CN110680679A - Interactive lower limb rehabilitation training system - Google Patents
Interactive lower limb rehabilitation training system Download PDFInfo
- Publication number
- CN110680679A CN110680679A CN201911000696.7A CN201911000696A CN110680679A CN 110680679 A CN110680679 A CN 110680679A CN 201911000696 A CN201911000696 A CN 201911000696A CN 110680679 A CN110680679 A CN 110680679A
- Authority
- CN
- China
- Prior art keywords
- lower limb
- limb rehabilitation
- rod
- plate
- supporting plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 36
- 230000002452 interceptive effect Effects 0.000 title claims abstract description 15
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 26
- 239000010959 steel Substances 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 239000013585 weight reducing agent Substances 0.000 claims abstract description 8
- 230000036541 health Effects 0.000 claims abstract description 6
- 210000003414 extremity Anatomy 0.000 claims abstract description 3
- 239000013307 optical fiber Substances 0.000 claims description 42
- 210000000689 upper leg Anatomy 0.000 claims description 36
- 230000003014 reinforcing effect Effects 0.000 claims description 23
- 230000003139 buffering effect Effects 0.000 claims description 21
- 210000002683 foot Anatomy 0.000 claims description 14
- 210000003423 ankle Anatomy 0.000 claims description 13
- 210000003127 knee Anatomy 0.000 claims description 13
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 4
- 210000000629 knee joint Anatomy 0.000 claims description 4
- 230000002787 reinforcement Effects 0.000 claims description 4
- 230000000694 effects Effects 0.000 abstract description 8
- 210000002414 leg Anatomy 0.000 description 19
- 230000005021 gait Effects 0.000 description 7
- 239000000835 fiber Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 208000016261 weight loss Diseases 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000007996 neuronal plasticity Effects 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
Images
Classifications
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0173—Means for preventing injuries
- A61H2201/018—By limiting the applied torque or force
-
- 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
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
Landscapes
- 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 relates to an interactive lower limb rehabilitation training system, which comprises a wearable lower limb rehabilitation robot and a weight reduction traction mechanism arranged above the wearable lower limb rehabilitation robot, wherein the weight reduction traction mechanism comprises a hanging plate which is arranged above and fixed on the wearable lower limb rehabilitation robot, a cylinder and a first roller wheel are fixedly arranged on the hanging plate, the end part of a cylinder rod of the cylinder is fixedly connected with a sliding block, the side surface of the sliding block is provided with a fixed shaft, the end part of the fixed shaft is connected with a second roller wheel, the hanging plate is provided with a guide rail groove, and the sliding block is positioned in the guide rail groove; be equipped with the health between link plate and the recovered robot of wearing formula low limbs and bind the cover, twine on first gyro wheel and the second gyro wheel and establish the steel cable, the balancing weight is installed to the one end of steel cable, the other end of steel cable with the health is binded the cover and is connected. The steel rope plays a longitudinal traction role in the body binding sleeve all the time, and does not apply transverse traction force to the rehabilitee, so that the effect of reducing the leg pressure load of the rehabilitee is really achieved, and the using effect is good.
Description
Technical Field
The invention relates to the field of lower limb rehabilitation training, in particular to an interactive lower limb rehabilitation training system.
Background
The rehabilitation training robot is developed for recovering injured parts of patients, and according to the neural plasticity theory, the rehabilitation training robot for repairing the injured parts is provided for patients who cannot walk due to cerebral apoplexy, spinal cord injury and the like to perform rehabilitation training. When the patient moves with gait, the joint movement drives the muscle of the whole body to move, thereby gradually activating the whole body movement system, and the rehabilitation training robot can help the injured part to recover.
