CN204016771U - A kind of wearable intelligent healing hemiplegic lower limb image training robot - Google Patents
A kind of wearable intelligent healing hemiplegic lower limb image training robot Download PDFInfo
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- CN204016771U CN204016771U CN201420390842.8U CN201420390842U CN204016771U CN 204016771 U CN204016771 U CN 204016771U CN 201420390842 U CN201420390842 U CN 201420390842U CN 204016771 U CN204016771 U CN 204016771U
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Abstract
The utility model discloses a kind of wearable intelligent healing hemiplegic lower limb image training robot, comprise successively foot support mechanism, leg mechanism and waist support mechanism from bottom to top, it is characterized in that: described foot support mechanism comprises foot holder, and the ankle mechanism being dynamically connected with foot toss; Described leg mechanism comprises thigh connecting plate and shank connecting plate, between thigh connecting plate and shank connecting plate, connects by knee-joint mechanism; Described waist support mechanism comprises waist holder, is provided with symmetrical waist holder upper bracket in waist holder, and is provided with hip joint mechanism between waist holder and thigh connecting plate; Described ankle mechanism, knee-joint mechanism are connected a controller jointly with hip joint mechanism, and controller is connected with sensor detecting system.The little wearing of this utility model volume is easy to use, can realize the demand of the rehabilitation training of hemiplegic patient's lower limb, there is speed, stride, feature that cadence is adjustable simultaneously, also there is collecting training data, demonstration and writing function, there is Rehabilitation Assessment and report output function.
Description
Technical field
This utility model belongs to rehabilitation field of medical, specifically, relates to a kind of wearable intelligent healing hemiplegic lower limb image training robot.
Background technology
Walking is the most basic model of action of the mankind, also be the necessary requirement that ensures the independent life of the mankind, in the time that various factors nervous system or motor system go wrong, all can cause human body walking obstacle even to lose walking ability, have a strong impact on the orthobiosis of human body.Healing robot, theoretical and the collaborative robot principle according to rehabilitation medicine, by the walking states control system under a set of computer control, help limbs of patient to carry out rehabilitation training, by active training, passive exercise, impedance training isotype, reach the ability at limbs of patient or some positions that strengthens, the object of rebuilding body function.
Utility model content
The technical problems to be solved in the utility model is to overcome above-mentioned defect, a kind of wearable intelligent healing hemiplegic lower limb image training robot is provided, help limbs of patient to carry out rehabilitation training, by active training, passive exercise, impedance training isotype, reach the ability at limbs of patient or some positions that strengthens, the object of rebuilding body function.
For addressing the above problem, the technical scheme that this utility model adopts is:
A kind of wearable intelligent healing hemiplegic lower limb image training robot, comprises foot support mechanism, leg mechanism and waist support mechanism from bottom to top successively, it is characterized in that: described foot support mechanism comprises foot holder, and the ankle mechanism being dynamically connected with foot toss; Described leg mechanism comprises thigh connecting plate and shank connecting plate, between thigh connecting plate and shank connecting plate, connects by knee-joint mechanism; Described waist support mechanism comprises waist holder, is provided with symmetrical waist holder upper bracket in waist holder, and is provided with hip joint mechanism between waist holder and thigh connecting plate; Described ankle mechanism, knee-joint mechanism are connected a controller jointly with hip joint mechanism, and controller is connected with sensor detecting system.
As a kind of technical scheme of optimization, described ankle mechanism comprises the ankle joint being connected between foot holder and shank connecting plate, is provided with ankle joint gear on ankle joint, and ankle joint gear drive connects ankle joint link gear.
As a kind of technical scheme of optimization, described ankle joint link gear comprises parallel and is fixedly connected on the interlock connecting rod on shank connecting plate, the top knee-joint mechanism that is in transmission connection of interlock connecting rod, the bottom of interlock connecting rod is provided with ankle interlock tooth bar, ankle interlock tooth bar engagement ankle joint gear.
As a kind of technical scheme of optimization, described knee-joint mechanism comprises the knee joint motor being arranged on shank connecting plate or thigh connecting plate, knee joint motor-driven is connected with the knee joint cam being arranged on shank connecting plate or thigh connecting plate, and knee joint cam drive connects interlock connecting rod.
As a kind of technical scheme of optimization, on described thigh connecting plate, be provided with length adjustment mechanism; Described length adjustment mechanism comprises the length adjustment plate being arranged on shank connecting plate upper end, and is arranged on the adjustment fixing plate of thigh connecting plate lower end, between length adjustment plate and adjustment fixing plate, is bolted.
As a kind of technical scheme of optimization, described hip joint mechanism comprises the hip joint motor being arranged on waist holder upper bracket, and hip joint motor-driven connects thigh connecting plate.
