CN110192964A - A kind of pedal gait rehabilitation robot foot movement device - Google Patents
A kind of pedal gait rehabilitation robot foot movement device Download PDFInfo
- Publication number
- CN110192964A CN110192964A CN201910585189.8A CN201910585189A CN110192964A CN 110192964 A CN110192964 A CN 110192964A CN 201910585189 A CN201910585189 A CN 201910585189A CN 110192964 A CN110192964 A CN 110192964A
- Authority
- CN
- China
- Prior art keywords
- pedal
- free bearing
- connecting rod
- servo motor
- slide plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000033001 locomotion Effects 0.000 title claims abstract description 54
- 230000005021 gait Effects 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 19
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 15
- 230000001360 synchronised effect Effects 0.000 claims description 31
- 238000012549 training Methods 0.000 abstract description 14
- 210000003141 lower extremity Anatomy 0.000 abstract description 5
- 208000020442 loss of weight Diseases 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 3
- 230000007812 deficiency Effects 0.000 abstract description 2
- 210000002683 foot Anatomy 0.000 description 26
- 230000008859 change Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 3
- 230000036541 health Effects 0.000 description 3
- 206010017577 Gait disturbance Diseases 0.000 description 2
- 208000012902 Nervous system disease Diseases 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- ZMNSRFNUONFLSP-UHFFFAOYSA-N mephenoxalone Chemical compound COC1=CC=CC=C1OCC1OC(=O)NC1 ZMNSRFNUONFLSP-UHFFFAOYSA-N 0.000 description 2
- 229960001030 mephenoxalone Drugs 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010061225 Limb injury Diseases 0.000 description 1
- 208000028389 Nerve injury Diseases 0.000 description 1
- 208000027089 Parkinsonian disease Diseases 0.000 description 1
- 206010034010 Parkinsonism Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000002490 cerebral effect Effects 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008764 nerve damage Effects 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 208000020431 spinal cord injury Diseases 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
For deficiency existing for existing foot driving gait rehabilitation robot, the present invention provides a kind of pedal gait rehabilitation robot foot movement device, including pedestal, cross slide way, two groups of symmetrical pedal travel mechanisms, step width adjust connecting rod and step width adjusts screw rod.The present invention uses parallel drive mode, the simple load capacity of structure is strong, it can work in the state of zero loss of weight, exquisite, the multiple degrees of freedom with existing pedal lower limb rehabilitation robot structure compared, can mutually coordinated work simultaneously, any adjusting of step width, dorsiflex-plantar flexion movement angle and foot upper-lower height can be carried out according to the patient's condition, using the present invention, the movement of servo motor can be controlled according to the situation of patient, thus any gait motion track needed for generating rehabilitation；It is adapted to different rehabilitation processes, the patient of different loss of weight schemes carries out rehabilitation training.Wide application of the crowd leads over the pedal robot of existing fixation locus.
Description
Technical field
The invention belongs to technical field of medical rehabilitation machinery, and in particular to a kind of pedal gait rehabilitation robot foot fortune
Dynamic device.
Background technique
With the quickening of China human mortality aging process, the nervous system diseases such as cerebral apoplexy, spinal cord injury, parkinsonism
Number of patients constantly increases.In addition, universal due to automobile, the increasing of traffic accident, motional injury cumulative and other
The number of nerve damage caused by some factors such as cause injury, disable or limb injury constantly rises, and therefore, China is due to various originals
The sufferer quantity of abnormal gait is very surprising because caused by, and there is an urgent need to obtain the effective treatment by patient.Except operation or drug are controlled
It treats, it is also necessary to which reasonable rehabilitation training helps the patient to restore walking movement function.Traditional artificial walking rehabilitation training exists
Problems, such as: therapist's large labor intensity；The experience and level of trained effect excessively Dependence Treatment teacher；It is difficult to ensure trouble
Person obtains enough training strength and cycle of training etc..Gait rehabilitation robot overcomes the shortcomings that traditional artificial rehabilitation training, is
The effective means of gait rehabilitation training is carried out for abnormal gait patient caused by motor nervous system disease.Gait rehabilitation machine
People mainly has two kinds of mechanism forms of leg drive-type and foot drive-type.Leg drive-type gait rehabilitation robot generallys use outer
Bone form is limited in that the freedom degree of mechanical joint is fewer than actual human body joint, cannot accurately reappear in normal gait
Joint motions.Foot drive-type gait rehabilitation training robot is to drive the biped of patient to move by moving steps,
And then the large and small leg of related patient generates movement.But it in existing foot drive-type lower limb rehabilitation robot, generallys use
Fixed mechanism realizes the elliptical motion profile of class, cannot according to the somagenic need flexibly adjustment foot movement track of patient,
Therefore flexibility is inadequate, it is difficult to reach ideal rehabilitation efficacy.
