CN205198405U - Outer balanced recovered assist drive device of low limbs that supports - Google Patents
Outer balanced recovered assist drive device of low limbs that supports Download PDFInfo
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- CN205198405U CN205198405U CN201520916695.8U CN201520916695U CN205198405U CN 205198405 U CN205198405 U CN 205198405U CN 201520916695 U CN201520916695 U CN 201520916695U CN 205198405 U CN205198405 U CN 205198405U
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- thigh
- shank
- fixed bar
- expansion link
- balanced support
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Abstract
The utility model discloses an outer balanced recovered assist drive device of low limbs that supports aims at providing a mechanism that has the recovered helping hand function of low limbs, including balanced supporting mechanism and low limbs rehabilitation institution. Its technical scheme's main points are, steady when balanced supporting mechanism prevents with the two -fold that it guarantees the recovered mechanism motion of low limbs to topple over the mechanism through four ascending universal wheel mechanism in side, and the security, the recovered assist drive device of low limbs passes through hip joint drive mechanism, thigh actuating mechanism, knee joint drive mechanism, the associated movement of ankle joint drive mechanism realizes carrying out a step recovered function. The utility model is suitable for an unchangeable old person and the physical disabilities of low limbs motion.
Description
Technical field
This utility model relates to lower limb walking aid field, specifically a kind of outer balanced support lower limb rehabilitation servomechanism.
Background technology
Calculate according to the Second China National Sample Survey on Disability data in 2006, all kinds of people with disability in the whole nation adds up to 8,286 ten thousand people, and the ratio that people with disability accounts for country's total population is 6.34%, wherein physical disabilities 2,412 ten thousand people, account for 29.07%, in all disabled classifications, proportion is the highest.The family of disabled is had to account for nearly 1/5 of the total amount of national family.Along with continuing to increase of population, the patient of the limbs disturbance that the cerebrovascular disease such as apoplexy and industrial injury, traffic accident, wound etc. cause increases, and this quantity also can strengthen further.Nowadays, the rehabilitation product technology that rehabilitation equipment is relevant, especially the development of lower limb rehabilitation product technology accounts for the invalids of China's population more than 1/6 and the Health and Living of old group by directly having influence on.
At present, existing much about the design and research of lower limb rehabilitation robot both at home and abroad, and external design is comparatively ripe, and automatic and mechanical degree is high; Comparatively speaking, domestic research comparatively backwardness, mechanization, automaticity is not high, cannot meet the demand to multifunctional recovery apparatus that people are growing, the lower limb rehabilitation robot of the lower limb rehabilitation device Lai Zi Jing that function unique on domestic market is complete and skill wound, comparatively advanced, but due to equipment volume huge, expensive, cannot the demand of individual consumer, high-end convalescent home can only be applied to.So it is moderate to design a equipment volume, low price, the machinery with lower limb rehabilitation function becomes abnormal important.
Utility model content the purpose of this utility model is to provide the outer balanced support lower limb rehabilitation servomechanism of a kind, to overcome deficiency of the prior art, the invalids handicapped for lower limb and old group provide a kind of volume moderate, structure optimization, has the machinery of lower limb rehabilitation assist function.
In order to achieve the above object, the technical scheme that this utility model adopts is:
A kind of outer balanced support lower limb rehabilitation servomechanism, it is characterized in that: comprise four balanced support supports vertically arranged, four balanced support supports in space by the rectangular distribution and form four vertical edges of rectangle respectively, each balanced support pedestal lower end respectively horizontal vertical extends after launching vertically downward again, except two balanced support supports that front side is adjacent, between all the other two adjacent balanced support pedestal upper end, level connection joint has upper link respectively, between all the other two adjacent balanced support support level vertical flex point top positions, level connection joint has lower link respectively, left, link front end bent orthogonal upwards formation handrail respectively on right side, the upper link inwall center of rear side is fixed with the gripper shoe that plate face vertically arranges, each balanced support pedestal lower end respectively slip cap is equipped with tubular balanced support expansion link, by pin pin joint between balanced support expansion link and corresponding balanced support pedestal lower end, each balanced support expansion link lower end is separately installed with universal wheel, by balanced support support, upper and lower link, handrail, gripper shoe, balanced support expansion link, universal wheel forms balanced support mechanism,
