CN108992307A - Anti-down protective device and its healing robot - Google Patents
Anti-down protective device and its healing robot Download PDFInfo
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- CN108992307A CN108992307A CN201810940426.3A CN201810940426A CN108992307A CN 108992307 A CN108992307 A CN 108992307A CN 201810940426 A CN201810940426 A CN 201810940426A CN 108992307 A CN108992307 A CN 108992307A
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- fixed frame
- robot body
- protective device
- shaped fixed
- setting
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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
- 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
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
- 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
-
- 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
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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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)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of anti-down protective device and its healing robots, anti-down protective device includes: U-shaped fixed frame, the L shape strut for the setting that extends outwardly is symmetrically connected at left and right sides of U-shaped fixed frame top about it, the U-shaped fixed frame and L shape strut bottom are mounted on anti-down mechanism, the anti-down mechanism includes loop bar and sleeve, the loop bar outer wall covers rubber sleeve by super glue adhesion, bottom is connected with the spring for being integrally formed setting in the loop bar bottom end and sleeve, the sleeve bottom end is mounted on Self-locking universal wheel, the present invention is when carrying out lower limb and arm rehabilitation training, enable to anti-down mechanism that the robot body for rehabilitation is followed to carry out mobile operation by the setting of Self-locking universal wheel, buffering can be played by the rubber sleeve of spring and loop bar outer wall between loop bar and sleeve to subtract The effect of shake, to increase the stability of healing robot ontology in operation.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of anti-down protective device and its healing robot.
Background technique
Healing robot includes robot body, and robot body refers to that the rehabilitation with similar skeleton shape is set
Standby, limb the upper arm member is bundled in the side of the limb arm (long bone of human limb) of people when use, and robot movable drives human body living
It is dynamic, achieve the purpose that help human body recovery.Such as: application No. is [CN201720076193.8] with anti-down protective device
Healing robot, including robot body, the robot have robot limb arm, and robot limb arm is to be bundled in human body limb
Component on arm, it further includes a protective device, it is characterized in that: the protective device is the shelf fixed on the ground,
There is slideway, there are also pulleys to be mounted on slideway, connects robot body with rope below pulley above shelf.
Although such healing robot has the advantages that occupy little space, is easy to use, there is also shortcomings:
First is that robot body scope of activities is limited, carry out activity in a certain range can only be limited to, limit the entertaining of rehabilitation training
Property；Second is that robot body is connected with rope below pulley, to be easy to prevent so that robot all around shakes at runtime
Effect is not highly desirable；Third is that upper limb training can not be carried out simultaneously in leg training, so that rehabilitation efficacy is not complete enough
Face, thus also need to improve.
Summary of the invention
The purpose of the present invention is to provide a kind of anti-down protective device and its healing robots, to solve above-mentioned background technique
The problem of middle proposition.
To achieve the above object, the invention provides the following technical scheme: a kind of anti-down protective device and its healing robot,
Include:
U-shaped fixed frame, the U-shaped fixed frame top left and right sides are symmetrically connected with the L for the setting that extends outwardly about it
Shape strut, the U-shaped fixed frame and L shape strut bottom are mounted on anti-down mechanism, and the anti-down mechanism includes loop bar and set
Cylinder, the loop bar outer wall cover rubber sleeve by super glue adhesion, connect between bottom in the loop bar bottom end and sleeve
There is the spring for being integrally formed and being arranged, the sleeve bottom end is mounted on Self-locking universal wheel；
Robot body, the robot body upper end be open front formula U-shaped bar be arranged, and its left and right sides and
Rear side passes through strut and is connected to U-shaped fixed frame inner wall, is connected with by link at left and right sides of the robot body front end
Elastic webbing, and two elastic webbings are plugged and fixed by knapsack hasp, robot body upper end inner wall is connected with waist support
Pad, the robot body lower part is emulation shape lower limb setting, and robot body knee joint outer wall is respectively connected with shield, and
Rubber pad is covered on the outside of the shield.
