CN109674638B - Robot with auxiliary physical therapy function for rehabilitation department - Google Patents
Robot with auxiliary physical therapy function for rehabilitation department Download PDFInfo
- Publication number
- CN109674638B CN109674638B CN201910059040.6A CN201910059040A CN109674638B CN 109674638 B CN109674638 B CN 109674638B CN 201910059040 A CN201910059040 A CN 201910059040A CN 109674638 B CN109674638 B CN 109674638B
- Authority
- CN
- China
- Prior art keywords
- rod
- motor
- massage
- plate
- folding
- 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.)
- Active
Links
- 238000000554 physical therapy Methods 0.000 title claims abstract description 24
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 8
- 230000001360 synchronised effect Effects 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000005452 bending Methods 0.000 claims description 4
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 4
- 230000001737 promoting effect Effects 0.000 abstract description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000001755 vocal effect Effects 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
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H15/0078—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains power-driven
-
- 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
- A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
- A61H2015/0007—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis
- A61H2015/0014—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis cylinder-like, i.e. rollers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1623—Back
-
- 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
-
- 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
- A61H2205/08—Trunk
- A61H2205/081—Back
-
- 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
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 discloses a rehabilitation robot with an auxiliary physiotherapy function, which comprises a fixed bottom plate, a massage component and a flexion-extension component, wherein a supporting bottom plate is arranged in the middle of the upper end face of the fixed bottom plate, a supporting vertical plate is arranged on the upper surface of the supporting bottom plate, the supporting vertical plate is positioned at the edge of the rear side of the upper surface of the supporting bottom plate, and the massage component is arranged above the supporting bottom plate; the massage roller is used for massaging the back of a user, and the second motor and the third motor are started to drive the first connecting rod and the second connecting rod to swing, so that lower limb rehabilitation training is performed on the user, the functions are diversified, and the use requirements of people are met; through starting first cylinder to drive first folding rod and the expansion of second folding rod through the second dead lever, thereby drive massage subassembly back-and-forth movement, can satisfy sitting posture and standing type's rehabilitation training simultaneously, be applicable to different state of an illness and different rehabilitation period patient's demand, the suitability is strong, is worth promoting on a large scale.
Description
Technical Field
The invention relates to the technical field of physiotherapy equipment, in particular to a robot with an auxiliary physiotherapy function for a rehabilitation department.
Background
Physical therapy is a method for preventing and treating diseases by utilizing artificial or natural physical factors to act on human bodies to generate favorable reactions, and is an important content of rehabilitation therapy.
Present recovered branch of academic or vocational study's physiotherapy equipment function is comparatively single, indicates to treat to the single state of an illness usually, and the limitation is great, can not satisfy diversified demand, and the equipment of function singleness means many equipment and uses, and occupation space is big, and most physiotherapy equipment need be artificial supplementary moreover, and is comparatively troublesome, operates inconvenient moreover, and the human input is big.
Disclosure of Invention
The invention aims to provide a rehabilitation robot with an auxiliary physical therapy function, wherein a first motor is matched with a transmission wheel and a synchronous belt for use, so that a massage roller is driven to rotate to massage the back of a user, a second motor and a third motor are started to drive a first connecting rod and a second connecting rod to swing, so that lower limb rehabilitation training is performed on the user, and the function is diversified; drive the second dead lever through first cylinder and remove to drive first folding rod and the expansion of second folding rod, thereby drive the massage subassembly back-and-forth movement, the user can directly sit on supporting baseplate, perhaps hand curved bar stands, can satisfy sitting posture and standing type's rehabilitation training simultaneously, is applicable to the different state of an illness and the demand of different recovered phase patients, and the suitability is strong.
