CN106420264A - Lower limb training device and rehabilitation training robot with same - Google Patents
Lower limb training device and rehabilitation training robot with same Download PDFInfo
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- CN106420264A CN106420264A CN201611025107.7A CN201611025107A CN106420264A CN 106420264 A CN106420264 A CN 106420264A CN 201611025107 A CN201611025107 A CN 201611025107A CN 106420264 A CN106420264 A CN 106420264A
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- handle
- take
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- training device
- support
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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
- A61H1/0237—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
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a lower limb training device and a rehabilitation training robot with the same. The lower limb training device comprises a support, a pedal assembly which is rotationally arranged on the support and suitable for stepping training, a pedal driving assembly which is connected with the pedal assembly and drives the pedal assembly to rotate, a shank support which is connected with the pedal assembly and can rotate relative to the pedal assembly, and a shank support driving assembly which is arranged on the support and connected with the shank support, often has force for driving the shank support to move and is suitable for lifting up shanks of a user. According to the lower limb training device, the shanks can be conveniently driven by the shank supporting driving assembly to be lifted up, the maintenance, assembly and the like of the rehabilitation training robot can be convenient, the modularization of all parts of the rehabilitation training robot is convenient, and maintainability is improved.
Description
Technical field
The present invention relates to technical field of medical instruments, particularly to a kind of leg training for recovery exercising robot dress
Put and have the recovery exercising robot of this leg training device.
Background technology
For paralytic, because its own cannot be carried out training, in order to avoid muscular atrophy, need to assist patient to carry out
Motion, not only can prevent the muscular atrophy of patient, and can also aid in Rehabilitation, therefore, provide in correlation technique
A kind of healing robot, can provide to patient and assist training, typically, in training process, patient needs for pin etc. to be positioned over health
In multiple robot, allow rear patient actively or machine assistance patient motion, but during doing pedal exercising, shank is needed with thigh
In predetermined angular, that is, knee bends, otherwise cannot realize pedal exercising, but the locomitivity of patient is limited, Ke Nengwu
Method is effectively realized knee bends.
Content of the invention
It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.For this reason, the present invention
On the one hand it is to propose a kind of leg training device for recovery exercising robot, this leg training device can be realized lifting
The motion of shank.
Leg training device for recovery exercising robot according to embodiments of the present invention, described leg training device bag
Include：Support；Foot-operated assembly, described foot-operated assembly is rotatably provided on described support and is suitable to foot-operated training；Foot-operated driving group
Part, described foot-operated drive component is connected with described foot-operated assembly to drive described foot-operated assembly to rotate；Leg support, described shank
Support and be connected with described foot-operated assembly, and the relatively described foot-operated assembly of described leg support is rotatable；Leg support drive component,
Described leg support drive component is set on the bracket and is connected with described leg support, and described leg support drive component
Often there is the shank driving the power of described leg support motion and being suitable to lift user.
Leg training device for recovery exercising robot according to embodiments of the present invention, is driven by arranging leg support
Dynamic assembly, can drive shank to lift conveniently by leg support drive component, thus successfully completely training.In addition, will
Leg support drive component is arranged to a part for leg training device, can facilitate maintenance, the assembling of recovery exercising robot
Deng being easy to the modularization of recovery exercising robot each several part, improve maintainable.
In addition, the leg training device for recovery exercising robot according to the above embodiment of the present invention, can also have
There is the technical characteristic adding as follows：
In some embodiments of the invention, described leg support drive component includes：Elastic threads, described elastic threads are respectively
It is connected with described leg support and described support.
Advantageously, described leg support drive component also includes：Spooler, described spooler sets on the bracket, and
Described elastic threads are connected with described spooler to adjust the length that described elastic threads are stretched out.
Further, described spooler includes：Cylindrical central sleeve, described cylindrical central sleeve sets on the bracket, and described in
The relative position of heart sleeve and described support is fixed；Take-up handle, described take-up handle rotatably with described cylindrical central sleeve phase
Even, the end of described elastic threads is connected with described take-up handle with being relatively fixed；Locking device, described locking device is located at described
To lock or to discharge described take-up handle on cylindrical central sleeve or described take-up handle.
