CN208678287U - Balance rehabilitation training robot - Google Patents

Abstract

The utility model discloses balance rehabilitation training robots, including control panel device, suspend projection arrangement and balance training in midair, balance training includes two sets left, right crus of diaphragm independence or the balance training platform device of coorinated training, every suit training platform device includes scaling platform, and the slipping mechanism of scaling platform bottom is set, scaling platform includes knee guard, foot-treadle device, three telescopic devices, middle column device and bottom fixed board, middle column device, telescopic device is set on bottom fixed board, foot-treadle device is set to the top of middle column device and telescopic device, knee guard is set to the top of foot-treadle device, patient stand is above foot-treadle device, various modes rehabilitation training is realized by autonomous or his main motion.The utility model can move alone or combination of two movement, can reach two, 30 kind of different training mode, meets the requirement of various training, and practical, projector realizes scene interaction, and entertaining is full.

Description

Balance rehabilitation training robot

Technical field

The utility model relates to balance rehabilitation training robot, which is suitable for central paralysis Feel caused by (such as cerebral injury or lesion, spinal cord injury or lesion) or other neuropathies (such as peripheral nerve injury or lesion), Balance dysfunction caused by motor function is impaired or vestibular organ lesion；Have after fracture of lower limb, soft tissue injury or operation flat The patient etc. for the dysfunction that weighs.

Background technique

Equilibrium function is a critical function of human nerve, kinematic system.Many the nervous system diseases are shown not With the balance dysfunction of degree.It is to allow trouble that for this balance dysfunction, medical rehabilitation unit, which takes the mode of rehabilitation, now Person stands on the rotatable platform of integral type the balanced capacity for tempering patient, but the motor pattern of this platform is monoblock type And motor pattern is very single, trains to the balanced capacity of patient without many-sided, so that the effect of rehabilitation is not clearly.

Moreover, rehabilitation course or the process for reinforcing balance are a slow and uninteresting processes, how patient to be enable to have Preferably experience is experienced as current field problem to be solved.

Utility model content

The purpose of this utility model is to provide a kind of structures to be simple and convenient to operate, fast, can solve above-mentioned technical problem Balance rehabilitation training robot.

The utility model is achieved through the following technical solutions:

Balance rehabilitation training robot, including control panel device, suspention projection arrangement and balance training, balance instruction Practice device to be set in suspention projection arrangement, balance training includes the balance of two sets of left and right foot independences or coorinated training Training platform device, every suit training platform device include scaling platform and the sliding plane that scaling platform bottom is arranged in Structure, scaling platform include knee guard, foot-treadle device, three telescopic devices, middle column device and bottom fixed board, center pillar dress Set, telescopic device is set on bottom fixed board, foot-treadle device is set to the top of middle column device and telescopic device, knee-pad dress The top for being placed in foot-treadle device is installed, patient stand is realized more above foot-treadle device by autonomous or his main motion Kind mode rehabilitation training.

Further, the scaling platform further includes gas spring device, and gas spring device includes four gas springs and eight Gas spring connector, each gas spring both ends pass through gas spring connector respectively with the foot-treadle device, the bottom Fixed plate connection.

Further, the slipping mechanism include displacement sensor, motor, motor fixing plate, shaft coupling, bearing block one, Screw rod, backing plate, sliding block, feed screw nut, screw fixed block, linear guide and bearing block two.

Further, the telescopic device further includes having Linear displacement detection device.

Further, the telescopic device includes universal connector sleeve, ball rod, sliding bar, sliding bar set, rotation connection dress It sets, fixing sleeve, motor, reel, support, wirerope, pulley and pulley fixed seat, motor connect with the reel being set on support It connects, wirerope is around on reel, and connect wirerope both ends with sliding bar upper and lower side after commutating by pulley, ball rod upper end It is connect across universal connector sleeve with the foot-treadle device bottom, lower end is connect with sliding bar upper end, and sliding bar lower end is sheathed on In sliding bar set, sliding bar set lower end is connect by revolving joint with the bottom fixed board, and fixing sleeve is set to sliding It is detachably connected on loop bar and with support.

