CN101057806A - Gait image training robot - Google Patents
Gait image training robot Download PDFInfo
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- CN101057806A CN101057806A CN 200710072265 CN200710072265A CN101057806A CN 101057806 A CN101057806 A CN 101057806A CN 200710072265 CN200710072265 CN 200710072265 CN 200710072265 A CN200710072265 A CN 200710072265A CN 101057806 A CN101057806 A CN 101057806A
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Abstract
The invention provides a gait training robot, comprising frame, left foot gait device on the frame, left foot pose device, right foot gait device on the frame and right foot pose device. The frame includes framework, chassis and handle, the chassis and handle are fixed on framework; the right foot gait device and left foot gait device include motor, liner module, bottom plate, connection rack and bracing rack; the right foot pose device and left foot pose device include motor, decelerator device, driving axle, connection sleeve and pedal. The invention possesses many exercising types: normal walking, marking time, going up stairs and down stairs. So it is suitable for different people.
Description
(1) technical field
The present invention relates to medical apparatus and instruments, be specifically related to a kind of gait image training robot.
(2) background technology
Theory of medicine and facts have proved, the limb injury patient that cerebral palsy sequela or contingency cause must carry out the limbs training, to recover limb function, prevents muscle " the useless property used " atrophy.Most of patients needs to implement rehabilitation training under other people monitoring because of dysfunction or muscle power restriction; This is a job secular, that very consume one's strength.
At present, relevant both at home and abroad patent mainly contains following several:
Application number is 02251613.1 patent name for the motion stride of the utility model of " lower limbs rehabilitation training robot " is uncontrollable, is difficult to adapt to the patient of different heights; Application number is that 200410044077.5 patent name is a kind of pedipulator that is used for virtual environment for " a kind of comprehensive walking freely machine ", and it can only move in a plane as treadmill; The patent No. is 200520021462.8 patent name for the left and right lower limb motion of the utility model of " supination type lower limbs rehabilitation training robot " is implicative of each other, and the multiformity and the motility of motion are not good enough.
(3) summary of the invention
The objective of the invention is to disclose a kind of being used for causes paralysis or contingency causes the patient of lower limb limb injury to do the gait image training robot of gait training because of cardiovascular and cerebrovascular disease.
The object of the present invention is achieved like this: it is made up of frame, the left foot gait mechanism, left foot attitude mechanism, right crus of diaphragm gait mechanism and the right crus of diaphragm attitude mechanism that are arranged on the frame; Frame is made up of framework, base and handrail, and base and handrail are fixed on the framework; Right crus of diaphragm gait mechanism and left foot gait mechanism all are made up of motor, linear module, base plate, link and bracing frame, linear module is fixed on the base, motor is installed in an end of linear module, base plate is connected with linear module, link is connected with base plate, and the two ends of bracing frame are hinged with link, branch sleeve respectively; Right crus of diaphragm attitude mechanism and left foot attitude mechanism all are by motor-reducer arrangement, power transmission shaft, branch sleeve and foot-treadle device are formed, motor-reducer arrangement is fixed on the bracing frame, one end of power transmission shaft is connected with motor-reducer arrangement, the other end is connected with foot-treadle device, and branch sleeve is fixed on the bracing frame.
The present invention also has some architectural features like this:
1, described linear module has 4 covers, connects 4 motors respectively;
2, described linear module is two one group, is arranged in the lower plane of base, symmetric arrangement between group and the group;
3, two one group of described bracing frame and equal in length, one of them and branch sleeve are fixed, and another and branch sleeve are hinged;
4, the motor-reducer arrangement of a described left side or right crus of diaphragm attitude mechanism is fixed on the outside of bracing frame, and branch sleeve is fixed on the inboard of bracing frame.
Left foot gait mechanism and left foot attitude mechanism be according to the motion of certain rapport when the present invention worked, and right crus of diaphragm gait mechanism and right crus of diaphragm attitude mechanism be also according to certain rapport motion, and the phase contrast of two coordination exercise is 180 degree.The patient can do the training that remains where one is as required, walking training, and upper and lower stair training etc., and training stride and speed all are adjustable.The present invention also can do body-building apparatus and use.
(4) description of drawings
Fig. 1 is gait image training robot space figure of the present invention;
Fig. 2 is the front view of gait image training robot of the present invention;
Fig. 3 is the upward view of gait image training robot of the present invention;
Fig. 4 is the left view of gait image training robot of the present invention.
(5) specific embodiment
The present invention is further illustrated below in conjunction with the drawings and specific embodiments:
In conjunction with Fig. 1-4, present embodiment is made up of frame, left foot gait mechanism, left foot attitude mechanism, right crus of diaphragm gait mechanism and right crus of diaphragm attitude mechanism.Accompanying drawing middle frame 1, base 3,32, handrail 19 is formed frame; Framework 1, base 3,32 can be selected made from aluminium profile for use, and base 3,32 is fixed on the framework 1 symmetrically, and handrail 19 can be selected steel pipe manufacturing for use and be fixed on the framework 1. Motor 20,31, linear module 21,30, base plate 22,29, link 23,28 and bracing frame 16,24 are formed left foot gait mechanism; Motor 20,31 can be selected DC servo motor for use and be installed in an end of linear module 21,30 respectively, linear module 21,30 has identical composition and is fixed on symmetrically on the base 32, base plate 22,29 manufactures with linear module 21,30 respectively, link 23,28 manufactures with base plate 22,29 respectively, bracing frame 16 1 ends and link 28 are hinged, the other end and branch sleeve 26 is fixing, and the two ends of bracing frame 24 are hinged with link 23, branch sleeve 26 respectively, bracing frame 16 and 24 equal in length.Motor-reducer arrangement 25, power transmission shaft 27, branch sleeve 26 foot-treadle devices 13 are formed left foot attitude mechanism; Motor-reducer arrangement 25 is fixed on the bracing frame 16, and an end of power transmission shaft 27 is connected with motor-reducer arrangement 25, and the other end is connected with foot-treadle device 13, and branch sleeve 26 is fixed on the bracing frame 16.