The existing rehabilitation training robots are various in types and all adopt the structure of the exoskeleton robot, the exoskeleton robot comprises a wearable type and a fixed support type, all support plates on the exoskeleton robot are hinged, the support plates are bound and fixed with thighs and shanks of people through bridles, the buffer supporting force of the support plates to the legs of the people is poor when the support plates rotate relatively, and therefore the problem that the legs of a rehabilitee are too heavy to eat is easily caused, and even secondary injury occurs. In addition, because the supporting plates of the exoskeleton robot are hinged, when a rehabilitee carries out leg rehabilitation training by wearing the exoskeleton robot, if the rehabilitee is in the early rehabilitation stage, the leg joint part needs to be greatly supported, otherwise, the problem of excessive leg force is easily caused, the supporting plate of the existing wearable exoskeleton robot is hinged, the mechanical joint part has certain buffer force through the torsion of a spring, but the problem of excessive leg force of the rehabilitee in the early rehabilitation training process can not be avoided, the upper limit of leg force load of the rehabilitee in the early rehabilitation training stage and the later rehabilitation training stage is different, and the traditional wearable exoskeleton robot can not simultaneously meet the requirements of the rehabilitee in the early rehabilitation training stage and the later rehabilitation training stage.
Moreover, when the wearable exoskeleton robot is used for indoor training, a weight-reducing traction mechanism is required to be equipped, the weight-reducing traction mechanism mainly plays a role in reducing the pressure load on the legs of a rehabilitee, some current wearable exoskeleton robots are also equipped with some weight-reducing traction mechanisms, one end of a steel wire on the weight-reducing traction mechanism is connected with a counterweight block, the other end of the steel wire is connected with a body binding sleeve, and the body of the rehabilitee is pulled upwards through the body binding sleeve, but the wearable exoskeleton robot has the problems that in the process of horizontal gait training of the rehabilitee, a steel wire rope is easy to form an inclined connection angle with the body binding sleeve, and in this way, the steel wire rope is easy to generate horizontal traction force on the body of the rehabilitee, so that the wearable exoskeleton robot is suitable for the horizontal gait training of the rehabilitee, the longitudinal traction force is greatly reduced, and the, the steel rope can not ensure to keep a positive vertical traction state with the body binding sleeve all the time.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides an interactive lower limb rehabilitation training system.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an interactive lower limb rehabilitation training system comprises a wearable lower limb rehabilitation robot and a weight reduction traction mechanism arranged above the wearable lower limb rehabilitation robot, wherein the wearable lower limb rehabilitation robot comprises a foot bottom plate, a shank rod hinged with the foot bottom plate and a thigh rod hinged with the shank rod, a machine ankle joint is formed at the hinged part of the foot bottom plate and the shank rod, and a machine knee joint is formed at the hinged part of the shank rod and the thigh rod;
the end part of the sole plate is fixedly connected with a first supporting plate, the shank rod is fixedly connected with a second supporting plate, an ankle buffering part is arranged between the first supporting plate and the second supporting plate, and two ends of the ankle buffering part are respectively hinged with the first supporting plate and the second supporting plate;
the end part of the shank rod is fixedly connected with a third supporting plate, the shank rod is fixedly connected with a fourth supporting plate, a knee buffering component is arranged between the third supporting plate and the fourth supporting plate, and two ends of the knee buffering component are respectively hinged with the third supporting plate and the fourth supporting plate;
the back of the thigh rod is connected with a reinforcing diagonal rod, and the end part of the reinforcing diagonal rod is connected with a supporting roller; an arc-shaped shank fixing plate is fixed on the shank rod, and an arc-shaped thigh fixing plate is fixed on the thigh rod;
the weight-reducing traction mechanism comprises a hanging plate which is arranged above the wearable lower limb rehabilitation robot and is fixed, a cylinder and a first roller wheel are fixedly arranged on the hanging plate, a sliding block is fixedly connected to the end part of a cylinder rod of the cylinder, a fixed shaft is arranged on the side surface of the sliding block, the end part of the fixed shaft is connected with a second roller wheel, a guide rail groove is formed in the hanging plate, and the sliding block is positioned in the guide rail groove;
be equipped with the health between link plate and the recovered robot of wearing formula low limbs and bind the cover, twine on first gyro wheel and the second gyro wheel and establish the steel cable, the balancing weight is installed to the one end of steel cable, the other end of steel cable with the health is binded the cover and is connected.
Furthermore, a set of optical fiber transceiver is arranged between the sliding block and the body binding sleeve, the optical fiber transceiver comprises an optical fiber emitter and an optical fiber receiver, the optical fiber emitter is installed at the bottom of the sliding block, and the optical fiber receiver is arranged in the middle of the top of the body binding sleeve.
