CN203379328U - Wearable pneumatic lower limb rehabilitation training mechanical device - Google Patents
Wearable pneumatic lower limb rehabilitation training mechanical device Download PDFInfo
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- CN203379328U CN203379328U CN201320293816.9U CN201320293816U CN203379328U CN 203379328 U CN203379328 U CN 203379328U CN 201320293816 U CN201320293816 U CN 201320293816U CN 203379328 U CN203379328 U CN 203379328U
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- thigh
- lower limb
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Abstract
The utility model discloses a wearable pneumatic lower limb rehabilitation training mechanical device. A pneumatic tendon is introduced, the wearable pneumatic lower limb rehabilitation training mechanical device is more energy-saving compared with other lower limb rehabilitation training equipment, the stability and smoothness of the system are improved, the secondary damage to a patient is greatly relieved, and the self weight of the equipment is reduced. Meanwhile, a detachable joint design is innovatively adopted, so the device can be conveniently worn and carried by the patient. A lower limb adjusting structure with quantitatively adjustable length is used, so the wearable pneumatic lower limb rehabilitation training mechanical device is suitable for the patients with different heights.
Description
Technical field
This utility model belongs to the lower limb rehabilitation device technical field, more specifically says, relates to a kind of wearable pneumatic lower limb rehabilitation training machinery.
Background technology
Along with social development, hemiplegic patient's life has obtained social common concern gradually, and they are also urgent all the more to the demand of rehabilitation training equipment; The lower limb rehabilitation training machinery, as a kind of plant equipment of rehabilitation, has obtained developing rapidly just under such background.
Like product in the market adopts that motor drives, hydraulic-driven mostly, above in both, and motor-driven shortcoming is to consume energy highlyer, and safety and stability is poor; And that hydraulically powered shortcoming is capacity usage ratio is lower, cause accumulator short cruising time, be unfavorable for outdoor exercise.It is above that both all have larger performance boost space.
In addition, the Wearable ectoskeleton of currently available technology has only designed rotary freedom or flexible degree of freedom at joint, can't accurately and neatly to lower limb exoskeleton length, be regulated, thereby be difficult to meet the patient of different body types; Meanwhile, existing lower limb rehabilitation training machinery frame for movement is fixed, and can't dismantle efficiently, and this has also caused the single of the inconvenience of carrying and training method.
On power supply mode, prior art adopts the single power supply of accumulator or exchanges the single power supply of battery, is difficult to be widely used in all kinds of rehabilitation training environment of indoor and outdoors.
The utility model content
It is existing not enough that the purpose of this utility model is to overcome, and a kind of wearable pneumatic lower limb rehabilitation training machinery is provided, and to solve, dresses and carry inconvenience and adjustability is poor and the higher problem of energy consumption, the compliance and the safety that further improve rehabilitation equipment.
For achieving the above object, the wearable pneumatic lower limb rehabilitation training machinery of this utility model comprises: Multifunctional equipment bag (1), hip joint (2), ears ring (4), large leg tendon (5), thigh ectoskeleton (3), tendon fixture (6), knee joint (10), shank drive tendon (8), shank ectoskeleton (11), balancing spring (13), ankle joint (14), pedal (15); Hip joint (2) top is Multifunctional equipment bag (1) fixedly, and the both sides front end is equipped with ears ring (4), and ears ring (4), for having large leg tendon (5) mount pad of certain rotary freedom, is connected with large leg tendon (5) upper end; Both sides front end ears rings (4) back is connected with thigh ectoskeleton (3) movable upper end, there is certain selection degree of freedom, the lower end of large leg tendon (5) and thigh ectoskeleton (3) bottom are flexibly connected, and have certain selection degree of freedom, the power that large leg tendon (5) provides thigh to rotate; Knee joint (10) provides 1 rotary freedom, connects thigh ectoskeleton (3) and shank ectoskeleton (11); Tendon fixture (6) is fixed on thigh ectoskeleton (3) top, and shank tendon (8) upper end is connected to thigh ectoskeleton (3) top by tendon fixture (6), realizes the control of shank tendon (8) to knee joint (10) angle of bend; Lower end is connected to shank ectoskeleton (11) top; Ankle joint (14) has rotary freedom, be flexibly connected the lower end with shank ectoskeleton (11), ankle joint (14) below connecting pin pedal (15), it is upper with shank ectoskeleton (11) that spring (13) one ends are fixed on pedal (15), the other end is fixing, for the balance rotating angle;
It is characterized in that:
Described large leg tendon (5), shank tendon (8) are pneumatic muscle;
The width of described hip joint (2) is adjustable, and the rotary freedom that simultaneously has a level is dressed with the patient who adapts to different body types;
Described thigh ectoskeleton (3) is adjusted large leg tendon lower end at thigh ectoskeleton (3) lower position by a Fast detachable unit (9); Thigh ectoskeleton (3) is adjusted length by another Fast detachable unit (7);
Shank ectoskeleton (11) is adjusted length by the 3rd Fast detachable unit (12).
The purpose of this utility model is achieved in that
The wearable pneumatic lower limb rehabilitation training machinery of this utility model, introduced pneumatic muscle, with respect to other lower limb rehabilitation training equipment, this utility model is energy efficient more, system stability and compliance have been improved, greatly alleviate the secondary injury to patient, and reduced the equipment own wt.Simultaneously adoption of innovation dismountable joint designs, facilitate the patient to dress and carry.The lower limb structure of having used length quantitatively to regulate, can be applicable to the patient of different heights.
The accompanying drawing explanation
Fig. 1 is a kind of specific embodiment structure chart of the wearable pneumatic lower limb rehabilitation training machinery of this utility model;
Fig. 2 is the Fast detachable unit structure chart shown in Fig. 1.
The specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present utility model is described, so that those skilled in the art understands this utility model better.Requiring particular attention is that, in the following description, when perhaps the detailed description of known function and design can desalinate main contents of the present utility model, these are described in here and will be left in the basket.
Fig. 1 is a kind of specific embodiment structure chart of the wearable pneumatic lower limb rehabilitation training machinery of this utility model.
In the present embodiment, as shown in Figure 1, on existing limbs rehabilitation training machinery basis, large leg tendon 5, shank tendon 8 adopt pneumatic muscle.
The width design of hip joint 2 is adjustable simultaneously, and the rotary freedom that simultaneously has a level is dressed with the patient who adapts to different body types.
Adjust large leg tendon lower end at thigh ectoskeleton 3 lower positions at thigh ectoskeleton 3 by a Fast detachable unit 9; Thigh ectoskeleton 3 is adjusted length by another Fast detachable unit 7, so just can regulate the length of patient's leg portion, simultaneously, shank ectoskeleton 11 is adjusted length by the 3rd Fast detachable unit 12, can adjust like this patient that the length of regulating patient's leg portion is applicable to differing heights.
Fig. 2 is the Fast detachable unit structure chart shown in Fig. 1.
Fast detachable unit innovation and application in this utility model, on pneumatic muscle two ends and thigh shank ectoskeleton, realizes quick-detachment and the simple and easy installation of healing robot.
Described large leg tendon and shank tendon all adopt pneumatic muscle, and this equipment has imitated human muscle's motion better, for patient's walking provides higher comfortableness and stability.Because pneumatic muscle is to be driven by air pressure, energy consumption is very low, can make finite energy maximize, and has increased flying power and the stability of system, has solved the high problem of energy consumption simultaneously.
Described mechanical bone length can be adjusted within the specific limits, and is carved with scale on skeleton, conveniently accurately adjusts, and meets the patient of different heights; System for use in carrying is pneumatic system, and pneumatic muscle provides adjustable driving force, is applicable to the patient under different heavy burden states.
In the present embodiment, hip joint 2, ears ring 4 and pneumatic muscle are that large leg tendon 5, shank tendon 8 two ends utilize Fast detachable unit to realize quick-detachment and simple and easy installation; Pneumatic muscle fixture 6 can move up and down along thigh bar, makes pneumatic muscle adapt to the thigh skeleton of different length; Thigh ectoskeleton and shank ectoskeleton can be realized folding by knee joint 10.Device after dismounting takes up room little, goes out easy to carry.
Described lower limb rehabilitation frame for movement has 220 volts of alternating currents and two kinds of modes of direct-flow storage battery to power, and can realize being switched according to the difference of rehabilitation training place and mode needs.Utilize storage battery power supply can help the patient to carry out outdoor rehabilitation training, more convenient, more practical.
Although the above is described the illustrative specific embodiment of this utility model; so that those skilled in the art understand this utility model; but should be clear; this utility model is not limited to the scope of the specific embodiment; to those skilled in the art; as long as various variations appended claim limit and the spirit and scope of the present utility model determined in; these variations are apparent, and all innovation and creation that utilize this utility model design are all at the row of protection.
Claims (1)
1. a wearable pneumatic lower limb rehabilitation training machinery, comprising: Multifunctional equipment bag (1), hip joint (2), ears ring (4), large leg tendon (5), thigh ectoskeleton (3), tendon fixture (6), knee joint (10), shank driving tendon (8), shank ectoskeleton (11), balancing spring (13), ankle joint (14), pedal (15); Hip joint (2) top is Multifunctional equipment bag (1) fixedly, and the both sides front end is equipped with ears ring (4), and ears ring (4), for having large leg tendon (5) mount pad of certain rotary freedom, is connected with large leg tendon (5) upper end; Both sides front end ears rings (4) back is connected with thigh ectoskeleton (3) movable upper end, there is certain selection degree of freedom, the lower end of large leg tendon (5) and thigh ectoskeleton (3) bottom are flexibly connected, and have certain selection degree of freedom, the power that large leg tendon (5) provides thigh to rotate; Knee joint (10) provides 1 rotary freedom, connects thigh ectoskeleton (3) and shank ectoskeleton (11); Tendon fixture (6) is fixed on thigh ectoskeleton (3) top, and shank tendon (8) upper end is connected to thigh ectoskeleton (3) top by tendon fixture (6), realizes the control of shank tendon (8) to knee joint (10) angle of bend; Lower end is connected to shank ectoskeleton (11) top; Ankle joint (14) has rotary freedom, be flexibly connected the lower end with shank ectoskeleton (11), ankle joint (14) below connecting pin pedal (15), it is upper with shank ectoskeleton (11) that spring (13) one ends are fixed on pedal (15), the other end is fixing, for the balance rotating angle;
It is characterized in that:
Described large leg tendon (5), shank tendon (8) are pneumatic muscle;
The width of described hip joint (2) is adjustable, and the rotary freedom that simultaneously has a level is dressed with the patient who adapts to different body types;
Described thigh ectoskeleton (3) is adjusted large leg tendon lower end at thigh ectoskeleton (3) lower position by a Fast detachable unit (9); Thigh ectoskeleton (3) is adjusted length by another Fast detachable unit (7);
Shank ectoskeleton (11) is adjusted length by the 3rd Fast detachable unit (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320293816.9U CN203379328U (en) | 2013-05-27 | 2013-05-27 | Wearable pneumatic lower limb rehabilitation training mechanical device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320293816.9U CN203379328U (en) | 2013-05-27 | 2013-05-27 | Wearable pneumatic lower limb rehabilitation training mechanical device |
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| CN203379328U true CN203379328U (en) | 2014-01-08 |
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| CN201320293816.9U Expired - Fee Related CN203379328U (en) | 2013-05-27 | 2013-05-27 | Wearable pneumatic lower limb rehabilitation training mechanical device |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103816027A (en) * | 2014-01-28 | 2014-05-28 | 浙江大学 | Simulated human lower limb on basis of pneumatic muscles |
| CN104274296A (en) * | 2014-09-03 | 2015-01-14 | 上海大学 | Wearable variable stiffness load reducing device |
| CN104440884A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Hip-length-adjustable laborsaving device for human lower-limb exoskeleton robot |
| CN104490563A (en) * | 2014-12-25 | 2015-04-08 | 电子科技大学 | Pneumatic muscle based intelligent wearable lower limb |
| CN104784016A (en) * | 2015-04-22 | 2015-07-22 | 余运波 | Portable movement power assisting device and control method thereof |
| CN104983542A (en) * | 2015-07-24 | 2015-10-21 | 天津科技大学 | Exoskeleton type auxiliary rehabilitation apparatus |
| CN105030487A (en) * | 2015-09-10 | 2015-11-11 | 哈尔滨工业大学 | Bionic flexible wearable lower limb exoskeleton clothes driven by pneumatic artificial muscle |
| CN105030486A (en) * | 2015-07-27 | 2015-11-11 | 燕山大学 | Walking-aiding exoskeleton power-free mechanical foot |
| CN106333826A (en) * | 2015-07-15 | 2017-01-18 | 上海理工大学 | Wearable ankle joint rehabilitation training machine |
| CN108312127A (en) * | 2017-01-18 | 2018-07-24 | 南京拓步智能科技有限公司 | A kind of linkage controlled suitable for humanoid robot joint freedom degrees with limitation |
| CN108354785A (en) * | 2017-12-27 | 2018-08-03 | 温州职业技术学院 | A kind of unpowered walking power-assisted flexible exoskeleton device |
| WO2019047898A1 (en) * | 2017-09-07 | 2019-03-14 | 袁博 | Exoskeleton |
| CN110638605A (en) * | 2019-09-09 | 2020-01-03 | 上海交通大学 | Rigid-soft integrated lower limb exoskeleton |
-
2013
- 2013-05-27 CN CN201320293816.9U patent/CN203379328U/en not_active Expired - Fee Related
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103816027A (en) * | 2014-01-28 | 2014-05-28 | 浙江大学 | Simulated human lower limb on basis of pneumatic muscles |
| CN104274296A (en) * | 2014-09-03 | 2015-01-14 | 上海大学 | Wearable variable stiffness load reducing device |
| CN104440884A (en) * | 2014-12-04 | 2015-03-25 | 电子科技大学 | Hip-length-adjustable laborsaving device for human lower-limb exoskeleton robot |
| CN104440884B (en) * | 2014-12-04 | 2015-10-28 | 电子科技大学 | A kind of hip adjustable length for human body lower limbs exoskeleton robot and work-saving device |
| CN104490563A (en) * | 2014-12-25 | 2015-04-08 | 电子科技大学 | Pneumatic muscle based intelligent wearable lower limb |
| CN104784016A (en) * | 2015-04-22 | 2015-07-22 | 余运波 | Portable movement power assisting device and control method thereof |
| CN106333826A (en) * | 2015-07-15 | 2017-01-18 | 上海理工大学 | Wearable ankle joint rehabilitation training machine |
| CN106333826B (en) * | 2015-07-15 | 2019-04-05 | 上海理工大学 | Wearable ankle joint rehabilitation training device |
| CN104983542B (en) * | 2015-07-24 | 2017-05-31 | 天津科技大学 | Exoskeleton-type rehabilitation servicing unit |
| CN104983542A (en) * | 2015-07-24 | 2015-10-21 | 天津科技大学 | Exoskeleton type auxiliary rehabilitation apparatus |
| CN105030486A (en) * | 2015-07-27 | 2015-11-11 | 燕山大学 | Walking-aiding exoskeleton power-free mechanical foot |
| CN105030487A (en) * | 2015-09-10 | 2015-11-11 | 哈尔滨工业大学 | Bionic flexible wearable lower limb exoskeleton clothes driven by pneumatic artificial muscle |
| CN108312127A (en) * | 2017-01-18 | 2018-07-24 | 南京拓步智能科技有限公司 | A kind of linkage controlled suitable for humanoid robot joint freedom degrees with limitation |
| CN110253540B (en) * | 2017-09-07 | 2022-05-17 | 重庆市牛迪科技发展有限公司 | Exoskeleton |
| WO2019047898A1 (en) * | 2017-09-07 | 2019-03-14 | 袁博 | Exoskeleton |
| CN110202542A (en) * | 2017-09-07 | 2019-09-06 | 重庆市牛迪科技发展有限公司 | A kind of ectoskeleton |
| US11730621B2 (en) | 2017-09-07 | 2023-08-22 | Bo Yuan | Exoskeleton |
| CN110253540A (en) * | 2017-09-07 | 2019-09-20 | 重庆市牛迪科技发展有限公司 | A kind of ectoskeleton |
| CN108354785A (en) * | 2017-12-27 | 2018-08-03 | 温州职业技术学院 | A kind of unpowered walking power-assisted flexible exoskeleton device |
| CN108354785B (en) * | 2017-12-27 | 2019-09-20 | 温州职业技术学院 | A kind of unpowered walking power-assisted flexible exoskeleton device |
| CN110638605A (en) * | 2019-09-09 | 2020-01-03 | 上海交通大学 | Rigid-soft integrated lower limb exoskeleton |
| CN110638605B (en) * | 2019-09-09 | 2024-03-22 | 上海交通大学 | Rigid and soft integrated lower limb exoskeleton |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140108 Termination date: 20160527 |