CN113289311A

CN113289311A - Rehabilitation exercise robot

Info

Publication number: CN113289311A
Application number: CN202110501743.7A
Authority: CN
Inventors: 王玉龙; 周明超; 朱晓龙; 查甫兵; 刘芳; 龙建军; 黄美玲; 陈妙玲; 方锐; 山林林; 万力; 刘翔翔; 黄宇涛; 骆伟; 李冬霞; 熊峰; 陈媛; 李伟豪; 黄镛; 曲晟
Original assignee: Shenzhen Second Peoples Hospital
Current assignee: Shenzhen Second Peoples Hospital
Priority date: 2021-05-08
Filing date: 2021-05-08
Publication date: 2021-08-24
Anticipated expiration: 2041-05-08
Also published as: CN113289311B

Abstract

The invention provides a rehabilitation exercise robot, which belongs to the technical field of medical instruments and at least comprises a group of unilateral training parts, wherein each unilateral training part comprises a first transmission mechanism, a second transmission mechanism, an upper limb training mechanism and a lower limb training mechanism; the lower limb training mechanism at least comprises a treading part, the treading part is in transmission connection with the second transmission mechanism, the treading part is used for treading and can move along a second motion track, and the second transmission mechanism is in linkage fit with the first transmission mechanism so that the swing arm part and the treading part can move synchronously. The device aims to solve the technical problem that an operator cannot carry out linkage exercise on the upper limbs and the lower limbs under the condition of lying in bed in the prior art.

Description

Rehabilitation exercise robot

Technical Field

The invention belongs to the technical field of medical instruments, and particularly relates to a rehabilitation exercise robot.

Background

Rehabilitation refers to physical activity after injury that is beneficial to recovery or improvement of function.

At present, for an operator who lies in bed for a long time, because the muscles of the upper limbs and the lower limbs are degraded in different degrees during the treatment period of lying in bed for a long time, the existing training equipment can not meet the requirement of realizing the coordination exercise of the upper limbs and the lower limbs of the operator in the bed-lying state.

Disclosure of Invention

The invention aims to provide a rehabilitation exercise robot, and aims to solve the technical problem that an operator cannot perform linkage exercise of upper limbs and lower limbs under the condition of lying in bed in the prior art.

The invention is realized in this way, a rehabilitation exercise robot, is used for setting up on the bed body, include a series of unilateral training parts at least, the unilateral training part includes: a first transmission mechanism, a second transmission mechanism, an upper limb training mechanism and a lower limb training mechanism, wherein,

the first transmission mechanism is connected to the bed body, the upper limb training mechanism at least comprises a rocker arm part, the rocker arm part is in transmission connection with the first transmission mechanism, and the rocker arm part is used for being held by hands and can move along a first motion track; the lower limb training mechanism at least comprises a treading part, the treading part is in transmission connection with the second transmission mechanism, the treading part is used for treading and can move along a second motion track, and the second transmission mechanism is in linkage fit with the first transmission mechanism, so that the swing arm part and the treading part move synchronously.

Further, the first motion track is an arc-shaped track, and the second motion track is a straight track extending in the up-down direction.

Furthermore, the unilateral training part also comprises a fixed structure, and the fixed structure at least comprises a fixed part used for being connected with the bed body; the first transmission mechanism, the upper limb training mechanism, the second transmission mechanism and the lower limb training mechanism are connected with the fixing structure.

Furthermore, unilateral training portion still includes the guide structure who connects in fixed knot structure, and the guide structure extends along the second motion orbit, the portion sliding connection of trampling can follow the second motion orbit and move in the guide structure.

Further, the rehabilitation exercise robot further comprises a moving mechanism, the moving mechanism is connected with the fixed structure, and the moving mechanism is used for supporting the fixed structure and can move relative to the ground.

Furthermore, the first transmission mechanism comprises a main transmission shaft, a transmission assembly connected with the main transmission shaft and a rocker arm shaft connected with the power output end of the transmission assembly, one end of the rocker arm part is connected with the rocker arm shaft and can rotate around the axis of the rocker arm shaft, and the second transmission mechanism is connected with the main transmission shaft.

Further, the second transmission mechanism at least comprises a chain wheel structure connected with the main transmission shaft and a chain structure connected with the treading part; the chain structure is linked with the chain wheel structure and the treading part, so that the rotation of the chain wheel structure and the up-and-down movement of the treading part are synchronously carried out.