Further, the optical fiber transceiver is an optical fiber transceiver HTB-G218-SI, the optical fiber transceiver is connected with a controller, the controller is connected with the air cylinder, and the controller is a controller TPC4-4 TD.
Furthermore, the both sides of sliding block are fixed with the deflector, and the side in guide rail groove has the guide way, and the deflector is located the guide way, is the T style of calligraphy after deflector and sliding block are connected.
Furthermore, the arc shank fixing plate, the arc thigh fixing plate and the foot bottom plate are provided with bridles.
Further, the ankle buffering part and the knee buffering part are air cylinders or air springs.
Further, the bottom of the supporting roller is flush with the bottom of the sole plate.
Furthermore, the reinforcing inclined rod is fixedly connected with the thigh rod through a bolt, and the reinforcing inclined rod is detachable relative to the thigh rod.
The invention has the beneficial effects that: the end part of a sole plate of a wearable robot of the system is fixedly connected with a first supporting plate, a shank rod is fixedly connected with a second supporting plate, an ankle buffering part is arranged between the first supporting plate and the second supporting plate, and two ends of the ankle buffering part are respectively hinged with the first supporting plate and the second supporting plate; the end part of the shank rod is fixedly connected with a third supporting plate, the shank rod is fixedly connected with a fourth supporting plate, a knee buffering part is arranged between the third supporting plate and the fourth supporting plate, and two ends of the knee buffering part are respectively hinged with the third supporting plate and the fourth supporting plate, wherein the ankle buffering part and the knee buffering part are air cylinders or air springs;
in addition, the back of the thigh rod is connected with a reinforcing inclined rod, the end part of the reinforcing inclined rod is connected with a supporting roller, the bottom of the supporting roller is flush with the bottom of the foot bottom plate, the reinforcing inclined rod is fixedly connected with the thigh rod through a bolt, the reinforcing inclined rod is detachable relative to the thigh rod, when a rehabilitee is in an initial training stage, the reinforcing inclined rod and the supporting roller are installed through bolts, and the reinforcing inclined rod and the supporting roller play a strong supporting role on the thigh of the rehabilitee, so that the stress degree of the leg of the rehabilitee is reduced, and the rehabilitee is prevented from being injured due to excessive stress during training; in the later stage of rehabilitation training, the reinforcing inclined rod and the supporting roller are detached by loosening the bolts, so that gait rehabilitation training with high strength can be performed, the load requirement in the later stage of rehabilitation is met, the wearable robot is suitable for the leg load requirements of a rehabilitee in the initial stage of training and the later stage of training, and the training effect is good;
in addition, a weight reduction traction mechanism is arranged above the wearable lower limb rehabilitation machine, the weight reduction traction mechanism comprises a hanging plate which is arranged above the wearable lower limb rehabilitation robot and is fixed, a cylinder and a first roller wheel are fixedly arranged on the hanging plate, the end part of a cylinder rod of the cylinder is fixedly connected with a sliding block, a fixed shaft is arranged on the side surface of the sliding block, the end part of the fixed shaft is connected with a second roller wheel, a guide rail groove is formed in the hanging plate, and the sliding block is positioned in the guide rail groove; a body binding sleeve is arranged between the hanging plate and the wearable lower limb rehabilitation robot, a steel rope is wound on the first roller and the second roller, a balancing weight is installed at one end of the steel rope, the other end of the steel rope is connected with the body binding sleeve, a set of optical fiber transceiver is arranged between the sliding block and the body binding sleeve, the optical fiber transceiver comprises an optical fiber transmitter and an optical fiber receiver, the optical fiber transmitter is installed at