CN205007219U - Recovered adjustable mechanical legs of hip joint width for robot - Google Patents
Recovered adjustable mechanical legs of hip joint width for robot Download PDFInfo
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- CN205007219U CN205007219U CN201520723129.5U CN201520723129U CN205007219U CN 205007219 U CN205007219 U CN 205007219U CN 201520723129 U CN201520723129 U CN 201520723129U CN 205007219 U CN205007219 U CN 205007219U
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Abstract
The utility model provides a recovered adjustable mechanical legs of hip joint width for robot mainly includes base, hip joint width regulation mechanism, two mechanical legs fixed stations and two mechanical legs. Hip joint width regulation mechanism erects on the base and can control and adjust, the left and right sides in hip joint width regulation mechanism is connected respectively to two mechanical legs fixed stations to can remove along about the base under the regulation of hip joint width regulation mechanism, two mechanical legs connect respectively on two mechanical legs fixed stations to can be along with removing about the mechanical legs fixed station. The utility model discloses owing to set up hip joint width regulation mechanism, the width between two mechanical legs is adjusted to the accessible, satisfies the different training person's of hip joint width training requirement, because two mechanical legs's thigh mechanism, shank mechanism and ankle joint mechanism are equipped with actuating mechanism respectively, can realize the solitary regulation of hip joint, knee joint and ankle joint, both can realize the athletic training of simple joint, also can realize each articular simultaneous movement.
Description
Technical field
This utility model relates to medical rehabilitation instrument, particularly relates to a kind of healing robot hip joint width-adjustable pedipulator.
Background technology
Lower limb rehabilitation robot was obtaining very large development in recent years, and achieved valuable achievement in research, and business-like lower limb rehabilitation robot has the Handy1 of MikeTopping company of Britain development in 1987.Secondly the another kind of healing robot successfully come into the market is the MANUS healing robot of Dutch ExactDynamics company exploitation.The healing robot of early stage research and development is all based on single-degree-of-freedom, representational product has the NUSTEP device for rehabilitation of the U.S., the THERA.Vital intelligent rehabilitation image training robot of Germany, the healing robot most of sitting and lying formula is representational be Switzerland WORTEC company research and development MOTINMAKER, this robot can realize 3DOF training and joint training, in China, the exploitation of lower limb robot is also in the development stage.
The whole nation has all types disability rehabilitation to train nearly 20,000 of service organization, very large to the demand of rehabilitation equipment.But one of rehabilitation machine image training robot deficiency is that ectoskeleton pedipulator hip joint width is fixed at present, is in the left and right sides, the upper and lower instrument difficulty of patient, the assistance of wasting time and energy of rehabilitation teacher must be relied on just to complete, and product is difficult to promote and commercialization; In addition on the one hand, fixed hip joint pedipulator width cannot regulate, and causes ectoskeleton pedipulator not fit the lower limb of patient, occurs undertrained or excessive danger.
Utility model content
The purpose of this utility model, exactly in order to solve the problem, provides a kind of healing robot hip joint width-adjustable pedipulator.
In order to achieve the above object, this utility model have employed following technical scheme: a kind of healing robot hip joint width-adjustable pedipulator, and it comprises:
Base;
Hip joint width adjustment mechanism, to be erected on base and can left and right adjusting;
Pedipulator fixed station, totally two are connected to the left and right sides of hip joint width adjustment mechanism, and can move left and right along base under the adjustment of hip joint width adjustment mechanism;
Pedipulator, totally two are connected on two pedipulator fixed stations, and can move left and right with pedipulator fixed station.
Described hip joint width adjustment mechanism comprises screw mandrel fixed station, screw mandrel, feed screw nut and motor transmission mechanism; Screw mandrel fixed station is arranged on base, screw mandrel is arranged through screw mandrel fixed station, the two ends, left and right of screw mandrel connect left and right feed screw nut respectively, motor transmission mechanism is arranged on screw mandrel fixed station and is also connected with screw rod transmission, left and right feed screw nut is fixedly linked with two, left and right pedipulator fixed station respectively, starter motor drive mechanism drives screw mandrel to rotate, realize two the pedipulator fixed stations in left and right in opposite directions or opposing motion, thus drive two pedipulators in left and right in opposite directions or opposing movement.
Described pedipulator fixed station comprises fixed station body, and be provided with slide block in the bottom of fixed station body, top is provided with handrail, and base is provided with linear guides, and pedipulator fixed station is moved left and right by the slide block realization that to be connected with the slip of linear guides; Described fixed station body comprises the two pieces of fixing heads in left and right, forms the space for installing pedipulator between the fixing head of two pieces, left and right.
Described pedipulator comprises large leg mechanism, little leg mechanism and ankle joint mechanism, and large leg mechanism is flexibly connected with pedipulator fixed station, and little leg mechanism is flexibly connected with large leg mechanism, and ankle joint mechanism is flexibly connected with little leg mechanism.
Described large leg mechanism comprises thigh and drives electric cylinder, thick link, thigh push rod, thigh sleeve, lower limb holder and thigh length adjustment mechanism; Thigh drives electric cylinder to be flexibly connected with two pieces, the left and right fixing head of pedipulator fixed station, thick link and thigh drive electric cylinder transmission to be connected, thigh push rod is fixedly linked with thick link and is flexibly connected with two pieces, the left and right fixing head of pedipulator fixed station, thigh sleeve set is also connected with thigh push rod scalable by thigh length adjustment mechanism on thigh push rod, realize thigh adjustable length, lower limb holder is arranged on the inner side of thigh sleeve; Described little leg mechanism and thigh sleeve are movably connected.
Described little leg mechanism comprises shank and drives electric cylinder, knee joint connector, knee joint rotating shaft, shank push rod, shank sleeve and lower-leg length governor motion; Shank drives electric cylinder to be arranged on large leg mechanism, one end and the shank of knee joint connector drive electric cylinder transmission to be connected, the other end is movably connected in thigh barrel forward end by knee joint rotating shaft, shank push rod is rotatably connected with thigh sleeve by knee joint rotating shaft, shank sleeve set is also connected with shank push rod scalable by lower-leg length governor motion on shank push rod, realize lower-leg length adjustable, described ankle joint mechanism and shank sleeve are movably connected.
Described ankle joint mechanism comprises ankle joint motor, deceleration force amplifier mechanism and pedal, ankle joint motor is arranged on the outside of shank sleeve, deceleration force amplifier organization establishes is in shank sleeve and be connected with the transmission of ankle joint motor, and pedal is arranged on the inner side of shank sleeve and is connected with deceleration force amplifier mechanism driving.
Compared with prior art, this utility model has the following advantages:
1) hip joint width adjustment mechanism is introduced in the structure, meet the training requirement of the different trainer of hip joint width, avoid because hip joint is too wide or the too narrow discomfort caused, ensure that training strength and the safety of patient, achieve the training of comfortable personalization.
2) the large leg mechanism of two pedipulators, little leg mechanism and ankle joint mechanism are respectively equipped with driving mechanism, the adjustment that hip joint, knee joint and ankle joint are independent can be realized, realize monarthric training, also being synchronized with the movement of joint can be realized, and realize the exercise of mobility in joint, take incremental mode to improve speed gradually during training, strengthen difficulty, realize the requirement of patient's rehabilitation training gradually.
Accompanying drawing explanation
Fig. 1, Fig. 2 are the structural representation of the pedipulator in this utility model;
Fig. 3 is the structural representation of the base in this utility model;
Fig. 4 is the structural representation of the hip joint width adjustment mechanism in this utility model.
Detailed description of the invention
See Fig. 1, Fig. 2, coordinate see Fig. 3, Fig. 4, healing robot hip joint width-adjustable pedipulator of the present utility model, comprises base 1, hip joint width adjustment mechanism 2, pedipulator fixed station 3 and pedipulator 4.
Coordinate see Fig. 3, the base 1 in this utility model comprises base plate 11, is provided with four castors 12 below base plate 11, is provided with linear guides 34 and screw mandrel fixed station 21 on base plate 11.
Coordinate see Fig. 4, the hip joint width adjustment mechanism 2 in this utility model is erected at also can left and right adjusting on base 1.It comprises screw mandrel fixed station 21, screw mandrel 22, feed screw nut 23 and motor transmission mechanism 24; Screw mandrel fixed station 21 is arranged on base, screw mandrel 22 is arranged through screw mandrel fixed station, the two ends, left and right of screw mandrel connect left and right feed screw nut 23 respectively, motor transmission mechanism 24 is arranged on screw mandrel fixed station 21 and is also connected with screw mandrel 22 transmission, left and right feed screw nut is fixedly linked with two, left and right pedipulator fixed station respectively, starter motor drive mechanism drives screw mandrel to rotate, realize two the pedipulator fixed stations in left and right in opposite directions or opposing motion, thus drive two pedipulators in left and right in opposite directions or opposing movement.
Coordinate see Fig. 4, the pedipulator fixed station 3 in this utility model totally two, is connected to the left and right sides of hip joint width adjustment mechanism, and can move left and right along base under the adjustment of hip joint width adjustment mechanism.It comprises fixed station body 31, is provided with slide block 32 in the bottom of fixed station body, and top is provided with handrail 33, and base is provided with linear guides 34, and pedipulator fixed station is moved left and right by the slide block realization that to be connected with the slip of linear guides.Fixed station body 31 wherein comprises the two pieces of fixing heads 311 in left and right, forms the space for installing pedipulator between the fixing head of two pieces, left and right.
See Fig. 1, Fig. 2, the pedipulator 4 in this utility model totally two, is connected on two pedipulator fixed stations 3, and can move left and right with pedipulator fixed station.It comprises large leg mechanism 41, little leg mechanism 42 and ankle joint mechanism 43, and large leg mechanism 41 is flexibly connected with pedipulator fixed station 3, and little leg mechanism 42 is flexibly connected with large leg mechanism 41, and ankle joint mechanism 43 is flexibly connected with little leg mechanism 42.
Large leg mechanism 41 comprises thigh and drives electric cylinder 411, thick link 412, thigh push rod 413, thigh sleeve 414, lower limb holder 415 and thigh length adjustment mechanism 416; Thigh drives electric cylinder to be flexibly connected with two pieces, the left and right fixing head of pedipulator fixed station, thick link and thigh drive electric cylinder transmission to be connected, thigh push rod is fixedly linked with thick link and is flexibly connected with two pieces, the left and right fixing head of pedipulator fixed station, thigh sleeve set is also connected with thigh push rod scalable by thigh length adjustment mechanism on thigh push rod, realize thigh adjustable length, lower limb holder is arranged on the inner side of thigh sleeve; Described little leg mechanism and thigh sleeve are movably connected.
Little leg mechanism 42 comprises shank and drives electric cylinder 421, knee joint connector 422, knee joint rotating shaft 423, shank push rod 424, shank sleeve 425 and lower-leg length governor motion 426; Shank drives electric cylinder to be arranged on large leg mechanism, one end and the shank of knee joint connector drive electric cylinder transmission to be connected, the other end is movably connected in thigh barrel forward end by knee joint rotating shaft, shank push rod is rotatably connected with thigh sleeve by knee joint rotating shaft, shank sleeve set is also connected with shank push rod scalable by lower-leg length governor motion on shank push rod, realize lower-leg length adjustable, described ankle joint mechanism and shank sleeve are movably connected.
Ankle joint mechanism 43 comprises ankle joint motor 431, deceleration force amplifier mechanism 432 and pedal 433, ankle joint motor is arranged on the outside of shank sleeve, deceleration force amplifier organization establishes is in shank sleeve and be connected with the transmission of ankle joint motor, and pedal is arranged on the inner side of shank sleeve and is connected with deceleration force amplifier mechanism driving.
Claims (7)
1. a healing robot hip joint width-adjustable pedipulator, is characterized in that, comprising:
Base;
Hip joint width adjustment mechanism, to be erected on base and can left and right adjusting;
Pedipulator fixed station, totally two are connected to the left and right sides of hip joint width adjustment mechanism, and can move left and right along base under the adjustment of hip joint width adjustment mechanism;
Pedipulator, totally two are connected on two pedipulator fixed stations, and can move left and right with pedipulator fixed station.
2. healing robot hip joint width-adjustable pedipulator as claimed in claim 1, is characterized in that: described hip joint width adjustment mechanism comprises screw mandrel fixed station, screw mandrel, feed screw nut and motor transmission mechanism; Screw mandrel fixed station is arranged on base, screw mandrel is arranged through screw mandrel fixed station, the two ends, left and right of screw mandrel connect left and right feed screw nut respectively, motor transmission mechanism is arranged on screw mandrel fixed station and is also connected with screw rod transmission, left and right feed screw nut is fixedly linked with two, left and right pedipulator fixed station respectively, starter motor drive mechanism drives screw mandrel to rotate, realize two the pedipulator fixed stations in left and right in opposite directions or opposing motion, thus drive two pedipulators in left and right in opposite directions or opposing movement.
3. healing robot hip joint width-adjustable pedipulator as claimed in claim 1, it is characterized in that: described pedipulator fixed station comprises fixed station body, slide block is provided with in the bottom of fixed station body, top is provided with handrail, base is provided with linear guides, and pedipulator fixed station is moved left and right by the slide block realization that to be connected with the slip of linear guides; Described fixed station body comprises the two pieces of fixing heads in left and right, forms the space for installing pedipulator between the fixing head of two pieces, left and right.
4. healing robot hip joint width-adjustable pedipulator as claimed in claim 1, it is characterized in that: described pedipulator comprises large leg mechanism, little leg mechanism and ankle joint mechanism, large leg mechanism is flexibly connected with pedipulator fixed station, little leg mechanism is flexibly connected with large leg mechanism, and ankle joint mechanism is flexibly connected with little leg mechanism.
5. healing robot hip joint width-adjustable pedipulator as claimed in claim 4, is characterized in that: described large leg mechanism comprises thigh and drives electric cylinder, thick link, thigh push rod, thigh sleeve, lower limb holder and thigh length adjustment mechanism; Thigh drives electric cylinder to be flexibly connected with two pieces, the left and right fixing head of pedipulator fixed station, thick link and thigh drive electric cylinder transmission to be connected, thigh push rod is fixedly linked with thick link and is flexibly connected with two pieces, the left and right fixing head of pedipulator fixed station, thigh sleeve set is also connected with thigh push rod scalable by thigh length adjustment mechanism on thigh push rod, realize thigh adjustable length, lower limb holder is arranged on the inner side of thigh sleeve; Described little leg mechanism and thigh sleeve are movably connected.
6. healing robot hip joint width-adjustable pedipulator as claimed in claim 4, is characterized in that: described little leg mechanism comprises shank and drives electric cylinder, knee joint connector, knee joint rotating shaft, shank push rod, shank sleeve and lower-leg length governor motion; Shank drives electric cylinder to be arranged on large leg mechanism, one end and the shank of knee joint connector drive electric cylinder transmission to be connected, the other end is movably connected in thigh barrel forward end by knee joint rotating shaft, shank push rod is rotatably connected with thigh sleeve by knee joint rotating shaft, shank sleeve set is also connected with shank push rod scalable by lower-leg length governor motion on shank push rod, realize lower-leg length adjustable, described ankle joint mechanism and shank sleeve are movably connected.
7. healing robot hip joint width-adjustable pedipulator as claimed in claim 4, it is characterized in that: described ankle joint mechanism comprises ankle joint motor, deceleration force amplifier mechanism and pedal, ankle joint motor is arranged on the outside of shank sleeve, deceleration force amplifier organization establishes is in shank sleeve and be connected with the transmission of ankle joint motor, and pedal is arranged on the inner side of shank sleeve and is connected with deceleration force amplifier mechanism driving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520723129.5U CN205007219U (en) | 2015-09-17 | 2015-09-17 | Recovered adjustable mechanical legs of hip joint width for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520723129.5U CN205007219U (en) | 2015-09-17 | 2015-09-17 | Recovered adjustable mechanical legs of hip joint width for robot |
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| Publication Number | Publication Date |
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| CN205007219U true CN205007219U (en) | 2016-02-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520723129.5U Active CN205007219U (en) | 2015-09-17 | 2015-09-17 | Recovered adjustable mechanical legs of hip joint width for robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105835041A (en) * | 2016-05-23 | 2016-08-10 | 深圳先进技术研究院 | Exoskeleton robot hip joint, exoskeleton robot and control method of exoskeleton robot |
| CN106267722A (en) * | 2016-09-22 | 2017-01-04 | 华东医院 | Muscle group device for healing and training around a kind of many positions hip joint |
| CN106539663A (en) * | 2015-09-17 | 2017-03-29 | 山东经典医疗器械科技有限公司 | Healing robot hip joint width adjustable mechanical lower limb |
| CN108670715A (en) * | 2018-05-22 | 2018-10-19 | 李安生 | Post-operation of hip patient's antithrombotic device |
| CN110494111A (en) * | 2017-02-21 | 2019-11-22 | 六方系统公司 | Knee joint rehabilitation instrument |
| CN112245239A (en) * | 2020-12-23 | 2021-01-22 | 上海傅利叶智能科技有限公司 | Locking-free hip adjusting device |
| CN112603611A (en) * | 2020-12-10 | 2021-04-06 | 华中科技大学 | Bionic mechanical leg |
-
2015
- 2015-09-17 CN CN201520723129.5U patent/CN205007219U/en active Active
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106539663A (en) * | 2015-09-17 | 2017-03-29 | 山东经典医疗器械科技有限公司 | Healing robot hip joint width adjustable mechanical lower limb |
| CN105835041A (en) * | 2016-05-23 | 2016-08-10 | 深圳先进技术研究院 | Exoskeleton robot hip joint, exoskeleton robot and control method of exoskeleton robot |
| CN106267722A (en) * | 2016-09-22 | 2017-01-04 | 华东医院 | Muscle group device for healing and training around a kind of many positions hip joint |
| CN110494111A (en) * | 2017-02-21 | 2019-11-22 | 六方系统公司 | Knee joint rehabilitation instrument |
| CN108670715A (en) * | 2018-05-22 | 2018-10-19 | 李安生 | Post-operation of hip patient's antithrombotic device |
| CN112603611A (en) * | 2020-12-10 | 2021-04-06 | 华中科技大学 | Bionic mechanical leg |
| CN112603611B (en) * | 2020-12-10 | 2021-10-15 | 华中科技大学 | Bionic mechanical leg |
| CN112245239A (en) * | 2020-12-23 | 2021-01-22 | 上海傅利叶智能科技有限公司 | Locking-free hip adjusting device |
| CN112245239B (en) * | 2020-12-23 | 2021-04-09 | 上海傅利叶智能科技有限公司 | Locking-free hip adjusting device |
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| C14 | Grant of patent or utility model | ||
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| CP03 | Change of name, title or address |
Address after: 272100 west head of beihuancheng Road, Yanzhou Economic Development Zone, Jining City, Shandong Province Patentee after: Shandong classic logistics supply chain Co., Ltd Address before: 272100, Shandong, Yanzhou, Jining Economic Development Zone, North Road West head Patentee before: SHANDONG CLASSIC MEDICAL DEVICE TECHNOLOGY Co.,Ltd. |
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| CP03 | Change of name, title or address |