Preferably, U-shaped fixed frame rear end is connected with the central processing unit for controlling the operation of robot body lower limb,
U-shaped fixed frame upper end passes through the mounting rod being vertically arranged and is fixed with solar panels, and the solar panels bottom is installed respectively
There are inverter and battery group, the solar panels are electrically connected at inverter by conducting wire, and the inverter also electrically connects
It is connected to battery group, the battery group is electrically connected at central processing unit.
Preferably, side similar in the lower limb of the robot body bottom end two is mounted on foot pedal, the foot pedal
Rear end is welded with the baffle of arc setting, and the foot pedal top is equipped with non-slip mat, and in the middle part of the foot pedal
Elastic band is connected with across the left and right sides.
Preferably, side similar in two lower limb of the robot body is connected in pairs through magic hook surface and magic
Hair side pastes the fixing belt of connection.
Preferably, the L shape strut bottom is mounted on speed regulating motor, the speed regulation electricity close to the side of U-shaped fixed frame
Machine output end is respectively connected with shaft, and the shaft passes through bearing and is connected to L shape strut and extends to its top, the shaft end
End is connected with eccentric wheel, and the eccentric wheel boss is fixed with convex block, and convex block is rotatably connected to placement plate by bearing, institute
It states placement plate top and is connected with armband.
Preferably, the anti-down mechanism bottom end of the anti-down mechanism of the U-shaped fixed frame and the setting of the shape strut bottom L is in normal
It is located in same level under state.
Preferably, the width of the shield is greater than the lateral width of robot body knee joint position.
In addition, to achieve the goals above, the present invention also provides a kind of healing robots, filled including the anti-down protection
It sets.
Compared with prior art, the beneficial effects of the present invention are:
1, lower limb are being carried out and when arm rehabilitation training, by the setting of Self-locking universal wheel enable to anti-down mechanism with
Mobile operation is carried out with the robot body for rehabilitation, so that training distance is unrestricted, thus entertaining when increasing trained
Property, bumper and absorbing shock can be played the role of by the rubber sleeve of spring and loop bar outer wall between loop bar and sleeve, to increase
Add the stability of healing robot ontology in operation, in addition, anti-down mechanism is respectively distributed to four end of U-shaped fixed frame bottom and L
Shape strut bottom end, distributing position is relatively uniform, so as to further increase healing robot ontology in operation steady
It is qualitative；
2, luminous energy can be absorbed by the setting of solar panels, and can inverter be converted into the electricity of robot body needs
Can, to be powered by battery group for central processing unit, and then control robot body lower limb and speed regulating motor into
Row rotation, design are more environmentally friendly；
3, it is convenient for for the elastic webbing of two sides being plugged and fixed by knapsack hasp, consequently facilitating fixing rehabilitation training person
Waist, the waist of rehabilitation training person can be protected by the setting of Waist protection pad, pass through setting for shield and rubber pad
The effect that can play protection and buffering is set, to be protected in time when rehabilitation training person falls down；By being kept off on foot pedal
The mutual cooperation of plate, non-slip mat and elastic band is convenient for for being fixed patient feet position；Being convenient for by the setting of fixing belt will
The leg position of robot body is fixed, so that rehabilitation preferably can follow robot body to be transported
Row；
4, the eccentric wheel of shaft end is driven to be operated by speed regulating motor, to drive placement plate to carry out by convex block
It back and forth loops back and forth movement, so as to which rehabilitation exercise can be synchronized to upper limb in training lower limb, while passing through armband
Setting fixation can be better controlled in rehabilitation clients' arm.
Detailed description of the invention
Fig. 1 is a kind of anti-down protective device of the present invention and its healing robot structural schematic diagram；
Link position relational structure schematic diagram of the Fig. 2 between U-shaped fixed frame of the present invention and anti-down mechanism；
Fig. 3 is robot body component structure diagram of the present invention；
Fig. 4 is L shape strut of the present invention and its connecting component structure schematic diagram；
Plane connection relationship structural schematic diagram of the Fig. 5 between L shape strut of the present invention and speed regulating motor；
Fig. 6 is the anti-down mechanism assembly structural schematic diagram of the present invention.
