CN105997436B - A kind of four-degree-of-freedom multi-pose lower limb rehabilitation robot - Google Patents
A kind of four-degree-of-freedom multi-pose lower limb rehabilitation robot Download PDFInfo
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- CN105997436B CN105997436B CN201610527962.1A CN201610527962A CN105997436B CN 105997436 B CN105997436 B CN 105997436B CN 201610527962 A CN201610527962 A CN 201610527962A CN 105997436 B CN105997436 B CN 105997436B
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 84
- 210000000689 upper leg Anatomy 0.000 claims abstract description 71
- 210000002414 leg Anatomy 0.000 claims abstract description 62
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 31
- 210000000629 knee joint Anatomy 0.000 claims abstract description 23
- 230000008520 organization Effects 0.000 claims abstract description 10
- 210000001699 lower leg Anatomy 0.000 claims description 42
- 230000008450 motivation Effects 0.000 claims description 28
- 210000002683 foot Anatomy 0.000 claims description 27
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 21
- 230000003014 reinforcing effect Effects 0.000 claims description 12
- 238000005452 bending Methods 0.000 claims description 6
- 238000013519 translation Methods 0.000 claims description 4
- 210000003423 ankle Anatomy 0.000 claims description 3
- 210000003127 knee Anatomy 0.000 claims description 3
- 210000004394 hip joint Anatomy 0.000 abstract description 4
- 230000009466 transformation Effects 0.000 abstract description 3
- 230000001105 regulatory effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 11
- 239000007787 solid Substances 0.000 description 6
- 238000012549 training Methods 0.000 description 6
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 241000282376 Panthera tigris Species 0.000 description 1
- 206010033892 Paraplegia Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 201000001880 Sexual dysfunction Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 206010008118 cerebral infarction Diseases 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 231100000872 sexual dysfunction Toxicity 0.000 description 1
- 238000011282 treatment Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1628—Pelvis
- A61H2201/1633—Seat
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0406—Standing on the feet
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0425—Sitting on the buttocks
- A61H2203/0431—Sitting on the buttocks in 90°/90°-position, like on a chair
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2203/00—Additional characteristics concerning the patient
- A61H2203/04—Position of the patient
- A61H2203/0443—Position of the patient substantially horizontal
- A61H2203/0456—Supine
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
- A61H2205/088—Hip
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/102—Knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of four-degree-of-freedom multi-pose lower limb rehabilitation robot, belong to field of medical device, it mainly include foundation means, chair mechanism, left mechanical leg organization and right mechanical leg organization, chair mechanism is bolted to connection on the top of foundation means, the pedipulator width adjusting portion of chair mechanism is connected with left and right pedipulator, and the leg sliding block connector in two pedipulator width adjusting portions is connected with the handrail connector of big leg mechanism by bolt respectively.It is bent and stretched at the hip joint of its pedipulator of the invention using three branch parallel institution UPU-UPS-U realization and side-sway, knee joint and ankle-joint is realized by serial mechanism, each joint constitutes a serial-parallel mirror four-degree-of-freedom space mechanism；The length of the small thigh of pedipulator is adjustable, and regulating device is equal push rod sliding block four-bar mechanism；The parallel institution that robot is made up of multiple electric cylinders between seat and base plate, can achieve the transformation of the multi-poses such as stance, standing position, lying posture and custom angle.
Description
Technical field
The invention belongs to field of medical device.
Background technique
With the development of the times, lower extremity motor function sexual dysfunction disease caused by the contingencies such as traffic accident, movement disability
Patient increases year by year, and the serious national conditions of China human mortality aging, the generation of the diseases such as cerebral infarction, paraplegia will will lead to again in addition
A large amount of deformity of limbs person.The rehabilitation of these conditions of patients carries out the rehabilitation instruction of science other than carrying out the treatments such as operating medicine
White silk is also extremely important.According to statistics, about 24,070,000 people of China's deformity of limbs person at present, only much by physiatrician's empty-handed training
It is not able to satisfy the needs of patient.A kind of rehabilitation medicine equipment of the lower limb rehabilitation robot as automation, can fill up this just
One vacancy.Currently, national all types disability rehabilitation training service organization has reached nearly 20,000, it is special to the demand of rehabilitation equipment
It is not big.Its shortcoming: in rehabilitation course, can only play the role of auxiliary, and have a single function, posture training mode office
Limit.
Summary of the invention
Has multi-functional, multi-pose training mode in the four-degree-of-freedom multi-pose of one the object of the present invention is to provide a kind of
Lower limb rehabilitation robot.
The invention mainly comprises foundation means, chair mechanism, left mechanical leg organization and right mechanical leg organizations.
Wherein, complete machine base plate is horizonal base plate, and each angle in complete machine base plate lower part is solid by bolt respectively
Surely burr adjustable tail margin is connected.In order to which four-degree-of-freedom multi-pose lower limb rehabilitation robot is whole more stable, preferably in complete machine base plate
Lower part two sides are bolted to connection two burr adjustable tail margins.In complete machine base plate lower part, in each edge of complete machine base plate
At point, it is bolted to connection a universal caster wheel, it is identical the distance between per two adjacent universal caster wheels.Complete machine pedestal
Plate, burr adjustable tail margin and universal caster wheel form foundation means.
Chair mechanism is bolted to connection on the top of foundation means.
Chair mechanism is mainly made of seat support portion, chair back elevation angle adjustment portion and pedipulator width adjusting portion.
Seat support portion is mainly by electric cylinder A, electric cylinder B, rotational support pedestal A, support rotating axis A, rotational support bottom
Seat B, support rotating axis B, base connector A, base connector B and seat plate composition.The identical electric cylinder A's of two height
Fixing end is bolted on respectively on the complete machine base plate of foundation means.Base connector B is bolted to connection
On the complete machine base plate of foundation means.Base connector B is placed between the fixing end of two electric cylinder A.Base connector B and bottom
Seat connector A is connected by rotating pin, and the top of base connector A is connected with the fixing end of electric cylinder B.Support rotating axis A
Across the output stomidium and rotational support pedestal A intermediate throughholes of electric cylinder A, two sides are clamped by the end cap that screw is fixed.Support turns
Moving axis B passes through the output stomidium and rotational support pedestal B intermediate throughholes of electric cylinder B, and two sides are clamped by the end cap that screw is fixed.Turn
The top of dynamic support base A and rotational support pedestal B is fixedly connected with seat plate respectively.
Chair back elevation angle adjustment portion by firm banking, bearing block, bearing, electric pushrod, swing caudal furca, chair back weld holder, solid
Stator, connecting hinge, connection frame A, connection frame B, reinforcing bar, support rod and chair back set composition.Firm banking is fixedly connected on seat
It the lower part of bottom plate and is placed between the rotational support pedestal of two electric cylinder A.The side of firm banking is set there are two bearing block,
Bearing block interpolation joint bearing, by bearing and electric pushrod fixing end through-hole, both ends are fixed to clamp pin shaft by end cap.Electric pushrod
Free end connect by pin shaft with caudal furca is swung, swing caudal furca is in door shape.Swing top and the chair back weld holder of caudal furca
Lower end is fixedly connected.Chair back weld holder is in rectangular-ambulatory-plane, is set in the inside of chair back weld holder there are two fixinig plate, each fixinig plate with
It is respectively equipped with pin shaft between two inner walls of chair back weld holder, is equipped on each fixinig plate and two inner walls of chair back weld holder
Through-hole, the both ends of pin shaft extend respectively to outside the inner wall of fixinig plate and chair back weld holder, and pin shaft passes through connecting hinge throughhole portions,
Throughhole portions two sides are equipped with bearing card slot, interpolation joint bearing.Connecting hinge is bolted on the top of seat plate.In the chair back
The top of weld holder is equipped with connection frame A, and connection frame A is equipped with one in door shape between the inner wall of two sides of connection frame A
Root reinforcing bar, grafting support rod in reinforcing bar, the lower end of support rod are plugged in reinforcing bar, and the upper end of support rod extends to connection
The upper end of the outside of the upper end of frame A, support rod is connected with connection frame B, and connection frame B is in rectangular-ambulatory-plane.
External in connection frame A and connector B is socketed chair back set.
Two groups of pedipulator width adjusting portions are equipped on the top of seat plate.Two groups of pedipulator width adjusting portion position phases
It is right.Pedipulator width adjusting portion is connected by width adjusting electric pushrod, leg sliding block connector, sliding block A, sliding rail A, push rod sliding block
Part, support chip and one group of push rod Steady base composition.One group of push rod Steady base is fixed on the top of seat plate, one group of push rod
It is connected between Steady base and the fixing end of width adjusting electric pushrod by pin shaft, is fixed in the inside of push rod sliding block connector
Support chip is connected, it is electronic with width adjusting by pin shaft between support chip and the side inner walls of a push rod sliding block connector
The output end of push rod is connected.The lower part of push rod sliding block connector is set there are two leg sliding block connector and two sliding block A, pusher slide
The lower part of block connector is successively connected with leg sliding block connector, sliding block A by screw, and each sliding block A is socketed on sliding rail A.
Sliding rail A is placed on seat plate.
The pedipulator width adjusting portion of chair mechanism is connected with left and right pedipulator, the leg in two pedipulator width adjusting portions
Sliding block connector is connected with the handrail connector of big leg mechanism by bolt respectively.
Left and right pedipulator mainly includes foot mechanism, ankle-joint mechanism, small leg mechanism, knee-joint mechanism and big leg mechanism.
Foot mechanism mainly includes foot pedal, fixed plate A and card beam, and foot pedal is level board, is equipped at the rear portion of foot pedal
Fixed plate A is connected with the both ends of card beam respectively in the two sides of foot pedal, and card beam is door shape.
Foot mechanism is connected firmly by foot mechanism connector and ankle-joint rack, and ankle-joint shield and ankle-joint rack pass through bolt
It connects firmly.Ankle-joint mechanism includes bevel gear shaft, cone gear form wheel, gear tapered sleeve and motor.Bevel gear shaft passes through in ankle-joint rack
Fang Tongkong and two trunnions of shank motivation frame constitute the two and are rotatably assorted, and bolt is consolidated by bevel gear shaft end face through-hole
Surely the bevel gear being connected on the outside of shank motivation frame on the outer wall of trunnion, on bevel gear shaft and angular wheel are intermeshed, taper
Gear is bolted with gear tapered sleeve, and gear tapered sleeve is connect with motor output end by keyhole, and motor is fixed on motor machine
In frame set, electric motor stand is set in ankle-joint rack.
Small leg mechanism is adjusted push rod, quiet rack, slide block B and sliding rail B and is formed by shank motivation frame, trunnion, lower-leg length.It is small
Leg motivation frame is the rectangle shell of upper opening, is fixedly connected with two trunnions, two trunnions and ankle in the lower part of shank motivation frame
The bevel gear shaft of articulation mechanism is connected.Lower-leg length is equipped in the inside of shank motivation frame and adjusts push rod, and lower-leg length adjusting pushes away
The top fixing end of bar is fixed with quiet rack, lower-leg length adjust push rod lower end pass through shank motivation frame, by bolt with it is small
Leg motivation frame is connected, and slide block B is fixedly connected with shank motivation frame, and sliding rail B is fixed in quiet rack, and sliding rail B and slide block B sliding connect
It connects.
Small leg mechanism is connected with knee-joint mechanism, and the quiet upper rack of small leg mechanism extends to the inside of thigh mainframe,
Quiet upper rack is connected by pin shaft with kneed gear A, and gear A and gear B are intermeshed, and gear B is mutually nibbled with gear C
It closes.Gear A, gear B and gear C are each attached in the thigh mainframe of big leg mechanism.Gear A, gear B and gear C form knee
Articulation mechanism.
Gear C fixed frame, thigh length adjustment push rod and knee joint driving motor, tooth are fixedly connected with inside thigh mainframe
Wheel C fixed frame is connected by pin shaft with the middle part of gear C.The lower part of gear C fixed frame is equipped with support plate, supports the one of plate
End is connected with gear C fixed frame, and the other end of plate is supported to extend to the outside of thigh mainframe.Knee joint driving motor it is defeated
Outlet extends to the outside of thigh mainframe side, and output end and the belt wheel of knee joint driving motor are connected by key.Belt wheel point
Not Tong Guo V belt translation be connected with the belt wheel of the belt wheel of band-type brake, deceleration device.Deceleration device and belt wheel are connected by key, deceleration device
Output end and gear linkage flanged joint, gear linkage are connected by key with gear C.
Big leg mechanism mainly includes thigh mainframe, gear C fixed frame, thigh length adjustment push rod, knee joint driving electricity
Machine, support plate, belt wheel, band-type brake, deceleration device, slide unit, sliding rail, thigh swinging frame, fixed cross beam, hook hinge A, Hooke's hinge
Chain B, hook hinge C, side-sway electric cylinder, spherical hinge, electric cylinder, hook hinge D, support quarter butt, fixed hinge, seat connection are bent and stretched
Plate, handrail connector, handrail and fixed plate B.The fixing end of thigh length adjustment push rod is located in thigh mainframe by pin shaft
The output end in portion, thigh length adjustment push rod is connected by rotating pin with fixed plate B, and fixed plate B is fixedly connected on thigh pendulum
Inside moving frame, inside the end trough of thigh mainframe insertion thigh mainframe.Slide unit, slide unit are equipped in the lower part of support plate
It is slidably connected with sliding rail, sliding rail is fixed on the top of thigh swinging frame, and thigh swinging frame is connected with thigh mainframe.It is put in thigh
It is connected between moving frame and fixed cross beam by hook hinge A, hook hinge A is bolted on thigh swinging frame.Hooke
Hinge B and hook hinge C are each provided on fixed cross beam.Hook hinge B is connected with the fixing end of side-sway electric cylinder, side-sway electric cylinder
Output end be connected with spherical shape hinge, it is spherical to cut with scissors the side for being located at thigh swinging frame.Hook hinge C and the fixing end for bending and stretching electric cylinder
It is connected, bends and stretches the output end of electric cylinder by hook hinge D and support quarter butt and form revolute pair, supports the free end of quarter butt and solid
Fixed hinge is connected, and fixed hinge is bolted on the bottom of thigh swinging frame.The side of fixed cross beam is fixed with seat connecting plate
Connection, seat connecting plate are connected with handrail connector, and handrail connector is connected by bolt with leg sliding block connector, and handrail connects
Fitting is connected with handrail.
In the use of the present invention, controlling three branch's parallel machines of thigh end by bending and stretching electric cylinder and side-sway electric cylinder
Structure, realize hip joint bend and stretch and side-sway.Knee joint driving motor transmits powered belt moving gear C by V belt translation and deceleration device
Rotation, gear C drive gear B, gear A in succession, and gear A is connected to complete kneed turn with the quiet rack of shank by pin shaft
It is dynamic.The motor for being fixed on ankle-joint rack moves angular wheel rotation via cone of gears cuff, and angular wheel is moved with shank is fixed on
The bevel gear shaft of rack engages, and then ankle-joint rack is made to relatively rotate with shank motivation frame, final realization ankle-joint
Rotation.By the flexible of thigh length adjustment push rod, lower-leg length adjusting push rod and width adjusting electric pushrod, driving push rod is sliding
Block mechanism, to complete the adjusting of width between the adjusting and two pedipulators of size leg length.Chair back elevation angle adjustment portion is electronic to be pushed away
Flexible, the drive swing caudal furca of bar, and then chair back weld holder is pushed, realize the adjusting of angle of back-rest.By two electric cylinder A and
The linkage of electric cylinder B, the angle of adjustable height of seat and seat and ground cooperate the adjusting of angle of back-rest, thus real
The transformation of the multi-poses such as existing stance, standing position, lying posture and custom angle.
The invention has the following advantages over the prior art: there are four freedom degrees for its pedipulator tool, including hip joint
It bends and stretches and side-sway, the buckling of kneed buckling and ankle-joint；Three branch parallel institution UPU- are wherein used at hip joint
UPS-U realization is bent and stretched and side-sway, knee joint and ankle-joint are realized by serial mechanism, and each joint constitutes a serial-parallel mirror
Four-degree-of-freedom space mechanism；The length of the small thigh of pedipulator is adjustable, and regulating device is equal push rod sliding block four-bar mechanism；Robot
The parallel institution being made up of multiple electric cylinders between seat and base plate can achieve stance, standing position, lying posture and customized
The transformation of the multi-poses such as angle.
Detailed description of the invention
Fig. 1 is overall schematic of the invention；
Fig. 2 is seat overall schematic of the invention；
Fig. 3 is the structural schematic diagram of seat support portion of the invention；
Fig. 4 is the structural schematic diagram of chair back elevation angle adjustment portion of the invention；
Fig. 5 is the partial schematic diagram of chair back elevation angle adjustment portion of the invention；
Fig. 6 is the structural schematic diagram in pedipulator width adjusting portion of the invention；
Fig. 7 is the partial schematic diagram of leg structure of the invention and ankle-joint mechanism；
Fig. 8 is the schematic diagram of internal structure in the face left pedipulator A of the invention；
Fig. 9 is the schematic diagram of internal structure in the face left pedipulator B of the invention；
Figure 10 is the structural schematic diagram of left pedipulator thigh structure of the invention；
Figure 11 is lying posture training seat schematic diagram of the invention；
Figure 12 is Stance Training seat schematic diagram of the invention.
Drawing reference numeral, 1- foundation means, 2- chair mechanism, the left mechanical leg organization of 3-, the right mechanical leg organization of 4-, 5- complete machine bottom
Seat board, 6- burr adjustable tail margin, 7- universal caster wheel, 8- seat support portion, 9- chair back elevation angle adjustment portion, 10- pedipulator width adjusting portion,
11- electric cylinder A, 12- base connector B, 13- base connector A, 14- electric cylinder B, 15- support rotating axis A, 16- rotation branch
Support pedestal A, 17- support rotating axis B, 18- rotational support pedestal B, 19- seat plate, 20- firm banking, 21- bearing block, 22-
Bearing, 23- electric pushrod, 24- swing caudal furca, 25- chair back weld holder, 26- fixinig plate, 27- connecting hinge, 28- connection frame A, 29-
Reinforcing bar, 30- support rod, 31- connection frame B, 32- chair back set, 33- push rod Steady base, 34- width adjusting electric pushrod, 35-
The connection of push rod sliding block, 36- support chip, the leg 37- sliding block connector, 38- sliding block A, 39- sliding rail A, 40- handrail connector, 41-
Foot mechanism, 42- ankle-joint mechanism, the small leg mechanism of 43-, 44- knee-joint mechanism, the big leg mechanism of 45-, 46- foot pedal, 47- are fixed
Plate A, 48- card beam, 49- foot mechanism connector, 50- ankle-joint rack, 51- ankle-joint shield, 52- bevel gear shaft, 53- conical tooth
Wheel, 54- gear tapered sleeve, 55- motor, 56- electric motor stand set, 57- shank motivation frame, 58- trunnion, the adjusting of 59- lower-leg length push away
The quiet rack of bar, 60-, 61- slide block B, 62- sliding rail B, 63- thigh mainframe, 64- gear A, 65- gear B, 66- gear C, 67- tooth
C fixed frame, 68- support plate, 69- knee joint driving motor, 70- belt wheel, 71- band-type brake, 72- deceleration device, 73- gear is taken turns to connect
Fitting, 74- fixed plate B, 75- thigh swinging frame, 76- slide unit, 77- sliding rail, 78- fixed cross beam, 79- hook hinge A, 80- tiger
Gram hinge B, 81- hook hinge C, 82- side-sway electric cylinder, 83- spherical shape hinge, 84- bend and stretch electric cylinder, 85- hook hinge D, 86- branch
Support the fixed hinge of quarter butt, 87-, 88- seat connecting plate, 89- handrail.
Specific embodiment
In the simplified schematic diagram of the invention shown in Fig. 1 to Figure 12, the invention mainly comprises foundation means 1, chair mechanism
2, left mechanical leg organization 3 and right mechanical leg organization 4.
Wherein, complete machine base plate 5 is horizonal base plate, and each angle in complete machine base plate lower part is solid by bolt respectively
Surely burr adjustable tail margin 6 is connected.In complete machine base plate lower part two sides, it is bolted to connection two burr adjustable tail margins.In complete machine pedestal
Plate lower part, the midpoint of each edge of complete machine base plate are bolted to connection a universal caster wheel 7, per adjacent two
The distance between universal caster wheel is identical.Complete machine base plate, burr adjustable tail margin and universal caster wheel form foundation means.
Chair mechanism is bolted to connection on the top of foundation means.
Chair mechanism is mainly made of seat support portion 8, chair back elevation angle adjustment portion 9 and pedipulator width adjusting portion 10.
Seat support portion is mainly by electric cylinder A, electric cylinder B, rotational support pedestal A, support rotating axis A, rotational support bottom
Seat B, support rotating axis B, base connector A, base connector B and seat plate composition.The identical electric cylinder A11 of two height
Fixing end be bolted on the complete machine base plate of foundation means respectively.Base connector B12 is bolted company
It connects on the complete machine base plate of foundation means.Base connector B is placed between the fixing end of two electric cylinder A.Base connector B
It is connected with base connector A13 by rotating pin, the top of base connector A is connected with the fixing end of electric cylinder B14.Support
Rotation axis A15 passes through the output stomidium and rotational support pedestal A16 intermediate throughholes of electric cylinder A, the end cap that two sides are fixed by screw
It clamps.Support rotating axis B17 passes through the output stomidium and rotational support pedestal B18 intermediate throughholes of electric cylinder B, and two sides are consolidated by screw
Fixed end cap clamps.The top of rotational support pedestal A and rotational support pedestal B are fixedly connected with seat plate 19 respectively.
Chair back elevation angle adjustment portion by firm banking, bearing block, bearing, electric pushrod, swing caudal furca, chair back weld holder, solid
Stator, connecting hinge, connection frame A, connection frame B, reinforcing bar, support rod and chair back set composition.Firm banking 20 is fixedly connected present
It the lower part of chair bottom plate and is placed between the rotational support pedestal of two electric cylinder A.The side of firm banking is set there are two bearing block
21, in bearing block interpolation joint bearing 22, pin shaft passes through the through-hole of bearing and 23 fixing end of electric pushrod, and both ends are by end cap fixing clamp
Tightly.The free end of electric pushrod is connect by pin shaft with caudal furca 24 is swung, and swinging caudal furca is in door shape.Swing caudal furca top with
The lower end of chair back weld holder 25 is fixedly connected.Chair back weld holder is in rectangular-ambulatory-plane, sets that there are two fixed in the inside of chair back weld holder
Pin shaft, each fixinig plate and chair back weld holder are respectively equipped between two inner walls of piece 26, each fixinig plate and chair back weld holder
Two inner walls on be equipped with through-hole, the both ends of pin shaft extend respectively to outside the inner wall of fixinig plate and chair back weld holder, pin shaft
Across 27 throughhole portions of connecting hinge, throughhole portions two sides are equipped with bearing card slot, interpolation joint bearing.Connecting hinge is bolted on
The top of seat plate.It is equipped with connection frame A28 on the top of chair back weld holder, connection frame A is in door shape, connection frame A's
A reinforcing bar 29, grafting support rod 30 in reinforcing bar are equipped between the inner wall of two sides, the lower end of support rod, which is plugged on, to be added
In solid rod, the upper end of support rod extends to the outside of the upper end of connection frame A, and the upper end of support rod is connected with connection frame B31, connection
Frame B is in rectangular-ambulatory-plane.External in connection frame A and connector B is socketed chair back set 32.
Two groups of pedipulator width adjusting portions are equipped on the top of seat plate.Two groups of pedipulator width adjusting portion position phases
It is right.Pedipulator width adjusting portion is connected by width adjusting electric pushrod, leg sliding block connector, sliding block A, sliding rail A, push rod sliding block
Part, support chip and one group of push rod Steady base composition.One group of push rod Steady base 33 is fixed on the top of seat plate, and one group pushes away
It is connected between bar Steady base and the fixing end of width adjusting electric pushrod 34 by pin shaft, in push rod sliding block connector 35
Portion is fixedly connected with support chip 36, between support chip and the side inner walls of a push rod sliding block connector, passes through pin shaft and width
The output end for adjusting electric pushrod is connected.The lower part of push rod sliding block connector is set there are two leg sliding block connector 37 and two cunnings
The lower part of block A38, push rod sliding block connector are successively connected with leg sliding block connector, sliding block A by screw, each sliding block A set
It connects on sliding rail A39.Sliding rail A is placed on seat plate.
The pedipulator width adjusting portion of chair mechanism is connected with left and right pedipulator, the leg in two pedipulator width adjusting portions
Sliding block connector is connected with the handrail connector 40 of big leg mechanism by bolt respectively.
Left and right pedipulator mainly includes foot mechanism 41, ankle-joint mechanism 42, small leg mechanism 43, knee-joint mechanism 44 and big
Leg mechanism 45.
Foot mechanism mainly includes foot pedal, fixed plate A and card beam, and foot pedal 46 is level board, is set at the rear portion of foot pedal
There is fixed plate A47, is connected respectively with the both ends of card beam 48 in the two sides of foot pedal, card beam is door shape.
Foot mechanism is connected firmly by foot mechanism connector 49 with ankle-joint rack 50, and ankle-joint shield 51 and ankle-joint rack are logical
Bolt is crossed to connect firmly.Ankle-joint mechanism includes bevel gear shaft, cone gear form wheel, gear tapered sleeve and motor.Bevel gear shaft 52 is closed by ankle
Through-hole and two trunnions of shank motivation frame above rack are saved, the two is constituted and is rotatably assorted, bolt is logical by bevel gear shaft end face
Hole, which is fixed, is connected in bevel gear on the outside of shank motivation frame on the outer wall of trunnion, on bevel gear shaft and angular wheel 53 is mutual
Engagement, angular wheel are bolted with gear tapered sleeve 54, and gear tapered sleeve is connect with motor output end by keyhole, motor 55
It is fixed in electric motor stand set 56, electric motor stand is set in ankle-joint rack.
Small leg mechanism is adjusted push rod, quiet rack, slide block B and sliding rail B and is formed by shank motivation frame, trunnion, lower-leg length.It is small
Leg motivation frame 57 is the rectangle shell of upper opening, is fixedly connected with two trunnions 58, two trunnions in the lower part of shank motivation frame
It is connected with the bevel gear shaft of ankle-joint mechanism.Lower-leg length, which is equipped with, in the inside of shank motivation frame adjusts push rod 59, lower-leg length
Top fixing end and the quiet rack 60 for adjusting push rod are fixed, and the lower end that lower-leg length adjusts push rod passes through shank motivation frame, pass through
Bolt is connected with shank motivation frame, and slide block B 61 is fixedly connected with shank motivation frame, and sliding rail B62 is fixed in quiet rack, sliding rail B
It is slidably connected with sliding block.
Small leg mechanism is connected with knee-joint mechanism, and the quiet upper rack of small leg mechanism extends to the interior of thigh mainframe 63
Portion, quiet upper rack are connected by pin shaft with kneed gear A 64, and gear A and gear B 65 are intermeshed, gear B and gear
C66 intermeshing.Gear A, gear B and gear C are each attached in the thigh mainframe of big leg mechanism.Gear A, gear B and tooth
It takes turns C and forms knee-joint mechanism.
Gear C fixed frame, thigh length adjustment push rod and knee joint driving motor, tooth are fixedly connected with inside thigh mainframe
Wheel C fixed frame is connected by pin shaft with the middle part of gear C.The lower part of gear C fixed frame 67 is equipped with support plate 68, supports plate
One end be connected with gear C fixed frame, support the other end of plate to extend to the outside of thigh mainframe.Knee joint driving motor
69 output end extends to the outside of thigh mainframe side, and the output end and belt wheel 70 of knee joint driving motor are connected by key
It connects.Belt wheel passes through V belt translation respectively and is connected with the belt wheel of the belt wheel of band-type brake 71, deceleration device 72.Deceleration device and belt wheel pass through key
Connection, deceleration device output end and 73 flanged joint of gear linkage, gear linkage are connected by key with gear C.
Big leg mechanism mainly includes thigh mainframe, gear C fixed frame, thigh length adjustment push rod, knee joint driving electricity
Machine, support plate, belt wheel, band-type brake, deceleration device, slide unit, sliding rail, thigh swinging frame, fixed cross beam, hook hinge A, Hooke's hinge
Chain B, hook hinge C, side-sway electric cylinder, spherical hinge, electric cylinder, hook hinge D, support quarter butt, fixed hinge, seat connection are bent and stretched
Plate, handrail connector, handrail and fixed plate B.The fixing end of thigh length adjustment push rod is located in thigh mainframe by pin shaft
The output end in portion, thigh length adjustment push rod is connected by rotating pin with fixed plate B74, and fixed plate B is fixedly connected on thigh
Inside swinging frame 75, inside the end trough of thigh mainframe insertion thigh mainframe.Slide unit is equipped in the lower part of support plate
76, slide unit is slidably connected with sliding rail 77, and sliding rail is fixed on the top of thigh swinging frame, thigh swinging frame and thigh mainframe phase
Even.It is connected between thigh swinging frame and fixed cross beam 78 by hook hinge A79, hook hinge A is bolted on greatly
On leg swinging frame.Hook hinge B80 and hook hinge C81 are each provided on fixed cross beam.Hook hinge B and side-sway electric cylinder 82
Fixing end is connected, and the output end of side-sway electric cylinder is connected with spherical shape hinge 83, and spherical shape hinge is located at the side of thigh swinging frame.Hooke's hinge
Chain C is connected with the fixing end for bending and stretching electric cylinder 84, and the output end for bending and stretching electric cylinder passes through 86 groups of quarter butt of hook hinge D85 and support
At revolute pair, the free end of quarter butt is supported to be connected with fixed hinge 87, fixed hinge is bolted on the bottom of thigh swinging frame.
The side of fixed cross beam is fixedly connected with seat connecting plate 88, and seat connecting plate is connected with handrail connector, and handrail connector is logical
It crosses bolt to be connected with leg sliding block connector, handrail connector is connected with handrail 89.
Claims (2)
1. a kind of four-degree-of-freedom multi-pose lower limb rehabilitation robot mainly includes foundation means, chair mechanism, left mechanical leg organization
With right mechanical leg organization, it is characterised in that: it is bolted to connection chair mechanism on the top of foundation means, chair mechanism
Pedipulator width adjusting portion is connected with left and right pedipulator, and the leg sliding block connector in two pedipulator width adjusting portions is respectively and greatly
The handrail connector of leg mechanism is connected by bolt；Left and right pedipulator includes foot mechanism, ankle-joint mechanism, small leg mechanism, knee
Articulation mechanism and big leg mechanism, foot mechanism include foot pedal, fixed plate A and card beam, and foot pedal is level board, after foot pedal
Portion is equipped with fixed plate A, is connected respectively with the both ends of card beam in the two sides of foot pedal, and card beam is door shape, and foot mechanism passes through foot machine
Structure connector is connected firmly with ankle-joint rack, and ankle-joint shield is connected firmly with ankle-joint rack by bolt, and ankle-joint mechanism includes cone
Gear shaft, cone gear form wheel, gear tapered sleeve and motor, bevel gear shaft pass through through-hole above ankle-joint rack and two, shank motivation frame
Trunnion constitutes the two and is rotatably assorted, and bolt is fixed by bevel gear shaft end face through-hole is connected in the dynamic shell outside of shank
On the outer wall of trunnion, bevel gear and angular wheel on bevel gear shaft are intermeshed, and angular wheel and gear tapered sleeve pass through bolt
Fixed, gear tapered sleeve is connect with motor output end by keyhole, and motor is fixed in electric motor stand set, and electric motor stand is set in ankle
In the rack of joint, small leg mechanism adjusts push rod, quiet rack, slide block B and sliding rail B group by shank motivation frame, trunnion, lower-leg length
At shank motivation frame is the rectangle shell of upper opening, is fixedly connected with two trunnions, two trunnions in the lower part of shank motivation frame
It is connected with the bevel gear shaft of ankle-joint mechanism, is equipped with lower-leg length in the inside of shank motivation frame and adjusts push rod, lower-leg length tune
The top fixing end of section push rod is fixed with quiet rack, and the lower end that lower-leg length adjusts push rod passes through shank motivation frame, passes through bolt
It is connected with shank motivation frame, slide block B is fixedly connected with shank motivation frame, and sliding rail B is fixed in quiet rack, and sliding rail B and slide block B are sliding
Dynamic connection, small leg mechanism are connected with knee-joint mechanism, and the quiet upper rack of small leg mechanism extends to the inside of thigh mainframe, quiet
Upper rack is connected by pin shaft with kneed gear A, and gear A and gear B are intermeshed, and gear B is mutually nibbled with gear C
It closes, gear A, gear B and gear C are each attached in the thigh mainframe of big leg mechanism, and gear A, gear B and gear C form knee
Articulation mechanism is fixedly connected with gear C fixed frame, thigh length adjustment push rod and knee joint driving motor inside thigh mainframe,
Gear C fixed frame is connected by pin shaft with the middle part of gear C, and the lower part of gear C fixed frame is equipped with support plate, supports plate
One end is connected with gear C fixed frame, and the other end of plate is supported to extend to the outside of thigh mainframe, knee joint driving motor
Output end extends to the outside of thigh mainframe side, and output end and the belt wheel of knee joint driving motor are connected by key, belt wheel
It is connected respectively by V belt translation with the belt wheel of the belt wheel of band-type brake, deceleration device, deceleration device and belt wheel are connected by key, and slow down dress
Output end and gear linkage flanged joint are set, gear linkage is connected by key with gear C, and big leg mechanism includes thigh host
Frame, gear C fixed frame, thigh length adjustment push rod, knee joint driving motor, support plate, belt wheel, band-type brake, deceleration device, cunning
Platform, sliding rail, thigh swinging frame, fixed cross beam, hook hinge A, hook hinge B, hook hinge C, side-sway electric cylinder, spherical hinge,
Bend and stretch electric cylinder, hook hinge D, support quarter butt, fixed hinge, seat connecting plate, handrail connector, handrail and fixed plate B, thigh
The fixing end of length adjustment push rod is located inside thigh mainframe by pin shaft, and the output end of thigh length adjustment push rod is by turning
Dynamic pin shaft is connected with fixed plate B, and fixed plate B is fixedly connected on inside thigh swinging frame, is embedded in from the end trough of thigh mainframe
Inside thigh mainframe, it is equipped with slide unit in the lower part of support plate, slide unit is slidably connected with sliding rail, and sliding rail is fixed on thigh swing
The top of frame, thigh swinging frame are connected with thigh mainframe, pass through hook hinge A phase between thigh swinging frame and fixed cross beam
Even, hook hinge A is bolted on thigh swinging frame, and hook hinge B and hook hinge C are each provided on fixed cross beam,
Hook hinge B is connected with the fixing end of side-sway electric cylinder, and the output end of side-sway electric cylinder is connected with spherical shape hinge, and spherical shape hinge is located at big
The side of leg swinging frame, hook hinge C are connected with the fixing end for bending and stretching electric cylinder, and the output end for bending and stretching electric cylinder passes through Hooke's hinge
Chain D and support quarter butt form revolute pair, and the free end of quarter butt is supported to be connected with fixed hinge, and fixed hinge is bolted on thigh
The side of the bottom of swinging frame, fixed cross beam is fixedly connected with seat connecting plate, and seat connecting plate is connected with handrail connector, is helped
Hand connector is connected by bolt with leg sliding block connector, and handrail connector is connected with handrail.
2. a kind of four-degree-of-freedom multi-pose lower limb rehabilitation robot according to claim 1, it is characterised in that: chair mechanism
It is made of seat support portion, chair back elevation angle adjustment portion and pedipulator width adjusting portion, seat support portion is by electric cylinder A, electric cylinder
B, rotational support pedestal A, support rotating axis A, rotational support pedestal B, support rotating axis B, base connector A, base connector B
It is formed with seat plate, the fixing end of the identical electric cylinder A of two height is bolted on the complete machine of foundation means respectively
On base plate, base connector B is bolted to connection on the complete machine base plate of foundation means, and base connector B is placed in
Between the fixing end of two electric cylinder A, base connector B is connected with base connector A by rotating pin, base connector A
Top be connected with the fixing end of electric cylinder B, support rotating axis A across electric cylinder A output stomidium and rotational support pedestal A in
Between through-hole, the end cap that two sides are fixed by screw clamps, output stomidium and rotational support bottom of the support rotating axis B across electric cylinder B
Seat B intermediate throughholes, the end cap that two sides are fixed by screw clamp, the top of rotational support pedestal A and rotational support pedestal B respectively with
Seat plate is fixedly connected, and chair back elevation angle adjustment portion is by firm banking, bearing block, bearing, electric pushrod, swing caudal furca, the chair back
Weld holder, fixinig plate, connecting hinge, connection frame A, connection frame B, reinforcing bar, support rod and chair back set composition, firm banking is fixed to be connected
It connects the lower part in seat plate and is placed between the rotational support pedestal of two electric cylinder A, there are two the side of firm banking is set
Bearing block, in bearing block interpolation joint bearing, pin shaft is by bearing and electric pushrod fixing end through-hole, and both ends are by end cap fixing clamp
Tightly, the free end of electric pushrod is connect by pin shaft with caudal furca is swung, and swinging caudal furca is in door shape, swings top and the chair of caudal furca
The lower end of back weld holder is fixedly connected, and chair back weld holder is in rectangular-ambulatory-plane, is set in the inside of chair back weld holder there are two fixinig plate, often
Pin shaft is respectively equipped between a fixinig plate and two inner walls of chair back weld holder, in two of each fixinig plate and chair back weld holder
Through-hole is equipped on wall, the both ends of pin shaft extend respectively to outside the inner wall of fixinig plate and chair back weld holder, and pin shaft passes through connection
Throughhole portions are cut with scissors, throughhole portions two sides are equipped with bearing card slot, interpolation joint bearing, and connecting hinge is bolted on seat plate
Top is equipped with connection frame A on the top of chair back weld holder, and connection frame A is in door shape, in two sides of connection frame A
A reinforcing bar is equipped between wall, grafting support rod in reinforcing bar, the lower end of support rod is plugged in reinforcing bar, support rod it is upper
End extends to the outside of the upper end of connection frame A, and the upper end of support rod is connected with connection frame B, and connection frame B is in rectangular-ambulatory-plane, is connecting
The external of frame A and connector B is socketed chair back set, is equipped with two groups of pedipulator width adjusting portions, two groups of machines on the top of seat plate
Tool leg width adjusting portion position is opposite, and pedipulator width adjusting portion is by width adjusting electric pushrod, leg sliding block connector, sliding block
A, sliding rail A, push rod sliding block connector, support chip and one group of push rod Steady base composition, one group of push rod Steady base are fixed present
The top of chair bottom plate is connected by pin shaft between one group of push rod Steady base and the fixing end of width adjusting electric pushrod, is being pushed away
The inside of bar sliding block connector is fixedly connected with support chip, between support chip and the side inner walls of a push rod sliding block connector,
Be connected by pin shaft with the output end of width adjusting electric pushrod, the lower part of push rod sliding block connector set there are two leg sliding block connect
The lower part of fitting and two sliding block A, push rod sliding block connector are successively connected with leg sliding block connector, sliding block A by screw, often
A sliding block A is socketed on sliding rail A, and sliding rail A is placed on seat plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610527962.1A CN105997436B (en) | 2016-07-06 | 2016-07-06 | A kind of four-degree-of-freedom multi-pose lower limb rehabilitation robot |
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| CN201610527962.1A CN105997436B (en) | 2016-07-06 | 2016-07-06 | A kind of four-degree-of-freedom multi-pose lower limb rehabilitation robot |
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| CN105997436B true CN105997436B (en) | 2019-03-22 |
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| JP2017093836A (en) * | 2015-11-25 | 2017-06-01 | ファミリーイナダ株式会社 | Chair |
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