CN205145027U - Seat movable low limbs ectoskeleton rehabilitation training device - Google Patents

Seat movable low limbs ectoskeleton rehabilitation training device Download PDF

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Publication number
CN205145027U
CN205145027U CN201520723097.9U CN201520723097U CN205145027U CN 205145027 U CN205145027 U CN 205145027U CN 201520723097 U CN201520723097 U CN 201520723097U CN 205145027 U CN205145027 U CN 205145027U
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seat
fixed station
pedipulator
training
thigh
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周广雷
苗树文
高建国
郑建康
史振华
徐秀林
邹任玲
安美君
胡秀枋
赵展
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Shandong Jingdian Medical Instrument Technology Co Ltd
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Shandong Jingdian Medical Instrument Technology Co Ltd
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Abstract

The utility model provides a seat movable low limbs ectoskeleton rehabilitation training device mainly includes adjustment mechanism about base, seat adjustable mechanism, seat, mechanical legs, two mechanical legs fixed stations, two mechanical legs and counter weight control box. The utility model discloses control adjustment mechanism owing to set up mechanical legs, the width between two mechanical legs is adjusted to the accessible, satisfies the different training person's of hip joint width training requirement, this structure combines seat to move drive mechanism, makes the seat move the base front end on the patient before the device, mechanical legs's occupy -place influence when having overcome about the patient, because two mechanical legs's thigh mechanism, shank mechanism and ankle articulated mechanism are equipped with actuating mechanism respectively, can realize the athletic training of simple joint and the exercise of mobility, also can realize single leg and two mechanical legs's harmonious athletic training. Hip joint, knee joint and ankle joint independent control mechanism can realize the regulation of big shank length, realize individualized training.