Preferably, rotatably nesting is arranged in described cylindrical central sleeve for one end of described take-up handle, described locking dress
Put the radial direction along described take-up handle to be movably located on described cylindrical central sleeve, described take-up handle is formed with and described lock
The tight corresponding locking hole of device, described locking device is adapted to extend into described locking hole to lock described take-up handle or to extract out described
Locking hole is to discharge described take-up handle.
Advantageously, described locking hole include circumferentially spaced multiple along described take-up handle.
Further, the side face of the other end of described take-up handle is formed with anti-slip veins.
Advantageously, described take-up handle is formed with the circumferentially extending appearance wire casing along described take-up handle.
Preferably, described foot-operated assembly includes two pedals, and described leg support includes be connected corresponding with two pedals
Two, described take-up handle and described elastic threads all include and two described leg support corresponding two respectively.
Second aspect present invention proposes a kind of recovery exercising robot, including：Stand up device, and the described device that stands up includes
Bed board, described bed board extends longitudinally and turning around axis transversely, described laterally longitudinally perpendicular with described；Leg training
Device, described leg training device be located at described in stand up on device and be located at described bed board along described longitudinal end, described
Leg training device is the leg training device being previously described for recovery exercising robot, and described leg support drive component is all the time
Have and drive described leg support towards the power away from the motion of described bed board.
Recovery exercising robot according to embodiments of the present invention, applies aforesaid leg training device, can facilitate real
Existing pedal exercising.
Brief description
Fig. 1 is the schematic diagram of the recovery exercising robot of one embodiment of the invention.
Fig. 2 is the schematic diagram of leg training device in Fig. 1.
Fig. 3 is the cross section view of Fig. 2 middle section A-A.
Reference：Recovery exercising robot 100, leg training device 1, support 11, foot-operated assembly 12, foot-operated driving group
Part, leg support 13, leg support drive component 14, elastic threads 15, spooler 16, cylindrical central sleeve 161, take-up handle 162, lock
Tight device 163, anti-slip veins 164, hold wire casing 101, locking hole 102, stand up device 2, bed board 21.
Specific embodiment
Embodiments of the invention are described below in detail, the example of described embodiment is shown in the drawings, wherein from start to finish
The element that same or similar label represents same or similar element or has same or like function.Below with reference to attached
The embodiment of figure description is exemplary it is intended to be used for explaining the present invention, and is not considered as limiting the invention.
1 to Fig. 3 describes the lower limb instruction for recovery exercising robot 100 of the embodiment of the present invention in detail with reference to the accompanying drawings
Practice device 1, described leg training device 1 includes：Support 11, foot-operated assembly 12, foot-operated drive component, leg support 13 and shank
Support drive component 14.
Specifically, described foot-operated assembly 12 is rotatably provided on described support 11 and is suitable to foot-operated training.Described pin
Step on drive component to be connected with described foot-operated assembly 12 to drive described foot-operated assembly 12 to rotate.Described leg support 13 and described pin
Step on assembly 12 to be connected, and the relatively described foot-operated assembly 12 of described leg support 13 is rotatable.Described leg support drive component 14
It is located on described support 11 and is connected with described leg support 13, and described leg support drive component 14 often has described in driving
The power of leg support 13 motion is simultaneously suitable to lift the shank of user.
Foot-operated assembly 12 may be adapted to foot and places and position, and leg support 13 is suitable to preventing and positioning of shank, thus
In the training process, foot and shank being positioned, pedal exercising being driven by foot-operated drive component thus assisting to forge
Refining, and leg support 13 actuator can drive leg support 13, thus lifting the shank of user, thus assisting user is complete
Become training process.
Leg training device 1 for recovery exercising robot 100 according to embodiments of the present invention, is propped up by arranging shank
Support drive component 14, can drive shank to lift conveniently by leg support drive component 14, thus successfully completely training.
In addition, leg support drive component 14 to be arranged to a part for leg training device 1, recovery exercising robot can be facilitated
100 maintenance, assembling etc., are easy to the modularization of recovery exercising robot 100 each several part, improve maintainable.
