CN217987941U - Framework type movable lower limb rehabilitation robot - Google Patents
Framework type movable lower limb rehabilitation robot Download PDFInfo
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- CN217987941U CN217987941U CN202221203258.8U CN202221203258U CN217987941U CN 217987941 U CN217987941 U CN 217987941U CN 202221203258 U CN202221203258 U CN 202221203258U CN 217987941 U CN217987941 U CN 217987941U
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Abstract
The utility model is suitable for the technical field of fitness equipment, provides a frame-type mobile lower limb rehabilitation robot, and solves the problems that the mobility of the existing lower limb rehabilitation training robot is poor, so that the range of motion of each joint of the lower limb is limited, and the lower limb rehabilitation is not facilitated; the method comprises the following steps: the robot frame comprises a frame base and a plurality of groups of bearing plates arranged on the frame base; the lower limb rehabilitation training mechanism is arranged in the robot frame and is used for assisting the lower limb movement of the patient; lower limbs rehabilitation training mechanism includes: a movable supporting body; a bolster body drive assembly disposed within the mobile bolster body; the embodiment of the utility model provides a set up the robot frame and set up at its inside low limbs rehabilitation training mechanism, and low limbs rehabilitation training mechanism position is nimble adjustable, can realize low limbs rehabilitation training mechanism through patient self training, has enlarged the home range of each joint of patient's low limbs, guarantees rehabilitation training's quality.
Description
Technical Field
The utility model belongs to the technical field of the health and fitness facilities, especially, relate to a frame-type removes recovered robot of low limbs.
Background
The lower limbs refer to the lower abdomen of the human body. Including buttock, thigh, knee, shin portion and foot, thigh portion is preceding, interior and back district, and the knee divide into preceding, back district, and preceding, outer and back district of shank portion, foot divide ankle, instep, sole and toe, and the health of low limbs is very important, when people lead to the low limbs to move about inconveniently because of accident or sick, need carry out operation and rehabilitation to the low limbs, need help with the recovered work of rehabilitation equipment assistance among the patient's rehabilitation treatment process, and recovered robot is common rehabilitation physiotherapy apparatus.
Chinese patent CN110680675A discloses a low limbs rehabilitation training robot, including the low limbs support, be provided with the spout on the low limbs support, and be provided with in the spout and change the piece, one side of changing the piece is provided with the fixture block, and is provided with in the fixture block and changes the piece, the both sides of fixture block are provided with the slider, and are provided with the side channel on the outer wall of slider to be provided with the fastener on the side channel, be provided with the sleeve on the low limbs support, and be provided with the pivot in the sleeve to be provided with low limbs rehabilitation training robot main part in the pivot, the lower extreme of low limbs support is provided with the pedestal, and the pedestal lower extreme is provided with the callus on the sole, but current low limbs rehabilitation training robot mobility is poor to it is limited to lead to each joint range of motion of low limbs, is unfavorable for the recovery of low limbs, therefore, we propose a frame-type removal low limbs rehabilitation training robot.
SUMMERY OF THE UTILITY MODEL
The utility model provides a frame-type removes recovered robot of low limbs aims at solving current recovered training robot of low limbs mobility poor to lead to each joint home range of low limbs to be restricted, be unfavorable for the recovered problem of low limbs.
The utility model discloses a realize like this, a frame-type removes low limbs rehabilitation robot, frame-type removes low limbs rehabilitation robot includes:
the robot frame comprises a frame base and a plurality of groups of bearing plates arranged on the frame base, and a training cavity is formed by the bearing plates in a surrounding manner;
the lower limb rehabilitation training mechanism is arranged in the robot frame and is used for assisting the lower limb movement of the patient;
lower limbs rehabilitation training mechanism includes:
a movable support body for supporting a patient;
the supporting body driving component is arranged in the movable supporting body and used for adjusting the position of the movable supporting body and assisting the lower limbs of the patient to move.
Preferably, the mobile bolster body comprises:
the movable bearing seat is arranged in the training cavity in a sliding way;
a mobile bolster assembly disposed within the mobile bolster body, the mobile bolster assembly for carrying a patient.
Preferably, the mobile bolster assembly includes:
a training chair mounted on the mobile bearing seat;
an auxiliary backrest fixedly connected to the training seat, an
A training hand-held portion disposed on the mobile support block for the patient to fix its position.