Further, the revolving joint includes spill spin block, roller shaft, bearing and roller mount, and roller shaft passes through rotation The both ends of the lower end of switch block, roller shaft are set in roller mount by bearing one, the upper end of spill spin block and the sliding bar set Bottom connection.

Further, the Linear displacement detection device includes potentiometer link block, linear potentiometer, sensor fixed block One and sensor fixed block two, linear potentiometer is fixedly connected by sensor fixed block one with sensor fixed block two, current potential Device link block one end is slideably positioned in linear potentiometer, and the other end is set in the sliding slot of sliding bar set to be connected with the sliding bar It connects.

Further, the lower end that the revolving joint upper end corresponds to the sliding bar is provided with cushion, described solid Fixed set is provided with limiting buffer pad.

Further, the middle column device includes universal connector sleeve one, ball rod one, center pillar and center pillar fixed block, bulb One upper end of bar passes through universal connector sleeve one and connect with the foot-treadle device bottom, and one lower end of ball rod is connect with center pillar upper end, Center pillar lower end is set in center pillar fixed block, and center pillar fixed block is connect with the bottom fixed board.

Further, the foot-treadle device is provided with pressure sensor and gyroscope, foot-treadle device include pressing plate and Foot support plate, pressure sensor are set to foot support plate top, and gyroscope is set to foot support plate lower part, and pressing plate passes through connection lock Tight plate is set in foot support plate, and the knee guard is set on pressing plate.

The utility model has the beneficial effects that balance rehabilitation training robot, including control panel device, suspention projection arrangement And balance training, balance training are set in suspention projection arrangement, balance training includes that two sets of left and right feet are only Vertical or coorinated training balance training platform device, every suit training platform device include that scaling platform and setting exist The slipping mechanism of scaling platform bottom, scaling platform include knee guard, foot-treadle device, three telescopic devices, middle column device And bottom fixed board, middle column device, telescopic device are set on bottom fixed board, foot-treadle device be set to middle column device and The top of telescopic device, knee guard are set to the top of foot-treadle device, and patient stand is above foot-treadle device, by certainly Various modes rehabilitation training is realized in main or his main motion.The utility model uses two sets of training platform devices, and left and right foot is independent It separates, the independent system of every foot can move alone, and can also cooperate movement, and bottom is increased by slipping mechanism Function is slid back and forth, two sides and front end increase projection screen, and projector realizes scene interaction.The utility model balanced rehabilitation instruction Practice system independently moving or combination of two, can reach two, 30 kind of different training mode, can satisfy wanting for various training It asks, it is easy to operate, it is practical, and entertaining is full, balanced rehabilitation significant effect.

Detailed description of the invention

Fig. 1 is the utility model balance rehabilitation training robot architecture's schematic diagram；

Fig. 2 is the training platform apparatus structure schematic diagram of the utility model balance rehabilitation training robot；

Fig. 3 is the scaling platform structural schematic diagram of the utility model balance rehabilitation training robot；

Fig. 4 is the telescopic device configuration schematic diagram of the utility model balance rehabilitation training robot；

Fig. 5 is the telescopic device assembling structure schematic diagram of the utility model balance rehabilitation training robot；

Fig. 6 is the slipping mechanism structural schematic diagram of the utility model balance rehabilitation training robot.

