CN103566542B - Device for driving person to carry out gait training by binding feet and shanks - Google Patents
Device for driving person to carry out gait training by binding feet and shanks Download PDFInfo
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- CN103566542B CN103566542B CN201210277695.9A CN201210277695A CN103566542B CN 103566542 B CN103566542 B CN 103566542B CN 201210277695 A CN201210277695 A CN 201210277695A CN 103566542 B CN103566542 B CN 103566542B
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Abstract
The invention relates to a device for driving a person to carry out gait training by binding feet and shanks. The device consists of a crank rocker mechanism and a link mechanism and is characterized in that the crank rocker mechanism forms the following sealing cycling track: the upper part is a part of a circular arc, and the lower part is a track similar to a straight line; under the drive of the crank rocker mechanism forming the sealing cycling track, the tail end of the link mechanism forms a person gait simulating curve. The device for driving the person to carry out the gait training by binding the feet and the shanks, which is disclosed by the invention, mainly aims at the gait training of lower limbs, so that the independently or in-auxiliary standing person can move a bionic gait curve; the recovery training from toes to soles, ankle joints, knee joints and hip joints at a regular walking mode is finished; the relative stabilization in the gestures of the feet of a user is ensured, and the damage to the user is prevented; therefore the certain locating degree between the soles and the shanks can be ensured, an exact position is provided for the feet of the person who cannot walk.
Description
Technical field
The present invention relates to human body recovery Medical Devices structure design and applied technical field, specifically provide a kind of by tying up
Tie up pin and the moving device for carrying out gait training of shank band.
Background technology
It is main to there is no the effective ways in current worldwide because being paralysed caused by a variety of causes such as cerebral thrombus, cerebral hemorrhage
To cure, and limbs of patient can cause muscle, bone, nerve further atrophy due to long-term useless use, while also due to paralysis
The reason for cause the complication to increase, therefore hemiplegia or the limbs of paralysis must move in rational amplitude range, so as to promote
The blood circulation of paralysis side, raising immunity of organisms, enhancing cardio-pulmonary function, reduction are sick.
Chinese patent application file (the patent name of Application No. 200710072265.2：Gait image training robot) be given
Mechanism formed track it is as shown in Figure 1.As can be seen from Figure 1 the gait curve that it does not form people.Switzerland HOCOMA is public
The product of department only has the swing of thigh and shank, does not have the coordination of toe, sole, ankle-joint, knee joint to hip joint, and
The product of German LOKOHELP companies only has the track under the sole of fixed elliptical orbit.
Existing servicing unit can not simulation people very well gait, people are highly desirable, and to obtain a kind of technique effect excellent
The device that can form gait curve.
The content of the invention
Gait training is carried out it is an object of the invention to provide a kind of patient for being available for lower limb paralysis, form the dress of gait curve
Put.
The invention provides a kind of by bondage pin and the moving device for carrying out gait training of shank band, by crank rocker machine
Structure and linkage synthesize；It is characterized in that：The crank and rocker mechanism forms following closed circulation tracks：Its top is circular arc
A part, bottom is the track of near linear；In the case where the crank and rocker mechanism of above-mentioned formation closed circulation track drives, connecting rod
The end of mechanism forms apery gait curve (curve is objective, referring to the curve H in Fig. 3, without describing in detail).
It is described as follows by the moving device composition for carrying out gait training of bondage pin and shank band：Support 1, crank rotating disk
2nd, rocking bar 3, support bar 4, connecting rod 1, connecting rod 26；Wherein：Crank rotating disk 2 is fixed on the bottom of support 1 and can be around its own axle
Line rotates；The axis of crank rotating disk 2 is perpendicular to described by the moving device institute for carrying out gait training of bondage pin and shank band
The free cheek and intersection point of formation are O points；
One end F points of connecting rod 1 and the upper articulation of support 1, the other end and one end of connecting rod 26 of connecting rod 1 are hinged,
Hinge is E points；One end of rocking bar 3 is hinged on the A points of the disalignment of crank rotating disk 2；The other end of rocking bar 3 and connecting rod 26
It is hinged and hinge is D points；
One end B of support bar 4 is point articulated to be fixed on the bottom of support 1 near the somewhere of crank rotating disk 2, support bar 4 it is another
One end C is point articulated to be fixed on rocking bar 3；
Other end G points on connecting rod 26 away from E points form apery gait curve.
It is described by being additionally provided with connecting rod 37, connecting rod four in bondage pin and the moving device for carrying out gait training of shank band
8th, connection toggle 1, connection toggle 2 10；Wherein：Connecting rod 37, connecting rod 48 are respectively parallel to connecting rod 1, connecting rod 26 and arrange,
And connecting rod 37 is hinged on the top of support 1, hinge is F ＇；The upper end of connecting rod 48 is hinged with the lower end of connecting rod 37, and hinge is E；Hinge
Connection toggle 1 is provided between point E and E ＇；It is provided between the lower end G ＇ points and the lower end G points of connecting rod 26 of connecting rod 48 minute
The connection toggle 2 10 that other and connecting rod 48, both connecting rods 26 are articulated and connected.