Preferably, the training handpiece comprises:
training a handpiece;
the handheld bearing arm that the slope set up, one side of handheld bearing arm is provided with and is used for adjusting the high adaptation subassembly of handheld bearing arm height, high adaptation subassembly is used for adapting to different size patients.
Preferably, the height adaptation assembly comprises:
the height adjusting piece is used for supporting the handheld bearing arm and adjusting the height of the height adjusting piece;
a height driving member connected with the height adjusting member, the height driving member being connected with the movable supporting base, an
The bearing arm guide piece is fixedly arranged on the movable bearing seat.
Preferably said supporting body drive assembly includes:
the device comprises a movable supporting seat, a treading part, a treading gear, a treading swing arm, a treading gear and a driving and treading gear, wherein the treading part is arranged on two sides of the movable supporting seat;
a driven gear provided on one side of the stepping gear, and the stepping gear and the driven gear are in meshing transmission, an
The guide rack is arranged on one side of the driven gear, the guide rack and the driven gear are in meshing transmission, the movable bearing seat is driven to move, and the guide rack is fixedly installed on the bearing plate.
Preferably, a bearing seat limiting groove used for limiting the movable bearing seat is formed in the guide rack, a bearing sliding block is slidably mounted in the bearing seat limiting groove, and the bearing sliding block is fixedly connected with the movable bearing seat.
Preferably, the driving step portion includes:
trampling the limit shaft;
at least one group of treading massage blocks are fixedly arranged on the side wall of the treading limit shaft and used for massaging the feet of the patient.
Preferably, a protective frame for protecting the patient is fixedly mounted on the bearing plate, and a damping layer for damping protection is arranged on the side wall of the protective frame.
Compared with the prior art, the embodiment of the application mainly has the following beneficial effects:
the embodiment of the utility model provides a set up the robot frame and set up at its inside low limbs rehabilitation training mechanism, and low limbs rehabilitation training mechanism position is nimble adjustable, can realize low limbs rehabilitation training mechanism through patient self training, has enlarged the home range of each joint of patient's low limbs, guarantees rehabilitation training's quality.
Drawings
Fig. 1 is a schematic structural view of a frame-type mobile lower limb rehabilitation robot provided by the present invention.
Fig. 2 is an isometric view of the present invention.
Fig. 3 is a left-right second-angle perspective view of the utility model.
Fig. 4 is a front view of the present invention.
Fig. 5 is a side view of the present invention.
Fig. 6 is a plan view of the present invention.
Fig. 7 isbase:Sub>A sectional view taken along linebase:Sub>A-base:Sub>A of fig. 4.
In the figure: 1-robot frame, 11-frame base, 12-bearing plate, 121-reinforcing rod, 13-protective frame, 2-mobile bearing component, 21-auxiliary backrest, 211-bionic backrest driving part, 22-training chair, 23-training hand piece, 24-hand bearing arm, 25-height adjusting piece, 26-height driving piece, 27-mobile bearing seat, 28-bearing arm guiding piece, 3-bearing main body driving component, 31-driving treading part, 311-treading limiting shaft, 312-treading massage block, 32-treading swinging arm, 33-treading gear, 34-driven gear, 35-guiding rack and 351-bearing seat limiting groove.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of this application or in the foregoing drawings are used for distinguishing between different objects and not for describing a particular sequential order.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
The existing lower limb rehabilitation training robot is poor in mobility, so that the range of motion of each joint of a lower limb is limited, and the lower limb rehabilitation is not facilitated, therefore, the frame type mobile lower limb rehabilitation robot is provided, comprises a robot frame 1 and a lower limb rehabilitation training mechanism arranged in the robot frame, the position of the lower limb rehabilitation training mechanism is flexible and adjustable, the lower limb rehabilitation training mechanism can be trained through a patient, the range of motion of each joint of the lower limb of the patient is enlarged, and the quality of rehabilitation training is guaranteed.
The embodiment of the utility model provides a frame-type removes recovered robot of low limbs, as shown in fig. 1-7, frame-type removes recovered robot of low limbs includes:
robot frame 1, robot frame 1 includes frame base 11 and sets up multiunit bearing plate 12 on frame base 11, the multiunit bearing plate 12 between surround and form the training chamber, fixed mounting has protective frame 13 that is used for protecting the patient on the bearing plate 12, protective frame 13's lateral wall is provided with the buffer layer that is used for shock attenuation protection.