Furthermore, the unilateral training part also comprises a power mechanism, and the power mechanism is respectively connected with the first transmission mechanism and the second transmission mechanism and is used for controlling the first transmission mechanism or the second transmission mechanism to move.

Further, the unilateral training portion further comprises a damping mechanism, and the damping mechanism is connected with the first transmission mechanism or the second transmission mechanism and is used for providing damping force for movement of the first transmission mechanism or the second transmission mechanism.

Furthermore, unilateral training portion still includes locates the response mechanism of trampling portion and electricity are connected the control mechanism of response mechanism, response mechanism is used for responding to the trampling force that trampling portion received, control mechanism is used for adjusting through the response result of response mechanism the damping force size that damping mechanism provided.

Compared with the prior art, the invention has the technical effects that: the training device can realize the combined and coordinated exercise of the upper and lower limbs of an operator on a bed, and the upper limbs of the operator can push and pull back and forth along with the rocker arm part by holding the rocker arm part, so that the upper limbs can be exercised; meanwhile, the feet of the operator are fixed with the pedal part, so that the lower limbs of the operator can bend and extend along with the up-and-down movement of the pedal part, and the lower limbs of the operator can be exercised; the upper limbs and the lower limbs are linked, and the coordination of the movement between the upper limbs and the lower limbs is enhanced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention or in the description of the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic overall structure diagram of a rehabilitation exercise robot according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a rehabilitation exercise robot at the upper part of the bed body in fig. 1;

FIG. 3 is a schematic view of the interior of the second stent of FIG. 1;

FIG. 4 is a side elevational view of FIG. 2 with the second bracket and the rocker portion removed;

FIG. 5 is a schematic view of the connection between the first transmission mechanism and the upper limb training mechanism, the power mechanism and the damping mechanism of FIG. 4;

fig. 6 is a schematic structural view of the fixing portion in fig. 1.

Description of reference numerals: 1. an upper limb training mechanism; 101. a rocker section; 102. a handle; 2. a lower limb training mechanism; 201. a pedal portion; 3. a second transmission mechanism; 301. a sprocket arrangement; 302. a chain structure; 4. a damping mechanism; 401. a belt drive structure; 402. an electromagnetic damper; 5. a power mechanism; 6. an emergency stop mechanism; 601. a first emergency stop button; 602. a second emergency stop button; 7. a first transmission mechanism; 701. a main drive shaft; 702. a transmission assembly; 7021. a primary transmission gear; 7022. a secondary drive gear set; 7023. a third-stage transmission gear set; 7024. a four-stage transmission gear; 703. a rocker shaft; 8. a fixed structure; 801. a fixed part; 8011. a fixing plate; 8012. a lock cylinder; 8013. a splint; 8014. turning a handle; 802. a fixed mount; 8021. a first bracket; 8022. a second bracket; 9. a guide structure; 901. a guide bar; 902. a sliding table; 10. a control mechanism; 11. a locking structure; 12. a display; 13. a moving mechanism; 1301. a first movable frame; 1302. a second movable frame; 1303. and a roller.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "upward", "vertical", "horizontal", "bottom", "inner", "outer", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments.

Referring to fig. 1 and fig. 2, a rehabilitation exercise robot according to an embodiment of the present invention is configured to be disposed on a bed body, and the rehabilitation exercise robot at least includes a set of unilateral training parts, where the unilateral training parts include a first transmission mechanism 7, an upper limb training mechanism 1, a second transmission mechanism 3, and a lower limb training mechanism 2; the first transmission mechanism 7 is connected to the bed body, the upper limb training mechanism 1 at least comprises a swing arm part 101, the swing arm part 101 is in transmission connection with the first transmission mechanism 7, the swing arm part 101 is used for being held by hand and can move along a first motion track, the first motion track is an arc-shaped track, and specifically, the first motion track is the forward and backward reciprocating arc-shaped push-pull motion of the swing arm part 101 relative to an operator; the lower limb training mechanism 2 at least comprises a treading part 201, the treading part 201 is in transmission connection with the second transmission mechanism 3, the treading part 201 is used for treading and can move along a second motion track, the second motion track is a straight line track extending in the up-down direction, and specifically, the second motion track motion is the up-down reciprocating straight line motion of the treading part relative to an operator; the second transmission mechanism 3 is in interlocking engagement with the first transmission mechanism 7 so that the swing arm portion 101 and the step portion 201 move synchronously.

