CN113081667B - Twelve-degree-of-freedom gait simulation device - Google Patents
Twelve-degree-of-freedom gait simulation device Download PDFInfo
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- CN113081667B CN113081667B CN202110317438.2A CN202110317438A CN113081667B CN 113081667 B CN113081667 B CN 113081667B CN 202110317438 A CN202110317438 A CN 202110317438A CN 113081667 B CN113081667 B CN 113081667B
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- 238000004088 simulation Methods 0.000 title claims abstract description 45
- 230000005021 gait Effects 0.000 title claims abstract description 38
- 230000005540 biological transmission Effects 0.000 claims abstract description 51
- 230000033001 locomotion Effects 0.000 claims abstract description 24
- 239000003638 chemical reducing agent Substances 0.000 claims description 51
- 210000003141 lower extremity Anatomy 0.000 abstract description 19
- 230000000694 effects Effects 0.000 abstract description 5
- 239000000306 component Substances 0.000 description 31
- 238000006073 displacement reaction Methods 0.000 description 3
- 208000012661 Dyskinesia Diseases 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 206010053692 Wound complication Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 210000000653 nervous system Anatomy 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
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- 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
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
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- 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
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- 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
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- 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
- A61H2205/10—Leg
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- 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)
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- Rehabilitation Tools (AREA)
Abstract
The invention relates to the technical field of medical robots, and discloses a twelve-degree-of-freedom gait simulation device, which comprises: a foot-operated platform; the first driving assembly comprises a first power mechanism and a first transmission mechanism, and the first transmission mechanism is respectively connected with the first power mechanism and the pedal platform; the power output by the first power mechanism is converted and drives the pedal platform to rotate on the horizontal plane or revolve on the first vertical plane through the first transmission mechanism. The gait simulation device can simulate the actual gait motion of a human body, and adopts an active driving mode to drive the lower limbs of a patient to carry out rehabilitation training, thereby realizing the effect of all-round active rehabilitation training.
Description
Technical Field
The invention relates to the technical field of medical robots, in particular to a twelve-degree-of-freedom gait simulation device.
Background
With the development of robotics and the increasing demand of society for rehabilitation medical equipment, a rehabilitation training robot has appeared in recent years, and the main function of the rehabilitation training robot is to help patients with dyskinesia to complete motor function recovery training. The lower limb rehabilitation training robot mainly aims at patients with dyskinesia of the lower limbs, and according to the rehabilitation theory and the man-machine cooperation robot principle, the robot actively drives the lower limbs of the patients to perform rehabilitation training, exercises the muscles of the lower limbs, recovers the control ability of a nervous system on the walking function, and achieves the purpose of recovering the lower limb motor skills.
The existing application numbers are: 201810775308.1, with the name: the invention discloses a Chinese patent application of a rehabilitation training pedal device, which discloses a rehabilitation training pedal device, comprising a fixing mechanism, a pedal movement mechanism and a resistance adjusting mechanism, and is characterized in that: the fixing mechanism comprises at least one fixing plate; the pedal movement mechanism comprises at least one pair of pedals and a connecting piece for connecting the pedals and enabling each pair of pedals to linearly move in opposite directions up and down; the connecting piece is connected with a resistance adjusting mechanism which is used for adjusting the motion resistance of the connecting piece so as to adjust the motion resistance of each pair of pedals; the resistance adjusting mechanism comprises at least one brake pad and a resistance control device, the brake pad is contacted with the connecting piece, and the resistance control device is connected with the brake pad; the connecting piece and the resistance control device are fixed on the fixing plate. The invention solves the problem that how to reduce the influence on the wound of the patient (such as causing wound pain and possibly causing the wound of the patient to crack under serious conditions) when the patient exercises the lower limbs after operation in the prior art.
