CN111481400A - A lower limb rehabilitation training robot - Google Patents

Abstract

The invention discloses a lower limb rehabilitation training robot, which comprises a frame body, an armrest device, a seat device, a backrest device and a power device. The armrest device is arranged at the front end of the frame body, the seat device is arranged at the rear end of the frame body, and the backrest device It is arranged behind the seat device on the frame body, the backrest device and the seat device are connected by connecting rods, and the power device is arranged in the middle of the frame body; the armrest device includes a first retractable device, a handle, a center console and a hand touch control screen , the first retractable device is connected with the front end of the frame body, the first retractable device is provided with a first adjusting bolt, the center console is arranged on the upper end of the first retractable device, one end of the handle is connected with the side end of the center console, and the hand The touch control screen is arranged at the front end of the center console, and the center console is provided with a brake button; the power device includes a battery, a pedal device, a flywheel, a hub-type motor, a first gear and an axle, and the pedal device and the first gear pass through chain connection.

Description

A lower limb rehabilitation training robot

technical field

The invention relates to the field of medical rehabilitation training equipment, in particular to a lower limb rehabilitation training robot.

Background technique

With the continuous development of science and technology, the great breakthroughs in the above-mentioned various disciplines, the development of the medical device field is also advancing in an orderly manner. As a hot research direction in the field of medical devices in recent years, the lower limb rehabilitation training robot has received extensive attention, research and development in all countries in the world. In recent years, rehabilitation training robots have shown more and more advantages in scientific and effective rehabilitation training for patients. Early rehabilitation training can not only maintain the range of motion and prevent joint contractures, but also significantly improve the final recovery of the patient's motor function. Rehabilitation training is mainly divided into passive training, active training and resistance training. In order to better realize the rehabilitation training of patients' lower limb movement, different rehabilitation training modes should be selected in different rehabilitation stages. In the early stage of rehabilitation, the affected limb has no exercise ability. , the affected limb must complete the rehabilitation exercise under the traction of the rehabilitation robot. This stage belongs to the passive training mode; after a period of rehabilitation training, when the patient has a certain ability to exercise the joints and muscles, but cannot complete the active training independently, a rehabilitation robot is required. Provide appropriate assistance to help patients complete rehabilitation training. This stage includes both passive training and active training, which belongs to the impedance training mode; when the patient can complete the training task independently, the patient needs to actively use force to overcome the resistance of the robot to complete the training and further improve the patient's performance. The movement ability of the affected limb belongs to the active training mode at this stage. Most of the current lower limb rehabilitation training robots are relatively large and inconvenient to use. Many rehabilitation training can only be carried out in medical places, which causes a lot of inconvenience to people. Therefore, a lower limb rehabilitation training robot is designed for this situation.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to overcome the defects of the above technologies and provide a lower limb rehabilitation training robot.

In order to solve the above technical problems, the technical solution provided by the present invention is a lower limb rehabilitation training robot: comprising a frame body, an armrest device, a seat device, a backrest device and a power device, the armrest device is arranged at the front end of the frame body, and the The seat device is arranged at the rear end of the frame body, the backrest device is arranged behind the seat device on the frame body, the backrest device and the seat device are connected by a connecting rod, and the power device is arranged in the middle of the frame body;

The armrest device includes a first retractable device, a handle, a center console and a hand touch control screen, the first retractable device is connected to the front end of the frame body, and a first adjustment bolt is provided on the first retractable device, The center console is arranged on the upper end of the first retractable device, one end of the handle is connected to the side end of the center console, the hand touch control screen is arranged at the front end of the center console, and the There is a brake button;

The power device includes a battery, a pedal device, a flywheel, a hub-type motor, a first gear and an axle, the battery is arranged in the middle of the frame body, the axle and the frame body are rotatably connected, and the hub-type motor is arranged on the axle. , the flywheel is arranged on the hub-type motor, the first gear is arranged on the axle, the first gear is located on one side of the hub-type motor, and the foot pedal device is arranged at the connection between the seat device and the frame body , the pedal device and the first gear are connected by a chain.

As an improvement, the frame body is provided with a brake device, the brake device includes a support rod, a connecting shaft and a brake pad, the connecting shaft is slidably arranged in the middle of the support rod, and one end of the connecting shaft is connected to the upper end of the brake pad , the brake pads and the flywheel cooperate.

