CN106539666A - Seat packaged type lower limb exoskeleton device for healing and training - Google Patents
Seat packaged type lower limb exoskeleton device for healing and training Download PDFInfo
- Publication number
- CN106539666A CN106539666A CN201510594960.XA CN201510594960A CN106539666A CN 106539666 A CN106539666 A CN 106539666A CN 201510594960 A CN201510594960 A CN 201510594960A CN 106539666 A CN106539666 A CN 106539666A
- Authority
- CN
- China
- Prior art keywords
- seat
- pedipulator
- training
- thigh
- fixed station
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Rehabilitation Tools (AREA)
Abstract
A kind of seat packaged type lower limb exoskeleton device for healing and training, mainly including governor motion, seat, pedipulator left-right adjusting mechanism, two pedipulator fixed stations, two pedipulators and counterweight control chambers before and after base, seat.The present invention can pass through to adjust the width between two pedipulators, meet the training requirement of the different trainer of hip joint width due to being provided with pedipulator left-right adjusting mechanism；The structure combine seat movement and transmission mechanism, before device on patient make seat move to pan frontward end, overcome patient it is upper and lower when pedipulator occupy-place affect；As the big leg mechanism of two pedipulators, little leg mechanism and ankle joint mechanism are respectively equipped with drive mechanism, monarthric training and the exercise of mobility are capable of achieving, are also capable of achieving the coordination exercise training of list lower limb and double-mechanical lower limb.The independent governor motion of hip joint, knee joint and ankle joint is capable of achieving the regulation of size leg length, realizes personalized training.
Description
Technical field
The present invention relates to medical rehabilitation instrument, more particularly to a kind of seat packaged type lower limb exoskeleton rehabilitation training dress
Put.
Background technology
In China, every year because the factors such as contingency, disease and organism aging process cause limbs disturbance or deformity
Patient is increasing, and clinical practice is proved, carries out science rehabilitation training to lower extremity motor function impaired patients, can be with
The function that compensation and recovery limbs lose, improves the self care ability of patient, improves its quality of life.Numerous sections
Grind worker and medical institutions have all carried out the correlational study of lower limb rehabilitation robot, and achieve valuable research
Achievement, business-like lower limb rehabilitation robot have the Handy1 that MikeTopping companies of Britain develop for 1987.
Secondly the healing robot that another kind is successfully entered market is Dutch Exact Dynamics companies exploitation
MANUS healing robots.Based on single-degree-of-freedom, representational product has the healing robot of early stage research and development
The NUSTEP device for rehabilitation in the U.S., the THERA.Vital intelligent rehabilitation image training robots of Germany, sitting and lying formula
The MOTIONMAKER of the most representational WORTEC companies research and development for being Switzerland of healing robot, the machine
Device people can realize 3DOF training and joint training, but expensive.In China, lower limb robot
Exploitation is also in the development stage.
Current seat packaged type lower limb exoskeleton device for healing and training product can adapt to the patient of different heights,
Can be adjusted according to the length of the thigh of patient and shank, but also not possess the regulation of hip joint spacing, nothing
Method adapts to the patient of different weight, and especially the partially fat patient of modern build is more.Meanwhile, current ectoskeleton machinery
Leg occupy-place affects big, and patient's down devices are inconvenient.
The content of the invention
The purpose of the present invention, exactly in order to solve the above problems, there is provided outside a kind of new seat packaged type lower limb
Skeleton device for healing and training.
In order to achieve the above object, present invention employs technical scheme below：A kind of seat packaged type lower limb dermoskeleton
Bone device for healing and training, which includes：
Base；
Governor motion before and after seat, is erected on base and can adjust in front and back；
Seat, is erected at before and after seat on governor motion and can be before the regulation lower edge base of governor motion before and after seat
After move；
Pedipulator left-right adjusting mechanism, is erected on base and can left and right adjusting；
Pedipulator fixed station, totally two left and right sides for being connected to pedipulator left-right adjusting mechanism, and can be in machine
The regulation lower edge base of tool lower limb left-right adjusting mechanism is moved left and right；
Pedipulator, totally two are connected on two pedipulator fixed stations, and can move with pedipulator fixed station or so
It is dynamic；
Counterweight control chamber, is fixed on the rear portion of base, built-in electrical equipment.
Before and after the seat, governor motion includes two guide rods, two guide rod c-type slide blocks, two guide rod fixed stations
And lead screw transmission mechanism；Two guide rod c-type slide blocks are symmetrically mounted on the front portion of base, two guide rod fixed stations pair
Claim installed in the middle part of base, it is parallel with guide rod fixed station that two guide rods are each passed through corresponding guide rod c-type slide block
Arrange, lead screw transmission mechanism is arranged on the base between two guide rods and is connected with the rear transfer of seat；Seat
Front portion be fixedly linked with two guide rods, seat lead screw transmission mechanism drive and two guide rods guiding under realize
It is movable along base.
The seat includes support, seat board, backrest and inclination of the seat backrest governor motion；Support is adjusted before and after being arranged on seat
In section mechanism, seat board is connected on support, and inclination of the seat backrest governor motion is arranged under seat board and is connected with backrest transmission,
Start inclination of the seat backrest governor motion to realize adjusting the inclination angle of backrest.
The pedipulator left-right adjusting mechanism includes screw mandrel fixed station, screw mandrel, feed screw nut and motor transmission mechanism；
Screw mandrel fixed station is arranged on base, and screw mandrel is arranged through screw mandrel fixed station, and the left and right two ends of screw mandrel connect a left side respectively
Right screw nut, motor transmission mechanism are arranged on screw mandrel fixed station and are connected with screw rod transmission, left and right feed screw nut
It is fixedly linked with the two pedipulator fixed stations in left and right respectively, starts motor transmission mechanism and drive screw mandrel to rotate, realize left
Right two pedipulator fixed stations towards or away from motion, so as to drive two pedipulators in left and right towards or away from shifting
It is dynamic.
The pedipulator fixed station includes fixed station body, is provided with slide block in the bottom of fixed station body, and top is provided with
Handrail, is provided with linear guides on base, and pedipulator fixed station is connected with the slip of linear guides realization by slide block
Move left and right.
The pedipulator includes big leg mechanism, little leg mechanism and ankle joint mechanism, big leg mechanism and pedipulator fixed station
It is flexibly connected, little leg mechanism is flexibly connected with big leg mechanism, and ankle joint mechanism is flexibly connected with little leg mechanism.
The big leg mechanism include thigh drive electric cylinder, thick link, thigh push rod, thigh sleeve, leg support and
Thigh length adjustment mechanism；Thigh drives electric cylinder to be flexibly connected with pedipulator fixed station, and thick link is driven with thigh
Dynamic electric cylinder transmission is connected, and thigh push rod is fixedly linked with thick link and is flexibly connected with pedipulator fixed station, greatly
Lower limb sleeve set is connected with thigh push rod scalable on thigh push rod and by thigh length adjustment mechanism, is realized big
Leg length is adjustable, and leg support is arranged on the inner side of thigh sleeve；The little leg mechanism is movably connected with thigh sleeve.
The little leg mechanism include shank drive electric cylinder, knee joint connector, knee joint rotary shaft, shank push rod,
Shank sleeve and lower-leg length governor motion；Shank drives electric cylinder to be arranged on big leg mechanism, knee joint connector
One end and shank drive electric cylinder transmission to be connected, the other end is movably connected in thigh sleeve by knee joint rotary shaft
Front end, shank push rod are rotatably connected with thigh sleeve by knee joint rotary shaft, and shank sleeve set is pushed away in shank
It is connected with shank push rod scalable on bar and by lower-leg length governor motion, realizes that lower-leg length is adjustable, the ankle
Articulation mechanism is movably connected with shank sleeve.
The ankle joint mechanism includes ankle joint motor, deceleration force amplifier mechanism and pedal, ankle joint motor
Installed in the outside of shank sleeve, deceleration force amplifier mechanism is arranged in shank sleeve and is driven with ankle joint motor
It is connected, pedal is arranged on the inner side of shank sleeve and is connected with deceleration force amplifier mechanism driving.
Also include seat locking mechanism, the seat locking mechanism includes fixed station, gear, tooth bar and handle, fixed
Platform is arranged on base, and gear and tooth bar are equipped with fixed station, and handle is connected with gear；Before and after seat
The relevant position on a guide rod in governor motion is provided with lockhole, and tooth bar front end is provided with lock pin, pulls handle rotation
Gear can make tooth bar front end lock pin insert guide rod on lockhole in guide rod is fixed, it is seat is locked so as to realize.
Ankle joint angle sensor is provided with the active connection part of little leg mechanism in ankle joint mechanism, little leg mechanism with
The active connection part of big leg mechanism is provided with knee joint angle sensor, is respectively equipped with pressure sensing in pedal two bottom sides
Device, is respectively equipped with pedipulator on the base beside two pedipulator fixed stations and moves spacing photoelectric sensor, be present
Base before and after chair beside governor motion is provided with seat and moves spacing photoelectric sensor.
Pedal is connected with the support lower removable of seat, Magnet, pedal are installed in the frame upper of seat
Turn over when not using upward with Magnet inhale connect, pedal using when turn over downwards be used for ride.
The electrical equipment includes power supply, Motor drive unit and sensing transducer, realizes the motion of control machinery lower limb
With the collection of transducing signal.
Compared with prior art, the present invention has advantages below：
1) pedipulator left-right adjusting mechanism is introduced in the structure, meet the training of the different trainer of hip joint width
Require, it is to avoid because hip joint is too wide or the too narrow discomfort for causing, it is ensured that the training strength and safety of patient, real
The training of comfortable personalization is showed.Introduce seat movement and transmission mechanism simultaneously in the structure, seat is made in slave computer
Control under can move to pedipulator front end, overcome patient it is upper and lower when pedipulator occupy-place affect, very big place
Lower limb disorder patient seat carry out rehabilitation training.
2) the big leg mechanism of two pedipulators, little leg mechanism and ankle joint mechanism are respectively equipped with drive mechanism, can be real
Existing hip joint, knee joint and ankle joint are individually adjusted, and realize monarthric training, are also capable of achieving joint
It is synchronized with the movement, and realizes the exercise of the mobility in joint, during training, takes incremental mode to gradually step up speed
Degree, increases difficulty, realizes the requirement of patient's gradually rehabilitation training.
3) each joint part in lower limb adopts advanced locational space sensing technology, realizes joint angles data
It is wirelessly transferred, assessment data, are overcome using complicated frame for movement to display is operated using wireless communication mode
To limit the shortcoming of range of movement.
Description of the drawings
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the structural representation of the seat in the present invention；
Fig. 3, Fig. 4 are the structural representation of the pedipulator in the present invention；
Fig. 5 is the structural representation of the base in the present invention；
Fig. 6 is the structural representation of governor motion before and after the seat in the present invention；
Fig. 7, Fig. 8 are sensor installment state schematic diagram in the present invention；
Fig. 9 is the structural representation of the pedipulator left-right adjusting mechanism in the present invention；
Figure 10 is pedipulator and seat adjustment state figure in the present invention.
Specific embodiment
Referring to Fig. 1, the seat packaged type lower limb exoskeleton device for healing and training of the present invention, including base 1, seat
Governor motion 2, seat 3, pedipulator left-right adjusting mechanism 4, pedipulator fixed station 5, pedipulator 6 before and after chair
With counterweight control chamber 7.
Coordinate referring to Fig. 5, the base 1 in the present invention includes base plate 11, is mounted below four feet in base plate 11
Wheel 12, has two guide rod c-type slide blocks, 22, two guide rod fixed stations 23, seat lock base plate 11 is installed above
Deadlock structure 8, linear guides 54 and screw mandrel fixed station 41.
Coordinate referring to Fig. 2, Fig. 6, before and after the seat in the present invention governor motion 2 be erected on base 1 and can before
After adjust.It includes two guide rods 21, two guide rod c-type slide block 22, two guide rod fixed station 23 and screw mandrel
Drive mechanism 24；Two guide rod c-type slide blocks are symmetrically mounted on the front portion of base, and two guide rod fixed stations are symmetrically pacified
The middle part of base is mounted in, two guide rods are each passed through corresponding guide rod c-type slide block and guide rod fixed station be arranged in parallel,
Lead screw transmission mechanism is arranged on the base between two guide rods and is connected with the rear transfer of seat；The front portion of seat
It is fixedly linked with two guide rods, seat is realized along base under the drive of lead screw transmission mechanism and the guiding of two guide rods
It is movable.
Coordinate referring to Fig. 2, Fig. 6, the seat 3 in the present invention is erected at before and after seat on governor motion 2 and can be
Before and after seat, the regulation lower edge base of governor motion is moved forward and backward；It includes support 31, seat board 32, backrest 33
With inclination of the seat backrest governor motion 34；On governor motion before and after seat, seat board is connected on support support,
Inclination of the seat backrest governor motion is arranged under seat board and is connected with backrest transmission, is started inclination of the seat backrest governor motion and is realized adjusting
The inclination angle of section backrest.Pedal 35 is connected with 31 lower removable of support of seat, is pacified in the frame upper of seat
Equipped with Magnet 36, turn over to inhale with Magnet when pedal is not used upward and connect, pedal using when turn over and be used for downwards
It is foot-operated.Front-wheel 37 is also associated with 31 bottom of support of seat.
Coordinate referring to Fig. 9, the pedipulator left-right adjusting mechanism 4 in the present invention is erected on base and can left and right adjusting.
Which includes screw mandrel fixed station 41, screw mandrel 42, feed screw nut 43 and motor transmission mechanism 44；Screw mandrel fixed station 41
On base, screw mandrel 42 is arranged through screw mandrel fixed station, and the left and right two ends of screw mandrel connect left and right screw mandrel respectively
Nut 43, motor transmission mechanism 44 are arranged on screw mandrel fixed station 41 and are connected with the transmission of screw mandrel 42, left and right silk
Stem nut is fixedly linked with the two pedipulator fixed stations in left and right respectively, is started motor transmission mechanism and is driven screw mandrel to rotate,
Realize the two pedipulator fixed stations in left and right towards or away from motion, so as to drive the pedipulators of left and right two opposite or phase
Back of the body movement.Two states Jing after pedipulator left-right adjusting mechanism 4 is adjusted, Figure 10 A are transferred to for hip joint spacing
Most wide state, while seat is moved to foremost, facilitates patient's seat, Figure 10 B to be transferred to for hip joint spacing
Most narrow state, while chair returns to original position.
Coordinate referring to Fig. 9, the pedipulator fixed station 5 in the present invention is connected to pedipulator left and right adjusting for totally two
The left and right sides of mechanism, and can move left and right in the regulation lower edge base of pedipulator left-right adjusting mechanism.It includes solid
Determining playscript with stage directions body 51, slide block 52 being provided with the bottom of fixed station body, top is provided with handrail 53, is provided with base
Linear guides 54, pedipulator fixed station are moved left and right by the slide block realization that is connected with the slip of linear guides.
Coordinate referring to Fig. 3, Fig. 4, the pedipulator 6 in the present invention is connected to two pedipulators and fixes for totally two
On platform 5, and can move left and right with pedipulator fixed station.It includes that big leg mechanism 61, little leg mechanism 62 and ankle are closed
Section mechanism 63, big leg mechanism 61 is flexibly connected with pedipulator fixed station 5, little leg mechanism 62 and big leg mechanism 61
It is flexibly connected, ankle joint mechanism 63 is flexibly connected with little leg mechanism 62.
Big leg mechanism 61 includes that thigh drives electric cylinder 611, thick link 612, thigh push rod 613, thigh set
Cylinder 614, leg support 615 and thigh length adjustment mechanism 616；Thigh drives electric cylinder with the activity of pedipulator fixed station
Connection, thick link drive electric cylinder transmission to be connected with thigh, and thigh push rod is fixedly linked with thick link and and machine
Tool lower limb fixed station is flexibly connected, and thigh sleeve set is on thigh push rod and passes through thigh length adjustment mechanism and thigh
Push rod scalable is connected, and realizes thigh adjustable length, and leg support is arranged on the inner side of thigh sleeve；The little leg mechanism
It is movably connected with thigh sleeve.
Little leg mechanism 62 include shank drive electric cylinder 621, knee joint connector 622, knee joint rotary shaft 623,
Shank push rod 624, shank sleeve 625 and lower-leg length governor motion 626.It is big that shank drives electric cylinder to be arranged on
On the thigh sleeve of leg mechanism, one end and the shank of knee joint connector drive electric cylinder transmission to be connected, and the other end leads to
Cross knee joint rotary shaft and be movably connected in thigh barrel forward end, shank push rod is by knee joint rotary shaft and thigh sleeve
Rotatable to be connected, shank sleeve set is on shank push rod and adjustable with shank push rod by lower-leg length governor motion
Section is connected, and realizes that lower-leg length is adjustable, and the ankle joint mechanism is movably connected with shank sleeve.
Ankle joint mechanism 63 includes ankle joint motor 631, deceleration force amplifier mechanism 632 and pedal 633, and ankle is closed
Section motor is arranged on the outside of shank sleeve, and deceleration force amplifier mechanism is arranged in shank sleeve and is walked with ankle joint
Stepper motor transmission is connected, and pedal is arranged on the inner side of shank sleeve and is connected with deceleration force amplifier mechanism driving.
Counterweight control chamber 7 is fixed on the rear portion of base, built-in electrical equipment, including power supply, Motor drive unit and
Sensing transducer etc..
Coordinate referring to Fig. 2, Fig. 5, Fig. 6, present invention additionally comprises seat locking mechanism 8, the seat locking mechanism 8
Including fixed station 81, gear 82, tooth bar 83 and handle 84, fixed station is arranged on base, gear and tooth bar
It is equipped with fixed station, handle is connected with gear；The phase on a guide rod before and after seat in governor motion
Position is answered to be provided with lockhole, tooth bar front end is provided with lock pin, pulling handle rotate gear inserts can the lock pin of tooth bar front end
Guide rod is fixed in lockhole on guide rod, it is seat is locked so as to realize.
Coordinate referring to Fig. 7, Fig. 8, the present invention is provided with ankle pass with the active connection part of little leg mechanism in ankle joint mechanism
Section angular transducer 91, is provided with knee joint angle sensor 92 with the active connection part of big leg mechanism in little leg mechanism,
Pressure transducer 93,94 is respectively equipped with pedal two bottom sides, on the base beside two pedipulator fixed stations
It is respectively equipped with pedipulator and moves spacing photoelectric sensor 95,96, on the base before and after seat beside governor motion
It is provided with seat and moves spacing photoelectric sensor 97,98.Ankle joint angle sensor 91 is concentric with ankle joint rotating shaft to match somebody with somebody
Close, for measuring movement angle of the ankle portion in rotary course.Knee joint angle sensor 92 is closed with knee joint
Section rotating shaft concentric fit, for measuring pedipulator leg portion and lower leg portion angulation in motor process.Pressure
Force transducer 93,94 is used for measuring patient's plantar pressure in training process.Pedipulator moves spacing photoelectric sensor
95th, 96 two extreme positions of base correspondence pedipulator fixed station movement are arranged on, in the fixed plate of fixed station
Rear side installs a small boss, and when fixed plate moves to most wide and narrow most position, small boss and photoelectric sensor are firm
In good correspondence, between within distance is in preset value, sensor sends signal, and fixed plate motor stops operating,
Fixed plate stop motion, reaches the effect of limit mechanical lower limb fixed station moving range.In the same manner, seat moves spacing light
Electric transducer 97,98 is arranged on two extreme positions of base plate correspondence seat movement, and tables and chairs support side edge is equipped with
One small boss, when seat moves to two extreme positions small boss and photoelectric sensor just correspond on, between
Within distance is in preset value, sensor sends signal, and seat movement motor stops operating, and seat stops moving
It is dynamic, reach the effect for limiting seat moving range.
The device of the present invention also includes display, and display is used for machine set, realizes man-machine interaction game training etc.
Function.
Using the robot of the present invention, lower extremity movement training function is capable of achieving, lower limb evaluation function, craps game are handed over
Mutual function, wherein passive exercise include that both legs replace walking simulation training, and both legs synchronously simulating is squatted down to stand and bends and stretches instruction
Practice, monarthric training can be adapted to the needs of different arthritic patients.
Synchronously bend and stretch simulation to squat down the function that stands, by adjusting the motion of left and right pedipulator group of motors for realize, instruction
Practice time length may be selected.Before training, hip joint spacing is transferred to most wide, releasing seat locking, allows seat to move
To foremost, pedal is put down, wait patient to sit on the seat, after riding on the footrests, control seat returns to original
Position, locks seat, then fixes shank, thigh, and allow its left and right foot stepped down on the pedal of left and right respectively；Training
When mix and stimulate interesting sound effect and picture background effect, the interest of patient's training can be increased, to reach most
Good training effect.Training can take incremental mode to gradually step up speed according to patient features, increase difficult
Degree, realizes the requirement of patient's gradually rehabilitation training.
Can with according to patient need realize knee joint, the monarthric motion of ankle joint is also capable of achieving left and right lower limb
It is kneed be synchronized with the movement, the exercise of the mobility in joint is realized in being synchronized with the movement for ankle joint.
Claims (13)
1. a kind of seat packaged type lower limb exoskeleton device for healing and training, it is characterised in that include：
Base；
Governor motion before and after seat, is erected on base and can adjust in front and back；
Seat, is erected at before and after seat on governor motion and can be before the regulation lower edge base of governor motion before and after seat
After move；
Pedipulator left-right adjusting mechanism, is erected on base and can left and right adjusting；
Pedipulator fixed station, totally two left and right sides for being connected to pedipulator left-right adjusting mechanism, and can be in machine
The regulation lower edge base of tool lower limb left-right adjusting mechanism is moved left and right；
Pedipulator, totally two are connected on two pedipulator fixed stations, and can move with pedipulator fixed station or so
It is dynamic；
Counterweight control chamber, is fixed on the rear portion of base, built-in electrical equipment.
2. seat packaged type lower limb exoskeleton device for healing and training as claimed in claim 1, it is characterised in that：
Before and after the seat, governor motion includes two guide rods, two guide rod c-type slide blocks, two guide rod fixed stations and silks
Bar drive mechanism；Two guide rod c-type slide blocks are symmetrically mounted on the front portion of base, and two guide rod fixed stations are symmetrically pacified
The middle part of base is mounted in, two guide rods are each passed through corresponding guide rod c-type slide block and guide rod fixed station be arranged in parallel,
Lead screw transmission mechanism is arranged on the base between two guide rods and is connected with the rear transfer of seat；The front portion of seat
It is fixedly linked with two guide rods, seat is realized along base under the drive of lead screw transmission mechanism and the guiding of two guide rods
It is movable.
3. seat packaged type lower limb exoskeleton device for healing and training as claimed in claim 1, it is characterised in that：
The seat includes support, seat board, backrest and inclination of the seat backrest governor motion；Support adjusts machine before and after being arranged on seat
On structure, seat board is connected on support, and inclination of the seat backrest governor motion is arranged under seat board and is connected with backrest transmission, is opened
Dynamic inclination of the seat backrest governor motion realizes the inclination angle for adjusting backrest.
4. seat packaged type lower limb exoskeleton device for healing and training as claimed in claim 1, it is characterised in that：
The pedipulator left-right adjusting mechanism includes screw mandrel fixed station, screw mandrel, feed screw nut and motor transmission mechanism；Screw mandrel
Fixed station is arranged on base, and screw mandrel is arranged through screw mandrel fixed station, and the left and right two ends of screw mandrel connect left and right silk respectively
Stem nut, motor transmission mechanism are arranged on screw mandrel fixed station and are connected with screw rod transmission, left and right feed screw nut difference
It is fixedly linked with the two pedipulator fixed stations in left and right, starts motor transmission mechanism and drive screw mandrel to rotate, realize left and right two
Individual pedipulator fixed station towards or away from motion, so as to drive two pedipulators in left and right towards or away from movement.
5. seat packaged type lower limb exoskeleton device for healing and training as claimed in claim 1, it is characterised in that：
The pedipulator fixed station includes fixed station body, is provided with slide block in the bottom of fixed station body, and top is provided with handrail,
Linear guides are provided with base, pedipulator fixed station is connected with the slip of linear guides by slide block and realizes that left and right is moved
It is dynamic.
6. seat packaged type lower limb exoskeleton device for healing and training as claimed in claim 1, it is characterised in that：
The pedipulator includes big leg mechanism, little leg mechanism and ankle joint mechanism, big leg mechanism and the activity of pedipulator fixed station
Connection, little leg mechanism are flexibly connected with big leg mechanism, and ankle joint mechanism is flexibly connected with little leg mechanism.
7. seat packaged type lower limb exoskeleton device for healing and training as claimed in claim 6, it is characterised in that：
The big leg mechanism includes that thigh drives electric cylinder, thick link, thigh push rod, thigh sleeve, leg support and thigh
Length adjustment mechanism；Thigh drives electric cylinder to be flexibly connected with pedipulator fixed station, and thick link drives electricity with thigh
Dynamic cylinder transmission is connected, and thigh push rod is fixedly linked with thick link and is flexibly connected with pedipulator fixed station, thigh set
Jacket casing is mounted on thigh push rod and is connected with thigh push rod scalable by thigh length adjustment mechanism, realizes thigh length
Degree is adjustable, and leg support is arranged on the inner side of thigh sleeve；The little leg mechanism is movably connected with thigh sleeve.
8. seat packaged type lower limb exoskeleton device for healing and training as claimed in claim 6, it is characterised in that：
The little leg mechanism includes that shank drives electric cylinder, knee joint connector, knee joint rotary shaft, shank push rod, little
Lower limb sleeve and lower-leg length governor motion；Shank drives electric cylinder to be arranged on big leg mechanism, knee joint connector
One end drives electric cylinder transmission to be connected with shank, and the other end is movably connected in before thigh sleeve by knee joint rotary shaft
End, shank push rod are rotatably connected with thigh sleeve by knee joint rotary shaft, and shank sleeve set is in shank push rod
Go up and pass through lower-leg length governor motion to be connected with shank push rod scalable, realize that lower-leg length is adjustable, the ankle is closed
Section mechanism is movably connected with shank sleeve.
9. seat packaged type lower limb exoskeleton device for healing and training as claimed in claim 6, it is characterised in that：
The ankle joint mechanism includes ankle joint motor, deceleration force amplifier mechanism and pedal, and ankle joint motor is installed
In the outside of shank sleeve, deceleration force amplifier mechanism is arranged in shank sleeve and is driven phase with ankle joint motor
Even, pedal is arranged on the inner side of shank sleeve and is connected with deceleration force amplifier mechanism driving.
10. seat packaged type lower limb exoskeleton device for healing and training as claimed in claim 1, it is characterised in that：
Also include seat locking mechanism, the seat locking mechanism includes fixed station, gear, tooth bar and handle, fixed station peace
It is mounted on base, gear and tooth bar are equipped with fixed station, and handle is connected with gear；Adjust before and after seat
The relevant position on a guide rod in mechanism is provided with lockhole, and tooth bar front end is provided with lock pin, pulls handle rotate gear
Can make in the lockhole on the lock pin insertion guide rod of tooth bar front end to fix guide rod, it is seat is locked so as to realize.
11. seat packaged type lower limb exoskeleton device for healing and training as claimed in claim 1, it is characterised in that：
Ankle joint angle sensor is provided with the active connection part of little leg mechanism in ankle joint mechanism, in little leg mechanism and thigh
The active connection part of mechanism is provided with knee joint angle sensor, is respectively equipped with pressure transducer in pedal two bottom sides,
Pedipulator is respectively equipped with the base beside two pedipulator fixed stations and moves spacing photoelectric sensor, before seat
Base beside governor motion is provided with seat and moves spacing photoelectric sensor afterwards.
12. seat packaged type lower limb exoskeleton device for healing and training as claimed in claim 1, it is characterised in that：
Pedal is connected with the support lower removable of seat, Magnet is installed in the frame upper of seat, pedal does not make
Used time turn over upward with Magnet inhale connect, pedal using when turn over downwards be used for ride.
13. seat packaged type lower limb exoskeleton device for healing and training as claimed in claim 1, it is characterised in that：
The electrical equipment includes power supply, Motor drive unit and sensing transducer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510594960.XA CN106539666B (en) | 2015-09-17 | 2015-09-17 | Seat-movable lower limb exoskeleton rehabilitation training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510594960.XA CN106539666B (en) | 2015-09-17 | 2015-09-17 | Seat-movable lower limb exoskeleton rehabilitation training device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106539666A true CN106539666A (en) | 2017-03-29 |
| CN106539666B CN106539666B (en) | 2019-12-20 |
Family
ID=58361538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510594960.XA Active CN106539666B (en) | 2015-09-17 | 2015-09-17 | Seat-movable lower limb exoskeleton rehabilitation training device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106539666B (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106890430A (en) * | 2017-04-13 | 2017-06-27 | 合肥工业大学 | A kind of measurable many healthy image training robots of pose in real time |
| CN109091351A (en) * | 2018-08-24 | 2018-12-28 | 东莞海特帕沃液压科技有限公司 | A kind of Multifunctional leg recovery training appliance for recovery |
| CN109621220A (en) * | 2019-01-21 | 2019-04-16 | 陆玲玲 | A kind of postpartum crotch tightening instrument for training for gynemetrics |
| CN109700638A (en) * | 2019-03-01 | 2019-05-03 | 河北工业大学 | A kind of rope driving rehabilitation device for lower limb joint structure being installed on wheelchair seat |
| CN109966114A (en) * | 2019-04-07 | 2019-07-05 | 牛书珍 | A kind of upper extremity palsy assistant recovery device |
| CN110123579A (en) * | 2019-05-17 | 2019-08-16 | 温州康宁医院股份有限公司 | A kind of rehabilitation sitting walk exerciser |
| CN110179623A (en) * | 2019-04-25 | 2019-08-30 | 杭州电子科技大学 | A kind of novel lower limb rehabilitation robot |
| CN110353944A (en) * | 2019-07-29 | 2019-10-22 | 武汉轻工大学 | Sitting posture joint driving lower limb rehabilitation robot |
| CN110353945A (en) * | 2019-07-29 | 2019-10-22 | 武汉轻工大学 | A kind of lower limb rehabilitation robot of multi-locomotion mode |
| CN110368261A (en) * | 2019-07-26 | 2019-10-25 | 新乡医学院第一附属医院(河南省结核病医院) | A kind of wearable leg training device |
| CN111374868A (en) * | 2020-04-29 | 2020-07-07 | 江南大学 | Novel lower limb rehabilitation mechanism |
| CN111938996A (en) * | 2020-08-24 | 2020-11-17 | 四川大学华西医院 | Auxiliary rehabilitation equipment for lower limb paralysis patient |
| CN113558927A (en) * | 2021-06-21 | 2021-10-29 | 浙江工业大学 | Chair type lower limb movement rehabilitation robot |
| CN114145963A (en) * | 2021-12-01 | 2022-03-08 | 广州穗海新峰医疗设备制造股份有限公司 | Sitting type lower limb rehabilitation training robot |
| CN114159262A (en) * | 2021-11-11 | 2022-03-11 | 燕山大学 | Closed-loop linkage multi-posture medical rehabilitation bed with adjustable seat height |
| CN114344831A (en) * | 2022-01-19 | 2022-04-15 | 河南省正骨研究院 | Intelligent multifunctional knee joint rehabilitation equipment |
| CN116196599A (en) * | 2023-03-17 | 2023-06-02 | 姜丽丽 | Rehabilitation is with taking exercise device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102743270A (en) * | 2012-07-27 | 2012-10-24 | 中国科学院自动化研究所 | Sitting horizontal type individual lower limb rehabilitation training robot |
| CN103417356A (en) * | 2013-07-10 | 2013-12-04 | 南京升泰元机器人科技有限公司 | Gait rehabilitation training robot |
| US20140378279A1 (en) * | 2012-02-08 | 2014-12-25 | P&S Mechanics Co., Ltd. | Walking training apparatus |
| CN104287939A (en) * | 2014-08-20 | 2015-01-21 | 燕山大学 | Sitting type lower limb rehabilitation robot |
| CN104287940A (en) * | 2014-08-20 | 2015-01-21 | 燕山大学 | Robot for lower limb joint rehabilitation training |
| CN205145027U (en) * | 2015-09-17 | 2016-04-13 | 山东经典医疗器械科技有限公司 | Seat movable low limbs ectoskeleton rehabilitation training device |
-
2015
- 2015-09-17 CN CN201510594960.XA patent/CN106539666B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140378279A1 (en) * | 2012-02-08 | 2014-12-25 | P&S Mechanics Co., Ltd. | Walking training apparatus |
| CN102743270A (en) * | 2012-07-27 | 2012-10-24 | 中国科学院自动化研究所 | Sitting horizontal type individual lower limb rehabilitation training robot |
| CN103417356A (en) * | 2013-07-10 | 2013-12-04 | 南京升泰元机器人科技有限公司 | Gait rehabilitation training robot |
| CN104287939A (en) * | 2014-08-20 | 2015-01-21 | 燕山大学 | Sitting type lower limb rehabilitation robot |
| CN104287940A (en) * | 2014-08-20 | 2015-01-21 | 燕山大学 | Robot for lower limb joint rehabilitation training |
| CN205145027U (en) * | 2015-09-17 | 2016-04-13 | 山东经典医疗器械科技有限公司 | Seat movable low limbs ectoskeleton rehabilitation training device |
Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106890430A (en) * | 2017-04-13 | 2017-06-27 | 合肥工业大学 | A kind of measurable many healthy image training robots of pose in real time |
| CN109091351A (en) * | 2018-08-24 | 2018-12-28 | 东莞海特帕沃液压科技有限公司 | A kind of Multifunctional leg recovery training appliance for recovery |
| CN109621220A (en) * | 2019-01-21 | 2019-04-16 | 陆玲玲 | A kind of postpartum crotch tightening instrument for training for gynemetrics |
| CN109700638A (en) * | 2019-03-01 | 2019-05-03 | 河北工业大学 | A kind of rope driving rehabilitation device for lower limb joint structure being installed on wheelchair seat |
| CN109700638B (en) * | 2019-03-01 | 2023-08-25 | 河北工业大学 | Rope-driven lower limb joint rehabilitation mechanism mounted on wheelchair seat |
| CN109966114A (en) * | 2019-04-07 | 2019-07-05 | 牛书珍 | A kind of upper extremity palsy assistant recovery device |
| CN109966114B (en) * | 2019-04-07 | 2021-02-26 | 王晓彤 | Auxiliary recovery device for upper limb paralysis |
| CN110179623A (en) * | 2019-04-25 | 2019-08-30 | 杭州电子科技大学 | A kind of novel lower limb rehabilitation robot |
| CN110123579A (en) * | 2019-05-17 | 2019-08-16 | 温州康宁医院股份有限公司 | A kind of rehabilitation sitting walk exerciser |
| CN110368261A (en) * | 2019-07-26 | 2019-10-25 | 新乡医学院第一附属医院(河南省结核病医院) | A kind of wearable leg training device |
| CN110353945A (en) * | 2019-07-29 | 2019-10-22 | 武汉轻工大学 | A kind of lower limb rehabilitation robot of multi-locomotion mode |
| CN110353944A (en) * | 2019-07-29 | 2019-10-22 | 武汉轻工大学 | Sitting posture joint driving lower limb rehabilitation robot |
| CN110353945B (en) * | 2019-07-29 | 2024-01-26 | 武汉轻工大学 | Lower limb rehabilitation robot with multiple movement modes |
| CN110353944B (en) * | 2019-07-29 | 2024-01-26 | 武汉轻工大学 | Sitting type combined driving lower limb rehabilitation robot |
| CN111374868A (en) * | 2020-04-29 | 2020-07-07 | 江南大学 | Novel lower limb rehabilitation mechanism |
| CN111938996A (en) * | 2020-08-24 | 2020-11-17 | 四川大学华西医院 | Auxiliary rehabilitation equipment for lower limb paralysis patient |
| CN113558927A (en) * | 2021-06-21 | 2021-10-29 | 浙江工业大学 | Chair type lower limb movement rehabilitation robot |
| CN114159262A (en) * | 2021-11-11 | 2022-03-11 | 燕山大学 | Closed-loop linkage multi-posture medical rehabilitation bed with adjustable seat height |
| CN114145963A (en) * | 2021-12-01 | 2022-03-08 | 广州穗海新峰医疗设备制造股份有限公司 | Sitting type lower limb rehabilitation training robot |
| CN114344831A (en) * | 2022-01-19 | 2022-04-15 | 河南省正骨研究院 | Intelligent multifunctional knee joint rehabilitation equipment |
| CN114344831B (en) * | 2022-01-19 | 2022-12-02 | 河南省正骨研究院 | Intelligent multifunctional knee joint rehabilitation equipment |
| CN116196599A (en) * | 2023-03-17 | 2023-06-02 | 姜丽丽 | Rehabilitation is with taking exercise device |
| CN116196599B (en) * | 2023-03-17 | 2024-07-05 | 姜丽丽 | Rehabilitation is with taking exercise device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106539666B (en) | 2019-12-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106539666A (en) | Seat packaged type lower limb exoskeleton device for healing and training | |
| CN205145027U (en) | Seat movable low limbs ectoskeleton rehabilitation training device | |
| CN106539662B (en) | Robot for rehabilitation training of lower limb functions | |
| CN208799724U (en) | Ankle-joint training adapter and ankle joint rehabilitation training equipment | |
| CN205126722U (en) | Low limbs function rehabilitation training robot | |
| CN106176143B (en) | A kind of healthy plint of multi-pose lower limb | |
| CN110151496A (en) | A kind of multidigit appearance lower limb rehabilitation robot and its application method | |
| EP3100707B1 (en) | Apparatus for locomotion therapy | |
| CN103230335B (en) | Novel electric walking trainer | |
| CN205073233U (en) | Recovered robot of low limbs is with rotatable formula ectoskeleton mechanical legs | |
| CN106344349B (en) | The driving lower limb rehabilitation training device of shank | |
| KR101936715B1 (en) | rehabilitation medicine apparatus for curve exercise | |
| CN205007219U (en) | Recovered adjustable mechanical legs of hip joint width for robot | |
| CN107854281A (en) | Lower limb rehabilitation robot | |
| CN106539663A (en) | Healing robot hip joint width adjustable mechanical lower limb | |
| CN110179622B (en) | Multifunctional lower limb rehabilitation integrated system based on virtual reality | |
| CN102028598A (en) | Multifunctional weight-reducing dynamic balance training bed | |
| CN108245840A (en) | A kind of planer-type leg training rehabilitation equipment | |
| CN110522606A (en) | A kind of pedal gait rehabilitation training device | |
| CN112316378A (en) | Knee osteoarthritis sports rehabilitation apparatus | |
| CN111658438B (en) | Lower limb rehabilitation training robot | |
| CN108814899B (en) | Multi-pose and track-adjustable lower limb training device | |
| CN106539659A (en) | Lower limb rehabilitation robot is with turnable ectoskeleton pedipulator | |
| KR101937352B1 (en) | rehabilitation medicine apparatus | |
| CN110448863A (en) | A kind of muscle of trunk activation device for healing and training |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 272100 west head of beihuancheng Road, Yanzhou Economic Development Zone, Jining City, Shandong Province Patentee after: Shandong classic logistics supply chain Co., Ltd Address before: 272100, Shandong, Yanzhou, Jining Economic Development Zone, North Road West head Patentee before: SHANDONG CLASSIC MEDICAL DEVICE TECHNOLOGY Co.,Ltd. |
|
| CP03 | Change of name, title or address |