TWI689333B - Walking rehabilitation device - Google Patents

Abstract

A walking rehabilitation device includes a fixed table and a walking auxiliary frame. The fixed table has a crawler for people to walk. The walking auxiliary frame includes a moving bracket, a supporting bracket and a lifting mechanism between the moving bracket and the supporting bracket The support bracket is used to support the upper body of the person. The lifting mechanism drives the support bracket to move up and down relative to the moving bracket to help the person get up, sit down and move. Personnel can also move to the fixed table by the walking auxiliary frame, and can also get support when walking on the fixed table, and rehabilitation is also more convenient.

Description

Walking rehabilitation device

The invention relates to a rehabilitation device; in particular, it refers to a walking rehabilitation device.

Normal people may not be able to walk due to illness or injury. When they cannot walk normally, they need to restore their ability to walk normally by rehabilitation. Figure 1 shows a conventional walking rehabilitation platform 100, which includes a walking platform 102 and a pair of parallel rods 104 disposed on the walking platform 102. A person walks on the walking platform 102 and holds the parallel rod 104 in his hand. 104 Maintain the stability of the personnel while walking, so as to train standing, foot muscle strength, and body balance.

For those in wheelchairs, those with more severe conditions are unable to get up and walk on the rehabilitation platform 100 by themselves. Generally, one or two people are needed to help them get up and move them to the walking rehabilitation platform 100. In the process of moving the person to be recovered, the assisted person must spend considerable force to move the person to be recovered, and slight carelessness may cause the person to be recovered or the assisted person to fall and be injured. The person to be rehabilitated may also be psychologically stressed because of the need for support from others, such as fear of falling or embarrassment to the assisting staff.

In addition, if the assisted person needs to frequently move different personnel to be rehabilitated, such as a rehabilitation teacher, it may also cause occupational injury to the assisted person.

Therefore, the design of the conventional walking rehabilitation platform has not yet been perfected and needs to be improved.

In view of this, the object of the present invention is to provide a walking rehabilitation device, which can allow the person to be recovered to easily get up and provide support, so as to facilitate the rehabilitation of walking.

In order to achieve the above object, a walking rehabilitation device provided by the present invention includes a fixed table and a walking auxiliary frame, wherein the fixed table includes a base, a crawler and a drive motor, and the crawler is disposed on the base And extending along a predetermined axis, the crawler track is driven by the drive motor to operate; the walking support frame includes a moving bracket, a supporting bracket and a lifting mechanism, wherein the moving bracket is movable in a manner along the predetermined axis Erected above the track, the support bracket is provided on the mobile bracket and can move up and down relative to the mobile bracket, the lifting mechanism is disposed between the mobile bracket and the support bracket, the lifting mechanism drives the support bracket to move relative to the The bracket moves up and down.

The effect of the present invention is that the walking auxiliary frame can assist the person to be rehabilitated to get up and move, and the person can obtain support when walking on the fixed table. It makes it easier for people to be rehabilitated to walk and rehabilitate.

In order to explain the present invention more clearly, the preferred embodiments are described in detail below with reference to the drawings. Please refer to FIG. 2 to FIG. 9, which is a walking rehabilitation device 1 according to the first preferred embodiment of the present invention, which includes a fixed table 10 and a walking auxiliary frame 22, in which:

The fixed table 10 includes a base 12, a crawler 14 and a drive motor 16, wherein: the base 12 is elongated and has a front end 122 and a rear end 124 on a predetermined axis X. 1, the lower base 12; the crawler 14 is rotatably provided on the base 12 and extends along the predetermined axis X, the crawler for people to walk; the drive motor 16 is provided on the base 12 and located at the rear end 124 of the base 12, the crawler 14 Driven by the drive motor 16 to operate.

In this embodiment, please refer to FIG. 9, the fixed table 10 further includes a controller 18 and a control interface 20. The controller 18 is disposed in the base 12 and electrically connected to a power supply P, a drive motor 16 and a control interface 20. The control interface 20 is used for personnel to set functions such as opening and closing of the power supply P, the running speed of the crawler 14 (corresponding to the rotation speed of the driving motor 16), and the controller 18 controls the power supply of the power supply P and controls the driving motor 16 according to the setting of the control interface 20. The control interface 20 and the controller 18 can also be connected wirelessly.