Description

Seat packaged type lower limb exoskeleton device for healing and training
Technical field
This utility model relates to medical rehabilitation instrument, particularly relates to a kind of seat packaged type lower limb exoskeleton device for healing and training.
Background technology
In China, every year because the factors such as contingency, disease and organism aging process cause the patient of limbs disturbance or deformity increasing, clinical practice proves, science rehabilitation training is carried out to lower extremity motor function impaired patients, can compensate and recover the function that limbs lose, improve the self care ability of patient, improve its quality of life.Numerous researcher and medical institutions have all carried out the correlational study of lower limb rehabilitation robot, and achieve 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 MOTIONMAKER, this robot can realize 3DOF training and joint training, but expensive.In China, the exploitation of lower limb robot is also in the development stage.
Current seat packaged type lower limb exoskeleton device for healing and training product can adapt to the patient of different height, can regulate according to the length of the thigh of patient and shank, but also do not possess the adjustment of hip joint spacing, cannot adapt to the patient of different weight, partially fat patient is more for especially modern build.Meanwhile, current ectoskeleton machinery leg occupy-place impact is large, and patient's down devices is inconvenient.
Utility model content
The purpose of this utility model, exactly in order to solve the problem, provides a kind of novel seat packaged type lower limb exoskeleton device for healing and training.
In order to achieve the above object, this utility model have employed following technical scheme: a kind of seat packaged type lower limb exoskeleton device for healing and training, and it comprises:
Base;
Governor motion before and after seat, is erected on base and also can regulates front and back;
Seat, to be erected at before and after seat on governor motion and can before and after seat governor motion adjustment under move forward and backward along base;
Pedipulator left-right adjusting 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 pedipulator left-right adjusting mechanism, and can move left and right along base under the adjustment of pedipulator left-right adjusting mechanism;
Pedipulator, totally two are connected on two pedipulator fixed stations, and can move left and right with pedipulator fixed station;
Counterweight control chamber, is fixed on the rear portion of base, in-built electrical equipment.
Before and after described seat, governor motion comprises two guide rods, two guide rod C type slide blocks, two guide rod fixed stations and lead screw transmission mechanism; Two guide rod C type slide block symmetries are arranged on the front portion of base, two guide rod fixed station symmetries are arranged on the middle part of base, two guide rods are each passed through corresponding guide rod C type slide block and guide rod fixed station be arranged in parallel, and lead screw transmission mechanism is arranged on the base between two guide rods and with the rear transfer of seat and is connected; The front portion of seat and two guide rods are fixedly linked, and seat realizes moving forward and backward along base under the drive of lead screw transmission mechanism and the guiding of two guide rods.
Described seat comprises support, seat board, backrest and inclination of the seat backrest governor motion; Support installing is before and after seat on governor motion, seat board is connected on support, is connected under inclination of the seat backrest governor motion is arranged on seat board with backrest transmission, starts the inclination angle that inclination of the seat backrest governor motion realizes regulating backrest.
Described pedipulator left-right adjusting 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 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 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 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.
Also comprise seat locking mechanism, this seat locking mechanism comprises fixed station, gear, tooth bar and handle, and fixed station is arranged on base, and gear and tooth bar are equipped with in fixed station, and handle is connected with gear; Relevant position on a guide rod before and after seat in governor motion is provided with lockhole, and tooth bar front end is provided with lock pin, pulls handle transmitting gear and can make to be fixed by guide rod in the lockhole on the lock pin of tooth bar front end insertion guide rod, thus realize seat is locked.
Ankle joint angle sensor is provided with in the active connection part of ankle joint mechanism and little leg mechanism, knee joint angle sensor is provided with in the active connection part of little leg mechanism and large leg mechanism, pressure transducer is respectively equipped with in pedal two bottom sides, the base on two pedipulator fixed station sides is respectively equipped with pedipulator and moves spacing photoelectric sensor, before and after seat governor motion side base on be provided with seat and move spacing photoelectric sensor.
Be connected with pedal at the support lower removable of seat, at the frame upper of seat, Magnet be installed, turn over when pedal does not use and inhale with Magnet even upward, turn over when pedal uses downwards for foot-operated.
Described electrical equipment comprises power supply, motor drive train and sensing transducer, realizes controlling the motion of pedipulator and the collection of transducing signal.
Compared with prior art, this utility model has the following advantages:
1) pedipulator left-right adjusting 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.Simultaneously introduce seat movement and transmission mechanism in the structure, make seat can move to pedipulator front end under the control of slave computer, overcome patient upper and lower time pedipulator occupy-place impact, be very easy to lower limb disorder patient seat and carry out rehabilitation training.
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.
3) advanced locational space sensing technology is adopted at each joint part of lower limb, realize the wireless transmission of joint angles data, assessment data adopts wireless communication mode to operation display, overcomes the shortcoming using complicated frame for movement to carry out constrained motion scope.
Accompanying drawing explanation
Fig. 1 is perspective view of the present utility model;
Fig. 2 is the structural representation of the seat in this utility model;
Fig. 3, Fig. 4 are the structural representation of the pedipulator in this utility model;
Fig. 5 is the structural representation of the base in this utility model;
Fig. 6 is the structural representation of governor motion before and after the seat in this utility model;
Fig. 7, Fig. 8 are sensor installment state schematic diagram in this utility model;
Fig. 9 is the structural representation of the pedipulator left-right adjusting mechanism in this utility model;
Figure 10, Figure 11 are pedipulator in this utility model and seat adjustment state diagram.
Detailed description of the invention
See Fig. 1, seat packaged type lower limb exoskeleton device for healing and training of the present utility model, comprises governor motion 2 before and after base 1, seat, seat 3, pedipulator left-right adjusting mechanism 4, pedipulator fixed station 5, pedipulator 6 and counterweight control chamber 7.
Coordinate see Fig. 5, base 1 in this utility model comprises base plate 11, is provided with four castors 12 below base plate 11, is provided with two guide rod C type slide blocks, 22, two guide rod fixed stations 23 on base plate 11, seat locking mechanism 8, linear guides 54 and screw mandrel fixed station 41.
Coordinate see Fig. 2, Fig. 6, before and after the seat in this utility model, governor motion 2 is erected on base 1 and also can regulates front and back.It comprises two guide rods, 21, two guide rod C type slide blocks, 22, two guide rod fixed stations 23 and lead screw transmission mechanism 24; Two guide rod C type slide block symmetries are arranged on the front portion of base, two guide rod fixed station symmetries are arranged on the middle part of base, two guide rods are each passed through corresponding guide rod C type slide block and guide rod fixed station be arranged in parallel, and lead screw transmission mechanism is arranged on the base between two guide rods and with the rear transfer of seat and is connected; The front portion of seat and two guide rods are fixedly linked, and seat realizes moving forward and backward along base under the drive of lead screw transmission mechanism and the guiding of two guide rods.
Coordinate see Fig. 2, Fig. 6, the seat 3 in this utility model to be erected at before and after seat on governor motion 2 and can before and after seat governor motion adjustment under move forward and backward along base; It comprises support 31, seat board 32, backrest 33 and inclination of the seat backrest governor motion 34; Support installing is before and after seat on governor motion, seat board is connected on support, is connected under inclination of the seat backrest governor motion is arranged on seat board with backrest transmission, starts the inclination angle that inclination of the seat backrest governor motion realizes regulating backrest.Be connected with pedal 35 at support 31 lower removable of seat, at the frame upper of seat, Magnet 36 be installed, turn over when pedal does not use and inhale with Magnet even upward, turn over when pedal uses downwards for foot-operated.Front-wheel 37 is also connected with in support 31 bottom of seat.
Coordinate see Fig. 9, the pedipulator left-right adjusting mechanism 4 in this utility model is erected at also can left and right adjusting on base.It comprises screw mandrel fixed station 41, screw mandrel 42, feed screw nut 43 and motor transmission mechanism 44; Screw mandrel fixed station 41 is arranged on base, screw mandrel 42 is arranged through screw mandrel fixed station, the two ends, left and right of screw mandrel connect left and right feed screw nut 43 respectively, motor transmission mechanism 44 is arranged on screw mandrel fixed station 41 and is also connected with screw mandrel 42 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.Two states after pedipulator left-right adjusting mechanism 4 regulates, Figure 10 is that hip joint spacing is transferred to the widest state, and seat moves to foremost simultaneously, and facilitate patient's seat, Figure 11 is that hip joint spacing is transferred to the narrowest state, and chair returns to original position simultaneously.
Coordinate see Fig. 9, the pedipulator fixed station 5 in this utility model is totally two left and right sides being connected to pedipulator left-right adjusting mechanism, and can move left and right along base under the adjustment of pedipulator left-right adjusting mechanism.It comprises fixed station body 51, is provided with slide block 52 in the bottom of fixed station body, and top is provided with handrail 53, and base is provided with linear guides 54, and pedipulator fixed station is moved left and right by the slide block realization that to be connected with the slip of linear guides.
