WO2015139542A1 - 一种康复训练器 - Google Patents

一种康复训练器 Download PDF

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Publication number
WO2015139542A1
WO2015139542A1 PCT/CN2015/072625 CN2015072625W WO2015139542A1 WO 2015139542 A1 WO2015139542 A1 WO 2015139542A1 CN 2015072625 W CN2015072625 W CN 2015072625W WO 2015139542 A1 WO2015139542 A1 WO 2015139542A1
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Prior art keywords
rehabilitation
patient
rehabilitation training
sliding
moving arm
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PCT/CN2015/072625
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English (en)
French (fr)
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徐振华
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上海璟和技创机器人有限公司
徐振华
顾捷
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Publication of WO2015139542A1 publication Critical patent/WO2015139542A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A61H1/0259—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane moved by translation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • A61H2201/149—Special movement conversion means rotation-linear or vice versa
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1664—Movement of interface, i.e. force application means linear
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2203/00—Additional characteristics concerning the patient
    • A61H2203/04—Position of the patient
    • A61H2203/0443—Position of the patient substantially horizontal
    • A61H2203/0456—Supine

Definitions

  • the present invention relates to the field of rehabilitation training equipment, and more particularly to a rehabilitation exerciser.
  • rehabilitation training devices for rehabilitation of patients generally include bedside type and non-bedside type.
  • the unfavorable problem of the non-bedside rehabilitation training device for the rehabilitation of the lower limbs of the patient is that the operation process of the hospital in transferring the patient and bringing the patient up and down is complicated, and it is difficult to transfer the patient or the rehabilitation training device. Not conducive to patients and not to hospital therapists.
  • the bedside type rehabilitation training device can be moved to the patient's bedside, so that the patient can lie directly for rehabilitation without moving.
  • the bedside lower limb training techniques at home and abroad mostly adopt the treadmill type training mode, and the patient is trained by simulating the bicycle riding mode.
  • the treadmill type trainer is driven by a single motor, there is a treadmill type training that cannot achieve single leg training, and the adjustment range of the leg training range is small, the active mode has more force directions, and the exercise mode is single. It is difficult to ensure the accuracy of rehabilitation exercises and to meet the requirements of patients in different rehabilitation stages.
  • the present invention provides a rehabilitation exerciser having a plurality of exercise modes, which can perform different rehabilitation trainings for patients in different rehabilitation stages, so that the rehabilitation process of the patient is more reasonable.
  • the present invention provides the following technical solutions:
  • a rehabilitation exerciser for performing rehabilitation training on a patient lying on a hospital bed comprising a motion mechanism, a support mechanism, and a connection mechanism connecting the motion mechanism and the support mechanism, wherein:
  • the moving mechanism includes a moving arm provided with a sliding rail; two sliding frames capable of supporting and fixing a limb of the patient, the sliding frame being slidably disposed on the sliding rail; driving the two sliding frames at the a drive device that slides synchronously or asynchronously on the slide rail;
  • the support mechanism includes a support frame and a roller supporting the support frame;
  • connection mechanism includes a connecting member that connects the support frame and the moving arm.
  • the connecting member is a telescopic device that can expand and contract in a vertical direction.
  • a top end of the connecting member is rotatably connected to the moving arm, and a connecting between the moving arm and the connecting member is capable of driving the moving arm to rotate in a vertical plane. Oblique push rod.
  • the sliding rails disposed on the moving arm are two groups, and each of the sliding rails is provided with one of the sliding frames.
  • the driving device is a servo motor and the number is two, and each of the servo motors drives one of the sliding frames to move on the sliding rail through a driving belt.
  • each of the carriages is provided with a rotatable pedal, and the pedal is provided with a pressure sensor for changing the rotation speed and damping of the servo motor.
  • each of the sliding frames is provided with a rotatable fixing plate, and the fixing plate is provided with a strap.
  • the above rehabilitation device further includes an elastic sling connecting the outer ends of the sliding frame and the fixing plate, the elastic sling is connected with the sliding frame through an adjusting handle, and the adjusting handle is capable of sliding The frame slides to adjust the length of the elastic sling, and the adjustment handle is provided with a locking handle that prevents the adjustment handle from rotating.
  • the roller is a universal wheel, and the number is set to be plural, and the diameter of the universal wheel disposed near the sliding frame is smaller than that of the remaining universal wheel.
  • the rehabilitation training device is a bedside type rehabilitation training device capable of directly performing rehabilitation training on a patient lying on a hospital bed, and specifically comprises a movement mechanism, a support mechanism and a connection mechanism, wherein the exercise mechanism is a rehabilitation training for the patient.
  • the main mechanism of the main body is a moving arm, a sliding rail is arranged on the moving arm, and two sliding frames are arranged on the sliding rail for moving.
  • the driving device can drive the sliding frame and the patient limb fixed thereon for synchronous movement or asynchronous movement, that is, driving the patient Perform a knee-squat or two-legged exercise.
  • the patient can be completely driven by the driving device without using his own strength, or can completely rely on his own strength to overcome the resistance to exercise, that is, the passive training mode and the active training mode (the driving device in the active training mode)
  • the role is to provide resistance and adjust resistance).
  • the rehabilitation exerciser provided by the invention has the functions of synchronous movement and asynchronous movement, and can enable the patient to perform the movement of the lower leg or the two legs, and can also adopt the passive and active training modes for the patient. Training can carry out different rehabilitation training for patients in different rehabilitation stages, making the rehabilitation process of patients more reasonable.
  • FIG. 1 is a schematic structural diagram of a motion mechanism of a rehabilitation training device according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of a support mechanism
  • Figure 3 is an assembly view of the moving mechanism, the supporting mechanism and the connecting mechanism (the arrow in the figure indicates the direction of rotation of the moving arm);
  • Figure 4 is a schematic structural view of the rehabilitation exerciser (the arrow in the figure indicates the direction of expansion and contraction of the connecting member);
  • Fig. 5 is a structural schematic view of the rehabilitation exerciser at another angle (the arrow in the figure indicates the sliding direction of the carriage on the slide rail, and the retracting direction of the elastic sling).
  • the invention provides a rehabilitation training device with multiple movement modes, which can perform different rehabilitation trainings for patients in different rehabilitation stages, so that the rehabilitation training process of the patients is more reasonable.
  • the rehabilitation training device provided by the embodiment of the present invention is used for rehabilitation training of a patient lying on a hospital bed, which comprises a motion mechanism, a support mechanism, and a connection mechanism connecting the motion mechanism and the support mechanism. among them:
  • the moving mechanism comprises a moving arm 2 provided with a slide rail 1; two sliding frames 3 capable of supporting and fixing a limb of the patient, the sliding frame 3 sliding along the sliding rail 1; driving the two sliding frames 3 to slide synchronously or asynchronously on the sliding rail 1 Drive device 4;
  • the support mechanism includes a support frame 5, and a roller 6 supporting the support frame 5;
  • the connecting mechanism includes a connecting member 7 that connects the support frame 5 and the moving arm 2.
  • the rehabilitation training device provided in this embodiment is a bedside type rehabilitation training device capable of directly performing rehabilitation training on a patient lying on a hospital bed, and specifically includes a motion mechanism, a support mechanism and a connection mechanism, wherein the exercise mechanism is to recover the patient.
  • the main mechanism of the training is that the main support member is a moving arm 2, and the sliding arm 1 is disposed on the moving arm 2, and the two sliding frames 3 are disposed on the sliding rail 1 for movement.
  • the two lower limbs or the two upper limbs of the patient are respectively placed and fixed on the two sliding frames 3, and the driving device 4 can drive the sliding frame 3 and the limbs of the patient fixed thereon for synchronous movement or asynchronous movement. That is to drive the patient to exercise the legs or legs.
  • Mode and active training mode the role of the drive 4 in the active training mode is to provide resistance and adjustment resistance.
  • the rehabilitation training device has the functions of synchronous movement and asynchronous movement, and can enable the patient to perform the movement of the lower leg or the two legs, and realize the stride between 0 mm and 700 mm for the patients of different heights. Adjustment, and can also use passive and active training modes to train patients, can carry out different rehabilitation training for patients in different rehabilitation stages, and make the rehabilitation process of patients more reasonable.
  • the connecting member 7 is a telescopic device capable of telescopically extending in the vertical direction, and the top end of the connecting member 7 is rotatably connected with the moving arm 2, and the moving arm 2 and the connecting body are connected.
  • An oblique push rod 8 capable of driving the moving arm 2 to rotate in a vertical plane is connected between the members 7.
  • the connection member 7 provided with the support motion mechanism is a telescopic expansion device (such as a cylinder). , hydraulic cylinders, etc., so that it can push the overall movement of the moving mechanism to meet the requirements of different heights.
  • the movable arm 2 is rotatably connected to the connecting member 7 in order to enable the entire moving mechanism to be rotated in the vertical direction, and the rotation angle ranges from 60 degrees, thereby satisfying the step of the two-legged step.
  • the smooth transition from the (-30 degree angle) to the upward (30 degree angle) enables the patient to achieve multi-position rehabilitation training for patients with early recovery and late recovery.
  • the slide rails 1 disposed on the moving arm 2 are two groups, and each of the slide rails 1 is provided with a carriage 3. Because the motion mechanism needs to train the two upper limbs or the two lower limbs of the patient at the same time, in order to make the work of the motion mechanism more coordinated and not interfere with each other, two sets of slide rails 1 are set in the embodiment, and two carriages are arranged. 3 is disposed on different slide rails 1, and the driving device 4 is preferably a servo motor, and the number is set to two, so that each servo motor is correspondingly arranged with a set of slide rails 1 and a carriage 3 to form a moving portion. Therefore, the two moving parts in the moving mechanism work independently, which not only makes the structure setting and the movement mode more reasonable, but also reduces the probability of occurrence of mechanical failure.
  • each servo motor passes through one transmission.
  • the belt 9 drives a carriage 3 to move on the slide rail 1.
  • the transmission belt 9 is disposed on the synchronous wheel and is rotated by the synchronous wheel.
  • the output shaft of the servo motor is connected with the synchronous wheel disposed at one end of the movable arm 2 to form an active switch. wheel.
  • each of the carriages 3 is provided with a rotatable pedal 10, and the pedal 10 is provided with a pressure sensor (not shown) for changing the rotation speed and damping of the servo motor.
  • the function of the carriage 3 is to drive, support and fix the limb of the patient, so that each of the carriages 3 is provided with a pedal 10 on which the patient's foot or hand is placed for applying force to the carriage 3.
  • the pedal 10 has a rotational freedom with respect to the carriage 3, i.e., is rotatable relative to the carriage 3, in order to enable it to adjust the angle at which the foot or hand on the pedal 10 is placed relative to the carriage 3.
  • the pressure sensor is disposed on the pedal 10, and the servo motor can change its own rotation speed and damping according to the data obtained by the pressure sensor, so that the rehabilitation training device provided in the embodiment can also have the working mode of the assist training mode, that is, the patient is As the motor performs the stepping motion, it can actively use its own power to do the following motion, and the servo motor adjusts the rotation speed and damping of the servo motor through the pressure sensing feedback of the patient's sole, thereby assisting the training to reduce the resistance of the trainer.
  • the mode makes the training mode of the rehabilitation training device provided by the embodiment more diverse and comprehensive, and can further comprehensively adapt to the needs of patients in the early stage of rehabilitation and recovery from the acute phase to the late recovery period.
  • each of the carriages 3 is provided with a rotatable fixing plate 11
  • the fixing plate 11 is provided with a strap 12 .
  • the fixing plate 11 and the strap 12 are provided for fixing the calf portion of the patient to the fixing plate 11, so that the leg of the trainer can be effectively fixed, and the leg 3 does not affect the leg while moving along with the carriage 3.
  • the freedom of movement of the part enables the patient's limb to be detached from the carriage 3 at all times, so as to have a good training effect.
  • the embodiment further includes an elastic sling 13 connecting the outer ends of the carriage 3 and the fixed plate 11, the elastic sling 13 and the carriage 3 being connected by the adjustment handle 14, and the adjustment handle 14 being slidable on the carriage 3 to adjust the length of the elastic sling 13
  • the adjusting handle 14 is provided with a locking handle 15 for preventing the adjustment handle 14 from rotating, as shown in FIGS. 1 and 5.
  • the elastic sling 13 is provided to connect the outer end of the carriage 3 and the fixed plate 11 (the outer end is away from the end of the pedal 10), and the carriage 3 and the fixed plate 11 are changed by the adjustment handle 14.
  • the roller 6 is a universal wheel, and the number of the wheels is plural.
  • the diameter of the universal wheel disposed near the carriage 3 is smaller than that of the remaining universal wheels, as shown in FIG. 2 .
  • Four universal wheels are mounted under the support frame 5. Through these four wheels, the rehabilitation training device provided in this embodiment can be pushed into each ward.
  • the two universal wheels of the front end (located near the carriage 3) are relatively smaller than the two universal wheels of the rear end (provided away from the carriage 3), mainly for the front wheel of the universal wheel to be directly pushed to the bed.
  • the arm 2 can be directly extended to the patient's bed surface, and the patient can fix the limb to the carriage 3 without any movement on the hospital bed, thereby performing training.

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Abstract

一种康复训练器，用于对躺在病床上的患者进行康复训练，其包括运动机构、支撑机构以及连接运动机构和支撑机构的连接机构，其中：运动机构包括设置有滑轨(1)的运动臂(2)；能够支撑并固定患者肢体的两个滑动架(3)，滑动架(3)可滑动的设置在滑轨(1)上；驱动两个滑动架(3)在滑轨(1)上同步或异步滑动的驱动装置(4)；支撑机构包括支撑架(5)，和支撑支撑架(5)的滚轮(6)；连接机构包括连接支撑架(5)和运动臂(2)的连接部件(7)。该康复训练器的滑动架(3)具有同步移动和异步移动的功能，能够令患者进行双腿下蹲或双腿踏步的运动，并且也可以采用被动和主动的两种训练模式对患者进行训练，能够针对不同康复阶段的患者进行不同的康复训练，使患者的康复训练进程更加合理。

Description

一种康复训练器
本申请要求于2014年3月21日提交中国专利局、申请号为201420131847.9、发明名称为“一种康复训练器”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及康复训练设备技术领域，更具体地说，涉及一种康复训练器。
背景技术
近年来，因交通事故、工伤事故等因素引发的卧床患者呈现高发趋势，脑卒中、脊椎损伤等疾病患者人群范围在逐步扩大。此类患者除了早期的手术治疗和必要的药物治疗外，康复训练对于患者肢体运动功能的恢复和提高能够起到非常重要的作用。
目前，对患者进行康复训练的康复训练器一般包括床边型和非床边型两种。其中，非床边型康复训练器对患者下肢进行康复训练存在的不利问题是：医院在转移病人和使病人上下器时的操作过程较为复杂，无论是病人还是康复训练器的转移都很困难，既不利于患者也不利于医院治疗师。
与上述非床边型康复训练器相比，床边型康复训练器能够移动至患者的病床边，使患者无需移动即可直接躺着做康复训练。在现有技术中，国内外床边下肢训练技术大多采用踏车式的训练模式，通过给患者模拟骑自行车的方式来给患者训练。但是，因为踏车式的训练器是由单一电机驱动的，存在踏车式训练不能实现单腿训练，并且双腿训练幅度的调整范围较小，主动模式用力方向较多，运动模式单一等问题，很难保证康复训练动作的准确性，无法适应不同康复阶段患者的要求。
因此，如何使不同康复阶段患者得到更加合理的康复训练，是目前本领域技术人员亟待解决的问题。
