Robot for gait training

Abstract

The utility model discloses a robot for gait training, which relates to the technical field of gait training and comprises two robot bases and supporting arms, and the supporting arms are fixed at the top ends of the robot bases; the longitudinal section of each robot base is triangular, the robot bases are all hollow, and the interiors of the robot bases are all connected with power main motors. The cross beam is held to walk, the robot base is pushed to move for long-term training so as to correct the abnormal gait of a trainee, physical support is provided for the trainee through the cross beam, the risk of falling down in the training process is reduced, and the trainee can gradually adapt to the center transfer of the body and the rhythm change of the gait cycle. The power main motor is used for driving the one-way lead screw to rotate, the one-way lead screw is in threaded fit with the threaded hole, the adjusting arm and the cross beam are made to do lifting motion, and the requirements of patients with different heights and body function states are met.

Description

Technical Field

[0001] This utility model relates to the field of gait training technology, and in particular to a robot for gait training. Background Technology

[0002] With the accelerating aging of the global population and the frequent occurrence of accidents such as traffic accidents and sports injuries, the number of patients with motor dysfunction caused by stroke, spinal cord injury, and lower limb fractures has increased significantly. According to data from the World Health Organization (WHO), approximately 20 million people worldwide suffer from limb motor impairment due to neurological diseases or trauma each year, with lower limb dysfunction accounting for more than 60%. These patients generally face problems such as gait abnormalities and decreased balance, which seriously affect their daily living abilities and social participation. Traditional gait training relies on manual assistance from physical therapists, which has limitations such as low efficiency, insufficient training intensity, and difficulty in data quantification, making it difficult to meet the rehabilitation needs of a large number of patients. Against this backdrop, gait training robots have emerged and become an important research direction in the field of intelligent rehabilitation.

[0003] A gait training and rehabilitation device, with publication number CN220938488U, includes four support rods and a pair of guide rods. The four support rods are symmetrically arranged in pairs, and the guide rods are fixed between the two support rods on the same side. Each guide rod has a sliding sleeve that can slide along its length, with the upper sliding sleeves of the two guide rods corresponding to each other. A handrail perpendicular to the guide rod is fixed between the two corresponding sliding sleeves, and a connecting rod is fixed between the two handrails. The two handrails and the two guide rods form a U-shaped standing area. This device allows the patient to stand in the standing area, hold the handrails, and walk forward to perform gait exercises. Simultaneously, the patient can turn and change direction within the standing area, allowing for long-distance gait exercises by moving left and right, thus improving the training effect. Furthermore, the two handrails and two guide rods provide all-around protection for the patient, enhancing safety during gait exercises.

[0004] In the aforementioned existing technology, patients walk by holding onto a laterally movable handrail for gait training. However, the height of the handrail is fixed and inconvenient to adjust, which cannot meet the training needs of different patients. If the handrail is too high or too low, patients need to bend over excessively or raise their hands, which increases the burden on the shoulders, neck and waist, affects training comfort, and causes uneven distribution of joint pressure, increasing the risk of falls and affecting the gait training effect. Therefore, corresponding improvements are needed. Utility Model Content

[0005] The purpose of this invention is to provide a robot for gait training, in order to solve the problem mentioned in the background art that the existing gait training robots have poor gait training range and effect when in use.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a robot for gait training, comprising a robot base and a support arm, wherein two robot bases are provided, and a support arm is fixed to the top of each robot base;

[0007] The robot base has a triangular longitudinal cross-section and is hollow. Each robot base is connected to a main power motor. Each support arm is equipped with a height adjustment component, and a crossbeam is connected to the top of the height adjustment component. The support arms are connected by binding support components. The bottom of the robot base is connected to the front wheel and the rear wheel on both sides, and the front wheel and the rear wheel are respectively connected to axle two and axle one.

[0008] Preferably, the height adjustment component includes a one-way lead screw disposed inside the support arm, and one end of the one-way lead screw is connected to the output shaft end of the main power motor. An adjustment arm is threadedly connected to the outer side of the one-way lead screw, and a threaded hole is provided at the bottom end of the adjustment arm.

[0009] Preferably, sliders are fixed on both sides of the adjusting arm, and sliding grooves are provided on both inner walls of the supporting arm, and the adjusting arm and the supporting arm are slidably connected.

[0010] Preferably, a support frame is fixed on one side of each support arm, and a soft pad is connected to the top of each support frame.

[0011] Preferably, the binding support includes an arm plate disposed between the support arms, and both ends of the outer side of the arm plate are movably connected to waist binding straps. Each waist binding strap is connected to Velcro, and the Velcro is respectively disposed on the front and back of the waist binding strap.

[0012] Preferably, a driven shaft is fixed to the outside of the robot base, and a belt drive assembly is connected between the driven shaft and wheel axle one and wheel axle two. The belt drive assembly includes three pulleys and a drive belt. The pulleys are respectively sleeved on wheel axle one, wheel axle two and the driven shaft, and a drive belt is connected between the pulleys.

[0013] Preferably, the driven shaft is connected between two robot bases, and massage rubber protrusions are uniformly sleeved on the outer side of the driven shaft, with the massage rubber protrusions concentrated at the center of the driven shaft.

[0014] Compared with the prior art, the beneficial effects of this utility model are: the robot for gait training has a height adjustment function to meet different training needs, and has a waist support effect, and has a calf tapping massage effect during gait training.

[0015] Walking while holding onto the crossbeam and moving the robot base, long-term training corrects abnormal gait in trainees. The crossbeam provides physical support to reduce the risk of falls during training, allowing trainees to gradually adapt to changes in body center shift and gait cycle rhythm. The main motor drives a one-way lead screw to rotate, and the one-way lead screw engages with the threaded hole, causing the adjusting arm and crossbeam to move up and down to meet the needs of patients of different heights and physical functions. By gradually lowering the height of the crossbeam, trainees can gradually reduce their dependence on external support, promoting the recovery of lower limb muscle strength and improving balance.

[0016] During the movement of the robot base, the front and rear wheels roll, causing wheel axle one and wheel axle two to rotate. This, in conjunction with the belt drive assembly, causes the driven shaft to rotate synchronously, thereby rotating multiple massage rubber bumps. These massage rubber bumps intermittently tap and massage the lower limbs of the trainee, activating the proprioceptors of the calf muscles. This helps to enhance muscle training, improve gait stability, and promote neuromuscular coordination.

[0017] During gait training, the trainee stands between two robot bases and attaches a waist strap to their waist using Velcro. This provides lumbar support and effectively prevents excessive forward or backward leaning, reducing the risk of falls due to balance loss. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a partial cross-sectional view of the main structure of this utility model;

[0020] Figure 2 This is a side view of the structure of this utility model;

[0021] Figure 3 This is a partial three-dimensional structural schematic diagram of the present invention;

[0022] Figure 4 This is a partial structural schematic diagram of the present invention;

[0023] Figure 5 This is a three-dimensional structural diagram of the robot base of this utility model.

[0024] The following are the annotations in the diagram: 1. Robot base; 2. Support arm; 3. Adjustable arm; 301. Threaded hole; 4. Support frame; 401. Soft pad; 5. Main motor; 6. One-way lead screw; 7. Front wheel; 8. Rear wheel; 9. Wheel axle one; 10. Driven shaft; 11. Belt drive assembly; 12. Arm plate; 13. Waist strap; 1301. Velcro; 14. Massage rubber protrusion; 15. Crossbeam; 16. Wheel axle two. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0026] Please see Figures 1-5 The present invention provides the following technical solution:

[0027] Example 1

[0028] To address the limitation of training effectiveness caused by the inconvenience in adjusting the support height for patients in existing gait training robots, the following technical solution is proposed. Please refer to the following for details. Figure 1 , Figure 2 A robot for gait training includes a robot base 1 and support arms 2. Two robot bases 1 are provided. Support arms 2 are fixed to the top of each robot base 1. A support frame 4 is fixed to one side of each support arm 2, and a soft pad 401 is connected to the top of each support frame 4. The longitudinal cross section of the robot base 1 is triangular. Both robot bases 1 are hollow. A main motor 5 is connected inside each robot base 1. A height adjustment component is provided inside each support arm 2. A crossbeam 15 is connected to the top of the height adjustment component. The height adjustment component includes a one-way screw 6 set inside the support arm 2. One end of the one-way screw 6 is connected to the output shaft end of the main motor 5. An adjusting arm 3 is threadedly connected to the outside of the one-way screw 6. A threaded hole 301 is provided at the bottom end of the adjusting arm 3. Slider blocks are fixed on both sides of the adjusting arm 3. Sliding grooves are opened on both inner walls of the support arm 2. The adjusting arm 3 is slidably connected to the support arm 2.

[0029] In this embodiment, the trainee holds onto the crossbeam 15 and pushes the robot base 1 to move and walk for lower limb gait training. The crossbeam 15 provides physical support to prevent the trainee from falling. Then, the main motor 5 drives the one-way lead screw 6 to rotate. The one-way lead screw 6 is threadedly connected to the threaded hole 301, which in turn causes the adjusting arm 3 to move up and down. The slider on the threaded hole 301 slides in the groove on the inner wall of the support arm 2, which limits and guides the movement of the adjusting arm 3. Then, the adjusting arm 3 is pushed to adjust the height synchronously to meet different training needs.