In addition, the treading part 201 is provided with a pedal for treading by feet, the side part of the pedal is provided with a locking structure 11, the locking structure 11 comprises a locking plate and a locking belt, the locking plate is positioned on the side part of the pedal, and the lower limbs are fixed on the locking plate through the locking belt.

It should be noted that, in the above and the following description, the directions "front and back" and "up and down" are based on the operator lying down on the bed, the front direction in which the eyes look straight is defined as front, the opposite direction is defined as back, the direction of the head is defined as up, and the direction of the feet is defined as down.

Before work, an operator is in a lying position or a sitting position on the upper part of the bed body, the whole training device is placed on the bed, the position of the training device is firstly adjusted, and the feet of the operator can be always fixed on the pedals in the process of moving the treading part 201; then the training device is fixed on the bed body through the fixing part 801; while the operator's hand holds one end of the swing arm portion 101.

When the upper limb stretching exercise machine is used, an operator steps on the pedal with feet, the pedal moves along the vertical direction relative to the human body, so that the second transmission mechanism 3 is driven to operate, the first transmission mechanism 7 transmits power to the rocker arm part 101 of the upper limb training mechanism 1, the rocker arm part 101 generates reciprocating arc push-pull motion, the operator holds the rocker arm part 101 with hands, and then follows the motion of the rocker arm part 101, and therefore the upper limb stretching exercise is achieved; correspondingly, an operator can apply power to the upper limb training mechanism 1 firstly, the operator holds the swing arm part 101 with a hand to swing the swing arm part 101 firstly, the motion of the swing arm part 101 is transmitted to the lower limb training mechanism 2 in linkage with the swing arm part through the first transmission mechanism 7, the second transmission mechanism 3 transmits the power to the lower limb training mechanism 2, so that the treading part 201 reciprocates up and down, the feet of the operator are fixed with the treading part 201 through the locking structure 11, the feet of the operator move up and down along with the treading part 201, and the extension and the bending of the lower limbs are realized to exercise the lower limbs; in addition, the upper limbs and the lower limbs of the operator can exert force at the same time, and the upper limb training mechanism 1 and the lower limb training mechanism 2 are linked through the first transmission mechanism 7 and the second transmission mechanism 3, so that the upper limbs and the lower limbs of the operator can be exercised at the same time.

The beneficial effect of this embodiment lies in: compared with the prior art, the training device can realize the linkage exercise of the upper and lower limbs of an operator on a bed, and the upper limbs of the operator can push and pull back and forth along with the swing arm part 101 by holding the swing arm part 101, so that the upper limbs can be exercised; meanwhile, the feet of the operator are fixed with the pedal part 201, so that the lower limbs of the operator can bend and extend along with the up-and-down movement of the pedal part 201, and the lower limbs of the operator can be exercised; the upper limb training mechanism 1 can drive the lower limb training mechanism 2 to work, meanwhile, the lower limb training mechanism 2 can also drive the upper limb training mechanism 1 to work, and an operator can select the upper limb and/or the lower limb as power input to exercise; realizes the combined coordination exercise of the upper limbs and the lower limbs, and is beneficial to enhancing the coordination of the movement between the upper limbs and the lower limbs.

Further, as a preferred embodiment of this embodiment, as shown in fig. 1 and fig. 2, the unilateral training portion further includes a fixing structure 8, and the fixing structure 8 at least includes a fixing portion 801 for connecting with the bed body; the first transmission mechanism 7, the upper limb training mechanism 1, the second transmission mechanism 3 and the lower limb training mechanism 2 are connected with a fixed structure 8.