Wherein: 1- control panel device, 2- handrail, 3- training platform device, 30- scaling platform, 31- knee guard, 32- Foot-treadle device, 321- pressing plate, 322- foot support plate, 33- telescopic device, the universal connector sleeve of 331-, 332- ball rod, on 333- Lid, 334- plastic sleeve, 335- pulley fixed column, 336-L type block, 337- fixing sleeve, 338- sliding bar, 339- limiting buffer Pad, 3310- sliding bar set, 3311- rolls set, 3312- potentiometer link block, 3313- sensor fixed block one, 3314- straight line Potentiometer, 3315- plastic sleeve fixing pipe, 3316- cushion, 3317- sensor fixed block two, 3318- roller shaft tense pad, 3319- spill spin block, 3320- roller mount, 3321- limiting gasket, 3322- bearing one, 3323- circlip one, 3324- roller shaft, 3325- motor, the horizontal cushion block of 3326-, 3327- hex bolts, 3328- fixing sleeve one, 3329- pulley, 3330- pulley are fixed Seat, 3331- circlip two, 3332- wirerope tense block, 3333- bearing two, 3334- reel, 3335- wirerope, 3336- bearing Three, 3337- fixing sleeve two, 3338- limited block, 3339- bearing collar, column device in 34-, the universal connector sleeve one of 341-, 342- Ball rod one, 343- center pillar, 344- center pillar fixed block, 35- bottom fixed board, 36- gas spring device, 361- gas spring, 362- Gas spring connector, 37- slipping mechanism, 371- displacement sensor, 372- motor, 373- motor fixing plate, 374- shaft coupling, 375- bearing block one, 376- screw rod, 377- backing plate, 378- sliding block, 379- feed screw nut, 3710- screw fixed block, 3711- are straight Line guide rail, 3712- bearing block two, 38- sensing chip, 4- organ cover, 5- rack, 6- projecting rack, 7- hanger, 8- pressure sensing Device, 9- gyroscope.

Specific embodiment

The utility model is described in detail below in conjunction with attached drawing and specific embodiment, herein showing with the utility model Meaning property embodiment and explanation are used to explain the utility model, but are not intended to limit the scope of the present invention.

As shown in Figures 1 to 6, balance rehabilitation training robot, including control panel device 1, suspention projection arrangement and balance Training device, suspention projection arrangement are provided with projecting rack 6 and hanger 7, balance training include two sets handrails, 2, two sets of left sides, Right crus of diaphragm independence or the balance training platform device 3 of coorinated training, organ cover 4 and rack 5, every suit training platform device 3 are equal Including scaling platform 30 and the slipping mechanism 37 of 30 bottom of scaling platform is set, 30 bottom of scaling platform is provided with induction Piece 38, scaling platform 30 include knee guard 31,32, three telescopic devices 33 of foot-treadle device, middle column device 34 and bottom Fixed plate 35, three telescopic devices 33, middle column device 34 are set on bottom fixed board 35, and middle column device 34 is set to bottom The middle part of fixed plate 35, three telescopic devices 33 surround the distribution triangular in shape of middle column device 34, foot-treadle device 32 respectively with it is flexible The upper end connection of device 33, middle column device 34, knee guard 31 are connect with the upper end of foot-treadle device 32, and patient stand is in foot-operated Various modes rehabilitation training is realized by autonomous or his main motion in 32 top of panel assembly, and balanced rehabilitation effect is good.

In the present embodiment, scaling platform 30 further includes gas spring device 36, and gas spring device 36 includes four gas springs 361 With eight gas spring connectors 362, each 361 both ends of gas spring passes through gas spring connector 362 and fills respectively with foot pedal Set the connection of 32, bottom fixed board 35.

In the present embodiment, foot-treadle device 32 is provided with pressure sensor 8 and gyroscope 9, four pressure sensings of single leg Device 8 is used to detect the distribution of each power when foot is stepped on onboard, and the center of gravity that gyroscope 9 is used to detect single foot is (flat for assessing when static state Weigh patient's equilibrium condition), foot-treadle device 32 includes pressing plate 321 and foot support plate 322, and pressure sensor 8 is set to foot support 322 top of plate, gyroscope 9 are set to 322 lower part of foot support plate, and pressing plate 321 is set to foot support plate 322 by connecting latch On, knee guard 31 is set on pressing plate 321.

In the present embodiment, telescopic device 33 include universal connector sleeve 331, ball rod 332, fixing sleeve 337, sliding bar 338, Sliding bar set 3310, revolving joint, motor 3325, reel 3334, support, wirerope 3335, pulley 3329 and pulley are solid Reservation 3330, pulley 3329 are set in pulley fixed seat 3330 by bearing 2 3333, circlip 2 3331, motor 3325 with set The reel 3334 being placed on support connects, and wirerope 3335 is around on reel 3334, and makes steel wire after commutating by pulley 3329 3335 both ends of restricting are connect with 338 upper and lower side of sliding bar, and plastic sleeve 334 is mounted on sliding bar set 3310, and upper cover 333 is fixed on On sliding bar set 3310,332 upper end of ball rod passes through universal connector sleeve 331 and connect with 32 bottom of foot-treadle device, lower end and cunning The connection of 338 upper end of lever, 338 lower end of sliding bar are sheathed in sliding bar set 3310 by plastic sleeve fixing pipe 3315, are slided 3310 lower end of loop bar is connect by revolving joint with bottom fixed board 35, and fixing sleeve 337 is set on sliding bar set 3310 And it is detachably connected with support.

In the present embodiment, telescopic device 33 further includes having Linear displacement detection device.Linear displacement detection device includes electricity Position device link block 3312, linear potentiometer 3314, sensor fixed block 1 and sensor fixed block 2 3317, potentiometer connect It connects 3312 one end of block to be slideably positioned in linear potentiometer 3314, the other end is set in the sliding slot of sliding bar set 3310, and is led to It crosses rolls set 3311 to connect with sliding bar 338, one 3313 one end of sensor fixed block is connect with 3314 upper end of linear potentiometer, separately One end is connect with support, and 2 3317 one end of sensor fixed block is connect with 3314 lower end of linear potentiometer, and the other end and rotation connect Connection device connection.

In the present embodiment, revolving joint includes that roller shaft tenses pad 3318, spill spin block 3319, roller mount 3320, limit Position washer 3321, bearing 1, circlip 1 and roller shaft 3324, roller shaft 3324 pass through the lower end of spill spin block 3319, The both ends of roller shaft 3324 are set in roller mount 3320 by bearing 1, circlip 1, the upper end of spill spin block 3319 It is connect with the bottom of sliding bar set 3310.Limiting gasket 3321, roller shaft tense the setting of pad 3318 and are used on roller shaft 3324 Limit.

In the present embodiment, the lower end that revolving joint upper end corresponds to sliding bar 338 is provided with cushion 3316, fixing sleeve Limiting buffer pad 339 is provided on 337.

In the present embodiment, support includes L-type block 336, horizontal cushion block 3326, fixing sleeve 1, wirerope tension block 3332, fixing sleeve 2 3337, limited block 3338.

Fixing sleeve 1 is set on L-type block 336, and wirerope tenses 3332 lower end of block and is set to fixing sleeve 1 On, wirerope tenses 3332 upper end of block and is connect by limited block 3338 with fixing sleeve 2 3337, and wirerope tenses 3332 side of block It is connect with 336 side of L-type block by hex bolts 3327, and adjusts the pine of wirerope 3335 by adjusting hex bolts 3327 Tightly；337 upper and lower ends of fixing sleeve are connect with fixing sleeve 2 3337, fixing sleeve 1 respectively, and pulley fixed column 335 passes through level Cushion block 3326, fixing sleeve 337 are connect with pulley fixed seat 3330.3334 both ends of reel are provided with bearing 3 3336, the upper end Bearing 3 3336 is fixed by bearing collar 3339.

In the present embodiment, middle column device 34 includes that universal connector sleeve 1, ball rod 1, center pillar 343 and center pillar are solid Determine block 344, one 342 upper end of ball rod passes through universal connector sleeve 1 and connect with 32 bottom of foot-treadle device, ball rod 1 Lower end is connect with 343 upper end of center pillar, and 343 lower end of center pillar is set in center pillar fixed block 344, and center pillar fixed block 344 and bottom are solid Fixed board 35 connects.

