CN109718060A - A kind of recovery exercising robot - Google Patents
A kind of recovery exercising robot Download PDFInfo
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- CN109718060A CN109718060A CN201910196220.9A CN201910196220A CN109718060A CN 109718060 A CN109718060 A CN 109718060A CN 201910196220 A CN201910196220 A CN 201910196220A CN 109718060 A CN109718060 A CN 109718060A
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- shell
- fixedly connected
- slidably connected
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- block
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- 238000011084 recovery Methods 0.000 title claims abstract description 20
- 210000002414 leg Anatomy 0.000 claims abstract description 25
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 24
- 210000001699 lower leg Anatomy 0.000 claims abstract description 20
- 210000000689 upper leg Anatomy 0.000 claims abstract description 20
- 230000001105 regulatory effect Effects 0.000 claims abstract description 16
- 230000003028 elevating effect Effects 0.000 claims abstract description 7
- 238000002266 amputation Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 210000003127 knee Anatomy 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011542 limb amputation Methods 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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Abstract
The invention discloses a kind of recovery exercising robots, including supporting elevating mechanism, supporting shell, move horizontally regulating device and lower limb body training device, the supporting shell is fixedly connected on support elevating mechanism output end, the regulating device input terminal that moves horizontally is fixedly connected on inside supporting shell, this recovery exercising robot, pass through the lower limb body training device being equipped with, and lower limb body training device is independently made of thigh support actuator and leg support actuator, so as to which the length at thigh position and the length at shank position are adjusted according to different patients, and patient can be adjusted according to itself run trace, to reach optimal rehabilitation training effect, simultaneously, for below knee amputation patient, set leg support actuator and thigh support actuator can be with dismantling connection, it is used so as to avoid patient uncoordinated , enable the patient to effectively use leg training device.
Description
Technical field
The present invention relates to medical rehabilitation apparatus technical field, specially a kind of recovery exercising robot.
Background technique
Existing recovery exercising robot in the related technology when in use, due to not being suitable for the patient of lower limb amputation,
Such as patient's below knee amputation, patient itself can not then provide the support force of recovery exercising robot, and then reduce Rehabilitation instruction
Experienced use, and existing recovery exercising robot use is in leg training, control model mainly in passive mode based on,
It can not be adjusted according to the own situation of patient, for this purpose, it is proposed that a kind of recovery exercising robot.
Summary of the invention
The purpose of the present invention is to provide a kind of recovery exercising robots, to solve mentioned above in the background art ask
Topic.
To achieve the above object, the invention provides the following technical scheme: a kind of recovery exercising robot, including support are gone up and down
Mechanism, supporting shell move horizontally regulating device and lower limb body training device, and the supporting shell is fixedly connected on support elevating mechanism
On output end, the regulating device input terminal that moves horizontally is fixedly connected on inside supporting shell, and it is defeated to move horizontally regulating device
Outlet is fixedly connected with lower limb body training device input terminal.
Preferably, the regulating device that moves horizontally includes servo motor, driving gear, driven gear, double thread bar, branch
Fagging and sliding block, the servo motor are fixedly connected on inside supporting shell, and servo motor output end passes through shaft and driving tooth
Wheel is fixedly connected, and the driving gear engages connection with driven gear, and driven gear is fixedly attached on the outside of double thread bar, institute
It states double thread bar both ends and passes through bearing respectively and be rotatably connected on inside supporting shell, there are two the support plate is set, and two supports
Plate is symmetrically distributed on double thread bar, and the support plate bottom end is equipped with threaded hole, and support plate rotation is socketed in outside double thread bar
Side is symmetrically arranged with two mobile mouths in the supporting shell, and the support plate top passes through mobile mouth and is fixedly connected with a slide block, described
Sliding block is slidably connected in supporting shell, there are two the lower limb body training device is set, and two lower limb body training device input terminals
It is fixedly connected respectively with two sliding blocks.
Preferably, the lower limb body training device includes movable block, thigh support actuator and leg support actuator, institute
It states movable block to be fixedly connected with one end of sliding block, and the one end of movable block far from sliding block is fixed with thigh support actuator input terminal
Connection, the thigh support actuator output end are flexibly connected with leg support actuator.
Preferably, the thigh support actuator includes limit shell, positioning shell, positioning plate, electric pushrod, fixed plate and stretches
Contracting regulating part, the limit shell are fixedly connected with movable block, and the one end for positioning shell passes through pin shaft and limit shell rotation connection, institute
It states there are two positioning plate sets, and two positioning plates are symmetrically fixed on movable block bottom end, the positioning plate and the outer Slideslip of supporting shell
Rate connection, the electric pushrod is rotatablely connected by pin shaft and two positioning plates, and output end of electric push rod passes through pin shaft and two
A fixed plate rotation connection, described two fixed plates are fixedly connected in positioning shell bottom end, and the telescopic adjustment part is slidably connected
Inside positioning shell, multiple blocked holes are symmetrically arranged on the positioning shell, and telescopic adjustment part input terminal and blocked hole sliding connect
It connects, the telescopic adjustment part output end is fixedly connected with leg support actuator input terminal.
Preferably, the telescopic adjustment part includes flexible shell, buffer spring, baffle, clamping block and connecting rod, described flexible
Shell is slidably connected inside positioning shell, and buffer spring is slidably connected inside flexible shell, the both ends difference of the buffer spring
It is fixedly connected by two baffles with two clamping blocks, the barrier slides are connected to inside flexible shell, and the clamping block is separate
Flexible shell and blocked hole are run through in one end of baffle, and clamping block is slidably connected with flexible shell and blocked hole respectively, the connecting rod
One end be fixedly connected with flexible shell, and the other end of connecting rod is fixedly connected with leg support actuator input terminal, the company
Extension bar is slidably connected inside flexible shell.
Preferably, the leg support actuator includes rotation seat, micromotor, bottom plate, worm screw, turbine, support shaft, company
Body contact, shackle member, flexible shank bar and foot's plate, the rotation seat are fixedly connected with one end of connecting rod, the micromotor
It is fixedly connected on the side that two rotation seats are located remotely from each other by bottom plate, and micromotor output end is fixedly connected with worm screw, institute
It states worm screw to be fixedly connected on the outside of rotation seat by two limit plates, and worm screw engages connection, the turbine fixing sleeve with turbine
It connects on the outside of support shaft, and support shaft runs through rotation seat far from one end of turbine, the support shaft is turned by bearing and rotation seat
One end of dynamic connection, the connection shell is slidably connected with rotation seat, and connects shell and be fixedly attached on the outside of support shaft, the connection
Shell is equipped with multiple location holes, and shackle member output end is slidably connected with location hole, one end of the flexible shank bar and clamping
Part input terminal is fixedly connected, and the other end of flexible shank bar is rotatablely connected by pin shaft and foot's plate.
Preferably, the shackle member includes being clamped shell, T-bar, crushing block, limit plate, limited block and locating piece, described
Clamping shell is slidably connected inside connection shell, and one end of the T-bar is each passed through clamping shell top and limit plate and crushing block
It is fixedly connected, is symmetrically arranged with two limited blocks on the outside of the T-bar, and two limited blocks are slidably connected on limit plate,
Two limit holes are symmetrically arranged on the limit plate, the T-bar is slidably connected with clamping shell and limit plate respectively, the positioning
There are two part is set, and two locating pieces are symmetrically distributed on the outside of crushing block, and the locating piece input terminal is slidably connected at clamping shell
Inside, and locating piece output end passes through clamping shell and is slidably connected with location hole.
Preferably, the locating piece includes strut, locating rod, squeezes spring and wedge type block, one end of the strut with carve
Shape block is fixedly connected, and the other end of strut pass through clamping shell be fixedly connected with locating rod, the locating rod far from strut one
End is slidably connected with location hole, and the strut is slidably connected with clamping shell, and the extruding spring slide adjusts the institute on the outside of strut
The one end for stating extruding spring is fixedly connected with wedge type block, and the other end for squeezing spring is fixedly connected with clamping shell inner wall.
Preferably, the strut is L shape.
Compared with prior art, the beneficial effects of the present invention are:
1, in the present invention, patient moves horizontally regulating device when in use, by what is be equipped with, to realize to different hip sizes
Patient be adjusted, to keep patient's use more comfortable, by the lower limb body training device being equipped with, and lower limb body training cartridge
It sets and is independently made of thigh support actuator and leg support actuator, so as to which thigh is adjusted according to different patients
The length at position and the length at shank position, and patient can be adjusted according to itself run trace, to reach optimal
Rehabilitation training effect, meanwhile, for below knee amputation patient, set leg support actuator and thigh support actuator can be with
Dismantling connection, uses uncoordinated so as to avoid patient, enables the patient to effectively use leg training device, meanwhile,
It is energy saving, convenient for the use of different patients.
2, the present invention drives scroll bar rotation by micromotor, thus make scroll bar drive turbine rotation, and turbine fixing sleeve
It connects on the outside of support shaft, so that support shaft be made to be drivingly connected shell rotation, to realize the automatic adjustment of shank position, is convenient for patient
The adjusting of walking.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is lower limb body training device structural schematic diagram of the present invention；
Fig. 3 is supporting shell cross-sectional view of the present invention；
Fig. 4 is a-quadrant enlarged drawing in Fig. 2；
Fig. 5 is B area enlarged drawing in Fig. 2；
Fig. 6 is present invention positioning shell structure schematic diagram；
Fig. 7 is present invention positioning shell cross-sectional view；
Fig. 8 is shackle member structural schematic diagram of the present invention；
Fig. 9 is present invention clamping shell cross-sectional view；
Figure 10 is limited block of the present invention and limit plate connection relationship diagram.
In figure: 1- supports elevating mechanism；2- supporting shell；3- moves horizontally regulating device；4- lower limb body training device；5- is watched
Take motor；6- driving gear；7- driven gear；8- double thread bar；9- support plate；10- sliding block；11- moves mouth；12- movable block；
13- thigh support actuator；14- leg support actuator；15- limits shell；16- positions shell；17- positioning plate；18- is electronic to be pushed away
Bar；19- fixed plate；20- telescopic adjustment part；21- blocked hole；22- stretches shell；23- buffer spring；24- baffle；25- clamping block；
26- connecting rod；27- rotation seat；28- micromotor；29- bottom plate；30- worm screw；31- turbine；32- support shaft；33- connection shell；
34- shackle member；35- stretches shank bar；36- foot plate；37- location hole；38- is clamped shell；39-T type bar；40- crushing block；41-
Limit plate；42- limited block；43- locating piece；44- strut；45- locating rod；46- squeezes spring；47- wedge type block.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-10 is please referred to, the present invention provides a kind of technical solution: a kind of recovery exercising robot, including support elevator
Structure 1, supporting shell 2 move horizontally regulating device 3 and lower limb body training device 4, and the supporting shell 2 is fixedly connected on support lifting
On 1 output end of mechanism, 3 input terminal of regulating device that moves horizontally is fixedly connected on inside supporting shell 2, and moves horizontally adjusting
3 output end of device is fixedly connected with 4 input terminal of lower limb body training device, by existing support elevating mechanism 1, and then under realization
The adjusting of 4 height of limb-training device, so that the lower limb body training device 4 of robot be made to be suitable for different patients.
The regulating device 3 that moves horizontally includes servo motor 5, driving gear 6, driven gear 7, double thread bar 8, support
Plate 9 and sliding block 10, the servo motor 5 are fixedly connected on inside supporting shell 2, and 5 output end of servo motor passes through shaft and master
Moving gear 6 is fixedly connected, and the driving gear 6 engages connection with driven gear 7, and driven gear 7 is fixedly attached to double thread
8 outside of bar, 8 both ends of double thread bar pass through bearing respectively and are rotatably connected on inside supporting shell 2, and the support plate 9 is equipped with two
It is a, and two support plates 9 are symmetrically distributed on double thread bar 8,9 bottom end of support plate is equipped with threaded hole, and support plate 9 rotates
It is socketed in 8 outside of double thread bar, is symmetrically arranged with two mobile mouths 11 in the supporting shell 2,9 top of support plate passes through movement
Mouth 11 is fixedly connected with sliding block 10, and the sliding block 10 is slidably connected in supporting shell 2, and the lower limb body training device 4 is equipped with two
It is a, and two 4 input terminals of lower limb body training device are fixedly connected with two sliding blocks 10 respectively, move horizontally adjusting by what is be equipped with
Device 3 is adjusted the patient of different hip sizes to realize.
In the use of the present invention, since the hip of different patients is of different sizes, for this purpose, being watched according to the hip size of patient
Take motor 5 operation, when driving gear 6 drive driven gear 7 rotate, thus make double thread bar 8 rotate, two support plates 9 by
The driving force that double thread bar 8 rotates, the rotation of double thread bar 8 is connect with the threaded hole in support plate 9, and then drives 9 band of support plate
Movable slider 10 relatively moves in supporting shell 2, and the patient of different hip sizes is adjusted to realize.
The lower limb body training device 4 includes movable block 12, thigh support actuator 13 and leg support actuator 14, institute
It states movable block 12 to be fixedly connected with one end of sliding block 10, and the one end of movable block 12 far from sliding block 10 and thigh support actuator 13
Input terminal is fixedly connected, and 13 output end of thigh support actuator is flexibly connected with leg support actuator 14, by being equipped with
Leg training device, thus realize to different lower limb patients it is quick adjusting with use.
The thigh support actuator 13 includes limit shell 15, positioning shell 16, positioning plate 17, electric pushrod 18, fixed plate
19 and telescopic adjustment part 20, the limit shell 15 be fixedly connected with movable block 12, and position shell 16 one end by pin shaft and limit
Position shell 15 is rotatablely connected, and there are two the positioning plate 17 is set, and two positioning plates 17 are symmetrically fixed on 12 bottom end of movable block, described
Positioning plate 17 is connect with 2 outside sliding ratio of supporting shell, and the electric pushrod 18 is rotatablely connected by pin shaft and two positioning plates 17,
And 18 output end of electric pushrod is rotatablely connected by pin shaft and two fixed plates 19, described two fixed plates 19 are fixedly connected with
16 bottom end of shell is positioned, the telescopic adjustment part 20 is slidably connected inside positioning shell 16, is symmetrically arranged on the positioning shell 16 more
A blocked hole 21, and 20 input terminal of telescopic adjustment part is slidably connected with blocked hole 21,20 output end of telescopic adjustment part with it is small
Leg support 14 input terminal of actuator is fixedly connected, by being equipped with telescopic adjustment part 20, to realize the adjusting of thigh span access location length.
In the use of the present invention, being run by electric pushrod 18, to realize the driving at patient thigh position, while basis
The different length at patient thigh position, presses two clamping bars, and buffer spring 23 is under pressure mutual contraction, to make to be clamped bar
It is detached from blocked hole 21 and enters inside flexible shell 22, at this point, pull connecting rod 26, and then adjustable connecting rod 26 and flexible
The relative position of shell 22, thus realize the adjusting of different director's patient thigh degree, meanwhile, by pressing two clamping bars
The disengaging between connecting rod 26 and flexible shell 22 is realized, since leg support actuator 14 is fixed in connecting rod 26, thus real
Disengaging between existing leg support driving between flexible shell 22.
The telescopic adjustment part 20 includes flexible shell 22, buffer spring 23, baffle 24, clamping block 25 and connecting rod 26, institute
It states flexible shell 22 to be slidably connected inside positioning shell 16, and buffer spring 23 is slidably connected inside flexible shell 22, the buffering
The both ends of spring 23 pass through two baffles 24 respectively and are fixedly connected with two clamping blocks 25, and the baffle 24 is slidably connected at flexible
Inside shell 22, the clamping block 25 runs through flexible shell 22 and blocked hole 21 far from one end of baffle 24, and clamping block 25 respectively with
Flexible shell 22 and blocked hole 21 are slidably connected, and one end of the connecting rod 26 is fixedly connected with flexible shell 22, and connecting rod 26
The other end is fixedly connected with 14 input terminal of leg support actuator, and the connecting rod 26 is slidably connected inside flexible shell 22, is led to
It crosses and presses two clamping blocks 25, to realize the movement of telescopic adjustment part 20.
The leg support actuator 14 includes rotation seat 27, micromotor 28, bottom plate 29, worm screw 30, turbine 31, support
Axis 32, connection shell 33, shackle member 34, flexible shank bar 35 and foot's plate 36, the rotation seat 27 and one end of connecting rod 26 are solid
Fixed connection, the micromotor 28 are fixedly connected on the side that two rotation seats 27 are located remotely from each other, and micro electric by bottom plate 29
28 output end of machine is fixedly connected with worm screw 30, and the worm screw 30 is fixedly connected on 27 outside of rotation seat by two limit plates 41,
And worm screw 30 engages connection with turbine 31, the turbine 31 is fixedly attached to 32 outside of support shaft, and support shaft 32 is far from turbine
Rotation seat 27 is run through in 31 one end, and the support shaft 32 is rotatablely connected by bearing and rotation seat 27, and the one of the connection shell 33
End is slidably connected with rotation seat 27, and connects shell 33 and be fixedly attached to 32 outside of support shaft, and the connection shell 33 is equipped with multiple
Location hole 37, and 34 output end of shackle member is slidably connected with location hole 37, one end of the flexible shank bar 35 and shackle member 34
Input terminal is fixedly connected, and the other end of flexible shank bar 35 is rotatablely connected by pin shaft and foot's plate 36, passes through micromotor
28 operations, to realize the disengaging movement at shank position.
The shackle member 34 includes clamping shell 38, T-bar 39, crushing block 40, limit plate 41, limited block 42 and locating piece
43, the flexible shank bar 35 is fixedly connected on the side outside clamping shell 38, and the clamping shell 38 is slidably connected at connection shell
Inside 33, one end of the T-bar 39 is each passed through 38 top of clamping shell and limit plate 41 is fixedly connected with crushing block 40, described
Two limited blocks 42 are symmetrically arranged on the outside of T-bar 39, and two limited blocks 42 are slidably connected on limit plate 41, the limit
Two limit holes are symmetrically arranged on the plate 41 of position, the T-bar 39 is slidably connected with clamping shell 38 and limit plate 41 respectively, described fixed
There are two position part 43 is set, and two locating pieces 43 are symmetrically distributed in 40 outside of crushing block, and 43 input terminal of the locating piece sliding connects
It connects inside clamping shell 38, and 43 output end of locating piece passes through clamping shell 38 and is slidably connected with location hole 37, passes through the card being equipped with
Fitting 34, to realize that the length at shank position is quickly adjusted.
The locating piece 43 includes strut 44, movable block 12, locating rod 45, squeezes spring 46 and wedge type block 47, the branch
One end of bar 44 is fixedly connected with wedge type block 47, and the other end of strut 44 passes through clamping shell 38 and is fixedly connected with locating rod 45,
The one end of the locating rod 45 far from strut 44 is slidably connected with location hole 37, and the strut 44 is slidably connected with clamping shell 38,
46 slidable adjustment of extruding spring is fixedly connected in 44 outside of strut, described one end for squeezing spring 46 with wedge type block 47, and
The other end for squeezing spring 46 is fixedly connected with clamping 38 inner wall of shell, by the locating piece 43 being equipped with, to realize strut 44
With the clamping of location hole 37.
In the use of the present invention, driven by micromotor 28, thus make worm screw 30 that turbine 31 be driven to rotate, 31 turns of turbine
It is dynamic that support shaft 32 is driven to go to, thus realize the rotation of connection shell 33, since connection shell 33 is leg support main component, thus
The rehabilitation training for realizing patient's shank position, when needing that the patient of different lower-leg lengths is adjusted, turning T-type bar 39,
Two limited blocks 42 on T-bar 39 are made to be directed at two limit holes on limit plate 41, at this point, T-bar 39 is pressed down on, from
And crushing block 40 is contacted with two wedge type blocks 47, and continues to press down on T-bar 39, to keep two struts 44 anti-between each other
To movement, thus realize that strut 44 is detached from location hole 37, at this point, then moving telescopic shank bar 35, to realize flexible shank
The adjusting of relative position pulls up T-bar 39, wedge type block 47 when being moved to required position between bar 35 and connection shell 33
In the case where squeezing the elastic potential energy effect of spring 46, it is clamped on strut 44 at location hole 37.
The strut 44 is L shape, consequently facilitating strut 44 and location hole 37 are clamped.
In the present invention, the preferred 80ST-M02430 model of servo motor 5, the preferred ANT-52 model of electric pushrod 18, micro electric
The preferred M20 model of machine 28, the present invention involved in circuit and control be the prior art, herein without excessively repeating
It should be noted that, in this document, relational terms such as first and second and the like be used merely to an entity or
Person's operation is distinguished with another entity or operation, is appointed without necessarily requiring or implying existing between these entities or operation
What this actual relationship or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or equipment for including a series of elements not only includes those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of recovery exercising robot, including support elevating mechanism (1), supporting shell (2), move horizontally regulating device (3) and
Lower limb body training device (4), it is characterised in that: the supporting shell (2) is fixedly connected on support elevating mechanism (1) output end,
Described regulating device (3) input terminal that moves horizontally is fixedly connected on supporting shell (2) inside, and it is defeated to move horizontally regulating device (3)
Outlet is fixedly connected with lower limb body training device (4) input terminal.
2. a kind of recovery exercising robot according to claim 1, it is characterised in that: described to move horizontally regulating device
It (3) include servo motor (5), driving gear (6), driven gear (7), double thread bar (8), support plate (9) and sliding block (10), institute
It states servo motor (5) and is fixedly connected on supporting shell (2) inside, and servo motor (5) output end passes through shaft and driving gear (6)
It is fixedly connected, the driving gear (6) engages connection with driven gear (7), and driven gear (7) is fixedly attached to double thread bar
(8) outside, double thread bar (8) both ends pass through bearing respectively and are rotatably connected on supporting shell (2) inside, the support plate (9)
If there are two, and two support plates (9) are symmetrically distributed on double thread bar (8), and support plate (9) bottom end is equipped with threaded hole,
And support plate (9) rotation is socketed on the outside of double thread bar (8), is symmetrically arranged with two mobile mouths (11), institute on the supporting shell (2)
It states support plate (9) top to be fixedly connected across mobile mouth (11) with sliding block (10), the sliding block (10) is slidably connected at supporting shell
(2) on, there are two the lower limb body training device (4) sets, and two lower limb body training device (4) input terminals respectively with two cunnings
Block (10) is fixedly connected.
3. a kind of recovery exercising robot according to claim 2, it is characterised in that: the thigh support actuator (13)
Including limit shell (15), shell (16), positioning plate (17), electric pushrod (18), fixed plate (19) and telescopic adjustment part (20) are positioned,
The limit shell (15) is fixedly connected with movable block (12), and the one end for positioning shell (16) passes through pin shaft and limit shell (15) rotation
Connection, there are two the positioning plate (17) sets, and two positioning plates (17) are symmetrically fixed on movable block (12) bottom end, the positioning
Plate (17) is connect with sliding ratio on the outside of supporting shell (2), and the electric pushrod (18) is rotated by pin shaft and two positioning plates (17)
Connection, and electric pushrod (18) output end is rotatablely connected by pin shaft and two fixed plates (19), described two fixed plates (19)
It is fixedly connected in positioning shell (16) bottom end, the telescopic adjustment part (20) is slidably connected at positioning shell (16) inside, described fixed
It is symmetrically arranged with multiple blocked holes (21) on position shell (16), and telescopic adjustment part (20) input terminal is slidably connected with blocked hole (21),
Telescopic adjustment part (20) output end is fixedly connected with leg support actuator (14) input terminal.
4. a kind of recovery exercising robot according to claim 3, it is characterised in that: the telescopic adjustment part (20) includes
Flexible shell (22), buffer spring (23), baffle (24), clamping block (25) and connecting rod (26), flexible shell (22) sliding connect
It connects in positioning shell (16) inside, and buffer spring (23) is slidably connected at flexible shell (22) inside, the buffer spring (23)
Both ends pass through two baffles (24) respectively and are fixedly connected with two clamping blocks (25), and the baffle (24) is slidably connected at flexible shell
(22) internal, the clamping block (25) runs through flexible shell (22) and blocked hole (21), and clamping block far from the one end of baffle (24)
(25) it is slidably connected respectively with flexible shell (22) and blocked hole (21), one end and flexible shell (22) of the connecting rod (26) are fixed
Connection, and the other end of connecting rod (26) is fixedly connected with leg support actuator (14) input terminal, the connecting rod (26) is sliding
It is dynamic to be connected to flexible shell (22) inside.
5. a kind of recovery exercising robot according to claim 4, it is characterised in that: the leg support actuator (14)
Including rotation seat (27), micromotor (28), bottom plate (29), worm screw (30), turbine (31), support shaft (32), connection shell (33),
Shackle member (34), flexible shank bar (35) and foot's plate (36), the fixed company in one end of the rotation seat (27) and connecting rod (26)
It connects, the micromotor (28) is fixedly connected on the side that two rotation seats (27) are located remotely from each other by bottom plate (29), and miniature
Motor (28) output end is fixedly connected with worm screw (30), and the worm screw (30) is fixedly connected on rotation by two limit plates (41)
On the outside of seat (27), and worm screw (30) engages connection with turbine (31), and the turbine (31) is fixedly attached on the outside of support shaft (32),
And support shaft (32) runs through rotation seat (27) far from the one end of turbine (31), the support shaft (32) passes through bearing and rotation seat
(27) it is rotatablely connected, one end of connection shell (33) is slidably connected with rotation seat (27), and connects shell (33) and be fixedly attached to
On the outside of support shaft (32), the connection shell (33) is equipped with multiple location holes (37), and shackle member (34) output end and location hole
(37) it is slidably connected, one end of the flexible shank bar (35) is fixedly connected with shackle member (34) input terminal, and flexible shank bar
(35) the other end is rotatablely connected by pin shaft and foot's plate (36).
6. a kind of recovery exercising robot according to claim 5, it is characterised in that: the shackle member (34) includes clamping
Shell (38), T-bar (39), crushing block (40), limit plate (41), limited block (42) and locating piece (43), the clamping shell
(38) it is internal to be slidably connected at connection shell (33), one end of the T-bar (39) is each passed through at the top of clamping shell (38) and limit
Plate (41) is fixedly connected with crushing block (40), and two limited blocks (42), and two limits are symmetrically arranged on the outside of the T-bar (39)
Position block (42) is slidably connected on limit plate (41), is symmetrically arranged with two limit holes, the T-bar on the limit plate (41)
(39) it is slidably connected respectively with clamping shell (38) and limit plate (41), there are two the locating piece (43) sets, and two locating pieces
(43) it being symmetrically distributed on the outside of crushing block (40), locating piece (43) input terminal is slidably connected at clamping shell (38) inside, and
Locating piece (43) output end passes through clamping shell (38) and is slidably connected with location hole (37).
7. a kind of recovery exercising robot according to claim 6, it is characterised in that: the locating piece (43) includes strut
(44), locating rod (45), extruding spring (46) and wedge type block (47), one end and wedge type block (47) of the strut (44) are fixed to be connected
It connects, and the other end of strut (44) passes through clamping shell (38) and is fixedly connected with locating rod (45), the locating rod (45) is far from branch
One end of bar (44) is slidably connected with location hole (37), and the strut (44) is slidably connected with clamping shell (38), the extruding bullet
On the outside of strut (44), described one end for squeezing spring (46) is fixedly connected spring (46) slidable adjustment with wedge type block (47), and is squeezed
The other end of pressing spring (46) is fixedly connected with clamping shell (38) inner wall.
8. a kind of recovery exercising robot according to claim 7, it is characterised in that: the strut (44) is L shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910196220.9A CN109718060B (en) | 2019-03-15 | 2019-03-15 | Rehabilitation training robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111904786A (en) * | 2020-07-27 | 2020-11-10 | 韩鹏鹏 | Auxiliary power-assisted support rehabilitation device for bone joints |
| WO2021172745A1 (en) * | 2020-02-25 | 2021-09-02 | 에이치로보틱스 주식회사 | Rehabilitation exercise system for upper and lower limbs |
| CN113397917A (en) * | 2021-07-21 | 2021-09-17 | 刘小红 | Rehabilitation physiotherapy equipment for clinical operation of general surgery department |
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| KR101764587B1 (en) * | 2016-02-05 | 2017-08-10 | (주)케어테크 | Apparatus for recovering exercise of joint-rehabilitation exercise having duel sense |
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| CN113397917A (en) * | 2021-07-21 | 2021-09-17 | 刘小红 | Rehabilitation physiotherapy equipment for clinical operation of general surgery department |
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| CN109718060B (en) | 2024-08-16 |
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