Vertical follow-up type lightened walking rehabilitation training robot

Abstract

The invention discloses a vertical follow-up type lightened walking rehabilitation training robot. The robot comprises an electric treadmill, a partial lightened supporting system, and exoskeleton mechanical legs and supporting devices thereof; the exoskeleton mechanical legs and supporting devices thereof further comprise supporting frames, door-type bracket components arranged on the supporting frame, supporting seat components of the mechanical legs arranged on the door-type bracket components, back and butt supporting components connected with the supporting seat components of the mechanical legs, and mechanical leg components connected with the supporting seat components of the mechanical legs. Due to the limitation of door frame guide rails and springs, the supporting seat components of the mechanical legs only can do up-and-down wave motion with a small range in the vertical direction, thus guaranteeing that the exoskeleton mechanical legs can do up-and-down wave motion synchronously along the up-and-down motion of the center of gravity of a trainer in the process of walking training, and avoiding the defect of motion in the fore-and-aft direction when adopting a parallel four bar linkage as a lifting mechanism commonly.

Description

technical field [0001] The invention relates to the field of medical equipment, in particular to a vertical follow-up weight loss walking rehabilitation training robot. Background technique [0002] The weight loss walking training rehabilitation robot is a special device for patients with motor dysfunction to perform walking function training. For the convenience of description, patients with motor dysfunction who undergo walking function training will be referred to as trainers for short below. Bariatric walking training rehabilitation robots usually include partial bariatric support systems, exoskeleton mechanical legs, and motorized treadmills. The partial weight loss support system is mainly to reduce the load of the trainer's weight on the affected limb through the suspension device, so that patients who cannot stand can carry out walking function training early; Walking training is carried out regularly; the electric running platform supports and pulls the soles of t...

AI Technical Summary

Problems solved by technology

Zhejiang University has also invented two kinds of weight loss walking training rehabilitation robots: a multi-position exoskeleton lower limb rehabilitation training robot is disclosed in CN1973806, and a pneumatic multi-position exoskeleton lower limb rehabilitation training robot is disclosed in CN101019800. This kind of weight loss walking training rehabilitation robot adopts the follow-up support similar to the exoskeleton mechanical legs of the LOKOMAT parallel four-bar mechanism. The displacement of the string is related to the length of the four rods and the amplitude of the up and down fluctuations

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