The purpose of the invention can be realized by the following technical scheme:
a robot with an auxiliary physiotherapy function for a rehabilitation department comprises a fixed bottom plate, a massage assembly and a flexion-extension assembly, wherein a supporting bottom plate is arranged in the middle of the upper end face of the fixed bottom plate, a supporting vertical plate is arranged on the upper surface of the supporting bottom plate, the supporting vertical plate is located at the edge of the rear side of the upper surface of the supporting bottom plate, and the massage assembly is arranged above the supporting bottom plate;
a first frame is fixedly installed on the front side surface of the supporting vertical plate, sliding grooves are formed in the inner walls of the two sides of the first frame, a first fixing rod is arranged on the inner side of the first frame, the two ends of the first fixing rod are located in the sliding grooves respectively, two first folding rods are symmetrically arranged on the first fixing rod, the inner sides of the two first folding rods are connected with a second folding rod through a shaft pin, one end of the second folding rod is hinged to the supporting vertical plate, a second fixing rod is vertically fixed between the two second folding rods, the two ends of the second fixing rod are fixedly connected to the middle of the inner side surface of the second folding rod, a first air cylinder is hinged to the middle of the first fixing rod, the output end of the first air cylinder is hinged to the middle of the second fixing rod, and one ends of the first folding rod and the second folding rod are hinged to the massage assembly;
fixed baseplate's preceding side surface fixed mounting has two casings, and two the casing symmetry sets up in the both sides of fixed baseplate preceding side surface, two the outside surface of casing all has the bracing piece through bolt fixed mounting, fixed mounting has two slide bars between the both sides inner wall of casing, fixed baseplate's surface has two first motors through bolt fixed mounting, and two first motor is the symmetric distribution and all is located the inboard of corresponding casing, the output of first motor has the lead screw through shaft coupling fixed mounting, the inboard of casing still is provided with removes the seat, remove the seat cover and locate on two slide bars and two lead screws, the fixed surface who removes the seat is connected with two mounting panels that are parallel to each other, the mounting panel with bend to stretch the subassembly and be connected.
The massage component comprises a second frame, the side wall of the second frame is hinged to a first folding rod and a second folding rod, a back board is fixedly mounted on the front side surface of the second frame, a fourth motor is fixedly mounted on the upper end face of the second frame, two massage rollers are arranged on the inner side of the second frame, the upper end and the lower end of each massage roller are connected with the upper wall and the lower wall of the second frame through rotating shafts respectively, driving wheels are fixedly mounted on the two rotating shafts at the upper ends of the massage rollers respectively and connected with the upper end and the lower wall of the second frame through synchronous belts, and the rotating shafts on the right side are fixedly connected with output shafts of the fourth motors.
Further, the surfaces of the two massage rollers are fixedly connected with a plurality of massage bumps.
Further, both sides of the second frame are connected with a curved bar.
Further, two rectangular through grooves are symmetrically formed in the surface of the backrest plate, and the massage roller extends to the front side of the backrest plate through the through grooves.
The bending and stretching assembly comprises a first connecting rod, a second connecting rod and a foot supporting plate, the outer side surface of the mounting plate is fixedly provided with a second motor, an output shaft of the second motor penetrates through the mounting plate on the outer side and is connected into the mounting plate on the inner side, the upper end of the first connecting rod is arranged between the two mounting plates and is fixedly connected with the output shaft of the second motor, the lower end of the first connecting rod is fixedly provided with a third motor, the lower end of the first connecting rod is hinged to the second connecting rod through the output shaft of the third motor, the second connecting rod is fixedly connected with the output shaft of the third motor, and the foot supporting plate is fixedly arranged at the lower end of the second connecting rod.
Further, two inner side surfaces corresponding to the shells are provided with notches.
Further, two sliding holes and two threaded holes are formed in two side walls of the moving seat, the sliding holes are matched with the sliding rods, and the threaded holes are in threaded fit with the lead screws.
The robot further comprises the following working method:
the method comprises the following steps: starting the first air cylinder, wherein an output rod of the first air cylinder contracts and drives a second fixed rod hinged with the end part of the first air cylinder to move, the second fixed rod drives a first folding rod and a second folding rod to contract, the first folding rod drives the first fixed rod to slide in the sliding groove, and the first folding rod and the second folding rod drive the massage assembly to move backwards and enable the first frame and the second frame to be attached tightly;
a user sits on the supporting bottom plate, the back part of the user is close to the backrest plate, and simultaneously, a fourth motor is started, an output shaft of the fourth motor rotates to drive a rotating shaft fixed with the fourth motor to rotate, the rotating shaft drives a driving wheel fixed with the rotating shaft to rotate, the driving wheel drives another driving wheel to rotate through a synchronous belt, and enables two massage rollers to rotate, and the massage rollers massage the back part of the user;
step three: starting the first air cylinder, wherein an output rod of the first air cylinder extends out and drives a second fixed rod hinged with the end part of the first air cylinder to move, the second fixed rod drives a first folding rod and a second folding rod to unfold, the first folding rod and the second folding rod drive a massage assembly to move forwards, and the massage assembly drives a backrest plate to move forwards and enables the backrest plate to be flush with the surface of the fixed bottom plate;
step four: the first motor is started, the output shaft of the first motor rotates the lead screw to rotate, the lead screw rotates and simultaneously drives the moving seat in threaded fit with the lead screw to move, the moving seat drives the bending and stretching assembly to move to an appointed position, a user steps on a foot supporting plate with feet and respectively starts the second motor and the third motor by using a hand-held stabilizing rod, the output shafts of the second motor and the third motor rotate and respectively drive the first connecting rod and the second connecting rod to swing, and lower limb rehabilitation training is performed on the user.
