CN108066944B - Knee joint walking-aid robot - Google Patents
Knee joint walking-aid robot Download PDFInfo
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- CN108066944B CN108066944B CN201710736309.0A CN201710736309A CN108066944B CN 108066944 B CN108066944 B CN 108066944B CN 201710736309 A CN201710736309 A CN 201710736309A CN 108066944 B CN108066944 B CN 108066944B
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- knee joint
- hydraulic rod
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- hydraulic
- cylinder
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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
Abstract
The invention provides a knee joint walking aid robot, which belongs to the technical field of rehabilitation medical instruments and comprises an upper shell, a lower shell, a hydraulic rod, a hydraulic cylinder, a free piston and an inner spring, wherein the free piston and the inner spring are arranged in the hydraulic cylinder, a cylinder end cover is arranged at the end part of the hydraulic cylinder, a first baffle plate is fixedly arranged at the end part of the hydraulic rod, an inner compression spring is sleeved on the hydraulic rod, one end of the inner compression spring abuts against the cylinder end cover, the other end of the inner compression spring abuts against the first baffle plate, a first cavity for containing liquid is formed between the first baffle plate and the cylinder end cover, a second cavity for containing liquid is formed between the first baffle plate and the free piston, at least one first through hole is formed in the first baffle plate, and a flow regulating device is arranged on the hydraulic. The knee joint walking-aid robot provided by the invention controls different damping forces according to different walking states, greatly shortens the time of knee joint rehabilitation training, improves the efficiency and has better recovery effect.
Description
Technical Field
The invention belongs to the technical field of rehabilitation medical instruments, and particularly relates to a knee joint walking aid robot.
Background
The existing knee joint rehabilitation training device is simple to fix the training device on the thigh and the shank through a thigh support and a shank support, and provides certain damping force through a spring or a hydraulic cylinder arranged between the thigh support and the shank support, but in the using process, the knee joint cannot provide enough resistance in the straightening process due to uncontrollable damping force, so that the risk of mechanical damage of the knee joint during rehabilitation training exists, and the problem of poor rehabilitation training effect is caused.
Disclosure of Invention
The invention aims to provide a knee joint walking-assisted robot, and aims to solve the problems that in the prior art, the damping force of a rehabilitation knee joint rehabilitation training device cannot be controlled in the using process, the knee joint cannot provide enough resistance in the straightening process, and the risk of mechanical damage to the knee joint during rehabilitation training exists, so that the rehabilitation training effect is poor.
In order to achieve the purpose, the invention adopts the technical scheme that: the knee joint walking-aid robot comprises an upper shell, a lower shell, a hydraulic rod, a hydraulic cylinder, a free piston and an inner spring, wherein the upper shell is used for being fixed on a thigh, the lower shell is hinged with the upper shell and used for being fixed on a shank, the hydraulic rod is hinged on the upper shell, the hydraulic cylinder is slidably sleeved on the outer side of the hydraulic rod and hinged with the lower shell, the free piston is arranged in the hydraulic cylinder, the inner spring is respectively abutted against the free piston and the bottom of the hydraulic cylinder, a cylinder end cover is arranged at the end part of the hydraulic cylinder and slidably connected with the hydraulic rod, a first blocking piece in sliding fit with the inner wall of the hydraulic cylinder is fixedly arranged at the end part of the hydraulic rod, the hydraulic rod is sleeved with an inner compression spring, one end of the inner compression spring is abutted against the cylinder end cover, the other end of the inner compression spring is abutted against the first blocking piece, and a first cavity used for containing liquid is formed between the first, the hydraulic rod is provided with a flow adjusting device which is used for controlling whether the first through hole is opened and closed and controlling the flow rate of liquid flowing through the first through hole.
Furthermore, the flow regulating device comprises a second baffle plate rotationally connected with the first baffle plate, a second through hole arranged on the second baffle plate and used for being communicated with the first through hole, and a driving mechanism arranged on the hydraulic rod and used for driving the second baffle plate to rotate, controlling whether the first through hole is communicated with the second through hole or not and controlling the contact ratio of the first through hole and the second through hole.