It is described that outer shank 11, oblique pull piece are additionally provided with by bondage pin and the moving device for carrying out gait training of shank band
12nd, foot hold 13；Wherein：Outer shank 11, oblique pull piece 12, the three of foot hold 13 cooperatively form and are transported along gait curve in foot hold 13
Foot hold 13 can be driven to make the composite structure of periodic wobble during row；Concrete structure meets following requirements：Outer shank 11 is shaft-like
Part, its one end is hingedly fixed in the R points of the nearly centre in the bottom of connecting rod 37, the other end be hinged with wherein one end of oblique pull piece 12 and
Hinge is Q points, and the other end of oblique pull piece 12 realizes that what relative position determined is hinged fixed relationship in G points and connecting rod 26, or tiltedly
The other end of pulling-on piece 12 realizes that what relative position determined is hinged fixed relationship in G ＇ points and connecting rod 48；Or oblique pull piece 12 is another
One end connection toggle 2 10 on or foot hold 13 on certain point articulated fixation；The G points of the lower end of connecting rod 26 and the lower end of connecting rod 48
G ＇ points on be respectively arranged with two jointed shafts being parallel to each other, foot hold 13 is fixed on above-mentioned two jointed shafts；Connecting hinge
Bar 2 10 is relatively fixed with foot hold 13.
It is described by bondage pin and the moving device for carrying out gait training of shank band, effective rotation of crank rotating disk 2
Radius OA is 34-210mm；OB length in the horizontal direction is between 51-234mm；OB vertical direction length in 0-60mm
Between；AC length is between 60-240mm；CD length is between 80-320mm；The effective length BC of support bar 4 is in 60-240mm
Between；The effective length EF of connecting rod 1 is between 210-640mm；The effective length EG of connecting rod 26 is between 210-640mm；DE
Length is between 60-340mm；OF length in the horizontal direction is between 0-340mm；OF vertical direction length in 370-
Between 1140mm.
It is described as follows by the moving device composition further requirement for carrying out gait training of bondage pin and shank band：OA=
42mm；Length=the 3.59mm of OB length=89.73mm in the horizontal direction, OB in vertical direction；AC=120mm；CD=
180mm；BC=120mm；EF=450mm；EG=450mm；DE=188mm；OF length=200.54mm in the horizontal direction；OF
In the length=818.71mm of vertical direction；
H is that OA revolves the track i.e. bionical gait curve generated by G points after the above that turns around around O points.
It is described by bondage pin and the moving device for carrying out gait training of shank band, connection toggle 1, connection toggle 2 10
The effective length of the two is equal, and the hinge that is respectively articulated with support 1 of upper end equal to both connecting rod 1 and connecting rod 37 it
Between effective length；The connection toggle 1, the effective length of connection both toggles 2 10 are 25-300mm；
It is described by bondage pin and the moving device for carrying out gait training of shank band, the connection toggle 1, connection toggle
Effective length both 2 10 is 100mm.
It is described by bondage pin and the moving device for carrying out gait training of shank band, the distance between R points and E ＇ points exist
Between 17mm-630mm, the distance between R points and Q points between 240mm-1040mm, two hinges at the two ends of oblique pull piece 12 it
Between horizontal direction distance between 30mm-654mm, the vertical range of Q points and G points is not more than 210mm.
It is described by bondage pin and the moving device for carrying out gait training of shank band, the distance between R points and E ＇ points 196mm
Between, the distance between R points and Q points are 590mm, the horizontal range between two hinges at the two ends of oblique pull piece 12 for 150mm it
Between, the vertical range 25mm of Q points and G points.
Present invention is generally directed to the gait training in lower limb so that the crowd under independent or assistance standing can walk out bionical
Gait curve.Complete from toe to sole, ankle-joint, knee joint, the rehabilitation training under normal walking mode of hip joint.
Meanwhile, in order to the pin for ensureing bottom can use double connecting rod so that connecting rod machine all the time parallel to the curve
All of point can all the time parallel to the gait curved section of bottom on the connection toggle 2 10 of structure bottom, it is ensured that people stands in doubly-linked
When linkage bottom, the institute on sole a little can be according to gait curved path walking.The attitude of user's pin is able to whereby
Stablize relatively, prevent from injuring user.The certain position degree between sole and shank is so may insure, to not walking
The foot of people provides individual being accurately positioned.
It is important to emphasise that be：The present invention is that one kind can drive toe, sole, ankle-joint, knee joint, hip joint many places
The composite structure of coordination, it is specifically by crank and rocker mechanism, linkage, outer shank 11 and oblique pull piece 12, foot hold 13
Deng composition, the combination of crank and rocker mechanism and linkage can form gait curve, and the people's tiptoe station in training is in foot hold
On 13, shank be strapped in the outer shank 11, heel of mechanism step down in Q points extraction jointed shaft on, so ensure train in people
With crank and rocker mechanism drivening rod mechanism walk out gait curve and tiptoe move therewith while, after stepping down in the pin of Q points
With by oblique pull piece 12 around O points rotate and outer shank 11 with R points move and produce motion so that drive sole, ankle-joint,
Knee joint and hip joint are moved.
Main purpose present invention introduces outer shank 11 is to ensure position pass of the outer shank relative to the shank of user
It is basically identical.Amendment connecting rod 26, the obvious position deviation between connecting rod 48 and user's shank；And oblique pull piece 12
Introduce, then be for user pin can with outer shank 11 motion produce ankle-joint lifting so as to drive toe, sole,
Ankle motion.Preference data on outer shank 11, oblique pull piece 12, then be the guarantee technology effect drawn based on creative experiment
The preferred quantized data of fruit, correspond to technique effect and preferably preferably protects content.