In figure: 1U shape fixed frame, 2L shape strut, 3 anti-down mechanisms, 31 loop bars, 32 sleeves, 33 rubber sleeves, 34 springs, 35
Self-locking universal wheel, 4 robot bodies, 5 links, 6 elastic webbings, 7 knapsack hasps, 8 Waist protection pads, 9 shields, 10 rubber pads, 11
Central processing unit, 12 solar panels, 13 battery groups, 14 foot pedals, 15 baffles, 16 non-slip mats, 17 fixing belts, 18 speed regulation electricity
Machine, 19 eccentric wheels, 20 placement plates, 21 armbands.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-6 is please referred to, the present invention provides a kind of technical solution: a kind of anti-down protective device, comprising:
U-shaped fixed frame 1,1 top of the U-shaped fixed frame left and right sides are symmetrically connected with the setting that extends outwardly about it
L shape strut 2, the U-shaped fixed frame 1 and 2 bottom of L shape strut are mounted on anti-down mechanism 3, and the anti-down mechanism 3 includes set
Bar 31 and sleeve 32,31 outer wall of loop bar cover rubber sleeve 33,31 bottom end of loop bar and set by super glue adhesion
The spring 34 for being integrally formed setting is connected in cylinder 32 between bottom, 32 bottom end of sleeve is mounted on Self-locking universal wheel
35, when carrying out lower limb and arm rehabilitation training, enable to anti-down mechanism 3 to follow use by the setting of Self-locking universal wheel 35
Mobile operation is carried out in the robot body 4 of rehabilitation, passes through 31 outer wall of spring 34 and loop bar between loop bar 31 and sleeve 32
Rubber sleeve 33 can play the role of bumper and absorbing shock, to increase the stability of 9 ontology of healing robot in operation, separately
Outside, anti-down mechanism 3 is respectively distributed to 2 bottom end of 1 bottom of U-shaped fixed frame, four end and L shape strut, and distributing position is relatively uniform,
So as to further increase the stability of healing robot ontology 4 in operation；
Robot body 4,4 upper end of robot body be open front formula U-shaped bar be arranged, and its left and right sides with
And rear side passes through strut and is connected to 1 inner wall of U-shaped fixed frame, passes through link 5 at left and right sides of 4 front end of robot body
It is connected with elastic webbing 6, and two elastic webbings 6 are plugged and fixed by knapsack hasp 7, the 4 upper end inner wall of robot body
It is connected with Waist protection pad 8,4 lower part of robot body is emulation shape lower limb setting, and 4 knee joint outer wall of robot body is equal
It is connected with shield 9, and is covered with rubber pad 10 on the outside of the shield 9, is convenient for by knapsack hasp 7 by the elastic webbing of two sides
6 are plugged and fixed, consequently facilitating the waist of rehabilitation training person is fixed, it can be by rehabilitation training by the setting of Waist protection pad 8
The waist of person protects, and the effect of protection and buffering can be played by the setting of shield 9 and rubber pad 10, thus in health
Multiple trainer protects in time when falling down.
Specifically, 1 rear end of U-shaped fixed frame is connected with the central processing for controlling the operation of 4 lower limb of robot body
Device 11,1 upper end of U-shaped fixed frame pass through the mounting rod being vertically arranged and are fixed with solar panels 12,12 bottom of solar panels
Portion is separately installed with inverter and battery group 13, and the solar panels 12 are electrically connected at inverter by conducting wire, and described
Inverter is also electrically connected at battery group 13, and the battery group 13 is electrically connected at central processing unit 11, passes through solar energy
The setting of plate 12 can absorb luminous energy, and can inverter be converted into the electric energy of the needs of robot body 4, to pass through battery
Group 13 is powered for central processing unit 11, and then control 4 lower limb of robot body and speed regulating motor 18 are rotated.
Specifically, side similar in the lower limb of robot body 4 bottom end two is mounted on foot pedal 14, it is described foot-operated
14 rear end of plate is welded with the baffle 15 of arc setting, and 14 top of foot pedal is equipped with non-slip mat 16, and described
14 middle part of foot pedal is connected with elastic band across the left and right sides, passes through 14 overhead gage 15 of foot pedal, non-slip mat 16 and elastic band
It cooperates convenient for patient feet position to be fixed.