Further, the driving mechanism comprises a driving motor arranged at the outer end part of the hydraulic rod and a driving shaft used for connecting a motor shaft of the driving motor and the second baffle, and the second baffle is positioned between the first baffle and the free piston.
Furthermore, the end of the hydraulic rod is provided with a containing groove for containing the driving motor, and the end of the driving motor is provided with a rod end cover for covering the containing groove.
Further, the outer end of the rod end cover is hinged with the upper shell.
Further, a sliding bearing is arranged between the second baffle sheet and the inner wall of the hydraulic rod.
Furthermore, the hydraulic rod is connected with an adjusting nut in a threaded manner, an outer spring is sleeved on the periphery of the hydraulic rod, one end of the outer spring is abutted to the adjusting nut, and the other end of the outer spring is abutted to the cylinder end cover.
Furthermore, a hinge part hinged with the lower shell is arranged on the outer side surface of the bottom of the hydraulic cylinder.
Furthermore, the shoe cover also comprises an elastic plate fixedly arranged on the lower shell and a sole plate fixedly arranged on the elastic plate.
Furthermore, the elastic plate comprises a first connecting plate fixedly connected with the lower shell, a second connecting plate movably spliced with the first connecting plate, and a jackscrew used for fixing the first connecting plate and the second connecting plate.
The knee joint walking-aid robot provided by the invention has the beneficial effects that: compared with the prior art, the knee joint walking-assisted robot is fixed on a thigh through the upper shell, the lower shell is fixed on a shank, the upper shell is hinged with the lower shell and is connected with the lower shell through the hydraulic rod and the hydraulic cylinder, the damping force for knee joint rehabilitation training can be provided, the first through hole for communicating the first cavity and the second cavity is arranged on the first blocking piece on the hydraulic rod, the flow of liquid passing through the first through hole is controlled through the flow regulating device to achieve the effect of controlling the liquid conversion speed of the first cavity and the second cavity, so that the damping force between the hydraulic rod and the hydraulic cylinder can be controlled, the hydraulic rod is sleeved with the internal compression spring, the knee joint can be further ensured to provide enough resistance in the straightening process, the gait frequency can be controlled more accurately, the time of knee joint rehabilitation training is greatly shortened, and the efficiency is improved, the recovery effect is better. .
Drawings
FIG. 1 is a schematic structural diagram of a knee joint walking aid robot provided by an embodiment of the invention;
FIG. 2 is an assembled cross-sectional view of a hydraulic rod and cylinder used in an embodiment of the present invention;
FIG. 3 is a schematic bottom view of a second blocking plate according to an embodiment of the present invention;
FIG. 4 is a schematic top view of a second blocking plate according to an embodiment of the present invention;
FIG. 5 is a schematic top view of a first blocking plate according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of an elastic plate used in an embodiment of the present invention;
fig. 7 is a graph of driving force during the swing of the knee joint.
In the figure: 1. an upper housing; 11. an upper reinforcing plate; 2. a lower housing; 21. a lower reinforcing plate; 3. a hydraulic lever; 31. a first baffle plate; 311. a first through hole; 32. a second baffle plate; 321. a second through hole; 322. a drive shaft mounting hole; 33. a drive motor; 34. a rod end cap; 35. a drive shaft; 36. adjusting the nut; 37. an outer spring; 38. a sliding bearing; 39. an inner compression spring; 4. a hydraulic cylinder; 41. a cylinder end cover; 42. a free piston; 43. an inner spring; 44. a hinge portion; 45. a first cavity; 46. a second cavity; 5. an elastic plate; 51. a first connecting plate; 52. a second connecting plate; 53. carrying out top thread; 6. a sole plate; 7. mounting blocks; 8. and controlling the switch.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 to 5 together, the knee joint walking aid robot provided by the present invention will now be described. The knee joint walking aid robot comprises an upper shell 1 fixed on thighs, a lower shell 2 hinged with the upper shell 1 and fixed on shanks, a hydraulic rod 3 hinged on the upper shell 1, a hydraulic cylinder 4 slidably sleeved on the outer side of the hydraulic rod 3 and hinged with the lower shell 2, a free piston 42 arranged inside the hydraulic cylinder 4, an inner spring 43 used for connecting the free piston 42 and respectively abutted against the free piston 42 and the bottom of the hydraulic cylinder 4, a cylinder end cover slidably connected with the hydraulic rod 4 is arranged at the end part of the hydraulic cylinder 4, a first baffle 31 in sliding fit with the inner wall of the hydraulic cylinder 4 is fixedly arranged at the end part of the hydraulic rod 3 positioned in the hydraulic cylinder 4, an inner compression spring 39 is sleeved on the hydraulic rod 3, one end of the inner compression spring 39 is abutted against a cylinder end cover 41, the other end of the inner compression spring is abutted against the first baffle 31, a first cavity 45 used for containing liquid is formed between the first baffle 31 and the cylinder end cover 41, a second cavity 46 for containing liquid is formed between the first baffle 31 and the free piston 42, at least one first through hole 311 for communicating the first cavity 45 and the second cavity 46 is arranged on the first baffle 31, and a flow adjusting device for controlling whether the first through hole 311 is opened or closed and the flow rate of the liquid flowing through the first through hole 311 is arranged on the hydraulic rod 3.
Compared with the prior art, the knee joint walking-assisting robot provided by the invention has the advantages that the upper shell 1 is fixed on the thigh, the lower shell 2 is fixed on the shank, the upper shell 1 is hinged with the lower shell 2 and is connected with the hydraulic rod 3 and the hydraulic cylinder 4, the damping force for knee joint rehabilitation training can be provided, the first through hole 311 for communicating the first cavity 45 with the second cavity 46 is arranged on the first baffle 31 on the hydraulic rod 3, the liquid flow passing through the first through hole 311 is controlled by the flow regulating device to achieve the effect of controlling the liquid conversion speed of the first cavity 45 and the second cavity 46, the damping force between the hydraulic rod 3 and the hydraulic cylinder 4 can be controlled, different damping forces are controlled according to different walking states, the hydraulic rod 3 is sleeved with the internal compression spring 39, the knee joint can be further ensured to provide enough resistance in the straightening process, thereby more accurately controlling the frequency of the gait, greatly shortening the time of knee joint rehabilitation training, improving the efficiency and having better recovery effect.
Further, referring to fig. 1 to 5, as an embodiment of the knee joint walking robot provided by the present invention, the flow rate adjusting device includes a second blocking plate 32 rotatably connected to the first blocking plate 31, a second through hole 321 disposed on the second blocking plate 32 and used for communicating with the first through hole 311, and a driving mechanism disposed on the hydraulic rod 3 and used for driving the second blocking plate 32 to rotate and controlling whether the first through hole 311 is communicated with the second through hole 321 and controlling the overlapping degree of the first through hole 311 and the second through hole 321. By providing the second through hole 321 on the second flap 32, the driving mechanism can adjust the coincidence degree of the first through hole 311 and the second through hole 321, change the speed of the liquid of the second cavity 46 entering the first cavity 45, and change the damping force.
In particular, the liquids located in the first and second cavities 45, 46 are also hydraulic oil. Alternatively, the number of the first through holes 311 is eight, the number of the second through holes 321 is eight, and the first blocking pieces 31 and the second blocking pieces 32 are respectively and uniformly arranged, and the diameters of the first through holes 311 and the second through holes 321 are equal.
Further, referring to fig. 1 to 4, as an embodiment of the knee joint walking aid robot provided by the present invention, the driving mechanism includes a driving motor 33 disposed at the outer end of the hydraulic rod 3 and a driving shaft 35 for connecting a motor shaft of the driving motor 33 and the second flap 32. Second gear 32 is located between first gear 31 and the free piston 42, and drive shaft 35 runs through hydraulic stem 3, specifically, and drive shaft 35 is pegged graft fixedly with second gear 32, is equipped with the drive shaft mounting hole 322 that is used for fixed drive shaft 35 on the second baffle, and the installation of being convenient for facilitates the use, adopts driving motor 33 drive moreover, is convenient for realize automated control.
Further, referring to fig. 2, as an embodiment of the knee joint walking robot provided by the present invention, an end of the hydraulic rod 3 is provided with a receiving groove for receiving the driving motor 33, and an end of the driving motor 33 is provided with a rod end cover 34 for covering the receiving groove. The motor is convenient to install, the rod end cover 34 is convenient to position the motor, and the motor is convenient to maintain, process and manufacture.
Further, referring to fig. 1, as an embodiment of the knee joint walking aid robot provided by the present invention, the outer end of the rod end cover 34 is hinged with the upper housing 1. Is convenient for installation and disassembly and is convenient for split processing and manufacturing.
Further, referring to fig. 1, as a specific embodiment of the knee joint walking aid robot provided by the present invention, an upper reinforcing plate 11 is fixedly connected to the upper shell 1, a lower reinforcing plate 21 is fixedly connected to the lower shell 2, the upper reinforcing plate 11 is hinged to the lower reinforcing plate 21, the upper reinforcing plate 11 is fixed to the upper shell 1 by screws, and the lower reinforcing plate 21 is fixed to the lower shell 2 by screws. Through setting up reinforcing plate 11 and lower reinforcing plate 21, do benefit to the intensity that improves the robot, improve life.
Further, referring to fig. 2, as an embodiment of the knee joint walking aid robot provided by the present invention, a sliding bearing 38 is disposed between the second stopper 32 and the inner wall of the hydraulic rod 3. The frictional force is reduced and the position of the second shutter 32 is easily adjusted.
Further, referring to fig. 1 and 2, as an embodiment of the knee joint walking aid robot provided by the present invention, an adjusting nut 36 is screwed on the hydraulic rod 3, an outer spring 37 is sleeved on the outer periphery of the hydraulic rod 3, one end of the outer spring 37 abuts against the adjusting nut 36, and the other end of the outer spring 37 abuts against a cylinder end cover 41.
Further, referring to fig. 1, as an embodiment of the knee joint walking robot provided by the present invention, a hinge portion 44 hinged to the lower housing 2 is provided on an outer side surface of a bottom portion of the hydraulic cylinder 4. Specifically, the lower housing 2 is further provided with a mounting block 7 for being hinged to the hinge portion 44, and the mounting block 7 is provided with a control switch 8 electrically connected with the driving motor 33.
Further, referring to fig. 1, as a specific embodiment of the knee joint walking aid robot provided by the present invention, the knee joint walking aid robot further includes an elastic plate 5 disposed on the lower shell 2 and a sole plate 6 fixed on the elastic plate 5. Through setting up elastic plate 5 and sole board 6 for place the sole, be convenient for wear knee joint helps capable robot, have the support effect moreover.
Further, referring to fig. 6, as a specific embodiment of the knee joint walking aid robot provided by the present invention, the elastic plate 5 includes a first connecting plate 51 fixedly connected to the lower shell 2, a second connecting plate 52 movably inserted into the first connecting plate 51, and a top thread 53 for fixing the first connecting plate 51 and the second connecting plate 52, and the first connecting plate 51 and the second connecting plate 52 are movably inserted into each other, so as to adjust the position between the sole plate 6 and the lower shell 2, so as to adapt to different leg lengths of patients.
Further, referring to fig. 2, as an embodiment of the knee joint walking robot provided by the present invention, the first blocking plate 31 is integrally formed with the hydraulic rod 3. The manufacturing is convenient, the manufacturing efficiency is improved, and the connection strength is ensured.
The invention also provides a control method of the knee joint walking-assisting robot. The control method of the knee joint walking aid robot comprises the following steps:
if the support control is performed, controlling a flow regulating device to close the first through hole 311;
if the control is swing control, the flow regulating device is controlled to open the first through hole 311, and when the first through hole 311 is opened, the overlap ratio of the first through hole 311 and the second through hole 321 is controlled by the flow regulating device, so that the flow speed is regulated.
According to the knee joint walking-assisting robot control method provided by the invention, the first through hole 311 is controlled to be opened through the flow regulating device, and the flow velocity of the first through hole 311 is controlled, so that the swing condition of the knee joint rehabilitation robot can swing freely close to the free state, the time of knee joint rehabilitation training is greatly shortened, the efficiency is improved, and the recovery effect is better.
When in supporting, the knee joint is in a state of being stressed statically, and the knee joint is in a state of moving when swinging.
Please refer to fig. 7, which is a graph comparing the measured swing of the knee joint with the swing of the knee joint without driving.
As can be seen from fig. 7, the knee joint receives positive driving force at the beginning of the swing period, then receives resistance, and receives resistance again during the straightening process, and since the driving force comes from the free bending of the knee joint during the swing of the thigh in the whole process, the corresponding resistance needs to be provided in the process, and the resistance can be provided by the outer spring 37 and the inner compression spring 39 respectively.
The walking process is divided into a swinging phase and a supporting phase,
when the liquid pressure lever 3 is supported, a large supporting force needs to be provided, and at this time, the first through hole 311 on the first blocking piece 31 and the second through hole 321 on the second blocking piece 32 on the liquid pressure lever 3 need to be adjusted to be not overlapped, so that the liquid cannot flow.
When the swing phase is performed, the hydraulic rod 3 is firstly stressed, so that the hydraulic rod moves in the hydraulic cylinder 4, at the moment, the driving motor 33 drives the second baffle 32 to rotate, the contact ratio of the first through hole 311 on the first baffle 31 and the second through hole 321 on the second baffle 32 can be adjusted, the speed of liquid entering the first cavity 45 from the second cavity 46 can be adjusted, and the damping effect is achieved. After the legs swing to the maximum position, the legs need to swing forwards, at the moment, the legs freely swing to a straightening state under the action of inertia, the second baffle 32 is still rotated through the driving motor 33, the contact ratio between the first through hole 311 and the second through hole 321 can be adjusted, the flow speed can be controlled, and the frequency of corresponding gaits can be controlled.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. The knee joint walking-assisted robot comprises an upper shell, a lower shell, a hydraulic rod, a hydraulic cylinder, a free piston and an inner spring, wherein the upper shell is used for being fixed on a thigh, the lower shell is hinged to the upper shell and used for being fixed on a shank, the hydraulic rod is hinged to the upper shell, the free piston is arranged in the hydraulic cylinder in a sliding mode, the inner spring is abutted to the bottom of the free piston and the bottom of the hydraulic cylinder, the end portion of the hydraulic cylinder is provided with a cylinder end cover in sliding connection with the hydraulic rod, and the knee joint walking-assisted robot is characterized in that: the end part of the hydraulic rod, which is positioned in the hydraulic cylinder, is fixedly provided with a first blocking piece in sliding fit with the inner wall of the hydraulic cylinder, the hydraulic rod is sleeved with an inner compression spring, one end of the inner compression spring abuts against the cylinder end cover, the other end of the inner compression spring abuts against the first blocking piece, the inner compression spring is used for providing resistance in the straightening process of the knee joint, the hydraulic rod is in threaded connection with an adjusting nut, the periphery of the hydraulic rod is sleeved with an outer spring, one end of the outer spring abuts against the adjusting nut, the other end of the outer spring abuts against the cylinder end cover, a first cavity for containing liquid is formed between the first blocking piece and the cylinder end cover, a second cavity for containing liquid is formed between the first blocking piece and the free piston, at least one first through hole for communicating the first cavity with the second cavity is formed in the first blocking piece, and the hydraulic rod is provided with a flow regulating device for controlling the opening and closing of the first through hole and the flow speed of liquid flowing through the first through hole.
2. The knee joint walking aid robot of claim 1, wherein: the flow adjusting device comprises a second baffle plate, a second through hole and a driving mechanism, wherein the second baffle plate is rotatably connected with the first baffle plate, is arranged on the second baffle plate and is used for being communicated with the first through hole, and the driving mechanism is arranged on the hydraulic rod and is used for driving the second baffle plate to rotate and control whether the first through hole is communicated with the second through hole or not and controlling the contact ratio of the first through hole and the second through hole.
3. The knee joint walking aid robot of claim 2, wherein: the driving mechanism comprises a driving motor arranged at the outer end part of the hydraulic rod and a driving shaft used for connecting a motor shaft of the driving motor and the second baffle, and the second baffle is positioned between the first baffle and the free piston.
4. The knee joint walking aid robot of claim 3, wherein: the end of the hydraulic rod is provided with a containing groove for containing the driving motor, and the end of the driving motor is provided with a rod end cover for sealing the containing groove.
5. The knee joint walking robot of claim 4, wherein: the outer end of the rod end cover is hinged with the upper shell.
6. The knee joint walking aid robot of claim 2, wherein: and a sliding bearing is arranged between the second baffle plate and the inner wall of the hydraulic rod.
7. The knee joint walking aid robot of claim 1, wherein: and a hinged part hinged with the lower shell is arranged on the outer side surface of the bottom of the hydraulic cylinder.
8. The knee joint walking aid robot of claim 1, wherein: the sole plate is fixedly arranged on the elastic plate.
9. The knee walking robot of claim 8, wherein: the elastic plate comprises a first connecting plate fixedly connected with the lower shell, a second connecting plate movably spliced with the first connecting plate and a jackscrew used for fixing the first 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 |
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| Publication Number | Publication Date |
|---|---|
| CN108066944A CN108066944A (en) | 2018-05-25 |
| CN108066944B true CN108066944B (en) | 2020-01-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710736309.0A Active CN108066944B (en) | 2017-08-24 | 2017-08-24 | Knee joint walking-aid robot |
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Families Citing this family (5)
| 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 |
| 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 |
| CN111743731B (en) * | 2020-07-06 | 2022-03-25 | 中南大学湘雅医院 | Elbow joint function rehabilitation device |
| 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 |
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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 |
| CN102297108A (en) * | 2011-08-03 | 2011-12-28 | 杭州电子科技大学 | Hydraulic drive double-link piston pump for precisely fluid proportional mixing |
| CN102973337A (en) * | 2012-09-25 | 2013-03-20 | 电子科技大学 | Active knee joint structure with function of load-bearing and self-locking |
| CN204932179U (en) * | 2015-09-16 | 2016-01-06 | 大连交通大学 | A kind of old people's ectoskeleton assistant robot |
| CN105769395A (en) * | 2016-04-12 | 2016-07-20 | 上海理工大学 | Electric control hydraulic damping cylinder structure for intelligent knee joint |
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2017
- 2017-08-24 CN CN201710736309.0A patent/CN108066944B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101132753A (en) * | 2005-01-18 | 2008-02-27 | 加利福尼亚大学董事会 | Lower extremity exoskeleton |
| CN102297108A (en) * | 2011-08-03 | 2011-12-28 | 杭州电子科技大学 | Hydraulic drive double-link piston pump for precisely fluid proportional mixing |
| CN102973337A (en) * | 2012-09-25 | 2013-03-20 | 电子科技大学 | Active knee joint structure with function of load-bearing and self-locking |
| CN204932179U (en) * | 2015-09-16 | 2016-01-06 | 大连交通大学 | A kind of old people's ectoskeleton assistant robot |
| CN105769395A (en) * | 2016-04-12 | 2016-07-20 | 上海理工大学 | Electric control hydraulic damping cylinder structure for intelligent knee joint |
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| CN108066944A (en) | 2018-05-25 |
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