The walking auxiliary frame 22 is detachably used in conjunction with the fixed platform 10. The walking auxiliary frame 22 is used to support the support person walking on the ground and walking on the fixed platform 10. Please refer to FIG. 6 to FIG. 8, the walking support frame 22 includes a moving bracket 24, a supporting bracket 26 and a lifting mechanism 28, wherein the moving bracket 24 is erected on the track 14 in a movable manner along a predetermined axis X to support The bracket 26 is disposed on the mobile bracket 24 and can move up and down relative to the mobile bracket 24. The lifting mechanism 28 is disposed between the moving bracket 24 and the supporting bracket 26. The lifting mechanism 28 is used to drive the supporting bracket 26 to move up and down relative to the moving bracket 24.

In this embodiment, the mobile support 24 includes two side bars 242 and a cross bar 246 connected between the two side bars 242. The two side bars 242 are located at the bottom of the mobile support 24, and the distance between the two side bars 242 is greater than the fixed table The width of the base 12 of 10 enables the base 12 to be located between the two side bars 242. A caster 244 is provided at each end of each side bar 242, and three risers 248 are provided upright on the cross bar 246. The moving bracket 24 can enter the base 12 from the front end of the base 12 and is located above the track 14, and the cross bar 246 spans the seat body of the base 12 and the track 14.

The support bracket 26 includes an abutment frame 262, two guide rods 264, and two handles 266. The abutment frame 262 is provided for a person's arm to abut. The two guide rods 264 are connected below the abutment frame 262 and extend into the corresponding left 1. In the two right risers 248, the two handles 266 are arranged on the front side of the abutment frame 262, and the handles 266 are provided for personnel to hold. The rear side of the abutment frame 262 is open, so that a person's body can enter the space enclosed by the abutment frame 262.

The lifting mechanism 28 includes a lifting motor 282, a battery 284, and a linking member taking the lifting rod 286 as an example. The lifting motor 282 is disposed on the moving bracket 24. The battery 284 provides the power required by the lifting motor 282. One end of the rod 286 is connected to the support frame 262 of the support bracket 26, and the other end is coupled to the lift motor 282 through the riser 248 in the center of the moving bracket 24. The lifting motor 282 drives the lifting rod 286 to expand and contract relative to the riser 248 to drive the support bracket 26 to move up and down. In practice, the way in which the lifting motor 282 is coupled to the lifting rod 286 may use, for example, a worm gear or a worm structure.

In addition, the walking assist frame 22 further includes a control switch 30 located on the support bracket 26. The control switch 30 is disposed on the abutment frame 262 and is electrically connected to the lift motor 282 to control the lift motor 282 to rotate forward, reverse, or stop rotating. To adjust the position of the support bracket 26 in the vertical direction.

With the above structure, as shown in FIGS. 2 to 4, push the wheelchair W of the person to be recovered to the front end of the base 12, and move the walking assist frame 22 to the front end 122 of the base 12, or a wheelchair W and the front end of the base 12. Let the arm of the person to be rehabilitated lean on the abutment frame 262 of the support bracket 26, and the assisted person or the person to be rehabilitated can control the control switch 30 so that the lifting motor 282 drives the lifting rod to lift the support bracket 26 By leaning against the stand, the person to be rehabilitated can be propped up and assisted in standing. Then, the person to be rehabilitated can step on the base 12 and stand on the crawler 14 by relying on his own strength or the assistance of the assisted person. An assisted person controls the control interface 20 of the fixed table 10, so that the drive motor 16 drives the crawler 14 to run at a slow speed. In this way, the person to be rehabilitated can walk on the track 14 along the predetermined axis X with the support of the movable walking support frame 22 to achieve the purpose of rehabilitation.

After the rehabilitation is completed, the assisted person operates the control interface 20 of the fixed table 10 to stop the driving motor 16. At this time, the assisted person or the person to be rehabilitated can move the walking assist frame 22 back to the predetermined axis X to In front of the wheelchair W, the control switch 30 is operated by an assisted person or rehabilitation person, so that the lifting motor 282 drives the lifting rod 286 to retract and the supporting frame's abutment frame 262 is moved down to assist the person to be recovered Go back to the wheelchair W.

In practice, a stopper (not shown) can also be provided on the caster 244. When the person to be recovered walks to a predetermined position on the base 12, the assisted person presses the stopper against the caster 244 In order to fix the position of the walking auxiliary frame 22, the person to be rehabilitated can walk at a fixed position on the base 12.

10 to 13 are the walking rehabilitation device 2 of the second preferred embodiment of the present invention, which is based on the architecture of the first embodiment, the difference is that the base 32 of this embodiment includes a base 34 and at least A positioning device 36, the seat body 34 is provided with the crawler track 14, the at least one positioning device 36 is provided on the seat body 34 and is located beside the crawler track 14. The positioning device 36 is used to fix the position of the moving bracket 24 on the predetermined axis X.

More specifically, a plurality of openings 342 are formed on the top surface of the seat body 34, and these openings 342 are provided on both sides of the crawler track 14 along a predetermined axial direction X in groups of two. The number of positioning devices 36 in this embodiment is plural. Each positioning device 36 includes two positioning members 362 and two driving members 364 disposed in the seat body 34. The two positioning members 362 are located on both sides of the track 14 and are respectively located In the two openings 342, each positioning member 362 has a fork 362a facing upward, and each driving member 364 may be a component that can be controlled and operated by a motor, a pneumatic cylinder, or the like. Each positioning member 362 is coupled to each driving member 364 and driven by each driving member 364 to move in a first position P1 shown in FIG. 11 and a second position P2 shown in FIG. 12. The driving members 364 are electrically connected to the controller 18. The controller 18 can control the driving member 364 to move the positioning member 362 at the first position P1 and the second position P2 by manipulating the control interface 20.

When each positioning member 362 is in the first position P1, each positioning member 362 is located in the seat body 34 and the fork portion 362a of each positioning member 362 is lower than the top surface 344 of the seat body 34; when each positioning member 362 is in the second position P2, The fork portion 362a protrudes from the top surface 344 of the seat body 34. Thereby, when the positioning member 362 is located at the first position P1, the walking assist frame 22 can move along the predetermined axis X above the base 32 without interfering with the movement of the walking assist frame 22; and the moving bracket 24 moves to the corresponding two When the positioning member 362 is above, the driving member 364 drives the positioning member 362 to move to the second position P2, so that the corresponding two positioning members 362 fix the crossbar 246 with the fork 362a, and the positioning member 362 fixes the moving bracket 24 on the predetermined axis To the X position. Then, when the operator operates the control interface 20, and the controller 18 controls the driving member 364 to drive the positioning member 362 to move to the second position P2, the positioning member 362 leaves the moving bracket 24, so that the moving bracket 24 can move along the predetermined axis X again.

In this embodiment, the seat body 34 is provided with a plurality of position sensing components 38. The position sensing components 38 are located in groups of two beside the corresponding two positioning members 362. The position sensing components 38 Electrically connected to the controller 18, the position sensing component 38 is used to detect whether the moving bracket 24 reaches the positioning, such as detecting the position of the crossbar 246, when the position sensing component 38 detects that the moving bracket 24 moves to reach the positioning member 362 The controller 18 controls the corresponding two driving members 364 to drive the corresponding two positioning members 362 to the second position P2, so that the fork portion 362a restricts the cross bar 246, so that the purpose of automatically restricting the position of the moving bracket 24 can be achieved. In this embodiment, the cross bar 246 is provided with two sensed elements 40, and each position sensing component 38 is used to sense each sensed element 40 to determine the position where the moving bracket 24 reaches the corresponding two positioning members 362. In practice, the position sensing component 38 may use a photoelectric sensor, and the sensed element 40 may use a corresponding reflective sheet for the photoelectric sensor to sense; or the position sensing component 38 uses a magnetic sensor to be sensed The element 40 is a corresponding magnetic body.

In addition, in order to charge the battery 284 of the walking support frame 22, in this embodiment, one of the two corresponding positioning members 362 of each group is provided with a power output port 42, and the power output port 42 is electrically Connected to the controller 18 and moves with the connected positioning member 362. The controller 18 outputs a charging power to the power output port 42. The cross bar 246 of the mobile support 24 is provided with a corresponding power receiving port 44. The power receiving port 44 is electrically connected to the battery 284. 11 and 12, when the positioning member 362 moves from the first position P1 to the second position P2 to restrict the movement of the crossbar 246, the power output port 42 corresponds to the power receiving port 44 so that the power receiving port 44 receives power from The charging power output from the output port 42 charges the battery 284. This allows the person to be rehabilitated to charge the battery 284 of the walking support frame 22 while doing rehabilitation. In practice, the power output port 42 and the power receiving port 44 can use the technology of wireless power transmission and reception to transmit charging power by wireless transmission, or the power output port 42 and the power receiving port 44 can also be two connectors, which are connected by the connector The charging power is transmitted by wired transmission.

