CN107854281A - Lower limb rehabilitation robot - Google Patents
Lower limb rehabilitation robot Download PDFInfo
- Publication number
- CN107854281A CN107854281A CN201711240360.9A CN201711240360A CN107854281A CN 107854281 A CN107854281 A CN 107854281A CN 201711240360 A CN201711240360 A CN 201711240360A CN 107854281 A CN107854281 A CN 107854281A
- Authority
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- China
- Prior art keywords
- push rod
- installing plate
- pedipulator
- lifting
- skeleton
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 81
- 208000020442 loss of weight Diseases 0.000 claims abstract description 72
- 230000033001 locomotion Effects 0.000 claims abstract description 43
- 230000003028 elevating effect Effects 0.000 claims abstract description 28
- 210000002414 leg Anatomy 0.000 claims description 25
- 239000000725 suspension Substances 0.000 claims description 15
- 210000000629 knee joint Anatomy 0.000 claims description 14
- 210000004394 hip joint Anatomy 0.000 claims description 13
- 210000001699 lower leg Anatomy 0.000 claims description 12
- 210000000689 upper leg Anatomy 0.000 claims description 12
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 10
- 238000005266 casting Methods 0.000 claims description 3
- 210000000988 bone and bone Anatomy 0.000 claims 2
- 238000004088 simulation Methods 0.000 abstract description 7
- 230000005021 gait Effects 0.000 abstract description 6
- 238000012549 training Methods 0.000 description 11
- 230000033228 biological regulation Effects 0.000 description 9
- 230000008859 change Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 210000001624 hip Anatomy 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000007542 Paresis Diseases 0.000 description 1
- 235000012364 Peperomia pellucida Nutrition 0.000 description 1
- 240000007711 Peperomia pellucida Species 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 238000005424 photoluminescence Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000036259 sexual stimuli Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000032258 transport 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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- 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
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B24/00—Electric or electronic controls for exercising apparatus of preceding groups; Controlling or monitoring of exercises, sportive games, training or athletic performances
- A63B24/0087—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
- A63B2024/0093—Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load the load of the exercise apparatus being controlled by performance parameters, e.g. distance or speed
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2220/00—Measuring of physical parameters relating to sporting activity
- A63B2220/50—Force related parameters
- A63B2220/51—Force
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B2225/00—Miscellaneous features of sport apparatus, devices or equipment
- A63B2225/09—Adjustable dimensions
- A63B2225/093—Height
Landscapes
- Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Epidemiology (AREA)
- Animal Behavior & Ethology (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Biophysics (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention provides a kind of lower limb rehabilitation robot, including frame, lifting loss of weight mechanism, pedipulator travel mechanism, pedipulator motion, treadmill and treadmill elevating mechanism；Frame includes frame underframe, is arranged on the support column of frame one end, the support rail being arranged between support column and the support vertical pole being arranged in the middle part of support rail；Support vertical pole bottom is fixed on the horizontal frame of frame underframe；Frame ground inframe is provided with treadmill, and treadmill lifting structure is arranged on the bottom plate of treadmill；Lifting loss of weight mechanism is arranged on support column side；Pedipulator travel mechanism is arranged on the support rail side of centre, and both ends are fixed on the support columns by moving structure installing plate；Pedipulator motion is arranged on the pedipulator installing plate of pedipulator travel mechanism.The robot of the present invention, the leg length of pedipulator can be effectively adjusted, can make that gait simulation is more accurate, and structure is compact safely according to wide be adjusted of the body of patient, complete machine height is maximized to be reduced.
Description
Technical field
The invention belongs to technical field of medical rehabilitation machinery, and in particular to a kind of lower limb rehabilitation robot.
Background technology
Rehabilitation is one and promotes to hinder the new treatment subject of patient and disabled person's body and mind functional rehabilitation, and one new
Technology specialty.Its purpose is to enable people to recover daily life, study, work or physical labor as much as possible, and society
The ability of life, is socially reintegrated, quality of making the life better.
The exercise of patient completion leg and trunk is typically assisted in traditional rehabilitation training by several professional medical workers.Or
Massaged by nursing staff with diseased joints or muscle of the hand to paresis patient, i.e., man-to-man rehabilitation, medical care people
Not only labor intensity is big by member, costly, and it is difficult to ensure that stable continuation training.Some lower limb are had been devised by present
Healing robot, mainly include standing posture lower limb rehabilitation robot and sitting and lying formula lower limb rehabilitation robot.Number of patent application is
201210225997.1 patent of invention " sitting and lying formula lower limb rehabilitation robot ", including it is seat, mechanical arm, main industrial control box, man-machine
Interactive interface, electro photoluminescence hand switch and electrode slice, electromyographic signal collection electrode slice, function sexual stimulus and electromyographic signal collection work
Control case is a kind of by specific seat, driving lower limb to carry out rehabilitation by the mechanical arm above seat patient setup
Training, but stand-type training can not be realized and lack waist head, waist is born during training larger.Number of patent application is
201510311272.8 patent of invention " a kind of walk help lower limb of exoskeleton robot ", it is that a kind of combine intersects four-bar linkage structure
The bio-mechanism of design, meet human body knee joint physiological movement feature, it is possible to increase the safety in utilization and wearing of ectoskeleton are relaxed
Adaptive, but only one piece of knee joint and it is mainly used in walk help, whole lower limb rehabilitation can not be coordinated.
