CN108066944A - Knee joint assistant robot - Google Patents
Knee joint assistant robot Download PDFInfo
- Publication number
- CN108066944A CN108066944A CN201710736309.0A CN201710736309A CN108066944A CN 108066944 A CN108066944 A CN 108066944A CN 201710736309 A CN201710736309 A CN 201710736309A CN 108066944 A CN108066944 A CN 108066944A
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- Prior art keywords
- hydraulic stem
- knee joint
- catch
- hole
- assistant robot
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
- A63B23/0464—Walk exercisers without moving parts
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/008—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using hydraulic or pneumatic force-resisters
- A63B21/0083—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using hydraulic or pneumatic force-resisters of the piston-cylinder type
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/02—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using resilient force-resisters
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biophysics (AREA)
- Rehabilitation Therapy (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention provides a kind of knee joint assistant robots, belong to rehabilitation medical instrument technical field, including upper shell, lower housing, hydraulic stem, hydraulic cylinder, free-piston and inner spring inside hydraulic cylinder is set, the end of hydraulic cylinder is equipped with cylinder end cap, the end of hydraulic stem is fixed with the first catch, interior compression spring is set on hydraulic stem, one end of interior compression spring is acted against on cylinder end cap, the other end of interior compression spring acts against first gear on piece, it forms to accommodate the first cavity of liquid between first catch and cylinder end cap, it forms to accommodate the second cavity of liquid between first catch and free-piston, first gear on piece is equipped at least one first through hole, hydraulic stem is equipped with flow regulator.Knee joint assistant robot provided by the invention, and according to different walking states, control different damping forces, substantially reduce the time of knee-joint rehabilitation training, improve efficiency, recovery effects are more preferable.
Description
Technical field
The invention belongs to rehabilitation medical instrument technical fields, are to be related to a kind of knee joint assistant robot more specifically.
Background technology
Existing training device for knee joint rehabilitation is to be fixed on training aids simply by thigh support frame and small leg support
On thigh and shank, and by the way that spring or hydraulic cylinder is set to provide certain damping between thigh support frame and small leg support
Power, but in use since damping force is unable to control, knee joint cannot provide enough resistances in straightening procedure,
The problem of risk of mechanical damage is generated in rehabilitation training there are knee joint, causes rehabilitation training effect poor.
The content of the invention
It is an object of the invention to provide a kind of knee joint assistant robots, it is intended to solve rehabilitation knee of the prior art and close
Damping force is unable to control section recovery training appliance for recovery in use, and knee joint cannot provide enough resistances in straightening procedure
The problem of power generates the risk of mechanical damage in rehabilitation training there are knee joint, causes rehabilitation training effect poor.
To achieve the above object, the technical solution adopted by the present invention is：A kind of knee joint assistant robot is provided, including with
In the upper shell being fixed on thigh, it is hinged with the upper shell and for be fixed on shank lower housing, be hingedly arranged on
Hydraulic stem, sliding sleeve on the upper shell mounted in the outside of the hydraulic stem and the hydraulic cylinder hinged with the lower housing, set
Put the free-piston inside the hydraulic cylinder and the interior bullet abutted respectively with the bottom of the free-piston and the hydraulic cylinder
Spring, the end of the hydraulic cylinder are equipped with the cylinder end cap being slidably connected with the hydraulic stem, and the hydraulic stem is located at the hydraulic cylinder
Interior end is fixed with the first catch being slidably matched with the inner wall of the hydraulic cylinder, and interior compression is set on the hydraulic stem
Spring, one end of the interior compression spring are acted against on the cylinder end cap, and the interior other end for compressing spring acts against described
First gear on piece forms to accommodate the first cavity of liquid, the first gear between first catch and the cylinder end cap
For composition for accommodating the second cavity of liquid, the first gear on piece is equipped at least one be used between piece and the free-piston
The first through hole of first cavity and second cavity is connected, the hydraulic stem is equipped with to control the first through hole
Whether it is opened and closed and flows through the flow regulator of the flow velocity of the first through hole liquid.
Further, the flow regulator includes being rotatablely connected the second catch with first catch, is arranged on institute
It states second gear on piece and is used to the second through hole connected with the first through hole and is arranged on the hydraulic stem be used to drive
Second catch is moved to rotate and control whether the first through hole connects and control described first to lead to second through hole
The driving mechanism of the registration of hole and second through hole.
Further, the driving mechanism includes being arranged on the driving motor of the hydraulic stem outer end and for connecting
The drive shaft of the motor shaft of the driving motor and second catch, second washer are located at first washer and described
Between free-piston.
Further, the end of the hydraulic stem is equipped with to accommodate the holding tank of the driving motor, the driving electricity
The end of machine is equipped with to cover the stem cover of the holding tank.
Further, the outer end of the stem cover is hinged with the upper shell.
Further, sliding bearing is equipped between second catch and the inner wall of the hydraulic stem.
Further, adjusting nut is threaded on the hydraulic stem, the periphery of the hydraulic stem is set with outer spring,
One end of the outer spring is abutted with the adjusting nut, and the other end of the outer spring is abutted with the cylinder end cap.
Further, the lateral surface of the hydraulic cylinder bottom is equipped with the articulated section hinged with the lower housing.
Further, the elastic plate being fixedly arranged on the lower housing and the sole being installed on the elastic plate are further included
Plate.
Further, the elastic plate includes the first connecting plate being fixedly connected with the lower housing, connects with described first
Second connecting plate of fishplate bar activity grafting and the jackscrew for fixing first connecting plate and the second connecting plate.
The advantageous effect of knee joint assistant robot provided by the invention is：Compared with prior art, knee of the present invention closes
Assistant robot is saved, is fixed on by upper shell on thigh, lower housing is fixed on shank, and upper shell is hinged and leads to lower housing
Hydraulic stem and hydraulic cylinder connection are crossed, the damping force of knee-joint rehabilitation training is capable of providing, passes through the first gear on hydraulic stem
On piece is set for connecting the first through hole of the first cavity and the second cavity, by flow regulator first through hole is controlled to pass through
Fluid flow achieve the effect that the liquid transition speed for controlling the first cavity and the second cavity, so as to control hydraulic stem with
Damping force between hydraulic cylinder by being set with interior compression spring on hydraulic stem, further ensures knee joint and is stretching
Enough resistances can be provided in the process, and then more accurately control the frequency of gait, substantially reduce knee-joint rehabilitation training
Time, efficiency is improved, recovery effects are more preferable..
Description of the drawings
Fig. 1 is the structure diagram of knee joint assistant robot provided in an embodiment of the present invention；
Fig. 2 is the sectional arrangement drawing of hydraulic stem and hydraulic cylinder used by the embodiment of the present invention；
Fig. 3 be the embodiment of the present invention used by the second catch present invention looks up structural representation；
Fig. 4 be the embodiment of the present invention used by the second catch overlooking the structure diagram；
Fig. 5 be the embodiment of the present invention used by the first catch overlooking the structure diagram；
Fig. 6 be the embodiment of the present invention used by elastic plate structure diagram；
Fig. 7 is knee joint shaking peroid activation force profile figure.
In figure：1st, upper shell；11st, upper reinforcing plate；2nd, lower housing；21st, lower reinforcing plate；3rd, hydraulic stem；31st, the first catch；
311st, first through hole；32nd, the second catch；321st, the second through hole；322nd, shaft mounting hole is driven；33rd, driving motor；34th, stem cover；
35th, drive shaft；36th, adjusting nut；37th, outer spring；38th, sliding bearing；39th, interior compression spring；4th, hydraulic cylinder；41st, cylinder end cap；
42nd, free-piston；43rd, inner spring；44th, articulated section；45th, the first cavity；46th, the second cavity；5th, elastic plate；51st, the first connection
Plate；52nd, the second connecting plate；53rd, jackscrew；6th, sole plate；7th, mounting blocks；8th, control switch.
Specific embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Accompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
It should be noted that when element is referred to as " being fixed on " or " being arranged at " another element, it can be directly another
On one element or it is connected on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", " on ", " under ", "front", "rear", "left", "right", " vertical ",
The orientation or position relationship of the instructions such as " level ", " top ", " bottom " " interior ", " outer " are to be closed based on orientation shown in the drawings or position
System is for only for ease of the description present invention and simplifies description rather than instruction or imply that signified device or element must have
Specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the present invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
Also referring to Fig. 1 to Fig. 5, now knee joint assistant robot provided by the invention is illustrated.The knee closes
Assistant robot is saved, is hinged including the upper shell 1 being used to be fixed on thigh and upper shell 1 and for being fixed on shank
Lower housing 2, the hydraulic stem 3 being hingedly arranged on upper shell 1, sliding sleeve are mounted in the outside of hydraulic stem 3 and hinged with lower housing 2
Hydraulic cylinder 4, set hydraulic cylinder 4 inside free-piston 42 and for connect free-piston 42 and respectively with free-piston 42
The inner spring 43 abutted with the bottom of hydraulic cylinder 4, the end of hydraulic cylinder 4 are equipped with the cylinder end cap being slidably connected with hydraulic stem 4, hydraulic pressure
The end that bar 3 is located in hydraulic cylinder 4 is fixed with the first catch 31 being slidably matched with the inner wall of hydraulic cylinder 4, is covered on hydraulic stem 3
Equipped with interior compression spring 39, one end of interior compression spring 39 is acted against on cylinder end cap 41, and the other end of interior compression spring acts against
It forms to accommodate the first cavity 45 of liquid, the first catch 31 on first catch 31, between the first catch 31 and cylinder end cap 41
For accommodating the second cavity 46 of liquid, the first catch 31 is used to connect composition equipped at least one between free-piston 42
The first through hole 311 of first cavity 45 and the second cavity 46, hydraulic stem 3 are equipped with to control whether first through hole 311 is opened and closed
With the flow regulator of the flow velocity that flows through 311 liquid of first through hole.
Knee joint assistant robot provided by the invention compared with prior art, is fixed on by upper shell 1 on thigh,
Lower housing 2 is fixed on shank, and upper shell 1 and lower housing 2 are hinged and pass through hydraulic stem 3 and hydraulic cylinder 4 is connected, and are capable of providing knee
The damping force of joint rehabilitation training, by being set on the first catch 31 on hydraulic stem 3 for connection 45 He of the first cavity
The first through hole 311 of second cavity 46, by flow regulator control first through hole 311 by fluid flow reach control
The effect of the liquid transition speed of first cavity 45 and the second cavity 46, so as to control between hydraulic stem 3 and hydraulic cylinder 4
Damping force according to different walking states, controls different damping forces, by being set with interior compression spring 39 on hydraulic stem 3,
Enough resistances can provided in straightening procedure by further ensuring knee joint, and then more accurately control the frequency of gait,
The time of knee-joint rehabilitation training is substantially reduced, improves efficiency, recovery effects are more preferable.
Further, please refer to Fig.1 to Fig. 5, a kind of specific reality as knee joint assistant robot provided by the invention
Apply mode, flow regulator include with the second catch 32 of the first catch 31 rotation connection, be arranged on the second catch 32 and
For the second through hole 321 connected with first through hole 311 and it is arranged on being rotated for the second catch 32 of driving on hydraulic stem 3
And control whether first through hole 311 connects and control the coincidence of 311 and second through hole 321 of first through hole with the second through hole 321
The driving mechanism of degree.By setting the second through hole 321 on the second catch 32, driving mechanism can adjust 311 He of first through hole
The registration of second through hole 321, the liquid of the second cavity 46 of change enter the speed in the first cavity 45, change damping force.
Specifically, the also hydraulic oil of the liquid in the first cavity 45 and the second cavity 46.Optionally, first through hole 311
Quantity for eight, the quantity of the second through hole 321 is eight, and the uniform cloth on the first catch 31 and the second catch 32 respectively
It puts, and first through hole 311 is equal with the diameter of the second through hole 321.
Further, please refer to Fig.1 to Fig.4, a kind of specific reality as knee joint assistant robot provided by the invention
Mode is applied, driving mechanism includes the driving motor 33 for being arranged on 3 outer end of hydraulic stem and the electricity for connecting driving motor 33
The drive shaft 35 of arbor and the second catch 32.Second washer 32 is between the first washer 31 and free-piston 42, drive shaft 35
Through hydraulic stem 3, specifically, 35 and second catch of drive shaft, 32 plugged and fixed, second baffle is equipped with to fix drive shaft
35 driving shaft mounting hole 322, is easily installed, easy to use, and is driven using driving motor 33, is easy to implement automation control
System.
Further, referring to Fig. 2, a kind of specific embodiment party as knee joint assistant robot provided by the invention
Formula, the end of hydraulic stem 3 are equipped with to accommodate the holding tank of driving motor 33, and the end of driving motor 33 is equipped with to hold for covering
Receive the stem cover 34 of slot.Convenient for being installed to motor, and stem cover 34 is easy to use to position motor, convenient for safeguarding
And processing and fabricating.
Further, referring to Fig. 1, a kind of specific embodiment party as knee joint assistant robot provided by the invention
Formula, the outer end of stem cover 34 and upper shell 1 are hinged.It is easily installed and dismantles, and parts processing is facilitated to make.
Further, referring to Fig. 1, a kind of specific embodiment party as knee joint assistant robot provided by the invention
Formula is fixedly connected with upper reinforcing plate 11 on upper shell 1, lower reinforcing plate 21 is fixedly connected on lower housing 2, upper reinforcing plate 11 is under
Reinforcing plate 21 is hinged, and upper reinforcing plate 11 is fixed with upper shell 1 by screw, and lower reinforcing plate 21 is fixed with lower housing 2 by screw.
By setting upper reinforcing plate 11 and lower reinforcing plate 21, beneficial to the intensity for improving robot, service life is improved.
Further, referring to Fig. 2, a kind of specific embodiment party as knee joint assistant robot provided by the invention
Formula is equipped with sliding bearing 38 between the second catch 32 and the inner wall of hydraulic stem 3.Frictional force is reduced, convenient for adjusting the second catch
32 position.
Further, please refer to Fig.1 and Fig. 2, a kind of specific reality as knee joint assistant robot provided by the invention
Mode to be applied, is threaded with adjusting nut 36 on hydraulic stem 3, the periphery of hydraulic stem 3 is set with outer spring 37, and the one of outer spring 37
End is abutted with adjusting nut 36, and the other end of outer spring 37 is abutted with cylinder end cap 41.
Further, referring to Fig. 1, a kind of specific embodiment party as knee joint assistant robot provided by the invention
Formula, the lateral surface of the bottom of hydraulic cylinder 4 are equipped with the articulated section 44 hinged with lower housing 2.Specifically, it is additionally provided on lower housing 2
For the mounting blocks 7 hinged with the articulated section 44, the mounting blocks 7 are equipped with the control switch being electrically connected with driving motor 33
8。
Further, referring to Fig. 1, a kind of specific embodiment party as knee joint assistant robot provided by the invention
Formula, the sole plate 6 for further including the elastic plate 5 being arranged on lower housing 2 and being installed on elastic plate 5.By setting elastic plate 5
With sole plate 6, for placing sole, convenient for being dressed to knee joint assistant robot, and there is support effect.
Further, referring to Fig. 6, a kind of specific embodiment party as knee joint assistant robot provided by the invention
Formula, elastic plate 5 include the first connecting plate 51 being fixedly connected with the lower housing 2 and the 51 activity grafting of the first connecting plate
The second connecting plate 52 and jackscrew 53 for fixing 51 and second connecting plate 52 of the first connecting plate, pass through the first connection
51 and second connecting plate of plate, 52 activity grafting, it is specific between sole plate 6 and lower housing 2 convenient for adjusting, to adapt to different trouble
The lower-leg length of person, it is easy to use, it ensure that knee joint assistant robot can accurately dress positioning, imitated beneficial to rehabilitation is improved
Fruit.
Further, referring to Fig. 2, a kind of specific embodiment party as knee joint assistant robot provided by the invention
Formula, the first catch 31 are integrally formed with hydraulic stem 3.Convenient for making, producing efficiency is improved, ensure that bonding strength.
The present invention also provides a kind of knee joint assistant robot control methods.The knee joint assistant robot control method
Include the following steps：
If support and control, then flow regulator is controlled to close the first through hole 311；
If weave control, then flow regulator is controlled to open the first through hole 311, when the first through hole 311
During opening, the registration of 311 and second through hole 321 of first through hole is controlled by flow regulator, so as to adjust flow velocity.
Knee joint assistant robot control method provided by the invention controls first through hole 311 by flow regulator
It opens, and controls the flow velocity of first through hole 311, the swing situation of knee joint recovery robot can be realized close under free state
Freely swing, substantially reduce the time of knee-joint rehabilitation training, improve efficiency, recovery effects are more preferable.
During support, state during the static stress of knee joint, state when swing is motion of knee joint.
It is actual measurement and the contrast curve swung without driving knee joint to refer to Fig. 7.
As shown in Figure 7, knee joint receives forward drive power in incipient stage shaking peroid, is subject to resistance afterwards, is stretching
It is subject to resistance again in journey, since in whole process, driving force comes from kneed free bend when thigh is swung, therefore this process
In need to provide corresponding resistance, can by outer spring 37 and it is interior compression spring 39 provide respectively resistance realize.
Walking process is divided into swing phase and support phase,
It in support phase, needs to provide larger support force at this time, needs to adjust the first catch 31 on hydraulic stem 3 at this time
On 311 and second catch 32 of first through hole on the second through hole 321, make its misaligned, then liquid can not flow, due to liquid
Incoercibility, larger support force can be provided.
In swing phase, hydraulic stem 3 is first subjected to pressure so that it is moved into hydraulic cylinder 4, at this point, by driving electricity
Machine 33 drives the second catch 32 to rotate, and can adjust second on 311 and second catch 32 of first through hole on the first catch 31
The registration of through hole 321, and then speed of the liquid by the second cavity 46 into the first cavity 45 can be adjusted, it plays damping and makees
With., it is necessary to which forward swing, at this time by effect of inertia, leg swings freely to straight configuration, still after leg swings to maximum position
Second catch 32 is rotated by driving motor 33, the registration between 311 and second through hole 321 of first through hole can be adjusted, it can
Coutroi velocity speed, and then control the frequency of corresponding gait.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (10)
1. knee joint assistant robot is hinged including the upper shell being used to be fixed on thigh and the upper shell and for solid
The lower housing being scheduled on shank, the hydraulic stem, the sliding sleeve that are hingedly arranged on the upper shell are mounted in the outside of the hydraulic stem
And the hydraulic cylinder hinged with the lower housing, set free-piston inside the hydraulic cylinder and respectively with the free-piston
The inner spring abutted with the bottom of the hydraulic cylinder, the end of the hydraulic cylinder are equipped with the cylinder end being slidably connected with the hydraulic stem
Lid, it is characterised in that：The end that the hydraulic stem is located in the hydraulic cylinder is fixed with to be slided with the inner wall of the hydraulic cylinder
First catch of cooperation, interior compression spring is set on the hydraulic stem, and one end of the interior compression spring acts against the cylinder
On end cap, the other end of the interior compression spring acts against the first gear on piece, first catch and the cylinder end cap it
Between form to accommodate the first cavity of liquid, form to accommodate liquid between first catch and the free-piston
Second cavity, the first gear on piece are equipped at least one logical for connecting the first of first cavity and second cavity
Hole, the hydraulic stem are equipped with the flow velocity that the first through hole is controlled whether to be opened and closed and flow through the first through hole liquid
Flow regulator.
2. knee joint assistant robot as described in claim 1, it is characterised in that：The flow regulator include with it is described
First catch is rotatablely connected the second catch, is arranged on the second gear on piece and second for being connected with the first through hole leads to
Hole and be arranged on the hydraulic stem for second catch to be driven to rotate and controls the first through hole and described the
Whether two through holes connect and control the driving mechanism of the registration of the first through hole and second through hole.
3. knee joint assistant robot as claimed in claim 2, it is characterised in that：The driving mechanism includes being arranged on described
The driving motor of hydraulic stem outer end and the drive shaft for connecting the motor shaft of the driving motor and second catch,
Second washer is between first washer and the free-piston.
4. knee joint assistant robot as claimed in claim 3, it is characterised in that：The end of the hydraulic stem is equipped with to hold
Receive the holding tank of the driving motor, the end of the driving motor is equipped with to cover the stem cover of the holding tank.
5. knee joint assistant robot as claimed in claim 4, it is characterised in that：The outer end of the stem cover and the upper casing
Body is hinged.
6. knee joint assistant robot as claimed in claim 2, it is characterised in that：Second catch and the hydraulic stem
Sliding bearing is equipped between inner wall.
7. knee joint assistant robot as described in claim 1, it is characterised in that：Adjusting is threaded on the hydraulic stem
Nut, the periphery of the hydraulic stem are set with outer spring, and one end of the outer spring is abutted with the adjusting nut, the outer bullet
The other end of spring is abutted with the cylinder end cap.
8. knee joint assistant robot as described in claim 1, it is characterised in that：It is set on the lateral surface of the hydraulic cylinder bottom
There is the articulated section hinged with the lower housing.
9. knee joint assistant robot as described in claim 1, it is characterised in that：It further includes and is fixedly arranged on the lower housing
Elastic plate and the sole plate being installed on the elastic plate.
10. knee joint assistant robot as claimed in claim 9, it is characterised in that：The elastic plate includes and the lower casing
The first connecting plate that body is fixedly connected, with the second connecting plate of the first connecting plate activity grafting and for fixing described the
The jackscrew of one connecting plate and the second connecting plate.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710736309.0A CN108066944B (en) | 2017-08-24 | 2017-08-24 | Knee joint walking-aid robot |
| PCT/CN2018/102197 WO2019037776A1 (en) | 2017-08-24 | 2018-08-24 | Knee joint rehabilitation robot and control method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710736309.0A CN108066944B (en) | 2017-08-24 | 2017-08-24 | Knee joint walking-aid robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108066944A true CN108066944A (en) | 2018-05-25 |
| CN108066944B CN108066944B (en) | 2020-01-07 |
Family
ID=62159199
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710736309.0A Active CN108066944B (en) | 2017-08-24 | 2017-08-24 | Knee joint walking-aid robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108066944B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109011390A (en) * | 2018-08-27 | 2018-12-18 | 河南省洛阳正骨医院（河南省骨科医院） | The equipment for preventing climacteric joint motions damage |
| WO2019037776A1 (en) * | 2017-08-24 | 2019-02-28 | 深圳市罗伯医疗科技有限公司 | Knee joint rehabilitation robot and control method therefor |
| CN111743731A (en) * | 2020-07-06 | 2020-10-09 | 中南大学湘雅医院 | Novel elbow joint function rehabilitation device |
| CN112206484A (en) * | 2020-08-20 | 2021-01-12 | 无锡商业职业技术学院 | Training intensity tracking method for active muscle strength training instrument |
| CN115068898A (en) * | 2022-06-07 | 2022-09-20 | 西安工业大学 | Transmission mechanism and auxiliary rehabilitation device |
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| CN101132753A (en) * | 2005-01-18 | 2008-02-27 | 加利福尼亚大学董事会 | Lower extremity exoskeleton |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019037776A1 (en) * | 2017-08-24 | 2019-02-28 | 深圳市罗伯医疗科技有限公司 | Knee joint rehabilitation robot and control method therefor |
| CN109011390A (en) * | 2018-08-27 | 2018-12-18 | 河南省洛阳正骨医院（河南省骨科医院） | The equipment for preventing climacteric joint motions damage |
| CN109011390B (en) * | 2018-08-27 | 2020-01-31 | 河南省洛阳正骨医院（河南省骨科医院） | Equipment for preventing climacteric joint motion injury |
| CN111743731A (en) * | 2020-07-06 | 2020-10-09 | 中南大学湘雅医院 | Novel elbow joint function rehabilitation device |
| CN112206484A (en) * | 2020-08-20 | 2021-01-12 | 无锡商业职业技术学院 | Training intensity tracking method for active muscle strength training instrument |
| CN112206484B (en) * | 2020-08-20 | 2022-02-11 | 无锡商业职业技术学院 | Training intensity tracking method for active muscle strength training instrument |
| CN115068898A (en) * | 2022-06-07 | 2022-09-20 | 西安工业大学 | Transmission mechanism and auxiliary rehabilitation device |
| CN115068898B (en) * | 2022-06-07 | 2024-06-14 | 西安工业大学 | Transmission mechanism and auxiliary rehabilitation device |
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