As an improvement, the foot pedal device includes a rotating shaft, a second gear, a foot lever and a foot pedal, the rotating shaft is rotatably connected to the connection between the seat device and the frame body, and one side of the rotating shaft is provided with For the second gear, both ends of the rotating shaft are provided with foot levers, the foot pedal is rotatably connected to one end of the foot lever, and a fixed sleeve is provided on the foot plate.

As an improvement, the seat device includes a second retractable device, a third retractable device and a seat, the lower end of the second retractable device is connected to the frame body, and the third retractable device is arranged on the second retractable device. The upper end of the telescopic device, the third telescopic device includes a first-level telescopic tube and a second-level telescopic rod, the second-level telescopic rod is located in the first-level telescopic tube and slides with the first-level telescopic tube, and the upper end of the first-level telescopic tube is provided with There is a slot, the seat is arranged on the secondary telescopic rod, and the seat is matched with the slot.

As an improvement, the side end of the second telescopic device is provided with a second adjusting bolt, and the lower end of the third telescopic device is provided with a third adjusting bolt.

As an improvement, the backrest device includes a fourth retractable device and a backrest, the lower end of the fourth retractable device is connected to the frame body, the side end of the fourth retractable device is provided with a fourth adjustment bolt, and the fourth retractable device is provided with a fourth adjusting bolt. The upper end of the four retractable devices is connected with the back end of the backrest, and the backrest is provided with a belt.

As an improvement, a cover is provided on the outside of the chain.

As an improvement, two handles are symmetrically arranged.

Compared with the prior art, the present invention has the advantages that the structure is simple, the use is convenient, the volume is small and convenient to move, it can satisfy the patient's rehabilitation training at home, reduce the pressure of the hospital, and the armrest device, the seat device and the backrest device can be lifted and lowered, It can be adjusted according to different patients. It is equipped with a center console and a hand touch control screen to make the lower limb rehabilitation training robot more intelligent. Meet passive training, active training and resistance training, so that patients can recover faster.

Description of drawings

FIG. 1 is a first structural schematic diagram of a lower limb rehabilitation training robot according to the present invention.

FIG. 2 is a second structural schematic diagram of a lower limb rehabilitation training robot according to the present invention.

3 is a third structural schematic diagram of a lower limb rehabilitation training robot according to the present invention.

FIG. 4 is a fourth structural schematic diagram of a lower limb rehabilitation training robot according to the present invention.

FIG. 5 is a fifth structural schematic diagram of a lower limb rehabilitation training robot according to the present invention.

FIG. 6 is a sixth structural schematic diagram of a lower limb rehabilitation training robot according to the present invention.

FIG. 7 is a seventh structural schematic diagram of a lower limb rehabilitation training robot according to the present invention.

FIG. 8 is a cross-sectional view at A-A in FIG. 1 .

FIG. 9 is a partial enlarged view of B in FIG. 7 .

FIG. 10 is a partial enlarged view of C in FIG. 3 .

FIG. 11 is a partial enlarged view of D in FIG. 1 .

FIG. 12 is a partial enlarged view at E in FIG. 5 .

As shown in the picture: 1. Frame body, 2. First retractable device, 3. Handle, 4. Center console, 5. Touch control screen, 6. First adjusting bolt, 7. Brake button, 8. Battery, 9, flywheel, 10, hub motor, 11, first gear, 12, axle, 13, chain, 14, support rod, 15, connecting shaft, 16, brake pad, 17, rotating shaft, 18, second Gear, 19, Foot lever, 20, Foot pedal, 21, Fixed sleeve, 22, Second retractable device, 23, Third retractable device, 24, Seat, 25, First-level retractable tube, 26, Two Stage telescopic rod, 27, notch, 28, second adjustment bolt, 29, third adjustment bolt, 30, fourth telescopic device, 31, backrest, 32, fourth adjustment bolt, 33, strap, 34, cover cover.

Detailed ways

A lower limb rehabilitation training robot of the present invention will be further described in detail below with reference to the accompanying drawings.

1-12, a lower limb rehabilitation training robot includes a frame body 1, an armrest device, a seat device, a backrest device and a power device, the armrest device is arranged at the front end of the frame body 1, and the seat device is arranged At the rear end of the frame body 1, the backrest device is arranged behind the seat device on the frame body 1, the backrest device and the seat device are connected by a connecting rod, and the power device is arranged in the middle of the frame body 1;

The armrest device includes a first retractable device 2 , a handle 3 , a center console 4 and a touch control screen 5 , the first retractable device 2 is connected to the front end of the frame body 1 , and the first retractable device 2 is on the A first adjusting bolt 6 is provided, the center console 4 is arranged on the upper end of the first retractable device 2, one end of the handle 3 is connected with the side end of the center console 4, and the hand touch control screen 5 is arranged At the front end of the center console 4, a brake button 7 is provided on the center console 4;

The power device includes a battery 8, a pedal device, a flywheel 9, a hub-type motor 10, a first gear 11 and an axle 12. The battery 8 is arranged in the middle of the frame body 1, and the wheel shaft 12 and the frame body 1 are rotatably connected. The hub-type motor 10 is arranged on the wheel shaft 12 , the flywheel 9 is arranged on the hub-type motor 10 , the first gear 11 is arranged on the wheel shaft 12 , and the first gear 11 is located on one side of the hub-type motor 10 , the pedal device is arranged at the connection between the seat device and the frame body 1 , and the pedal device and the first gear 11 are connected by a chain 13 .

The frame body 1 is provided with a braking device. The braking device includes a support rod 14, a connecting shaft 15 and a brake pad 16. The connecting shaft 15 is slidably arranged in the middle of the support rod 14. The upper end of the brake pad 16 is connected, and the brake pad 16 is matched with the flywheel 9 .

The foot pedal device includes a rotation shaft 17, a second gear 18, a foot lever 19 and a foot pedal 20. The rotation shaft 17 is rotatably connected with the connection between the seat device and the frame body 1. One side is provided with a second gear 18, and both ends of the rotating shaft 17 are provided with a foot lever 19, the foot pedal 20 is rotatably connected to one end of the foot lever 19, and the foot pedal 20 is provided with Fixed sleeve 21.

The seat device includes a second retractable device 22, a third retractable device 23 and a seat 24, the lower end of the second retractable device 22 is connected to the frame body 1, and the third retractable device 23 is provided at the The upper end of the second telescopic device 22, the third telescopic device 23 includes a primary telescopic tube 25 and a secondary telescopic rod 26, the secondary telescopic rod 26 is located in the primary telescopic tube 25 and is connected with the primary telescopic tube 25 For sliding fit, the upper end of the primary telescopic tube 25 is provided with a notch 27 , the seat 24 is arranged on the secondary telescopic rod 26 , and the seat 24 is matched with the notch 27 .

The side end of the second telescopic device 22 is provided with a second adjusting bolt 28 , and the lower end of the third telescopic device 23 is provided with a third adjusting bolt 29 .

The backrest device includes a fourth retractable device 30 and a backrest 31, the lower end of the fourth retractable device 30 is connected to the frame body 1, and the side end of the fourth retractable device 30 is provided with a fourth adjustment bolt 32, The upper end of the fourth retractable device 30 is connected to the rear end of the backrest 31 , and the backrest 31 is provided with a strap 33 .

A cover 34 is provided on the outside of the chain 13 .

There are two handles 3 symmetrically.

During the specific implementation of the present invention,

The working principle of the present invention: when using, firstly adjust the first retractable device 2, the second retractable device 22, the third retractable device 23 and the fourth retractable device 30 according to the height of the patient to adjust the armrest device, seat The height and position of the chair device, seat 24 and backrest 31 enable the patient to have a more comfortable training posture; after adjusting the lower limb rehabilitation training robot, the patient can sit on the seat 24 and put his feet on the footrests 20, and then use the fixing sleeve 21 to fix the foot to the footrest 20, and then put the strap 33 on the backrest 31 on the patient's waist, which can protect the patient, and then according to the patient's condition: if the patient is passively trained , you can use the hand touch control screen 5 to set the rotational speed of the hub-type motor 10 through the center console 4, so that the hub-type motor 10 drives the chain 13 pedal device, and then drives the patient's lower limbs for passive rehabilitation training; if the patient performs impedance training, The rotating speed of the hub-type motor 10 can be set by the hand-touch control screen 5 through the center console 4, so that the rotation speed of the hub-type motor 10 is reduced, and the patient can step on the pedal device, while the hub-type motor 10 is still rotating at a low speed, In turn, the patient can be relatively labor-saving, thereby achieving the purpose of impedance training; if the patient performs active training, the hub-type motor 10 can be turned off, and then the patient can step on the pedal device to perform active training. Due to the existence of the flywheel 9 , so that the patient needs to use a little force when stepping on the pedal device, so as to better perform rehabilitation training; during training, if the flywheel 9 and the hub-type motor 10 need to be stopped, the brake button 7 can be pressed. When the center console 4 will control the brake device to brake the flywheel 9;

The power of the hub-type motor 10 is provided by the battery 8 during training.