The rehabilitation training pedal device disclosed by the patent can only realize linear motion in opposite directions of one-on-one-off, and has larger difference with the actual gait of a human body, so that the rehabilitation training limitation is larger, and the rehabilitation effect is poor. In addition, the rehabilitation training pedal device disclosed in the above patent is a passive rehabilitation training device which needs to be actively driven by the rehabilitation patient and cannot actively drive the rehabilitation patient to perform exercise training.
Therefore, the invention aims to simulate the actual gait motion of the human body to realize the all-around and college rehabilitation training of the lower limbs, and how to actively drive the lower limbs of the human body to carry out the rehabilitation training to intervene in the lower limb rehabilitation training of the patient earlier.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
The invention aims to: the problem of how to simulate the actual gait motion of a human body to realize the all-round rehabilitation training of lower limbs and colleges is solved, and a twelve-degree-of-freedom gait simulation device is provided.
In order to achieve the above purpose, the invention provides the following technical scheme:
a twelve-degree-of-freedom gait simulation device, comprising:
a foot-operated platform;
the first driving assembly comprises a first power mechanism and a first transmission mechanism, and the first transmission mechanism is respectively connected with the first power mechanism and the pedal platform; the power output by the first power mechanism is converted and drives the pedal platform to rotate on the horizontal plane or revolve on the first vertical plane through the first transmission mechanism.
As an embodiment of the present invention, the first transmission mechanism includes a first bevel gear, a second bevel gear, a first rotating shaft and a second rotating shaft, the first power mechanism includes a first power component, a power output end of the first power component is connected to the first bevel gear, the first rotating shaft and the second rotating shaft are arranged in parallel in a vertical direction, one end of the first rotating shaft is fixed with the second bevel gear in a meshing transmission manner, one end of the second rotating shaft is fixed with the pedal platform, and the other end of the first rotating shaft is in transmission connection with the other end of the second rotating shaft through a transmission belt or a transmission gear;
Preferably, the first power component comprises a first motor and a first speed reducer, the first motor is connected with the input end of the first speed reducer, and the output end of the first speed reducer is connected with a first bevel gear;
further preferably, the first speed reducer is a worm gear speed reducer.
As an embodiment of the present invention, the first transmission mechanism further includes a third bevel gear, the first power mechanism further includes a second power component, a power output end of the second power component is connected to the third bevel gear, the third bevel gear and the first bevel gear are respectively located on two opposite sides of the second bevel gear and are arranged on a common central axis, and the third bevel gear and the second bevel gear are in meshing transmission;
preferably, the second power component comprises a second motor and a second speed reducer, the second motor is connected with the input end of the second speed reducer, and the output end of the second speed reducer is connected with a third bevel gear;
further preferably, the second speed reducer is a worm gear speed reducer.
As an embodiment of the invention, the attitude simulation device comprises a second driving component; the first driving assembly comprises a first mounting frame for assembling the first power mechanism and the first transmission mechanism; the driving output end of the second driving assembly is connected with the first mounting frame and drives the first mounting frame and the pedal platform to revolve on a second vertical surface perpendicular to the first vertical surface.
As an embodiment of the present invention, the second driving assembly includes a third motor and a third speed reducer, the third motor is connected to an input end of the third speed reducer, and an output end of the third speed reducer is connected to the first mounting frame;
preferably, the third reducer is a worm gear reducer.
In an embodiment of the present invention, the driving output end of the second driving unit is an output flange, the second driving unit includes a connecting frame fixed to the output flange, and the first mounting frame is fixed to the connecting frame.
As an embodiment of the present invention, the gait simulation device includes a third driving component, the second driving component further includes a second mounting frame, and a driving output end of the third driving component is connected to the second mounting frame to drive the second mounting frame and the pedal platform to move back and forth along a vertical direction.
As an embodiment of the present invention, the third driving assembly includes a third mounting frame vertically disposed, and a reciprocating linear driving component mounted on the third mounting frame, the second mounting frame is fixedly connected with a connecting arm, and a linear motion output end of the reciprocating linear driving component abuts against the connecting arm.
As an embodiment of the present invention, the gait simulation device includes a fourth driving component, the fourth driving component includes a fourth motor and a first belt transmission mechanism, the fourth motor drives a belt of the first belt transmission mechanism to linearly transmit along a first direction of a horizontal plane;
the third mounting frame comprises a vertically arranged guide rod, the second mounting frame can reciprocate linearly along the guide rod in the vertical direction, one end of the guide rod penetrates through the second mounting frame and is connected with the first belt conveying mechanism, and the first belt conveying mechanism drives the second mounting frame and the pedal platform to linearly reciprocate in the first direction of the horizontal plane through the guide rod;
preferably, the fourth driving assembly further includes first sliding guide rails located at two sides of the first belt conveyor and a sliding frame fixedly connected to the conveyor belt of the first belt conveyor, the sliding frame is slidably mounted on the first sliding guide rails at two sides, and the guide rod is fixed on the sliding frame.
As an embodiment of the present invention, the gait simulation device includes a fifth driving assembly, the fifth driving assembly includes a fifth motor and a second belt transmission mechanism, the fifth motor drives a belt of the second belt transmission mechanism to linearly transmit along a second direction of the horizontal plane, the second direction is perpendicular to the first direction;
The fourth driving component comprises a first mounting platform, the first mounting platform is connected with the second belt conveying mechanism, and the second belt conveying mechanism drives the pedal platform to linearly reciprocate along a second direction of the horizontal plane through the first mounting platform;
preferably, the fifth driving assembly further includes second sliding rails located at two sides of the second belt conveying mechanism, the first mounting platform is fixedly connected with the conveying belt of the second belt conveying mechanism and slidably mounted on the second sliding rails at two sides
Compared with the prior art, the invention has the beneficial effects that:
the first driving component of the gait simulation device can drive the pedal platform to actively move and drive the lower limbs of the human body to actively perform rehabilitation training; the power output by the first power mechanism of the first driving assembly drives the pedal platform to rotate on the horizontal plane or revolve on the first vertical plane through the conversion of the first transmission mechanism, and the horizontal-plane in-situ rotation rehabilitation training and the winding rotation rehabilitation training on the vertical plane can be performed on the lower limbs of the patient.
The gait simulation device can simulate the actual gait motion of a human body, and adopts an active driving mode to drive the lower limbs of a patient to carry out rehabilitation training, thereby realizing the effect of all-round active rehabilitation training.
Description of the drawings:
FIG. 1 is a schematic view of the operating state of a twelve-degree-of-freedom gait simulation device of the invention;
FIG. 2 is a schematic assembly view (front view) of a single-foot simulation module of the twelve-degree-of-freedom gait simulation device of the invention;
FIG. 3 is a schematic assembly view (left view) of a single foot simulation module of the twelve degree of freedom gait simulation apparatus of the invention;
FIG. 4 is a partial exploded view of a single foot simulation module of the twelve degree-of-freedom gait simulation apparatus of the invention;
figure 5 is a schematic assembly view (right view) of a single foot simulation module of the twelve degree of freedom gait simulation apparatus of the invention.
Reference numbers in the drawings illustrate: 100-human body 200-handrail 300-single-foot simulation module 301-pedal platform 302-first rotating shaft 303-first speed reducer 304-first motor 305-connecting frame body 306-third motor 307-connecting support arm 308-upper top plate 309-third mounting frame 310-guide rod 311-second mounting frame 312-first belt transmission mechanism 313-fourth motor 314-first mounting platform 315-second sliding guide rail 316-sliding frame 317-second belt transmission mechanism 318-first mounting frame 319-mounting shell 320-second motor 321-second speed reducer 322-third bevel gear 323-first bevel gear 324-second bevel gear 325-fifth motor 326-reciprocating linear driving component 327-second rotating shaft 328-third speed reducer 329-separating frame body 330-first sliding frame body And a movable guide rail.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present invention, and not all of them.
Thus, the following detailed description of the embodiments of the invention is not intended to limit the scope of the invention as claimed, but is merely representative of some embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments of the present invention and the features and technical solutions thereof may be combined with each other without conflict.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "upper", "lower", and the like refer to orientations or positional relationships based on those shown in the drawings, or orientations or positional relationships that are conventionally arranged when the products of the present invention are used, or orientations or positional relationships that are conventionally understood by those skilled in the art, and such terms are used for convenience of description and simplification of the description, and do not refer to or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, the gait simulation apparatus with twelve degrees of freedom provided in this embodiment includes:
a substrate 400;
the armrests 200, which are two and symmetrically arranged on the base plate 400, are used for supporting the arms when the human body 100 trains;
single foot simulation module 300, including two, the symmetry sets up on base plate 400, and arrange in handrail 200's the outside drives human left and right foot respectively and carries out gait motion, realizes initiative, all-round low limbs rehabilitation training.
The core component of the gait simulation device of the embodiment, namely the single-foot simulation module 300, can simulate the actual gait movement of a human body, and the lower limbs of a patient are driven to perform rehabilitation training in an active driving mode. Therefore, the single-foot simulation module 300 of the present embodiment should be able to simulate the actual gait movement, specifically, the following scheme is adopted:
as shown in fig. 2 to 5, the single-pin simulation module 300 of the present embodiment includes:
a foot platform 301 for carrying a sole of a patient;
the first driving assembly comprises a first power mechanism and a first transmission mechanism, and the first transmission mechanism is respectively connected with the first power mechanism and the pedal platform 301; the power output by the first power mechanism is converted and drives the pedal platform 301 to rotate on the horizontal plane or revolve on the first vertical plane through the first transmission mechanism.
The first driving assembly of this embodiment can drive the pedal platform 301 to actively move, and drive the lower limbs of the human body to actively perform rehabilitation training; the power output by the first power mechanism of the first driving assembly drives the pedal platform 301 to rotate on the horizontal plane or revolve on the first vertical plane through the first transmission mechanism in a conversion manner, so that the horizontal in-situ rotation rehabilitation training and the winding rotation rehabilitation training on the vertical plane can be performed on the lower limbs of the patient.
Referring to fig. 3 and 4, as an implementation manner of the present embodiment, the first transmission mechanism described in the present embodiment includes a first bevel gear 323, a second bevel gear 324, a first rotating shaft 302 and a second rotating shaft 327, the first power mechanism includes a first power component, a power output end of the first power component is connected to the first bevel gear 323, the first rotating shaft 302 and the second rotating shaft 327 are arranged in parallel in a vertical direction, one end of the first rotating shaft 302 is fixed to the second bevel gear 324 in meshing transmission with the first bevel gear 323, one end of the second rotating shaft 327 is fixed to the pedal platform 301, and the other end of the first rotating shaft 302 is in transmission connection with the other end of the second rotating shaft through a transmission belt or a transmission gear.
Preferably, the first power component comprises a first motor 304 and a first speed reducer 303, the first motor 304 is connected with the input end of the first speed reducer 303, and the output end of the first speed reducer 303 is connected with a first bevel gear 323.
Further preferably, the first speed reducer 303 is a worm gear speed reducer, specifically, an RV worm gear speed reducer.
The first transmission mechanism further includes a third bevel gear 322, the first power mechanism further includes a second power component, a power output end of the second power component is connected to the third bevel gear 322, the third bevel gear 322 and the first bevel gear 323 are respectively located on two opposite sides of the second bevel gear 324 and are arranged on the same central axis, and the third bevel gear 322 and the second bevel gear 324 are in meshing transmission.
Preferably, the second power component includes a second motor 320 and a second reducer 321, the second motor 320 is connected to the input end of the second reducer 321, and the output end of the second reducer 321 is connected to the third bevel gear 322.
Further preferably, the second speed reducer is a worm gear speed reducer, specifically an RV worm gear speed reducer.
In the embodiment, the first motor 304 drives the first bevel gear 323 to rotate, the second motor 320 drives the third bevel gear 322 to rotate, and the first bevel gear 323 and the third bevel gear 322 can rotate in the same direction and in the opposite direction by controlling the first motor 304 and the second motor 320. When the first bevel gear 323 and the third bevel gear 322 rotate in the same direction, the second bevel gear 324 can rotate around the peripheries of the first bevel gear 323 and the third bevel gear 322, and the second bevel gear 324 drives the pedal platform 301 to revolve on the first vertical surface through the first rotating shaft 302; when the first bevel gear 323 and the third bevel gear 322 rotate in opposite directions, the second bevel gear 324 rotates under the driving of the first bevel gear 323 and the third bevel gear 322, and the second bevel gear 324 drives the pedal platform 301 to rotate on a horizontal plane through the first rotating shaft 302.
The foot platform 301 of this embodiment is mounted on the mounting housing 319, and the driving ends of the first rotating shaft 302 and the second rotating shaft 327 are located in the mounting housing 319.
As shown in fig. 2 and 4, the single-pin simulation module 300 of the present embodiment includes a second driving element; the first driving assembly comprises a first mounting frame 318 for mounting the first power mechanism and the first transmission mechanism; the driving output end of the second driving assembly is connected to the first mounting frame 318, and drives the first mounting frame 318 and the pedal platform 301 to revolve on a second vertical plane perpendicular to the first vertical plane.
The single-foot simulation module 300 of this embodiment realizes the rotation of the pedal platform 301 in the XOY plane and the revolution in the YOZ plane through the first driving component; the revolution of the foot platform 301 in the XOZ plane is achieved by the second drive assembly.
Further, the second driving assembly according to the embodiment includes a third motor 306 and a third speed reducer 328, the third motor 306 is connected to an input end of the third speed reducer 328, and an output end of the third speed reducer 328 is connected to the first mounting frame 318.
Preferably, the third reducer 328 is a worm reducer, in particular, an RV worm reducer.
Specifically, in this embodiment, the driving output end of the second driving assembly is an output flange, the second driving assembly includes a connecting frame body 305 fixed on the output flange, and the first mounting frame 318 is fixed on the connecting frame body 305.
Further, the single-foot simulation module 300 of this embodiment includes a third driving component, the second driving component further includes a second mounting frame 311, and a driving output end of the third driving component is connected to the second mounting frame 311 to drive the second mounting frame 311 and the pedal platform 301 to perform reciprocating linear motion along the vertical direction (i.e., reciprocating linear motion along the Z axis). The gait simulation device of this embodiment can also realize the reciprocating linear motion of the pedal platform 301 along the Z axis, and can simulate the motion in the height direction of the actual gait.
The third driving assembly of this embodiment includes a third mounting frame 309 and a reciprocating linear driving component 326 mounted on the third mounting frame 309, the second mounting frame 311 is fixedly connected to the supporting arm 307, and a linear motion output end of the reciprocating linear driving component 326 abuts against the connecting supporting arm 307.
The upper end of the connecting arm 307 of this embodiment is connected to the upper top plate 308, and the linear motion output end of the complex linear driving part 326 is abutted against the lower surface of the upper top plate 308. The reciprocating linear driving member 326 of the present embodiment may be a screw type, and may be driven by a hydraulic or pneumatic cylinder.
The single-foot simulation module 300 of this embodiment includes a fourth driving component, the fourth driving component includes a fourth motor 313 and a first belt transmission mechanism 312, the fourth motor 313 drives the belt of the first belt transmission mechanism 312 to perform linear transmission along a first direction of the horizontal plane (i.e. linear reciprocating motion along the Y-axis direction).
Specifically, the third mounting frame 309 of this embodiment includes a guiding rod 310 vertically disposed, the second mounting frame 311 can reciprocate linearly along the guiding rod 310 in a vertical direction, one end of the guiding rod 310 penetrates through the second mounting frame 311 and is connected to the first belt transmission mechanism 312, and the first belt transmission mechanism 312 drives the second mounting frame 311 and the pedal platform 301 to reciprocate linearly along the first direction of the horizontal plane through the guiding rod 310.
Preferably, the fourth driving assembly further includes first sliding rails 330 disposed at both sides of the first belt conveyor 312, and a sliding frame 316 fixedly connected to the conveyor belt of the first belt conveyor 312, wherein the sliding frame 316 is slidably mounted on the first sliding rails 330 disposed at both sides, and the guide rod 310 is fixed on the sliding frame 316.
The single-foot simulation module 300 of this embodiment includes a fifth driving assembly, the fifth driving assembly includes a fifth motor 325 and a second belt conveying mechanism 317, the fifth motor 325 drives a belt of the second belt conveying mechanism 317 to linearly transmit along a second direction of the horizontal plane, and the second direction is perpendicular to the first direction.
The fourth driving assembly of this embodiment includes a first mounting platform 314, the first mounting platform 314 is connected to the second belt transmission mechanism 317, and the second belt transmission mechanism 317 drives the pedal platform 301 to linearly reciprocate along the second direction of the horizontal plane (i.e., linearly reciprocate along the X-axis direction) through the first mounting platform 314.
Preferably, the fifth driving assembly further includes second sliding rails 315 disposed at two sides of the second belt conveying mechanism 317, and the first mounting platform 314 is fixedly connected to the belt of the second belt conveying mechanism 317 and slidably mounted on the second sliding rails 315 at two sides.
In summary, the active motion of twelve degrees of freedom can be realized by the single-foot simulation module 300 of this embodiment, and program setting can be performed in combination with actual training requirements, so that targeted design is realized, and the rehabilitation training effect is better. In addition, the single-foot simulation module 300 of the present embodiment can simulate actual gait movement, can perform all-around and active rehabilitation training on the lower limbs, and has a significant training effect.
In addition, in order to satisfy the lower limb rehabilitation training of various heights, the single-foot simulation module 300 of the present embodiment may realize a maximum displacement of 1.2m in the X-axis direction, a maximum displacement of 0.4m in the Y-axis direction, and a maximum displacement of 0.6m in the Z-axis direction.
The above embodiments are only used for illustrating the invention and not for limiting the technical solutions described in the invention, and although the present invention has been described in detail in the present specification with reference to the above embodiments, the present invention is not limited to the above embodiments, and therefore, any modification or equivalent replacement of the present invention is made; all such modifications and variations are intended to be included herein within the scope of this disclosure and the appended claims.
Claims (8)
1. A twelve-degree-of-freedom gait simulation device, comprising:
a foot-operated platform;
the first driving assembly comprises a first power mechanism and a first transmission mechanism, and the first transmission mechanism is respectively connected with the first power mechanism and the pedal platform; the first transmission mechanism comprises a first bevel gear, a second bevel gear, a first rotating shaft and a second rotating shaft, the first power mechanism comprises a first power component, the power output end of the first power component is connected with the first bevel gear, the first rotating shaft and the second rotating shaft are arranged in parallel along the vertical direction, one end of the first rotating shaft is fixedly provided with the second bevel gear in meshing transmission with the first bevel gear, one end of the second rotating shaft is fixedly provided with the pedal platform, and the other end of the first rotating shaft is in transmission connection with the other end of the second rotating shaft through a transmission belt or a transmission gear; the first transmission mechanism further comprises a third bevel gear, the first power mechanism further comprises a second power component, the power output end of the second power component is connected with the third bevel gear, the third bevel gear and the first bevel gear are respectively positioned on two opposite sides of the second bevel gear and are arranged on the same central axis, and the third bevel gear and the second bevel gear are in meshing transmission; the power output by the first power mechanism is converted and drives the pedal platform to rotate on the horizontal plane or revolve on the first vertical plane through the first transmission mechanism;
A second drive assembly; the first driving assembly comprises a first mounting frame for assembling the first power mechanism and the first transmission mechanism; the driving output end of the second driving assembly is connected with the first mounting frame to drive the first mounting frame and the pedal platform to revolve on a second vertical surface perpendicular to the first vertical surface;
the driving output end of the third driving component is connected with the second mounting frame and drives the second mounting frame and the pedal platform to reciprocate linearly along the vertical direction;
the fourth driving assembly comprises a fourth motor and a first belt conveying mechanism, and the fourth motor drives a belt of the first belt conveying mechanism to linearly drive along the first direction of the horizontal plane;
the third mounting frame comprises a vertically arranged guide rod, the second mounting frame can reciprocate linearly along the guide rod in the vertical direction, one end of the guide rod penetrates through the second mounting frame and is connected with the first belt conveying mechanism, and the first belt conveying mechanism drives the second mounting frame and the pedal platform to linearly reciprocate in the first direction of the horizontal plane through the guide rod;
The fifth driving assembly comprises a fifth motor and a second belt conveying mechanism, the fifth motor drives a belt of the second belt conveying mechanism to linearly drive along a second direction of the horizontal plane, and the second direction is perpendicular to the first direction;
the fourth driving component further comprises a first mounting platform, the first mounting platform is connected with the second belt conveying mechanism, and the second belt conveying mechanism drives the pedal platform to do linear reciprocating motion along the second direction of the horizontal plane through the first mounting platform.
2. A gait simulator according to claim 1, wherein the first power unit comprises a first motor and a first speed reducer, the first motor is connected to the input of the first speed reducer, and the output of the first speed reducer is connected to the first bevel gear; the first speed reducer is a worm and gear speed reducer.
3. The twelve-degree-of-freedom gait simulation device according to claim 2, wherein the second power unit comprises a second motor and a second reducer, the second motor is connected with the input end of the second reducer, and the output end of the second reducer is connected with a third bevel gear; the second speed reducer is a worm and gear speed reducer.
4. The twelve-degree-of-freedom gait simulation device according to claim 1, wherein the second drive assembly comprises a third motor and a third reducer, the third motor is connected with an input end of the third reducer, and an output end of the third reducer is connected with the first mounting frame; the third speed reducer is a worm and gear speed reducer.
5. The twelve-degree-of-freedom gait simulation device of claim 4, wherein the drive output of the second drive assembly is an output flange, the second drive assembly comprises a connection frame fixed to the output flange, and the first mounting frame is fixed to the connection frame.
6. The twelve-degree-of-freedom gait simulation device according to claim 1, wherein the third drive assembly comprises a vertically arranged third mounting frame and a reciprocating linear drive part mounted on the third mounting frame, the second mounting frame is fixedly connected with a connecting arm, and the linear motion output end of the reciprocating linear drive part abuts against the connecting arm.
7. The twelve-degree-of-freedom gait simulation device according to claim 1, wherein the fourth drive assembly further comprises first sliding rails on both sides of the first belt conveyor, and a sliding frame fixedly connected to the conveyor belt of the first belt conveyor, the sliding frame being slidably mounted on the first sliding rails on both sides, and the guide rod being fixed to the sliding frame.
8. The twelve-degree-of-freedom gait simulation device according to claim 1, wherein the fifth drive assembly further comprises second sliding rails on both sides of the second belt conveyor, and the first mounting platform is fixedly connected to the conveyor belt of the second belt conveyor and slidably mounted on the second sliding rails on both sides.
Priority Applications (1)
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| CN102211627B (en) * | 2011-04-27 | 2012-10-17 | 浙江大学 | Four-leg robot mechanism based on bionic design |
| CN102389364B (en) * | 2011-08-01 | 2013-08-28 | 山东康泰实业有限公司 | Gantry Chinese medical massaging robot |
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