In the present embodiment, slipping mechanism 37 includes displacement sensor 371, motor 372, motor fixing plate 373, shaft coupling 374, bearing block 1, screw rod 376, backing plate 377, sliding block 378, feed screw nut 379, screw fixed block 3710, linear guide 3711 and bearing block 2 3712.

Utility model works principle: motor 3325 is rotated with movable reel 3334, and the wirerope 3335 on reel 3334 passes through Cross the upper and lower ends that the commutation of pulley 3329 makes 3335 both ends of wirerope be connected to sliding bar 338；Pass through the positive and negative of motor 3325 Becoming a full member allows about 338 sliding bar to stretch.Linear potentiometer 3314 is connect with potentiometer link block 3312, sliding bar 338 Flexible drive linear potentiometer 3314 it is mobile, detect the displacement of sliding bar 338.

The utility model can realize the rehabilitation training that static, dynamic and projection arrangement combine, and wherein dynamic rehabilitation is instructed Practice the dynamic certainly and his dynamic rehabilitation training combined including a variety of rehabilitation modalities.

The utility model has the beneficial effects that

1, scaling platform passes through the positive and negative rotation of motor 3325, drives the rotation of electromagnetic clutch and reel 3334, reel 3334 drive the rotation of wirerope 3335, realize the linear motion of sliding bar 338, and then 3 telescopic devices 33 cooperate, real The angle of pressing plate 321 and horizontal plane in existing scaling platform is 0-8 °.

2, motor 372 drives the rotation of screw rod 376 by shaft coupling 374, passes through feed screw nut 379 and screw fixed block 3710 connections, screw fixed block 3710 and linear guide 3711 connect bottom fixed board 35, and bottom fixed board 35 is converted into directly Line movement drives scaling platform to be the straight line fortune function of front and back, move distance 0-200MM.Displacement sensor 371 and sensing chip 38 Cooperation limits scaling platform linear motion distance.

3, the rehabilitation exercise mode of left and right bipod is separated, can be moved alone, and can also cooperate movement.Individually Motor pattern is as follows:

Slipping mechanism 37 is motionless, the independently moving mode of 30 or so foot of scaling platform: scaling platform left/right foot it is left and right, Forward and backward inclination；

Slipping mechanism 37 is motionless, the mass movement pattern of 30 or so foot of scaling platform: scaling platform or so foot is left simultaneously, Right, forward and backward inclination, rotating Vortex；

Independent dynamic, the motionless mode of scaling platform or so foot: the forward and backward shifting of left/right foot of 37 left/right motor of slipping mechanism It is dynamic；

37 left/right motor of slipping mechanism is with dynamic, the motionless mode of 30 or so foot of scaling platform: left and right foot it is forward and backward, left front It is moved behind the right side, after right front left；

The left motor of slipping mechanism 37,30 left foot of scaling platform are dynamic: it is left front to incline, it is left back to incline；

The right motor of slipping mechanism 37,30 right crus of diaphragm of scaling platform are dynamic: the right side is leaned forward, right hypsokinesis；

For 37 or so motor of slipping mechanism with moving, 30 right crus of diaphragm of scaling platform is dynamic: it leans forward, hypsokinesis, preceding "Left"-deviationist is rear left-leaning, Preceding Right deviation, rear Right deviation.

4, pressure sensor 8 is fixed in foot support plate 322, fixed by pressure sensor 8, and pressing plate 321 is just pressed in The induction end of pressure sensor 8, the size of transmission force when being under pressure measure sole forced position；Gyroscope is directly fixed In foot support plate, gravity center of human body is incuded when training.

5, projector is mounted on hanger/projection screen fixed frame upper end, by image projecting on curtain, realizes that scene is mutual It is dynamic, reach optimal training effect.

For those skilled in the art of the present invention, in the premise for not departing from the utility model design Under, specific embodiment of the present utility model is not limited to examples detailed above, in the specific implementation process of the utility model, specifically Embodiment can also make several deductions or optimization, these are deduced or optimization all shall be regarded as belonging to the protection of the utility model Range.