Right crus of diaphragm gait mechanism, right crus of diaphragm attitude mechanism respectively with left foot gait mechanism, left foot attitude mechanism by identical forming. Motor 2,12, linear module 6,9, base plate 5,10, link 4,11 and bracing frame 7,8 are formed right crus of diaphragm gait mechanism; Motor 2,12 can be selected DC servo motor for use and be installed in an end of linear module 6,9 respectively, linear module 6,9 has identical composition and is fixed on symmetrically on the base 3, base plate 5,10 manufactures with linear module 6,9 respectively, link 4,11 manufactures with base plate 5,10 respectively, one end and the link 4 of bracing frame 7 are hinged, the other end and branch sleeve 18 is fixing, and the two ends of bracing frame 8 are hinged with link 11, branch sleeve 18 respectively, bracing frame 7 and 8 equal in length.Motor-reducer arrangement 14, power transmission shaft 17, branch sleeve 18 foot-treadle devices 15 are formed right crus of diaphragm attitude mechanism; Motor-reducer arrangement 14 is fixed on the bracing frame 7, and an end of power transmission shaft 17 is connected with motor-reducer arrangement 14, and the other end is connected with foot-treadle device 15, and branch sleeve 18 is fixed on the bracing frame 7.
By investigation people's normal walking movement, the motion that remains where one is, upper and lower stair motions etc. are obtained design data, for design of the present invention provides foundation.Operation principle is as follows:
The indicated zone of a is left foot of the present invention or right crus of diaphragm gait motion of mechanism space among Fig. 1, and the space when normally walk for the people in the indicated zone of b, c are behaved in indicated zone and remained where one is and the space during upper and lower stair.Left and right foot has identical space, be that example describes with the left foot motion below: the people when normal walking left foot gait mechanism at the indicated regional movement of b, adjust left foot attitude mechanism simultaneously and make it certain rapport is arranged, to reach the movement effects of people when normally walking with left foot gait mechanism.It is 180 degree that adjustment right crus of diaphragm motion makes the phase contrast that moves with left foot, and the people just can normally walk like this.Equally, if the present invention is in the indicated regional work of c, the people is done mark time motion and upper and lower stair to move.In order to adapt to the patient of the different heights and the different state of an illness, the present invention can correspondingly adjust the size in b, c zone, and movement velocity also is adjustable.To sum up, the present invention has multiple motion mode, is applicable to different crowd.
Claims (5)
1, a kind of gait image training robot is characterized in that: it is made up of frame, the left foot gait mechanism, left foot attitude mechanism, right crus of diaphragm gait mechanism and the right crus of diaphragm attitude mechanism that are arranged on the frame; Frame is made up of framework, base and handrail, and base and handrail are fixed on the framework; Right crus of diaphragm gait mechanism and left foot gait mechanism all are made up of motor, linear module, base plate, link and bracing frame, linear module is fixed on the base, motor is installed in an end of linear module, base plate is connected with linear module, link is connected with base plate, and the two ends of bracing frame are hinged with link, branch sleeve respectively; Right crus of diaphragm attitude mechanism and left foot attitude mechanism all are by motor-reducer arrangement, power transmission shaft, branch sleeve and foot-treadle device are formed, motor-reducer arrangement is fixed on the bracing frame, one end of power transmission shaft is connected with motor-reducer arrangement, the other end is connected with foot-treadle device, and branch sleeve is fixed on the bracing frame.
2, gait image training robot according to claim 1 is characterized in that described linear module has 4 covers, connects 4 motors respectively.
3, gait image training robot according to claim 1 is characterized in that two one group of described linear module, is arranged in the lower plane of base, symmetric arrangement between group and the group.
4, gait image training robot according to claim 1 is characterized in that two one group of described bracing frame and equal in length, and one of them and branch sleeve are fixed, and another and branch sleeve are hinged.
5, gait image training robot according to claim 1 is characterized in that the motor-reducer arrangement of a described left side or right crus of diaphragm attitude mechanism is fixed on the outside of bracing frame, and branch sleeve is fixed on the inboard of bracing frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710072265A CN101057806B (en) | 2007-05-28 | 2007-05-28 | Gait image training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710072265A CN101057806B (en) | 2007-05-28 | 2007-05-28 | Gait image training robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101057806A true CN101057806A (en) | 2007-10-24 |
| CN101057806B CN101057806B (en) | 2010-05-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200710072265A Expired - Fee Related CN101057806B (en) | 2007-05-28 | 2007-05-28 | Gait image training robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111920654A (en) * | 2020-09-02 | 2020-11-13 | 天津科技大学 | Wearable rehabilitation walking-aid robot self-adjusting system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2558375Y (en) * | 2002-08-14 | 2003-07-02 | 哈尔滨工程大学 | Lower extremity recovery training robot |
| CN2788795Y (en) * | 2005-05-11 | 2006-06-21 | 哈尔滨工程大学 | Intelligent exercising device for leg rehabilitation |
-
2007
- 2007-05-28 CN CN200710072265A patent/CN101057806B/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111920654A (en) * | 2020-09-02 | 2020-11-13 | 天津科技大学 | Wearable rehabilitation walking-aid robot self-adjusting system |
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| Publication number | Publication date |
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| CN101057806B (en) | 2010-05-26 |
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Granted publication date: 20100526 Termination date: 20170528 |
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| CF01 | Termination of patent right due to non-payment of annual fee |