Specifically, side similar in 4 two lower limb of the robot body is connected in pairs through magic hook surface and evil spirit
Art hair side pastes the fixing belt 17 of connection, is consolidated the leg position of robot body 4 by the setting of fixing belt 17
It is fixed, so that rehabilitation can preferably follow robot body 4 to be run.
Specifically, 2 bottom of L shape strut is mounted on speed regulating motor 18, the tune close to the side of U-shaped fixed frame 1
18 output end of speed motor is respectively connected with shaft, and the shaft passes through bearing and is connected to L shape strut 2 and extends to its top, institute
It states shaft end and is connected with eccentric wheel 19,19 boss of eccentric wheel is fixed with convex block, and convex block is rotated by bearing and connected
It is connected to placement plate 20,20 top of placement plate is connected with armband 21, and the eccentric wheel of shaft end is driven by speed regulating motor 18
19 are operated, to drive placement plate 20 back and forth to be looped back and forth movement by convex block, so as in trained lower limb
Movement can be synchronized to upper limb, speed regulating motor 18 selects the dc motor of model HJZ37FE herein, passes through simultaneously
Fixation can be better controlled in rehabilitation clients' arm by the setting of armband 21.
Specifically, 3 bottom end of anti-down mechanism of the anti-down mechanism 3 of the U-shaped fixed frame 1 and the setting of 2 bottom of L shape strut is in
It is located in same level under normal condition, to increase the stability of total.
Specifically, the width of the shield 9 is greater than the lateral width of 4 knee joint position of robot body, to pass through
Shield 9 can preferably protect 4 knee joint position of robot body.
In addition, to achieve the goals above, the present invention also provides a kind of healing robots, filled including the anti-down protection
It sets.
Working principle: a kind of anti-down protective device of the present invention and its healing robot, in use, carrying out lower limb and arm
When rehabilitation training, anti-down mechanism 3 is enabled to follow the robot body 4 for rehabilitation by the setting of Self-locking universal wheel 35
Mobile operation is carried out, can be played by the rubber sleeve 33 of 31 outer wall of spring 34 and loop bar between loop bar 31 and sleeve 32 slow
The effect for eating up part of shake, to increase the stability of 9 ontology of healing robot in operation, in addition, anti-down mechanism 3 is respectively distributed to
2 bottom end of 1 bottom of U-shaped fixed frame, four end and L shape strut, distributing position is relatively uniform, so as to further increase rehabilitation
The stability of robot body 4 in operation；Luminous energy can be absorbed by the setting of solar panels 12, and being capable of inverter conversion
For the electric energy that robot body 4 needs, to be powered by battery group 13 for central processing unit 11, and then machine is controlled
4 lower limb of human body and speed regulating motor 18 rotate；It is convenient for consolidating the progress grafting of elastic webbing 6 of two sides by knapsack hasp 7
It is fixed, consequently facilitating fixing the waist of rehabilitation training person, the waist of rehabilitation training person can be carried out by the setting of Waist protection pad 8
Protection, can play the effect of protection and buffering by the setting of shield 9 and rubber pad 10, to fall down in rehabilitation training person
When protected in time；It is convenient for by the mutual cooperation of 14 overhead gage 15 of foot pedal, non-slip mat 16 and elastic band by patient feet
Position is fixed；By the setting of fixing belt 17 convenient for the leg position of robot body 4 to be fixed, so that health
Multiple patient can preferably follow robot body 4 to run；The eccentric wheel 19 of shaft end is driven by speed regulating motor 18
It is operated, to drive placement plate 20 back and forth to be looped back and forth movement by convex block, so as to the energy in trained lower limb
It is enough that rehabilitation exercise is synchronized to upper limb, while rehabilitation clients' arm can be better controlled admittedly by the setting of armband 21
It is fixed.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of anti-down protective device characterized by comprising
U-shaped fixed frame (1), U-shaped fixed frame (1) the top left and right sides are symmetrically connected with the setting that extends outwardly about it
L shape strut (2), the U-shaped fixed frame (1) and L shape strut (2) bottom are mounted on anti-down mechanism (3), the anti-down mechanism
It (3) include loop bar (31) and sleeve (32), loop bar (31) outer wall covers rubber sleeve (33) by super glue adhesion,
The spring (34) for being integrally formed setting, the sleeve (32) are connected between loop bar (31) bottom end and sleeve (32) interior bottom
Bottom end is mounted on Self-locking universal wheel (35)；
Robot body (4), robot body (4) upper end be open front formula U-shaped bar be arranged, and its left and right sides with
And rear side passes through strut and is connected to U-shaped fixed frame (1) inner wall, passes through extension at left and right sides of robot body (4) front end
Ring (5) is connected with elastic webbing (6), and two elastic webbings (6) are plugged and fixed by knapsack hasp (7), the robot sheet
Body (4) upper end inner wall is connected with Waist protection pad (8), and robot body (4) lower part is arranged for emulation shape lower limb, and robot sheet
Body (4) knee joint outer wall is respectively connected with shield (9), and is covered with rubber pad (10) on the outside of the shield (9).
