CN203724422U - Six-degree-of-freedom leg rehabilitation training robot - Google Patents
Six-degree-of-freedom leg rehabilitation training robot Download PDFInfo
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- CN203724422U CN203724422U CN201420102789.7U CN201420102789U CN203724422U CN 203724422 U CN203724422 U CN 203724422U CN 201420102789 U CN201420102789 U CN 201420102789U CN 203724422 U CN203724422 U CN 203724422U
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- servomotor
- turning joint
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Abstract
The utility model relates to a rehabilitation training robot, in particular to a six-degree-of-freedom leg rehabilitation training robot. The six-degree-of-freedom leg rehabilitation training robot comprises a frame, servo motors, three movement branch chains and a training pedal, wherein the movement branch chains are connected with the servo motor via a Hooke articulated mechanism, a first servo motor is connected with a third rotating chain in the Hooke articulated mechanism, the third rotating chain is connected with a second rotating chain via a second connection rod, the second rotating chain is connected with a first rotating chain via a first connection rod, a second servo motor is connected with a U-shaped piece in the Hooke articulated mechanism, axes of the first rotating chain and the third rotating chain are perpendicular to each other and conplanar, axes of the second rotating chain and the second servo motor are perpendicular to each other and conplanar, and axes of the second servo motor and first servo motor are vertically arranged. Compared with the prior art, the six-degree-of-freedom leg rehabilitation training robot has the advantages that rotating and moving in X, Y and Z directions can be realized, and a leg organism of a patient can be recovered by passive rehabilitation training.
Description
Technical field
This utility model relates to a kind of recovery exercising robot, particularly a kind of six degree of freedom shank recovery exercising robot.
Background technology
The patient of the shank paralysis causing along with aged tendency of population and by disease and disaster etc. increases, and theory of medicine proves, patient not only needs early stage operative treatment and Drug therapy, and rehabilitation training science, correct has and important and not replaceable effect for the motor function of recovering shank joint.Six degree of freedom shank recovery exercising robot, carries out rehabilitation training at hemiplegic patient's initial stage, can effectively prevent arthrogryposis, maintains the mobility in joint, improves the rehabilitation degree of patient's shank joint motions function, realizes early the recovery of shank joint function.
Being directed at present the rehabilitation institution of shank joint rehabilitation training, is mainly the rehabilitation training of knee joint and ankle joint, and its rehabilitation training activities scope is little, only has the patient of little part to be treated fully.And from motion principle, the shank joint of human body can be considered a joint motions unit with six-freedom degree, therefore, in order to realize fully and effectively the passive rehabilitation training of shank, shank recovery exercising robot should have six motor capacitys freely, can realize the comprehensive rehabilitation of shank.
In sum, existing leg rehabilitation device device people exists the activity space of rehabilitation training little, and mechanism's complexity is expensive, the problems such as manufacturing cost height.
Utility model content
The purpose of this utility model is to provide a kind of six degree of freedom shank recovery exercising robot that can reach the required space of shank.
This utility model adopts following technical scheme:
A kind of six degree of freedom shank recovery exercising robot, comprise frame, servomotor, three movement branched chain, training pedal, movement branched chain is connected with servomotor by hook hinge mechanism, the first servomotor is connected with the 3rd turning joint in hook hinge mechanism, the 3rd turning joint is connected with the second turning joint by second connecting rod, the second turning joint is connected with the first turning joint by first connecting rod, and the second servomotor is connected with the U-shaped part in hook hinge mechanism; The axis of the first turning joint and the 3rd turning joint is mutually vertical and coplanar, and the axis of the second turning joint is mutually vertical and coplanar with the axis of the second servomotor; The axis of the second servomotor and the first servomotor arranges in vertical state.
Adopt this utility model of technique scheme compared with prior art, can realize rotation and the movement of X, Y, Z-direction, by the rehabilitation training of passivity, patient's shank human body is restored, and this leg training robot has advantage simple in structure, with low cost.
This utility model adopts following technical scheme:
The 3rd turning joint is connected with the first servomotor by drive mechanism, and the first servomotor is arranged on the below of frame.
The first servomotor is connected with frame with the second motor mount by the first motor mount respectively with the second servomotor.
The first movement branched chain in movement branched chain is identical with the structure of the second movement branched chain, in in the first movement branched chain first, the upper end of connecting rod connects ball pivot, on first, the lower end of connecting rod is connected with one end of the first lower link by the 4th turning joint, and the other end of the first lower link is connected with the hook hinge bearing in hook hinge mechanism by the 5th turning joint.
The 3rd movement branched chain in movement branched chain is connected with connecting plate by lower spherical hinge, lower spherical hinge is connected with one end of connecting rod on second, on second, connecting rod is connected with the second lower link by mobile hinge, the lower end of the second lower link is connected with the 6th turning joint, and the 6th turning joint props up rocker bar bearing with the tiger in hook hinge mechanism and is connected.
The second servomotor and the first servomotor are set to respectively three, and three servomotor threes' pivot center intersects and be equilateral triangle structure; Three servomotor threes' pivot center intersects at a point.
U-shaped part in hook hinge mechanism is connected with the second servomotor by shaft coupling, and U-shaped fork is connected with hook hinge bearing by the 7th turning joint.
The 3rd turning joint is connected with the first rotating shaft in drive mechanism, and large belt wheel is housed in the first rotating shaft, and large belt wheel is connected with small pulley by belt, and small pulley is connected with the first servomotor by the first shaft coupling.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation of hook hinge bearing.
Fig. 3 is the structural representation of the first movement branched chain.
Fig. 4 is the structural representation of the 3rd movement branched chain.
Fig. 5 is the structural representation of training pedal.
Detailed description of the invention
Below in conjunction with drawings and Examples in detail this utility model is described in detail:
A kind of six degree of freedom shank recovery exercising robot, referring to accompanying drawing 1 to accompanying drawing 5, in figure: frame 1, bearing 101, the first movement branched chain 2, the second movement branched chain 3, training pedal 4, the 3rd movement branched chain 5, the first servomotor 6, the first shaft coupling 7, the first motor mount 8, hook hinge mechanism 9, drive mechanism 10, the second servomotor 11, the second shaft coupling 12, the second motor mount 13, ball pivot 14, connecting rod 15 on first, the 4th turning joint 16, the first lower link 17, the 5th turning joint 18, lower spherical hinge 19, connecting rod 20 on second, mobile hinge 21, the second lower link 22, the 6th turning joint 23, the 7th turning joint 24, U-shaped part 25, hook hinge bearing 26, the 3rd turning joint 28, second connecting rod 29, large belt wheel 30, the first rotating shaft 31, belt 32, small pulley 33, the second rotating shaft 34, first connecting rod 35, the first turning joint 36, the second turning joint 37, sole fixture 38, connecting plate 39.
In the present embodiment, the main body of frame 1 is equilateral triangle structure, on three angles of main body, is provided with bearing 101 straight up, and the rotating shaft 31 in drive mechanism 10 is placed on bearing 101.
Three hook hinge mechanisms are housed in frame 1, and the center of rotation of three hook hinge mechanisms is positioned on same circumference and is interval 120 degree (center of rotation of three hook hinge mechanisms is equilateral triangle and distributes) is set.U-shaped part 25 in hook hinge mechanism 9 is connected by the second shaft coupling 12 with the second servomotor 11.
Movement branched chain is connected with servomotor by hook hinge mechanism 9, and hook hinge mechanism 9 is made up of U-shaped part 25, first connecting rod 35, second connecting rod 29, hook hinge bearing 26 etc.; The first servomotor 6 is connected with the 3rd turning joint 28 in hook hinge mechanism 9, the 3rd turning joint 28 is connected with the second turning joint 37 by second connecting rod 29, the second turning joint 37 is connected with the first turning joint 36 by first connecting rod 29, and the first turning joint 36 is connected with hook hinge bearing 26.
Hook hinge bearing 26 in hook hinge mechanism 9 is connected by the 7th turning joint 24 with U-shaped part 25, and U-shaped fork 25 is fixedly connected with servomotor 11 by shaft coupling 12.
The first turning joint 36 and both axis of the 3rd turning joint 28 are mutually vertical and be positioned in same level, and the axis of the axis of the second turning joint 37 and the second servomotor 11 is mutual vertical and be positioned on same vertical; The second servomotor 11 and both axis of the first servomotor 6 arrange in vertical state.
Large belt wheel 30 in the second rotating shaft 34 in drive mechanism 10 is connected with small pulley 33 by belt 32, and small pulley 33 is connected with the first servomotor 6 by the first shaft coupling 7.The first servomotor 6 is arranged on the below of frame 1 by the first motor mount 8.
The second servomotor 11 is arranged on the top of frame 1 by the second motor mount 13.By motor mount, servomotor is connected with frame 1, can greatly reduces due to the servomotor inertial impact force causing that moves, this mounting means makes servomotor have good controllability.
The first movement branched chain 2 in movement branched chain is identical with the structure of the second movement branched chain 3, and in first in the first movement branched chain 2, the upper end of connecting rod 15 connects ball pivot 14, and ball pivot 14 is connected with connecting plate 39.On first, the lower end of connecting rod 15 is connected with one end of the first lower link 17 by the 4th turning joint 16, and the other end of the first lower link 17 is connected with the hook hinge bearing 26 in hook hinge mechanism 9 by the 5th turning joint 18; The axis of the 4th turning joint 16 parallels with the axis of the second servomotor 11.The second movement branched chain 2 parallels with the axis of the servomotor that is connected separately respectively with the turning joint in the 3rd movement branched chain 3.
One end of the 3rd movement branched chain 5 is connected with connecting plate 39 by lower spherical hinge 19.Lower spherical hinge 19 and two spherical hinges 14, three's line is equilateral triangle structure.Training pedal 4 is housed on connecting plate 39, training pedal 4 is made according to the leg structure feature of human body, on training pedal 4, sole fixture 38 is housed, sole fixture 38 is fixed on rehabilitation clients's foot in the machine, thereby drives rehabilitation to carry out rehabilitation training by training sole.
Lower spherical hinge 19 is fixedly connected with one end of connecting rod on second 20, on second, connecting rod 20 is connected with the second lower link 22 by mobile hinge 21, the lower end of the second lower link 22 is connected with the 6th turning joint 23, and the 6th turning joint 23 props up rocker bar bearing 26 with the tiger in hook hinge mechanism 9 and is connected; The horizontal plane that on second, both moving sets axis of forming of connecting rod 20 and the second lower link 21 form perpendicular to the second turning joint 28 and the first turning joint 36.
The second servomotor 11 and the first servomotor 6 are set to respectively three, and three the second servomotor 11 threes' pivot center intersects and be equilateral triangle structure; Three the first servomotor 6 threes' pivot center intersects at a point.This mounting means makes the motion of member in leg rehabilitation device device people not be subject to the interference of servomotor.
The machine shaft of the first servomotor 6 connects firmly the second rotating shaft 34 of small pulley 33 by the first shaft coupling 7, small pulley 33 drives the first rotating shaft 31 of large belt wheel 30 to move, the first rotating shaft 31 of large belt wheel 30 drives first connecting rod 29 to move by the 3rd turning joint 28, first connecting rod 29 drives second connecting rod 35 to move by the second turning joint 37, reaches the effect of transferring power thereby second connecting rod 35 drives hook hinge bearing 26 to move by the first turning joint 36.
The present embodiment can be realized around the attitude of X, Y, Z axis and rotating and along the movement of X, Y, Z axis, the multiple degrees of freedom compound movement of real simulation human body shank, helps patient better to carry out lower limb rehabilitation training.
Every movement branched chain drives the motion of hook hinge winding machine under the combined effect of two servomotors, so just can pass through the rehabilitation training requirement of six servomotor implementation space six degree of freedoms.Each servomotor is controlled by encoder, the sensor electronic component of control centre respectively.
Claims (8)
1. a six degree of freedom shank recovery exercising robot, comprise frame, servomotor, three movement branched chain, training pedal, it is characterized in that: movement branched chain is connected with servomotor by hook hinge mechanism, the first servomotor is connected with the 3rd turning joint in hook hinge mechanism, the 3rd turning joint is connected with the second turning joint by second connecting rod, the second turning joint is connected with the first turning joint by first connecting rod, and the second servomotor is connected with the U-shaped part in hook hinge mechanism; The axis of the first turning joint and the 3rd turning joint is mutually vertical and coplanar, and the axis of the second turning joint is mutually vertical and coplanar with the axis of the second servomotor; The axis of the second servomotor and the first servomotor arranges in vertical state.
2. six degree of freedom shank recovery exercising robot according to claim 1, is characterized in that: the 3rd turning joint is connected with the first servomotor by drive mechanism, and the first servomotor is arranged on the below of frame.
3. six degree of freedom shank recovery exercising robot according to claim 1, is characterized in that: the first servomotor is connected with frame with the second motor mount by the first motor mount respectively with the second servomotor.
4. six degree of freedom shank recovery exercising robot according to claim 1, it is characterized in that: the first movement branched chain in movement branched chain is identical with the structure of the second movement branched chain, in in the first movement branched chain first, the upper end of connecting rod connects ball pivot, on first, the lower end of connecting rod is connected with one end of the first lower link by the 4th turning joint, and the other end of the first lower link is connected with the hook hinge bearing in hook hinge mechanism by the 5th turning joint.
5. six degree of freedom shank recovery exercising robot according to claim 1, it is characterized in that: the 3rd movement branched chain in movement branched chain is connected with connecting plate by lower spherical hinge, lower spherical hinge is connected with one end of connecting rod on second, on second, connecting rod is connected with the second lower link by mobile hinge, the lower end of the second lower link is connected with the 6th turning joint, and the 6th turning joint props up rocker bar bearing with the tiger in hook hinge mechanism and is connected.
6. six degree of freedom shank recovery exercising robot according to claim 1, is characterized in that: the second servomotor and the first servomotor are set to respectively three, three servomotor threes' pivot center intersects and be equilateral triangle structure; Three servomotor threes' pivot center intersects at a point.
7. six degree of freedom shank recovery exercising robot according to claim 1, is characterized in that: the U-shaped part in hook hinge mechanism is connected with the second servomotor by shaft coupling, and U-shaped fork is connected with hook hinge bearing by the 7th turning joint.
8. six degree of freedom shank recovery exercising robot according to claim 1, it is characterized in that: the 3rd turning joint is connected with the first rotating shaft in drive mechanism, large belt wheel is housed in the first rotating shaft, large belt wheel is connected with small pulley by belt, and small pulley is connected with the first servomotor by the first shaft coupling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420102789.7U CN203724422U (en) | 2014-03-08 | 2014-03-08 | Six-degree-of-freedom leg rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420102789.7U CN203724422U (en) | 2014-03-08 | 2014-03-08 | Six-degree-of-freedom leg rehabilitation training robot |
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| Publication Number | Publication Date |
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| CN203724422U true CN203724422U (en) | 2014-07-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420102789.7U Expired - Fee Related CN203724422U (en) | 2014-03-08 | 2014-03-08 | Six-degree-of-freedom leg rehabilitation training robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103816029A (en) * | 2014-03-08 | 2014-05-28 | 河北联合大学 | Six-freedom degree leg rehabilitation training robot |
| CN104970945A (en) * | 2015-06-25 | 2015-10-14 | 中国矿业大学 | Lower limb rehabilitation training robot system |
| CN107157711A (en) * | 2017-06-02 | 2017-09-15 | 中国矿业大学 | A kind of rehabilitation training machine for ankle joint device people's system |
| CN110051502A (en) * | 2019-03-13 | 2019-07-26 | 广东工业大学 | A kind of lower limbs rehabilitation training robot assessed based on plantar pressure with feedback |
-
2014
- 2014-03-08 CN CN201420102789.7U patent/CN203724422U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103816029A (en) * | 2014-03-08 | 2014-05-28 | 河北联合大学 | Six-freedom degree leg rehabilitation training robot |
| CN103816029B (en) * | 2014-03-08 | 2016-01-27 | 河北联合大学 | Six degree of freedom leg recovery exercising robot |
| CN104970945A (en) * | 2015-06-25 | 2015-10-14 | 中国矿业大学 | Lower limb rehabilitation training robot system |
| CN107157711A (en) * | 2017-06-02 | 2017-09-15 | 中国矿业大学 | A kind of rehabilitation training machine for ankle joint device people's system |
| CN110051502A (en) * | 2019-03-13 | 2019-07-26 | 广东工业大学 | A kind of lower limbs rehabilitation training robot assessed based on plantar pressure with feedback |
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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: 20140723 Termination date: 20180308 |
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| CF01 | Termination of patent right due to non-payment of annual fee |