CN103845185B - A kind of lower limb rehabilitation exercising machine people of household small-size - Google Patents
A kind of lower limb rehabilitation exercising machine people of household small-size Download PDFInfo
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- CN103845185B CN103845185B CN201410073019.9A CN201410073019A CN103845185B CN 103845185 B CN103845185 B CN 103845185B CN 201410073019 A CN201410073019 A CN 201410073019A CN 103845185 B CN103845185 B CN 103845185B
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Abstract
The lower limb rehabilitation exercising machine people who the invention discloses a kind of household small-size, comprises base, and intrinsic man-machine interactive system, dynamical system and end effector mechanism on it are also provided with suspension strut mechanism on base; Dynamical system comprises motor cabinet, which is provided with motor, and outputting power passes to end effector mechanism by minor sprocket, chain, hinge wheel and central shaft; End effector mechanism comprises two pedals and is fixed in the guide rail on base, between guide rail and central shaft, be provided with two cover slider-crank mechanisms, two cranks are 180 ° of layouts, in slider-crank mechanism, one end of crank and central shaft are connected, the other end is articulated linkage and slide block successively, crank length is adjustable, and pedal is hinged on connecting rod, and pedal is provided with calutron. The present invention drives patient to carry out rehabilitation by more meeting normal gait track, and can carry out track adjusting according to different height, simple in structure, cost is low, it is little to take up room, and is applicable to family and uses and can realize the multiple training modes such as passive, active training.
Description
Technical field
The invention belongs to the robot in a kind of rehabilitation medical instrument and exercising apparatus field, be specifically related to one and more meet normallyThe household small-size lower limb rehabilitation exercising machine people of gait track.
Background technology
According to investigations, there are a considerable amount of people in China every year because the reason such as disease, traffic accident causes lower limb disorder.Clinical practice shows, no matter is the motor dysfunction that disease or limb injury cause, and good lower limb rehabilitation training all canTo improve lower limb exercise ability and to promote nervous function reparation, and reduce complication rate. For this reason, American-European, Japanese etc.Developed country has all developed multiple lower limb rehabilitation robot. But it is large, expensive to take up room, be difficult to meet ordinary peopleDaily family demand; And family take exercise become more and more popular, family also grows with each passing day to the demand of exercising apparatus, but presentExercising apparatus mainly concentrates on treadmill, indoor bicycle etc.
By existing relevant literature search is found, China Patent No. 200620140778.3 discloses a kind of wheel chair type walkingImage training robot, comprises wheelchair system, lower limb exoskeleton system, Damper Braces system and controller. This robot is by controlOn ectoskeleton processed, the rotation of each joint motor realizes the training of lower limb. This robot controls four motors simultaneously, becomesThis higher and difficult realization.
China Patent No. 200910075068.5 discloses a kind of lower limb rehabilitation medical robot used for paralytic patient, comprise base,Rehabilitation leg training device and computer control system. The exoskeleton mechanism that this robot is suspended on outside by control reachesTraining goal. Its less stable, algorithm complexity etc., and then cause cost high, be not suitable for extensive use.
China Patent No. 201110050479.6 discloses a kind of riding type robot for lower limb rehabilitation, comprises riding type seat, drivesActuation mechanism, exoskeleton mechanism and support. This robot by driven by servomotor, drives foot motion, makes that patient's is wholeLower limb are motion and then. Elliptical orbit is walked with foot by this robot, and people's normal gait track is class ellipse, and difference is larger.
Summary of the invention
The present invention is directed to prior art above shortcomings, a kind of household small-size that more meets normal gait track is providedLower limb rehabilitation exercising machine people, use the present invention can according to the rehabilitation of reconditioning person's build size and medical science theoretical andDesign, to make that it is simple and compact for structure, institute takes up space little, practical, cost is lower, can meet medical institutions, familyDeng the needs to the daily lower limb rehabilitation of reconditioning person and family's exercise.
The lower limb rehabilitation exercising machine people's of a kind of household small-size of the present invention technical scheme is: this robot comprises base, described inOn base, be fixed with man-machine interactive system, dynamical system and end effector mechanism, it is characterized in that, on described base, be also provided withSuspension strut mechanism; Described dynamical system comprises the motor cabinet fixing with base, on described motor cabinet, is provided with motor, described inThe outputting power of motor is successively by passing to end effector mechanism after minor sprocket, chain, hinge wheel and central shaft; Described endEnd executing agency comprises two pedals and is fixed on the guide rail on base, between described guide rail and described central shaft, is provided with two coversSlider-crank mechanism, described slider-crank mechanism comprises crank, one end of described crank and described central shaft are connected, described songThe other end of handle is hinged with connecting rod and slide block successively, and the hinged place between described crank and described connecting rod is provided with crank length and regulatesStructure, described slide block and described guide rail are slidably matched, and described pedal is hinged on described connecting rod, and described pedal is provided withCalutron, two cranks in two cover slider-crank mechanisms are 180 ° of layouts; Described end effector mechanism also includes a pair ofWith pedal supporting with the footwear at the bottom of magnetic shoe; Described suspension strut mechanism comprises the support frame fixing with base, described inThe rope that is provided with adjustable length of support frame, the bottom of described rope is provided with spring damper, described spring damperBe provided with suspender belt.
Compared with prior art, the invention has the beneficial effects as follows:
Because the pedal in the present invention is driven by two slider-crank mechanisms, in use procedure, the movement locus of pedal moreMeet normal gait track, and design according to the rehabilitation of reconditioning person's build size and medical science is theoretical, make its structureThat simple compact, institute takes up space is little, practical, cost is lower, can meet medical institutions, family etc. to reconditioning personThe needs that daily lower limb rehabilitation and family take exercise.
Brief description of the drawings
Fig. 1 is household small-size lower limb rehabilitation exercising machine people structural representation of the present invention;
Fig. 2 is man-machine interactive system pie graph in the lower limb rehabilitation of household small-size shown in Fig. 1 exercising machine people;
Fig. 3 is the lower limb rehabilitation of household small-size shown in Fig. 1 exercising machine people medium power system architecture schematic diagram;
Fig. 4 is end effector mechanism schematic diagram in the lower limb rehabilitation of household small-size shown in Fig. 1 exercising machine people;
Fig. 5 is slide block mechanism schematic diagram in end effector mechanism shown in Fig. 4;
Fig. 6 is suspension strut structural scheme of mechanism in the lower limb rehabilitation of household small-size shown in Fig. 1 exercising machine people.
In figure: 10-man-machine interactive system, 11-bracing frame, 12-display, 20-dynamical system, 21-motor cabinet, 22-is littleSprocket wheel, 23-chain, 24-central shaft, 25-hinge wheel, 26-motor, 30-base, 40-end effector mechanism, 41-crank,42-regulating block, 43-connecting rod, 44-pillar, 45-guide rail, 46-slide block mechanism, 461-connecting plate, 462-cylindrical roller, 47-Pedal, 50-suspension strut mechanism, 51-support frame, 52-rope, 53-spring damper, 54-suspender belt.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, technical solution of the present invention is described in further detail.
As shown in Figure 1, the lower limb rehabilitation exercising machine people of a kind of household small-size of the present invention, comprises base 30, described base 30On be fixed with man-machine interactive system 10, dynamical system 20, end effector mechanism 40 and suspension strut mechanism 50.
As shown in Figure 2, described man-machine interactive system comprises display 12, and described display 12 is by a bracing frame 11 and instituteState base 30 fixing, can adjust according to reconditioning person's individual height the high and low position of display 12, display 12 useAdjust kinematic parameter, and can show the information such as gait track, walking speed, training time, this man-machine interactive system withDynamical system 20 connects, and its structure, annexation and control all belong to the transformation of the way general knowledge of the art, do not repeat them here.
As shown in Figure 3, described dynamical system 20 comprises the motor cabinet fixing with base 30, on described motor cabinet 21, is provided withMotor 26, the outputting power of described motor 26 is successively by after minor sprocket 22, chain 23, hinge wheel 25 and central shaft 24Pass to end effector mechanism 40.
As shown in Figure 4, described end effector mechanism 40 comprises two pedals 47 and is fixed on the guide rail 45 on base 30,Described guide rail 45 is connected on base 30 by pillar 44, between described guide rail 45 and described central shaft 24, is provided with two divertimentosHandle slide block mechanism, described slider-crank mechanism comprises crank 41, one end of described crank 41 and described central shaft 24 are connected,The other end of described crank 41 is hinged with connecting rod 43 and slide block 46 successively, the hinge between described crank 41 and described connecting rod 43The place of connecing is provided with crank length adjustment structure, described crank length adjustment structure by be arranged on chute on crank 41 and with described songThe regulating block 42 that between handle 41 and described connecting rod 43, hinge seat is integrated forms, and described regulating block 42 can be in the cunning of crank 41In groove, slide, between described regulating block 42 and described chute, be provided with locking device.
As shown in Figure 5, described slide block 46 is slidably matched with described guide rail 45, and described slide block 46 comprises two connecting plate 461 HesTwo cylindrical rollers 462 that are arranged between two connecting plates 461 form, and described two connecting plates 461 are arranged on described connecting rod 43With described guide rail 45 both sides, one end of described connecting plate 461 and described connecting rod 43 are hinged, and described guide rail 45 rolls from two cylindersIn space between son 462, pass, two cylindrical rollers 462 can rotate around rotating shaft separately, and rotating shaft is arranged on connecting plate 461Upper, when connecting rod 43 moves, connecting plate 461 drives cylindrical roller 262 to roll along the surface of guide rail 45, i.e. two cylindrical rollers462 roll and coordinate with described guide rail 45, and then slide block 46 is slided along guide rail 45. Described pedal 47 is hinged on described companyOn bar 43, described pedal 47 is provided with calutron, and described end effector mechanism 40 also includes a pair of and pedal 47Supporting with the footwear at the bottom of magnetic shoe (not shown in FIG.); Two cranks in two cover slider-crank mechanisms are 180 ° of layouts,When motor 26 is worked, described motor 26 drives described minor sprocket 22 to rotate, and drives hinge wheel 25 to rotate by chain 23,And then central shaft 24 is rotated, finally drive the crank 41 that is connected in central shaft 24 to rotate, as shown in Figure 4.
As shown in Figure 6, described suspension strut mechanism 50 comprises the support frame 51 fixing with base 30, described support frame51 the rope that is provided with adjustable length 52, the bottom of described rope 52 is provided with spring damper 53, described spring shock absorptionDevice 53 is provided with suspender belt 54, and described suspender belt 54 can reconditioning person to hang in robot, makes its bi-pedal foot-operatedOn plate, carry out rehabilitation, described spring damper 53 can compensate the vertical direction displacement of the reconditioning person after hanging, fromAnd play the effect of damping.
To sum up, simple and reasonable, the compact in design of the present invention take up room less, cost is little, simple to operate, can according to fromBody situation is adjusted, and uses so be applicable to individual family and ordinary people.
The present invention is further illustrated by the following examples. First according to reconditioning person's gait size, unclamp endThe locking device at regulating block 42 places in end executing agency 40, the position of slidable adjustment piece 42 in crank 41 chutes, makesRegulating block 42 reaches precalculated position, then, closes locking device. Suspender belt in suspension strut mechanism 50 54 is through to rehabilitationWith it person taking exercise, regulate the length of rope 52, allow reconditioning person be suspended from robot by suspension strut mechanism 50,And make to be installed with the footwear supporting with robot footrest 47 (sole of these footwear is the material that magnet can attract), the sole of these footwear connectsHaptic element pedal 47, certain body weight can be born by the person's that makes reconditioning foot. Open pedal 47 place's calutrons, rehabilitation is forgedLian Zhe foot is connected on pedal 47. The parameters such as training leg speed, time are set by man-machine interaction mechanism 10, open electricitySource switch, power is flowed to end effector mechanism 40 by dynamical system 20, and final pedal 47 rotates and drives rehabilitation around connecting rodPerson taking exercise foot carries out rehabilitation training by similar normal gait walking. Run into emergency, as track exceeds reconditioning, person canScope of activities, pedal 47 exceeds to the pulling force of reconditioning person foot the attraction that calutron provides, reconditioning personFoot and pedal 47 depart from, reach protection reconditioning person's object or nurse personnel, reconditioning person can press anxious stop byButton, makes device be forced to quit work. The present invention's employing is made up of crank 41, connecting rod 43, guide rail 45 and slide block mechanism 46Slider-crank mechanism simulation people normal gait, thus drive reconditioning person foot motion, reach rehabilitation training.
Although invention has been described by reference to the accompanying drawings above, the present invention is not limited to above-mentioned detailed description of the invention,Above-mentioned detailed description of the invention is only schematically, instead of restrictive, and those of ordinary skill in the art is in the present inventionEnlightenment under, in the situation that not departing from aim of the present invention, can also make a lot of distortion, these all belong to guarantor of the present inventionWithin protecting.
Claims (3)
1. a lower limb rehabilitation exercising machine people for household small-size, comprises base (30), and described base is fixed with people on (30)Machine interactive system (10), dynamical system (20) and end effector mechanism (40), is characterized in that, on described base, also establishesThere is suspension strut mechanism (50);
Described dynamical system (20) comprises the motor cabinet fixing with base (30), and described motor cabinet is provided with electricity on (21)Machine (26), the outputting power of described motor (26) successively by minor sprocket (22), chain (23), hinge wheel (25) andAfter central shaft (24), pass to end effector mechanism (40);
Described end effector mechanism (40) comprises two pedals (47) and is fixed on the guide rail (45) on base (30),Between described guide rail (45) and described central shaft (24), be provided with two cover slider-crank mechanisms, described slider-crank mechanism comprisesCrank (41), one end of described crank (41) and described central shaft (24) are connected, and the other end of described crank (41) is complied withInferior connecting rod (43) and the slide block (46) of being hinged with, the hinged place between described crank (41) and described connecting rod (43) is provided with songHandle structure of adjusting length, described crank length adjustment structure is made up of chute and regulating block (42), and described chute is arranged on instituteState crank (41) upper, between described crank (41) and described connecting rod (43), be provided with hinge seat, described regulating block (42)Be integrated with described hinge seat, between described regulating block (42) and described chute, be provided with locking device; Described slide block (46)Be slidably matched with described guide rail (45), described connecting rod is to intersect by a stock and a quarter butt T font rod member forming, wherein,The two ends of described stock are hinged with described slide block (46) and described regulating block (42) respectively, and described pedal (47) is hingedPin joint at described connecting rod (43) above and between described pedal (47) and described connecting rod (43) is positioned at described quarter buttEnd, described pedal (47) is provided with calutron, two cranks of two covers in slider-crank mechanisms are 180 ° of layouts;Described end effector mechanism (40) also include a pair of and pedal (47) supporting with the footwear at the bottom of magnetic shoe;
Described suspension strut mechanism (50) comprises the support frame (51) fixing with base (30), described support frame (51)The rope that is provided with adjustable length (52), the bottom of described rope (52) is provided with spring damper (53), described bulletSpring damper (53) is provided with suspender belt (54).
2. the lower limb rehabilitation exercising machine people of household small-size according to claim 1, is characterized in that described slide block (46)Two cylindrical rollers (462) that comprise two connecting plates (461) and be arranged between two connecting plates (461) form, and described twoPiece connecting plate (461) is arranged on described connecting rod (43) and described guide rail (45) both sides, one end of described connecting plate (461) withDescribed connecting rod (43) is hinged, and described guide rail (45) passes the space between two cylindrical rollers (462), two circlesPost roller (462) rolls and coordinates with described guide rail.
3. the lower limb rehabilitation exercising machine people of household small-size according to claim 1, is characterized in that described man-machine interactionSystem comprises display (12), and described display (12) is fixing by a bracing frame (11) and described base (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410073019.9A CN103845185B (en) | 2014-02-28 | 2014-02-28 | A kind of lower limb rehabilitation exercising machine people of household small-size |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410073019.9A CN103845185B (en) | 2014-02-28 | 2014-02-28 | A kind of lower limb rehabilitation exercising machine people of household small-size |
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| CN103845185A CN103845185A (en) | 2014-06-11 |
| CN103845185B true CN103845185B (en) | 2016-05-25 |
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| CN201410073019.9A Expired - Fee Related CN103845185B (en) | 2014-02-28 | 2014-02-28 | A kind of lower limb rehabilitation exercising machine people of household small-size |
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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 |
| CN106420266A (en) * | 2016-12-01 | 2017-02-22 | 长春工业大学 | Flywheel type limb rehabilitation training robot |
| CN108815715A (en) * | 2018-04-10 | 2018-11-16 | 泰州职业技术学院 | A kind of hot physical therapy bracket of lower limb |
| CN110279556A (en) * | 2019-06-21 | 2019-09-27 | 天津大学 | Adjustable elliptical orbit lower limb recovery wheelchair |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3009889B1 (en) * | 1999-02-10 | 2000-02-14 | セノー株式会社 | Walking training equipment |
| US6077196A (en) * | 1999-10-01 | 2000-06-20 | Eschenbach; Paul William | Adjustable elliptical exercise apparatus |
| CN2558375Y (en) * | 2002-08-14 | 2003-07-02 | 哈尔滨工程大学 | Lower extremity recovery training robot |
| CN2801219Y (en) * | 2005-05-16 | 2006-08-02 | 郭海滨 | Oval exercising equipment with adjustable step length |
| CN2925455Y (en) * | 2006-07-21 | 2007-07-25 | 哈尔滨工程大学 | Stood rehabilitation exerciser for lower limbs |
| US7918766B2 (en) * | 2007-03-28 | 2011-04-05 | Brunswick Corporation | Elliptical mechanism |
| CN201907622U (en) * | 2010-09-17 | 2011-07-27 | 和硕联合科技股份有限公司 | Electromagnetic pedal plate and riding vehicle body thereof |
| CN202128671U (en) * | 2011-06-15 | 2012-02-01 | 哈尔滨工程大学 | Phalanx knuckle rehabilitating mechanism of pedal type tread rehabilitation trainer |
| CN202715012U (en) * | 2012-08-13 | 2013-02-06 | 昆山市工业技术研究院有限责任公司 | Walking recovery machine |
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