CN202751547U - Exoskeleton-shaped desk type lower-limb rehabilitation exercise machine - Google Patents

Exoskeleton-shaped desk type lower-limb rehabilitation exercise machine Download PDF

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Publication number
CN202751547U
CN202751547U CN 201220285291 CN201220285291U CN202751547U CN 202751547 U CN202751547 U CN 202751547U CN 201220285291 CN201220285291 CN 201220285291 CN 201220285291 U CN201220285291 U CN 201220285291U CN 202751547 U CN202751547 U CN 202751547U
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CN
China
Prior art keywords
pedipulator
rod
exoskeleton
exercise machine
column
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Application number
CN 201220285291
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Chinese (zh)
Inventor
杨式宁
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杨式宁
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Priority to CN 201220285291 priority Critical patent/CN202751547U/en
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Publication of CN202751547U publication Critical patent/CN202751547U/en

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Abstract

The utility model discloses an exoskeleton-shaped desk type lower-limb rehabilitation exercise machine which comprises a main body frame, a four-connecting-rod balancing disc, a load-reducing suspension mechanism, a walking desk and mechanical legs. A motor has a reverse driving function, driving force is sent to a patient having rehabilitation training from the rear end of the lower-limb rehabilitation exercise machine, and according to the exoskeleton-shaped desk type lower-limb rehabilitation exercise machine with a weight-balance structure and the spring type stress-lightening suspension mechanism, the patient is enabled not to bear any weight of the mechanical legs. Therefore, the defects that human legs cannot drive the mechanical legs to move reversely, heavy door-opening-and-closing operations are required, the weight, born by the patient, of the mechanical legs cannot be completely eliminated, and the requirements of patients in different weights and at different recovery degrees cannot be met fully are overcome.

Description

A kind of exoskeleton-type desktop rehabilitation exercise machine for lower limbs
Technical field
This utility model relates to medical instruments field, particularly relates to a kind of exoskeleton-type desktop rehabilitation exercise machine for lower limbs.
Background technology
Body weight support treadmill training (partial body weight support training, PBWST) is the recovery training method that occurs in the later stage eighties 20th century.Switzerland HOCOMA medical apparatus corporation, Ltd and Zurich, Switzerland Balgrist medical college rehabilitation center cooperate to succeed in developing in 1999 LOKOMAT body weight support treadmill training healing robot.
Existing Unweighting walking rehabilitation training equipment has following weak point: 1) trainer is admitted to from the exercise equipment front portion, needs the operation of heavy switch gate; 2) the heavy and manufacturing complexity of existing balance weight mechanism can not be eliminated the weight that the trainer bears pedipulator fully; 3) body weight Reduction of Students' Study Load device can not flexible, can not adapt to different weight and the different trainer of recovery extent fully.In order to address this problem, to the utility model proposes and adopt motor direct-drive, send into the trainer from the exercise equipment rear portion, make the trainer not bear the balanced structure of a bit weight of pedipulator and the exoskeleton-type desktop rehabilitation exercise machine for lower limbs of spring Reduction of Students' Study Load suspension gear.
Summary of the invention
The purpose of this utility model is to overcome above-mentioned defective of the prior art, and a kind of have reverse drive, easy and simple to handle, the exoskeleton-type desktop rehabilitation exercise machine for lower limbs that makes the trainer not bear a bit weight of pedipulator and adapt to different trainers are provided.
For achieving the above object, the technical solution of the utility model provides a kind of exoskeleton-type desktop rehabilitation exercise machine for lower limbs, comprising: main body frame, four connecting rod balancing frames, Reduction of Students' Study Load suspension gear, walking platform and pedipulator; Wherein, main body frame comprise the chassis, be installed in column on the chassis, be fixed on the bend pipe on the column end face and be installed in column and bend pipe on leading block; The Reduction of Students' Study Load suspension gear comprises the casing that is installed on the main body frame chassis, tension spring is arranged in the column, the two ends of spring all are connected with suspension rope, the suspension rope of one end is walked around fixed pulley and movable pulley and is connected to casing by pulling force sensor, the suspension rope of the other end is connected with suspension rod, seat belt is equipped with in the suspension rod bottom, data according to pulling force sensor, the position of electric pushrod control movable pulley, thus the height of the length of control suspension rope and pull strength and then adjusting seat belt reaches the Reduction of Students' Study Load amount to the trainer; Four connecting rod balancing frames comprise axis, four link assemblies, pedipulator connecting rod, differential assembly, four connecting rod balancing frames are installed on the column by copper sheathing and positioning sleeve, pedipulator connecting rod one end is socketed on four link assemblies, the other end is used for installing pedipulator, the differential assembly drive motors drives differential assembly, thereby drive the ball-screw at differential assembly two ends, to regulate the width between the pedipulator; Pedipulator comprises thigh, shank, gaiter assembly, connects knee joint, hip joint electric machine assembly and the knee joint electric machine assembly of thigh and shank, can drive the trainer by electric machine assembly and swing, and also can carry out reverse drive by trainer's driving mechanical lower limb.
Wherein, described main body frame further comprises: be installed in parallel bars, trim and walking platform cradle on the chassis, be installed in the control chamber on the column, be used for the back shroud of sealing column.
Wherein, described four connecting rod balancing frames also comprise: predetermination bit slice and rear spacer, the pedipulator connecting rod is installed in linear bearing, linear bearing sheath and linear bearing backplate on the four connecting rod balancing frames, ballast box is installed on the rear axle, rolling bearing all is installed on the angle of four connecting rod balancing frames.
Wherein, described pedipulator also comprises: the adjustment hole, adjusting knob and the length display window that are used for regulating pedipulator length.