Brief description of the drawings
Below in conjunction with the accompanying drawings and implementation method the present invention is further detailed explanation：
Fig. 1 shows for the corresponding gait image training robot principle of Chinese patent application file of application number 200710072265.2
Meaning sketch；
Fig. 2 is the single linkage principle simplified schematic diagram that can form people's gait curve；
Fig. 3 is to drive each joint coordination of human body lower limbs to act the principle of device simplified schematic diagram to form people's gait curve；
Fig. 4 is to form closed circulation track principle schematic by crank and rocker mechanism；
Fig. 5 is that drive each joint coordination of human body lower limbs of the present invention acts the device partial structurtes to form people's gait curve
Principle simplified schematic diagram.
Specific embodiment
On Figure of description additionally：
People's gait curve is depicted in Fig. 3 by taking G ＇ as an example；
Movement locus (the i.e. black in Fig. 4 formed by Typical Representative point with the hinge in the upper right corner of rocking bar 3 in Fig. 4
The closed curve that heavy line is constituted) it is the closed circulation track of crank and rocker mechanism formation；
Emphasis describes the relativeness between outer shank 11, oblique pull piece 12, foot hold 13 and other structures in Fig. 5.
Embodiment 1
It is a kind of by bondage pin and the moving device for carrying out gait training of shank band, by crank and rocker mechanism and linkage
Synthesis；The crank and rocker mechanism forms following closed circulation tracks：Its top is a part for circular arc, and bottom is near linear
Track；In the case where the crank and rocker mechanism of above-mentioned formation closed circulation track drives, the end of linkage forms apery gait
Curve (curve is objective, referring to the H curves in Fig. 3, without describing in detail).
It is described as follows by the moving device composition for carrying out gait training of bondage pin and shank band：Support 1, crank rotating disk
2nd, rocking bar 3, support bar 4, connecting rod 1, connecting rod 26；Wherein：
Crank rotating disk 2 is fixed on the bottom of support 1 and can be rotated around its own axis；The axis of crank rotating disk 2 is vertical
In the free cheek formed by bondage pin and the moving device for carrying out gait training of shank band and intersection point be O points；
One end F points of connecting rod 1 and the upper articulation of support 1, the other end and one end of connecting rod 26 of connecting rod 1 are hinged,
Hinge is E points；One end of rocking bar 3 is hinged on the A points of the disalignment of crank rotating disk 2；The other end of rocking bar 3 and connecting rod 26
It is hinged and hinge is D points；
One end B of support bar 4 is point articulated to be fixed on the bottom of support 1 near the somewhere of crank rotating disk 2, support bar 4 it is another
One end C is point articulated to be fixed on rocking bar 3；
Other end G points on connecting rod 26 away from E points form apery gait curve；
It is described as follows by the moving device composition further requirement for carrying out gait training of bondage pin and shank band：OA=
42mm；Length=the 3.59mm of OB length=89.73mm in the horizontal direction, OB in vertical direction；AC=120mm；CD=
180mm；BC=120mm；EF=450mm；EG=450mm；DE=188mm；OF length=200.54mm in the horizontal direction；OF
In the length=818.71mm of vertical direction；
H is that OA revolves the track i.e. bionical gait curve generated by G points after the above that turns around around O points.
The main purpose that the present embodiment introduces outer shank 11 is to ensure position of the outer shank relative to the shank of user
Relation is basically identical.Amendment connecting rod 26, the obvious position deviation between connecting rod 48 and user's shank；And oblique pull piece 12
Introducing, then be for user pin can with outer shank 11 motion produce ankle-joint lifting so as to drive toe, pin
The palm, ankle motion.Preference data on outer shank 11, oblique pull piece 12, then be the guarantee skill drawn based on creative experiment
The preferred quantized data of art effect, correspond to technique effect superior technique scheme.
It is described by being additionally provided with connecting rod 37, connecting rod four in bondage pin and the moving device for carrying out gait training of shank band
8th, connection toggle 1, connection toggle 2 10；Wherein：Connecting rod 37, connecting rod 48 are respectively parallel to connecting rod 1, connecting rod 26 and arrange,
And connecting rod 37 is hinged on the top of support 1, hinge is F ＇；The upper end of connecting rod 48 is hinged with the lower end of connecting rod 37, and hinge is E ＇；
Connection toggle 1 is provided between hinge E and E ＇；It is provided between the lower end G ＇ points and the lower end G points of connecting rod 26 of connecting rod 48
The connection toggle 2 10 being articulated and connected with connecting rod 48, both connecting rods 26 respectively.
It is described by bondage pin and the moving device for carrying out gait training of shank band, connection toggle 1, connection toggle 2 10
The effective length of the two is equal, and the hinge that is respectively articulated with support 1 of upper end equal to both connecting rod 1 and connecting rod 37 it
Between effective length；The connection toggle 1, the effective length of connection both toggles 2 10 are 100mm；
It is described that outer shank 11, oblique pull piece are additionally provided with by bondage pin and the moving device for carrying out gait training of shank band
12nd, foot hold 13；Wherein：Outer shank 11, oblique pull piece 12, the three of foot hold 13 cooperatively form and are transported along gait curve in foot hold 13
Foot hold 13 can be driven to make the composite structure of periodic wobble during row；Concrete structure meets following requirements：Outer shank 11 is shaft-like
Part, its one end is hingedly fixed in the R points of the nearly centre in the bottom of connecting rod 37, the other end be hinged with wherein one end of oblique pull piece 12 and
Hinge is Q points, and the other end of oblique pull piece 12 realizes that what relative position determined is hinged fixed relationship in G points and connecting rod 26, or tiltedly
The other end of pulling-on piece 12 realizes that what relative position determined is hinged fixed relationship in G ＇ points and connecting rod 48；Or oblique pull piece 12 is another
One end connection toggle 2 10 on or foot hold 13 on certain point articulated fixation；The G points of the lower end of connecting rod 26 and the lower end of connecting rod 48
G ＇ points on be respectively arranged with two jointed shafts being parallel to each other, foot hold 13 is fixed on above-mentioned two jointed shafts；Connecting hinge
Bar 2 10 is relatively fixed with foot hold 13.
It is described by bondage pin and the moving device for carrying out gait training of shank band, the distance between R points and E ＇ points 196mm
Between, the distance between R points and Q points are 590mm, the horizontal range between two hinges at the two ends of oblique pull piece 12 for 150mm it
Between, the vertical range 25mm of Q points and G points.
The present embodiment is mainly for the gait training in lower limb so that the crowd under independent or assistance standing can walk out imitative
Raw gait curve.Complete from toe to sole, ankle-joint, knee joint, the rehabilitation training under normal walking mode of hip joint.
Meanwhile, in order to the pin for ensureing bottom can use double connecting rod so that connecting rod machine all the time parallel to the curve
All of point can all the time parallel to the gait curved section of bottom on the connection toggle 2 10 of structure bottom, it is ensured that people stands in doubly-linked
When linkage bottom, the institute on sole a little can be according to gait curved path walking.The attitude of user's pin is able to whereby
Stablize relatively, prevent from injuring user.The certain position degree between sole and shank is so may insure, to not walking
The foot of people provides individual being accurately positioned.
It is important to emphasise that be：The present embodiment is that one kind can drive toe, sole, ankle-joint, knee joint, hip joint many
Locate the composite structure of coordination, it is specifically by crank and rocker mechanism, linkage, outer shank 11 and oblique pull piece 12, foot hold
13 grades are constituted, and the combination of crank and rocker mechanism and linkage can form gait curve, and the people's tiptoe station in training is in footrest
On plate 13, shank be strapped in the outer shank 11, heel of mechanism step down in Q points extraction jointed shaft on, so ensure train in
People with crank and rocker mechanism drivening rod mechanism walk out gait curve and tiptoe move therewith while, step down in the pin of Q points
Heel is rotated by oblique pull piece 12 around O points and outer shank 11 produces motion as R points are moved, so as to drive sole, ankle to close
The motion of section, knee joint and hip joint.
The main purpose that the present embodiment introduces outer shank 11 is to ensure position of the outer shank relative to the shank of user
Relation is basically identical.Amendment connecting rod 26, the obvious position deviation between connecting rod 48 and user's shank；And oblique pull piece 12
Introducing, then be for user pin can with outer shank 11 motion produce ankle-joint lifting so as to drive toe, pin
The palm, ankle motion.Preference data on outer shank 11, oblique pull piece 12, then be the guarantee skill drawn based on creative experiment
The preferred quantized data of art effect, correspond to technique effect superior technique scheme.
Embodiment 2
It is a kind of by bondage pin and the moving device for carrying out gait training of shank band, by crank and rocker mechanism and linkage
Synthesis；The crank and rocker mechanism forms following closed circulation tracks：Its top is a part for circular arc, and bottom is near linear
Track；In the case where the crank and rocker mechanism of above-mentioned formation closed circulation track drives, the end of linkage forms apery gait
Curve (is objective, sees figure, without describing in detail).
It is described as follows by the moving device composition for carrying out gait training of bondage pin and shank band：Support 1, crank rotating disk
2nd, rocking bar 3, support bar 4, connecting rod 1, connecting rod 26；
Wherein：Crank rotating disk 2 is fixed on the bottom of support 1 and can be rotated around its own axis；The axis of crank rotating disk 2
It is O perpendicular to the free cheek formed by bondage pin and the moving device for carrying out gait training of shank band and intersection point
Point；
One end F points of connecting rod 1 and the upper articulation of support 1, the other end and one end of connecting rod 26 of connecting rod 1 are hinged,
Hinge is E points；One end of rocking bar 3 is hinged on the A points of the disalignment of crank rotating disk 2；The other end of rocking bar 3 and connecting rod 26
It is hinged and hinge is D points；
One end B of support bar 4 is point articulated to be fixed on the bottom of support 1 near the somewhere of crank rotating disk 2, support bar 4 it is another
One end C is point articulated to be fixed on rocking bar 3；
Other end G points on connecting rod 26 away from E points form apery gait curve；
It is described by bondage pin and the moving device for carrying out gait training of shank band, effective rotation of crank rotating disk 2
Radius OA is 34mm；OB length in the horizontal direction is in 51mm；OB vertical direction length in 0mm；AC length is in 60mm；CD
Length is in 80mm；The effective length BC of support bar 4 is in 60mm；The effective length EF of connecting rod 1 is in 210mm；Connecting rod 26 it is effective
Length EG is in 210mm；DE length is in 60mm；OF length in the horizontal direction is in 0mm；OF vertical direction length in 370mm
Between.
H is that OA revolves the track i.e. bionical gait curve generated by G points after the above that turns around around O points.
The main purpose that the present embodiment introduces outer shank 11 is to ensure position of the outer shank relative to the shank of user
Relation is basically identical.Amendment connecting rod 26, the obvious position deviation between connecting rod 48 and user's shank；And oblique pull piece 12
Introducing, then be for user pin can with outer shank 11 motion produce ankle-joint lifting so as to drive toe, pin
The palm, ankle motion.Preference data on outer shank 11, oblique pull piece 12, then be the guarantee skill drawn based on creative experiment
The preferred quantized data of art effect, correspond to technique effect and preferably preferably protects content.
It is described by being additionally provided with connecting rod 37, connecting rod four in bondage pin and the moving device for carrying out gait training of shank band
8th, connection toggle 1, connection toggle 2 10；Wherein：Connecting rod 37, connecting rod 48 are respectively parallel to connecting rod 1, connecting rod 26 and arrange,
And connecting rod 37 is hinged on the top of support 1, hinge is F ＇；The upper end of connecting rod 48 is hinged with the lower end of connecting rod 37, and hinge is E ＇；
Connection toggle 1 is provided between hinge E and E ＇；It is provided between the lower end G ＇ points and the lower end G points of connecting rod 26 of connecting rod 48
The connection toggle 2 10 being articulated and connected with connecting rod 48, both connecting rods 26 respectively.
It is described by bondage pin and the moving device for carrying out gait training of shank band, connection toggle 1, connection toggle 2 10
The effective length of the two is equal, and the hinge that is respectively articulated with support 1 of upper end equal to both connecting rod 1 and connecting rod 37 it
Between effective length；The connection toggle 1, the effective length of connection both toggles 2 10 are 25mm；
It is described that outer shank 11, oblique pull piece are additionally provided with by bondage pin and the moving device for carrying out gait training of shank band
12nd, foot hold 13；Wherein：Outer shank 11, oblique pull piece 12, the three of foot hold 13 cooperatively form and are transported along gait curve in foot hold 13
Foot hold 13 can be driven to make the composite structure of periodic wobble during row；Concrete structure meets following requirements：Outer shank 11 is shaft-like
Part, its one end is hingedly fixed in the R points of the nearly centre in the bottom of connecting rod 37, the other end be hinged with wherein one end of oblique pull piece 12 and
Hinge is Q points, and the other end of oblique pull piece 12 realizes that what relative position determined is hinged fixed relationship in G points and connecting rod 26, or tiltedly
The other end of pulling-on piece 12 realizes that what relative position determined is hinged fixed relationship in G ＇ points and connecting rod 48；Or oblique pull piece 12 is another
One end connection toggle 2 10 on or foot hold 13 on certain point articulated fixation；The G points of the lower end of connecting rod 26 and the lower end of connecting rod 48
G ＇ points on be respectively arranged with two jointed shafts being parallel to each other, foot hold 13 is fixed on above-mentioned two jointed shafts；Connecting hinge
Bar 2 10 is relatively fixed with foot hold 13.
It is described by bondage pin and the moving device for carrying out gait training of shank band, the distance between R points and E ＇ points exist
The distance of the horizontal direction of the distance between 17mm, R point and Q points between 240mm, two hinges at the two ends of oblique pull piece 12 exists
The vertical range of 30mm, Q point and G points is not more than 210mm.
The present embodiment is mainly for the gait training in lower limb so that the crowd under independent or assistance standing can walk out imitative
Raw gait curve.Complete from toe to sole, ankle-joint, knee joint, the rehabilitation training under normal walking mode of hip joint.
Meanwhile, in order to the pin for ensureing bottom can use double connecting rod so that connecting rod machine all the time parallel to the curve
All of point can all the time parallel to the gait curved section of bottom on the connection toggle 2 10 of structure bottom, it is ensured that people stands in doubly-linked
When linkage bottom, the institute on sole a little can be according to gait curved path walking.The attitude of user's pin is able to whereby
Stablize relatively, prevent from injuring user.The certain position degree between sole and shank is so may insure, to not walking
The foot of people provides individual being accurately positioned.
It is important to emphasise that be：The present embodiment is that one kind can drive toe, sole, ankle-joint, knee joint, hip joint many
Locate the composite structure of coordination, it is specifically by crank and rocker mechanism, linkage, outer shank 11 and oblique pull piece 12, foot hold
13 grades are constituted, and the combination of crank and rocker mechanism and linkage can form gait curve, and the people's tiptoe station in training is in footrest
On plate 13, shank be strapped in the outer shank 11, heel of mechanism step down in Q points extraction jointed shaft on, so ensure train in
People with crank and rocker mechanism drivening rod mechanism walk out gait curve and tiptoe move therewith while, step down in the pin of Q points
Heel is rotated by oblique pull piece 12 around O points and outer shank 11 produces motion as R points are moved, so as to drive sole, ankle to close
The motion of section, knee joint and hip joint.
The main purpose that the present embodiment introduces outer shank 11 is to ensure position of the outer shank relative to the shank of user
Relation is basically identical.Amendment connecting rod 26, the obvious position deviation between connecting rod 48 and user's shank；And oblique pull piece 12
Introducing, then be for user pin can with outer shank 11 motion produce ankle-joint lifting so as to drive toe, pin
The palm, ankle motion.Preference data on outer shank 11, oblique pull piece 12, then be the guarantee skill drawn based on creative experiment
The preferred quantized data of art effect, correspond to technique effect superior technique scheme.
Embodiment 3
It is a kind of by bondage pin and the moving device for carrying out gait training of shank band, by crank and rocker mechanism and linkage
Synthesis；The crank and rocker mechanism forms following closed circulation tracks：Its top is a part for circular arc, and bottom is near linear
Track；In the case where the crank and rocker mechanism of above-mentioned formation closed circulation track drives, the end of linkage forms apery gait
Curve (is objective, sees figure, without describing in detail).
It is described as follows by the moving device composition for carrying out gait training of bondage pin and shank band：Support 1, crank rotating disk
2nd, rocking bar 3, support bar 4, connecting rod 1, connecting rod 26；Wherein：
Crank rotating disk 2 is fixed on the bottom of support 1 and can be rotated around its own axis；The axis of crank rotating disk 2 is vertical
In the free cheek formed by bondage pin and the moving device for carrying out gait training of shank band and intersection point be O points；
One end F points of connecting rod 1 and the upper articulation of support 1, the other end and one end of connecting rod 26 of connecting rod 1 are hinged,
Hinge is E points；One end of rocking bar 3 is hinged on the A points of the disalignment of crank rotating disk 2；The other end of rocking bar 3 and connecting rod 26
It is hinged and hinge is D points；
One end B of support bar 4 is point articulated to be fixed on the bottom of support 1 near the somewhere of crank rotating disk 2, support bar 4 it is another
One end C is point articulated to be fixed on rocking bar 3；
Other end G points on connecting rod 26 away from E points form apery gait curve；
It is described by bondage pin and the moving device for carrying out gait training of shank band, effective rotation of crank rotating disk 2
Radius OA is 210mm；OB length in the horizontal direction is in 234mm；OB vertical direction length in 60mm；AC length exists
240mm；CD length is in 320mm；The effective length BC of support bar 4 is in 240mm；The effective length EF of connecting rod 1 is in 640mm；Even
The effective length EG of bar 26 is in 640mm；DE length is in 340mm；OF length in the horizontal direction is in 340mm；OF is in vertical direction
Length in 1140mm.
H is that OA revolves the track i.e. bionical gait curve generated by G points after the above that turns around around O points.
It is to ensure position of the outer shank relative to the shank of user that the present embodiment introduces the outer ground main purpose of shank 11
Relation more meets.Amendment connecting rod 26, the obvious position deviation between connecting rod 48 and user's calf circumference system.As for
Preference data on outer shank 11, oblique pull piece 12, then be the preferred amounts of the guarantee technique effect drawn based on creative experiment
Change data, correspond to technique effect superior technique scheme.
It is described by being additionally provided with connecting rod 37, connecting rod four in bondage pin and the moving device for carrying out gait training of shank band
8th, connection toggle 1, connection toggle 2 10；Wherein：Connecting rod 37, connecting rod 48 are respectively parallel to connecting rod 1, connecting rod 26 and arrange,
And connecting rod 37 is hinged on the top of support 1, hinge is F ＇；The upper end of connecting rod 48 is hinged with the lower end of connecting rod 37, and hinge is E ＇；
Connection toggle 1 is provided between hinge E and E ＇；It is provided between the lower end G ＇ points and the lower end G points of connecting rod 26 of connecting rod 48
The connection toggle 2 10 being articulated and connected with connecting rod 48, both connecting rods 26 respectively.
It is described by bondage pin and the moving device for carrying out gait training of shank band, connection toggle 1, connection toggle 2 10
The effective length of the two is equal, and the hinge that is respectively articulated with support 1 of upper end equal to both connecting rod 1 and connecting rod 37 it
Between effective length；The connection toggle 1, the effective length of connection both toggles 2 10 are 300mm；
It is described that outer shank 11, oblique pull piece are additionally provided with by bondage pin and the moving device for carrying out gait training of shank band
12nd, foot hold 13；Wherein：Outer shank 11, oblique pull piece 12, the three of foot hold 13 cooperatively form and are transported along gait curve in foot hold 13
Foot hold 13 can be driven to make the composite structure of periodic wobble during row；Concrete structure meets following requirements：Outer shank 11 is shaft-like
Part, its one end is hingedly fixed in the R points of the nearly centre in the bottom of connecting rod 37, the other end be hinged with wherein one end of oblique pull piece 12 and
Hinge is Q points, and the other end of oblique pull piece 12 realizes that what relative position determined is hinged fixed relationship in G points and connecting rod 26, or tiltedly
The other end of pulling-on piece 12 realizes that what relative position determined is hinged fixed relationship in G ＇ points and connecting rod 48；Or oblique pull piece 12 is another
One end connection toggle 2 10 on or foot hold 13 on certain point articulated fixation；The G points of the lower end of connecting rod 26 and the lower end of connecting rod 48
G ＇ points on be respectively arranged with two jointed shafts being parallel to each other, foot hold 13 is fixed on above-mentioned two jointed shafts；Connecting hinge
Bar 2 10 is relatively fixed with foot hold 13.
It is described by bondage pin and the moving device for carrying out gait training of shank band, the distance between R points and E ＇ points exist
The distance of the horizontal direction of the distance between 630mm, R point and Q points between 1040mm, two hinges at the two ends of oblique pull piece 12 exists
The vertical range of 654mm, Q point and G points is not more than 210mm.
The present embodiment is mainly for the gait training in lower limb so that the crowd under independent or assistance standing can walk out imitative
Raw gait curve.Complete from toe to sole, ankle-joint, knee joint, the rehabilitation training under normal walking mode of hip joint.
Meanwhile, in order to the pin for ensureing bottom can use double connecting rod so that connecting rod machine all the time parallel to the curve
All of point can all the time parallel to the gait curved section of bottom on the connection toggle 2 10 of structure bottom, it is ensured that people stands in doubly-linked
When linkage bottom, the institute on sole a little can be according to gait curved path walking.The attitude of user's pin is able to whereby
Stablize relatively, prevent from injuring user.The certain position degree between sole and shank is so may insure, to not walking
The foot of people provides individual being accurately positioned.
It is important to emphasise that be：The present embodiment is that one kind can drive toe, sole, ankle-joint, knee joint, hip joint many
Locate the composite structure of coordination, it is specifically by crank and rocker mechanism, linkage, outer shank 11 and oblique pull piece 12, foot hold
13 grades are constituted, and the combination of crank and rocker mechanism and linkage can form gait curve, and the people's tiptoe station in training is in footrest
On plate 13, shank be strapped in the outer shank 11, heel of mechanism step down in Q points extraction jointed shaft on, so ensure train in
People with crank and rocker mechanism drivening rod mechanism walk out gait curve and tiptoe move therewith while, step down in the pin of Q points
Heel is rotated by oblique pull piece 12 around O points and outer shank 11 produces motion as R points are moved, so as to drive sole, ankle to close
The motion of section, knee joint and hip joint.
The main purpose that the present embodiment introduces outer shank 11 is to ensure position of the outer shank relative to the shank of user
Relation is basically identical.Amendment connecting rod 26, the obvious position deviation between connecting rod 48 and user's shank；And oblique pull piece 12
Introducing, then be for user pin can with outer shank 11 motion produce ankle-joint lifting so as to drive toe, pin
The palm, ankle motion.Preference data on outer shank 11, oblique pull piece 12, then be the guarantee skill drawn based on creative experiment
The preferred quantized data of art effect, correspond to technique effect superior technique scheme.
Claims (7)
1. a kind of by bondage pin and the moving device for carrying out gait training of shank band, closed by crank and rocker mechanism and linkage
Into；It is characterized in that：The crank and rocker mechanism forms following closed circulation tracks：Its top is a part for circular arc, bottom
It is the track of near linear；In the case where the crank and rocker mechanism of above-mentioned formation closed circulation track drives, the end shape of linkage
Into apery gait curve；
It is described as follows by the moving device composition for carrying out gait training of bondage pin and shank band：Support (1), crank rotating disk
(2), rocking bar (3), support bar (4), connecting rod one (5), connecting rod two (6)；Wherein：Crank rotating disk (2) is fixed on support (1) bottom
And can be rotated around its own axis；The axis of crank rotating disk (2) is carried out perpendicular to described by the way that bondage pin and shank band are moving
The free cheek and intersection point that the device of gait training is formed are O points；One end F points of connecting rod one (5) cut with scissors with the top of support (1)
Connect, the other end and one end of connecting rod two (6) of connecting rod one (5) are hinged, hinge is E points；One end of rocking bar (3) is hinged on crank rotation
The A points of the disalignment of rotating disk (2)；The other end of rocking bar (3) is hinged with connecting rod two (6) and hinge is D points；Support bar (4)
B point articulated support (1) bottoms that are fixed in one end are near the somewhere of crank rotating disk (2), and the other end C of support bar (4) is point articulated
It is fixed on rocking bar (3)；Other end G points on connecting rod two (6) away from E points form apery gait curve；
It is described by being additionally provided with connecting rod three (7), connecting rod four in bondage pin and the moving device for carrying out gait training of shank band
(8), connection toggle one (9), connection toggle two (10)；Wherein：Connecting rod three (7), connecting rod four (8) be respectively parallel to connecting rod one (5),
Connecting rod two (6) is arranged, and connecting rod three (7) is hinged on support (1) top, and hinge is F ＇；The upper end of connecting rod four (8) and connecting rod three
(7) lower end is hinged, and hinge is E ＇；Connection toggle one (9) is provided between hinge E and E ＇；The lower end G ＇ points of connecting rod four (8) with
The connection toggle two being articulated and connected with both connecting rod four (8), connecting rod two (6) respectively is provided between the lower end G points of connecting rod two (6)
(10)；
It is described that outer shank (11), oblique pull piece are additionally provided with by bondage pin and the moving device for carrying out gait training of shank band
(12), foot hold (13)；Wherein：Outer shank (11), oblique pull piece (12), foot hold (13) three are cooperatively formed in foot hold (13)
Foot hold (13) can be driven to make the composite structure of periodic wobble during along gait curve motion；Concrete structure meets following requirements：
Outer shank (11) is rod-like element, and its one end is hingedly fixed in the R points of the nearly centre in bottom of connecting rod three (7), the other end and oblique pull piece
(12) wherein one end is hinged and hinge is Q points, and the other end of oblique pull piece (12) realizes relative position in G points and connecting rod two (6)
What is determined is hinged fixed relationship, or the other end of oblique pull piece (12) realizes what relative position determined in G ＇ points and connecting rod four (8)
It is hinged fixed relationship；Or the other end of oblique pull piece (12) certain is point articulated on connection toggle two (10) or on foot hold (13)
It is fixed；Two jointed shafts being parallel to each other are respectively arranged with the G points of the lower end of connecting rod two (6) and the G ＇ points of the lower end of connecting rod four (8),
Foot hold (13) is fixed on above-mentioned two jointed shafts；Connection toggle two (10) is relatively fixed with foot hold (13).
2. according to described in claim 1 pass through bondage pin and the moving device for carrying out gait training of shank band, it is characterised in that：Institute
State by bondage pin and the moving device for carrying out gait training of shank band, effective radius of turn OA of crank rotating disk (2) is
34-210mm；OB length in the horizontal direction is between 51-234mm；OB vertical direction length between 0-60mm；AC is long
Degree is between 60-240mm；CD length is between 80-320mm；The effective length BC of support bar (4) is between 60-240mm；Even
The effective length EF of bar one (5) is between 210-640mm；The effective length EG of connecting rod two (6) is between 210-640mm；DE is long
Degree is between 60-340mm；OF length in the horizontal direction is between 0-340mm；OF vertical direction length in 370-
Between 1140mm.
3. according to described in claim 2 pass through bondage pin and the moving device for carrying out gait training of shank band, it is characterised in that：Institute
State as follows by the moving device composition for carrying out gait training of bondage pin and shank band：OA=42mm；OB length in the horizontal direction
Degree=89.73mm, length=3.59mms of the OB in vertical direction；AC=120mm；CD=180mm；BC=120mm；EF=
450mm；EG=450mm；DE=188mm；OF length=200.54mm in the horizontal direction；OF vertical direction length=
818.71mm；H is that OA revolves the track i.e. bionical gait curve generated by G points after the above that turns around around O points.
4. according to described in claim 3 pass through bondage pin and the moving device for carrying out gait training of shank band, it is characterised in that：Institute
State by bondage pin and the moving device for carrying out gait training of shank band, connection toggle one (9), connection toggle two (10) the two
Effective length is equal, and the hinge being respectively articulated with equal to connecting rod one (5) and the upper end of the two of connecting rod three (7) and support (1) it
Between effective length；The connection toggle one (9), connection toggle two (10) effective length of the two are 25-300mm.
5. according to described in claim 4 pass through bondage pin and the moving device for carrying out gait training of shank band, it is characterised in that：Institute
State by bondage pin and the moving device for carrying out gait training of shank band, the connection toggle one (9), connection toggle two (10) two
The effective length of person is 100mm.
6. according to described in claim 5 pass through bondage pin and the moving device for carrying out gait training of shank band, it is characterised in that：Institute
State by bondage pin and the moving device for carrying out gait training of shank band, the distance between R points and E ＇ points 17mm-630mm it
Between, the distance between R points and Q points between 240mm-1040mm, the level side between two hinges at oblique pull piece (12) two ends
To distance between 30mm-654mm, the vertical range of Q points and G points is not more than 210mm.
7. according to described in claim 6 pass through bondage pin and the moving device for carrying out gait training of shank band, it is characterised in that：Institute
State by bondage pin and the moving device for carrying out gait training of shank band, between the distance between R points and E ＇ points 196mm, R points with
The distance between Q points are 590mm, horizontal range between two hinges at oblique pull piece (12) two ends between 150mm, Q points and G
The vertical range 25mm of point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210277695.9A CN103566542B (en) | 2012-08-07 | 2012-08-07 | Device for driving person to carry out gait training by binding feet and shanks |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210277695.9A CN103566542B (en) | 2012-08-07 | 2012-08-07 | Device for driving person to carry out gait training by binding feet and shanks |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103566542A CN103566542A (en) | 2014-02-12 |
| CN103566542B true CN103566542B (en) | 2017-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210277695.9A Active CN103566542B (en) | 2012-08-07 | 2012-08-07 | Device for driving person to carry out gait training by binding feet and shanks |
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| CN (1) | CN103566542B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105456002B (en) * | 2016-01-07 | 2017-11-17 | 天津大学 | A kind of recovery exercising robot that can realize normal gait pattern |
| CN109330822B (en) * | 2018-11-15 | 2024-04-23 | 苏州大学 | Gait rehabilitation training robot |
| CN110259653A (en) * | 2019-05-05 | 2019-09-20 | 西安培华学院 | A kind of human motion power generator |
| CN113558886A (en) * | 2021-09-07 | 2021-10-29 | 布法罗机器人科技（成都）有限公司 | Wheelchair type walking aid |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB851234A (en) * | 1957-10-25 | 1960-10-12 | Stanley Farrow | A personal exercising machine |
| WO1994012244A1 (en) * | 1992-12-01 | 1994-06-09 | Pacific Fitness Corporation | Articulated lower body exerciser |
| JP2005211086A (en) * | 2004-01-27 | 2005-08-11 | Yaskawa Electric Corp | Walking training apparatus |
| CN101138533A (en) * | 2007-10-26 | 2008-03-12 | 四川大学 | Hip joint healing sport machine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6849035B2 (en) * | 2002-01-31 | 2005-02-01 | Duvernay Daniel J. | Exercise device for leg exercises |
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2012
- 2012-08-07 CN CN201210277695.9A patent/CN103566542B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB851234A (en) * | 1957-10-25 | 1960-10-12 | Stanley Farrow | A personal exercising machine |
| WO1994012244A1 (en) * | 1992-12-01 | 1994-06-09 | Pacific Fitness Corporation | Articulated lower body exerciser |
| JP2005211086A (en) * | 2004-01-27 | 2005-08-11 | Yaskawa Electric Corp | Walking training apparatus |
| CN101138533A (en) * | 2007-10-26 | 2008-03-12 | 四川大学 | Hip joint healing sport machine |
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| CN103566542A (en) | 2014-02-12 |
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Effective date of registration: 20160413 Address after: Nanshan District Nanshan Road Shenzhen city Guangdong province 518054 No. 1088 South Maple Building 9 floor F Applicant after: Shenzhen six dimensional robot Co., Ltd. Address before: 110179, Liaoning, Shenyang Province, Dongling District, Baita Town, deep groove village, 860-2 Shenyang International Software Park F7 B412 Applicant before: SHENYANG LIUWEI REHABILITATION ROBOT CO., LTD. |
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