the bottom of the sliding block, the optical fiber receiver is arranged at the middle position of the top of the body binding sleeve, the optical fiber transceiver is an optical fiber transceiver HTB-G218-SI, the optical fiber transceiver is connected with a controller, the controller is connected with the air cylinder, the controller is a controller TPC4-4TD, when a rehabilitee needs to carry out load relieving training, after the wearable robot is worn by the legs of the rehabilitee, the body binding sleeve is bound on the upper body of the rehabilit, thereby reducing the leg pressure load of the rehabilitee, the optical fiber emitter and the optical fiber receiver are always in an up-down signal receiving state during the horizontal gait training process of the rehabilitee, when the rehabilitee drives the body binding sleeve to move, if the optical fiber emitter and the optical fiber receiver are in a signal dislocation state, the controller controls the cylinder to stretch and retract, thereby driving the sliding block and the second roller wheel at the end part of the cylinder to move until the optical fiber emitter at the bottom of the sliding block is positioned right above the optical fiber receiver of the body binding sleeve, the sliding block and the second roller wheel are matched with the body binding sleeve to move horizontally, the steel rope wound on the second roller wheel is always in a positive vertical traction connection state with the body binding sleeve, thus, the steel rope always plays a role of longitudinal traction on the body binding sleeve, the transverse traction force cannot be applied to the rehabilitee, thereby really playing a, the use effect is good.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the present invention in use;
FIG. 3 is a schematic structural view of the wearable lower limb rehabilitation robot of the present invention;
FIG. 4 is a schematic structural view of a weight-reduction traction mechanism of the present invention;
FIG. 5 is a schematic cross-sectional view of a hanging plate of the present invention;
FIG. 6 is a schematic view of the slider and the hanging plate of the present invention.
Detailed Description
As shown in fig. 1 to 6, an interactive lower limb rehabilitation training system comprises a wearable lower limb rehabilitation robot 1 and a weight reduction traction mechanism 2 arranged above the wearable lower limb rehabilitation robot 1, wherein the wearable lower limb rehabilitation robot 1 comprises a foot base plate 11, a shank rod 12 hinged with the foot base plate 11, and a thigh rod 13 hinged with the shank rod 12, a machine ankle joint 14 is formed at the hinged part of the foot base plate 11 and the shank rod 12, and a machine knee joint 15 is formed at the hinged part of the shank rod 12 and the thigh rod 13;
a first supporting plate 16 is fixedly connected to the end part of the sole plate 11, a second supporting plate 17 is fixedly connected to the shank rod 12, an ankle buffering part 18 is arranged between the first supporting plate 16 and the second supporting plate 17, and two ends of the ankle buffering part 18 are respectively hinged with the first supporting plate 16 and the second supporting plate 17;
the end part of the shank 12 is fixedly connected with a third support plate 19, the upper leg 13 is fixedly connected with a fourth support plate 110, a knee buffering part 111 is arranged between the third support plate 19 and the fourth support plate 110, and two ends of the knee buffering part 111 are respectively hinged with the third support plate 19 and the fourth support plate 110;
further, the back of the thigh rod 13 is connected with a reinforcing diagonal rod 112, and the end part of the reinforcing diagonal rod 112 is connected with a supporting roller 113; an arc shank fixing plate 114 is fixed on the shank rod 12, and an arc thigh fixing plate 115 is fixed on the thigh rod 13. The arch shank fixing plate 114, the arch thigh fixing plate 115 and the sole plate 11 are provided with a belt 116.
In the present invention, the ankle cushioning member 18 and the knee cushioning member 111 are air cylinders or air springs. The bottom of the support roller 113 is flush with the bottom of the footplate 11. The diagonal reinforcement bar 112 is fastened to the thigh bar 13 by a bolt 117, and the diagonal reinforcement bar 112 is detachable with respect to the thigh bar 13.