Lower limbs rehabilitation training robot structure is more single at present, and existing lower limbs rehabilitation training robot requires patient
By itself strength carry out standing, and for the patient in different rehabilitation stages, the especially patient at initial stage in rehabilitation stage and
Speech, it is difficult to control itself standing balance easily to fall down and cause secondary injury；Waist is coordinated with lower extremity movement in rehabilitation training
Not enough, the comprehensive rehabilitation of lower limb can not be realized.
The content of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of lower limb rehabilitation robot, it is intended to carries out the lower limb of patient
Comprehensive rehabilitation training, stability training is effectively ensured, avoids patient from occurring when carrying out rehabilitation exercise unexpected secondary
Injury.
In order to solve the above technical problems, on the one hand, the present invention provides a kind of lower limb rehabilitation robot, including frame, lifting
Loss of weight mechanism, pedipulator travel mechanism, pedipulator motion, treadmill and treadmill elevating mechanism；
The frame includes frame underframe, is arranged on the support column of frame one end, the support being arranged between support column horizontal stroke
Bar and the support vertical pole being arranged in the middle part of support rail；The support vertical pole bottom is fixed on the horizontal frame of frame underframe；
The frame ground inframe is provided with treadmill, and the treadmill lifting structure is arranged on the bottom plate of treadmill；
The lifting loss of weight mechanism is arranged on support column side；
The pedipulator travel mechanism is arranged on the support rail side of centre, and both ends are fixed by moving structure installing plate
On the support columns；
The pedipulator motion is arranged on the pedipulator installing plate of pedipulator travel mechanism.
Further, the treadmill lifting structure includes running machine supporting plate, elevating screw, lifting nut installing plate, liter
Feed screw nut, motor mounting plate, lifting motor and fixed plate drop；Described elevating screw one end is fixed on running machine supporting plate, separately
One end is fixedly connected with motor mounting plate；The elevating screw nut is arranged in fixed plate；The elevating screw is through lifting
Feed screw nut and the center of lifting nut installing plate；The fixed plate is arranged in frame.
Further, the lifting loss of weight mechanism includes lifting guide pillar, lifting support, industrial push rod, preceding pivoted arm, rear turned
Arm, dynamometry loss of weight mechanism and suspension rod；
The lifting support is arranged on lifting guide pillar top and can stretched above and below OQ t guide pillar；
Described industrial push rod one end is arranged in lifting guide pillar, and the other end is arranged on pivoted arm installing plate；
The pivoted arm installing plate is arranged on lifting support, and pivoted arm push rod mounting seat is provided with the pivoted arm installing plate,
The preceding pivoted arm is connected by preceding pivoted arm push rod with pivoted arm push rod mounting seat；
Pivoted arm is connected by rear pivoted arm push rod with preceding pivoted arm after described；
Pivoted arm front end is connected with dynamometry loss of weight mechanism after described；
The dynamometry loss of weight mechanism is connected by hanger rod connecting piece with suspension rod.
Further, the dynamometry loss of weight mechanism includes the tension dynamometer and loss of weight spring part being sequentially connected, described
Pivoted arm is connected by tension dynamometer connector with tension dynamometer afterwards；The loss of weight spring part passes through hanger rod connecting piece and suspension rod
Connection.
Further, the lifting loss of weight mechanism is fixed on frame underframe by lifting column base plate connecting plate, passes through liter
Drop post side plate connecting plate is fixed on frame support column.
Further, the pedipulator travel mechanism includes moving left and right guide rod, moves left and right sliding block, moves left and right and push away
Bar, guide rod is moved up and down, move up and down sliding block and moves up and down push rod；
It is described move left and right guide rod both ends and be connected to move up and down on sliding block installing plate, and through moving left and right sliding block；
The sliding block that moves left and right is connected with pedipulator installing plate；
It is described to move left and right push rod and be connected by moving left and right push rod connecting plate with pedipulator installing plate；
The guide rod both ends that move up and down are fixedly connected on the casting lug thereon of moving structure installing plate inner side edge；
The sliding block that moves up and down is through moving up and down guide rod；
It is described to move up and down push rod and be connected by moving up and down sliding block installing plate with moving up and down sliding block.
Further, the pedipulator motion include sole fixed mount, ankle-joint skeleton block, the first joint motor,
Shank stretches push rod, knee joint skeleton block, second joint motor, thigh stretches push rod, hip joint skeleton block and the 3rd joint electricity
Machine；
The sole fixed mount is connected with ankle-joint skeleton block；
The ankle-joint skeleton block is connected by the first joint motor with the first skeleton installing plate；The first skeleton installation
Plate side is connected by shank stretches push rod with knee joint skeleton block；The first skeleton installing plate opposite side passes through the first skeleton
Sliding block, the first joint guide rod through the first skeleton sliding block are connected with knee joint skeleton block；The knee joint skeleton block passes through
Two joint motors are connected with the second skeleton installing plate；The second skeleton installing plate side passes through thigh stretches push rod and hip joint
Skeleton block connects；The second skeleton installing plate opposite side closes by the second skeleton sliding block, through the second of the second skeleton sliding block
Section guide rod is connected with hip joint skeleton block；The hip joint skeleton block is connected by the 3rd joint motor and the 3rd skeleton installing plate
Connect；The 3rd skeleton installing plate, handrail and pedipulator installed part connect；
The pedipulator installed part is installed on pedipulator installing plate.
Further, the sole fixed mount is U-shape structure.
Further, the first skeleton installing plate, be provided with by band fix bar on the second skeleton installing plate
The band fixture of connection.
Further, the push rod top that moves left and right of the pedipulator travel mechanism is provided with electric box, described electric
Control board, display screen and the control system of interconnection are provided with case, the treadmill, industrial push rod, preceding pivoted arm push away
Bar, rear pivoted arm push rod, tension dynamometer, push rod is moved left and right, push rod is moved up and down and is connected with control board；The control
Circuit board is electric with lifting motor, the first joint motor, second joint motor and the 3rd joint respectively by AC motor drive
Machine connects；Rehabilitation system software is installed, for setting rehabilitation parameter by display screen in the control system.
Compared with prior art, technical scheme has the advantages that：
The present invention provides a kind of lower limb rehabilitation robot, and the pedipulator motion of setting uses compact joint motor energy
The effectively leg length of adjustment pedipulator, set pedipulator travel mechanism according to wide be adjusted of body of patient gait simulation can be made more smart
Really, the lifting loss of weight mechanism of setting is lifted with industrial push rod, and structure is safer compact, and complete machine height is maximized to be reduced；
Promoted by the change curve of center of gravity when setting the elevating movement realization of treadmill elevating mechanism to simulate human motion
Patient is set to experience the change of center of gravity when moving on a treadmill；
By setting each joint motor in pedipulator motion to simulate each joint of people leg, according to normal
The gait band of pedipulator motion simulation people is realized in the relative motion of the curve movement control joint motor of leg when people walks
Dynamic patient legs' motion；By the length with the use of regulation pedipulator of stretches push rod and joint guide rod, meet the leg of patient
Accommodation accuracy is high simultaneously for long demand；
Machine is determined according to the wide situation of patient's body by setting the device that moves up and down of pedipulator travel mechanism to realize
The precise displacement of tool leg motion, movement can accurately be understood using moving up and down push rod and moving left and right push rod offer power
Distance, ensure accurate simulation of the patient in rehabilitation exercise；
By setting the industrial push rod in lifting loss of weight mechanism to promote the realization that moves up and down of pivoted arm installing plate to lift loss of weight
The raising and lowering of mechanism, pivoted arm before promoting is realized by the preceding pivoted arm push rod in setting lifting loss of weight mechanism and rear pivoted arm push rod
With the rotation of rear pivoted arm, and then the rotation of lifting loss of weight mechanism is realized, the two is strong to be implemented in combination with that patient is sling and moved
To defined location, reduce medical personnel and move the workload of patient, while avoid patient from being anticipated when carrying out rehabilitation exercise
Outer secondary injury；
The data of measurement are fed back in real time by the dynamometry loss of weight mechanism set by being lifted in loss of weight mechanism, and then realize real-time
Adjustment lifting loss of weight mechanism rise or fall so that loss of weight value ensures the smooth of rehabilitation exercise in stable scope
Carry out.
Brief description of the drawings
Fig. 1 is the structural representation of the preferred embodiments of the present invention；
Fig. 2 is the frame and the structural representation of treadmill installation of the preferred embodiments of the present invention；
Fig. 3 is the structural representation of the treadmill lifting structure of the preferred embodiments of the present invention；
Fig. 4 is the structural representation of the lifting loss of weight mechanism of the preferred embodiments of the present invention；
Fig. 5 is the structural representation of the pedipulator travel mechanism of the preferred embodiments of the present invention；
Fig. 6 is the structural representation of the pedipulator motion of the preferred embodiments of the present invention.
In figure：
1. the support rail 104. of 101. frame underframe of frame, 102. support column 103. support vertical pole 105. is horizontal
The motor mounting plate 7. of 5. lifting motor of frame 2. treadmill, 3. elevating screw, 4. elevating screw nut 6. lifts spiral shell
Female thigh stretches push rod of 8. running machine supporting plate of installing plate, 9. the 3rd joint motor of pedipulator installed part 10. 11.
12. the sole of 13. 14. shank stretches push rod of knee joint skeleton block, 15. ankle-joint skeleton block of hip joint skeleton block 16. is consolidated
Determine the band fixture 21. or so of 17. first 18. first joint guide rod of skeleton sliding block, 19. band fix bar of frame 20.
Mobile putter 22. moves left and right the pedipulator installing plate 24. of push rod connecting plate 23. and moves left and right the shifting of sliding block 25. or so
Dynamic guide rod 26., which moves up and down the moving structure installing plate 28. of push rod 27. and moves up and down guide rod 30., moves up and down sliding block
Installing plate 29. moves up and down the lifting of the lifting column side plate connecting plate 33. of 31. lifting column floor connecting plate of sliding block 32. and led
Pivoted arm push rod before the pivoted arm push rod mounting seat 38. of 36. pivoted arm installing plate of industrial 35. lifting support of push rod of post 34. 37.
The tension dynamometer 44. of 42. tension dynamometer connector of pivoted arm 43. after pivoted arm push rod 41. after pivoted arm 40. before 39.
The pedipulator motion 49. of 47. electric box of loss of weight spring part 45. hanger rod connecting piece, 46. suspension rod 48. lifts loss of weight
The treadmill elevating mechanism of mechanism 50..
Embodiment
With specific embodiment, the present invention is further illustrated below, but the present invention is not limited by following embodiments.
In the description of the invention, it is to be understood that term " longitudinal direction ", " transverse direction ", " on ", " under ", "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " is based on accompanying drawing institutes
The orientation or position relationship shown, it is for only for ease of the description present invention and simplifies description, rather than instruction or the dress for implying meaning
Put or element there must be specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to limit of the invention
System.In addition, term " first ", " second ", " the 3rd " etc. are only used for distinguishing description, and it is not intended that indicating or implying relatively heavy
The property wanted.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
In the description of the invention, unless otherwise prescribed with limit, it is necessary to explanation, term " installation ", " connected ",
" connection " should be interpreted broadly, for example, it may be mechanical connection or electrical connection or the connection of two element internals, can
To be to be joined directly together, can also be indirectly connected by intermediary, for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term.
Embodiment 1
Refering to Fig. 1~Fig. 6, the invention provides a kind of lower limb rehabilitation robot, including frame 1, lifting loss of weight mechanism 49,
Pedipulator travel mechanism, pedipulator motion 48, treadmill 2 and treadmill elevating mechanism 50；
The frame 1 include frame underframe 101, be arranged on the support column 102 of frame one end, be arranged on support column 102 it
Between support rail 103 and be arranged on the support vertical pole 104 at the middle part of support rail 103；Support vertical pole 104 bottom is fixed
On the horizontal frame 105 of frame underframe 101；Preferably, the support column 102 is vertically built up in the both sides of frame underframe 101；The branch
Support cross bar 103 is vertically set between support bar 102, and parallel with horizontal frame 105；The support vertical pole 104 is parallel to support column
102 set up；
Treadmill 2 is provided with the frame underframe 101, the treadmill lifting structure 50 is arranged on the bottom of treadmill 2
On plate；
The lifting loss of weight mechanism 49 is arranged on the side of support column 102；
The pedipulator travel mechanism is arranged on the side of support rail 103 of centre, and both ends pass through moving structure installing plate
27 are fixed on support column 102；
The pedipulator motion 48 is arranged on the pedipulator installing plate 23 of pedipulator travel mechanism.
Preferably, the treadmill lifting structure 50 include running machine supporting plate 8, elevating screw 3, lifting nut installing plate 7,
Elevating screw nut 5, motor mounting plate 6, lifting motor 5 and fixed plate；Described one end of elevating screw 3 is fixed on running machine supporting plate
On 8, the other end is fixedly connected with motor mounting plate 6；The elevating screw nut 4 is arranged in fixed plate；The elevating screw 3
Through the center of elevating screw nut 4 and lifting nut installing plate 7；The fixed plate is arranged in frame 1.Pass through lifting motor
5 work drive elevating screw 3 to move up and down, and realize moving up and down for running machine supporting plate 8, and then realize the lifting of treadmill；This
Elevating screw nut 4 and the fixed position of elevating screw nut installing plate 7 remain stationary as in fixed plate during one, it is ensured that rise
Drop screw mandrel 3 is lifted within the limits prescribed.
Preferably, the lifting loss of weight mechanism 49 includes lifting guide pillar 33, lifting support 35, industrial push rod 34, preceding pivoted arm
39th, rear pivoted arm 41, dynamometry loss of weight mechanism and suspension rod 46；
The lifting support 35 be arranged on the top of lifting guide pillar 33 and can OQ t guide pillar about 33 stretch；
Described one end of industrial push rod 34 is arranged in lifting guide pillar 33 by industrial push rod connector, and the other end, which is arranged on, to be turned
On arm installing plate 36；
The pivoted arm installing plate 36 is arranged on lifting support 35, and pivoted arm push rod peace is provided with the pivoted arm installing plate 36
Seat 37 is filled, the preceding pivoted arm 39 is connected by preceding pivoted arm push rod 38 with pivoted arm push rod mounting seat 37；
Pivoted arm 41 is connected by rear pivoted arm push rod 40 with preceding pivoted arm 39 after described；
The front end of pivoted arm 41 is connected with dynamometry loss of weight mechanism after described；
The dynamometry loss of weight mechanism is connected by hanger rod connecting piece 45 with suspension rod 46.
Preferably, the dynamometry loss of weight mechanism includes the tension dynamometer 43 and loss of weight spring part 44 being sequentially connected, described
Pivoted arm 41 is connected by tension dynamometer connector 42 with tension dynamometer 43 afterwards；The loss of weight spring part 44 is connected by suspension rod
Part 45 is connected with suspension rod 46.The dynamometry loss of weight mechanism that tension dynamometer 43 and loss of weight spring part 44 connect and compose, when generation pulling force
When by loss of weight spring part provide a reaction force, tension dynamometer 43 can feed back the data of measurement in real time, according to control
The loss of weight value of default, the data that control system is detected by tension dynamometer 43 adjust industrial push rod to lifting loss of weight in real time
The value for realizing the dynamics of control loss of weight in real time, that is, the decrement of loss of weight spring part 44 is adjusted in the height of mechanism, makes to subtract
Weight values meet the value of control system setting, are at a stable scope.Preferably, the loss of weight spring part 44 is arranged on
In cylinder.
Preferably, the lifting loss of weight mechanism 49 is fixed on frame underframe 101 by lifting column base plate connecting plate 31, is led to
Lifting column side plate connecting plate 32 is crossed to be fixed on the support column 102 of frame 1.There are weight (patient), dynamometry by being hung oneself in suspension rod 46
Loss of weight mechanism measures the weight of weight, promotes pivoted arm installing plate 36 to move up and down by industrial push rod 34, realizes lifting support 35
Flexible up and down, preceding pivoted arm push rod 38 promotes preceding pivoted arm 39, and then pivoted arm 41 after promotion, drives the rotation of dynamometry loss of weight mechanism, realizes
Weight (patient) is moved to treadmill by suspension rod 46.Lifted by crane by patient from the side of robot provided by the invention, industry
Pivoted arm before push rod 34 promotes realization to shift people onto certain altitude, then pivoted arm push rod 40 is realized together with after by preceding pivoted arm push rod 38
39th, rear pivoted arm 41, which rotates, moves to people certain position.By lifting the center of loss of weight mechanism lifts people, and bonding machine
Xie Tui travel mechanisms and being used cooperatively for pedipulator motion realize lower limb rehabilitation training work(conversion of energy.In addition, pass through survey
The data of the real-time feed back motion process measurement of power loss of weight mechanism, also a loss of weight value can be set by control system, realized real
When the industrial push rod 34 of regulation adjust moving up and down for lifting support 35, and then adjust the decrement of loss of weight spring part 44, make to subtract
Weight values carry out rehabilitation exercise in certain scope, beneficial to patient.
Preferably, the pedipulator travel mechanism includes moving left and right guide rod 25, moves left and right sliding block 24, moves left and right and push away
Bar 21, guide rod 28 is moved up and down, move up and down sliding block 29 and moves up and down push rod 26；
It is described move left and right the both ends of guide rod 25 and be connected to move up and down on sliding block installing plate 29, and through moving left and right sliding block
24；
The sliding block 24 that moves left and right is connected with pedipulator installing plate 23；
It is described to move left and right push rod 21 and be connected by moving left and right push rod connecting plate 22 with pedipulator installing plate 23；
The both ends of guide rod 28 that move up and down are fixedly connected on the casting lug thereon of the inner side edge of moving structure installing plate 27；
The sliding block 29 that moves up and down is through moving up and down guide rod 28；
The push rod 26 that moves up and down is connected by moving up and down sliding block installing plate 30 with moving up and down sliding block 29.
The side-to-side movement on guide rod 25 is moved left and right of sliding block 24 is moved left and right by moving left and right the promotion of push rod 21, i.e. left and right
Mobile putter provides power, moves left and right sliding block and moves left and right guide rod and carries out being oriented to the left and right fortune for realizing pedipulator installing plate 23
It is dynamic；Driven by moving up and down push rod 26 and move up and down sliding block 29 on guide rod 28 is moved up and down and move up and down, moved down in realization
Movable slider installing plate 29 moves up and down, that is, moves up and down push rod and provide power, move up and down sliding block and move up and down guide rod
Row is oriented to and then realizes moving up and down for pedipulator installing plate 23；The two is implemented in combination with pedipulator installing plate 23 up and down
It is mobile, the precise displacement of control system control machinery leg can be used, is preferably adjusted at interval according to the wide progress of itself body beneficial to patient
Whole, follow-up gait simulation is more accurate.
Preferably, the pedipulator motion 48 includes sole fixed mount 16, ankle-joint skeleton block 15, the first joint electricity
Machine, shank stretches push rod 14, knee joint skeleton block 13, second joint motor, thigh stretches push rod 11, the and of hip joint skeleton block 12
3rd joint motor 10；
The sole fixed mount 16 is connected with ankle-joint skeleton block 15；Preferably, the sole fixed mount 16 is U-shaped knot
Structure；
The ankle-joint skeleton block 15 is connected by the first joint motor with the first skeleton installing plate；The first skeleton peace
Loading board side is connected by shank stretches push rod 14 with knee joint skeleton block 13；The first skeleton installing plate opposite side passes through
One skeleton sliding block 17, the first joint guide rod 18 through the first skeleton sliding block 17 are connected with knee joint skeleton block 13；The knee closes
Section skeleton block 13 is connected by second joint motor with the second skeleton installing plate；The second skeleton installing plate side passes through thigh
Stretches push rod 11 is connected with hip joint skeleton block 12；The second skeleton installing plate opposite side by the second skeleton sliding block, run through
The second joint guide rod of second skeleton sliding block is connected with hip joint skeleton block 12；The hip joint skeleton block 12 passes through the 3rd joint
Motor 10 is connected with the 3rd skeleton installing plate；3rd skeleton installing plate, handrail and the pedipulator installed part 9 connect；
The pedipulator installed part 9 is installed on pedipulator installing plate 23.
Fixed it is further preferred that being provided with the first skeleton installing plate, the second skeleton installing plate by band
The band fixture 19 that bar 20 connects.By the way that the sole of people is fixed on sole fixed mount 16, according to the lower-leg length of patient
Adjust the position of shank stretches push rod 14 and the first joint guide rod, according to patient thigh's length adjustment thigh stretches push rod and second
The position of joint guide rod, realize that the length of pedipulator motion 48 is consistent with the leg length of patient, finally by the leg band of people
Fixture 19 is fixed with pedipulator motion 48, passes through the first joint motor, second joint motor and the 3rd joint motor 10
The motion in each joint of people leg is realized in relative motion between three, so as to the motion with moving leg.First joint electricity
The compact structure of machine, second joint motor and the 3rd joint motor 10 can realize the leg length of very accurate regulation pedipulator,
Power is provided by thigh stretches push rod 11, shank stretches push rod 14, the first joint guide rod 18, second joint guide rod are oriented to
Realize the regulation of the length of pedipulator.
It is further preferred that the top of push rod 21 that moves left and right of the pedipulator travel mechanism is provided with electric box 47, institute
State the control board that interconnection is provided with electric box 47, display screen and control system, the treadmill 2, industrial push rod
34th, preceding pivoted arm push rod 38, rear pivoted arm push rod 40, tension dynamometer 43, move left and right push rod 21, move up and down push rod 26 with control
Circuit board connection processed；The control board by AC motor drive respectively with lifting motor 5, the first joint motor,
Two joint motors and the 3rd joint motor 10 connect；Rehabilitation system software is installed, for passing through display in the control system
Screen sets rehabilitation parameter.It is preferred that control system is host computer etc..
By the parameter for being sized different each parts of control system, to adapt to the patient in different rehabilitation stages, and
Different gaits can be selected by different upper computer softwares.Control board is controlled to all electric pushrods, right
Treadmill carries out speed control, and pedipulator joint motions are controlled.
The specific course of work of lower limb rehabilitation robot of the present invention is as follows：
Corresponding parameter is inputted in display screen by the body weight and height of patient, in electric box 47 control system according to
The order subsequently inputted is handled.Patient is pushed into beside lower limb rehabilitation robot with wheelchair, clothing will be hung and be connected with suspension rod 46,
Promote pivoted arm installing plate 36 to move down by adjusting industrial push rod 34, realize that lifting support 35 stretches downwards, loss of weight will be lifted
Mechanism 49 is adjusted to suitable height, and medical personnel help patient to put on and hang clothing；Industrial push rod 34 is adjusted again, realizes lifting support
35 rise to suitable height upwards, so as to which pivoted arm 41 rises to certain height after realizing；Pivoted arm push rod 38 is flexible before regulation promotes
Preceding pivoted arm 39 rotates, and realizes the rotation of pivoted arm 41 after regulation, and then realizes that suspension rod 46 transfers patient to two pedipulator fitness machines
Between structure.Lifting loss of weight mechanism 49 is adjusted to suitable position according to the height of patient, further according to the leg length adjustment machinery of patient
The leg of patient and pedipulator motion are fixed by the length of leg motion, medical personnel, and lifting loss of weight mechanism 49 is entered
The sole that one step drops to patient just contacts the treadmill of treadmill 2.
The sole of patient is fixed on sole fixed mount 16, shank stretches push rod 14 is adjusted according to the lower-leg length of patient
Position with the first joint guide rod, the position according to patient thigh's length adjustment thigh stretches push rod and second joint guide rod, it is real
The length of existing pedipulator motion 48 is consistent with the leg length of patient, finally transports the leg of people with band fixture 19 and pedipulator
Motivation structure 48 is fixed, and passes through the relative motion between the first joint motor, second joint motor and the three of the 3rd joint motor 10
The motion in each joint with moving leg is realized, so as to promote the leg of people to carry out rehabilitation exercise.Adjusted according to the height of patient
Pedipulator travel mechanism, i.e.,；By move up and down push rod 26 drive move up and down sliding block 29 on guide rod 28 is moved up and down up and down
Mobile, realization moves up and down moving up and down for sliding block installing plate 29, realizes moving up and down for pedipulator installing plate 23；According to patient
The wide adjustment pedipulator travel mechanism of body, i.e., promoted by moving left and right push rod 21 and move left and right sliding block 24 and moving left and right guide rod
Side-to-side movement on 25, realize moving left and right for pedipulator installing plate 23；The two comprehensive upper bottom left for realizing pedipulator installing plate 23
Move right so that height, spacing between two pedipulators meet the needs of Patient height and body are wide, beneficial to successive patients in rehabilitation
The gait simulation of pedipulator is more accurate during motion.
Patient from lower limb rehabilitation robot provided by the invention lift by crane and moving process in, dynamometry loss of weight mechanism measures trouble
The weight of person.Patient produces pulling force and causes loss of weight spring part to obtain a reaction force, the measurement of the Real-time Feedback of tension dynamometer 43
Data, and adjust according to data industrial push rod in real time and the height of lifting loss of weight mechanism be adjusted realization control loss of weight in real time
Dynamics value, that is, the decrement of loss of weight spring part 44, loss of weight value is met the value of control system setting, be at one
The scope of individual stabilization.When patient carries out rehabilitation exercise, the dynamics that can be used according to patient legs, tension dynamometer 43 detects
Data respective change, also respective change, lifting loss of weight mechanism adjust loss of weight according to data for the decrement of loss of weight spring part 44
The value of dynamics.
After completing adjustment, patient treadmill 2, pedipulator drive under carry out rehabilitation exercise, while start treadmill liter
Gravity center shift when drop structural simulation people walks, the posture for making patient be walked when walking on a treadmill close to normal person.
After treatment end, the motor on closing treadmill 2 and pedipulator motion, regulation lifting loss of weight mechanism passes through work
Industry push rod 34 it is flexible rise to certain altitude after stop, medical personnel unclamp patient's leg on band fixture, pass through machinery
Leg travel mechanism or so moves up and down takes away patient legs by pedipulator motion；Pivoted arm push rod 38 drives preceding pivoted arm before regulation
Rotated with rear pivoted arm and patient is transferred from lower limb rehabilitation robot, after ready wheelchair is placed on specified location by medical personnel,
General who has surrendered patient is placed on wheelchair under regulation lifting loss of weight mechanism, and medical personnel take off the clothing that hangs of patient, treatment end.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of lower limb rehabilitation robot, it is characterised in that including frame, lifting loss of weight mechanism, pedipulator travel mechanism, machinery
Leg motion, treadmill and treadmill elevating mechanism；
The frame include frame underframe, be arranged on the support column of frame one end, the support rail being arranged between support column and
The support vertical pole being arranged in the middle part of support rail；The support vertical pole bottom is fixed on the horizontal frame of frame underframe；
The frame ground inframe is provided with treadmill, and the treadmill lifting structure is arranged on the bottom plate of treadmill；
The lifting loss of weight mechanism is arranged on support column side；
The pedipulator travel mechanism is arranged on the support rail side of centre, and both ends are fixed on branch by moving structure installing plate
On dagger；
The pedipulator motion is arranged on the pedipulator installing plate of pedipulator travel mechanism；
The lifting loss of weight mechanism includes lifting guide pillar, lifting support, industrial push rod, preceding pivoted arm, rear pivoted arm, dynamometry loss of weight mechanism
And suspension rod；
The lifting support is arranged on lifting guide pillar top and can stretched above and below OQ t guide pillar；
Described industrial push rod one end is arranged in lifting guide pillar, and the other end is arranged on pivoted arm installing plate；
The pivoted arm installing plate is arranged on lifting support, and pivoted arm push rod mounting seat is provided with the pivoted arm installing plate, described
Preceding pivoted arm is connected by preceding pivoted arm push rod with pivoted arm push rod mounting seat；
Pivoted arm is connected by rear pivoted arm push rod with preceding pivoted arm after described；
Pivoted arm front end is connected with dynamometry loss of weight mechanism after described；
The dynamometry loss of weight mechanism is connected by hanger rod connecting piece with suspension rod.
2. lower limb rehabilitation robot according to claim 1, it is characterised in that the treadmill lifting structure includes running
Machine supporting plate, elevating screw, lifting nut installing plate, elevating screw nut, motor mounting plate, lifting motor and fixed plate；It is described
Elevating screw one end is fixed on running machine supporting plate, and the other end is fixedly connected with motor mounting plate；The elevating screw nut peace
In fixed plate；The elevating screw is through the center of elevating screw nut and lifting nut installing plate；The fixed plate is set
Put in frame.
3. lower limb rehabilitation robot according to claim 1, it is characterised in that the dynamometry loss of weight mechanism includes connecting successively
The tension dynamometer and loss of weight spring part connect, the rear pivoted arm are connected by tension dynamometer connector with tension dynamometer；Institute
Loss of weight spring part is stated to be connected with suspension rod by hanger rod connecting piece.
4. lower limb rehabilitation robot according to claim 1, it is characterised in that the lifting loss of weight mechanism passes through lifting column
Bottom plate connecting plate is fixed on frame underframe, is fixed on by lifting column side plate connecting plate on frame support column.
5. lower limb rehabilitation robot according to claim 1, it is characterised in that the pedipulator travel mechanism includes left and right
Moving leader, sliding block is moved left and right, push rod is moved left and right, move up and down guide rod, move up and down sliding block and moves up and down push rod；
It is described move left and right guide rod both ends and be connected to move up and down on sliding block installing plate, and through moving left and right sliding block；
The sliding block that moves left and right is connected with pedipulator installing plate；
It is described to move left and right push rod and be connected by moving left and right push rod connecting plate with pedipulator installing plate；
The guide rod both ends that move up and down are fixedly connected on the casting lug thereon of moving structure installing plate inner side edge；
The sliding block that moves up and down is through moving up and down guide rod；
It is described to move up and down push rod and be connected by moving up and down sliding block installing plate with moving up and down sliding block.
6. lower limb rehabilitation robot according to claim 1, it is characterised in that the pedipulator motion includes sole
Fixed mount, ankle-joint skeleton block, the first joint motor, shank stretches push rod, knee joint skeleton block, second joint motor, thigh
Stretches push rod, hip joint skeleton block and the 3rd joint motor；
The sole fixed mount is connected with ankle-joint skeleton block；
The ankle-joint skeleton block is connected by the first joint motor with the first skeleton installing plate；The first skeleton installing plate one
Side is connected by shank stretches push rod with knee joint skeleton block；The first skeleton installing plate opposite side is slided by the first skeleton
Block, the first joint guide rod through the first skeleton sliding block are connected with knee joint skeleton block；The knee joint skeleton block passes through second
Joint motor is connected with the second skeleton installing plate；The second skeleton installing plate side passes through thigh stretches push rod and hip joint bone
Frame block connects；The second skeleton installing plate opposite side passes through the second skeleton sliding block, the second joint through the second skeleton sliding block
Guide rod is connected with hip joint skeleton block；The hip joint skeleton block is connected by the 3rd joint motor with the 3rd skeleton installing plate；
The 3rd skeleton installing plate, handrail and pedipulator installed part connect；
The pedipulator installed part is installed on pedipulator installing plate.
7. lower limb rehabilitation robot according to claim 6, it is characterised in that the sole fixed mount is U-shape structure.
8. lower limb rehabilitation robot according to claim 6, it is characterised in that the first skeleton installing plate, the second bone
The band fixture connected by band fix bar is provided with frame installing plate.
9. according to any described lower limb rehabilitation robot of claim 1~8, it is characterised in that the pedipulator travel mechanism
The push rod top that moves left and right be provided with electric box.
10. lower limb rehabilitation robot according to claim 9, it is characterised in that be provided with the electric box and mutually interconnect
Control board, display screen and the control system connect, the treadmill, industrial push rod, preceding pivoted arm push rod, rear pivoted arm push rod, drawing
Power dynamometer, push rod is moved left and right, push rod is moved up and down and is connected with control board；The control board passes through alternating current
Machine driver is connected with lifting motor, the first joint motor, second joint motor and the 3rd joint motor respectively；The control system
Rehabilitation system software is installed, for setting rehabilitation parameter by display screen in system.
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|---|---|---|---|
| CN201711240360.9A CN107854281A (en) | 2017-11-30 | 2017-11-30 | Lower limb rehabilitation robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711240360.9A CN107854281A (en) | 2017-11-30 | 2017-11-30 | Lower limb rehabilitation robot |
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| CN201711240360.9A Pending CN107854281A (en) | 2017-11-30 | 2017-11-30 | Lower limb rehabilitation robot |
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| CN108543268A (en) * | 2018-04-09 | 2018-09-18 | 哈工大机器人（合肥）国际创新研究院 | Movement synchronization system and method based on the rehabilitation of treadmill training lower limb robot |
| CN108938370A (en) * | 2018-07-26 | 2018-12-07 | 泉州思和鸿创机器人科技有限公司 | A kind of leg rehabilitation medical instrument |
| CN109998861A (en) * | 2019-04-29 | 2019-07-12 | 苏州博安捷机器人科技有限公司 | Bed gait rehabilitation training system |
| CN110025455A (en) * | 2019-05-22 | 2019-07-19 | 掣京机器人科技（上海）有限公司 | A kind of four limbs exoskeleton rehabilitation robot |
| CN111281749A (en) * | 2020-01-19 | 2020-06-16 | 广西科技大学 | Lifting and weight-reducing mechanism of rehabilitation robot |
| CN111297629A (en) * | 2020-02-25 | 2020-06-19 | 中国科学院自动化研究所 | Rehabilitation training method for simulating going upstairs and downstairs and lower limb rehabilitation robot |
| CN112754802A (en) * | 2021-01-27 | 2021-05-07 | 广西安博特智能科技有限公司 | Lower limb gait rehabilitation training sickbed with turnover angle |
| CN113226243A (en) * | 2019-07-01 | 2021-08-06 | 株式会社海科识 | Extended wearable robot system |
| WO2021141509A3 (en) * | 2020-01-07 | 2021-08-26 | Promodus Sp. Z.O.O. | Stationary automated device lor lower limb rehabilitation |
| CN113663284A (en) * | 2020-05-15 | 2021-11-19 | 丰田自动车株式会社 | Maintenance systems, maintenance methods and procedures |
| CN114305989A (en) * | 2021-12-29 | 2022-04-12 | 钛虎机器人科技(上海)有限公司 | Exoskeleton assistance and lower limb rehabilitation integrated robot |
| CN116337496A (en) * | 2022-03-15 | 2023-06-27 | 金华市华强电子科技股份有限公司 | Treadmill testing arrangement with anthropomorphic arm |
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| CN112754802A (en) * | 2021-01-27 | 2021-05-07 | 广西安博特智能科技有限公司 | Lower limb gait rehabilitation training sickbed with turnover angle |
| CN114305989A (en) * | 2021-12-29 | 2022-04-12 | 钛虎机器人科技(上海)有限公司 | Exoskeleton assistance and lower limb rehabilitation integrated robot |
| CN116337496A (en) * | 2022-03-15 | 2023-06-27 | 金华市华强电子科技股份有限公司 | Treadmill testing arrangement with anthropomorphic arm |
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Application publication date: 20180330 |