The invention has the beneficial effects that:
the massage roller is driven to rotate to massage the back of a user by matching the first motor with the transmission wheel and the synchronous belt, and the first connecting rod and the second connecting rod are driven to swing by starting the second motor and the third motor, so that the lower limb rehabilitation training of the user is performed, the degree of automation is high, the operation is convenient, the functions are diversified, and the use requirements of people are met;
drive the second dead lever through first cylinder and remove to drive first folding rod and the expansion of second folding rod, thereby drive the massage subassembly back-and-forth movement, the user can directly sit on supporting baseplate, perhaps hand curved bar stands, can satisfy sitting posture and standing type's rehabilitation training simultaneously, is applicable to the different state of an illness and different rehabilitation period patient's demand, and the suitability is strong, is worth promoting on a large scale.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
FIG. 1 is a perspective view of a robot for a rehabilitation department having an auxiliary physical therapy function according to the present invention;
FIG. 2 is a partial structure view of a robot for a rehabilitation department having an auxiliary physical therapy function according to the present invention;
FIG. 3 is a partial structure view of a robot for a rehabilitation department having an auxiliary physical therapy function according to the present invention;
fig. 4 is a front sectional view of a massage unit of a robot for a rehabilitation department having an auxiliary physiotherapy function according to the present invention.
In the figure: 1. fixing the bottom plate; 2. a support base plate; 3. supporting a vertical plate; 4. a housing; 5. a support bar; 6. a massage assembly; 61. a second frame; 62. a fourth motor; 63. a massage roller; 64. a driving wheel; 65. a synchronous belt; 66. massaging the bumps; 7. a flexion and extension component; 71. a first connecting rod; 72. a second connecting rod; 73. a foot supporting plate; 74. a second motor; 75. a third motor; 8. a backrest plate; 9. a first frame; 90. a chute; 10. a first fixing lever; 11. a first folding bar; 12. a second fixing bar; 13. a first cylinder; 14. a curved bar; 15. a movable seat; 16. a first motor; 17. a lead screw; 18. a slide bar; 19. mounting a plate; 20. and a second folding bar.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-4, a rehabilitation robot with an auxiliary physical therapy function comprises a fixed base plate 1, a massage component 6 and a flexion-extension component 7, wherein a supporting base plate 2 is arranged in the middle of the upper end face of the fixed base plate 1, a supporting vertical plate 3 is arranged on the upper surface of the supporting base plate 2, the supporting vertical plate 3 is positioned at the rear edge of the upper surface of the supporting base plate 2, and the massage component 6 is arranged above the supporting base plate 2;
a first frame 9 is fixedly arranged on the front side surface of the supporting vertical plate 3, sliding grooves 90 are respectively arranged on the inner walls of the two sides of the first frame 9, a first fixing rod 10 is arranged at the inner side of the first frame 9, two ends of the first fixing rod 10 are respectively positioned in the sliding grooves 90, two first folding rods 11 are symmetrically arranged on the first fixing rod 10, the inner sides of the two first folding rods 11 are connected with a second folding rod 20 through a shaft pin, one end of the second folding rod 20 is hinged with the supporting vertical plate 3, a second fixing rod 12 is vertically fixed between the two second folding rods 20, and both ends of the second fixing rod 12 are fixedly connected to the middle of the inner side surface of the second folding rod 20, the middle part of the first fixed rod 10 is hinged with a first cylinder 13, the output end of the first cylinder 13 is hinged with the middle part of a second fixed rod 12, one ends of the first folding rod 11 and the second folding rod 20 are hinged with the massage component 6;
two shells 4 are fixedly arranged on the front side surface of the fixed bottom plate 1, the two shells 4 are symmetrically arranged on two sides of the front side surface of the fixed bottom plate 1, the outer side surfaces of the two shells 4 are fixedly provided with support rods 5 through bolts, two sliding rods 18 are fixedly arranged between the inner walls of the two sides of the shell 4, two first motors 16 are fixedly arranged on the surface of the fixed bottom plate 1 through bolts, the two first motors 16 are symmetrically distributed and are positioned at the inner side of the corresponding shell 4, the output ends of the first motors 16 are fixedly provided with lead screws 17 through couplings, the inner side of the shell 4 is further provided with a moving seat 15, the moving seat 15 is sleeved on two sliding rods 18 and two lead screws 17, two parallel mounting plates 19 are fixedly connected to the surface of the movable base 15, and the mounting plates 19 are connected to the flexing and extending assembly 7.
The massage assembly 6 comprises a second frame 61, the side wall of the second frame 61 is hinged to a first folding rod 11 and a second folding rod 20, a back plate 8 is fixedly mounted on the front side surface of the second frame 61, a fourth motor 62 is fixedly mounted on the upper end surface of the second frame 61, two massage rollers 63 are arranged on the inner side of the second frame 61, the upper and lower ends of the massage rollers 63 are respectively connected with the upper and lower walls of the second frame 61 through rotating shafts, driving wheels 64 are fixedly mounted on two rotating shafts connected to the upper ends of the two massage rollers 63, the driving wheels 64 on the two rotating shafts are connected through a synchronous belt 65, the rotating shaft on the right side is fixedly connected with an output shaft of the fourth motor 62, a plurality of massage bumps 66 are fixedly connected to the surfaces of the two massage rollers 63, the two sides of the second frame 61 are connected with the same curved rod 14, two rectangular through grooves are symmetrically formed in the surface of the backrest plate 8, and the massage roller 63 partially extends to the front side of the backrest plate 8 through the through grooves.
The bending and stretching assembly 7 comprises a first connecting rod 71, a second connecting rod 72 and a foot supporting plate 73, a second motor 74 is fixedly installed on the outer surface of the outer mounting plate 19 positioned on the outer side, an output shaft of the second motor 74 penetrates through the outer mounting plate 19 and is connected into the inner mounting plate 19, the upper end of the first connecting rod 71 is arranged between the two mounting plates 19 and is fixedly connected with the output shaft of the second motor 74, a third motor 75 is fixedly installed at the lower end of the first connecting rod 71, the lower end of the first connecting rod 71 is hinged with the second connecting rod 72 through the output shaft of the third motor 75, the second connecting rod 72 is fixedly connected with the output shaft of the third motor 75, the foot supporting plate 73 is fixedly installed at the lower end of the second connecting rod 72, two inner side surfaces corresponding to the two shells 4 are both provided with notches, two side walls of the moving seat 15 are both provided with two sliding holes and two threaded holes, the slide hole is matched with a slide rod 18, and the threaded hole is in threaded fit with a lead screw 17.
The working method of the robot comprises the following steps:
the method comprises the following steps: starting the first air cylinder 13, enabling an output rod of the first air cylinder 13 to contract and driving a second fixing rod 12 hinged with the end part of the first air cylinder to move, enabling the second fixing rod 12 to drive a first folding rod 11 and a second folding rod 20 to contract, enabling the first folding rod 11 to drive a first fixing rod 10 to slide in a sliding groove 90, enabling the first folding rod 11 and the second folding rod 20 to drive the massage assembly 6 to move backwards, and enabling the first frame 9 and the second frame 61 to be attached tightly;
step two, a user sits on the supporting base plate 2, the back part of the user is close to the back plate 8, the fourth motor 62 is started at the same time, the output shaft of the fourth motor 62 rotates to drive the rotating shaft fixed with the fourth motor to rotate, the rotating shaft drives the driving wheel 64 fixed with the rotating shaft to rotate, the driving wheel 64 drives the other driving wheel 64 to rotate through the synchronous belt 65, the two massage rollers 63 rotate, and the massage rollers 63 massage the back part of the user;
step three: starting the first air cylinder 13, extending an output rod of the first air cylinder 13, and driving a second fixed rod 12 hinged with the end part of the first air cylinder to move, driving a first folding rod 11 and a second folding rod 20 to unfold by the second fixed rod 12, driving a massage component 6 to move forwards by the first folding rod 11 and the second folding rod 20, driving a backrest plate 8 to move forwards by the massage component 6, and enabling the backrest plate 8 to be flush with the surface of the fixed bottom plate 1;
step four: the first motor 16 is started, the output shaft of the first motor 16 rotates the lead screw 17 to rotate, the lead screw 17 rotates and simultaneously drives the moving seat 15 in threaded fit with the lead screw to move, the moving seat 15 drives the flexion-extension component 7 to move to a specified position, a user steps on the foot supporting plate 73 with feet, the second motor 74 and the third motor 75 are respectively started by the aid of the hand-held stabilizing rod 14, the output shafts of the second motor 74 and the third motor 75 rotate and respectively drive the first connecting rod 71 and the second connecting rod 72 to swing, and lower limb rehabilitation training is performed on the user.
The first motor 16 is matched with the transmission wheel 64 and the synchronous belt 65 for use, so that the massage roller 63 is driven to rotate to massage the back of a user, the second motor 74 and the third motor 75 are started to drive the first connecting rod 71 and the second connecting rod 72 to swing, so that the lower limb rehabilitation training is performed on the user, the degree of automation is high, the operation is convenient, the functions are diversified, and the use requirements of people are met;
drive second dead lever 12 through first cylinder 13 and remove to drive first folding rod 11 and the expansion of second folding rod 20, thereby drive massage subassembly 6 back-and-forth movement, the user can directly sit on supporting baseplate 2, perhaps hand curved bar 14 stands, can satisfy sitting posture and standing type's rehabilitation training simultaneously, is applicable to the different state of an illness and the demand of different recovered phase patients, and the suitability is strong, is worth promoting on a large scale.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (9)
1. The robot with the auxiliary physiotherapy function for the rehabilitation department is characterized by comprising a fixed base plate (1), a massage assembly (6) and a flexion-extension assembly (7), wherein a supporting base plate (2) is arranged in the middle of the upper end face of the fixed base plate (1), a supporting vertical plate (3) is arranged on the upper surface of the supporting base plate (2), the supporting vertical plate (3) is located at the rear side edge of the upper surface of the supporting base plate (2), and the massage assembly (6) is arranged above the supporting base plate (2);
a first frame (9) is fixedly installed on the front side surface of the supporting vertical plate (3), sliding grooves (90) are formed in inner walls of two sides of the first frame (9), a first fixing rod (10) is arranged on the inner side of the first frame (9), two ends of the first fixing rod (10) are respectively located in the sliding grooves (90), two first folding rods (11) are symmetrically arranged on the first fixing rod (10), the inner sides of the two first folding rods (11) are respectively connected with a second folding rod (20) through a shaft pin, one end of the second folding rod (20) is hinged to the supporting vertical plate (3), a second fixing rod (12) is vertically fixed between the two second folding rods (20), two ends of the second fixing rod (12) are fixedly connected to the middle of the inner side surface of the second folding rod (20), and a first air cylinder (13) is hinged to the middle of the first fixing rod (10), the output end of the first air cylinder (13) is hinged to the middle part of the second fixing rod (12), and one ends of the first folding rod (11) and the second folding rod (20) are hinged to the massage component (6);
the front side surface of the fixed base plate (1) is fixedly provided with two shells (4), the two shells (4) are symmetrically arranged at two sides of the front side surface of the fixed base plate (1), the outer side surfaces of the two shells (4) are respectively provided with a support rod (5) through bolt fixing, two sliding rods (18) are fixedly arranged between the inner walls at two sides of the shells (4), the surface of the fixed base plate (1) is fixedly provided with two first motors (16) through bolts, the two first motors (16) are symmetrically distributed and are respectively positioned at the inner sides of the corresponding shells (4), the output end of each first motor (16) is fixedly provided with a lead screw (17) through a coupler, the inner side of each shell (4) is also provided with a movable seat (15), and the movable seats (15) are sleeved on the two sliding rods (18) and the two lead screws (17), the surface of the movable seat (15) is fixedly connected with two parallel mounting plates (19), and the mounting plates (19) are connected with the flexion-extension assembly (7).
2. The robot for the rehabilitation department with the auxiliary physiotherapy function according to claim 1, wherein the massage assembly (6) comprises a second frame (61), the side wall of the second frame (61) is hinged to the first folding rod (11) and the second folding rod (20), the front side surface of the second frame (61) is further fixedly provided with a backrest plate (8), the upper end surface of the second frame (61) is fixedly provided with a fourth motor (62), the inner side of the second frame (61) is provided with two massage rollers (63), the upper end and the lower end of each massage roller (63) are respectively connected with the upper wall and the lower wall of the second frame (61) through rotating shafts, the two rotating shafts connected with the upper ends of the two massage rollers (63) are respectively and fixedly provided with a transmission wheel (64), and the transmission wheels (64) on the two rotating shafts are connected through a synchronous belt (65), and the rotating shaft positioned on the right side is fixedly connected with an output shaft of a fourth motor (62).
3. The robot for rehabilitation department with auxiliary physiotherapy function of claim 2, wherein a plurality of massage bumps (66) are fixedly connected to the surface of each of the two massage rollers (63).
4. The robot for rehabilitation department with auxiliary physiotherapy function according to claim 3, characterized in that the same curved bar (14) is connected to both sides of the second frame (61).
5. The rehabilitation robot with the auxiliary physiotherapy function according to claim 4, wherein two rectangular through grooves are symmetrically formed in the surface of the backrest plate (8), and part of the massage roller (63) extends to the front side of the backrest plate (8) through the through grooves.
6. The robot for the rehabilitation department with the auxiliary physiotherapy function according to claim 5, wherein the flexion-extension component (7) comprises a first connecting rod (71), a second connecting rod (72) and a foot support plate (73), a second motor (74) is fixedly installed on the outer side surface of the outer side installation plate (19), an output shaft of the second motor (74) penetrates through the outer side installation plate (19) and is connected into the inner side installation plate (19), the upper end of the first connecting rod (71) is arranged between the two installation plates (19) and is fixedly connected with the output shaft of the second motor (74), a third motor (75) is fixedly installed at the lower end of the first connecting rod (71), the lower end of the first connecting rod (71) is hinged with the second connecting rod (72) through the output shaft of the third motor (75), and the second connecting rod (72) is fixedly connected with the output shaft of the third motor (75), the lower end of the second connecting rod (72) is fixedly provided with a foot supporting plate (73).
7. The rehabilitation robot with the auxiliary physiotherapy function according to claim 6, wherein two corresponding inner side surfaces of the two shells (4) are provided with notches.
8. The rehabilitation robot with the auxiliary physiotherapy function according to claim 7, wherein the two side walls of the movable seat (15) are provided with two sliding holes and two threaded holes, the sliding holes are matched with the sliding rod (18), and the threaded holes are matched with the lead screw (17) in a threaded manner.
9. The robot for rehabilitation department with auxiliary physiotherapy function according to claim 8, wherein the working method of the robot is as follows:
the method comprises the following steps: starting a first air cylinder (13), wherein an output rod of the first air cylinder (13) contracts and drives a second fixing rod (12) hinged with the end part of the first air cylinder to move, the second fixing rod (12) drives a first folding rod (11) and a second folding rod (20) to contract, the first folding rod (11) drives a first fixing rod (10) to slide in a sliding groove (90), and the first folding rod (11) and the second folding rod (20) drive a massage component (6) to move backwards and enable a first frame (9) and a second frame (61) to be tightly attached;
a user sits on the supporting base plate (2), the back of the user is close to the backrest plate (8), the fourth motor (62) is started at the same time, an output shaft of the fourth motor (62) rotates to drive a rotating shaft fixed with the fourth motor to rotate, the rotating shaft drives a driving wheel (64) fixed with the rotating shaft to rotate, the driving wheel (64) drives another driving wheel (64) to rotate through a synchronous belt (65), two massage rollers (63) are rotated, and the massage rollers (63) massage the back of the user;
step three: starting a first air cylinder (13), wherein an output rod of the first air cylinder (13) extends out and drives a second fixing rod (12) hinged with the end part of the first air cylinder to move, the second fixing rod (12) drives a first folding rod (11) and a second folding rod (20) to unfold, the first folding rod (11) and the second folding rod (20) drive a massage component (6) to move forwards, the massage component (6) drives a backrest plate (8) to move forwards, and the backrest plate (8) is enabled to be flush with the surface of a fixed bottom plate (1);
step four: the lower limb rehabilitation training device is characterized in that a first motor (16) is started, an output shaft of the first motor (16) rotates a lead screw (17) to rotate, the lead screw (17) rotates and simultaneously drives a moving seat (15) matched with the lead screw in a threaded mode to move, the moving seat (15) drives a bending and stretching assembly (7) to move to a specified position, a user steps on a foot supporting plate (73) with a foot, a second motor (74) and a third motor (75) are respectively started through a hand-held stabilizing rod (14), output shafts of the second motor (74) and the third motor (75) rotate and respectively drive a first connecting rod (71) and a second connecting rod (72) to swing, and lower limb rehabilitation training is conducted on the user.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910059040.6A CN109674638B (en) | 2019-01-22 | 2019-01-22 | Robot with auxiliary physical therapy function for rehabilitation department |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910059040.6A CN109674638B (en) | 2019-01-22 | 2019-01-22 | Robot with auxiliary physical therapy function for rehabilitation department |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109674638A CN109674638A (en) | 2019-04-26 |
| CN109674638B true CN109674638B (en) | 2020-11-20 |
Family
ID=66193814
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910059040.6A Active CN109674638B (en) | 2019-01-22 | 2019-01-22 | Robot with auxiliary physical therapy function for rehabilitation department |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109674638B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111685983B (en) * | 2020-06-15 | 2022-04-19 | 江苏医药职业学院 | Back massage device for medical care |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008124025A1 (en) * | 2007-04-06 | 2008-10-16 | University Of Delaware | Powered orthosis |
| CN201506275U (en) * | 2009-08-18 | 2010-06-16 | 浙江吉利汽车研究院有限公司 | Headrest for automobile seat |
| KR101299351B1 (en) * | 2012-03-07 | 2013-08-22 | 서강대학교산학협력단 | Wheelchair integrated lower-limb exercise/rehabilitation device |
| WO2014125487A1 (en) * | 2013-02-15 | 2014-08-21 | Elnatan Debby | Sit-to-stand apparatus and method |
| WO2014175707A1 (en) * | 2013-04-25 | 2014-10-30 | 세종대학교산학협력단 | Variable seating unit, auxiliary walking unit, and wheelchair comprising same |
| CN104203187A (en) * | 2012-03-29 | 2014-12-10 | 美迪卡医学有限公司 | Standing-up trainer |
| CN104800041A (en) * | 2015-03-20 | 2015-07-29 | 中国科学院自动化研究所 | Multiple-pose lower limb rehabilitation training robot |
| CN105287123A (en) * | 2015-11-20 | 2016-02-03 | 合肥工业大学 | Rehabilitation wheelchair |
| CN106236508A (en) * | 2016-08-30 | 2016-12-21 | 合肥工业大学 | One crouches, sits, stands the three healthy training devicess of attitude lower limb |
| CN206548775U (en) * | 2016-10-13 | 2017-10-13 | 上海健康医学院 | The driving lower limb rehabilitation training device of shank |
| CN107930029A (en) * | 2017-12-19 | 2018-04-20 | 刘坤 | It is multi-functional to sit station movement auxiliary and rehabilitation training machine device people |
| CN108379047A (en) * | 2018-01-24 | 2018-08-10 | 卢星 | A kind of vertebra patient massage armchair |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008124017A1 (en) * | 2007-04-06 | 2008-10-16 | University Of Delaware | Passive swing assist leg exoskeleton |
| KR101280904B1 (en) * | 2011-10-10 | 2013-07-02 | 주식회사 사이보그-랩 | Training system for leg rehabilatation with hip joint compensation mechanism |
| CN106963597B (en) * | 2017-03-30 | 2019-07-19 | 合肥工业大学 | A kind of wearable apery gait lower limb rehabilitation walking aid device |
| CN106943278A (en) * | 2017-04-18 | 2017-07-14 | 上海理工大学 | Center drive lower limb exoskeleton robot |
-
2019
- 2019-01-22 CN CN201910059040.6A patent/CN109674638B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008124025A1 (en) * | 2007-04-06 | 2008-10-16 | University Of Delaware | Powered orthosis |
| CN201506275U (en) * | 2009-08-18 | 2010-06-16 | 浙江吉利汽车研究院有限公司 | Headrest for automobile seat |
| KR101299351B1 (en) * | 2012-03-07 | 2013-08-22 | 서강대학교산학협력단 | Wheelchair integrated lower-limb exercise/rehabilitation device |
| CN104203187A (en) * | 2012-03-29 | 2014-12-10 | 美迪卡医学有限公司 | Standing-up trainer |
| WO2014125487A1 (en) * | 2013-02-15 | 2014-08-21 | Elnatan Debby | Sit-to-stand apparatus and method |
| WO2014175707A1 (en) * | 2013-04-25 | 2014-10-30 | 세종대학교산학협력단 | Variable seating unit, auxiliary walking unit, and wheelchair comprising same |
| CN104800041A (en) * | 2015-03-20 | 2015-07-29 | 中国科学院自动化研究所 | Multiple-pose lower limb rehabilitation training robot |
| CN105287123A (en) * | 2015-11-20 | 2016-02-03 | 合肥工业大学 | Rehabilitation wheelchair |
| CN106236508A (en) * | 2016-08-30 | 2016-12-21 | 合肥工业大学 | One crouches, sits, stands the three healthy training devicess of attitude lower limb |
| CN206548775U (en) * | 2016-10-13 | 2017-10-13 | 上海健康医学院 | The driving lower limb rehabilitation training device of shank |
| CN107930029A (en) * | 2017-12-19 | 2018-04-20 | 刘坤 | It is multi-functional to sit station movement auxiliary and rehabilitation training machine device people |
| CN108379047A (en) * | 2018-01-24 | 2018-08-10 | 卢星 | A kind of vertebra patient massage armchair |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109674638A (en) | 2019-04-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN215193464U (en) | Rehabilitation training device | |
| CN106420261B (en) | Semi-exoskeleton upper limb rehabilitation instrument | |
| US20150314157A1 (en) | Range of motion machine and method and adjustable crank | |
| JP2992286B2 (en) | Exercise device and its use | |
| CN109223438B (en) | Leg rehabilitation training device | |
| CN104797304B (en) | There is the handstand sports equipment of functions of seat | |
| CN109674638B (en) | Robot with auxiliary physical therapy function for rehabilitation department | |
| CN109846675B (en) | Mechanical structure of lower limb walking trainer capable of being spliced and combined and rehabilitation walking aid mechanism thereof | |
| CN112402183A (en) | Massaging device is tempered to orthopedics patient's shank | |
| CN113197751A (en) | Rehabilitation training integration user equipment | |
| CN211584096U (en) | Massage instrument for pelvic floor muscle repair and viscera conditioning | |
| CN210645004U (en) | Novel ankle joint bends and stretches training equipment | |
| CN111840019A (en) | Leg massage device | |
| CN111870168A (en) | Seat type washing aid device | |
| CN108309702B (en) | Lower limb exoskeleton, walking assisting device and walking assisting method | |
| CN213431540U (en) | Functional foot rest for department of neurology clinical use | |
| CN112245243B (en) | Foot massage device of auxiliary chair and control method thereof | |
| CN212166108U (en) | Training device | |
| CN115475074A (en) | Bone joint postoperative rehabilitation training device | |
| CN109009859B (en) | Leg relaxing and rehabilitation seat | |
| CN210301668U (en) | Varicosity rehabilitation training device | |
| US3585989A (en) | Exercise device | |
| JP2808071B2 (en) | Pelvic exercise equipment | |
| CN209004570U (en) | Massaging easy chair | |
| CN113180996A (en) | Folding type waist and leg pain rehabilitation device |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230802 Address after: 230000 Room 6-205, Office Building of Hefei Kexin Wall Materials Co., Ltd., Fanhua West Road, Chang'an Industrial Cluster, Taohua Town, Feixi County, Hefei City, Anhui Province Patentee after: Hefei Keshichuang Intelligent Technology Co.,Ltd. Address before: 230601 building b-13c, D, gongtou Liheng industrial Plaza, Fanhua West Road, Taohua Industrial Park, economic development zone, Hefei City, Anhui Province Patentee before: ANHUI ZHUANGYUANLANG ELECTRONIC TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right |