When the wearable robot is used for training, a foot plate of a person is fixed on the foot bottom plate 11 through the bridle 116, a shank and a thigh are respectively fixed on the shank rod 12 and the thigh rod 13 through the bridle 116, when the person walks, ankle joints and knee joints move, and in the moving process, the ankle buffer part 18 and the knee buffer part 111 can play a good role in buffering and assisting power, so that the impact force on the injured part of the leg of the person is reduced, and the leg is prevented from being injured for the second time;
in addition, the back of the thigh rod 13 is connected with a reinforcing inclined rod 112, the end part of the reinforcing inclined rod 112 is connected with a supporting roller 113, the bottom of the supporting roller 113 is flush with the bottom of the foot bottom plate 11, the reinforcing inclined rod 112 is fixedly connected with the thigh rod 13 through a bolt 117, the reinforcing inclined rod 112 is detachable relative to the thigh rod 13, a rehabilitee installs the reinforcing inclined rod 112 and the supporting roller 113 through the bolt 117 in the initial training period, the reinforcing inclined rod 112 and the supporting roller 113 play a strong supporting role on the thigh of the rehabilitee through the reinforcing inclined rod 112 and the supporting roller 113, the stress degree of the leg of the rehabilitee is reduced, and the rehabilitee is prevented from being injured due to excessive stress in; in the later stage of the rehabilitation training, unscrewing the bolt 117 removes the reinforcing diagonal rod 112 and the supporting roller 113 to carry out gait rehabilitation training with large strength, thereby meeting the load requirement in the later stage of the rehabilitation, and the wearable robot is suitable for the leg load requirement in the initial stage and the later stage of the training of the rehabilitee, and has good training effect.
The weight-reducing traction mechanism 2 comprises a hanging plate 21 which is arranged above the wearable lower limb rehabilitation robot 1 and is fixed, a cylinder 22 and a first roller 23 are fixedly arranged on the hanging plate 21, the end part of a cylinder rod of the cylinder 22 is fixedly connected with a sliding block 24, the side surface of the sliding block 24 is provided with a fixed shaft 25, the end part of the fixed shaft 25 is connected with a second roller 26, a guide rail groove 27 is arranged on the hanging plate 21, and the sliding block 24 is positioned in the guide rail groove 27;
a body binding sleeve 28 is arranged between the hanging plate 21 and the wearable lower limb rehabilitation robot 1, a steel rope 29 is wound on the first roller 23 and the second roller 26, a balancing weight 210 is installed at one end of the steel rope 29, and the other end of the steel rope 29 is connected with the body binding sleeve 28.
Further, a set of fiber optic transceivers is disposed between the slider 24 and the body binding sleeve 28, the fiber optic transceivers including a fiber optic transmitter 211 and a fiber optic receiver 212, the fiber optic transmitter 211 being mounted on the bottom of the slider 24, the fiber optic receiver 212 being disposed at a top intermediate position of the body binding sleeve 28.
The optical fiber transceiver is an optical fiber transceiver HTB-G218-SI, the optical fiber transceiver is connected with a controller 213, the controller 213 is connected with the cylinder 22, and the controller 213 is a controller TPC4-4 TD.
Further, guide plates 214 are fixed on two sides of the sliding block 24, guide grooves 215 are formed in the side faces of the guide rail grooves 27, the guide plates 214 are located in the guide grooves 215, the guide plates 214 and the sliding block 24 are connected to form a T shape, the guide plates 214 guide the sliding block 24, and the T shape formed by connecting the guide plates 214 and the sliding block 24 mainly ensures that the sliding block 24 is firmly clamped in the guide rail grooves 27.
When a rehabilitee needs to perform load relieving training, after the rehabilitee wears the wearable robot 1 on the legs, the body binding sleeve 28 is bound on the upper body, the counterweight 210 plays a role of upward traction on the rehabilitee's body through the steel rope 29, thereby reducing the pressure load on the rehabilitee's legs, during the horizontal gait training process of the rehabilitee, the optical fiber transmitter 211 and the optical fiber receiver 212 are always in an up-and-down signal receiving state, when the rehabilitee drives the body binding sleeve 28 to move, if the optical fiber transmitter 211 and the optical fiber receiver 212 are in a signal dislocation state, the controller 213 controls the cylinder 22 to stretch and retract, thereby driving the sliding block 24 and the second roller 26 at the end of the cylinder 22 to move until the optical fiber transmitter 211 at the bottom of the sliding block 24 is positioned right above the optical fiber receiver 212 of the body binding sleeve 28, during the horizontal movement of the sliding block 24, the steel rope 29 wound on the second roller 26 is always in a positive vertical traction connection state with the body binding sleeve 28, so that the steel rope 29 always binds the body binding sleeve 28 to achieve a longitudinal traction effect, and does not apply a transverse traction force to a rehabilitee, thereby really achieving the effect of reducing the leg pressure load of the rehabilitee, and achieving a good use effect.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. An interactive lower limb rehabilitation training system comprises a wearable lower limb rehabilitation robot and a weight reduction traction mechanism arranged above the wearable lower limb rehabilitation robot, and is characterized in that the wearable lower limb rehabilitation robot comprises a foot bottom plate, a shank rod hinged with the foot bottom plate and a thigh rod hinged with the shank rod, wherein a machine ankle joint is formed at the hinged part of the foot bottom plate and the shank rod, and a machine knee joint is formed at the hinged part of the shank rod and the thigh rod;
the end part of the sole plate is fixedly connected with a first supporting plate, the shank rod is fixedly connected with a second supporting plate, an ankle buffering part is arranged between the first supporting plate and the second supporting plate, and two ends of the ankle buffering part are respectively hinged with the first supporting plate and the second supporting plate;
the end part of the shank rod is fixedly connected with a third supporting plate, the shank rod is fixedly connected with a fourth supporting plate, a knee buffering component is arranged between the third supporting plate and the fourth supporting plate, and two ends of the knee buffering component are respectively hinged with the third supporting plate and the fourth supporting plate;
the back of the thigh rod is connected with a reinforcing diagonal rod, and the end part of the reinforcing diagonal rod is connected with a supporting roller; an arc-shaped shank fixing plate is fixed on the shank rod, and an arc-shaped thigh fixing plate is fixed on the thigh rod;
the weight-reducing traction mechanism comprises a hanging plate which is arranged above the wearable lower limb rehabilitation robot and is fixed, a cylinder and a first roller wheel are fixedly arranged on the hanging plate, a sliding block is fixedly connected to the end part of a cylinder rod of the cylinder, a fixed shaft is arranged on the side surface of the sliding block, the end part of the fixed shaft is connected with a second roller wheel, a guide rail groove is formed in the hanging plate, and the sliding block is positioned in the guide rail groove;
be equipped with the health between link plate and the recovered robot of wearing formula low limbs and bind the cover, twine on first gyro wheel and the second gyro wheel and establish the steel cable, the balancing weight is installed to the one end of steel cable, the other end of steel cable with the health is binded the cover and is connected.
2. The interactive lower limb rehabilitation training system of claim 1, wherein a set of optical fiber transceivers is arranged between the sliding block and the body binding sleeve, each optical fiber transceiver comprises an optical fiber transmitter and an optical fiber receiver, the optical fiber transmitters are arranged at the bottom of the sliding block, and the optical fiber receivers are arranged at the middle positions of the top of the body binding sleeve.
3. The interactive lower limb rehabilitation training system of claim 2, wherein the optical fiber transceiver is an optical fiber transceiver HTB-G218-SI, the optical fiber transceiver is connected with a controller, the controller is connected with the air cylinder, and the controller is a controller TPC4-4 TD.
4. The interactive lower limb rehabilitation training system as claimed in claim 3, wherein the sliding block is fixed with guide plates at both sides, the guide grooves are formed in the side surfaces of the guide grooves, the guide plates are positioned in the guide grooves, and the guide plates and the sliding block are connected to form a T shape.
5. The interactive lower limb rehabilitation training system of claim 1, wherein the arc shank fixing plate, the arc thigh fixing plate and the sole plate are provided with belts.
6. The interactive lower limb rehabilitation training system of claim 1, wherein the ankle and knee cushioning members are pneumatic cylinders or pneumatic springs.
7. The interactive lower extremity rehabilitation training system of claim 1, wherein the bottom of the support rollers and the bottom of the footplate are flush.