The present invention and its embodiments have been described above, and the description is not restrictive, and what is shown in the accompanying drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. All in all, if those of ordinary skill in the art are inspired by it, and without departing from the purpose of the present invention, any structural modes and embodiments similar to this technical solution are designed without creativity, all should belong to the protection scope of the present invention.

Claims (8)

1. A lower limb rehabilitation training robot is characterized in that: comprising a frame body (1), an armrest device, a seat device, a backrest device and a power device, and the armrest device is arranged at the front end of the frame body (1), and the seat The chair device is arranged at the rear end of the frame body (1), the backrest device is arranged behind the seat device on the frame body (1), the backrest device and the seat device are connected by a connecting rod, and the power device is arranged at the middle of the frame body (1); The armrest device comprises a first retractable device (2), a handle (3), a center console (4) and a touch control screen (5), the first retractable device (2) and a frame body (1) The front end is connected, the first retractable device (2) is provided with a first adjusting bolt (6), the center console (4) is arranged on the upper end of the first retractable device (2), the handle (3) ) is connected to the side end of the center console (4), the hand touch control screen (5) is arranged at the front end of the center console (4), and the center console (4) is provided with a brake button (7); The power device includes a battery (8), a pedal device, a flywheel (9), a hub-type motor (10), a first gear (1811) and an axle (12), and the battery (8) is arranged on the frame body (1). ) middle part, the axle (12) and the frame body (1) are rotatably connected, the hub-type motor (10) is arranged on the axle (12), and the flywheel (9) is arranged on the hub-type motor (10), The first gear (11) is arranged on the axle (12), the first gear (11) is located on one side of the hub-type motor (10), and the pedal device is arranged on the seat device and the frame body (1) ), the pedal device and the first gear (11) are connected by a chain (13). 2. A lower limb rehabilitation training robot according to claim 1, characterized in that: the frame body (1) is provided with a braking device, and the braking device comprises a support rod (14), a connecting shaft (15) and A brake pad (16), the connecting shaft (15) is slidably arranged in the middle of the support rod (14), one end of the connecting shaft (15) is connected with the upper end of the brake pad (16), the brake pad (16) and The flywheel (9) is matched. 3 . The lower limb rehabilitation training robot according to claim 1 , wherein the foot pedal device comprises a rotating shaft ( 17 ), a second gear ( 18 ), a foot rod ( 19 ) and a foot pedal ( 3 . 20), the rotating shaft (17) is rotatably connected to the connection between the seat device and the frame body (1), a second gear (18) is provided on one side of the rotating shaft (17), and the rotating shaft ( 17) Both ends are provided with a foot lever (19), the foot pedal (20) is rotatably connected to one end of the foot lever (19), and a fixing sleeve (21) is provided on the foot pedal (20). ). The lower limb rehabilitation training robot according to claim 1, wherein the seat device comprises a second retractable device (22), a third retractable device (23) and a seat (24), The lower end of the second retractable device (22) is connected to the frame body (1), the third retractable device (23) is arranged on the upper end of the second retractable device (22), and the third retractable device ( 23) comprising a primary telescopic tube (25) and a secondary telescopic rod (26), the secondary telescopic rod (26) is located in the primary telescopic tube (25) and slidingly fits with the primary telescopic tube (25), so The upper end of the primary telescopic tube (25) is provided with a notch (27), the seat (24) is arranged on the secondary telescopic rod (26), and the seat (24) is matched with the notch (27). 5. A lower limb rehabilitation training robot according to claim 4, characterized in that: the side end of the second retractable device (22) is provided with a second adjusting bolt (28), and the third retractable device ( The lower end of 23) is provided with a third adjusting bolt (29). 6. The lower limb rehabilitation training robot according to claim 1, wherein the backrest device comprises a fourth retractable device (30) and a backrest (31), and the fourth retractable device (30) has a The lower end is connected to the frame body (1), the side end of the fourth retractable device (30) is provided with a fourth adjustment bolt (32), the upper end of the fourth retractable device (30) and the rear end of the backrest (31) connected, the backrest (31) is provided with a strap (33). 7 . The lower limb rehabilitation training robot according to claim 1 , wherein a cover ( 34 ) is provided on the outside of the chain ( 13 ). 8 . 8 . The lower limb rehabilitation training robot according to claim 1 , wherein two handles ( 3 ) are symmetrically arranged. 9 .

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