As Fig. 1 and Fig. 2, in some embodiments of the invention, described leg support drive component 14 includes：Elastic threads
15, described elastic threads 15 are connected with described leg support 13 and described support 11 respectively.By arranging elastic threads 15, elastic threads 15
Can be arranged to be in the state lifting shank all the time, so, in foot-operated assembly 12 running, the shank being lifted will
Very successfully with motion, thus serving the purpose of leg rehabilitation instruction, in addition, combining the elastic deformation energy of elastic threads 15
Power, can give one environment being easily adapted to of patient, and more easily be adapted to the patient without build.
Preferably, in rehabilitation training, shank can be made to be in the state of micro- lift all the time by elastic threads 15,
Exactly so that the angle in the middle of shank and thigh is not less than all the time is suitable to do the angle of step campaign, as shank and thigh it
Between be suitable to do the minimum angles of step campaign, be easy to know in association areas such as medical science, therefore, the present invention not to shank with big
The concrete angle being suitable to do pedal exercising between leg illustrates.
In addition, it is necessary to explanation, in the present invention, the purpose of setting elastic threads 15 includes but is not limited to：Shank is driven to lift
And assist shank to lift.Certainly, for not needing the patient that assists to lift, it would however also be possible to employ there is no elasticity or elasticity is less
Rope, working of plastics, metalwork etc., the elastic threads 15 of present invention description are only a specific embodiment of the present invention, no
It is understood that as limiting the scope of the invention.
Preferably, as Fig. 1 and Fig. 2, described leg support drive component 14 also includes：Spooler 16, described spooler 16
It is located on described support 11, and described elastic threads 15 are connected with described spooler 16 to adjust the length that described elastic threads 15 are stretched out
Degree.By arranging spooler 16, different patients can be directed to the extension elongation of regulation elasticity rope 15, can be with regulation elasticity
The length of rope 15, meets different demands, thus improving the range of leg training device 1.
Further, as Fig. 3, described spooler 16 includes：Cylindrical central sleeve 161, take-up handle 162 and locking device 163.
Described cylindrical central sleeve 161 is located on described support 11, and the relative position of described cylindrical central sleeve 161 and described support 11 is fixed；
Described take-up handle 162 is rotatably connected with described cylindrical central sleeve 161, the end of described elastic threads 15 and described take-up handle
162 connect with being relatively fixed；Described locking device 163 is located on described cylindrical central sleeve 161 or described take-up handle 162 to lock
Or discharge described take-up handle 162.
In use, by rotating take-up handle 162, can be with the length of regulation elasticity rope 15, thus adjusting shank
Support 13 position it is also possible to adjust in training process, the pulling force to shank for the elastic threads 15, thus realize best training side
Formula.And can also conveniently be adapted to different patients.
Preferably, as Fig. 3, rotatably nesting is arranged on described cylindrical central sleeve 161 for one end of described take-up handle 162
Interior, described locking device 163 is movably located on described cylindrical central sleeve 161 along the radial direction of described take-up handle 162, described receipts
Locking hole 102 corresponding with described locking device 163 is formed with line handle 162, described locking device 163 is adapted to extend into described
Locking hole 102 is to lock described take-up handle 162 or to extract described locking hole 102 out to discharge described take-up handle 162.Thus side
Just the rotation of handle first, and locking device 163 is set, take-up can be realized when take-up handle 162 runs to precalculated position
The locking of handle 162, so that the length of elastic threads 15 may remain in predetermined length, meets the normal training of patient, carries
The stability of high lower limb trainer 1.
Further, as Fig. 3, described locking hole 102 includes circumferentially spaced many along described take-up handle 162
Individual.The degree of regulation that multiple take-up handles 162 can improve spooler 16 is set.
Wherein, locking hole 102 can arrange one that is to say, that each take-up handle 162 need to rotate 360 degrees so that it may
To complete the action of a unwrapping wire or take-up, if two locking holes 102 of setting, then, take-up handle 162 rotates a circle can
To be positioned twice, and positioning interval at least one times rotates less than 180 ° for rotary handle.And locking hole 102 is set
Quantity is more, then the precision adjusting is higher.
Preferably, as Fig. 2, the side face of the other end of described take-up handle 162 is formed with anti-slip veins 164.By setting
Anti-slip veins 164, during rotary wire-reeling handle 162, handle will not skid first, so that the rotation of handle first is easy
And convenient, take-up and defence line are realized in the regulation of convenient handle first, the quickly and easily length of regulation elasticity rope 15.
Further, described take-up handle 162 is formed with the circumferentially extending appearance wire casing along described take-up handle 162
101.Wire casing 101 is held in setting, and the elastic threads 15 being recovered on take-up handle 162 that can make are stably positioned in appearance wire casing 101,
And by holding the appearance line effect of wire casing 101, in take-up handle 162 rotary course, wire harness will stably be in holding tank
Interior, facilitate the arrangement of wire harness, thus facilitating the use of spooler 16.
In conjunction with Fig. 1 to Fig. 3, advantageously, described foot-operated assembly 12 includes two pedals, and described leg support 13 includes and two
Corresponding two being connected of individual pedal, described take-up handle 162 and described elastic threads 15 all include and two described leg support 13
Corresponding two respectively.That is, being adjusted respectively to two leg support 13, thus it is single to realize two leg support 13
The convenient quickly solely adjusting.Facilitate self-defined.
As Fig. 1, the invention also discloses a kind of recovery exercising robot 100, including：Stand up device and leg training device
1.The described device that stands up includes bed board 21, and described bed board 21 extends longitudinally；Described leg training device 1 stands up dress described in being located at
Put and be located at described bed board 21 along described longitudinal end, described leg training device 1 is to be previously described for rehabilitation training
The leg training device 1 of robot 100, described leg support drive component 14 has the described leg support 13 of driving all the time towards remote
Power from the motion of described bed board 21.
Recovery exercising robot 100 according to embodiments of the present invention, applies aforesaid leg training device 1, Ke Yifang
Just realize pedal exercising.
In describing the invention it is to be understood that term " " center ", " longitudinal ", " horizontal ", " length ", " width ",
" thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward ", " up time
The orientation of instruction such as pin ", " counterclockwise ", " axial ", " radially ", " circumferential " or position relationship be based on orientation shown in the drawings or
Position relationship, is for only for ease of the description present invention and simplifies description, rather than the device of instruction or hint indication or element must
Must have specific orientation, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or hint relative importance
Or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include at least one this feature.In describing the invention, " multiple " are meant that at least two, such as two, three
Individual etc., unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integral；Can be that machinery connects
Connect or electrically connect；Can be to be joined directly together it is also possible to be indirectly connected to by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, limit unless otherwise clear and definite.For those of ordinary skill in the art
For, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score permissible
It is the first and second feature directly contacts, or the first and second features pass through intermediary mediate contact.And, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height and is less than second feature.
In the description of this specification, reference term " embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy describing with reference to this embodiment or example
Point is contained at least one embodiment or the example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.And, the specific features of description, structure, material or feature can be in office
Combine in an appropriate manner in one or more embodiments or example.Additionally, in the case of not conflicting, the skill of this area
The feature of the different embodiments described in this specification or example and different embodiment or example can be tied by art personnel
Close and combine.
Although embodiments of the invention have been shown and described above it is to be understood that above-described embodiment is example
Property it is impossible to be interpreted as limitation of the present invention, those of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (10)
1. a kind of leg training device for recovery exercising robot is it is characterised in that described leg training device includes：
Support；
Foot-operated assembly, described foot-operated assembly is rotatably provided on described support and is suitable to foot-operated training；
Foot-operated drive component, described foot-operated drive component is connected with described foot-operated assembly to drive described foot-operated assembly to rotate；
Leg support, described leg support is connected with described foot-operated assembly, and the relatively described foot-operated assembly of described leg support can
Rotate；
Leg support drive component, described leg support drive component is set on the bracket and is connected with described leg support,
And described leg support drive component often has the shank driving the power of described leg support motion and being suitable to lift user.
2. the leg training device for recovery exercising robot according to claim 1 is it is characterised in that described shank
Drive component is supported to include：
Elastic threads, described elastic threads are connected with described leg support and described support respectively.
3. the leg training device for recovery exercising robot according to claim 2 is it is characterised in that described shank
Drive component is supported also to include：
Spooler, described spooler sets on the bracket, and described elastic threads are connected with described spooler to adjust described bullet
The length that property rope stretches out.
4. the leg training device for recovery exercising robot according to claim 3 is it is characterised in that described take-up
Device includes：
Cylindrical central sleeve, described cylindrical central sleeve sets on the bracket, and described cylindrical central sleeve is solid with the relative position of described support
Fixed；
Take-up handle, described take-up handle is rotatably connected with described cylindrical central sleeve, the end of described elastic threads and described receipts
Line handle connects with being relatively fixed；
Locking device, described locking device is located on described cylindrical central sleeve or described take-up handle to lock or to discharge described take-up
Handle.
5. the leg training device for recovery exercising robot according to claim 4 is it is characterised in that described take-up
Rotatably nesting is arranged in described cylindrical central sleeve for one end of handle, and described locking device can along the radial direction of described take-up handle
Actively it is located on described cylindrical central sleeve, described take-up handle is formed with locking hole corresponding with described locking device, described
Locking device is adapted to extend into described locking hole to lock described take-up handle or to extract described locking hole out to discharge described take-up hand
Handle.
6. the leg training device for recovery exercising robot according to claim 5 is it is characterised in that described locking
Hole includes circumferentially spaced multiple along described take-up handle.
7. the leg training device for recovery exercising robot according to claim 5 is it is characterised in that described take-up
It is formed with anti-slip veins on the side face of the other end of handle.
8. the leg training device for recovery exercising robot according to claim 4 is it is characterised in that described take-up
Circumferentially extending appearance wire casing along described take-up handle is formed with handle.
9. the leg training device for recovery exercising robot according to claim 4 is it is characterised in that described ride
Assembly includes two pedals, and described leg support includes be connected two corresponding with two pedals, described take-up handle and described
Elastic threads all include distinguishing corresponding two with two described leg support.
10. a kind of recovery exercising robot is it is characterised in that include：
Stand up device, and the described device that stands up includes bed board, and described bed board extends longitudinally and turning around axis transversely, institute
State horizontal and described longitudinally perpendicular；
Leg training device, described leg training device be located at described in stand up on device and be located at described bed board along described longitudinal direction
End, described leg training device is under recovery exercising robot according to any one of claim 1-9
Limb trainer, described leg support drive component has the described leg support of driving all the time towards away from the motion of described bed board
Power.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611025107.7A CN106420264B (en) | 2016-11-14 | 2016-11-14 | Leg training device and recovery exercising robot with it |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611025107.7A CN106420264B (en) | 2016-11-14 | 2016-11-14 | Leg training device and recovery exercising robot with it |
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| Publication Number | Publication Date |
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| CN106420264A true CN106420264A (en) | 2017-02-22 |
| CN106420264B CN106420264B (en) | 2018-09-11 |
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| CN201611025107.7A Active CN106420264B (en) | 2016-11-14 | 2016-11-14 | Leg training device and recovery exercising robot with it |
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Cited By (5)
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| CN107496134A (en) * | 2017-07-10 | 2017-12-22 | 广西浙缘农业科技有限公司 | One kind auxiliary lower limb rehabilitation training device |
| CN108670616A (en) * | 2018-07-09 | 2018-10-19 | 常州市钱璟康复股份有限公司 | A kind of disabled person's Training care bed |
| CN108743239A (en) * | 2018-07-09 | 2018-11-06 | 常州市钱璟康复股份有限公司 | One kind can store leg training device |
| CN109984913A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | A kind of lower limb rehabilitation training device |
| CN111938985A (en) * | 2020-07-01 | 2020-11-17 | 广州人来康复设备制造有限公司 | Bedside lower limb exercise rehabilitation training machine |
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| CN107496134A (en) * | 2017-07-10 | 2017-12-22 | 广西浙缘农业科技有限公司 | One kind auxiliary lower limb rehabilitation training device |
| CN109984913A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | A kind of lower limb rehabilitation training device |
| CN108670616A (en) * | 2018-07-09 | 2018-10-19 | 常州市钱璟康复股份有限公司 | A kind of disabled person's Training care bed |
| CN108743239A (en) * | 2018-07-09 | 2018-11-06 | 常州市钱璟康复股份有限公司 | One kind can store leg training device |
| CN111938985A (en) * | 2020-07-01 | 2020-11-17 | 广州人来康复设备制造有限公司 | Bedside lower limb exercise rehabilitation training machine |
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| Publication number | Publication date |
|---|---|
| CN106420264B (en) | 2018-09-11 |
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