As a kind of technical scheme of optimization, between described waist holder and waist holder upper bracket, be provided with waistline adjustable plate.
As a kind of technical scheme of optimization, described controller connects knee joint motor and hip joint motor.
As a kind of technical scheme of optimization, described controller comprises host computer and embedded computer, and embedded computer connecting sensor also connects host computer by wireless or wired mode; Institute's sensor detecting system comprises muscular strength sensor, myoelectric sensor, and angular transducer, pull pressure sensor and limit sensors, muscular strength sensor, myoelectric sensor, angular transducer, pull pressure sensor and limit sensors are connected embedded computer jointly.
Owing to having adopted technique scheme, compared with prior art, the utlity model has splendid wearable property.Due to special design, make the good combination of human and computer, improve and dressed to obtain comfortableness.
Special control thinking, is moved by strong limb control deformed limb, its stability, and balance, coordinates higher.Special knee joint ankle connects linkage function, and in the time of suffering limb motion of knee joint, its ankle joint is motion together also.The application of robotics on rehabilitation training equipment, makes the gait of Wearable image training robot more natural.Multivariant waist holder structure, this waist holder has up and down, and axially twisting, walks patient more natural.
The little wearing of this utility model volume is easy to use; make Rehabilitation training not be subject to time site limitation, can realize the demand of the rehabilitation training of hemiplegic patient's lower limb, comprise the single motion in each joint; lift lower limb; walking, rises and sits back and waits, each motion has three kinds of patterns; there is speed, stride, feature that cadence is adjustable simultaneously; also there is collecting training data, demonstration and writing function, there is Rehabilitation Assessment and report output function, there is triple safe protective measure and emergency measure.
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail simultaneously.
Brief description of the drawings
Fig. 1 is the structural representation of a kind of embodiment of this utility model.
Detailed description of the invention
Embodiment:
As shown in Figure 1, a kind of wearable intelligent healing hemiplegic lower limb image training robot, comprises foot support mechanism, leg mechanism and waist support mechanism from bottom to top successively.Described foot support mechanism comprises foot holder 1, and the ankle mechanism being in transmission connection with foot holder 1.Described leg mechanism comprises thigh connecting plate 9 and shank connecting plate 14, between thigh connecting plate 9 and shank connecting plate 14, connects by knee-joint mechanism.Described waist support mechanism comprises waist holder 13, is provided with symmetrical waist holder upper bracket 12 in waist holder 13, and is provided with hip joint mechanism between waist holder 13 and thigh connecting plate 9.Described ankle mechanism, knee-joint mechanism are connected a controller jointly with hip joint mechanism, and controller is connected with sensor detecting system.
In the present embodiment, described ankle mechanism comprises the ankle joint being connected between foot holder 1 and shank connecting plate 14, is provided with ankle joint gear 2 on ankle joint, the ankle joint gear 2 ankle joint link gear that is in transmission connection.
Described ankle joint link gear comprises parallel and is fixedly connected on the interlock connecting rod 4 on shank connecting plate, the top knee-joint mechanism that is in transmission connection of interlock connecting rod 4, the bottom of interlock connecting rod is provided with ankle interlock tooth bar 3, and ankle interlock tooth bar 3 engages ankle joint gear 2.
Described knee-joint mechanism comprises the knee joint motor 5 being arranged on shank connecting plate 14 or thigh connecting plate 9, knee joint motor 5 is connected with the knee joint cam 6 being arranged on shank connecting plate or thigh connecting plate, knee joint cam 6 be in transmission connection interlock connecting rod 4.
On described thigh connecting plate, be provided with length adjustment mechanism.Described length adjustment mechanism comprises the length adjustment plate 7 being arranged on shank connecting plate upper end, and is arranged on the adjustment fixing plate 8 of thigh connecting plate lower end, between length adjustment plate 7 and adjustment fixing plate 8, is bolted.
Described hip joint mechanism comprises the hip joint motor 10 being arranged on waist holder upper bracket, the hip joint motor 10 thigh connecting plate that is in transmission connection.
Between described waist holder 13 and waist holder upper bracket 12, be provided with waistline adjustable plate.Described controller connects knee joint motor and hip joint motor.
Described controller comprises host computer and embedded computer, and embedded computer connecting sensor also connects host computer by wireless or wired mode; Institute's sensor detecting system comprises muscular strength sensor, myoelectric sensor, and angular transducer, pull pressure sensor and limit sensors, muscular strength sensor, myoelectric sensor, angular transducer, pull pressure sensor and limit sensors are connected embedded computer jointly.
Three kinds of motion principles of the present utility model:
1: passive motion-type exercise pattern.Under this pattern, first detect the strong limb characteristics of motion by sensor, comprise movement velocity, amplitude, the parameters such as the type of motion, through controller processing, then do same motion by PC control suffering limb, drive the motion of suffering limb to be good for limb motion, ensure that like this patient has good balance and coordination in the time of training.This pattern is mainly tempered the joint motion of suffering limb, and stimulated muscle and nervous system, to improve, recover muscular strength and effects on neural system.
2: active exercise pattern.Under this pattern, sensor detects the kinematic parameter of suffering limb, pressure while comprising motion, muscular strength, and speed, by controller processing, judge type of sports and the parameter of suffering limb, move by servo system control suffering limb, this pattern mainly trains patient under the effect of sense of independence, completes rehabilitation training.Object improves the effect of rehabilitation training.
3: resistance formula motor pattern.Under this pattern, sensor detects the kinematic parameter of suffering limb, the pressure while comprising motion, muscular strength, and speed, by controller processing, judge type of sports and the parameter of suffering limb, by servosystem, to suffering limb, motion applies certain resistance, to temper and to improve the muscular strength of suffering limb.
In above three kinds of motor pattern controls, all there is antitetanic safety measure.Relevant physiology in motor process, the parameter of motion are detected by sensor, and signal is transferred to that host computer is processed, demonstration and record, and the data of record can be inquired about.
The utlity model has splendid wearable property.Due to special design, make the good combination of human and computer, improve and dressed to obtain comfortableness.Special control thinking, is moved by strong limb control deformed limb, its stability, and balance, coordinates higher.Special knee joint ankle connects linkage function, and in the time of suffering limb motion of knee joint, its ankle joint is motion together also.The application of robotics on rehabilitation training equipment, makes the gait of Wearable image training robot more natural.Multivariant waist holder structure, this waist holder has up and down, and axially twisting, walks patient more natural.
This utility model is not limited to above-mentioned preferred implementation, and anyone should learn the structural change of making under enlightenment of the present utility model, every with the utlity model has identical or akin technical scheme, all belong to protection domain of the present utility model.
Claims (9)
1. a wearable intelligent healing hemiplegic lower limb image training robot, comprises foot support mechanism, leg mechanism and waist support mechanism from bottom to top successively, it is characterized in that: described foot support mechanism comprises foot holder, and the ankle mechanism being dynamically connected with foot toss; Described leg mechanism comprises thigh connecting plate and shank connecting plate, between thigh connecting plate and shank connecting plate, connects by knee-joint mechanism; Described waist support mechanism comprises waist holder, is provided with symmetrical waist holder upper bracket in waist holder, and is provided with hip joint mechanism between waist holder and thigh connecting plate;
In described foot holder, thigh connecting plate, shank connecting plate, waist holder, be respectively arranged with sensor, and the common controller that connects of all sensors, controller connects ankle mechanism, knee-joint mechanism and hip joint mechanism.
2. wearable intelligent healing hemiplegic lower limb image training robot according to claim 1, it is characterized in that: described ankle mechanism comprises the ankle joint being connected between foot holder and shank connecting plate, on ankle joint, be provided with ankle joint gear, ankle joint gear drive connects ankle joint link gear.
3. wearable intelligent healing hemiplegic lower limb image training robot according to claim 2, it is characterized in that: described ankle joint link gear comprises parallel and is fixedly connected on the interlock connecting rod on shank connecting plate, the top knee-joint mechanism that is in transmission connection of interlock connecting rod, the bottom of interlock connecting rod is provided with ankle interlock tooth bar, ankle interlock tooth bar engagement ankle joint gear.
4. wearable intelligent healing hemiplegic lower limb image training robot according to claim 3, it is characterized in that: described knee-joint mechanism comprises the knee joint motor being arranged on shank connecting plate or thigh connecting plate, knee joint motor-driven is connected with the knee joint cam being arranged on shank connecting plate or thigh connecting plate, and knee joint cam drive connects interlock connecting rod.
5. wearable intelligent healing hemiplegic lower limb image training robot according to claim 4, is characterized in that: on described thigh connecting plate, be provided with length adjustment mechanism; Described length adjustment mechanism comprises the length adjustment plate being arranged on shank connecting plate upper end, and is arranged on the adjustment fixing plate of thigh connecting plate lower end, between length adjustment plate and adjustment fixing plate, is bolted.
6. wearable intelligent healing hemiplegic lower limb image training robot according to claim 5, is characterized in that: described hip joint mechanism comprises the hip joint motor being arranged on waist holder upper bracket, and hip joint motor-driven connects thigh connecting plate.
7. wearable intelligent healing hemiplegic lower limb image training robot according to claim 6, is characterized in that: between described waist holder and waist holder upper bracket, be provided with waistline adjustable plate.
8. wearable intelligent healing hemiplegic lower limb image training robot according to claim 7, is characterized in that: described controller connects knee joint motor and hip joint motor.
9. wearable intelligent healing hemiplegic lower limb image training robot according to claim 8, it is characterized in that: described controller comprises host computer and embedded computer, embedded computer connecting sensor also connects host computer by wireless or wired mode; Sensor in described foot holder, thigh connecting plate, shank connecting plate, waist holder comprises respectively muscular strength sensor, myoelectric sensor, angular transducer, pull pressure sensor and limit sensors.
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| CN201420390842.8U CN204016771U (en) | 2014-07-15 | 2014-07-15 | A kind of wearable intelligent healing hemiplegic lower limb image training robot |
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| CN201420390842.8U CN204016771U (en) | 2014-07-15 | 2014-07-15 | A kind of wearable intelligent healing hemiplegic lower limb image training robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104083268A (en) * | 2014-07-15 | 2014-10-08 | 西安唐城电子医疗设备研究所 | Wearable intelligent hemiplegia lower limb rehabilitation training robot |
| CN104905941A (en) * | 2015-06-09 | 2015-09-16 | 上海电机学院 | Upper limb rehabilitation training device |
| CN107811805A (en) * | 2017-11-16 | 2018-03-20 | 上海理工大学 | Wearable lower limb exoskeleton rehabilitation robot |
| CN107961501A (en) * | 2017-12-18 | 2018-04-27 | 郭子山 | A kind of new-type Multifunctional leg strength exercise kit |
| CN108619655A (en) * | 2018-05-25 | 2018-10-09 | 京东方科技集团股份有限公司 | A kind of wearable device, control VR systems and its control method |
| CN109452933A (en) * | 2018-09-17 | 2019-03-12 | 周建菊 | A kind of multifunctional recovery trousers for severe hemiplegic patient |
| CN112245238A (en) * | 2020-10-21 | 2021-01-22 | 江南大学 | Rehabilitation exoskeleton walking aid based on human body gravitational potential energy conversion |
| CN115138026A (en) * | 2022-06-20 | 2022-10-04 | 南通九野智能科技有限公司 | Intelligent wearable multifunctional walking trainer |
-
2014
- 2014-07-15 CN CN201420390842.8U patent/CN204016771U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104083268A (en) * | 2014-07-15 | 2014-10-08 | 西安唐城电子医疗设备研究所 | Wearable intelligent hemiplegia lower limb rehabilitation training robot |
| CN104083268B (en) * | 2014-07-15 | 2017-02-08 | 陕西鑫带路电子科技有限公司 | Wearable intelligent hemiplegia lower limb rehabilitation training robot |
| CN104905941A (en) * | 2015-06-09 | 2015-09-16 | 上海电机学院 | Upper limb rehabilitation training device |
| CN107811805A (en) * | 2017-11-16 | 2018-03-20 | 上海理工大学 | Wearable lower limb exoskeleton rehabilitation robot |
| CN107961501A (en) * | 2017-12-18 | 2018-04-27 | 郭子山 | A kind of new-type Multifunctional leg strength exercise kit |
| CN108619655A (en) * | 2018-05-25 | 2018-10-09 | 京东方科技集团股份有限公司 | A kind of wearable device, control VR systems and its control method |
| US10795444B2 (en) | 2018-05-25 | 2020-10-06 | Boe Technology Group Co., Ltd. | Wearable device, control method for wearable device and control system |
| CN109452933A (en) * | 2018-09-17 | 2019-03-12 | 周建菊 | A kind of multifunctional recovery trousers for severe hemiplegic patient |
| CN112245238A (en) * | 2020-10-21 | 2021-01-22 | 江南大学 | Rehabilitation exoskeleton walking aid based on human body gravitational potential energy conversion |
| CN115138026A (en) * | 2022-06-20 | 2022-10-04 | 南通九野智能科技有限公司 | Intelligent wearable multifunctional walking trainer |
| CN115138026B (en) * | 2022-06-20 | 2023-10-13 | 南通九野智能科技有限公司 | Intelligent wearable multifunctional walking trainer |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180118 Address after: 710065 Shaanxi city of Xi'an province high tech Zone Feng Hui Road No. 18 Tang Feng International Plaza first building 4 unit 12 floor No. 41202 Patentee after: Shaanxi Xin lead Electronic Technology Co., Ltd. Address before: 710071 Shaanxi high tech Zone in Xi'an City, Feng Hui Nan Lu Tang Feng International D No. 18 block 12 layer Patentee before: XI'AN TANGCHENG ELECTRONIC MEDICAL EQUIPMENT INSTITUTE |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141217 Termination date: 20190715 |