In this embodiment, the bearing plates 12 and the frame base 11 are made of high manganese steel or titanium alloy material, which ensures the strength and service life of the device, and in this embodiment, the frame base 11 is specifically a rectangular seat or a circular seat, and is hollow inside, and a reinforcing rod 121 for connecting and supporting the bearing plates 12 is arranged between adjacent bearing plates 12, the reinforcing rod 121 may be a square rod or a circular rod, and two ends of the reinforcing rod 121 are inserted into the bearing plates 12, and the connection part is fixedly connected by rivets or seamless welding.
The lower limb rehabilitation training mechanism is arranged in the robot frame 1 and is used for assisting the lower limb movement of a patient;
lower limbs rehabilitation training mechanism includes:
a movable support body for supporting a patient;
and a supporting body driving component 3 arranged in the movable supporting body and used for adjusting the position of the movable supporting body and assisting the lower limbs of the patient to move.
In this embodiment, the during operation, the patient only needs independently drive 3 motions of bearing main part drive assembly for bearing main part drive assembly 3 drives and removes the motion of bearing main part, has played rehabilitation's effect, can also drive patient's health simultaneously and remove, improves patient's waist joint home range, can improve training patient's physical balance nature simultaneously removing the in-process, and it is showing to have fixed training equipment advantage now.
The embodiment of the utility model provides a set up robot frame 1 and set up at its inside low limbs rehabilitation training mechanism, and low limbs rehabilitation training mechanism position is nimble adjustable, can realize low limbs rehabilitation training mechanism through patient self training, has enlarged the home range of each joint of patient's low limbs, guarantees rehabilitation training's quality.
In a further preferred embodiment, as shown in figures 1-7, the mobile bolster body includes:
a movable support seat 27, which is slidably mounted in the training cavity;
a mobile bearing component 2 arranged in the mobile bearing main body, wherein the mobile bearing component 2 is used for bearing the patient.
In this embodiment, the mobile support body can adapt to patients of different body sizes, and self-adjustment is achieved without requiring manual adjustment of the patient, thereby reducing the burden on the patient.
In a further preferred embodiment of the present invention, as shown in figures 1-3, the mobile bearing assembly 2 comprises:
a training seat 22 mounted on the moving support base 27;
an auxiliary backrest 21 fixedly connected with the training seat 22, an
A training hand-piece arranged on the mobile holder block 27 for the patient to fix his position.
In this embodiment, between the seat sliding connection is removed with the removal to training seat 22, in order to realize the self-adaptation to different patient sizes, embodies the utility model discloses the automation advantage, training seat 22's bottom fixedly connected with electric putter or servo cylinder, electric putter or servo cylinder pass through clamp or bolt fixed mounting and in removing bearing seat 27, control and do not need the people just can realize.
In this embodiment, one side of supplementary back 21 is provided with the blotter, the preferred sponge or rubber material of blotter, a back for protecting the patient, and simultaneously, fixed mounting has the bionical back drive division 211 that is used for adjusting supplementary back 21 inclination on training seat 22, bionical back drive division 211 includes servo motor and dwang (not shown in the figure), the one end and the bionical back fixed connection of dwang, other end interference fit is connected with supplementary back 21, in operation, only need open servo motor, servo motor drives the dwang and rotates, thereby make the dwang drive supplementary back 21 and rotate, make the patient of supplementary back 21 adaptation different sizes.
In a further preferred embodiment of the present invention, as shown in fig. 1-3, the training hand-held portion comprises:
a training handpiece 23;
the handheld bearing arm 24 that the slope set up, one side of handheld bearing arm 24 is provided with and is used for adjusting the high adaptation subassembly of handheld bearing arm 24 height, the high adaptation subassembly is used for adapting to different size patients.
In this embodiment, the training hand piece 23 is a round roller or a handle, and the training hand piece 23 is provided with anti-slip threads thereon for preventing the hand of the patient from slipping, and the hand-held bearing arm 24 is made of stainless steel for supporting the upper limb of the patient.