2. a kind of anti-down protective device according to claim 1, it is characterised in that: U-shaped fixed frame (1) the rear end connection
There is the central processing unit (11) for controlling the operation of robot body (4) lower limb, it is vertical that U-shaped fixed frame (1) upper end passes through
The mounting rod of setting is fixed with solar panels (12), and solar panels (12) bottom is separately installed with inverter and battery group
(13), the solar panels (12) are electrically connected at inverter by conducting wire, and the inverter is also electrically connected at battery
Group (13), the battery group (13) are electrically connected at central processing unit (11).
3. a kind of anti-down protective device according to claim 1, it is characterised in that: robot body (4) bottom end two
Side similar in a lower limb is mounted on foot pedal (14), and foot pedal (14) rear end is welded with arc setting
Baffle (15), foot pedal (14) top are equipped with non-slip mat (16), and across the left and right sides in the middle part of the foot pedal (14)
It is connected with elastic band.
4. a kind of anti-down protective device according to claim 1, it is characterised in that: under the robot body (4) two
Side similar in limb is connected with the fixing belt (17) that connection is pasted by magic hook surface and magic hair side in pairs.
5. a kind of anti-down protective device according to claim 1, it is characterised in that: L shape strut (2) bottom is close to U
The side of shape fixed frame (1) is mounted on speed regulating motor (18), and speed regulating motor (18) output end is respectively connected with shaft, described
Shaft passes through bearing and is connected to L shape strut (2) and extends to its top, and the shaft end is connected with eccentric wheel (19), institute
It states eccentric wheel (19) boss and is fixed with convex block, and convex block is rotatably connected to placement plate (20), the placement plate by bearing
(20) top is connected with armband (21).
6. a kind of anti-down protective device according to claim 1, it is characterised in that: the anti-down machine of the U-shaped fixed frame (1)
Anti-down mechanism (3) bottom end of structure (3) and the setting of L shape strut (2) bottom, which is under normal condition, to be located in same level.
7. a kind of anti-down protective device according to claim 1, it is characterised in that: the width of the shield (9) is greater than
The lateral width of robot body (4) knee joint position.
8. a kind of healing robot, which is characterized in that including anti-down protective device described in any one of claim 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810940426.3A CN108992307A (en) | 2018-08-17 | 2018-08-17 | Anti-down protective device and its healing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810940426.3A CN108992307A (en) | 2018-08-17 | 2018-08-17 | Anti-down protective device and its healing robot |
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| CN108992307A true CN108992307A (en) | 2018-12-14 |
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| CN201810940426.3A Pending CN108992307A (en) | 2018-08-17 | 2018-08-17 | Anti-down protective device and its healing robot |
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Cited By (3)
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| CN111228739A (en) * | 2020-02-09 | 2020-06-05 | 王锦霞 | Orthopedics is with supplementary rehabilitation and nursing device of shank of adjustable training intensity |
| CN111317970A (en) * | 2020-03-05 | 2020-06-23 | 江苏医药职业学院 | A walking rehabilitation training device for hemiplegic patients |
| CN113082605A (en) * | 2021-04-20 | 2021-07-09 | 佳木斯大学 | Rehabilitation training device for neurology and using method |
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| CN104783937A (en) * | 2015-05-06 | 2015-07-22 | 电子科技大学 | Human body fixing device with falling preventing function for exoskeleton robot |
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Application publication date: 20181214 |