Wherein, the traveling speed of described walking platform is consistent with the traveling speed of pedipulator, all controls by control chamber.
Description of drawings
Fig. 1 is the front view of a kind of exoskeleton-type desktop rehabilitation exercise machine for lower limbs of this utility model embodiment;
Fig. 2 A is the front view of a kind of main body frame of this utility model embodiment;
Fig. 2 B is the top view of a kind of main body frame of this utility model embodiment;
Fig. 3 A is the front view of a kind of four connecting rod balancing frames of this utility model embodiment;
Fig. 3 B is the side view of a kind of four connecting rod balancing frames of this utility model embodiment;
Fig. 3 C is the top view of a kind of four connecting rod balancing frames of this utility model embodiment;
Fig. 4 is the sketch map of a kind of suspension gear of lightening the burden of this utility model embodiment;
Fig. 5 A is the side view of a kind of walking platform of this utility model embodiment;
Fig. 5 B is the top view of a kind of walking platform of this utility model embodiment;
Fig. 6 A is the side view of a kind of pedipulator of this utility model embodiment;
Fig. 6 B is the front view of a kind of pedipulator of this utility model embodiment;
Fig. 6 C is the sketch map of gaiter assembly of a kind of pedipulator of this utility model embodiment;
Fig. 6 D is the sketch map of electric machine assembly of a kind of pedipulator of this utility model embodiment;
Wherein: 101, main body frame; 102, four connecting rod balancing frames; 103, Reduction of Students' Study Load suspension gear; 104, walking platform; 105, pedipulator; 201, leading block one; 202, leading block two; 203, bend pipe; 204, column; 205, leading block three; 206, back shroud; 207, control chamber; 208, trim; 209, chassis; 210, walking platform cradle; 211, parallel bars; 301, pedipulator connecting rod; 302, predetermination bit slice; 303, connecting rod; 304, rear spacer; 305, linear bearing backplate; 306, linear bearing sheath; 307, linear bearing; 308, ball-screw; 309, rear axle; 310, axis; 311, differential assembly pallet; 312, differential assembly drive motors; 313, differential assembly pallet fixture; 314, differential assembly; 315, pedipulator connecting axle; 316, rolling bearing; 317, copper sheathing; 318, positioning sleeve; 401, casing; 402, electric pushrod; 403, electric pushrod fairlead; 404, electric pushrod guide rail; 405, movable pulley; 406, fixed pulley; 407, pulling force sensor; 408, movable pulley fairlead; 409, movable pulley fairlead track; 410, commutation zone; 411, reverse wheel; 412, casing fixture; 413, suspension rope; 414, suspension rod; 415, seat belt; 416, tension spring; 501, walking band; 502, walking plate; 503, vibration isolation rubber plate; 504, Timing Belt tensile force adjusting rod; 505, driving shaft; 506, support body; 507, support body fixing hole; 508, motor support bar fixture; 509, motor support bar; 510, Timing Belt; 511, active bearings carriage; 512, position adjustments baffle plate; 513, walking plate support bar; 514, walking plate support bar fixing hole; 515, driven shaft; 516, driven shaft gathering sill; 517, driven shaft adjusting bolt; 601, ankle section gaiter assembly; 602, shank bottom; 603, shank top; 604, calf gaiter assembly; 605, sufficient elevation angle suspender belt; 606, knee joint coupling assembling; 607, lower leg and thigh; 608, thigh top; 609, huckle gaiter assembly; 610, hip joint bearing; 611, hip joint electric machine assembly; 612, thigh length display window; 613, thigh length adjusting knob; 614, lower leg and thigh adjustment hole; 615, shank motor fixture; 616, shank electric machine assembly; 617, shank length display window; 618, shank length adjusting knob; 619, shank lower fixture; 620, lower leg and thigh fixture.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present utility model is described in further detail.Following examples are used for explanation this utility model, but are not used for limiting scope of the present utility model.
With reference to shown in Figure 1, exoskeleton-type desktop rehabilitation exercise machine for lower limbs of the present utility model mainly comprises main body frame 101, four connecting rod balancing frames 102, Reduction of Students' Study Load suspension gear 103, walking platform 104 and pedipulator 105.In use, the trainer is pushed into by transfer car(buggy) under the suspension rod of exerciser, extends the length of suspension rope and seat belt is strapped in trainer's upper body, tightens up suspension rope and the trainer is promoted to proper height.Pedipulator 105 is fixed on trainer's the thigh and shank, driven by motor walking band by walking platform 104 carries out walking rehabilitation training, perhaps after returning to a certain degree, do not need pedipulator to drive, the oppositely direct driving mechanical lower limb of people's lower limb is trained on the walking band.
Trainer's health supports position and the balance of adjusting health by suspension rope and parallel bars fully, does not need the support component of back and buttocks.In addition, transfer car(buggy) directly is pushed into the trainer on the exercise equipment, does not need the operation of traditional switch gate, so, easy and simple to handle.
Shown in figure 2A-2B, main body frame 101 is used for installing other all component of exoskeleton-type desktop rehabilitation exercise machine for lower limbs.Wherein, parallel bars 211 are installed on the chassis 209, are used for supporting the trainer to keep one's balance.Column 204 adopts hollow tubular products, is installed on the chassis 209, is formed with opening on the column 204, and back shroud 206 is formed on opening on the column 204 in order to sealing.Control chamber 207 is installed on the column, also is provided with trim 208 on the chassis 209.Bend pipe 203 is fixed on column 204 end faces.Leading block 1 and leading block 2 202 are installed on the bend pipe 203, and leading block 3 205 is fixed on column 204 inboards.In addition, also be provided with walking platform cradle 210 on the chassis 209 so that the walking platform to be installed.
Shown in figure 3A-3C, four connecting rod balancing frames 102 are made of two-layer parallel rectangular disk up and down, every one deck rectangular disk is made of four connecting rods 303, about two-layer rectangular disk is passed through two predetermination bit slices 302 be connected that spacer 304 vertically connects after two, also be provided with rolling bearing 316 between connecting rod and the spacer, so that four connecting rod balancing frames keep the parallel of rectangular disk up and down when pedipulator moves.Four connecting rod balancing frames 102 are mounted on the column 204 by axis 310 sockets that are arranged on its central axis, axis 310 is fixed on the connecting rod of side by copper sheathing 317 and positioning sleeve 318, one end of two pedipulator connecting rods 301 is by linear bearing backplate 305, linear bearing sheath 306 and linear bearing 307 are installed on the front axle of four connecting rod balancing frames 102, the other end is used for that by pedipulator connecting axle 315 two pedipulators are installed and difference can be along the front axle move left and right of four connecting rod balancing frames 102, differential assembly 314 is installed on the front axle of four connecting rod balancing frames by differential assembly pallet fixture 313 and differential assembly pallet 311, differential assembly drive motors 312 drives differential assemblies 314 driving the ball-screw 308 of differential assembly 314 both sides, thereby makes the pedipulator connecting rod can be respectively along the front axle move left and right.Be provided with ballast box on the rear axle 309, be used for regulating the balance of pedipulator connecting rod 301, make the trainer not bear a bit weight of pedipulator.
With reference to shown in Figure 4, Reduction of Students' Study Load suspension gear 103 comprises by casing fixture 412 and is installed in casing 401 on the main body frame chassis 209, be provided with electric pushrod 402 and electric pushrod fairlead 403 in the casing 401, one end of electric pushrod 402 is fixed on a side of casing, and opposite side is connected to reverse wheel 411.Fixed pulley 408 is installed on the casing 401, and the suspension rope 413 that the both sides of tension spring 416 all are equipped with suspension rope 413, one sides is walked around fixed pulley 408 and movable pulley 405 are connected to casing by pulling force sensor 407 opposite side.Reverse wheel 411 is connected with movable pulley by commutation zone 410 connections, data according to pulling force sensor 407, control chamber is so that electric pushrod 402 drives electric pushrod fairlead 403 along electric pushrod fairlead track 404 move left and right, thereby drive movable pulley fairlead 408 along movable pulley fairlead track 409 move left and right by reverse wheel 411 and commutation zone 410, but and then also move left and right of movable pulley 405, thereby regulate the pulling force of tension spring 416, adjust the Reduction of Students' Study Load amount of Reduction of Students' Study Load suspension gear.The suspension rope 413 of opposite side by in the column 204 and the leading block on the bend pipe 203 finally link to each other with suspension rod 414, suspension rod 414 safety harness 415, seat belt 415 is strapped in it the trainer, when training the trainer is not born or partly bears body wt.
Shown in figure 5A-5B, walking platform 104 comprises a rectangle support body 506, is fixed on the walking platform cradle by support body fixing hole 507.Driving shaft 505 is arranged on the active bearings carriage 511, active bearings carriage 511 and driven shaft gathering sill 516 separated by a distance being fixed on the support body 506, driven shaft 515 is installed in the driven shaft gathering sill 516, and can regulate driven shaft 515 by driven shaft adjusting bolt 517 and move along driven shaft gathering sill 516, thereby can be according to the length adjustment driven shaft 515 of walking band 501 and the distance between the driving shaft 505.Motor is installed on the support body 506 by motor support bar 509, motor support bar fixture 508, motor drives driving shaft 505 by Timing Belt 510, Timing Belt tension link 504 and position adjustments baffle plate 512 can be regulated the tension force of Timing Belt 510, and driving shaft 505 drives 501 motions of walking band.A plurality of walking plate support bars 513 are fixed on the support body 506 by walking plate support bar fixing hole 514, walking plate 502 is installed on the walking plate support bar 513, vibration isolation rubber plate 503 is installed on the walking plate 502, and walking band 501 arranges around driving shaft 505 and driven shaft 515.The traveling speed of control chamber control pedipulator and walking band is consistent its traveling speed, avoids the trainer to fall.
Shown in figure 6A-6B, pedipulator 105 is installed on the pedipulator connecting rod of four connecting rod balancing frames 102 by hip joint bearing 610, be divided into huckle and calf, huckle and calf are made of the thigh top 608 that mutually connects together, lower leg and thigh 607, shank top 603 and shank bottom 602 respectively, the upper end on thigh top 608 is connected to the hip joint bearing, and the upper end on the lower end of lower leg and thigh 607 and shank top 603 is connected by knee joint coupling assembling 606.The lower end on thigh top 608 and shank top 603 is respectively arranged with huckle gaiter assembly 609 and calf gaiter assembly 604, be used for pedipulator is fixed to trainer's thigh and shank, the bottom of shank bottom 602 is provided with ankle section gaiter assembly 601, is used for pedipulator is fixed to trainer's ankle section.Thigh top 608 and shank top 603 are respectively arranged with lower leg and thigh adjustment hole 614 and shank bottom adjustment hole, when thigh and shank need to be regulated length according to trainer's height, demonstration according to thigh length display window 612 and shank length display window 617, unclamp thigh length adjusting knob 613 or shank length adjusting knob 618, make lower leg and thigh 607 or shank bottom 602 on thigh top 608 or shank top 603 interior stretching, when being adjusted to suitable length, tightening thigh length adjusting knob 613 or shank length adjusting knob 618 thigh and shank length are no longer changed.Hip joint electric machine assembly 611 and shank electric machine assembly 616 are installed to respectively the upper end on thigh top 608 and shank top 603 by hip joint motor fixture and shank motor fixture 615, the rotation of driven by motor small synchronous pulley, drive large synchronous pulley by Timing Belt, band moving sleeve and ball-screw nut rotation make ball-screw realize that straight reciprocating motion is to drive the motion of thigh and shank.Foot elevation angle suspender belt 605 is installed in shank top 603, in order to adjust the elevation angle of trainer's foot, protection trainer ankle.In addition, with reference to accompanying drawing 6C-6D, pressing plate and locking that the gaiter assembly comprises L-type side's rod and is installed in rod both sides, L-type side are turned round, and one is used for the gaiter assembly is fixed on pedipulator, and another is used for installing gaiter plate and gaiter band.Wherein, also the ankle boundary belt can be installed on the calf gaiter assembly, preserve from the ankle of protecting the trainer.One end of hip joint electric machine assembly is fixed on the pedipulator connecting rod 301, and the other end is fixed in thigh top 608.
Core idea of the present utility model is that the trainer sends into from the rear portion of exercise equipment, need not the trainer is turned to, and does not also have loaded down with trivial details switch gate operation, and is therefore, easy and simple to handle; Motor has reverse drive, protects to greatest extent the trainer; Ballast box makes the trainer not bear a bit weight of pedipulator; The Reduction of Students' Study Load suspension gear can be realized the step-less adjustment of Reduction of Students' Study Load amount, adapts to different trainers' Unweighting walking rehabilitation training.
Although be shown specifically and illustrated this utility model with reference to exemplary embodiment, it will be understood by those skilled in the art that and under the prerequisite that does not deviate from spirit and scope of the present utility model, on form and details, to make various changes to this utility model.

Claims (5)

1. an exoskeleton-type desktop rehabilitation exercise machine for lower limbs comprises: main body frame, four connecting rod balancing frames, Reduction of Students' Study Load suspension gear, walking platform and pedipulator; Wherein, main body frame comprise the chassis, be installed in column on the chassis, be fixed on the bend pipe on the column end face and be installed in column and bend pipe on leading block; The Reduction of Students' Study Load suspension gear comprises the casing that is installed on the main body frame chassis, tension spring is arranged in the column, the two ends of spring all are connected with suspension rope, the suspension rope of one end is walked around fixed pulley and movable pulley and is connected to casing by pulling force sensor, the suspension rope of the other end is connected with suspension rod, seat belt is equipped with in the suspension rod bottom, data according to pulling force sensor, the position of electric pushrod control movable pulley, thus the height of the length of control suspension rope and pull strength and then adjusting seat belt reaches the Reduction of Students' Study Load amount to the trainer; Four connecting rod balancing frames comprise axis, four link assemblies, pedipulator connecting rod, differential assembly, four connecting rod balancing frames are installed on the column by copper sheathing and positioning sleeve, pedipulator connecting rod one end is socketed on four link assemblies, the other end is used for installing pedipulator, the differential assembly drive motors drives differential assembly, thereby drive the ball-screw at differential assembly two ends, to regulate the width between the pedipulator; Pedipulator comprises thigh, shank, gaiter assembly, connects knee joint, hip joint electric machine assembly and the knee joint electric machine assembly of thigh and shank, can drive the trainer by electric machine assembly and swing, and also can carry out reverse drive by trainer's driving mechanical lower limb.
2. exoskeleton-type desktop rehabilitation exercise machine for lower limbs according to claim 1, described main body frame further comprises: be installed in parallel bars, trim and walking platform cradle on the chassis, be installed in the control chamber on the column, be used for the back shroud of sealing column.
3. exoskeleton-type desktop rehabilitation exercise machine for lower limbs according to claim 2, described four connecting rod balancing frames also comprise: predetermination bit slice and rear spacer, the pedipulator connecting rod is installed in linear bearing, linear bearing sheath and linear bearing backplate on the four connecting rod balancing frames, ballast box is installed on the rear axle, rolling bearing all is installed on the angle of four connecting rod balancing frames.
4. exoskeleton-type desktop rehabilitation exercise machine for lower limbs according to claim 3, described pedipulator also comprises: the adjustment hole, adjusting knob and the length display window that are used for regulating pedipulator length.
5. exoskeleton-type desktop rehabilitation exercise machine for lower limbs according to claim 4, the traveling speed of described walking platform is consistent with the traveling speed of pedipulator, all controls by control chamber.
CN 201220285291 2012-06-18 2012-06-18 Exoskeleton-shaped desk type lower-limb rehabilitation exercise machine CN202751547U (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103505339A (en) * 2012-06-18 2014-01-15 杨式宁 External skeleton desk type lower limb recovery training machine
CN104274299A (en) * 2014-06-05 2015-01-14 长春工业大学 Lower limb rehabilitation training device
CN104606028A (en) * 2015-02-10 2015-05-13 吉林大学 Arm type lower limb exercise rehabilitation training robot
CN106236511A (en) * 2016-08-31 2016-12-21 漫步者(天津)康复设备有限公司 Loss of weight gait image training robot
CN106344349A (en) * 2016-10-13 2017-01-25 上海健康医学院 Crus driving type lower limb rehabilitation training device
CN109846641A (en) * 2019-01-23 2019-06-07 广西大学 A kind of recovery robot by training paces loss of weight fixed mechanism

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103505339A (en) * 2012-06-18 2014-01-15 杨式宁 External skeleton desk type lower limb recovery training machine
CN104274299A (en) * 2014-06-05 2015-01-14 长春工业大学 Lower limb rehabilitation training device
CN104606028A (en) * 2015-02-10 2015-05-13 吉林大学 Arm type lower limb exercise rehabilitation training robot
CN104606028B (en) * 2015-02-10 2016-05-25 吉林大学 Arm-type lower extremity movement rehabilitation image training robot
CN106236511A (en) * 2016-08-31 2016-12-21 漫步者(天津)康复设备有限公司 Loss of weight gait image training robot
CN106236511B (en) * 2016-08-31 2019-03-01 漫步者(天津)康复设备有限公司 Loss of weight gait image training robot
CN106344349A (en) * 2016-10-13 2017-01-25 上海健康医学院 Crus driving type lower limb rehabilitation training device
CN106344349B (en) * 2016-10-13 2018-08-24 上海健康医学院 The driving lower limb rehabilitation training device of shank
CN109846641A (en) * 2019-01-23 2019-06-07 广西大学 A kind of recovery robot by training paces loss of weight fixed mechanism

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Granted publication date: 20130227

Termination date: 20180618