In a further preferred embodiment of the present invention, as shown in fig. 1-4, the height-adaptive assembly comprises:
a height adjusting member 25 for supporting the hand-held load bearing arm 24 and adjusting the height of the height adjusting member 25;
a height-actuating element 26 connected to the height-adjusting element 25, the connection between the height-actuating element 26 and the movable bearing block 27, and
a bearing arm guide 28 for limiting the position of the hand-held bearing arm 24, the bearing arm guide 28 being fixedly mounted on the movable bearing block 27.
In this embodiment, height driving piece 26 is pneumatic cylinder or cylinder, and bolt fixed mounting is passed through to its bottom, and height driving piece 26's flexible end passes through bolt fixedly connected with height adjusting piece 25, and height adjusting piece 25 is stand or connecting rod, and the during operation only needs to open height driving piece 26, and height driving piece 26 drives height adjusting piece 25 and handheld bearing arm 24 reciprocates, has realized the self-adaptation to different size patients.
In another embodiment of the present invention, the height driving member 26 is sleeved on the height adjusting member 25, the height driving member 26 is connected to the height adjusting member 25 by a screw, the height driving member 26 is an internal screw sleeve, and the height adjusting member 25 is a threaded rod.
In this embodiment, the bearing arm guide 28 is a guide rod, and is slidably connected to the hand-held bearing arm 24.
In a further preferred embodiment, as shown in figures 4-7, the support body drive assembly 3 comprises:
a stepping gear 33 provided in the movable holder 27 and fixedly connected to one end of the stepping swing arm 32 remote from the stepping portion 31;
a driven gear 34 provided on one side of the stepping gear 33, the driven gear 34 being rotatably installed in the movable holder 27, and the stepping gear 33 and the driven gear 34 being in mesh transmission, an
The guide rack 35 is arranged on one side of the driven gear 34, the guide rack 35 is in meshing transmission with the driven gear 34 and used for driving the movable bearing seat 27 to move, and the guide rack 35 is fixedly arranged on the bearing plate 12.
In this embodiment, the during operation, when the patient need carry out the fracture, adjust the position back, the foot tramples the portion 31 is trampled in the drive, and the drive is trampled portion 31 and is driven and trample swing arm 32 and rotate, tramples swing arm 32 and drive and trample gear 33 and rotate, tramples gear 33 and drive driven gear 34 and rotate to make driven gear 34 relatively fixed's direction rack 35 motion, realized the removal to removing bearing seat 27 and patient's low limbs, seted up in the direction rack 35 and be used for removing bearing seat spacing groove 351 that bearing seat 27 is spacing, sliding installation has the bearing slider in bearing seat spacing groove 351, fixed connection between bearing slider and the removal bearing seat 27.
In a further preferred embodiment of the present invention, as shown in fig. 1 to 4, the driving treading portion 31 includes:
the limiting shaft 311 is stepped;
at least one set of stepping massage blocks 312, which are fixedly installed on the sidewall of the stepping limiting shaft 311, for massaging the feet of the patient.
In this embodiment, trample massage piece 312 and set up trampling spacing axle 311's lateral wall circumference, trample massage piece 312 and adopt the elastomer material, and trample one side fixedly connected with vibrating motor of massage piece 312, vibrating motor is prior art, and its model does not do the injecing here, and the during operation, vibrating motor drives and tramples massage piece 312 vibration to the massage to patient's foot has been realized.
To sum up, the utility model provides a frame-type removes low limbs rehabilitation robot, the embodiment of the utility model provides a set up robot frame 1 and set up at its inside low limbs rehabilitation training mechanism, and low limbs rehabilitation training mechanism position is nimble adjustable, can realize low limbs rehabilitation training mechanism through patient self training, has enlarged the home range of each joint of patient's low limbs, guarantees rehabilitation training's quality.
It should be noted that, for the sake of simplicity, the foregoing embodiments are described as a series of combinations of acts, but it should be understood by those skilled in the art that the present invention is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present invention. Furthermore, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules involved are not necessarily essential to the invention.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units is only one type of division of logical functions, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or communication connection may be an indirect coupling or communication connection between devices or units through some interfaces, and may be in a telecommunication or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above embodiments are only used to illustrate the technical solutions of the present invention, and do not limit the protection scope of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be derived by a person skilled in the art from these embodiments without any inventive step, are within the scope of the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still make no creative work on the condition of conflict, and make mutual combination, addition and deletion, or other adjustments according to the features in the embodiments of the present invention, thereby obtaining other technical solutions which are different and do not depart from the concept of the present invention, and these technical solutions also belong to the scope to be protected by the present invention.
Claims (9)
1. A frame-type mobile lower limb rehabilitation robot, characterized in that it comprises:
the robot frame comprises a frame base and a plurality of groups of bearing plates arranged on the frame base, and a training cavity is formed by the bearing plates in a surrounding manner;
the lower limb rehabilitation training mechanism is arranged in the robot frame and is used for assisting the lower limb movement of the patient;
lower limbs rehabilitation training mechanism includes:
a movable support body for supporting a patient;
the supporting body driving component is arranged in the movable supporting body and used for adjusting the position of the movable supporting body and assisting the lower limbs of the patient to move.
2. A frame-type mobile lower limb rehabilitation robot as claimed in claim 1, wherein said mobile bolster body comprises:
the movable bearing seat is arranged in the training cavity in a sliding manner;
a mobile bolster assembly disposed within the mobile bolster body, the mobile bolster assembly for carrying a patient.
3. A frame-type mobile lower limb rehabilitation robot as claimed in claim 2, wherein said mobile bolster assembly comprises:
a training chair mounted on the mobile bearing seat;
an auxiliary backrest fixedly connected with the training seat, an
A training hand-held arranged on the mobile bearing block for the patient to fix its position.
4. A frame-type mobile lower limb rehabilitation robot as claimed in claim 3, wherein said training hand-piece comprises:
training a handpiece;
the handheld bearing arm that the slope set up, one side of handheld bearing arm is provided with and is used for adjusting the high adaptation subassembly of handheld bearing arm height, high adaptation subassembly is used for adapting to different size patients.
5. A frame-type mobile lower limb rehabilitation robot as claimed in claim 4, wherein said height-adapting assembly comprises:
the height adjusting piece is used for supporting the handheld bearing arm and adjusting the height of the height adjusting piece;
a height driving member connected with the height adjusting member, the height driving member being connected with the movable supporting base, and
the bearing arm guide piece is fixedly arranged on the movable bearing seat.
6. A frame-type mobile lower extremity rehabilitation robot as claimed in any one of claims 2 to 5, wherein said bolster body drive assembly comprises:
the treading device comprises a movable bearing seat, a treading swinging arm, a treading gear and a treading gear, wherein the treading swinging arm is arranged on two sides of the movable bearing seat;
a driven gear provided on one side of the stepping gear, and the stepping gear and the driven gear are in meshing transmission, an
The guide rack is arranged on one side of the driven gear, the guide rack and the driven gear are in meshing transmission, the movable bearing seat is driven to move, and the guide rack is fixedly installed on the bearing plate.
7. The frame-type mobile lower limb rehabilitation robot according to claim 6, wherein a supporting seat limiting groove for limiting the mobile supporting seat is formed in the guide rack, a supporting sliding block is slidably mounted in the supporting seat limiting groove, and the supporting sliding block is fixedly connected with the mobile supporting seat.
8. A frame-type mobile lower limb rehabilitation robot as claimed in claim 6, wherein said driving tread portion comprises:
trampling the limit shaft;
at least one group of treading massage blocks are fixedly arranged on the side wall of the treading limit shaft and used for massaging the feet of the patient.
9. A frame-type mobile lower limb rehabilitation robot as claimed in any of claims 2-5, wherein a protective frame for protecting the patient is fixedly mounted on the bearing plate, and the side walls of the protective frame are provided with shock-absorbing layers for shock-absorbing protection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221203258.8U CN217987941U (en) | 2022-05-19 | 2022-05-19 | Framework type movable lower limb rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221203258.8U CN217987941U (en) | 2022-05-19 | 2022-05-19 | Framework type movable lower limb rehabilitation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217987941U true CN217987941U (en) | 2022-12-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221203258.8U Active CN217987941U (en) | 2022-05-19 | 2022-05-19 | Framework type movable lower limb rehabilitation robot |
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|---|---|
| CN (1) | CN217987941U (en) |
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- 2022-05-19 CN CN202221203258.8U patent/CN217987941U/en active Active
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