CN105411814A - Stepping device and gait rehabilitation training robot with same - Google Patents
Stepping device and gait rehabilitation training robot with same Download PDFInfo
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- CN105411814A CN105411814A CN201511033068.0A CN201511033068A CN105411814A CN 105411814 A CN105411814 A CN 105411814A CN 201511033068 A CN201511033068 A CN 201511033068A CN 105411814 A CN105411814 A CN 105411814A
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- chute board
- pull bar
- motor wheel
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- 230000005021 gait Effects 0.000 title claims abstract description 33
- 210000002683 foot Anatomy 0.000 claims description 35
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 15
- 230000007423 decrease Effects 0.000 claims description 14
- 208000020442 loss of weight Diseases 0.000 claims description 14
- 210000003423 ankle Anatomy 0.000 claims description 13
- 230000000638 stimulation Effects 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 9
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 7
- 230000000630 rising effect Effects 0.000 claims description 5
- 230000003028 elevating effect Effects 0.000 description 27
- 206010033799 Paralysis Diseases 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 4
- 230000036541 health Effects 0.000 description 4
- 230000007935 neutral effect Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010019196 Head injury Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 241000406668 Loxodonta cyclotis Species 0.000 description 1
- 206010033892 Paraplegia Diseases 0.000 description 1
- 206010037714 Quadriplegia Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 208000030886 Traumatic Brain injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007794 irritation Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 230000004936 stimulating effect Effects 0.000 description 1
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
- 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
- A61H1/0218—Drawing-out devices
- A61H1/0229—Drawing-out devices by reducing gravity forces normally applied to the body, e.g. by lifting or hanging the body or part of it
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—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
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N1/00—Electrotherapy; Circuits therefor
- A61N1/18—Applying electric currents by contact electrodes
- A61N1/32—Applying electric currents by contact electrodes alternating or intermittent currents
- A61N1/36—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation
- A61N1/36003—Applying electric currents by contact electrodes alternating or intermittent currents for stimulation of motor muscles, e.g. for walking assistance
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
- A63B23/0458—Step exercisers without moving parts
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/08—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for ankle joints
-
- 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)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention provides a stepping device and a gait rehabilitation training robot with the device. The stepping device comprises a pelma gait driving structure. The pelma gait driving structure comprises a motor wheel, a push-pull rod, a chute board, and a pedal structure. One end of the push-pull rod is connected with the motor wheel, and the other end is slidably connected with the chute board. The pedal structure comprises a pedal connecting rod, a sliding support, and a pedal. One end of the pedal connecting rod is hinged with the push-pull rod, and the other end is fixedly connected with the sliding support. The sliding support can slide on the chute board. The pedal is installed on the pedal connecting rod. Through rotation of the motor wheel, the other end of the push-pull rod is driven to slide back and forth on the chute board. When the motor wheel rotates, the end of the push-pull rod connected with the motor wheel is driven to rise or fall, and after the push-pull rod rises to preset height, the push-pull rod is abutted against the pedal connecting rod, and the push-pull rod and the pedal connecting rod rise together. After the push-pull rod falls to preset height, the push-pull rod is separated from the pedal connecting rod. The stepping device can realize normal walking motion of lifting feet above ground.
Description
Technical field
The present invention relates to a kind of medical rehabilitation apparatus helping paralysed patient to recover walking movement function, particularly relate to a kind of step device and there is the gait rehabilitation training robot of this device.
Background technology
Apoplexy, craniocerebral injury hemiplegia, paraplegia after spinal cord injury, quadriplegia, all because there is walking movement dysfunction, can't take care of oneself, and has a strong impact on the quality of life of patient, causes white elephant also to patient home and society.Exploration improves the handicapped rehabilitation technique of patient's walking movement and equipment, is the direction that rehabilitation worker makes great efforts to research and develop always.
Along with the progress of science and technology, intellectualized technology is constantly dissolved among rehabilitation equipment.Namely the appearance of some recovery exercising robots on current medical market is that it embodies.But, the walking rehabilitation training robot on market, one is vola booster type ambulation training robot, its shortcoming be foot on the ground (namely in same level) move back and forth, foot is not lifted away from ground, has gap with normal gait posture.Another kind is ectoskeleton posture walking rehabilitation training robot, and its shortcoming is that wearing bothers, " added " is time-consuming, and is passive rehabilitation and the motion problems that can't resolve drop foot.
Summary of the invention
In view of the above, the present invention research and develop a kind of mark time training time sole can the gait rehabilitation training robot of lifting; Especially, the present invention is necessary to provide a kind of step device be applied in this gait rehabilitation training robot.
A kind of step device, comprise vola gait drives structure, vola gait drives structure comprises motor wheel, push-pull bar, chute board and pedal structure, push-pull bar one end is connected to motor wheel, the other end is connected to chute board slidably, pedal structure comprises pedal rod, sliding support and pedal, pedal rod one end is hinged on push-pull bar, the affixed sliding support of the other end, sliding support is slidably disposed on chute board, pedal is arranged on pedal rod, the other end of push-pull bar is driven to reciprocatingly slide on chute board by the rotation of motor wheel, motor wheel synchronously drives when rotating and one end be connected with motor wheel of push-pull bar rises or declines, make to support described pedal rod during push-pull bar rising preset height to rise together, be separated with described pedal rod during push-pull bar decline preset height, after being separated, push-pull bar continues to decline, pedal rod is slided by sliding support and supports on slide plate.
Further, described pedal structure comprises ankle joint drives structure, ankle joint drives structure comprises foot pedal support frame and ankle motion actuator, foot pedal support frame is fixedly mounted on pedal rod, foot pedal support frame is provided with described pedal by joint, ankle motion actuator one end is hinged on pedal rod, and the hinged described pedal of the other end, in order to the swing driving pedal to do relative foot pedal support frame.
Further, described foot pedal support frame comprises a base plate and is vertically connected to the side plate at base plate two ends, and the affixed described pedal rod of base plate, installs pedal by joint between biside plate.
Further, described pedal comprises footmuff and is vertically arranged on the linking arm of footmuff both sides and is arranged on footmuff bottom surface and is positioned at the hinged seat of one end, footmuff bottom surface, footmuff is hinged with the biside plate of foot pedal support frame respectively by two linking arms, described ankle motion actuator is cylinder or electronic screw mandrel, one end of cylinder is hinged on one end of pedal rod, and the hinged seat of the footmuff bottom surface of the other end and pedal is hinged.
Further, described pedal structure comprises pick-and-place device further, and described pick-and-place device comprises movable jaw, and described movable jaw is arranged on the bottom of pedal rod and is close to described sliding support.
Further, described chute board offers the guide groove coordinating push-pull bar, the slide rail coordinating sliding support, coordinate the guide groove of push-pull bar to be positioned at chute board one end away from motor wheel, coordinate the slide rail of sliding support to be positioned at one end of close motor wheel.
Further, described chute board gradient adjustment structure is arranged on the below of chute board, in order to regulate the gradient on chute board surface.
Further, described chute board gradient adjustment structure comprises fixed base plate, curved support plate and gradient driving mechanism, curved support plate is arranged on below chute board, the two ends of curved support plate are supported on the two ends of chute board bottom surface respectively, the minimum cambered surface place of curved support plate is connected rotationally with fixed base plate, driving mechanism comprises telescoping cylinder or electronic screw mandrel, and one end of gradient driving mechanism is hinged on fixed base plate, on one end that the other end is hinged on sliding panel bottom surface or curved support plate.
A kind of gait rehabilitation training robot, comprise base, step device, pelvic movement fixture, functional electrical stimulation device and weight reducing device, step device is arranged in base, weight reducing device is arranged on the one end on base, pelvic movement fixture is connected with loss of weight frame by locking joint, functional electrical stimulation device is fixedly mounted on the fixed mount of pelvic movement fixture, step device comprises vola gait drives structure, vola gait drives structure comprises motor wheel, push-pull bar, chute board and pedal structure, push-pull bar one end is connected to motor wheel, the other end is connected to chute board slidably, pedal structure comprises pedal rod, sliding support and pedal, pedal rod one end is hinged on push-pull bar, the affixed sliding support of the other end, sliding support can slide on chute board, pedal is arranged on pedal rod, the other end of push-pull bar is driven to reciprocatingly slide on chute board by the rotation of motor wheel, drive when simultaneously motor wheel rotates and one end be connected with motor wheel of push-pull bar rises or declines, make to support described pedal rod during push-pull bar rising preset height to rise together, be separated with described pedal connecting rod during push-pull bar decline preset height, after being separated, push-pull bar continues to decline, pedal rod is slided by sliding support and supports on slide plate.
Further, described pedal structure comprises ankle joint drives structure, ankle joint drives structure comprises foot pedal support frame and ankle motion actuator, foot pedal support frame is fixedly mounted on pedal rod, foot pedal support frame is provided with described pedal by joint, ankle motion actuator one end is hinged on pedal rod, and the hinged described pedal of the other end, in order to the swing driving pedal to do relative foot pedal support frame.
Further, described pelvic movement fixture is arranged in the vertical rod of loss of weight frame, pelvic movement fixture comprises rotary self-locking joint, fixed mount, fixed mount lifting structure, fixed bar base and fixed bar, the rotational structure of the existing common joints in rotary self-locking joint, there is again self-locking structure during fixed mount working position, its hollow part is enclosed within the vertical rod of loss of weight frame regularly, the elevating screw of the affixed fixed mount lifting structure in its periphery, described fixed mount lifting structure comprises the elevating screw be arranged on rotary self-locking joint, be arranged on the elevating screw cover on fixed mount and wind, elevating screw one end is fixed in the periphery in rotary self-locking joint, the other end is set in elevating screw cover by threaded engagement, wind rotates in order to drive elevating screw to overlap, thus drive the fixed mount being connected with elevating screw cover to be elevated (particularly, thread bush can be installed at elevating screw cover, thread bush is set on elevating screw rotationally, rotated by wind, thread bush wire winding rod is driven to rotate, thus drive the lifting of elevating screw cover, further, between elevating screw and elevating screw cover, groove latch structure is set, elevating screw cover can only be elevated, can not rotate), fixed mount is fixed in the outer circumferential side of elevating screw cover, and fixed mount is rectangle or square, and it relative two has fixed bar base and functional electrical stimulation device on the surface respectively.
Further, the fixed bar of described pelvic movement fixture is 2, in circular arc, is connected with fixed bar base by screw structure, and by wind realize close or from motion.
Further, described gait rehabilitation training robot comprises functional electrical stimulation structure, and described functional electrical stimulation structure installment away from rotary self-locking joint, and is in the direction opposing with fixed bar base at fixed mount.
Beneficial effect of the present invention, gait rehabilitation training robot of the present invention drives the other end of push-pull bar to reciprocatingly slide on chute board by the rotation of motor wheel, drive when simultaneously motor wheel rotates and one end be connected with motor wheel of push-pull bar rises or declines, make to support described pedal rod during push-pull bar rising preset height to rise together, be separated with described pedal rod during push-pull bar decline preset height, after being separated, push-pull bar continues to decline, pedal rod is slided by sliding support and supports on slide plate, so, pedal on pedal rod rises together with pedal rod or declines, the passive lifting of a sole under driven by motor can be realized, another sole is in " ground " passive slip.When motor wheel is in neutral, and when patient initiatively lifts lower limb, by the movable jaw on pedal rod, catch push-pull bar and one the samely to lift, drive the motor wheel of neutral to rotate, realize a sole initiatively lifting, another sole is in " ground " active slip.
Accompanying drawing explanation
Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to be illustrated more clearly in technical scheme of the present invention, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, accompanying drawing in description is only correspond to specific embodiments of the invention, to those skilled in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings when needing.
Fig. 1 is the perspective view of present pre-ferred embodiments gait rehabilitation training robot;
Fig. 2 is the perspective view of the step device of the gait rehabilitation training robot shown in Fig. 1;
The decomposing schematic representation (only section components being shown) that Fig. 3 is the step device shown in Fig. 2;
Fig. 4 is the schematic diagram of the pick-and-place device on the step device shown in Fig. 2;
Fig. 5 is the trajectory diagram of the foot when rehabilitation training of the gait rehabilitation training robot shown in Fig. 1;
The structural representation of the pelvic movement fixture that Fig. 6 is the gait rehabilitation training robot shown in Fig. 1.
Detailed description of the invention
In order to elaborate the technical scheme that the present invention takes for reaching predetermined technique object, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only section Example of the present invention, instead of whole embodiments, and, under the prerequisite not paying creative work, technological means in embodiments of the invention or technical characteristic can be replaced, below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
Refer to Fig. 1 and Fig. 2, a kind of gait rehabilitation training robot, comprise base 1, step device 2, weight reducing device 3, pelvic movement fixture 4 and functional electrical stimulation device 5, step device 2 is arranged in base 1, to impel or to coordinate paralysed patient to carry out marking time rehabilitation training, weight reducing device 3 is arranged on the one end on base 1, alleviates in order to paralysed patient the weight that health presses down leg when carrying out rehabilitation training.
Base 1 comprises pedestal 11 and is connected to the guide table 12 of pedestal 11 one end, so that wheelchair is pushed on pedestal 11.Pedestal 11 offers the screens hole 111 of the roller screens for wheelchair, so that wheelchair fixes wheelchair after pushing to pedestal 11.In base 11, step device 2 is installed, and base 11 end face is provided with the mating groove 112 and space 113 of marking time that coordinate step device 2.
Refer to Fig. 2, Fig. 3, step device 2 comprises vola gait drives structure and chute board gradient adjustment structure, vola gait drives structure comprises motor wheel 21, two push-pull bar 22, chute board 23 and pedal structure 24, motor wheel 21 is the rotating disk by motor or the driving of other driving devices around its central rotation, comprise disk body 211 and two projections 212, two projections 212 to be arranged in the relative card of disk body 211 and to be respectively adjacent to the periphery of disk body 211, and two projections 212 are positioned at the two ends diametrically of disk body 211.Each projection 212 connects one end of a push-pull bar 22.Motor wheel 21 can be arranged on a bracket, and motor wheel 21 rotates not by the interference of bracket.
One end of push-pull bar 22 is set on projection 212, and the other end is connected on chute board 23 slidably.So, when disk body 211 rotates around axial line, by the tandem slip in one end be connected on chute board 23 of drive two push-pull bar 22, and motor wheel 21 rotates to drive on one end be connected with motor wheel 21 of push-pull bar 22 simultaneously and rises or decline.Further, arrange roller 221 in push-pull bar 22 one end be connected on chute board 23, so that the movement of push-pull bar 22 one end on chute board 23, roller 221 can be arranged in the internal-cavity track of chute board 23, thus not easily deviates from from chute board 23.
Chute board 23 offers guide groove 231 and slide rail 232, the former is positioned at the one end away from motor wheel 21, the latter is positioned at one end of close motor wheel 21, guide groove 231 is in order to coordinate one end of push-pull bar 22, push-pull bar 22 is two, then chute board 23 offers two parallel guide grooves 231, in the specific embodiment of the invention, in chute board 23, the below of corresponding guide groove 231 forms internal-cavity track further to coordinate roller 221.Slide rail 232 is in order to coordinate the slide anteroposterior of the sliding support 242 of pedal structure 24.
Pedal structure 24 is two, and corresponding two push-pull bars 22 are installed respectively.Pedal structure 24 comprises pedal rod 241, sliding support 242 and pedal 243.Pedal rod 241 one end is hinged on the one end away from motor wheel 21 on push-pull bar 241, the affixed sliding support 242 of the other end, and sliding support 242 to be slidably mounted on chute board 23 and to be positioned at the top of pedal rod 241.In the present embodiment, the back timber that sliding support 242 comprises two support bars and is connected between two support bars, two support bars are provided with default height, the bottom of two support bars is provided with pulley, on chute board 23, corresponding two slide rails 232 can be slided respectively, and the space between two support bars is passed for push-pull bar 22.Pedal 243, for accommodating the sufficient body of paralysed patient, is arranged on pedal rod 241.So, when the other end that motor wheel 21 rotates drive push-pull bar 22 reciprocatingly slides on chute board 23, motor wheel 21 rotates to drive on one end be connected with motor wheel 21 of push-pull bar 22 simultaneously and rises or decline, when making push-pull bar 22 rise to preset height, push-pull bar 22 supports the back timber of sliding support 242, thus drive one end of described pedal rod 241 to rise together, push-pull bar 22 decline preset height time, the sliding support 242 of one end of pedal rod 241 slides and supports on slide rail 232, thus push-pull bar 22 is separated with the one end of the described pedal rod 241 held, after being separated, push-pull bar 22 continues to decline, pedal rod 241 continues to slide and support by sliding support 242 on slide plate.So, when driving pedal 243 to move forward and backward, pedal 243 can also be driven to be elevated.Paralysed patient is when marking time training, and can realize the passive lifting of a sole under motor wheel 21 drive, another sole, in " ground " passive slip, forms all simulation normal person foot path as described in Figure 5.
Pedal structure 24 comprises ankle joint drives structure 25 further, in order to drive ankle motion when driving vola motion simultaneously.Ankle joint drives structure 25 comprises foot pedal support frame 251 and ankle motion actuator 252, foot pedal support frame 251 to be fixedly mounted on pedal rod 241 and to be positioned at one end of pedal rod 241, foot pedal support frame 251 is provided with described pedal 243 by joint, ankle motion actuator 252 one end is hinged on pedal rod 241, on the hinged described pedal 24 of the other end, in order to the swing driving pedal 243 to do relative foot pedal support frame 251.In the present embodiment, foot pedal support frame 251 is U-shaped, and comprise a base plate and be vertically connected to the side plate at base plate two ends, the affixed pedal rod 241 of base plate, in order to install pedal 243 between biside plate.Ankle motion actuator 252 can select cylinder or electronic screw mandrel.In the present embodiment, pedal 243 comprises footmuff, is vertically arranged on the linking arm of footmuff both sides, and be arranged on footmuff bottom surface and be positioned at the hinged seat of one end, footmuff bottom surface, pedal 243 is hinged with the biside plate of foot pedal support frame 251 respectively by two linking arms, thus pedal 243 can swing by foot pedal support frame 251 relatively.In the present embodiment, ankle motion actuator 252 selects cylinder, one end of the main body of described cylinder is hinged on one end of pedal rod 241, one end of the piston rod of described cylinder and the hinged seat of pedal 243 bottom surface hinged, stretched by cylinder piston rod, drive pedal 243 to do the swing of relative foot pedal support frame 251.Pedal 243 is provided with rope band further, for tying up foot at pedal 243.
Pedal structure 24 comprises pick-and-place device 26 further, (drive without the need to motor wheel 21 when doing active training in order to paralysed patient, motor wheel neutral, by means of only pedal of self exerting oneself) drive described push-pull bar 22 to promote, follow rotation with drive motors wheel 21.Refer to Fig. 4, pick-and-place device 26 comprises movable jaw 261, and movable jaw 261 is arranged on the bottom of pedal rod 241 and is close to described sliding support 242, and the height of movable jaw 261 is roughly suitable with the height of described sliding support 242.Movable jaw 261 comprises relative grip block 2611, two grip block 2611 upper end by hinge, and lower end forms clamp port.Movable jaw 261 can be enclosed within push-pull bar 22, and push-pull bar 22 is provided with the holding tank 222 that movable jaw 261 matches.On patient exerts oneself, lift foot, when drive activity jaw 261 rises, the rising of movable jaw 261, make the inner side at its clamp port place hold sheathed firmly push-pull bar 22, and movable jaw 261 can not open, drive push-pull bar 22 rises by movable jaw 261 together.And when pedal 243 steps on back former horizontal plane, sliding support 242 on pedal rod 241 sliding support on slide rail 232, the strength moved downward by push-pull bar 22, is opened movable jaw 261 suddenly, pedal rod 241 is separated with push-pull bar 22, guarantees that pedal 243 moves on former horizontal plane.
Chute board gradient adjustment structure is arranged on the below of chute board 23, in order to regulate the gradient on chute board 23 surface, makes chute board 23 surface can present domatic, Caused by Sloping Surfaces or plane.Chute board gradient adjustment structure comprises fixed base plate 271, curved support plate 272 and gradient driving mechanism 276, fixed base plate 271 is arranged on below chute board 23, fixed base plate 271 is provided with first hinged protruding 273 and second hinged protruding 274, the two ends of curved support plate 272 are supported on the two ends of chute board 23 bottom surface respectively, the minimum cambered surface of curved support plate 272 is formed with rotating shaft 275, rotating shaft 275 coordinates with first hinged protruding 273, and curved support plate 272 can be rotated relative to fixed base plate 271.Gradient driving mechanism 276 can 275 rotate around the shaft in order to drive arc gripper shoe 272, gradient driving mechanism 276 can select telescoping cylinder, one end of telescoping cylinder 276 is hinged on second hinged protruding 274, the other end is hinged on one end hinged seat of sliding panel 23 bottom surface, stretched by the piston rod of telescoping cylinder, drive chute board 23 275 to rotate around the shaft, thus regulate the gradient on chute board 23 surface.
Please again consult Fig. 1 and Fig. 6, weight reducing device 3 comprises loss of weight frame 31 and is arranged on the loss of weight sling structure 32 on loss of weight frame 31, loss of weight frame 31 is arranged on one end of base 1, comprises two vertical rods 311 and is connected to two vertical rod 311 tops and horizontally disposed bow 312.Loss of weight sling structure 32 hanging, on the bow 312 of loss of weight frame 31, for the health of hanging holding patient, particularly, can be inserted in the health of paralysed patient, alleviate patient when rehabilitation training health to the pressure of leg.
Gait rehabilitation training robot comprises pelvic movement fixture 4 further, pelvic movement fixture 4 is arranged on loss of weight frame wherein in a vertical rod 311, pelvic movement fixture 4 comprises rotary self-locking joint 41, fixed mount 42, fixed mount lifting structure 43, fixed bar base 44 and fixed bar 45, in order to the pelvic area of immobilized patients relative to patient trains, patient's pelvic movement is made to be limited to certain limit.The rotational structure of the existing common joints in rotary self-locking joint 41, has again self-locking structure during fixed mount 42 working position, and its hollow part is enclosed within the vertical rod 311 of loss of weight frame regularly, the affixed fixed mount lifting structure 43 in its periphery.Described fixed mount lifting structure 43 comprises the elevating screw 431 be arranged on rotary self-locking joint 41, be arranged on the elevating screw cover 432 on fixed mount 42 and wind 433, elevating screw 431 one end is fixed in the periphery in rotary self-locking joint 41, the other end is set in elevating screw cover 432 by threaded engagement, wind 433 overlaps 432 liftings (particularly in order to drive elevating screw, thread bush can be installed in elevating screw cover 432, thread bush is set on elevating screw 431 rotationally, rotated by wind 433, thread bush wire winding rod is driven to rotate, thus drive elevating screw cover 432 lifting.Further, can be provided with the groove latch structure guiding elevating screw cover 432 lifting between elevating screw 431 and elevating screw cover 432, making elevating screw overlap 432 can only be elevated, and can not rotate), thus drive fixed mount 42 to be elevated.Fixed mount 42 is fixed in the outer circumferential side of elevating screw cover 432, and fixed mount 42 is rectangle or square, and it relative two has fixed bar base 44 and functional electrical stimulation device 5 on the surface respectively.Fixed bar 45 is 2, in circular arc, is arranged on fixed bar base 44 by screw structure, and is rotated by the wind on fixed bar base, drive two fixed bars 45 do close or from motion.
Functional electrical stimulation device 5, for electrically stimulating the paralysis position of patient, as the related muscles of leg, forms strength during leg walking.Functional electrical stimulation device 5 can be arranged on fixed mount 42 one side away from rotary self-locking joint, and is in the direction opposing with fixed bar base.Gait rehabilitation training robot comprises virtual reality device (not shown) and turn-key system further, virtual reality device is for presenting the relevant parameter information of paralysed patient when rehabilitation training, as cadence, vola power-assisted, ankle moving angle, electricity irritation information, loss of weight information etc., relevant information can with sound, as form show.General control system is in order to carry out overall control to vola gait drives structure, chute board gradient adjustment structure, weight reducing device 3 and functional electrical stimulation structure 5.
Paralysed patient is when carrying out gait rehabilitation training, a kind of mode is the passive exercise under motor wheel drives, motor wheel 21 rotates, push-pull bar 22 is driven one in front and one in back to reciprocatingly slide on chute board 23, thus drive pedal structure 24 one in front and one in back to reciprocatingly slide on chute board 23, motor wheel 21 rotates to drive on one end be connected with motor wheel 21 of push-pull bar 22 simultaneously and rises or decline, when making push-pull bar 22 rise to preset height, push-pull bar 22 supports pedal structure 24, pedal 243 is driven to rise, push-pull bar 22 decline preset height time, one end of pedal rod 241 is subject to sliding support 242 and supports, thus push-pull bar 22 is separated with the described pedal rod 241 held, pedal structure 24 returns back on chute board 23 and slides, thus realize half elliptic footplate locus, make run trace and the paces identical (Fig. 5 is consulted in combination) of normally walking.In addition, when marking time, pedal 243 is driven to do the swing of relative foot pedal support frame 251 by ankle joint drives structure 25, realize the activity of ankle joint, the activity of ankle is made to meet the event trace of ankle joint when normally walking, final foot's track and the ankle moving situation simulating people when normally walking completely, thus effective rehabilitation training is played to walking ability.
When paralysed patient carries out gait rehabilitation training, another kind of mode is the active training under motor wheel stops power-assisted (neutral gear), now the foot of people is initiatively lifted away from and marks time, drive push-pull bar 22 rises by the movable jaw 261 of pedal structure 24 together, when the pedal rod 241 of pedal structure 24 returns back to former horizontal plane position, same structure and action during passive exercise under driving with above motor wheel 21, pedal rod 241 is separated with push-pull bar 22, guarantees that pedal 243 moves on primary plane.
To sum up, gait rehabilitation training robot of the present invention is easy to operate, the walking movement that foot is lifted away from the similar normal person on ground can be done, can passive exercise, again can active training, and can ankle motion be realized simultaneously, because chute board has gradient adjustment structure, this step device can be helped to realize level land, ascents and descents 3 kinds of ambulation training patterns.
The above, it is only preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, although the present invention discloses as above with preferred embodiment, but and be not used to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, make a little change when the technology contents of above-mentioned announcement can be utilized or be modified to the Equivalent embodiments of equivalent variations, in every case be do not depart from technical solution of the present invention content, according to technical spirit of the present invention, within the spirit and principles in the present invention, to any simple amendment that above embodiment is done, equivalent replacement and improvement etc., within the protection domain all still belonging to technical solution of the present invention.
Claims (10)
1. a step device, comprise vola gait drives structure, vola gait drives structure comprises motor wheel (21), push-pull bar (22), chute board (23) and pedal structure (24), push-pull bar (22) one end is connected to motor wheel (21), the other end is connected to chute board (23) slidably, it is characterized in that: pedal structure (24) comprises pedal rod (241), sliding support (242) and pedal (243), pedal rod (241) one end is hinged on push-pull bar (22), the affixed sliding support of the other end (242), sliding support (242) is slidably mounted on chute board (23), pedal (243) is arranged on pedal rod (241), the other end of push-pull bar (22) is driven to reciprocatingly slide on chute board (23) by the rotation of motor wheel (21), motor wheel (21) synchronously drives when rotating and one end be connected with motor wheel (21) of push-pull bar (22) rises or declines, make during push-pull bar (22) rising preset height, to support described pedal rod (241) to rise together, be separated with described pedal rod (241) during push-pull bar (22) decline preset height, after being separated, push-pull bar (22) continues to decline, pedal rod (241) is supported upper slip of chute board (23) by sliding support (242).
2. step device according to claim 1, it is characterized in that: described pedal structure (24) comprises ankle joint drives structure (25), ankle joint drives structure (25) comprises foot pedal support frame (251) and ankle motion actuator (252), foot pedal support frame (251) is fixedly mounted on pedal rod (241), foot pedal support frame (251) is provided with described pedal (243) by joint, ankle motion actuator (252) one end is hinged on pedal rod (241), the hinged described pedal (243) of the other end, the swing of relative foot pedal support frame (251) is done in order to fixed pedestal (243) or driving pedal (243).
3. step device according to claim 2, it is characterized in that: described foot pedal support frame (251) comprises a base plate and is vertically connected to the side plate at base plate two ends, the affixed described pedal rod (241) of base plate, installs pedal (243) by joint between biside plate.
4. step device according to claim 3, it is characterized in that: described pedal (243) comprises footmuff, and be vertically arranged on the linking arm of footmuff both sides and be arranged on footmuff bottom surface and be positioned at the hinged seat of one end, footmuff bottom surface, footmuff is hinged with the biside plate of foot pedal support frame (251) respectively by two linking arms, one end of described ankle motion actuator (252) is hinged on one end of pedal rod (241), and the hinged seat of the other end and footmuff bottom surface is hinged.
5. step device according to claim 1 and 2, it is characterized in that: described pedal structure (24) comprises pick-and-place device (26) further, described pick-and-place device (26) comprises movable jaw (261), and described movable jaw (261) is arranged on the bottom of pedal rod (241) and is close to described sliding support (242).
6. step device according to claim 1, it is characterized in that: described chute board (23) offers the guide groove (231) coordinating push-pull bar (22), the slide rail (232) coordinating sliding support (242), coordinate the guide groove (231) of push-pull bar (22) to be positioned at chute board one end away from motor wheel (21), coordinate the slide rail (232) of sliding support (242) to be positioned at one end of close motor wheel (21).
7. step device according to claim 1, is characterized in that: comprise chute board gradient adjustment structure, be arranged on the below of chute board (23), in order to regulate the gradient on chute board (23) surface.
8. step device according to claim 7, it is characterized in that: described chute board gradient adjustment structure comprises fixed base plate (271), curved support plate (272) and gradient driving mechanism (276), curved support plate (272) is arranged on chute board (23) below, the two ends of curved support plate (272) are supported on the two ends of chute board (23) bottom surface respectively, the minimum cambered surface place of curved support plate (272) is connected rotationally with fixed base plate (271), gradient driving mechanism (276) comprises telescoping cylinder or electronic screw mandrel, one end of gradient driving mechanism (276) is hinged on fixed base plate (271), on one end that the other end is hinged on sliding panel (23) bottom surface or curved support plate (272).
9. a gait rehabilitation training robot, comprise base (1) and be arranged on the weight reducing device (3) on base (1), weight reducing device (3) is arranged on the one end on base (1), it is characterized in that: also comprise the step device (2) be arranged in base (1) as described in any one of claim 1 to 8.
10. gait rehabilitation training robot according to claim 9, it is characterized in that: comprise pelvic movement fixture (4) and functional electrical stimulation device (5), described weight reducing device (3) comprises the loss of weight frame (31) be arranged on base (1), pelvic movement fixture (4) is connected with loss of weight frame (31) by locking joint, pelvic movement fixture (4) comprises fixed mount (42) and is slidably mounted in the fixed bar (45) on fixed mount (42), functional electrical stimulation device (5) is fixedly mounted on the fixed mount (42) of pelvic movement fixture (4).
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| CN201511033068.0A CN105411814A (en) | 2015-12-31 | 2015-12-31 | Stepping device and gait rehabilitation training robot with same |
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| CN201511033068.0A CN105411814A (en) | 2015-12-31 | 2015-12-31 | Stepping device and gait rehabilitation training robot with same |
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