Claims (10)

1. balance rehabilitation training robot, it is characterised in that: including control panel device, suspention projection arrangement and balance training cartridge It sets, balance training is set in suspention projection arrangement, and balance training includes that two sets of left and right feet are independent or collaboration is instructed Experienced balance training platform device, every suit training platform device include scaling platform and are arranged in scaling platform bottom Slipping mechanism, scaling platform includes that knee guard, foot-treadle device, three telescopic devices, middle column device and bottom are fixed Plate, middle column device, telescopic device are set on bottom fixed board, and foot-treadle device is set to the upper of middle column device and telescopic device Side, knee guard is set to the top of foot-treadle device, and patient stand is in foot-treadle device above, by independently or his main fortune It is dynamic to realize various modes rehabilitation training.

2. balance rehabilitation training robot according to claim 1, it is characterised in that: the scaling platform further includes gas bullet Spring device, gas spring device include four gas springs and eight gas spring connectors, each gas spring both ends passes through gas bullet Spring connector is connect with the foot-treadle device, the bottom fixed board respectively.

3. balance rehabilitation training robot according to claim 1, it is characterised in that: the slipping mechanism includes that limit passes Sensor, motor, motor fixing plate, shaft coupling, bearing block one, screw rod, backing plate, sliding block, feed screw nut, screw fixed block, straight line Guide rail and bearing block two.

4. balance rehabilitation training robot according to claim 1, it is characterised in that: the telescopic device further includes having directly Displacement of the lines detection device.

5. balance rehabilitation training robot according to claim 4, it is characterised in that: the telescopic device includes universal company Female connector, ball rod, sliding bar, sliding bar set, revolving joint, fixing sleeve, motor, reel, support, wirerope, pulley and Pulley fixed seat, motor are connect with the reel being set on support, and wirerope is around on reel, and make steel after commutating by pulley Cord both ends are connect with sliding bar upper and lower side, and ball rod upper end passes through universal connector sleeve and connect with the foot-treadle device bottom, Lower end is connect with sliding bar upper end, and sliding bar lower end is sheathed in sliding bar set, and sliding bar set lower end passes through revolving joint It is connect with the bottom fixed board, fixing sleeve is set on sliding bar set and is detachably connected with support.

6. balance rehabilitation training robot according to claim 5, it is characterised in that: the revolving joint includes rotation Switch block, roller shaft, bearing and roller mount, roller shaft pass through the lower end of spill spin block, and the both ends of roller shaft are set to by bearing one In roller mount, the upper end of spill spin block is connect with the bottom of the sliding bar set.

7. balance rehabilitation training robot according to claim 5, it is characterised in that: the Linear displacement detection device packet Potentiometer link block, linear potentiometer, sensor fixed block one and sensor fixed block two are included, linear potentiometer passes through sensor Fixed block one is fixedly connected with sensor fixed block two, and potentiometer link block one end is slideably positioned in linear potentiometer, another End is set in the sliding slot of sliding bar set and connect with the sliding bar.

8. balance rehabilitation training robot according to claim 7, it is characterised in that: the revolving joint upper end pair The lower end of the sliding bar is answered to be provided with cushion, the fixing sleeve is provided with limiting buffer pad.

9. balance rehabilitation training robot according to claim 1, it is characterised in that: the middle column device includes universal company Female connector one, ball rod one, center pillar and center pillar fixed block, one upper end of ball rod pass through universal connector sleeve one and the foot-treadle device Bottom connection, one lower end of ball rod are connect with center pillar upper end, and center pillar lower end is set in center pillar fixed block, center pillar fixed block and institute State bottom fixed board connection.

10. balance rehabilitation training robot according to claim 1, it is characterised in that: the foot-treadle device is provided with Pressure sensor and gyroscope, foot-treadle device include pressing plate and foot support plate, and pressure sensor is set to foot support plate top, Gyroscope is set to foot support plate lower part, and pressing plate is set in foot support plate by connecting latch, the knee guard setting In on pressing plate.