8. The interactive lower limb rehabilitation training system of claim 1, wherein the diagonal reinforcement bar is connected with the thigh bar by a bolt, and the diagonal reinforcement bar is detachable relative to the thigh bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911000696.7A CN110680679A (en) | 2019-10-21 | 2019-10-21 | Interactive lower limb rehabilitation training system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911000696.7A CN110680679A (en) | 2019-10-21 | 2019-10-21 | Interactive lower limb rehabilitation training system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110680679A true CN110680679A (en) | 2020-01-14 |
Family
ID=69113942
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911000696.7A Pending CN110680679A (en) | 2019-10-21 | 2019-10-21 | Interactive lower limb rehabilitation training system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110680679A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111773033A (en) * | 2020-08-04 | 2020-10-16 | 佳木斯大学 | A sedentary slow-release device with gravity compensation |
| CN111888125A (en) * | 2020-07-21 | 2020-11-06 | 中南大学湘雅医院 | Nursing bed for assisting lower limb rehabilitation training of patient |
| CN111938996A (en) * | 2020-08-24 | 2020-11-17 | 四川大学华西医院 | Auxiliary rehabilitation equipment for lower limb paralysis patient |
| CN112975914A (en) * | 2021-03-16 | 2021-06-18 | 北京工业大学 | Sole control type lower limb energy storage boosting mechanism |
| CN113143692A (en) * | 2021-04-29 | 2021-07-23 | 南京市江宁医院 | Device is tempered in recovery of surgery postoperative |
| CN113288725A (en) * | 2021-06-21 | 2021-08-24 | 江西中医药高等专科学校 | Impaired rehabilitation training equipment of shank skeleton |
| CN113856148A (en) * | 2021-10-12 | 2021-12-31 | 赵喜福 | Wearable waist rehabilitation robot |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1181278A (en) * | 1996-10-29 | 1998-05-13 | 伍德威股份公司 | Treadmill |
| US20080287268A1 (en) * | 2007-05-14 | 2008-11-20 | Joseph Hidler | Body Weight Support System and Method of Using the Same |
| CN201231035Y (en) * | 2008-07-22 | 2009-05-06 | 张庆军 | Double-shoulder balancing weight-reduction suspension training device |
| CN103892989A (en) * | 2014-04-16 | 2014-07-02 | 崔建忠 | Lower limb rehabilitation training robot and training method thereof |
| CN204246291U (en) * | 2014-11-29 | 2015-04-08 | 张洋 | A kind of new type bone surgery slideway blade type leg clamping plate |
| CN105392461A (en) * | 2013-06-21 | 2016-03-09 | 浩康股份公司 | Apparatus for automated walking training |
| CN105473194A (en) * | 2013-01-22 | 2016-04-06 | 高博公司 | Medical rehab lift system and method with horizontal and vertical force sensing and motion control |
| CN106236519A (en) * | 2016-09-18 | 2016-12-21 | 南开大学 | A kind of list rope towards gait and balance rehabilitation training suspends actively loss of weight system in midair |
| CN207445081U (en) * | 2017-03-02 | 2018-06-05 | 马宗杰 | A kind of shoulder abduction orthopedic appliance |
| CN108200242A (en) * | 2017-12-28 | 2018-06-22 | 张文翰 | A kind of mobile phone of anti-bending |
| CN208388959U (en) * | 2017-10-25 | 2019-01-18 | 黄瑞 | A kind of obstacle detouring type ectoskeleton supplemental training robot |
| CN110279561A (en) * | 2019-07-03 | 2019-09-27 | 河南翔宇医疗设备股份有限公司 | Wearable multipurpose shank brace |
-
2019
- 2019-10-21 CN CN201911000696.7A patent/CN110680679A/en active Pending
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1181278A (en) * | 1996-10-29 | 1998-05-13 | 伍德威股份公司 | Treadmill |
| US20080287268A1 (en) * | 2007-05-14 | 2008-11-20 | Joseph Hidler | Body Weight Support System and Method of Using the Same |
| CN201231035Y (en) * | 2008-07-22 | 2009-05-06 | 张庆军 | Double-shoulder balancing weight-reduction suspension training device |
| CN105473194A (en) * | 2013-01-22 | 2016-04-06 | 高博公司 | Medical rehab lift system and method with horizontal and vertical force sensing and motion control |
| CN105392461A (en) * | 2013-06-21 | 2016-03-09 | 浩康股份公司 | Apparatus for automated walking training |
| CN103892989A (en) * | 2014-04-16 | 2014-07-02 | 崔建忠 | Lower limb rehabilitation training robot and training method thereof |
| CN204246291U (en) * | 2014-11-29 | 2015-04-08 | 张洋 | A kind of new type bone surgery slideway blade type leg clamping plate |
| CN106236519A (en) * | 2016-09-18 | 2016-12-21 | 南开大学 | A kind of list rope towards gait and balance rehabilitation training suspends actively loss of weight system in midair |
| CN207445081U (en) * | 2017-03-02 | 2018-06-05 | 马宗杰 | A kind of shoulder abduction orthopedic appliance |
| CN208388959U (en) * | 2017-10-25 | 2019-01-18 | 黄瑞 | A kind of obstacle detouring type ectoskeleton supplemental training robot |
| CN108200242A (en) * | 2017-12-28 | 2018-06-22 | 张文翰 | A kind of mobile phone of anti-bending |
| CN110279561A (en) * | 2019-07-03 | 2019-09-27 | 河南翔宇医疗设备股份有限公司 | Wearable multipurpose shank brace |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111888125A (en) * | 2020-07-21 | 2020-11-06 | 中南大学湘雅医院 | Nursing bed for assisting lower limb rehabilitation training of patient |
| CN111888125B (en) * | 2020-07-21 | 2021-10-29 | 中南大学湘雅医院 | A nursing bed for assisting patients with lower limb rehabilitation training |
| CN111773033A (en) * | 2020-08-04 | 2020-10-16 | 佳木斯大学 | A sedentary slow-release device with gravity compensation |
| CN111938996A (en) * | 2020-08-24 | 2020-11-17 | 四川大学华西医院 | Auxiliary rehabilitation equipment for lower limb paralysis patient |
| CN112975914A (en) * | 2021-03-16 | 2021-06-18 | 北京工业大学 | Sole control type lower limb energy storage boosting mechanism |
| CN113143692A (en) * | 2021-04-29 | 2021-07-23 | 南京市江宁医院 | Device is tempered in recovery of surgery postoperative |
| CN113288725A (en) * | 2021-06-21 | 2021-08-24 | 江西中医药高等专科学校 | Impaired rehabilitation training equipment of shank skeleton |
| CN113856148A (en) * | 2021-10-12 | 2021-12-31 | 赵喜福 | Wearable waist rehabilitation robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110680679A (en) | Interactive lower limb rehabilitation training system | |
| CN204798295U (en) | Low limbs rehabilitation training robot | |
| KR100817827B1 (en) | Training apparatus | |
| CN101181177B (en) | Shoulder joint rehabilitation training device | |
| CN110812130B (en) | Pelvic auxiliary walking rehabilitation training robot | |
| US7740566B2 (en) | Hip assist walker | |
| CN106361543B (en) | A weight loss gait rehabilitation training robot | |
| CN110613587B (en) | Counter weight type lower limb rehabilitation robot | |
| CN110652428A (en) | Wearable lower limb rehabilitation robot | |
| JP6091647B2 (en) | Rehabilitation device with shadow legs | |
| CN110841245A (en) | A multi-modal rehabilitation weight loss walking training vehicle | |
| CN107694013A (en) | A kind of loss of weight support system for patient's lower limb rehabilitation training | |
| CN102319505B (en) | Exercise equipment for assisting squat movement | |
| CN202173725U (en) | Body-building equipment for assisting squatting motion | |
| CN102551988B (en) | Exoskeleton-type desktop rehabilitation exercise machine for lower limbs | |
| CN112515914A (en) | Horizontal double-leg exercise rehabilitation machine | |
| CN110916969B (en) | A device and control method for adjusting the center of gravity of a lower-limb robot by adjusting the lumbar support of a weight-reducing vehicle | |
| CN211752205U (en) | Rehabilitation subtracts heavy walking training car suitable for multi-mode | |
| CN202426824U (en) | Exoskeleton platform-type lower limb healing exercise machine | |
| CN105476816A (en) | Lower limb movement balanced standing bed with armrests | |
| CN107569367B (en) | Lower limb rehabilitation training device | |
| CN114404222A (en) | Department of neurology rehabilitation training equipment | |
| CN110934715B (en) | Control system and method for realizing cooperative motion of lower limb robot and weight reduction vehicle | |
| CN211433985U (en) | Rehabilitation training device for medical rehabilitation | |
| CN110652426A (en) | Gait training rehabilitation robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200114 |