[0030] Example 2

[0031] This embodiment differs from Embodiment 1 in that it utilizes a binding support component to provide lumbar support during gait training, thereby improving training safety. Therefore, the following technical solution is disclosed; please refer to the details. Figure 1 , Figure 2 , Figure 3 , Figure 4 A binding support is connected between the support arms 2. The binding support includes an arm plate 12 disposed between the support arms 2, and a waist binding strap 13 is movably connected to both ends of the outer side of the arm plate 12. Velcro straps 1301 are attached to each waist binding strap 13, and the Velcro straps 1301 are respectively located on the front and back sides of the waist binding strap 13. Front wheels 7 and rear wheels 8 are respectively connected to the two sides of the bottom end of the robot base 1, and wheel axle 2 16 and wheel axle 1 9 respectively pass through the interior of the front wheel 7 and rear wheel 8. A driven shaft 10 is fixed on the outside, and a belt drive assembly 11 is connected between the driven shaft 10 and wheel axle 9 and wheel axle 16. The belt drive assembly 11 includes three pulleys and a drive belt. The pulleys are respectively sleeved on wheel axle 9, wheel axle 16 and driven shaft 10. A drive belt is connected between the pulleys. The driven shaft 10 is connected between two robot bases 1. Massage rubber protrusions 14 are evenly sleeved on the outside of the driven shaft 10, and the massage rubber protrusions 14 are concentrated at the center of the driven shaft 10.

[0032] In this embodiment, the trainee first stands between the two robot bases 1 and attaches the two waist straps 13 to the waist. Then, the two Velcro straps 1301 are used to ensure the secure binding. The waist straps 13 support the trainee's waist and prevent the trainee from leaning forward or backward and falling. The trainee can then hold onto the crossbeam 15 or rest their hands on the soft pad 401. Next, the trainee pushes the robot base 1 to move back and forth to enhance the trainee's lower limb muscle strength and improve dynamic balance through training. When the robot base 1 moves, the front wheel 7 and the rear wheel 8 rotate, causing the corresponding axle 2 16 and axle 1 9 to rotate. This, in conjunction with the belt drive assembly 11, causes the driven shaft 10 to rotate synchronously, which in turn causes multiple massage rubber protrusions 14 to rotate and intermittently impact the trainee's calves, achieving an intermittent massage effect.

[0033] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0034] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0035] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A robot for gait training, comprising a robot base (1) and a support arm (2), wherein there are two robot bases (1), and a support arm (2) is fixed to the top of each robot base (1). Its features are: The robot base (1) has a triangular longitudinal section and is hollow. The robot base (1) is connected to a main motor (5) inside. The support arm (2) is equipped with a height adjustment component, and a crossbeam (15) is connected to the top of the height adjustment component. The support arm (2) is connected to a binding support component. The robot base (1) is connected to the front wheel (7) and the rear wheel (8) on both sides of the bottom end. The front wheel (7) and the rear wheel (8) are respectively connected to axle 2 (16) and axle 1 (9) through the interior of the front wheel (7) and the rear wheel (8).

2. The robot for gait training according to claim 1, characterized in that: The height adjustment component includes a one-way screw (6) disposed inside the support arm (2), and one end of the one-way screw (6) is connected to the output shaft end of the main power motor (5). An adjustment arm (3) is threadedly connected to the outside of the one-way screw (6), and a threaded hole (301) is provided at the bottom end of the adjustment arm (3).

3. A robot for gait training according to claim 2, characterized in that: The adjusting arm (3) has sliders fixed on both sides, and the supporting arm (2) has sliding grooves on both inner walls. The adjusting arm (3) and the supporting arm (2) are slidably connected.

4. A robot for gait training according to claim 1, characterized in that: Each of the support arms (2) is fixed with a support frame (4) on one side, and a soft pad (401) is connected to the top of each support frame (4).

5. A robot for gait training according to claim 1, characterized in that: The binding support includes an arm plate (12) disposed between the support arms (2), and both ends of the arm plate (12) are movably connected to waist binding straps (13). Each waist binding strap (13) is connected to a Velcro strap (1301), and the Velcro straps (1301) are respectively disposed on the front and back of the waist binding straps (13).

6. A robot for gait training according to claim 1, characterized in that: The robot base (1) is fixed with a driven shaft (10) on the outside, and a belt drive assembly (11) is connected between the driven shaft (10) and wheel axle one (9) and wheel axle two (16). The belt drive assembly (11) includes three pulleys and a drive belt. The pulleys are respectively sleeved on wheel axle one (9), wheel axle two (16) and driven shaft (10), and a drive belt is connected between the pulleys.

7. A robot for gait training according to claim 6, characterized in that: The driven shaft (10) is connected between two robot bases (1). Massage rubber protrusions (14) are uniformly sleeved on the outside of the driven shaft (10), and the massage rubber protrusions (14) are concentrated at the center of the driven shaft (10).

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