Coordinate see Fig. 3, Fig. 4, the pedipulator 6 in this utility model totally two be connected on two pedipulator fixed stations 5, and can to move left and right with pedipulator fixed station.It comprises large leg mechanism 61, little leg mechanism 62 and ankle joint mechanism 63, and large leg mechanism 61 is flexibly connected with pedipulator fixed station 5, and little leg mechanism 62 is flexibly connected with large leg mechanism 61, and ankle joint mechanism 63 is flexibly connected with little leg mechanism 62.
Large leg mechanism 61 comprises thigh and drives electric cylinder 611, thick link 612, thigh push rod 613, thigh sleeve 614, lower limb holder 615 and thigh length adjustment mechanism 616; Thigh drives electric cylinder to be flexibly connected with 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 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 62 comprises shank and drives electric cylinder 621, knee joint connector 622, knee joint rotating shaft 623, shank push rod 624, shank sleeve 625 and lower-leg length governor motion 626.Shank drives electric cylinder to be arranged on the thigh sleeve of 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 63 comprises ankle joint motor 631, deceleration force amplifier mechanism 632 and pedal 633, 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.
Counterweight control chamber 7 is fixed on the rear portion of base, in-built electrical equipment, comprises power supply, motor drive train and sensing transducer etc.
Coordinate see Fig. 2, Fig. 5, Fig. 6, this utility model also comprises seat locking mechanism 8, and this seat locking mechanism 8 comprises fixed station 81, gear 82, tooth bar 83 and handle 84, and fixed station is arranged on base, gear and tooth bar are equipped with in fixed station, and handle is connected with gear; Relevant position on a guide rod before and after seat in governor motion is provided with lockhole, and tooth bar front end is provided with lock pin, pulls handle transmitting gear and can make to be fixed by guide rod in the lockhole on the lock pin of tooth bar front end insertion guide rod, thus realize seat is locked.
Coordinate see Fig. 7, Fig. 8, this utility model is provided with ankle joint angle sensor 91 in the active connection part of ankle joint mechanism and little leg mechanism, knee joint angle sensor 92 is provided with in the active connection part of little leg mechanism and large leg mechanism, pressure transducer 93,94 is respectively equipped with in pedal two bottom sides, the base on two pedipulator fixed station sides is respectively equipped with pedipulator and moves spacing photoelectric sensor 95,96, before and after seat governor motion side base on be provided with seat and move spacing photoelectric sensor 97,98.Ankle joint angle sensor 91 and ankle joint rotating shaft concentric fit, be used for measuring the movement angle of ankle portion in rotary course.Knee joint angle sensor 92 and knee joint rotating shaft concentric fit, be used for measurement mechanical lower limb leg portion and lower leg portion angulation in motor process.Pressure transducer 93,94 is used for measuring patient's plantar pressure in training process.Pedipulator moves two extreme position that spacing photoelectric sensor 95,96 is arranged on the movement of base corresponding pedipulator fixed station, on the fixing head of fixed station, rear side installs a small boss, when fixing head move to the widest and the narrowest position time, small boss and photoelectric sensor are just in correspondence, between distance within preset value, sensor sends signal, and fixing head drive motors stops operating, fixing head stop motion, reaches the effect of limit mechanical lower limb fixed station moving range.In like manner, seat moves two extreme position that spacing photoelectric sensor 97,98 is arranged on the corresponding seat movement of base plate, tables and chairs support side edge is equipped with a small boss, when seat moves to two extreme positions, small boss and photoelectric sensor are just in correspondence, between distance within preset value, sensor sends signal, and seat moves drive motors and stops operating, seat stops mobile, reaches the effect of restriction seat moving range.
Device of the present utility model also comprises display, and display is used for machine set, realizes the functions such as man-machine interaction game training.
Adopt robot of the present utility model, lower extremity movement training function can be realized, lower limb evaluation function, craps game interactive function, wherein passive exercise comprises both legs and replaces walking simulation training, both legs synchronously simulating is squatted down to stand and is bent and stretched training, and monarthric training can be applicable to the needs of different arthritic patients.
Synchronously bend and stretch simulation to squat down the function that stands, realize by the motion regulating left and right pedipulator group of motors, training time length can be selected.Before training, hip joint spacing is transferred to the widest, removes seat locking, allow seat move to foremost, put down pedal, sit on the seat Deng patient, ride on the footrests, control seat and get back to original position, locking seat, then fix shank, thigh, and allow its left and right foot step down on the pedal of left and right respectively; Mix during training and stimulate interesting sound effect and picture background effect, the interest of patient's training can be increased, to reach best training effect.Training can, according to patient features, take incremental mode to improve speed gradually, strengthens difficulty, realizes the requirement of patient's rehabilitation training gradually.
Can also according to patient need realize knee joint, the monarthric motion of ankle joint, also can realize the kneed of left and right lower limb and be synchronized with the movement, being synchronized with the movement of ankle joint, realizes the exercise of the mobility in joint.

Claims (13)

1. a seat packaged type lower limb exoskeleton device for healing and training, is characterized in that, comprising:
Base;
Governor motion before and after seat, is erected on base and also can regulates front and back;
Seat, to be erected at before and after seat on governor motion and can before and after seat governor motion adjustment under move forward and backward along base;
Pedipulator left-right adjusting 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 pedipulator left-right adjusting mechanism, and can move left and right along base under the adjustment of pedipulator left-right adjusting mechanism;
Pedipulator, totally two are connected on two pedipulator fixed stations, and can move left and right with pedipulator fixed station;
Counterweight control chamber, is fixed on the rear portion of base, in-built electrical equipment.
2. seat packaged type lower limb exoskeleton device for healing and training as claimed in claim 1, is characterized in that: before and after described seat, governor motion comprises two guide rods, two guide rod C type slide blocks, two guide rod fixed stations and lead screw transmission mechanism; Two guide rod C type slide block symmetries are arranged on the front portion of base, two guide rod fixed station symmetries are arranged on the middle part of base, two guide rods are each passed through corresponding guide rod C type slide block and guide rod fixed station be arranged in parallel, and lead screw transmission mechanism is arranged on the base between two guide rods and with the rear transfer of seat and is connected; The front portion of seat and two guide rods are fixedly linked, and seat realizes moving forward and backward along base under the drive of lead screw transmission mechanism and the guiding of two guide rods.
3. seat packaged type lower limb exoskeleton device for healing and training as claimed in claim 1, is characterized in that: described seat comprises support, seat board, backrest and inclination of the seat backrest governor motion; Support installing is before and after seat on governor motion, seat board is connected on support, is connected under inclination of the seat backrest governor motion is arranged on seat board with backrest transmission, starts the inclination angle that inclination of the seat backrest governor motion realizes regulating backrest.
4. seat packaged type lower limb exoskeleton device for healing and training as claimed in claim 1, is characterized in that: described pedipulator left-right adjusting 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.
5. seat packaged type lower limb exoskeleton device for healing and training 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.
6. seat packaged type lower limb exoskeleton device for healing and training 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.
7. seat packaged type lower limb exoskeleton device for healing and training as claimed in claim 6, 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 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 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.
8. seat packaged type lower limb exoskeleton device for healing and training as claimed in claim 6, 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.
9. seat packaged type lower limb exoskeleton device for healing and training as claimed in claim 6, 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.
10. seat packaged type lower limb exoskeleton device for healing and training as claimed in claim 1, it is characterized in that: also comprise seat locking mechanism, this seat locking mechanism comprises fixed station, gear, tooth bar and handle, fixed station is arranged on base, gear and tooth bar are equipped with in fixed station, and handle is connected with gear; Relevant position on a guide rod before and after seat in governor motion is provided with lockhole, and tooth bar front end is provided with lock pin, pulls handle transmitting gear and can make to be fixed by guide rod in the lockhole on the lock pin of tooth bar front end insertion guide rod, thus realize seat is locked.
11. seat packaged type lower limb exoskeleton device for healing and training as claimed in claim 1, it is characterized in that: be provided with ankle joint angle sensor in the active connection part of ankle joint mechanism and little leg mechanism, knee joint angle sensor is provided with in the active connection part of little leg mechanism and large leg mechanism, pressure transducer is respectively equipped with in pedal two bottom sides, the base on two pedipulator fixed station sides is respectively equipped with pedipulator and moves spacing photoelectric sensor, before and after seat governor motion side base on be provided with seat and move spacing photoelectric sensor.
12. seat packaged type lower limb exoskeleton device for healing and training as claimed in claim 1, it is characterized in that: be connected with pedal at the support lower removable of seat, at the frame upper of seat, Magnet is installed, turn over when pedal does not use to inhale with Magnet upward and connect, turn over when pedal uses downwards for foot-operated.
13. seat packaged type lower limb exoskeleton device for healing and training as claimed in claim 1, is characterized in that: described electrical equipment comprises power supply, motor drive train and sensing transducer.
CN201520723097.9U 2015-09-17 2015-09-17 Seat movable low limbs ectoskeleton rehabilitation training device Active CN205145027U (en)

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Cited By (11)

* Cited by examiner, † Cited by third party
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CN106038171A (en) * 2016-06-24 2016-10-26 上海璟和技创机器人有限公司 Lower limb rehabilitation robot and foot fixing device thereof
CN106109175A (en) * 2016-07-15 2016-11-16 江苏大学 A kind of exoskeleton-type knee joint and ankle joint rehabilitation device
CN106109163A (en) * 2016-06-20 2016-11-16 西安交通大学 A kind of three pose healing robots
CN106539666A (en) * 2015-09-17 2017-03-29 山东经典医疗器械科技有限公司 Seat packaged type lower limb exoskeleton device for healing and training
CN106691775A (en) * 2016-12-12 2017-05-24 无锡智航控制技术有限公司 Novel rehabilitation training seat
CN107411745A (en) * 2016-05-24 2017-12-01 刘翔宇 A kind of cervical vertebra moving angel measuring instrument
CN108294912A (en) * 2017-01-12 2018-07-20 上海理工大学 Thigh and calf length adjustment mechanism for lower limb rehabilitation instrument
CN110064170A (en) * 2019-04-28 2019-07-30 李仁明 A kind of rheumatism human knee joint resumes training chair
CN110801238A (en) * 2019-11-20 2020-02-18 上海交通大学 Lower limb multi-joint constant-speed training testing device
CN112690795A (en) * 2020-12-22 2021-04-23 四川大学华西医院 Accurate strength sensing device for lower limb load bearing
CN113730181A (en) * 2021-08-18 2021-12-03 浙江工业大学 Sitting and lying type lower limb movement training robot

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106539666B (en) * 2015-09-17 2019-12-20 山东经典医疗器械科技有限公司 Seat-movable lower limb exoskeleton rehabilitation training device
CN106539666A (en) * 2015-09-17 2017-03-29 山东经典医疗器械科技有限公司 Seat packaged type lower limb exoskeleton device for healing and training
CN107411745A (en) * 2016-05-24 2017-12-01 刘翔宇 A kind of cervical vertebra moving angel measuring instrument
CN106109163A (en) * 2016-06-20 2016-11-16 西安交通大学 A kind of three pose healing robots
CN106038171A (en) * 2016-06-24 2016-10-26 上海璟和技创机器人有限公司 Lower limb rehabilitation robot and foot fixing device thereof
CN106109175A (en) * 2016-07-15 2016-11-16 江苏大学 A kind of exoskeleton-type knee joint and ankle joint rehabilitation device
CN106691775A (en) * 2016-12-12 2017-05-24 无锡智航控制技术有限公司 Novel rehabilitation training seat
CN108294912A (en) * 2017-01-12 2018-07-20 上海理工大学 Thigh and calf length adjustment mechanism for lower limb rehabilitation instrument
CN110064170A (en) * 2019-04-28 2019-07-30 李仁明 A kind of rheumatism human knee joint resumes training chair
CN110801238A (en) * 2019-11-20 2020-02-18 上海交通大学 Lower limb multi-joint constant-speed training testing device
CN110801238B (en) * 2019-11-20 2022-07-01 上海交通大学 Lower limb multi-joint constant-speed training testing device
CN112690795A (en) * 2020-12-22 2021-04-23 四川大学华西医院 Accurate strength sensing device for lower limb load bearing
CN113730181A (en) * 2021-08-18 2021-12-03 浙江工业大学 Sitting and lying type lower limb movement training robot
CN113730181B (en) * 2021-08-18 2024-04-16 浙江工业大学 Sitting and lying type lower limb exercise training robot

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