Specifically, the fixed structure 8 further includes a fixed frame 802, the fixed frame 802 includes a first support 8021 disposed along a side edge of the bed body and a second support 8022 disposed vertically with respect to the first support 8021, and the first transmission mechanism 7 is disposed on the second support 8022; the two fixing portions 801 are respectively located at two ends of the first support 8021, that is, the fixing portions 801 are arranged at intervals along the side of the bed body, each fixing portion 801 includes a fixing plate 8011 connected to the first support 8021, a clamping plate 8013 arranged opposite to the fixing plate 8011, and a lock cylinder 8012 connected to the fixing plate 8011 and the clamping plate 8013, the clamping plate 8013 is fixed on the lock cylinder 8012, one end of the lock cylinder 8012 is in threaded connection with the fixing plate 8011, the other end of the lock cylinder 8012 is provided with a rotary handle 8014, the lock cylinder 8012 is rotated by the rotary handle 8014 to move the clamping plate 8013 towards the fixing plate 8011, the side portion of the bed body is clamped between the fixing plate 8011 and the clamping plate, and the rehabilitation exercise robot is fixed to the bed body.

In the embodiment, the fixing structure 8 is arranged, so that the first transmission mechanism 7, the upper limb training mechanism 1, the second transmission mechanism 3 and the lower limb training mechanism 2 are connected to the fixing frame 802, the training device is modularized, and the training device is more convenient to mount and carry; the fixing frame 802 and the bed body are fixed through the fixing part 801, the whole training device is fixed on the bed body, and the use is firmer, more reliable and safer.

Further, as a preferred embodiment of the present embodiment, as shown in fig. 1 and 2, the rehabilitation exercise robot includes two sets of one-sided training parts, which are oppositely disposed at an interval and are used to be connected to the left limb and the right limb of the human body, respectively.

In this embodiment, two sets of unilateral training parts are used to exercise both the left and right limbs of the human body, the movement directions of the unilateral training parts on the left and right sides may be the same or different, and the operator preferably exercises coordinately on the left and right sides in opposite movement directions, specifically, the left swing arm 101 swings forward, the left treading part 201 moves downward, the right swing arm 101 swings backward, and the right treading part 201 moves upward, so that the coordinative exercise on the left and right limbs can be realized.

Further, as a preferred embodiment of the present embodiment, as shown in fig. 3 and 4, the first transmission mechanism 7 includes a main transmission shaft 701, a transmission assembly 702 connected to the main transmission shaft 701, and a rocker arm shaft 703 connected to a power output end of the transmission assembly 702, one end of the rocker arm portion 101 is connected to the rocker arm shaft 703 and can rotate around an axis of the rocker arm shaft 703, and the second transmission mechanism 3 is connected to the main transmission shaft 701; the second transmission mechanism 3 includes at least a sprocket structure 301 connected to the main transmission shaft 701 and a chain structure 302 connected to the tread portion 201; the sprocket structure 301 is interlocked with the chain structure 302 and the stepping portion 201 so that the rotation of the sprocket structure 301 and the up-and-down movement of the stepping portion 201 are synchronized.

Specifically, as shown in fig. 5 and 6, the transmission assembly 702 includes a first-stage transmission gear 7021, a second-stage transmission gear 7022, a third-stage transmission gear 7023, and a fourth-stage transmission gear 7024, which are sequentially engaged, the first-stage transmission gear 7021 is connected to the main transmission shaft 701, and the fourth-stage transmission gear 7024 is connected to the rocker shaft 703; the secondary transmission gear set 7022 and the tertiary transmission gear set 7023 both comprise two gears which are coaxially and fixedly arranged, and the specific connection relationship is that a main transmission shaft 701 is meshed with a primary gear, a primary transmission gear 7021 is meshed with a gearwheel of the secondary transmission gear set 7022, a pinion of the secondary transmission set is meshed with a gearwheel of the tertiary transmission set, a pinion of the tertiary transmission set is meshed with a quaternary transmission gear 7024, and finally the transmission ratio of the transmission assembly 702 is (20: 1) - (35: 1).

Specifically, as shown in fig. 4 and 5, the sprocket structure 301 includes a first sprocket fixedly disposed on the main transmission shaft 701 and a second sprocket disposed on the fixing frame 802; the chain structure 302 comprises a chain meshed with the first chain wheel and the second chain wheel respectively, and the stepping part 201 is fixedly connected with one side of the chain; the main transmission shaft 701 rotates, and the first chain wheel drives the chain to rotate, so that the treading portion 201 moves up and down along with the chain.

In the present embodiment, the first transmission mechanism 7 and the second transmission mechanism 3 are linked through the main transmission shaft 701, and by designing the size and the position of each gear in the transmission assembly 702 and the transmission ratio and by jointly designing the stroke of the pedal portion 201, the swing limit of the swing arm portion 101 corresponds to the up-down movement limit of the pedal portion 201, so that the swing of the swing arm portion 101 and the up-down movement of the pedal portion 201 are coordinated, and further, the upper limb and the lower limb are coordinated when the human body exercises.