Through the retrieval discovery to existing patent document, China Patent No. 201110103102.2 discloses a kind of " gait health
Multiple image training robot ", which constitutes leaf chain cycle operation mechanism by minor sprocket, big sprocket wheel and double leaf chain, comes
It is fitted the closed curve track of human body lower limbs walking.China Patent No. 201511033068.0, which discloses, " step device and to be had
The gait rehabilitation training robot of the device " drives the other end of push-pull rod reciprocal on chute board by the rotation of motor wheel
Sliding, realizes the sliding and elevating movement of pedal.201210277695 .9 of China Patent No. discloses " a kind of by bondage foot
With the moving device for carrying out gait training of shank band " a kind of top has been synthetically produced by crank and rocker mechanism and link mechanism it is
Circular arc a part, lower part is the track of near linear.These generated foot track mistakes of vola drive-type gait rehabilitation robot
In simple, have a long way to go with normal human's gait, and cannot be adjusted according to the state of an illness and rehabilitation process of trainer.
Summary of the invention
For deficiency existing for existing foot driving gait rehabilitation robot, the invention proposes a kind of pedal gait health
Multiple robot foot movement device, the present invention can control the movement of servo motor according to the situation of patient, to generate rehabilitation institute
Any gait motion track needed.Meanwhile foot movement device provided by the invention uses parallel drive mode, structure is simply negative
Loading capability is strong, can work in the state of zero loss of weight, adapts to different rehabilitation processes, the patient of different loss of weight schemes carries out health
Refreshment is practiced.In addition, the present invention is also able to achieve the training mode of patient's active using servo-drive.
In order to solve the above-mentioned technical problem, the technical scheme adopted by the invention is as follows: a kind of pedal gait rehabilitation machine
People's foot movement device including pedestal and is symmetricly set on two groups of pedal gears of base top arranged on left and right sides, pedestal and two groups
Pedal gear is slidably connected by the way that a plurality of cross slide way of base top is arranged in, vertical between cross slide way and pedal gear to set
It sets, the front end of two groups of pedal gears is connected by step width adjusting screw, and step width is additionally provided between two groups of pedal gears and adjusts company
Bar, the both ends that step width adjusts connecting rod are hinged with the bottom end of two groups of pedal gears respectively, and the middle position that step width adjusts connecting rod is logical
The top for crossing pin shaft and pedestal is hinged, adjusts screw rod Shi Liangzu pedal travel mechanism by rotation step width and does towards or away from fortune
It is dynamic, so that the distance between two groups of pedal gears be adjusted.
Further, the pedal gear include big slide, first longitudinal direction guide rail, slide plate, synchronous pulley, synchronous belt,
First free bearing, the second free bearing, third free bearing, first connecting rod, second connecting rod, third connecting rod, pedal, the second servo motor lead screw,
Third servo motor lead screw, first servo motor, the second servo motor, third servo motor, the first servo deceleration device, second are watched
Retarder and third servo deceleration device are taken, the front and rear ends of big slide are mounted on the synchronous pulley, two synchronous belts
The outside of wheel passes through the first servo deceleration device and one of synchronous belt together about the synchronous belt, first servo motor is equipped with
Wheel is connected, and the top of big slide is arranged in first longitudinal direction guide rail, and slide plate slides are arranged on first longitudinal direction guide rail, the bottom of slide plate
It is fixedly connected with the upper edge of synchronous belt, slide plate can slide under the drive of synchronous belt along first longitudinal direction guide rail；
First free bearing, the second free bearing, third free bearing, the second servo motor lead screw and the third servo motor lead screw is all provided with
It sets at the top of slide plate, wherein the second servo motor, third servo motor and the second free bearing are installed in the top of slide plate,
And second servo motor and third servo motor be symmetricly set on the two sides of the second free bearing, the first free bearing and third free bearing are pacified respectively
On the second servo motor lead screw and third servo motor lead screw；First free bearing, the second free bearing and third free bearing are respectively with
One connecting rod, second connecting rod, one end of third connecting rod are hinged, first connecting rod, second connecting rod, third connecting rod three the other end with
The bottom end of pedal is hinged, and both first connecting rod and second connecting rod and the hinge joint of pedal are coaxial.
Further, free bearing guide rail is provided at the top of the slide plate, the first free bearing and third free bearing are slidably arranged in
On free bearing guide rail.
Compared with prior art, the beneficial effects of the present invention are: 1. meet different crowd for personalized rehabilitation training
Demand, rehabilitation physical therapy teacher can preset relatively accurate motion profile, greatly improve the curative effect of Rehabilitation；2. the design
Certain moduli can be carried out according to the freedom of motion in six joints of human body lower limbs intend rehabilitation training；3. servo motor is used,
It can be to the speed and the relatively accurate control of output torque progress in rehabilitation course；4. by exquisite design, with simple
Mechanism realizes complicated movement, reduces system manufacture difficulty；5. the design largely uses standard component to examine convenient for manufacture and later period
Maintenance is repaired, while product stability is higher；6. small product size relative compact will not occupy big quantity space.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of pedal gait rehabilitation robot foot movement device；
Fig. 2 is the side view of Fig. 1；
Fig. 3 is structural schematic diagram of the Fig. 1 under another angle；
Marked in the figure: 1, slide plate；2, the second free bearing；3, the first free bearing；4, pedestal；5, first servo motor；6, big slide；7,
Step width adjusts screw rod；8, synchronous belt；9, the first servo deceleration device；10, synchronous pulley；11, the second servo motor；12, it second watches
Take retarder；13, the second servo motor lead screw；14, first connecting rod；15, second connecting rod；16, pedal；17, third connecting rod；18,
Third free bearing；19, third servo motor lead screw；20, third servo deceleration；21, third servo motor；22, free bearing guide rail；23,
First longitudinal direction guide rail；24, cross slide way；25, step width adjusts connecting rod.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached in the present invention
Figure, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is the present invention
A part of the embodiment, instead of all the embodiments, based on the embodiments of the present invention, those skilled in the art are not making
Every other embodiment obtained, shall fall within the protection scope of the present invention under the premise of creative work.
A kind of pedal gait rehabilitation robot foot movement device, as shown in Figure 1 to Figure 3, pedal proposed by the present invention
Formula gait rehabilitation robot foot movement mechanism include pedestal 4,24, two groups of symmetrical pedal travel mechanisms of cross slide way,
Step width adjusts connecting rod 25 and step width adjusts screw rod 7, wherein right foot pedal plate movement mechanism and left foot pedal travel mechanism structure phase
Together, symmetrically.
As shown in Figure 1, pedal travel mechanism includes big slide 6, first longitudinal direction guide rail by taking right foot pedal plate movement mechanism as an example
23, free bearing guide rail 22, slide plate 1, synchronous pulley 10, synchronous belt 8, the first free bearing 3, the second free bearing 2, third free bearing 18, first connect
Bar 14, second connecting rod 15, third connecting rod 17, pedal 16, the second servo motor lead screw 13, third servo motor lead screw 19, first
Servo motor 5, the second servo motor 11, third servo motor 21, the first servo deceleration device 9, the second servo deceleration device 12 and
Third servo deceleration device 20, big slide 6 are arranged on the cross slide way 24 of pedestal 4, can be along guide rail transverse movement.In big slide 6
Rear and front end synchronous pulley 10 is installed, synchronous belt 8 is housed, first servo motor 5 passes through the first servo on synchronous pulley 10
Retarder 9 passes motion to the synchronous pulley 10 of front end, and synchronous belt 8 is driven to rotate.First longitudinal direction guide rail 23 is fixed on big cunning
On seat 6, slide plate 1 is installed thereon, slide plate 1 is fixedly connected with the upper edge of synchronous belt 8, and slide plate 1 can be in the drive lower edge of synchronous belt 8
Longitudinal rail sliding.
As shown in Fig. 2, being equipped with the second motor cabinet, third motor cabinet, the first free bearing 3, the second free bearing 2, at the top of slide plate 1
Three free bearings 18 and free bearing guide rail 22, wherein the first free bearing 3 and third free bearing 18 are arranged on the free bearing guide rail 22 of slide plate, the second hinge
Seat 2 is fixed on slide plate 1.First free bearing 3, the second free bearing 2 and third free bearing 18 respectively with first connecting rod 14, second connecting rod 15,
One end of third connecting rod 17 is hinged, and first connecting rod 14, second connecting rod 15, the other end of third connecting rod 17 and pedal 16 are hinged,
Middle first connecting rod 14, second connecting rod 15 and the hinge joint of pedal 16 are coaxial.
As shown in Fig. 2, first connecting rod 14 and second connecting rod 15 by coaxial hinge joint and the first free bearing 3, the second free bearing 2 with
And the upper surface of slide plate 1 constitutes the structure of isosceles triangle.Second connecting rod 15, third connecting rod 17 and pedal 16 are hinged by two
Point and 2 third free bearing 18 of the second free bearing constitute first quadrilateral structure.It first connecting rod 14, third connecting rod 17,1 face of slide plate and steps on
Plate 16 constitutes second quadrilateral structure.Wherein when pedal tread is parallel with slide plate face, first quadrilateral structure is parallel four
Side shape, second quadrilateral structure are isosceles trapezoid.
As shown in Fig. 2, being separately installed with the second servo motor 11 and third servo on the second motor cabinet and third motor cabinet
Motor 21, the second servo motor lead screw 13 and third servo motor lead screw 19 are separately mounted to the second servo motor 11 and third is watched
It takes on the retarder transmission shaft of motor 21.The inner hole thread of first free bearing and third free bearing respectively with the second servo motor lead screw 13
Cooperate with third servo motor lead screw 19.Second servo motor 11 and third servo motor 21 will by respective servo deceleration device
Movement passes to the servo motor lead screw of oneself front end, and the rotation of lead screw drives the first free bearing 3 and third free bearing 18 along hinge respectively
It is moved on seat guide rail 22, so that an end motion of first connecting rod 14 and third connecting rod 17 is driven respectively, it is real by the combination of mechanism
The upper and lower and dorsiflex of existing pedal-plantar flexion movement.
As shown in figure 3, big slide 6 is under the constraint that step width adjusts connecting rod 25, screw rod 7 is adjusted by rotation step width, two groups
Pedal travel mechanism can be synchronized close to or far to adjust the distance between pedal to adapt to the step of different building shape trainer
Width, herein, the left and right ends screw thread that step width adjusts screw rod 7 are symmetrical, and are respectively provided with identical silk in Liang Zu pedal travel mechanism
Thick stick nut is done towards or away from movement to realize that Liang Zu pedal travel mechanism synchronizes, thus between two groups of pedal gears
Distance is adjusted.
Foot movement achieved by pedal lower limb rehabilitation robot foot movement device provided by the invention can divide
Solution is the movement in three directions: movement, the movement of up and down direction and dorsiflex-plantar flexion movement in the front-back direction, wherein front-rear direction
Movement be self-movement, the movement of up and down direction is moved with dorsiflex-plantar flexion and is coupled.Illustrate the reality of these three movements separately below
Existing mode:
Movement before and after 1 foot:
First servo motor 5 passes motion to the synchronous pulley 10 of front end by the first servo deceleration device 9, drives synchronous 8 bands
Rotation, slide plate 1 can slide under the drive of synchronous belt 8 along first longitudinal direction guide rail 23, so that foot realization be driven to move forward and backward.
The up and down motion of 2 foots:
Second servo motor 11 imparts power to the second servo motor lead screw 13 of front end by the second servo deceleration device 12, into
And drive free bearing guide rail 22 of first free bearing 3 on slide plate 1 to move, thus change between the first free bearing 3 and the second free bearing 2 away from
From the height of change pedal, realizes the movement of foot up and down direction under the action of first connecting rod 14 and second connecting rod 15.It needs
Illustrate, foot moves up and down to be coupled with dorsiflex-plantar flexion movement, that is, the movement of up and down direction can bring pedal angle
Change, it is therefore desirable to which control system carries out coordinated control.
Impart power to the third servo motor of front end with third servo deceleration device 20 respectively with third servo motor 21
Lead screw, and then the free bearing guide rail 22 of the first free bearing 3 and third free bearing 18 on slide plate 1 is driven to move, when the first free bearing 3 and third
When 18 direction of motion of free bearing is opposite, first connecting rod 14 and 17 lower end reverse motions of third connecting rod are driven, change 14 He of first connecting rod
The angle of third connecting rod 17 and slide plate face realizes the up and down motion of foot to change the height of pedal；
The movement of 3 dorsiflexs-plantar flexion
When the first free bearing 3 is static, third servo motor 21 imparts power to lead screw 19 by third servo deceleration device 20, into
And drive free bearing guide rail 22 of the third free bearing 18 on slide plate 1 to move, and swing by 17 driving pedal 16 of third connecting rod, it realizes
The dorsiflex of foot-plantar flexion movement.
The present invention is not limited to the above specific embodiments, those skilled in the art under the inspiration of the present invention, not
In the case where being detached from present inventive concept, the deformation and modification made are not affected the essence of the present invention, in the present invention
Within the protection scope of patent.
Claims (3)
1. a kind of pedal gait rehabilitation robot foot movement device, it is characterised in that: including pedestal (4) and be symmetricly set on
Two groups of pedal gears of arranged on left and right sides at the top of pedestal (4), pedestal (4) is with two groups of pedal gears by setting at pedestal (4) top
A plurality of cross slide way (24) be slidably connected, be vertically arranged between cross slide way (24) and pedal gear, before two groups of pedal gears
End is connected by step width adjusting screw (7), and step width is additionally provided between two groups of pedal gears and adjusts connecting rod (25), and step width, which is adjusted, to be connected
The both ends of bar (25) are hinged with the bottom end of two groups of pedal gears respectively, and the middle position that step width adjusts connecting rod (25) passes through pin shaft
It is hinged with the top of pedestal (4), screw rod (7) Shi Liangzu pedal travel mechanism is adjusted by rotation step width and is done towards or away from fortune
It is dynamic, so that the distance between two groups of pedal gears be adjusted.
2. a kind of pedal gait rehabilitation robot foot movement device according to claim 1, it is characterised in that: described
Pedal gear include big slide (6), first longitudinal direction guide rail (23), slide plate (1), synchronous pulley (10), synchronous belt (8), first
Free bearing (3), the second free bearing (2), third free bearing (18), first connecting rod (14), second connecting rod (15), third connecting rod (17), pedal
(16), the second servo motor lead screw (13), third servo motor lead screw (19), first servo motor (5), the second servo motor
(11), third servo motor (21), the first servo deceleration device (9), the second servo deceleration device (12) and third servo deceleration device
(20), the front and rear ends of big slide (6) are mounted on the synchronous pulley (10), and the outside of two synchronous pulleys (10) is total
With the synchronous belt (8) is arranged with, first servo motor (5) passes through the first servo deceleration device (9) and one of synchronous belt
It takes turns (10) to be connected, first longitudinal direction guide rail (23) is arranged at the top of big slide (6), and slide plate (1) is slidably arranged in first longitudinal direction and leads
On rail (23), the bottom of slide plate (1) is fixedly connected with the upper edge of synchronous belt (8), and slide plate (1) can be under the drive of synchronous belt (8)
It is slided along first longitudinal direction guide rail (23)；
First free bearing (3), the second free bearing (2), third free bearing (18), the second servo motor lead screw (13) and the third is watched
Take the top that motor lead screw (19) is arranged at slide plate (1), wherein the second servo motor (11), third servo motor (21) with
And second free bearing (2) be installed in the top of slide plate (1), and the second servo motor (11) and third servo motor (21) are symmetrically set
The two sides in the second free bearing (2) are set, the first free bearing (3) and third free bearing (18) are separately mounted to the second servo motor lead screw (13)
On third servo motor lead screw (19)；First free bearing (3), the second free bearing (2) and third free bearing (18) respectively with first connecting rod
(14), second connecting rod (15), one end of third connecting rod (17) are hinged, first connecting rod (14), second connecting rod (15), third connecting rod
(17) other end of three is hinged with the bottom end of pedal (16), and both first connecting rod (14) and second connecting rod (15) and pedal
(16) hinge joint is coaxial.
3. a kind of pedal gait rehabilitation robot foot movement device according to claim 2, it is characterised in that: described
It is provided at the top of slide plate (1) free bearing guide rail (22), the first free bearing (3) and third free bearing (18) are slidably arranged in free bearing guide rail
(22) on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910585189.8A CN110192964B (en) | 2019-07-01 | 2019-07-01 | Foot movement device of pedal type gait rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910585189.8A CN110192964B (en) | 2019-07-01 | 2019-07-01 | Foot movement device of pedal type gait rehabilitation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110192964A true CN110192964A (en) | 2019-09-03 |
| CN110192964B CN110192964B (en) | 2021-10-01 |
Family
ID=67755566
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910585189.8A Active CN110192964B (en) | 2019-07-01 | 2019-07-01 | Foot movement device of pedal type gait rehabilitation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110192964B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110522606A (en) * | 2019-09-05 | 2019-12-03 | 河北工业大学 | A kind of pedal gait rehabilitation training device |
| CN113350124A (en) * | 2021-07-09 | 2021-09-07 | 北京航空航天大学 | Ten-degree-of-freedom partial decomposition coupling deep sensation training platform |
| CN113769354A (en) * | 2021-08-26 | 2021-12-10 | 温州理工学院 | Pace adjusting mechanism of martial arts long soldier confrontation exercise training equipment |
| CN113786590A (en) * | 2021-08-26 | 2021-12-14 | 温州理工学院 | Training equipment for martial arts long soldier confrontation movement |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5368536A (en) * | 1993-10-01 | 1994-11-29 | Stodgell; Mark E. | Ankle rehabilitation device |
| CN102225033A (en) * | 2011-04-25 | 2011-10-26 | 中国科学院合肥物质科学研究院 | Gait rehabilitation training robot |
| CN102631275A (en) * | 2011-12-14 | 2012-08-15 | 中国科学院深圳先进技术研究院 | Robot for rehabilitation training of ankle joint |
| CN105963102A (en) * | 2016-04-12 | 2016-09-28 | 南京航空航天大学 | Parallel link-type lower limb rehabilitation robot and working method thereof |
| CN106236512A (en) * | 2016-09-10 | 2016-12-21 | 天津大学 | A kind of gait rehabilitation robot realizing walking foot pose |
| CN106361543A (en) * | 2016-11-14 | 2017-02-01 | 四川理工学院 | Weight losing type gait rehabilitation training robot |
| CN206095649U (en) * | 2016-10-10 | 2017-04-12 | 上海机动车检测认证技术研究中心有限公司 | Pedal fixing device |
| CN106726358A (en) * | 2017-03-16 | 2017-05-31 | 沈阳艾克申机器人技术开发有限责任公司 | A kind of vertical lower limbs rehabilitation training robot |
| CN107789162A (en) * | 2017-12-04 | 2018-03-13 | 河南科技大学 | A kind of gait rehabilitation robot step device |
| CN108236557A (en) * | 2016-12-27 | 2018-07-03 | 上银科技股份有限公司 | Walking training |
| CN108904225A (en) * | 2018-08-27 | 2018-11-30 | 广州市章和智能科技有限责任公司 | Step device and walking rehabilitation training robot |
| CN109009942A (en) * | 2018-06-22 | 2018-12-18 | 仇申强 | A kind of Patients with Fractures of Lower Limbs recovery exercising robot |
| CN109432709A (en) * | 2015-06-28 | 2019-03-08 | 王振环 | Rehabilitation nursing device |
| KR20190036101A (en) * | 2017-09-27 | 2019-04-04 | 신광의료기산업(주) | Chair assembly for the lower limbs exercising apparatus |
| CN208770313U (en) * | 2018-03-13 | 2019-04-23 | 西安交通大学 | Human body lower limbs recovery exercising robot |
-
2019
- 2019-07-01 CN CN201910585189.8A patent/CN110192964B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5368536A (en) * | 1993-10-01 | 1994-11-29 | Stodgell; Mark E. | Ankle rehabilitation device |
| CN102225033A (en) * | 2011-04-25 | 2011-10-26 | 中国科学院合肥物质科学研究院 | Gait rehabilitation training robot |
| CN102631275A (en) * | 2011-12-14 | 2012-08-15 | 中国科学院深圳先进技术研究院 | Robot for rehabilitation training of ankle joint |
| CN109432709A (en) * | 2015-06-28 | 2019-03-08 | 王振环 | Rehabilitation nursing device |
| CN105963102A (en) * | 2016-04-12 | 2016-09-28 | 南京航空航天大学 | Parallel link-type lower limb rehabilitation robot and working method thereof |
| CN106236512A (en) * | 2016-09-10 | 2016-12-21 | 天津大学 | A kind of gait rehabilitation robot realizing walking foot pose |
| CN206095649U (en) * | 2016-10-10 | 2017-04-12 | 上海机动车检测认证技术研究中心有限公司 | Pedal fixing device |
| CN106361543A (en) * | 2016-11-14 | 2017-02-01 | 四川理工学院 | Weight losing type gait rehabilitation training robot |
| CN108236557A (en) * | 2016-12-27 | 2018-07-03 | 上银科技股份有限公司 | Walking training |
| CN106726358A (en) * | 2017-03-16 | 2017-05-31 | 沈阳艾克申机器人技术开发有限责任公司 | A kind of vertical lower limbs rehabilitation training robot |
| KR20190036101A (en) * | 2017-09-27 | 2019-04-04 | 신광의료기산업(주) | Chair assembly for the lower limbs exercising apparatus |
| CN107789162A (en) * | 2017-12-04 | 2018-03-13 | 河南科技大学 | A kind of gait rehabilitation robot step device |
| CN208770313U (en) * | 2018-03-13 | 2019-04-23 | 西安交通大学 | Human body lower limbs recovery exercising robot |
| CN109009942A (en) * | 2018-06-22 | 2018-12-18 | 仇申强 | A kind of Patients with Fractures of Lower Limbs recovery exercising robot |
| CN108904225A (en) * | 2018-08-27 | 2018-11-30 | 广州市章和智能科技有限责任公司 | Step device and walking rehabilitation training robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110522606A (en) * | 2019-09-05 | 2019-12-03 | 河北工业大学 | A kind of pedal gait rehabilitation training device |
| CN110522606B (en) * | 2019-09-05 | 2021-08-10 | 河北工业大学 | Pedal type gait rehabilitation training device |
| CN113350124A (en) * | 2021-07-09 | 2021-09-07 | 北京航空航天大学 | Ten-degree-of-freedom partial decomposition coupling deep sensation training platform |
| CN113769354A (en) * | 2021-08-26 | 2021-12-10 | 温州理工学院 | Pace adjusting mechanism of martial arts long soldier confrontation exercise training equipment |
| CN113786590A (en) * | 2021-08-26 | 2021-12-14 | 温州理工学院 | Training equipment for martial arts long soldier confrontation movement |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110192964B (en) | 2021-10-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11166866B2 (en) | Lower limb training rehabilitation apparatus | |
| CN110192964A (en) | A kind of pedal gait rehabilitation robot foot movement device | |
| CN108420612B (en) | A kind of lower limb rehabilitation device being mounted on wheelchair | |
| WO2016149891A1 (en) | Multi-pose lower-limb rehabilitation training robot | |
| CN106955217B (en) | Rehabilitation training robot | |
| CN103622796A (en) | Wearable lower limb rehabilitation training device | |
| CN105396262B (en) | Multi-angle regulation, upper and lower extremities coorinated training healing robot | |
| CN108553271A (en) | A kind of MR damper sitting and lying formula lower limb rehabilitation robot | |
| CN210205287U (en) | Four-limb exoskeleton rehabilitation robot | |
| CN108245840A (en) | A kind of planer-type leg training rehabilitation equipment | |
| WO2020220639A1 (en) | Bed-type gait rehabilitation training system | |
| CN102641195A (en) | Bed type lower limb external skeleton recovery robot | |
| CN206334072U (en) | A kind of gait walk help trainer | |
| CN108904225A (en) | Step device and walking rehabilitation training robot | |
| CN105902356A (en) | Rehabilitation equipment for lower extremity | |
| CN207837831U (en) | A kind of leg training rehabilitation equipment | |
| CN110063875A (en) | A kind of exoskeleton robot for whole body rehabilitation training | |
| CN108814899A (en) | A kind of multidigit appearance, the adjustable leg training device in track | |
| CN108969296A (en) | A kind of lower limb rehabilitation robot | |
| CN107789162B (en) | A kind of gait rehabilitation robot step device | |
| US9642765B2 (en) | Gait training apparatus for generating a natural gait pattern | |
| CN112057302B (en) | Leg rehabilitation training system | |
| CN107157704B (en) | Pelvis exercise auxiliary structure | |
| CN102697621A (en) | Rehabilitative apparatus for lower limbs | |
| CN206745587U (en) | Link spine recovering trainer of creeping |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |