CN202682285U - External skeleton wearable type lower limb rehabilitation training robot device - Google Patents
External skeleton wearable type lower limb rehabilitation training robot device Download PDFInfo
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- CN202682285U CN202682285U CN 201220243360 CN201220243360U CN202682285U CN 202682285 U CN202682285 U CN 202682285U CN 201220243360 CN201220243360 CN 201220243360 CN 201220243360 U CN201220243360 U CN 201220243360U CN 202682285 U CN202682285 U CN 202682285U
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- overcoat
- rehabilitation training
- thigh
- robot device
- lower limb
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Abstract
The utility model discloses an external skeleton wearable type lower limb rehabilitation training robot device which comprises a left bracket, a right bracket, a front waist clamping plate, a rear waist clamping plate, thigh jackets, crus jackets, connection plates, foot plates, toe plates, an air cylinder, pin shafts, set screws, bolts and spring sheets. The external skeleton wearable type lower limb rehabilitation training robot device is characterized in that the front waist clamping plate, the rear waist clamping plate and the thigh jackets form a 3 range positioning system (3-RPS) parallel mechanism, the crus jackets and the foot plates form a two-degree-of-freedom space six-bar mechanism, and the whole device is a series-parallel mechanism which is formed by using a rotation pair to serially connect the thigh jackets and the crus jackets. The external skeleton wearable type lower limb rehabilitation training robot device is simple in structure, small in size, complete in function, low in cost, safe, comfortable, high in training efficiency and capable of achieving physical therapy and rehabilitation of lower limb hip joints, knee joints and ankle joints. The device can be used by patients who suffer from nerve injuries or limb injuries to perform lower limb rehabilitation training and can be also used by healthy old people to perform physical training.
Description
Technical field
This utility model relates to a kind of medical rehabilitation image training robot device, particularly relates to a kind of exoskeleton-wearable lower limbs rehabilitation training robot device.
Background technology
According to statistics, the old people of China more than 60 years old has 1.2 hundred million, accounts for 10% of national population.Follow obvious physiological decline in the aging process, the motility of old people's extremity will constantly descend, and then daily life has been produced all adverse influences.In addition, owing to the reasons such as war, industrial injury, vehicle accident, disease, disaster cause the patient of nerve injury or limb injury also in remarkable increase.On the other sidely be: artificial nursing cost increases year by year; The functions of the equipments that are used for medical rehabilitation are single, expensive.Contradiction between medical rehabilitation equipment and the patient demand is outstanding day by day.Research and the application of therefore, serving the rehabilitation equipment of extremity have vast potential for future development.
Lower limbs rehabilitation training robot is and collaborative robot principle theoretical according to rehabilitation medicine, by the walking state control system under the cover computer control, the paces rule that makes the patient simulate the normal person is done the rehabilitation training campaign, temper the muscle of lower limb, recover nervous system to the control ability of walking function, reach and recover the on foot purpose of function.Although some lower limb rehabilitation robots occurred, mostly had some defectives.The major defect that existing lower limb rehabilitation robot exists has: complex structure, and bulky, too heavy, and function singleness, expensive, can not satisfy well the needs of practical application, be unfavorable for the popularization of rehabilitation training technology.
Summary of the invention
The purpose of this utility model is, a kind of medical rehabilitation image training robot device is provided, and particularly relates to a kind of exoskeleton-wearable lower limbs rehabilitation training robot device.This apparatus structure is simple, and volume is little, and function is complete, and cost is low, safety and comfort, and training effectiveness is high, can play the effect of physical therapy and rehabilitation lower limb hip, knee joint, ankle joint.
The technical solution of the utility model: a kind of medical rehabilitation image training robot device particularly relates to a kind of exoskeleton-wearable lower limbs rehabilitation training robot device.The mechanism of this device is adjustable mechanism, and based on the design that personalizes, can simulate the motion mode of human body lower limbs, can adjust scantling to adapt to the length difference of human body lower limbs.This device mainly comprises left support frame, right support frame, fore-clamp back, rear folder back, thigh overcoat, shank overcoat, connecting plate, pedal, toe plate, cylinder, bearing pin, holding screw, bolt, spring leaf etc., it is characterized in that: fore-clamp back, rear folder back and thigh overcoat consist of the 3-RPS parallel institution, shank overcoat and pedal consist of the 2DOF spatial six-bar mechanism, and whole device is string and the hybrid mechanism that two parts is in series by the revolute pair between thigh overcoat and the shank overcoat.Because fore-clamp back, rear folder back and thigh overcoat have consisted of the 3-RPS parallel institution, can realize that thigh arrives the rehabilitation training of any position motion within the specific limits.After human body was put on this device, single lower limb can be realized the motion of 7 degree of freedom, namely realized 3 rotations of hip joint, 1 rotation of knee joint, 2 rotations of ankle joint, 1 rotation of toe joint, and wherein toe joint is servo-actuated, and all the other are power-assist.Porous is all arranged, be convenient to sling this device, connection control system etc. on the left and right bracing frame.Between left support frame and the right support frame, between right support frame and the rear folder back, between fore-clamp back and the rear folder back, all adopt holding screw to connect and regulate, to realize stepless speed changing adjustment, with back, the waist sizes that adapts to different human bodies, improve comfort level etc.Be connected with bolt by connecting plate between thigh overcoat and the shank overcoat, regulate distance between thigh overcoat and the shank overcoat in the position on the connecting plate by changing bolt, to adapt to the leg size of different human body.According to the human locomotion feature, be connected by bearing pin between pedal and the toe plate, and pedal and toe plate be equipped with spring leaf, to improve the degree that personalizes of device.
Beneficial effect: this device mainly comprises left support frame, right support frame, fore-clamp back, rear folder back, thigh overcoat, shank overcoat, connecting plate, pedal, toe plate, cylinder, bearing pin, holding screw, bolt, spring leaf etc.Fore-clamp back, rear folder back and thigh overcoat consist of the 3-RPS parallel institution, shank overcoat and pedal consist of the 2DOF spatial six-bar mechanism, and whole device is string and the hybrid mechanism that two parts is in series by the revolute pair between thigh overcoat and the shank overcoat.This apparatus structure is simple, and volume is little, and function is complete, and cost is low, safety and comfort, and training effectiveness is high, can play the effect of physical therapy and rehabilitation lower limb hip, knee joint, ankle joint.The patient that this device can be used for nerve injury or limb injury does the lower limb body rehabilitation training, also can be used for the physical training of healthy elderly.
Description of drawings
Fig. 1 exoskeleton-wearable lower limbs rehabilitation training robot structure drawing of device
1-left support frame, the 2-holding screw, 3-right support frame, 4, the 5-holding screw, press from both sides back behind the 6-, 7,8, the 9-bearing pin, 10-cylinder, 11-bearing pin, 12-cylinder, 13-bearing pin, the 14-connecting plate, 15-bolt, 16-bearing pin, 17-cylinder, the 18-pedal, 19-bearing pin, 20-toe plate, 21-cylinder, 22-shank overcoat, 23-bolt, 24-connecting plate, 25-bearing pin, 26-thigh overcoat, 27, the 28-cylinder, 29-holding screw, 30-fore-clamp back.
Fig. 2 left support frame, right support frame are connected three-dimensional Local map with rear folder back.
Fig. 3 fore-clamp back be connected the folder back and connect three-dimensional Local map.
Fig. 4 thigh overcoat is connected three-dimensional Local map with the shank overcoat.
Fig. 5 pedal is connected three-dimensional Local map with toe plate
The 31-spring leaf.
The specific embodiment
Below in conjunction with the accompanying drawing among this utility model embodiment, the technical scheme among the embodiment is clearly and completely described, obviously, described embodiment only is this utility model part embodiment, rather than whole embodiment.Based on the embodiment in this utility model, those of ordinary skills are not making the every other embodiment that obtains under the creative work prerequisite, all belong to the scope of this utility model protection.
Embodiment: exoskeleton-wearable lower limbs rehabilitation training robot structure drawing of device is shown in Fig. 1: left support frame 1 is connected with the right support frame by holding screw 2 connections and adjusting, to realize the stepless speed changing adjustment between left support frame 1 and the right support frame 3, to adapt to back size and the comfort level of different people.Porose on left support frame 1 and the right support frame 3, can add flexible-belt, with the degree that personalizes of hoisting device, clamping health and raising device.Right support frame 3 be connected folder back 6 and be connected with holding screw by holding screw 4 and connect and regulate, realize the stepless speed changing adjustment between right support frame 3 and the rear folder back 6, to adapt to back size and the comfort level of different people.Rear folder back 6 is connected with the fore-clamp back by holding screw 29 connections and adjusting, presss from both sides the stepless speed changing adjustment between back 6 and the fore-clamp back 30 after realizing, with waist sizes and the comfort level that adapts to different people.On rear folder back 6 and the fore-clamp back 30 many holes are arranged, purposes has: can add flexible-belt, be hung on shoulder, can better shoulder device, effectively alleviate the stressed of other position; The data line that robot body and control system can be linked together is fixing etc.Cylinder 10 is connected on the rear folder back 6 by bearing pin 7, cylinder 27, cylinder 28 are connected on the fore-clamp back 30 by bearing pin 8, bearing pin 9 respectively, and the axis of bearing pin 7, bearing pin 8, bearing pin 9 is mutually 60 degree angles, cylinder 10, cylinder 27, cylinder 28 are connected with thigh overcoat 26 by spherical pair respectively, thereby have consisted of the 3-RPS parallel institution simultaneously.Thigh overcoat 26 forms revolute pair with connecting plate 14, connecting plate 24 respectively by bearing pin 13, bearing pin 25, and connecting plate 14, connecting plate 24 are connected with shank overcoat 22 by bolt 15, bolt 23 respectively again.On connecting plate 14 and the connecting plate 24 porous is arranged, by the position of adjusting bolt 15, bolt 23, realize the distance adjustment between thigh overcoat 26 and the shank overcoat 22, to adapt to the leg size of different human body.Thigh overcoat 26 is connected with cylinder 13 by bearing pin 11 simultaneously, and cylinder 13 is connected on the shank overcoat 22 by bearing pin 16.Shank overcoat 22 is connected with cylinder 17, cylinder 21 by spherical pair, cylinder 17, cylinder 21 are connected with pedal 18 by spherical pair respectively, shank overcoat 22 directly is connected with pedal 18 by sphere-pin pair simultaneously, thereby has consisted of the space six connecting rod parallel institutions of 2DOF.Porous on the pedal 18 can be added flexible-belt, with fixing sole with improve the degree that personalizes of device.Consider people's gait characteristics, by bearing pin 19 connecting pin toe boards 20, consist of revolute pair at the front end of pedal 18.
For better observation and analysis partial structurtes of the present utility model, the spy has increased Fig. 2, Fig. 3, Fig. 4, Fig. 5.As shown in Figure 5, according to the human locomotion feature, between pedal 18 and toe plate 20, spring leaf 31 is housed.
Work process: during rehabilitation training, the Physical Therapist enters data in the control system, and helps patient to dress this device.When patient dresses this device, should dress in place, to adapt to different backs, waist, leg size and comfort level etc.The people is when walking, and control system is controlled the angle that rotate in each joint by the stroke of control cylinder thereby reach.When the stroke of cylinder 10, cylinder 27, cylinder 28 changes, just can drive the rehabilitation training that thigh overcoat 26 is realized 3 degree of freedom of hip joint by spherical pair.When the stroke of cylinder 12 changes, just can drive the rehabilitation training that shank overcoat 22 is realized 1 degree of freedom of knee joint by bearing pin 16.When the stroke of cylinder 17, cylinder 21 changes, just can drive the rehabilitation training that pedal 18 is realized 2 degree of freedom of ankle joint by spherical pair.In the during rehabilitation training, toe plate 20 is rotated along with the toe bending, and when toe stretched, toe plate 20 automatically restored to pedal 20 and remains on same plane under the effect of spring leaf 31.In training process, sensor meeting Real-time Collection patient's training kinematic parameter is among capture card is stored into computer, so that Physical Therapist's analyzing and training effect after the training is formulated follow-up training program.
Abovely in conjunction with most preferred embodiment this utility model is described, but this utility model is not limited to the embodiment of above announcement, and should contains various modification, equivalent combinations of carrying out according to essence of the present utility model.
Claims (6)
1. exoskeleton-wearable lower limbs rehabilitation training robot device, comprise left support frame, right support frame, fore-clamp back, rear folder back, thigh overcoat, shank overcoat, connecting plate, pedal, toe plate, cylinder, bearing pin, holding screw, bolt, spring leaf, it is characterized in that: fore-clamp back, rear folder back and thigh overcoat consist of the 3-RPS parallel institution, shank overcoat and pedal consist of the 2DOF spatial six-bar mechanism, and whole device is string and the hybrid mechanism that two parts is in series by the revolute pair between thigh overcoat and the shank overcoat.
2. exoskeleton-wearable lower limbs rehabilitation training robot device according to claim 1 is characterized in that: connect and adjusting by holding screw between left support frame and the right support frame.
3. exoskeleton-wearable lower limbs rehabilitation training robot device according to claim 1 is characterized in that: be connected and adjusting by holding screw between right support frame and the rear folder back.
4. exoskeleton-wearable lower limbs rehabilitation training robot device according to claim 1 is characterized in that: connect and adjusting by holding screw between fore-clamp back and the rear folder back.
5. exoskeleton-wearable lower limbs rehabilitation training robot device according to claim 1, it is characterized in that: be connected with bolt by connecting plate between thigh overcoat and the shank overcoat, regulate distance between thigh overcoat and the shank overcoat in the position on the connecting plate by changing bolt.
6. exoskeleton-wearable lower limbs rehabilitation training robot device according to claim 1 is characterized in that: be connected by bearing pin between pedal and the toe plate, and pedal and toe plate are equipped with spring leaf.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220243360 CN202682285U (en) | 2012-05-28 | 2012-05-28 | External skeleton wearable type lower limb rehabilitation training robot device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220243360 CN202682285U (en) | 2012-05-28 | 2012-05-28 | External skeleton wearable type lower limb rehabilitation training robot device |
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| CN202682285U true CN202682285U (en) | 2013-01-23 |
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| CN 201220243360 Expired - Fee Related CN202682285U (en) | 2012-05-28 | 2012-05-28 | External skeleton wearable type lower limb rehabilitation training robot device |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102670377A (en) * | 2012-05-28 | 2012-09-19 | 西华大学 | Exoskeleton wearable lower limb rehabilitation training robot device |
| WO2013106532A1 (en) * | 2012-01-11 | 2013-07-18 | Brown Garrett W | Load and torque resistant caliper exoskeleton |
| CN104027224A (en) * | 2014-06-27 | 2014-09-10 | 电子科技大学 | Elastic hip joint rotating device for exoskeleton robot |
| CN104042428A (en) * | 2014-06-27 | 2014-09-17 | 电子科技大学 | Adjusting device used for fixing lower limb exoskeleton robot and human body waist |
| CN104188675A (en) * | 2014-09-24 | 2014-12-10 | 哈尔滨工业大学 | Exoskeleton robot system with human motion detecting function and control method of robot system |
| CN104770994A (en) * | 2015-04-16 | 2015-07-15 | 苏州市博群生物科技有限公司 | Intelligent fitness office desk |
| CN105250113A (en) * | 2015-07-10 | 2016-01-20 | 哈尔滨天愈康复医疗机器人有限公司 | Six-degree of freedom wearable ankle rehabilitation medical robot |
| CN105726264A (en) * | 2016-04-25 | 2016-07-06 | 合肥工业大学 | Health training robot |
| CN105997421A (en) * | 2016-04-25 | 2016-10-12 | 合肥工业大学 | Rehabilitation and fitness training device with multiple freedom degrees |
| CN111150612A (en) * | 2020-02-17 | 2020-05-15 | 燕山大学 | Lower limb gait rehabilitation training vehicle based on parallel mechanism |
-
2012
- 2012-05-28 CN CN 201220243360 patent/CN202682285U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013106532A1 (en) * | 2012-01-11 | 2013-07-18 | Brown Garrett W | Load and torque resistant caliper exoskeleton |
| CN102670377A (en) * | 2012-05-28 | 2012-09-19 | 西华大学 | Exoskeleton wearable lower limb rehabilitation training robot device |
| CN104027224A (en) * | 2014-06-27 | 2014-09-10 | 电子科技大学 | Elastic hip joint rotating device for exoskeleton robot |
| CN104042428A (en) * | 2014-06-27 | 2014-09-17 | 电子科技大学 | Adjusting device used for fixing lower limb exoskeleton robot and human body waist |
| CN104188675B (en) * | 2014-09-24 | 2016-04-20 | 哈尔滨工业大学 | There is exoskeleton robot system and the control method of human motion measuring ability |
| CN104188675A (en) * | 2014-09-24 | 2014-12-10 | 哈尔滨工业大学 | Exoskeleton robot system with human motion detecting function and control method of robot system |
| CN104770994A (en) * | 2015-04-16 | 2015-07-15 | 苏州市博群生物科技有限公司 | Intelligent fitness office desk |
| CN105250113A (en) * | 2015-07-10 | 2016-01-20 | 哈尔滨天愈康复医疗机器人有限公司 | Six-degree of freedom wearable ankle rehabilitation medical robot |
| CN105250113B (en) * | 2015-07-10 | 2017-09-19 | 哈尔滨天愈康复医疗机器人有限公司 | A kind of wearable ankle rehabilitation medical robot of six degree of freedom |
| CN105726264A (en) * | 2016-04-25 | 2016-07-06 | 合肥工业大学 | Health training robot |
| CN105997421A (en) * | 2016-04-25 | 2016-10-12 | 合肥工业大学 | Rehabilitation and fitness training device with multiple freedom degrees |
| CN105726264B (en) * | 2016-04-25 | 2017-12-26 | 合肥工业大学 | A kind of healthy image training robot |
| CN111150612A (en) * | 2020-02-17 | 2020-05-15 | 燕山大学 | Lower limb gait rehabilitation training vehicle based on parallel mechanism |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130123 Termination date: 20130528 |