In practice, the power output port 42 can also be disposed on the base 32, for example, the base 34, and the power receiving port 44 can be disposed on the mobile support 24 at a position corresponding to the power output port 42. When the mobile support 24 moves to make the power receiving port 44 correspond to the power output port 42, the battery 284 can be charged.

14 and 15 are the walking and rehabilitation device 3 of the third preferred embodiment of the present invention, which is based on the architecture of the second embodiment. The difference is that the fixed table 46 further includes two guide grooves 462, which The groove 462 is located on both sides of the seat body 34 of the base 32 and extends along a predetermined axis X. The casters 244 at the bottom of the moving bracket 24 are respectively located in the two guide grooves 462 and move along the two guide grooves 462. The guide groove 462 can limit the yaw of the caster 244, so that the walking assist frame 22 can move more stably along the predetermined axis X before and after moving.

According to the above, the walking rehabilitation device of the present invention can assist the person to be rehabilitated to get up, sit down and move through the walking auxiliary frame, so that the person to be rehabilitated and the assisted person can save effort, and the rehabilitation is also more convenient , And can also get support when walking on the fixed table.

The above is only the preferred and feasible embodiments of the present invention, and any equivalent changes in applying the description of the present invention and the scope of patent application should be included in the patent scope of the present invention.

[Conventional]

100: walking rehabilitation table

102: walking platform

104: parallel rod

[this invention]

1: walking rehabilitation device

10: fixed table

12: Dock

122: front end

124: backend

14: track

16: Drive motor

18: Controller

20: Control interface

22: Walking aid

24: Mobile stand

242: side bar

244: Caster

246: Crossbar

248: riser

26: Support bracket

262: Abutment

264: Guide rod

266: Handle

28: Lifting mechanism

282: Lifting the motor

284: Battery

286: jacking rod

30: control switch

2: walking rehabilitation device

32: Dock

34: seat body

342: opening

344: top surface

36: Positioning device

362: Positioning piece

362a: Fork

364: Driver

38: Position sensing component

40: sensed element

42: Power output port

44: Power receiving port

3: walking rehabilitation device

46: fixed table

462: Guide groove

P: Power

P1: first position

P2: second position

W: wheelchair

X: predetermined axis

Figure 1 shows the conventional walking rehabilitation platform. 2 is a schematic side view of the walking rehabilitation device according to the first preferred embodiment of the present invention. Fig. 31 is a schematic diagram showing that the auxiliary staff of the walking aid stand gets up. A schematic diagram in Figure 4 reveals that personnel use a walking rehabilitation device for rehabilitation. 5 is a top view of the walking rehabilitation device of the above preferred embodiment of the present invention. FIG. 6 is a schematic side view of the walking assist frame of the above preferred embodiment of the present invention. 7 is a schematic front view of the walking assist frame of the above preferred embodiment of the present invention. FIG. 8 is a schematic top view of the walking support frame according to the above preferred embodiment of the present invention. 9 is a system architecture diagram of the walking rehabilitation device according to the above preferred embodiment of the present invention. 10 is a schematic top view of a walking rehabilitation device according to a second preferred embodiment of the present invention. FIG. 11 is a schematic diagram showing that the driving member and the positioning member are in the first position. FIG. 12 is a schematic diagram showing that the driving member and the positioning member are in the second position. 13 is a system architecture diagram of the walking rehabilitation device according to the above preferred embodiment of the present invention. 14 is a schematic top view of a walking rehabilitation device according to a third preferred embodiment of the present invention. FIG. 15 is a schematic diagram showing that a person uses a walking rehabilitation device for rehabilitation.

1: walking rehabilitation device

10: fixed table

12: Dock

122: front end

124: backend

14: track

16: Drive motor

22: Walking aid

24: Mobile stand

244: Caster

26: Support bracket

28: Lifting mechanism

282: Lifting the motor

X: predetermined axis

W: wheelchair

Claims (10)

A walking rehabilitation device includes: a fixed table, including a base, a crawler and a drive motor, the crawler is disposed on the base and extends along a predetermined axis, the crawler is driven by the drive motor to run; The walking assist frame includes a moving bracket, a supporting bracket and a lifting mechanism, wherein the moving bracket is erected above the track in a manner that can move along the predetermined axis, and the supporting bracket is disposed on the moving bracket and can be opposite to the The moving bracket moves up and down, and the lifting mechanism is disposed between the moving bracket and the supporting bracket. The lifting mechanism drives the supporting bracket to move up and down relative to the moving bracket; wherein, the fixing platform includes two guide grooves, the two The guide grooves are located on both sides of the base and extend along the predetermined axis; the bottom of the moving bracket is provided with a plurality of casters, and the casters are respectively located in the two guide grooves and move along the two guide grooves. The walking rehabilitation device according to claim 1, wherein the base of the fixed platform has a front end located in the predetermined axial direction; the moving bracket enters the base from the front end and is located above the track. A walking rehabilitation device includes: a fixed table, including a base, a crawler and a drive motor, the crawler is disposed on the base and extends along a predetermined axis, the crawler is driven by the drive motor to run; The walking assist frame includes a moving bracket, a supporting bracket and a lifting mechanism, wherein the moving bracket is erected above the track in a manner that can move along the predetermined axis, and the supporting bracket is disposed on the moving bracket and can be opposite to the The moving bracket moves up and down, the lifting mechanism is arranged between the moving bracket and the supporting bracket, and the lifting mechanism drives the supporting bracket to move up and down relative to the moving bracket; Wherein, the base includes a base body and at least one positioning device. The base body is provided with the crawler track. The at least one positioning device is disposed on the base body and used to fix the position of the moving bracket in the predetermined axial direction. The walking rehabilitation device according to claim 3, wherein the at least one positioning device includes two positioning members and two driving members, the two positioning members are located on both sides of the track, and each of the positioning members is driven by each driving member to A first position and a second position move. At the first position, each of the positioning members moves away from the moving bracket so that the moving bracket can move along the predetermined axis; at the second position, each of the positioning members Fix the position of the moving bracket in the predetermined axial direction. The walking rehabilitation device according to claim 4, wherein the lifting mechanism includes a lifting motor, a battery, and a linking member, the battery provides power required by the lifting motor, the linking member is connected to the lifting motor and the support Between the brackets, the lifting motor drives the linking member to drive the support bracket to move; one of the positioning members is provided with a power output port to move with the connected positioning member, and the power output port is used to output a charging electrical energy; A power receiving port is provided, the power receiving port is electrically connected to the battery, and when each positioning member is at the second position, the power output port corresponds to the power receiving port, so that the power receiving port receives the charging power to charge the battery . The walking rehabilitation device according to claim 4, wherein the seat body is provided with two position sensing components and a controller, the two position sensing components are respectively located beside the two positioning members, and the two position sensing components are electrically The controller is electrically connected to the two driving members, and when the two position sensing components sense that the moving bracket reaches the position corresponding to the two positioning members, the controller controls the two driving members to drive the two driving members The positioning member moves to the second position. The walking rehabilitation device as described in claim 6 includes a control interface connected to the controller. The control interface is for human operation so that the controller controls the two driving members to drive the two positioning members to move to the second position. The walking rehabilitation device according to claim 6, wherein the mobile support includes a cross bar that spans the seat body and the track, the cross bar is provided with two sensed elements; each of the position sensing The assembly is used to sense each of the sensed elements to determine the position where the moving bracket reaches the two positioning members. The walking rehabilitation device according to claim 4, wherein the moving bracket includes a cross bar that crosses the seat body and the track; each of the positioning members has a fork, and each of the positioning members The fork fixes the cross bar. A walking rehabilitation device includes: a fixed table, including a base, a crawler and a drive motor, the crawler is disposed on the base and extends along a predetermined axis, the crawler is driven by the drive motor to run; The walking assist frame includes a moving bracket, a supporting bracket and a lifting mechanism, wherein the moving bracket is erected above the track in a manner that can move along the predetermined axis, and the supporting bracket is disposed on the moving bracket and can be opposite to the The moving bracket moves up and down. The lifting mechanism is arranged between the moving bracket and the supporting bracket. The lifting mechanism drives the supporting bracket to move up and down relative to the moving bracket. The lifting mechanism includes a lifting motor and a battery. And a linking member, the battery provides the power required by the lifting motor, the linking member is connected between the lifting motor and the support bracket, the lifting motor drives the linking member to drive the support bracket to move; the base is provided with a The power output port is configured to output a charging power; the mobile support is provided with a power receiving port, and the power receiving port is electrically connected to the battery to receive the charging power to charge the battery.

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