发明内容
有鉴于此，本发明提供了一种康复训练器，其具有多种运动模式，能够针对不同康复阶段的患者进行不同的康复训练，使患者的康复训练进程更加合理。
为了达到上述目的，本发明提供如下技术方案：
一种康复训练器，用于对躺在病床上的患者进行康复训练，其包括运动机构、支撑机构以及连接所述运动机构和所述支撑机构的连接机构，其中：
所述运动机构包括设置有滑轨的运动臂；能够支撑并固定患者肢体的两个滑动架，所述滑动架可滑动的设置在所述滑轨上；驱动两个所述滑动架在所述滑轨上同步或异步滑动的驱动装置；
所述支撑机构包括支撑架，和支撑所述支撑架的滚轮；
所述连接机构包括连接所述支撑架和所述运动臂的连接部件。
优选的，上述康复训练器中，所述连接部件为能够沿竖直方向伸缩的伸缩装置。
优选的，上述康复训练器中，所述连接部件的顶端与所述运动臂可转动连接，所述运动臂与所述连接部件之间连接有能够驱动所述运动臂在竖直平面内转动的斜推杆。
优选的，上述康复训练器中，设置在所述运动臂上的所述滑轨为两组，每组所述滑轨上设置有一个所述滑动架。
优选的，上述康复训练器中，所述驱动装置为伺服电机且数量为两个，每个所述伺服电机通过传动皮带驱动一个所述滑动架在所述滑轨上移动。
优选的，上述康复训练器中，每个所述滑动架上均设置有可转动的踏板，所述踏板上设置有令所述伺服电机改变转速和阻尼的压力传感器。
优选的，上述康复训练器中，每个所述滑动架上均设有可转动的固定板，所述固定板上设置有绑带。
优选的，上述康复训练器中，还包括连接所述滑动架和所述固定板的外端的弹性吊带，所述弹性吊带与所述滑动架通过调节手柄连接，所述调节手柄能够在所述滑动架上滑动以调节所述弹性吊带的长度，且所述调节手柄上设置有阻止所述调节手柄转动的锁紧手柄。
优选的，上述康复训练器中，所述滚轮为万向轮，且设置数量为多个，靠近所述滑动架设置的万向轮的直径小于其余的万向轮。
本发明提供的康复训练器，为能够对躺在病床上的患者直接进行康复训练的床边型康复训练器，其具体包括运动机构、支撑机构和连接机构，其中运动机构为对患者进行康复训练的主要机构，其主体支撑部件为运动臂，运动臂上设置滑轨，两个滑动架设置在滑轨上进行移动。在进行康复训练时，患者的两个下肢或两个上肢分别放置并固定在两个滑动架上，驱动装置能够带动滑动架及固定在其上的患者肢体进行同步移动或异步移动，即带动患者进行双腿下蹲或双腿踏步的运动。而在上述两个运动过程中，患者可以不借助自身力量完全被驱动装置带动进行运动，也可以完全依靠自身力量克服阻力进行运动，即被动训练模式和主动训练模式(在主动训练模式中驱动装置的作用是提供阻力和调整阻力)。本发明提供的康复训练器，其滑动架具有同步移动和异步移动的功能，能够令患者进行双腿下蹲或双腿踏步的运动，并且也可以采用被动和主动的两种训练模式对患者进行训练，能够针对不同康复阶段的患者进行不同的康复训练，使患者的康复训练进程更加合理。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明实施例提供的康复训练器的运动机构的结构示意图；
图2为支撑机构的结构示意图；
图3为运动机构、支撑机构和连接机构的装配图(图中箭头指示的是运动臂的转动方向)；
图4为康复训练器的结构示意图(图中箭头指示的是连接部件的伸缩方向)；
图5为康复训练器另一角度的结构示意图(图中箭头指示的是滑动架的在滑轨上的滑动方向，以及弹性吊带的收放方向)。
以上图1-图5中：
滑轨1、运动臂2、滑动架3、驱动装置4、支撑架5、滚轮6、连接部件 7、斜推杆8、传动皮带9、踏板10、固定板11、绑带12、弹性吊带13、调节手柄14、锁紧手柄15。
具体实施方式
本发明提供了一种康复训练器，其具有多种运动模式，能够针对不同康复阶段的患者进行不同的康复训练，使患者的康复训练进程更加合理。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
如图1-图5所示，本发明实施例提供的康复训练器，用于对躺在病床上的患者进行康复训练，其包括运动机构、支撑机构以及连接运动机构和支撑机构的连接机构，其中：
运动机构包括设置有滑轨1的运动臂2；能够支撑并固定患者肢体的两个滑动架3，滑动架3沿滑轨1滑动；驱动两个滑动架3在滑轨1上同步或异步滑动的驱动装置4；
支撑机构包括支撑架5，和对支撑架5进行支撑的滚轮6；
连接机构包括对支撑架5和运动臂2进行连接的连接部件7。
本实施例提供的康复训练器，为能够对躺在病床上的患者直接进行康复训练的床边型康复训练器，其具体包括运动机构、支撑机构和连接机构，其中运动机构为对患者进行康复训练的主要机构，其主体支撑部件为运动臂2，运动臂2上设置滑轨1，两个滑动架3设置在滑轨1上进行移动。在进行康复训练时，患者的两个下肢或两个上肢分别放置并固定在两个滑动架3上，驱动装置4能够带动滑动架3及固定在其上的患者肢体进行同步移动或异步移动，即带动患者进行双腿下蹲或双腿踏步的运动。而在上述两个运动过程中，处于康复训练初期的患者可以不借助自身力量完全被驱动装置4带动进行运动，也可以使处于康复训练后期的患者完全依靠自身力量克服阻力进行运动，即被动训练模式和主动训练模式(在主动训练模式中驱动装置4的作用是提供阻力和调整 阻力)。
本实施例提供的康复训练器，其滑动架3具有同步移动和异步移动的功能，能够令患者进行双腿下蹲或双腿踏步的运动，针对不同身高患者实现0mm到700mm之间的步幅调整，并且也可以采用被动和主动的两种训练模式对患者进行训练，能够针对不同康复阶段的患者进行不同的康复训练，使患者的康复训练进程更加合理。
为了进一步优化上述技术方案，本实施例提供的康复训练器中，连接部件7为能够沿竖直方向伸缩的伸缩装置，并且连接部件7的顶端与运动臂2可转动连接，运动臂2与连接部件7之间连接有能够驱动运动臂2在竖直平面内转动的斜推杆8。如图3和图4所示，为了增大本实施例提供的康复训练器的使用范围，使其具有更高的通用性，设置支撑运动机构的连接部件7为能够伸缩的伸缩装置(如气缸、液压缸等)，使其能够推动运动机构整体升高，从而应对不同高度的使用要求。进一步的，令运动臂2可转动的与连接部件7连接，是为了能够使整个运动机构可以在竖直方向上进行转动，其转动角度范围为60度，从而可以满足双腿踏步方向由向下(-30度角)到向上(30度角)的平稳变换，使患者能够实现多体位的康复训练，适用于康复早期和恢复后期的病人。为了使本实施例提供的康复训练器智能化程度更高，运动机构转动角度更加精确，优选采用斜推杆8对运动臂2的一端进行转动操作，具体的该斜推杆8为气缸或液压缸。
如图1所示，设置在运动臂2上的滑轨1为两组，每组滑轨1上设置有一个滑动架3。因为运动机构需要同时对患者的两个上肢或两个下肢进行训练，为了使运动机构的工作更加协调且不产生相互干扰，本实施例中设置了两组滑轨1，并令两个滑动架3设置在不同的滑轨1上，而且驱动装置4优选为伺服电机，并且设置数量为两个，使每个伺服电机与一组滑轨1、一个滑动架3对应设置以形成一个运动部分，从而令运动机构中的两个运动部分各自独立工作，不仅使结构设置、运动方式更加合理，而且也降低了机械故障发生的几率。
具体的，运动臂2的两端均设置有同步轮，每个伺服电机均通过一个传动 皮带9驱动一个滑动架3在滑轨1上移动，传动皮带9设置在同步轮上并在同步轮的带动下转动，伺服电机的输出轴与设置在运动臂2一端的同步轮连接以形成主动轮。
具体的，每个滑动架3上均设置有可转动的踏板10，踏板10上设置有令伺服电机改变转速和阻尼的压力传感器(图中未画出)。滑动架3的作用是带动、支撑并固定患者的肢体，所以在每个滑动架3上均设置有踏板10，患者的脚或手放置于踏板10上，用于对滑动架3施力。踏板10相对与滑动架3具有一个转动自由度，即能够相对于滑动架3转动，是为了使其能够起到调节踏板10上的脚或手相对滑动架3放置角度的作用。
而在踏板10上设置压力传感器，并令伺服电机能够根据压力传感器得到的数据改变自身的转速和阻尼，进而使本实施例提供的康复训练器还能够具有助力训练模式的工作方式，即患者在随着电机进行踏步运动的同时，能够主动运用自身的力量去做跟随运动，而伺服电机会通过患者脚底的压力传感反馈调整伺服电机的转速和阻尼，从而达到减轻训练者的阻力的协助训练模式，使本实施例提供的康复训练器的训练模式更加多样和全面，能够进一步的全面适应康复早期和恢复急性期到恢复后期的患者的使用需求。
优选的，每个滑动架3上均设有可转动的固定板11，固定板11上设置有绑带12。如图1所示，设置固定板11和绑带12是为了将患者的小腿部位固定在固定板11上，从而能有效的固定训练者的腿，在随同滑动架3运动的同时不会影响腿部的运动自由度，使患者的肢体能够始终不与滑动架3脱离，以起到良好的训练效果。
本实施例还包括连接滑动架3和固定板11的外端的弹性吊带13，弹性吊带13与滑动架3通过调节手柄14连接，调节手柄14能够在滑动架3上滑动以调节弹性吊带13的长度，且调节手柄14上设置有阻止调节手柄14转动的锁紧手柄15，如图1和图5所示。本实施例中，为了进一步提高训练效果，设置连接滑动架3和固定板11外端(该外端为远离踏板10的一端)弹性吊带13，并通过调节手柄14改变滑动架3和固定板11之间的弹性吊带13的长度， 以使固定板11转动，从而改变固定板11外端与滑动架3之间的距离，进而改变固定在固定板11上的患者肢体的弯曲角度和位置，以满足不同的康复训练需求。
进一步的，滚轮6为万向轮，且设置数量为多个，靠近滑动架3设置的万向轮的直径小于其余的万向轮，如图2所示。支撑架5下安装有四个万向轮，通过这四个轮，本实施例提供的康复训练器就可以被推到各个病房中去。其中前端(靠近滑动架3设置)的两个万向轮比后端(远离滑动架3设置)的两个万向轮相对要小，主要是为了让前端的万向轮能够直接的推到病床底部，运动臂2就可以直接伸到患者的床面，患者在病床上不做任何移动就可以将肢体固定到滑动架3上，进而进行训练。
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。
对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本发明。对这些实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下，在其它实施例中实现。因此，本发明将不会被限制于本文所示的这些实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。

Claims (9)

  1. 一种康复训练器，用于对躺在病床上的患者进行康复训练，其特征在于，包括运动机构、支撑机构以及连接所述运动机构和所述支撑机构的连接机构，其中：
    所述运动机构包括设置有滑轨(1)的运动臂(2)；能够支撑并固定患者肢体的两个滑动架(3)，所述滑动架(3)可滑动的设置在所述滑轨(1)上；驱动两个所述滑动架(3)在所述滑轨(1)上同步或异步滑动的驱动装置(4)；
    所述支撑机构包括支撑架(5)，和支撑所述支撑架(5)的滚轮(6)；
    所述连接机构包括连接所述支撑架(5)和所述运动臂(2)的连接部件(7)。
  2. 根据权利要求1所述的康复训练器，其特征在于，所述连接部件(7)为能够沿竖直方向伸缩的伸缩装置。
  3. 根据权利要求1所述的康复训练器，其特征在于，所述连接部件(7)的顶端与所述运动臂(2)可转动连接，所述运动臂(2)与所述连接部件(7)之间连接有能够驱动所述运动臂(2)在竖直平面内转动的斜推杆(8)。
  4. 根据权利要求1所述的康复训练器，其特征在于，设置在所述运动臂上的所述滑轨为两组，每组所述滑轨上设置有一个所述滑动架。
  5. 根据权利要求1所述的康复训练器，其特征在于，所述驱动装置(4)为伺服电机且数量为两个，每个所述伺服电机通过传动皮带(9)驱动一个所述滑动架(3)在所述滑轨(1)上移动。
  6. 根据权利要求5所述的康复训练器，其特征在于，每个所述滑动架(3)上均设置有可转动的踏板(10)，所述踏板(10)上设置有令所述伺服电机改变转速和阻尼的压力传感器。
  7. 根据权利要求1所述的康复训练器，其特征在于，每个所述滑动架(3)上均设有可转动的固定板(11)，所述固定板(11)上设置有绑带(12)。
  8. 根据权利要求7所述的康复训练器，其特征在于，还包括连接所述滑动架(3)和所述固定板(11)的外端的弹性吊带(13)，所述弹性吊带(13) 与所述滑动架(3)通过调节手柄(14)连接，所述调节手柄(14)能够在所述滑动架(3)上滑动以调节所述弹性吊带(13)的长度，且所述调节手柄(14)上设置有阻止所述调节手柄(14)转动的锁紧手柄(15)。
  9. 根据权利要求1-8中任意一项所述的康复训练器，其特征在于，所述滚轮(6)为万向轮，且设置数量为多个，靠近所述滑动架(3)设置的万向轮的直径小于其余的万向轮。
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