CN201888908U - Recovery robot by training paces - Google Patents
Recovery robot by training paces Download PDFInfo
- Publication number
- CN201888908U CN201888908U CN2009200618723U CN200920061872U CN201888908U CN 201888908 U CN201888908 U CN 201888908U CN 2009200618723 U CN2009200618723 U CN 2009200618723U CN 200920061872 U CN200920061872 U CN 200920061872U CN 201888908 U CN201888908 U CN 201888908U
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- thigh
- hinged
- straight
- hip
- moving cell
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Abstract
The aim of the utility model is to provide a comprehensive recovery system by training paces, the recovery robot by training paces comprises mechanical legs a hip rod (23), a thigh (24), a calf (25), a calf coat (26) and a linear transmission unit (20). The recovery robot is characterized in that the hip rod (23) and the thigh (24) are hinged into hip joints through the movable bearings; the thigh (24) and the calf (25) are hinged into knee-joints through the moving bearings; the rear-end of a first linear transmission unit (20) is hinged with the lower flank of the hip rod (23), the movable end is hinged with the thigh (24); the activities of the hip joint are formed through the retractable drive of the first linear transmission unit; the thigh (25) is covered by the calf coat (26); the length of the thigh is adjusted through the position of the calf coat (26); one end of a second linear transmission unit is hinged with the thigh coat (24), the movable end is hinged with the calf (24); the activities of the knee joint are formed through the retractable drive of the second linear transmission unit.
Description
Technical field:
The gait training healing robot is to recover the equipment of walking function for lower limb have the patient of walking disorder specially.The biofeedback of this system can real-time tracking patient leg training process in the situation of paces, and show with the form of data, figure.According to the data of biofeedback, calculate the undesired gait that function is made automatic adjustment, corrected the patient.The gait training healing robot can switch initiatively training or passive exercise automatically according to the ability of patient's walking.The invention belongs to the rehabilitation medical instrument field.
Background technology:
Increasing of the lower extremity movement impaired patients that causes along with the aged and various diseases, the healing robot technology that rehabilitation medicine and robotics are combined becomes the focus of domestic and international research just gradually.Drop at present the medical healing robot kind of clinical use and few, and in reality is promoted success few, and at aspects such as mechanism design, modularized design, computer control and immature.
Summary of the invention:
The purpose of this invention is to provide the comprehensive lower limb comprehensive training system of a cover, can help patients such as apoplexy and spinal cord injury to carry out rehabilitation training, and how to propose effectively training strength, effect with the patient and feed back to the patient and know, improve rehabilitation of patients confidence and interest greatly.For the patient can reach the optimal rehabilitation training effect in therapeutic process, this system has added the active and passive training of automaticallying switch of walking ability according to the patient.The biofeedback function as a kind of the most effective, demonstrate patient's training the most intuitively.The present invention can calculate the walking ability that a best walking step state adapts to the patient automatically according to different patients' situation.The gait rehabilitation image training robot comprises that pedipulator comprises hip bar (23), thigh thigh (24), shank thigh (25), shank thigh overcoat (26) and straight-line transmitting moving cell (20), it is characterized in that: hip bar (23) is hinged to hip joint with thigh thigh (24) by live bearing, thigh thigh (24) is hinged to knee joint with shank thigh (25) by live bearing, the rear end of first straight-line transmitting moving cell (20) and hip bar (23) downside are hinged, the movable end of first straight-line transmitting moving cell and thigh thigh (24) are hinged, by the telescopic drive of first straight-line transmitting moving cell, just constituted the hip joint activity; Thigh thigh (25) puts a shank thigh overcoat (26), the length of regulating thigh by the position of regulating shank thigh overcoat (26), one end of second straight-line transmitting moving cell and thigh thigh overcoat (24) are hinged, the movable end of second straight-line transmitting moving cell and shank thigh (24) are hinged, by the telescopic drive of second straight-line transmitting moving cell, just constituted the knee joint activity.
Description of drawings
Accompanying drawing 1 is the utility model overall construction drawing
Accompanying drawing 2 is the local figure of loss of weight
Accompanying drawing 3 is the local figure of machine lower limb
Accompanying drawing 4 is the local figure of driver
The specific embodiment:
To achieve these goals, the present invention takes following technical scheme.Gait training healing robot of the present invention comprises pneumatic loss of weight system, leg training device and microcomputer control system.
Pneumatic loss of weight system: comprise frame (1), baroswitch (2), air pressure regulator (3), air gauge (4), cylinder (5), assembly pulley (6), bandage (7), hawser (8), compressor (9), PVC flexible pipe (10), handrail (11), fixed support (12), treadmill (13).
The side internal fixation that cylinder (5) is installed in frame is good, and the flexible end of cylinder (5) connects upper cable (8), and hawser (8) comes out to connect bandage (7) through the vertical hole that assembly pulley (6) is transferred to frame (1) again; Handrail (11) is installed on the treadmill (13), and frame (1) is fixed on the fixed support (12); Baroswitch (2), air pressure regulator (3) and air gauge (4) are installed in frame one side outside; The air pressure gas outlet of compressor (9) is connected by PVC flexible pipe (10) and baroswitch (2), baroswitch (2) is connected with air pressure regulator (3), air pressure regulator (3) is connected with air gauge (4), air gauge (4) is connected with cylinder (5), air pressure just can pass through baroswitch (2) to air pressure regulator (3) like this, control the size of air pressure by air pressure regulator (3), demonstrate the air pressure size of cylinder with air gauge (4); Treadmill (13) is placed in the middle of the fixed support.
Leg training device: comprise pedipulator (24), hip pad (18) and backing cushion (19), adjustable-width pedipulator back seat (19), parallelogram connecting rod (21) and air spring (22), the two ends of parallelogram connecting rod (21) and pedipulator back seat (23) join by live bearing, top that connecting rod of the connecting rod (21) of one end of air spring (22) and parallelogram is hinged, the other end of air spring (22) and dodge gate (16) are hinged, and a side of dodge gate (16) is connected wherein on of fixed leg (15).
Pedipulator comprises hip bar (23), thigh thigh (24), shank thigh (25) and straight-line transmitting moving cell (20), hip bar (23) is hinged to hip joint with thigh thigh (24) by live bearing, thigh thigh (24) is hinged to knee joint with shank thigh (25) by live bearing, the rear end of first straight-line transmitting moving cell (20) and hip bar (23) downside are hinged, the movable end of first straight-line transmitting moving cell and thigh thigh (24) are hinged, by the telescopic drive of first straight-line transmitting moving cell, just constituted the hip joint activity; Thigh thigh (25) puts a thigh thigh overcoat (26), the length of regulating thigh by the position of regulating thigh thigh overcoat (26), one end of second straight-line transmitting moving cell and thigh thigh overcoat (26) are hinged, the movable end of second straight-line transmitting moving cell and shank thigh (24) are hinged, by the telescopic drive of second straight-line transmitting moving cell, just constituted the knee joint activity.
The driver portion explanation sees that accompanying drawing 4 comprises, servomotor (20_1), ball screw (20_5), synchronizing wheel 1 (20_8), synchronizing wheel 2 (20_9), synchronous band (20_7), bearing 1 (20_11), bearing 2 (20_12), steel cylinder (20_2), protecgulum (20_4), bonnet (20_3).Earlier copper sheathing (20_12,20_13) is enclosed within on the nut of ball screw, again bearing (20_11,20_12) is installed on the copper sheathing, be fixed in then on the steel cylinder (20_2), cover bonnet again, servomotor (20_1) is fixed on the steel cylinder (20_2), synchronizing wheel 1 (20_8) is connected on servomotor (20_1) rotor fixing, and band (20_7) is enclosed within and covers protecgulum (20_4) above the synchronizing wheel 1,2 more synchronously; When the servomotor rotation, drive synchronizing wheel (20_9) by synchronous band (20_7) and rotate like this, thereby the nut on the screw mandrel is rotated, screw mandrel just can be done rectilinear motion like this.
Claims (1)
1. a gait training healing robot comprises hip bar (23), thigh thigh (24), shank thigh (25), shank thigh overcoat (26) and straight-line transmitting moving cell (20), it is characterized in that: hip bar (23) is hinged to hip joint with thigh thigh (24) by live bearing, thigh thigh (24) is hinged to knee joint with shank thigh (25) by live bearing, the rear end of first straight-line transmitting moving cell (20) and hip bar (23) downside are hinged, the movable end of first straight-line transmitting moving cell and thigh thigh (24) are hinged, by the telescopic drive of first straight-line transmitting moving cell, just constituted the hip joint activity; Thigh thigh (25) puts a shank thigh overcoat (26), the length of regulating thigh by the position of regulating shank thigh overcoat (26), one end of second straight-line transmitting moving cell and thigh thigh overcoat (24) are hinged, the movable end of second straight-line transmitting moving cell and shank thigh (24) are hinged, by the telescopic drive of second straight-line transmitting moving cell, just constituted the knee joint activity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200618723U CN201888908U (en) | 2009-08-05 | 2009-08-05 | Recovery robot by training paces |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200618723U CN201888908U (en) | 2009-08-05 | 2009-08-05 | Recovery robot by training paces |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201888908U true CN201888908U (en) | 2011-07-06 |
Family
ID=44218383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009200618723U Ceased CN201888908U (en) | 2009-08-05 | 2009-08-05 | Recovery robot by training paces |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201888908U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102961231B (en) * | 2009-08-05 | 2014-11-19 | 广州一康医疗设备实业有限公司 | Gait rehabilitation training robot |
| CN105534680A (en) * | 2016-01-25 | 2016-05-04 | 营口春港康复辅助器具科技有限公司 | Self-training apparatus for rehabilitation |
| US10426637B2 (en) | 2015-05-11 | 2019-10-01 | The Hong Kong Polytechnic University | Exoskeleton ankle robot |
-
2009
- 2009-08-05 CN CN2009200618723U patent/CN201888908U/en not_active Ceased
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102961231B (en) * | 2009-08-05 | 2014-11-19 | 广州一康医疗设备实业有限公司 | Gait rehabilitation training robot |
| US10426637B2 (en) | 2015-05-11 | 2019-10-01 | The Hong Kong Polytechnic University | Exoskeleton ankle robot |
| CN105534680A (en) * | 2016-01-25 | 2016-05-04 | 营口春港康复辅助器具科技有限公司 | Self-training apparatus for rehabilitation |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| DD01 | Delivery of document by public notice |
Addressee: Zhao Qian Document name: Notification to Go Through Formalities of Registration |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C35 | Partial or whole invalidation of patent or utility model | ||
| IW01 | Full invalidation of patent right |
Decision date of declaring invalidation: 20141225 Decision number of declaring invalidation: 24665 Granted publication date: 20110706 |