CN114404224A - Complete gait running gear of three joints - Google Patents

Complete gait running gear of three joints Download PDF

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Publication number
CN114404224A
CN114404224A CN202210084055.XA CN202210084055A CN114404224A CN 114404224 A CN114404224 A CN 114404224A CN 202210084055 A CN202210084055 A CN 202210084055A CN 114404224 A CN114404224 A CN 114404224A
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CN
China
Prior art keywords
adjusting block
thigh
shank
mounting plate
block
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.)
Pending
Application number
CN202210084055.XA
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Chinese (zh)
Inventor
牛栓柱
郑鹏远
李立国
王景信
李强
唐浩鹤
罗彬彬
李哲
丁婵婵
李薇
耿树莉
李军威
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chuangshi Intelligent Robot Henan Co ltd
Original Assignee
Chuangshi Intelligent Robot Henan Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Chuangshi Intelligent Robot Henan Co ltd filed Critical Chuangshi Intelligent Robot Henan Co ltd
Priority to CN202210084055.XA priority Critical patent/CN114404224A/en
Publication of CN114404224A publication Critical patent/CN114404224A/en
Pending legal-status Critical Current

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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255Both 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
    • A61H1/0262Walking movement; Appliances for aiding disabled persons to walk
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/024Knee
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0244Hip
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0266Foot
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H3/00Appliances for aiding patients or disabled persons to walk about
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H3/00Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H3/00Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12Driving means
    • A61H2201/1207Driving means with electric or magnetic drive
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14Special force transmission means, i.e. between the driving means and the interface with the user
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164Feet or leg, e.g. pedal
    • A61H2201/1642Holding means therefor
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1657Movement of interface, i.e. force application means
    • A61H2201/1659Free spatial automatic movement of interface within a working area, e.g. Robot
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50Control means thereof
    • A61H2201/5058Sensors or detectors
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/08Trunk
    • A61H2205/088Hip
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/10Leg
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/10Leg
    • A61H2205/102Knee
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/12Feet

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  • Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention relates to the field of rehabilitation robots, in particular to a three-joint complete gait walking device which comprises a back connecting device, a hip joint movement mechanism, a knee joint movement mechanism and an ankle joint movement mechanism; the hip joint movement mechanism comprises a hip joint mounting plate, a thigh supporting rod and a thigh adjusting block, the hip joint mounting plate is arranged on the leg fixing mechanism, and the thigh adjusting block is adjustably arranged on the thigh supporting rod; the knee joint movement mechanism comprises a knee joint mounting plate, a shank adjusting block and a shank strut, the knee joint mounting plate is arranged on the shank adjusting block, and the shank strut is adjustably arranged on the shank adjusting block; the ankle joint movement mechanism is arranged at the lower end of the shank strut; the hip joint mounting plate and the knee joint mounting plate are both provided with a driving mechanism. The gait training device is used for gait training of patients with the rehabilitation requirement of dysbasia, the combined movement process of the gait training device is closer to normal gait walking, the gait training is more facilitated, and the training effect is improved.

Description

Complete gait running gear of three joints
Technical Field
The invention relates to the field of rehabilitation robots, in particular to a three-joint complete gait walking device.
Background
The gait walking rehabilitation robot is a new application of combining a robot and rehabilitation medical treatment, and the rehabilitation robot can provide active and passive rehabilitation training for patients with lower limb paralysis by combining different robot control methods. Under the background that the aging of the population of China is continuously intensified, the application of the rehabilitation robot can relieve the heavy work of a rehabilitation physical therapist in the traditional rehabilitation therapy, more importantly, the rehabilitation robot can provide the rehabilitation therapy at any time and any place according to the will of a patient, the therapy process can be monitored and recorded in real time, and then the rehabilitation therapy can be continuously improved after the data are analyzed. Under the background of the aggravation of aging in China and the strong demand of people on high-level medical services, the gait walking rehabilitation robot has a very good application prospect in the field of rehabilitation medical treatment.
According to related data, the stroke is a big killer for depriving the old of life and influencing normal life. Among them, the prominent hemiplegia affects the normal walking and self-care ability of the elderly. How to effectively enable the groups to realize the walking ability again, and the realization of the correct gait posture is a great clinical problem at present, and the gait walking rehabilitation robot realizes the possibility. The device effectively helps the rehabilitation personnel to find the correct walking posture and helps the rehabilitation personnel to carry out the neural reconstruction of the gait function, and greatly meets the requirements of the rehabilitation personnel and the clinical requirements. Most gait rehabilitation robots in the market at present are common weight reduction and treadmill matched mechanical motions or upgraded versions of lower limb active and passive training, the intelligent level is low, only a single (active and passive) training mode can be realized, and the intelligent effective training and evaluation means is lacked. In clinical practice, it is known that the whole gait process of human body is realized by the linkage relationship of three joints, namely hip joint, knee joint and ankle joint. However, most of the robots in the market have only two joints without ankle joint training in motion (hip joint and knee joint), and are only in simple correlated motion, so that the functions are not complete. For rehabilitation personnel who need to recover gait walking, a correct gait walking posture and a better training mode are of the utmost importance.
Disclosure of Invention
The invention provides a three-joint complete gait walking device for solving the problem of incomplete walking function of a gait walking robot, which is used for gait training of patients with rehabilitation requirements of dysbasia.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a three-joint complete gait walking device comprises a back connecting device, a hip joint movement mechanism, a knee joint movement mechanism and an ankle joint movement mechanism, wherein leg fixing mechanisms are symmetrically arranged on two sides of the back connecting device, and the hip joint movement mechanism is arranged on each leg fixing mechanism; the hip joint movement mechanism comprises a hip joint mounting plate, a thigh supporting rod and a thigh adjusting block, the hip joint mounting plate is arranged on the leg fixing mechanism, the thigh supporting rod is rotatably arranged on the hip joint mounting plate, and the thigh adjusting block is adjustably arranged on the thigh supporting rod; the knee joint movement mechanism comprises a knee joint mounting plate, a shank adjusting block and a shank strut, the knee joint mounting plate is arranged on the shank adjusting block, the knee joint mounting plate is rotatably provided with the shank adjusting block, and the shank strut is adjustably arranged on the shank adjusting block; the ankle joint movement mechanism is arranged at the lower end of the shank strut; the hip joint mounting plate and the knee joint mounting plate are respectively provided with a driving mechanism, and the two driving mechanisms are respectively in transmission connection with a thigh support rod and a shank adjusting block; and the thigh regulating block and the shank regulating block are both provided with a fastening mechanism.
In a further preferred scheme, the driving mechanisms comprise driving motors and speed reducers, the speed reducers of the two driving mechanisms are respectively arranged on the hip joint mounting plate and the knee joint mounting plate and correspond to the rotation centers of the thigh support rod and the shank adjusting block, the driving motors are in transmission connection with the speed reducers through belt transmission mechanisms, and the two speed reducers are respectively in transmission connection with the thigh support rod and the shank adjusting block.
In further preferred scheme, all be provided with the mounting bracket on hip joint mounting panel and the knee joint mounting panel, the mounting bracket bottle lid shape, the fixed reduction gear that sets up in plane end of mounting bracket, logical groove has all been seted up to the both sides of the arcwall face of mounting bracket, and thigh branch and the upper end of shank regulating block all are provided with the sensor mounting panel, and the sensor mounting panel passes one of them logical groove of mounting bracket, is provided with photoelectric sensor between sensor mounting panel and the mounting bracket, photoelectric sensor is connected with driving motor electricity, and another logical groove that the mounting bracket was passed to the lower extreme of thigh branch and shank regulating block outwards extends.
In a further preferred scheme, the thigh support rod is sleeved in the thigh adjusting block and arranged in a sliding mode with the thigh adjusting block, the shank support rod is sleeved in the shank adjusting block and connected with the shank adjusting block in a sliding mode, the thigh adjusting block and the shank adjusting block are both provided with first handle pressing buckles, and the thigh support rod and the shank support rod are fixed through the two first handle pressing buckles respectively.
In a further preferred scheme, a plurality of through holes which are uniformly distributed are formed in the thigh supporting rod and the shank supporting rod, fixing pins are arranged on the thigh adjusting block and the shank adjusting block, and pin rods of the fixing pins penetrate through the thigh adjusting block and the shank adjusting block respectively and are inserted into the through holes of the thigh supporting rod and the shank supporting rod.
In a further preferred scheme, the thigh adjusting block and the shank adjusting block are both provided with installation shells, connecting rods penetrate through the installation shells, the installation shells are pressed and fastened through a second handle to form the fastening connecting rods, the connecting rods are L-shaped, and the fastening mechanisms are arranged on the connecting rods.
In a further preferred scheme, the fastening mechanism comprises a connecting block, a fastening handle and a fixing plate, a through hole for the connecting rod to pass through is formed in the middle of the connecting block, a through groove and a fastening hole are further formed in the connecting block, the through groove is communicated with the through hole, the fastening hole is communicated with the through groove, one end of the through groove is hinged to the fastening block, an upright post is arranged on the fastening handle and fixedly connected with the fastening block, the end portion of the upright post is arranged in the fastening hole, and the fixing plate is arranged on the connecting block.
In a further preferred scheme, a first bump is arranged on the connecting block, a second bump is arranged on the fixing plate, a groove is formed in the second bump, and the first bump is located in the groove and is rotatably connected with the second bump through a pin shaft.
In a further preferable scheme, the ankle joint movement mechanism is adjustably arranged at the lower end of the lower leg strut through a first sliding adjustment mechanism and a second sliding adjustment mechanism.
Through the technical scheme, the invention has the beneficial effects that:
the hip joint movement mechanism, the knee joint movement mechanism and the ankle joint movement mechanism respectively correspond to thighs, shanks and feet, the knee joint movement mechanism is arranged on a thigh adjusting block of the hip joint movement mechanism, the distance between a knee joint mounting plate and the hip joint mounting plate is adjustable, and the ankle joint movement mechanism is arranged on a shank supporting rod of the knee joint movement mechanism, so that the distance between the ankle joint movement mechanism and the knee joint mounting plate is adjustable, and the ankle joint movement mechanism can adapt to different leg lengths. Moreover, the movement training of the hip joint can be carried out independently, and the movement training of the knee joint or/and the ankle joint can also be carried out on the basis of the movement of the hip joint; the motion training of knee joint can be carried out alone, also can carry out ankle joint motion's training again on knee joint motion basis, can form different operation curves, and its combined motion's process is more close normal gait walking, also more does benefit to and carries out gait training, promotes the training effect.
Drawings
FIG. 1 is a schematic structural view of a three-joint complete gait walking device according to the invention;
FIG. 2 is a second schematic structural view of a three-joint walking device according to the present invention;
FIG. 3 is a schematic structural view of the hip motion mechanism of the present invention;
FIG. 4 is a schematic structural diagram of the knee joint movement mechanism of the present invention;
FIG. 5 is a schematic structural view of an ankle motion mechanism of the present invention;
FIG. 6 is one of the structural schematic diagrams of the fastening mechanism of the present invention;
FIG. 7 is a second structural schematic diagram of the fastening mechanism of the present invention;
the reference numbers in the drawings are as follows: the back connecting device comprises a back connecting device 1, a hip joint mounting plate 2, a thigh supporting rod 3, a thigh adjusting block 4, a knee joint mounting plate 5, a shank adjusting block 6, a shank supporting rod 7, a driving motor 8, a speed reducer 9, a mounting frame 10, a sensor mounting plate 11, a first handle pressing buckle 12, a fixing pin 13, a mounting shell 14, a connecting rod 15, a second handle pressing buckle 16, an ankle joint movement mechanism 17, a connecting block 20, a first lug 200, a fastening block 21, a fastening handle 22, a fixing plate 23, a second lug 230, a sliding rod 31 and a third handle pressing buckle 32.
Detailed Description
The invention is further described with reference to the following figures and detailed description:
in the description of the present invention, it is to be understood that the terms "left", "right", "upper", "lower", "lateral", "vertical", etc. indicate orientations or positional relationships based on those shown in fig. 1 only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
As shown in fig. 1 to 7, the present embodiment provides a three-joint complete gait walking device, which includes a back connecting device 1, a hip joint movement mechanism, a knee joint movement mechanism and an ankle joint movement mechanism, wherein leg fixing mechanisms are symmetrically arranged on two sides of the back connecting device 1, and the hip joint movement mechanism is arranged on the leg fixing mechanisms. The back connection device 1 of the present embodiment is a back connection device disclosed in CN 111789746 a, which is a back connection device for a lower limb rehabilitation robot. The hip joint movement mechanism comprises a hip joint mounting plate 2, a thigh support rod 3 and a thigh adjusting block 4, the hip joint mounting plate 2 is arranged on the leg fixing mechanism, the thigh support rod 3 is rotatably arranged on the hip joint mounting plate 2, and the thigh adjusting block 4 is adjustably arranged on the thigh support rod 3; the knee joint movement mechanism comprises a knee joint mounting plate 5, a shank adjusting block 6 and a shank strut 7, the knee joint mounting plate 5 is arranged on the shank adjusting block 4, the shank adjusting block 6 is rotatably arranged on the knee joint mounting plate 5, and the shank strut 7 is adjustably arranged on the shank adjusting block 6; the ankle joint movement mechanism is arranged at the lower end of the shank strut 7; the hip joint mounting plate 2 and the knee joint mounting plate 5 are both provided with driving mechanisms, the two driving mechanisms are respectively in transmission connection with the thigh supporting rod 3 and the shank adjusting block 6, and the thigh supporting rod 3 and the shank adjusting block 6 are respectively driven to rotate by the two driving mechanisms; fastening mechanisms are arranged on the thigh adjusting block 4 and the shank adjusting block 6, and the fastening mechanisms on the thigh adjusting block 4 and the shank adjusting block 6 are used for fixing thighs and shanks.
The driving mechanisms comprise driving motors 8 and speed reducers 9, the speed reducers 9 of the two driving mechanisms are respectively arranged on the hip joint mounting plate 2 and the knee joint mounting plate 5 and correspond to the rotation centers of the thigh support rod 3 and the shank adjusting block 6, the driving motors 8 and the speed reducers 9 are in transmission connection through belt transmission mechanisms, and the two speed reducers 9 are respectively in transmission connection with the thigh support rod 3 and the shank adjusting block 6. The driving motor 8 drives the speed reducers 9 to move through the belt transmission mechanism, and the two speed reducers 9 respectively drive the thigh support rod 3 and the shank adjusting block 6 to rotate, so that the rotation of the thigh and the rotation of the shank are realized.
It is foretell, all be provided with mounting bracket 10 on hip joint mounting panel 2 and the knee joint mounting panel 5, 10 bottle lids of mounting bracket shape, the fixed reduction gear 9 that sets up in plane end of mounting bracket 10, logical groove has all been seted up to the both sides of the arcwall face of mounting bracket 10, and thigh branch 3 and shank regulating block 6's upper end all is provided with sensor mounting panel 11, and sensor mounting panel 11 passes the logical groove of leading to groove promptly the upside of mounting bracket 10, is provided with photoelectric sensor between sensor mounting panel 11 and the mounting bracket 10, photoelectric sensor is connected with driving motor 8 electricity, and another logical groove that leads to that mounting bracket 10 was passed to thigh branch 3 and shank regulating block 6's lower extreme outwards extends. Specifically, the sensor mounting plate 11 is provided with a transmitter of a photoelectric sensor, two receivers of two photoelectric sensors are arranged at two ends of the through groove on the upper side of the mounting frame 10, the two receivers form two pole positions, the transmitter of the photoelectric sensor and the light beam of the receivers are transmitted and received, the two pole positions of the rotation are detected, and the driving motor is controlled to be turned off when the pole positions are reached.
Thigh branch 3 registrates in thigh regulating block 4, slides with thigh regulating block 4 and sets up, and shank branch 7 registrates in shank regulating block 6, with shank regulating block 6 sliding connection, all is provided with first handle on thigh regulating block 4 and the shank regulating block 6 and presses knot 12, and two first handle press knot 12 are fixed thigh branch 3 and shank branch 7 respectively.
Further, all be provided with a plurality of evenly distributed's through-hole on thigh branch 3 and the shank branch 7, all be provided with fixed pin 13 on thigh regulating block 4 and the shank regulating block 6, two the pin rod of fixed pin 13 passes thigh regulating block 4 and shank regulating block 6 respectively and inserts in the through-hole of thigh branch 3 and shank branch 7. When the installation heights of the thigh support rod 3 and the thigh adjusting block 4 are adjusted, the fixing pin 13 inserted into the thigh support rod 3 is firstly pulled out, then the first handle pressing buckle 12 on the thigh adjusting block 4 is unscrewed, so that the thigh support rod 3 and the thigh adjusting block 4 can slide relatively, and then the slidable thigh adjusting block 4 can be adjusted; after 4 altitude mixture control of slip thigh regulating block is accomplished, press the fixed pin 13 on thigh regulating block 4 to the through-hole of thigh branch 3 in, tentatively fix thigh branch 3, then screw up first handle on the thigh regulating block 4 and press knot 12 and fasten thigh regulating block 4 and thigh branch 3 to this completion is to thigh length, the high regulation of knee joint motion. The method and the process for adjusting the length of the shank and the height of the ankle joint movement mechanism are the same and are not described again. The lower leg link 7 of the knee joint movement mechanism moves relative to the lower leg adjustment block 6, and moves the lower leg link 7 up and down during adjustment.
As described above, the thigh adjusting block 4 and the shank adjusting block 6 are both provided with the mounting shell 14, the mounting shell 14 is internally provided with the connecting rod 15 in a penetrating manner, the mounting shell 14 is fastened with the connecting rod 15 through the second handle pressing buckle 16, the connecting rod is L-shaped, and the connecting rod 15 is provided with the fastening mechanism. In adjusting the front-rear position of the fastening mechanism, the connecting rod 15 can be fixed by loosening the second handle press 16, then moving the position of the adjusting connecting rod 15, and then tightening the second handle press 16 after the adjustment is completed to form a compression on the connecting rod 15.
As described above, the fastening mechanism includes the connecting block 20, the fastening block 21, the fastening handle 22 and the fixing plate 23, the middle portion of the connecting block 20 is provided with the through hole for the connecting rod 15 to pass through, the connecting block 20 is further provided with the through groove and the fastening hole, the through groove is communicated with the through hole, the fastening hole is communicated with the through groove, one end of the through groove is hinged to the fastening block 21, the fastening handle 22 is provided with the upright post, the upright post is fixedly connected with the fastening block 21, the end portion of the upright post is arranged in the fastening hole, the fixing plate 23 is arranged on the connecting block 20, and the two sides of the fixing plate 23 are provided with the mounting holes, so that the legs can be fixed by the bandage. More specifically, the middle of the fastening block 21 is a groove corresponding to the connecting rod 15, and one side of the groove corresponding to the connecting rod 15 is a plane. When the position of the fastening mechanism on the connecting rod 15 needs to be adjusted, the upright post of the fastening handle 22 is pulled out from the fastening hole to contact with the slack of the fastening block 21, then the position of the fastening mechanism on the connecting rod 15 can be moved, after the position adjustment, the upright post of the fastening handle 22 is inserted into the fastening hole, and the fastening mechanism is fixed on the connecting rod 15 through the fastening limit of the fastening block 21.
As described above, the connecting block 20 is provided with the first protrusion 200, the fixing plate 23 is provided with the second protrusion 230, the second protrusion is provided with the groove, and the first protrusion is located in the groove and is rotatably connected with the second protrusion through the pin. Through the cooperation of first lug and second lug, make fixed plate 23 have certain rotational degree of freedom relative to connecting block 20, but the rotation of connecting block 20 upper and lower miniverum relatively makes fixed plate 23 more accord with the angle of shank, and improves the travelling comfort under the user state.
The ankle joint movement mechanism is adjustably arranged at the lower end of the lower leg support rod 7 through the first sliding adjustment mechanism and the second sliding adjustment mechanism. Specifically, in the present embodiment, a through hole is formed in the lower end of the lower leg strut 7 in the front-rear direction, the first slide adjusting mechanism includes a slide bar 31 and a third handle press button 32, the slide bar 31 passes through the through hole of the lower leg strut 7, the third handle press button 32 is disposed on the lower leg strut 7, and the third handle press button 32 forms a pressing force on the slide bar 31 to fix the position of the slide bar 31 on the lower leg strut 7. The rear end of the sliding rod 31 is provided with a second sliding adjusting mechanism, the second sliding adjusting mechanism has the same structure as the first sliding adjusting mechanism, and the end part of the sliding rod of the second sliding adjusting mechanism is fixed with the ankle joint movement mechanism. The front and back positions of the ankle joint movement mechanism can be adjusted through the first sliding adjustment mechanism, and the left and right positions of the ankle joint movement mechanism can be adjusted through the second sliding adjustment mechanism. The ankle moving mechanism of the present embodiment is an ankle moving mechanism disclosed in CN 111789739 a, a lower limb rehabilitation robot ankle moving mechanism.
Before the device is used, the distance and the height of the two legs are adjusted through the back connecting device 1 according to the sizes and the overall heights of the two legs of a rehabilitation person, then the two legs of the rehabilitation person are clamped on two sides respectively, specifically, a thigh and a fastening mechanism on a thigh adjusting block 5 are fixed, a shank and a fastening mechanism on a shank adjusting block 6 are fixed, and a foot and an ankle joint movement mechanism are fixed, so that a rehabilitation patient is positioned, and lower limb gait training is carried out by matching with matched software. The invention can perform active training and passive training.
The above-described embodiments are merely preferred embodiments of the present invention, and not intended to limit the scope of the invention, so that equivalent changes or modifications in the structure, features and principles described in the present invention should be included in the claims of the present invention.

Claims (9)

1. A three-joint complete gait walking device is characterized by comprising a back connecting device (1), hip joint movement mechanisms, knee joint movement mechanisms and ankle joint movement mechanisms, wherein leg fixing mechanisms are symmetrically arranged on two sides of the back connecting device (1), and the hip joint movement mechanisms are arranged on the leg fixing mechanisms;
the hip joint movement mechanism comprises a hip joint mounting plate (2), a thigh support rod (3) and a thigh adjusting block (4), the hip joint mounting plate (2) is arranged on the leg fixing mechanism, the thigh support rod (3) is rotatably arranged on the hip joint mounting plate (2), and the thigh adjusting block (4) is adjustably arranged on the thigh support rod (3);
the knee joint movement mechanism comprises a knee joint mounting plate (5), a crus adjusting block (6) and a crus supporting rod (7), the knee joint mounting plate (5) is arranged on the thigh adjusting block (4), the knee joint mounting plate (5) is rotatably provided with the crus adjusting block (6), and the crus supporting rod (7) is adjustably arranged on the crus adjusting block (6);
the ankle joint movement mechanism is arranged at the lower end of the shank strut (7);
driving mechanisms are arranged on the hip joint mounting plate (2) and the knee joint mounting plate (5), and the two driving mechanisms are respectively in transmission connection with a thigh support rod (3) and a shank adjusting block (6);
the thigh adjusting block (4) and the shank adjusting block (6) are both provided with a fastening mechanism.
2. The complete gait walking device of the three joints according to claim 1, characterized in that the driving mechanism comprises a driving motor (8) and a reducer (9), the reducers (9) of the two driving mechanisms are respectively arranged on the hip joint mounting plate (2) and the knee joint mounting plate (5) and correspond to the rotation centers of the thigh strut (3) and the shank adjusting block (6), the driving motor (8) and the reducer (9) are in transmission connection through a belt transmission mechanism, and the two reducers (9) are respectively in transmission connection with the thigh strut (3) and the shank adjusting block (6).
3. The walking device of claim 2, wherein the first and second legs are connected to each other by a hinge, the hip joint mounting plate (2) and the knee joint mounting plate (5) are both provided with mounting frames (10), the mounting rack (10) is in a bottle cap shape, the reducer (9) is fixedly arranged at the plane end of the mounting rack (10), through grooves are formed in the two sides of the arc-shaped surface of the mounting rack (10), the sensor mounting plates (11) are arranged at the upper ends of the thigh support rod (3) and the shank adjusting block (6), the sensor mounting plate (11) penetrates through one of the through grooves of the mounting rack (10), and a photoelectric sensor is arranged between the sensor mounting plate (11) and the mounting rack (10), the photoelectric sensor is electrically connected with the driving motor (8), and the lower ends of the thigh support rod (3) and the shank adjusting block (6) penetrate through the other through groove of the mounting frame and extend outwards.
4. The complete gait walking device of the three joints according to claim 1, characterized in that the thigh strut (3) is sleeved in the thigh adjusting block (4) and is arranged in a sliding manner with the thigh adjusting block (4), the shank strut (7) is sleeved in the shank adjusting block (6) and is connected with the shank adjusting block (6) in a sliding manner, the thigh adjusting block (4) and the shank adjusting block (6) are both provided with a first handle press button (12), and the thigh strut (3) and the shank strut (7) are respectively fixed by the two first handle press buttons (12).
5. The complete gait walking device of the three joints according to claim 4, characterized in that the thigh strut (3) and the shank strut (7) are provided with a plurality of through holes which are evenly distributed, the thigh adjusting block (4) and the shank adjusting block (6) are provided with fixing pins (13), and the pin rods of the two fixing pins (13) are inserted into the through holes of the thigh strut (3) and the shank strut (7) respectively through the thigh adjusting block (4) and the shank adjusting block (6).
6. The complete gait walking device of the three joints according to claim 4, characterized in that the thigh adjusting block (4) and the shank adjusting block (6) are both provided with a mounting shell (14), a connecting rod (15) is arranged in the mounting shell (14) in a penetrating way, the mounting shell (14) is fastened with the connecting rod (15) through a second handle pressing buckle (16), the connecting rod is L-shaped, and the connecting rod (15) is provided with the fastening mechanism.
7. The complete gait walking device of the three joints according to claim 6, characterized in that the fastening mechanism comprises a connecting block (20), a fastening block (21), a fastening handle (22) and a fixing plate (23), a through hole for the connecting rod (15) to pass through is formed in the middle of the connecting block (20), a through groove and a fastening hole are further formed in the connecting block (20), the through groove is communicated with the through hole, the fastening hole is communicated with the through groove, one end of the through groove is hinged to the fastening block (21), a stand column is arranged on the fastening handle (22), the stand column is fixedly connected with the fastening block (21), the end of the stand column is arranged in the fastening hole, and the fixing plate (23) is arranged on the connecting block (20).
8. The walking device as claimed in claim 7, wherein the connecting block (20) has a first protrusion, the fixing plate (23) has a second protrusion, the second protrusion has a groove, and the first protrusion is located in the groove and rotatably connected to the second protrusion via a pin.
9. The walking device as claimed in claim 1, wherein the ankle joint movement means is adjustably provided at the lower end of the shank strut (7) by means of a first slide adjusting means and a second slide adjusting means.
CN202210084055.XA 2022-01-25 2022-01-25 Complete gait running gear of three joints Pending CN114404224A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210084055.XA CN114404224A (en) 2022-01-25 2022-01-25 Complete gait running gear of three joints

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202210084055.XA CN114404224A (en) 2022-01-25 2022-01-25 Complete gait running gear of three joints

Publications (1)

Publication Number Publication Date
CN114404224A true CN114404224A (en) 2022-04-29

Family

ID=81277471

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202210084055.XA Pending CN114404224A (en) 2022-01-25 2022-01-25 Complete gait running gear of three joints

Country Status (1)

Country Link
CN (1) CN114404224A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115024946A (en) * 2022-05-17 2022-09-09 燕山大学 High-rigidity lower limb rehabilitation exoskeleton system with force feedback

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115024946A (en) * 2022-05-17 2022-09-09 燕山大学 High-rigidity lower limb rehabilitation exoskeleton system with force feedback
CN115024946B (en) * 2022-05-17 2023-04-25 燕山大学 High-rigidity lower limb rehabilitation exoskeleton system with force feedback

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