Further, as a preferred embodiment of this embodiment, as shown in fig. 1 and fig. 2, the rocker arm portion 101 at least includes a rocker arm rod body, one end of the rocker arm rod body is fixedly connected to the rocker shaft 703, the other end of the rocker arm rod body is provided with a handle 102, and the handle 102 is bent relative to the rocker arm rod body, so as to facilitate grasping by an operator during exercise.

Specifically, the rocker arm body of rod adopts scalable design, and the rocker arm body of rod adopts nested loop bar structure in proper order step by step, carries out fixed connection through bolt assembly between the adjacent loop bar, and the preferred rocker arm body of rod adopts the nested loop bar of two-stage, is equipped with the interval on the body of rod of loop bar and corresponds the screw hole of arranging, is connected through bolt and screw hole between the body of rod and realizes fixing.

Alternatively, the adjacent nested loop bars can be clamped by an elastic clamping piece.

In this embodiment, the length of the rocker arm body can be flexibly adjusted according to the length of the arm of the operator, the design is more humanized, and the application range is wider.

Further, as a preferred embodiment of the present embodiment, the unilateral training portion further includes a power mechanism 5, and the power mechanism 5 is connected to the first transmission mechanism 7 and the second transmission mechanism 3, respectively, and is used for controlling the first transmission mechanism 7 or the second transmission mechanism 3 to move.

In the present embodiment, the power mechanism 5 is additionally provided, so that the active operation of the device is realized, and the device is suitable for the passive movement of the operator, that is, the operator does not input strength, but the active movement of the device drives the operator to perform passive exercise, and is suitable for patients who are used for improving the body strength of upper limbs and lower limbs.

Further, as a preferred embodiment of the present embodiment, the unilateral exercise part further includes a control mechanism 10 electrically connected to the power mechanism 5.

Specifically, the power mechanism 5 preferably adopts a motor, a power output shaft of the motor is connected with the main transmission shaft 701 through a coupler, the control mechanism 10 is electrically connected with the power mechanism 5, and the control mechanism 10 controls the movement and the stop of the motor and can control the power output direction of the motor; the control mechanism 10 is disposed on the first support 8021; the control means 10 is preferably a computer.

When the device is used, firstly, the motor is started through the control mechanism 10, power is transmitted to the main transmission shaft 701 through the power output shaft, the power is transmitted to the first transmission mechanism 7 and the second transmission mechanism 3 through the main transmission shaft 701 respectively, and finally transmitted to the upper limb training mechanism 1 and the lower limb training mechanism 2 respectively, so that the rocker arm rod body performs forward and backward reciprocating arc push-pull motion, and the pedal performs up and down reciprocating motion; control mechanism 10 can control the rotation direction of motor, set for the swing angle of the rocking arm body of rod and the displacement distance of footboard through control mechanism 10, when the rocking arm body of rod swings to extreme position and footboard and moves to extreme position, the motor reversal, make rocking arm body of rod realize reverse swing and footboard reverse movement, when the rocking arm body of rod swings to reverse extreme position, the footboard removes when reverse extreme position simultaneously, the rotation direction of motor changes once more, go on repeatedly in this order, realize the reciprocating motion of the rocking arm body of rod, and then drive the upper limbs and stretch the exercise, realize the up-and-down reciprocating motion of footboard simultaneously, and then drive the extension of low limbs and take exercise.

In the specific lower limb exercise process, when the motor starts to rotate, the first chain wheel rotates at the same time, so as to drive the chain to rotate, and the treading part 201 moves at the same time and moves upwards or downwards; when the rocker arm rod body swings to the limit position, the stepping part 201 moves to the limit position (the uppermost part or the lowermost part) at the same time, the motor rotates reversely, and the chain rotates reversely to drive the stepping part 201 to move reversely; when the rocker arm body swings to the reverse limit position, the stepping part 201 moves to the reverse limit position (the uppermost part or the lowermost part) at the same time, the rotation direction of the motor changes again, and the reciprocating movement of the stepping part 201 up and down is realized by repeating the operation, so that the lower limbs are driven to perform telescopic exercise.

In the embodiment, by additionally arranging the power mechanism 5 and the control mechanism 10, an operator can perform passive training and can control the passive training through the control mechanism 10, particularly for patients with injured limbs and needing passive exercise; this trainer drives upper limbs training mechanism 1 and lower limbs training mechanism 2 work simultaneously through a set of motivation mechanism, and overall structure is compacter, is favorable to practicing thrift the cost.

In addition, the control mechanism 10 can control the two sets of unilateral training parts to work in coordination; the control mechanism 10 is provided with three control switches for controlling the operation of the two sets of unilateral training parts, which are respectively a first control switch, a second control switch and a third control switch.

Specifically, when the first control switch or the second control switch is started, only one group of one-side training parts are started to work, namely, only the left one-side training part is started or only the right one-side training part is started to work; when the third control switch is started, the two groups of unilateral training parts work and control the rotation directions of the motors on the two sides to be opposite, so that the coordinated movement of the left limb and the right limb of an operator is realized. This trainer can unilateral or both sides start work, and the design is more humanized, and application scope is wider.

Further, as a preferred embodiment of this embodiment, as shown in fig. 3, the unilateral training portion further includes a damping mechanism 4, and the damping mechanism 4 is connected to the first transmission mechanism 7 or the second transmission mechanism 3 and is configured to provide a damping force for the movement of the first transmission mechanism 7 or the second transmission mechanism 3.

Specifically, the damping mechanism 4 includes an electromagnetic damper 402 and a belt transmission structure 401 connected to the main transmission shaft 701, and the belt transmission structure 401 includes a first belt pulley fixed to an output end of the electromagnetic damper 402, a second belt pulley fixed to an output shaft of the motor, and a belt engaged with the first belt pulley and the second belt pulley.

In the present embodiment, the damping mechanism 4 is provided mainly for the active training of the operator. In the active exercise mode, the upper limb and the lower limb of the operator actively output power, the upper limb holding handle 102 forcibly pushes and pulls the rocker arm rod body, the lower limb forcibly treads the pedal part 201, and the upper limb training mechanism 1 is linked with the lower limb training mechanism 2, so that the active exercise of the upper limb and the lower limb is realized.

Further, as a preferred embodiment of the present embodiment, the resistance of the electromagnetic damper can be adjusted and set by the control mechanism 10, and the adjustment setting of the resistance includes a constant resistance setting, a stepwise increasing resistance setting, and a low resistance-high resistance cyclic resistance setting; the constant resistance setting enables the electromagnetic damper to provide constant resistance in the movement process after the resistance is set through the control mechanism 10 (computer coding); the stepped increasing resistance is set by computer coding, so that the resistance provided by the electromagnetic damper is stepped increasing along with the movement time, and the resistance is gradually increased in the movement process; the low resistance-high resistance cyclic resistance setting is encoded by a computer, so that the resistance provided by the electromagnetic damper is in low resistance and high resistance cyclic change along with time, and low resistance and high resistance cyclic operation is realized in the motion process.

In the embodiment, an operator can select a proper resistance setting mode according to the self health condition or the self exercise purpose, so that the exercise is purposefully performed, the exercise effect is improved, the recovery time is favorably shortened, and the design is more humanized.

Further, as a preferred embodiment of this embodiment, as shown in fig. 2 and fig. 3, the unilateral training portion further includes a sensing mechanism disposed on the treading portion 201 and a control mechanism electrically connected to the sensing mechanism, the control mechanism is a control mechanism 10 for controlling the power mechanism 5, the sensing mechanism is used for sensing the treading force applied to the treading portion 201, and the control mechanism 10 is used for adjusting the magnitude of the damping force provided by the damping mechanism 4 according to the sensing result of the sensing mechanism.

Specifically, the sensing mechanism at least comprises a pressure sensor arranged on the pedal portion 201, when an operator performs active movement, the lower limb exerts force on the pedal portion 201, the force is transmitted to the pressure sensor from the pedal portion 201, the pressure sensor transmits a signal to the control mechanism 10, and the control mechanism 10 can control the damping mechanism 4 to adjust the resistance.

When the device is used, an operator carries out active training, the lower limbs of the operator exert force on the pedal portion 201, the electromagnetic damper gradually increases resistance in the moving process of the pedal portion 201, the maximum resistance of the lower limbs of the operator can be measured until the operator can only exert force to complete one pedal movement, and then training resistance can be set according to the percentage value of the maximum resistance in the training process.

Further, as a preferred embodiment of the present embodiment, as shown in fig. 2 and fig. 3, the lower limb training mechanism 2 further comprises a guiding structure 9 connected to the fixing structure 8, the guiding structure extends along a second motion track, and the stepping part 201 is slidably connected to the guiding structure and can move along the second motion track, that is, the stepping part 201 reciprocates up and down along the length direction of the human body; the guide structure 9 includes a guide bar 901 and a slide table 902 slidably connected to the guide bar 901, and the tread portion 201 is connected to a side portion of the slide table 902.

Specifically, the stepping portion 201 includes a pedal, the pedal is fixed to a side portion of the sliding table 902 and moves along with the sliding table 902, the guide bar 901 is disposed in a direction parallel to the movement direction of the lower limb, and both ends of the guide bar 901 are fixed to the fixing frame 802.

During the use, operator's low limbs footboard, the footboard drives slip table 902 to slide along the pole of guide bar 901, and guide structure 9 plays the effect of stabilizing and direction to the removal of footboard, makes the motion more steady.

Further, as a preferred embodiment of the present embodiment, as shown in fig. 2 and 3, the rehabilitation exercise robot further includes a distance measuring structure connected to the guide bar 901 and used for measuring the distance moved by the stepping part 201.

Specifically, the distance measuring structure includes the measuring tape that is equipped with the scale, and the measuring tape sets up along the moving direction of footboard, and the measuring tape sets up along the body of rod length direction of guide bar 901 promptly, and the measuring tape is fixed in on the body of rod of guide bar 901.

Alternatively, the distance measuring structure is a guide bar 901 provided with scales, and the distance moved by the pedal is measured by the distance moved by the slide table 902 relative to the guide bar 901.

In the embodiment, by providing the distance measurement structure, the sliding distance of the lower limb can be observed and calculated conveniently, and the health condition of the operator can be acquired through data.

Further, as a preferred embodiment of the present embodiment, as shown in fig. 2 and 3, the rehabilitation exercise robot further includes a moving mechanism 13, the moving mechanism 13 is connected with the fixed structure 8, and the moving mechanism 13 is used for supporting the fixed structure 8 and is capable of moving relative to the ground.

In the embodiment, the moving mechanism 13 is mainly arranged to solve the problem that the rehabilitation exercise robot is difficult to transport, and although the device is arranged on the bed body for use, the device has a large number of parts in the transporting process, so that the whole device has a large volume and a large weight, which brings great difficulty to the transporting; through setting up moving mechanism, the device is whole to be removed subaerial for the position of device shifts more conveniently, swiftly, is favorable to practicing thrift manpower and physical power, improves work efficiency.

Further, as a preferred embodiment of the present embodiment, as shown in fig. 2 and 3, the moving mechanism includes a first moving frame 1301 connected to the fixed structure 8, a second moving frame 1302 connected to a lower portion of the first moving frame 1301, and a roller 1303 disposed at a lower portion of the second moving frame 1302; the height of the first moving frame 1301 is adjustable.

Specifically, the first moving frame 1301 is mainly used for being connected with the fixed frame 802 of the fixed structure 8, the first moving frame 1301 at least comprises an upright post, the upright post is telescopic along the length direction of the post body, the telescopic structure can adopt a form of sleeving an inner rod body and an outer rod body, the inner rod body and the outer rod body are locked by an elastic lock button, a hydraulic jacking mode can also be adopted, and the connection is not limited here; the upper part of the upright post is connected with the fixed frame 802, the lower part of the upright post is connected with the second movable frame 1302, and the second movable frame 1302 is transversely arranged on the ground and is mainly used for supporting the upper part of the whole device on the ground; the rollers 1303 are mounted on the lower portion of the second movable frame 1302, so that the whole device can move, and the rollers 1303 have a locking function, so that the rollers 1303 can be prevented from moving accidentally, and the device is safer.

Further, as a preferred embodiment of the present embodiment, as shown in fig. 2 and fig. 3, the rehabilitation exercise robot further includes a display 12, the display 12 and the control mechanism 10 are an integrated structure, the display 12 is capable of displaying exercise modes, for example, a passive mode when the motor outputs power, and an active mode when the motor does not output power; the display 12 can also display the resistance, and in the active mode, when the pressure sensor senses the pedal pressure, the pressure data and the movement speed data of the motor are calculated by computer coding, and the power can be displayed; the display 12 can also display the movement speed, when the upper and lower limbs move, the movement information is transmitted to the motor, and the movement time can be displayed through the calculation of the motor code; the display 12 is also capable of displaying the time of the movement and may record the time and interval at which the movement begins and ends.

Further, as a preferred embodiment of the present embodiment, the rehabilitation exercise robot further includes an emergency stop mechanism 6, the emergency stop mechanism 6 is provided with a first emergency stop button 601 and a second emergency stop button 602, the first emergency stop button 601 is disposed on one side of the fixing frame 802 (specifically, the first support 8021) close to the handle 102, the second emergency stop button 602 is disposed on the outside of the second support 8022 or on the housing outside the motor, when an emergency occurs during the use of the apparatus, the operator or an attendant can immediately press any one of the emergency stop buttons, the apparatus will be immediately powered off, the power and the resistance are stopped to be provided, and then countermeasures are taken according to the situation of the operator.

The foregoing is considered as illustrative only of the preferred embodiments of the invention, and is presented merely for purposes of illustration and description of the principles of the invention and is not intended to limit the scope of the invention in any way. Any modifications, equivalents and improvements made within the spirit and principles of the invention and other embodiments of the invention without the creative effort of those skilled in the art are included in the protection scope of the invention based on the explanation here.

Claims

1. The utility model provides a recovered motion robot for set up on the bed body, its characterized in that includes a set of unilateral training portion at least, unilateral training portion includes: a first transmission mechanism, a second transmission mechanism, an upper limb training mechanism and a lower limb training mechanism, wherein,

2. The rehabilitation motion robot of claim 1, wherein the first motion trajectory is an arc-shaped trajectory, and the second motion trajectory is a straight-line trajectory extending in an up-down direction.

3. The rehabilitation exercise robot of claim 1, wherein the unilateral training portion further comprises a fixation structure, the fixation structure at least comprising a fixation portion for connecting with the bed body; the first transmission mechanism, the upper limb training mechanism, the second transmission mechanism and the lower limb training mechanism are connected with the fixing structure.

4. The rehabilitation motion robot of claim 3, wherein the unilateral training portion further comprises a guide structure coupled to the fixed structure, the guide structure extending along a second motion path, and the tread portion is slidably coupled to the guide structure and movable along the second motion path.

5. The rehabilitation motion robot of claim 3, further comprising a moving mechanism coupled to the fixed structure, the moving mechanism supporting the fixed structure and being movable relative to the ground.

6. The rehabilitation motion robot of any one of claims 1-5, wherein the first transmission mechanism comprises a main transmission shaft, a transmission assembly connected to the main transmission shaft, and a rocker shaft connected to a power output end of the transmission assembly, one end of the rocker arm portion is connected to the rocker shaft and can rotate around an axis of the rocker shaft, and the second transmission mechanism is connected to the main transmission shaft.

7. The robot of claim 6, wherein the second transmission mechanism includes at least a sprocket structure connected to the main transmission shaft and a chain structure connected to the stepping part; the chain structure is linked with the chain wheel structure and the treading part, so that the rotation of the chain wheel structure and the up-and-down movement of the treading part are synchronously carried out.

8. The rehabilitation exercise robot of any one of claims 1-5, wherein the unilateral training portion further comprises a power mechanism, and the power mechanism is respectively connected with the first transmission mechanism and the second transmission mechanism and is used for controlling the first transmission mechanism or the second transmission mechanism to move.

9. The rehabilitation motion robot of any one of claims 1-5, wherein the unilateral training component further comprises a damping mechanism coupled to the first transmission mechanism or the second transmission mechanism and configured to provide a damping force for movement of the first transmission mechanism or the second transmission mechanism.

10. The robot of claim 9, wherein the unilateral exercise device further comprises a sensing mechanism disposed on the treading unit and a control mechanism electrically connected to the sensing mechanism, the sensing mechanism is configured to sense a treading force applied to the treading unit, and the control mechanism is configured to adjust a damping force provided by the damping mechanism according to a sensing result of the sensing mechanism.