim 6, which is characterized in that the counterweight is adjusted
Device includes pressure sensor (23), and the pressure sensor (23) is arranged in the shock strut (25) top, the pressure
Sensor (23) is electrically connected with PLC controller (24), and the PLC controller (24) is electrically connected with the counterweight electric pushrod (20)
It connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721191194.3U CN208659846U (en) | 2017-09-15 | 2017-09-15 | A kind of Multifunctional lower limb rehabilitation image training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721191194.3U CN208659846U (en) | 2017-09-15 | 2017-09-15 | A kind of Multifunctional lower limb rehabilitation image training robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208659846U true CN208659846U (en) | 2019-03-29 |
Family
ID=65820422
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721191194.3U Expired - Fee Related CN208659846U (en) | 2017-09-15 | 2017-09-15 | A kind of Multifunctional lower limb rehabilitation image training robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208659846U (en) |
-
2017
- 2017-09-15 CN CN201721191194.3U patent/CN208659846U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190329 Termination date: 20190915 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |