Balance weight type rehabilitation robot for lower limbs

Abstract

The invention relates to a balance weight type rehabilitation robot for lower limbs. The balance weight type rehabilitation robot comprises a gait training rehabilitation robot and a weight-reducing traction mechanism arranged above the gait training rehabilitation robot, the gait training rehabilitation robot includes a foot bottom plate, a calf rod hinged with the foot bottom plate, a thigh rodhinged with the calf rod and a waist supporting plate hinged with the thigh rod, the weight-reducing traction mechanism includes a fixed hanging plate arranged above the gait training rehabilitation robot, the hanging plate is fixedly equipped with an air cylinder and a first roller, the end part of an air cylinder rod of the air cylinder is fixedly connected with a slide block, a fixing shaft isinstalled at the side of the slide block, the end part of the fixing shaft is connected to a second roller, the hanging plate is provided with a guide rail groove, and the slide block is located in the guide rail groove; a steel rope is wound on the first roller and the second roller, one end of the steel rope is provided with balance weight blocks, and the other end of the steel rope is fixedly connected to the top of the waist supporting plate; and the steel rope always plays a role of longitudinal traction on the waist supporting plate, and does not exert lateral traction on patients to berehabilitated.

Description

technical field [0001] The invention relates to the field of lower limb rehabilitation training, in particular to a counterweight type lower limb rehabilitation robot. Background technique [0002] Rehabilitation training robots are developed to restore the injured parts of patients. According to the theory of neuroplasticity, rehabilitation robots for repairing damaged parts have appeared, and are mainly used for rehabilitation training for patients who cannot walk due to stroke or spinal cord injury. . When the patient performs gait activities, the joint activities drive the whole body muscles to move, thereby gradually activating the whole body movement system. It is a rehabilitation training robot that can help the injured parts recover. [0003] There are many types of rehabilitation training robots at present, all of which adopt the structure of exoskeleton robots. The support plates on the exoskeleton robot are hinged. The cushioning and supporting force of the huma...

AI Technical Summary

Problems solved by technology

[0003] There are many types of rehabilitation training robots at present, all of which adopt the structure of exoskeleton robots. The support plates on the exoskeleton robot are hinged. The cushioning and supporting force of the human leg is relatively poor, which may easily cause excessive leg exertion and even secondary injuries. Moreover, some rehabilitation training robots are installed behind the rehabilitation patient's legs, and the rehabilitation training robot and the armrest frame are both In an independent state, the rehabilitator's legs cannot be guaranteed to be in a horizontal and straight training state when walking, which is not conducive to the rehabilitator's gait and injured muscle training

[0004] Moreover, when the exoskeleton robot is trained indoors, it needs to be equipped with a weight-reducing traction mechanism. The weight-reducing traction mechanism mainly serves to reduce the pressure load on the legs of the rehabilitation person. Some wearable exoskeleton robots are also equipped with some weight-reducing traction mechanisms. One end of the steel wire on the weight-reducing traction mechanism is connected to the counterweight and the other end is connected to the lumbar support plate, and the lumbar support plate plays an upward traction effect on the body of the rehabilitated person. During the process, the steel rope tends to form an oblique connection angle with the lumbar support plate. In this case, the steel rope tends to generate horizontal traction on the body of the rehabilitated person, which is counterproductive, which is not conducive to the horizontal gait training of the rehabilitated person. The main reason for this problem is that when the patient moves, the steel rope cannot guarantee to maintain a positive and vertical traction state with the lumbar support board all the time.

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