Also comprise the waist member that plane arranges belt shape, waist member front central disconnects and forms fracture, waist member rear portion is connected as one by the gripper shoe on the upper link of rear side in connecting plate and balanced support mechanism, waist member rear portion left end left, right-hand member distinguishes horizontal-extending to the right, and waist member rear portion is left, hip joint motor is separately installed with on rear side of right-hand member, waist member rear portion is left, respectively by the axis of rotation perpendicular to waist member rear portion, round seat is installed on front side of right-hand member, the hip joint motor often held is connected with the rotating shaft transmission of corresponding end respectively, every Duan Yuanzuo center is connected with hip joint connecting plate respectively to front lower place, by waist member, connecting plate, hip joint motor, circle seat, hip joint connecting plate forms hip joint mechanism,
The axis of rotation that the hip joint connecting plate lower end of often holding is arranged along left and right horizontal direction respectively by central shaft is connected with thigh fixed bar, thigh fixed bar is slidably fitted with tubular thigh expansion link outward respectively, thigh fixed bar is respectively arranged with thigh motor with position, hip joint connecting plate junction, and thigh motor and hip joint connecting plate lower end, between thigh fixed bar, rotating shaft transmission connects, thigh fixed bar, interfixed by trip bolt between thigh expansion link, two thigh expansion links medial surface respect to one another is fixed with thigh buffer zone respectively, by thigh fixed bar, thigh expansion link, trip bolt, thigh buffer zone forms thigh telescoping mechanism,
The axis of rotation that the thigh expansion link lower end of often holding is arranged along left and right horizontal direction respectively by central shaft is connected with shank fixed bar, shank fixed bar is slidably fitted with tubular shank expansion link outward respectively, thigh expansion link is respectively arranged with knee joint motor with position, shank fixed bar junction, and knee joint motor and thigh expansion link, between shank fixed bar, rotating shaft transmission connects, shank fixed bar, interfixed by trip bolt between shank expansion link, two shank expansion links medial surface respect to one another is fixed with shank buffer zone respectively, by shank fixed bar, shank expansion link, trip bolt, shank buffer zone forms shank telescoping mechanism,
The axis of rotation that each shank expansion link lower end is arranged along left and right horizontal direction respectively by central shaft is connected with heel brace, shank expansion link is respectively arranged with ankle joint motor with position, heel brace junction, and ankle joint motor is connected with rotating shaft transmission between heel brace, shank expansion link.
The outer balanced support lower limb rehabilitation servomechanism of described one, it is characterized in that: thigh fixed bar is tubular, thigh fixed bar side is provided with fracture, thigh expansion link equidirectional side is provided with through hole, thigh fixed bar fracture bore is greater than thigh and stretches rod through-hole bore, convex slide block is slidably fitted with in thigh fixed bar, snap in thigh fixed bar fracture in convex slide block, and screw togather in convex slide block trip bolt is installed, described trip bolt passes from thigh stretches rod through-hole, and trip bolt passes thigh expansion rod part screws togather and is provided with locking nut;
Shank fixed bar is tubular, shank fixed bar side is provided with fracture, shank expansion link equidirectional side is provided with tapped through hole, shank fixed bar fracture bore is greater than shank expansion link tapped through hole bore, be slidably fitted with convex slide block in shank fixed bar, convex slide block snaps in shank fixed bar fracture, and screws togather in convex slide block and be provided with trip bolt, described trip bolt passes from shank expansion link through hole, and trip bolt passes shank expansion rod part screws togather and is provided with locking nut.
The outer balanced support lower limb rehabilitation servomechanism of described one, it is characterized in that: described thigh stepper motor output shaft is fixed with cylindrical gear, between hip joint connecting plate lower end, thigh fixed bar, rotating shaft axle head is fixed with another cylindrical gear, between two cylindrical gears, mutual transmission engagement, forms thigh driving mechanism by thigh motor, two cylindrical gears.
The outer balanced support lower limb rehabilitation servomechanism of described one, it is characterized in that: described knee joint stepper motor output shaft is fixed with cylindrical gear, between thigh expansion link, shank fixed bar, rotating shaft axle head is fixed with another cylindrical gear, between two cylindrical gears, mutual transmission engagement, forms knee joint driving mechanism by knee joint motor, two cylindrical gears.
The outer balanced support lower limb rehabilitation servomechanism of described one, it is characterized in that: described ankle joint stepper motor output shaft is fixed with cylindrical gear, between heel brace, shank expansion link, rotating shaft axle head is fixed with another cylindrical gear, between two cylindrical gears, mutual transmission engagement, forms ankle joint driving mechanism by ankle joint motor, two cylindrical gears.
The outer balanced support lower limb rehabilitation servomechanism of described one, it is characterized in that: between two balanced support expansion links of rear side, level connection joint has overturning-preventing support bar, overturning-preventing support bar surface thereof is connected with a pair connecting rod downwards, and each connecting rod lower end is rotatablely equipped with overturning-preventing wheel respectively.
The outer balanced support lower limb rehabilitation servomechanism of described one, it is characterized in that: often hold thigh fixed bar upper end to be respectively equipped with recess, and through thigh fixed bar upper end before and after recess, often hold hip joint connecting plate lower end to be connected in the recess of lower limb stationary pipes upper end along the axis of rotation that left and right horizontal direction is arranged respectively by central shaft.
The outer balanced support lower limb rehabilitation servomechanism of described one, it is characterized in that: often hold thigh expansion link lower end outside to be connected with support plate downwards, often hold on front side of thigh expansion link lower end and be connected with limiting plate downwards, the axis of rotation often holding shank fixed bar upper end to arrange along left and right horizontal direction respectively by central shaft is connected on support plate, and rotated forward by limiting plate restriction shank fixed bar, described knee joint motor is arranged on support plate lateral surface and is also connected with rotating shaft transmission between thigh expansion link, shank fixed bar.
This utility model advantage is: (1) installs balanced support mechanism in the periphery of lower limb rehabilitation mechanism, avoids the situation that disequilibrium is fallen down due to the deficiency of user self lower limbs strength and occurs; (2) mechanism design is simple and practical, takes up room little.
Accompanying drawing explanation
Fig. 1 is the outer balanced support lower limb rehabilitation servomechanism overall construction drawing of this utility model one.
Fig. 2 is the thigh and calf telescoping mechanism sectional view of a kind of outer balanced support lower limb rehabilitation servomechanism of this utility model.
Fig. 3 is the balanced support mechanism structure figure of a kind of outer balanced support lower limb rehabilitation servomechanism of this utility model.
Fig. 4 is the lower limb rehabilitation mechanism lengthwise movement state diagram of a kind of outer balanced support lower limb rehabilitation servomechanism of this utility model.
Fig. 5 is the lower limb rehabilitation mechanism transverse movement state diagram of a kind of outer balanced support lower limb rehabilitation servomechanism of this utility model.
Detailed description of the invention
As Figure 1-Figure 5, a kind of outer balanced support lower limb rehabilitation servomechanism, comprise four balanced support supports 1 vertically arranged, four balanced support supports 1 in space by the rectangular distribution and form four vertical edges of rectangle respectively, each balanced support support 1 lower end respectively horizontal vertical extends after launching vertically downward again, except two balanced support supports 1 that front side is adjacent, between all the other two adjacent balanced support support 1 upper ends, level connection joint has upper link 2 respectively, between all the other two adjacent balanced support support 1 horizontal vertical flex point top positions, level connection joint has lower link 3 respectively, left, link front end bent orthogonal upwards formation handrail 4 respectively on right side, the upper link inwall center of rear side is fixed with the gripper shoe 5 that plate face vertically arranges, tubular balanced support expansion link 6 is equipped with in each balanced support support 1 lower end respectively slip cap, by pin 7 pin joint between balanced support expansion link 6 and corresponding balanced support support 1 lower end, each balanced support expansion link 6 lower end is separately installed with universal wheel 8, by balanced support support 1, upper and lower link 2, 3, handrail 4, gripper shoe 5, balanced support expansion link 6, universal wheel 8 forms balanced support mechanism,
Also comprise the waist member 9 that plane arranges belt shape, waist member 9 front central disconnects and forms fracture, waist member 9 rear portion is connected as one by connecting plate 13 and the gripper shoe 5 on the upper link of rear side in balanced support mechanism, waist member 9 rear portion left end left, right-hand member distinguishes horizontal-extending to the right, and waist member 9 rear portion is left, hip joint motor 10 is separately installed with on rear side of right-hand member, waist member 9 rear portion is left, respectively by the axis of rotation perpendicular to waist member rear portion, round seat 11 is installed on front side of right-hand member, the hip joint motor 10 often held is connected with the rotating shaft transmission of corresponding end respectively, Yuan Zuo 11 center of often holding is connected with hip joint connecting plate 12 respectively to front lower place, by waist member 9, connecting plate 13, hip joint motor 10, circle seat 11, hip joint connecting plate 12 forms hip joint mechanism,
The axis of rotation that hip joint connecting plate 12 lower end of often holding is arranged along left and right horizontal direction respectively by central shaft is connected with thigh fixed bar 14, thigh fixed bar 14 is outer is slidably fitted with tubular thigh expansion link 15 respectively, thigh fixed bar 14 is respectively arranged with thigh motor 16 with position, hip joint connecting plate 12 junction, and thigh motor 16 and hip joint connecting plate 12 lower end, between thigh fixed bar 14, rotating shaft transmission connects, thigh fixed bar 14, interfixed by trip bolt between thigh expansion link 15, two thigh expansion links 15 medial surface respect to one another is fixed with thigh buffer zone 17 respectively, by thigh fixed bar 14, thigh expansion link 15, trip bolt, thigh buffer zone 17 forms thigh telescoping mechanism,
The axis of rotation that thigh expansion link 15 lower end of often holding is arranged along left and right horizontal direction respectively by central shaft is connected with shank fixed bar 18, shank fixed bar 18 is outer is slidably fitted with tubular shank expansion link 19 respectively, thigh expansion link 19 is respectively arranged with knee joint motor 20 with position, shank fixed bar 18 junction, and knee joint motor 20 and thigh expansion link 15, between shank fixed bar 18, rotating shaft transmission connects, shank fixed bar 18, interfixed by trip bolt between shank expansion link 19, two shank expansion links 19 medial surface respect to one another is fixed with shank buffer zone 21 respectively, by shank fixed bar 18, shank expansion link 19, trip bolt, shank buffer zone 21 forms shank telescoping mechanism,
The axis of rotation that each shank expansion link 19 lower end is arranged along left and right horizontal direction respectively by central shaft is connected with heel brace 22, shank expansion link 19 is respectively arranged with ankle joint motor 23 with position, heel brace 22 junction,, and ankle joint motor 23 is connected with rotating shaft transmission between heel brace 22, shank expansion link 19.
As shown in Figure 2, thigh fixed bar 14 is tubular, thigh fixed bar 14 side is provided with fracture, thigh expansion link 15 equidirectional side is provided with through hole, thigh fixed bar 14 fracture bore is greater than thigh expansion link 15 tapped through hole bore, convex slide block 24 is slidably fitted with in thigh fixed bar 14, convex slide block 24 snaps in thigh fixed bar 14 fracture, and screw togather in convex slide block 24 trip bolt is installed, trip bolt passes from thigh expansion link 15 through hole, and trip bolt passes thigh expansion link 15 part screws togather and is provided with locking nut;
Shank fixed bar 18 is tubular, shank fixed bar 18 side is provided with fracture, shank expansion link 19 equidirectional side is provided with through hole, shank fixed bar 18 fracture bore is greater than shank expansion link 19 tapped through hole bore, convex slide block is slidably fitted with in shank fixed bar 18, convex slide block snaps in shank fixed bar 18 fracture, and screw togather in convex slide block 24 trip bolt is installed, trip bolt passes from shank expansion link 19 through hole, and trip bolt passes shank expansion link 19 part screws togather and is provided with locking nut.
Thigh motor 16 output shaft is fixed with cylindrical gear, between hip joint connecting plate 12 lower end, thigh fixed bar 14, rotating shaft axle head is fixed with another cylindrical gear, between two cylindrical gears, mutual transmission engagement, forms thigh driving mechanism by thigh motor 16, two cylindrical gear.
Knee joint motor 20 output shaft is fixed with cylindrical gear, between thigh expansion link 15, shank fixed bar 18, rotating shaft axle head is fixed with another cylindrical gear, between two cylindrical gears, mutual transmission engagement, forms knee joint driving mechanism by knee joint motor 20, two cylindrical gear.
Ankle joint motor 23 output shaft is fixed with cylindrical gear, between heel brace 22, shank expansion link 19, rotating shaft axle head is fixed with another cylindrical gear, between two cylindrical gears, mutual transmission engagement, forms ankle joint driving mechanism by ankle joint motor 23, two cylindrical gear.
Between two balanced support expansion links of rear side, level connection joint has overturning-preventing support bar 25, and overturning-preventing support bar 25 surface thereof is connected with a pair connecting rod 26 downwards, and each connecting rod 26 lower end is rotatablely equipped with overturning-preventing wheel 27 respectively.
Thigh fixed bar 14 upper end is often held to be respectively equipped with recess, and through thigh fixed bar 14 upper end before and after recess, often hold hip joint connecting plate 12 lower end to be connected in the recess of lower limb stationary pipes 14 upper end along the axis of rotation that left and right horizontal direction is arranged respectively by central shaft.
Thigh expansion link 15 lower end outside is often held to be connected with support plate 28 downwards, often hold on front side of thigh expansion link 15 lower end and be connected with limiting plate 29 downwards, shank fixed bar 18 upper end is often held to be connected on support plate 28 respectively by the axis of rotation that central shaft is arranged along left and right horizontal direction, and limit shank fixed bar 18 by limiting plate 29 and rotate forward, knee joint motor 20 to be arranged on support plate 28 lateral surface and to be connected with rotating shaft transmission between thigh expansion link 15, shank fixed bar 18.
In this utility model, thigh expansion link 15 arranged outside support plate 28, for being rotationally connected shank fixed bar 18, connect limiting plate 29 on front side of thigh expansion link 15 simultaneously, when shank fixed bar 18 turn to forward contact with limiting plate time, limiting plate 29 can limit shank fixed bar 18 to be continued to rotate forward, make user knee joint in active procedure, there will not be the tendency of inordinate rotation forward, carries out effective spacing to user knee joint.
In this utility model, thigh expansion link 15, convex slide block 24 is adopted to coordinate trip bolt to be fixed between thigh fixed bar 14, shank expansion link 19, also convex slide block trip bolt mechanism is adopted to be fixed between shank fixed bar 18, the sectional view of convex slide block 24 as shown in Figure 2, with thigh expansion link 15, thigh fixed bar 14 is example, thigh fixed bar 14 is sleeved on the outer surface of thigh expansion link 15, convex slide block 24 is arranged in thigh fixed bar 14, thigh expansion link 15 is arranged the through hole be screwed into for trip bolt, in convex slide block 24, trip bolt is installed, trip bolt is through through hole on thigh expansion link 15, by supporting locking nut, thigh expansion link 15 is fixedly connected with thigh fixed bar 14, the step-less adjustment of thigh expansion link 15 length is realized by lax-tightening retaining nuts.
In this utility model, by pin 7 pin joint between balanced support expansion link 6 and corresponding balanced support support 1 lower end, pin 7, by being fixed on balanced support support 1 by balanced support expansion link 6, realizes coordinating of balanced support mechanism and height between hip joint mechanism.
In this utility model, power-driven mechanism is not installed by balanced support mechanism, the universal wheel mechanism 8 that balanced support expansion link 6 on balanced support mechanism four direction connects is four driven pulley mechanism, and four driven pulley mechanism are followed the motion of this utility model lower limb rehabilitation servomechanism and move.The pedestal of a balanced support mechanism mainly movement, as the anti-tipping apparatus of this utility model lower limb rehabilitation servomechanism, avoids this utility model lower limb rehabilitation servomechanism to topple over to four direction.Overturning-preventing support bar 25 consolidation is arranged between the balanced support expansion link 6 of rear side, the universal wheel that two overturning-preventing wheels 27 on the downside of overturning-preventing support bar 25 adopt wheel footpath less, it is more convenient to make to turn to, be double anti-tipping apparatus on rear side of this utility model lower limb rehabilitation servomechanism, make the motion of this utility model lower limb rehabilitation servomechanism more steady.
In this utility model, the thigh motor on thigh fixed bar 14 drives axis of rotation between hip joint connecting plate 12 lower end, thigh fixed bar 14 by two cylindrical gears, thus realizes the rotation of hip joint.In like manner, the knee joint motor 20 on shank fixed bar 18 drives axis of rotation between thigh expansion link 19, shank fixed bar 18 by two cylindrical gears, thus realizes kneed rotation.On shank expansion link 19, ankle joint motor 23 drives axis of rotation between heel brace 22, shank expansion link 19, thus realizes ankle joint rotation.
In this utility model, thigh expansion link 15 is provided with thigh buffer zone 17, shank expansion link 19 is provided with shank buffer zone 21, thigh buffer zone 17, shank buffer zone 21 are for being separately fixed at thigh expansion link 15 and shank expansion link 19 by the thigh of user and shank.Waist member 9, for user being fixed on the center of balanced support mechanism, prevents user from toppling over forward or backward.
In this utility model, the height of lower limb is regulated by left and right lower limb thigh expansion link 15 and shank expansion link 19, balanced support mechanism regulates overall height by the relative position between adjustment supporting bracket 1 and balanced support expansion link 6, and lower limb telescopic section and balanced support mechanism are not in height interfered.
Claims (8)
1. an outer balanced support lower limb rehabilitation servomechanism, it is characterized in that: comprise four balanced support supports vertically arranged, four balanced support supports in space by the rectangular distribution and form four vertical edges of rectangle respectively, each balanced support pedestal lower end respectively horizontal vertical extends after launching vertically downward again, except two balanced support supports that front side is adjacent, between all the other two adjacent balanced support pedestal upper end, level connection joint has upper link respectively, between all the other two adjacent balanced support support level vertical flex point top positions, level connection joint has lower link respectively, left, link front end bent orthogonal upwards formation handrail respectively on right side, the upper link inwall center of rear side is fixed with the gripper shoe that plate face vertically arranges, each balanced support pedestal lower end respectively slip cap is equipped with tubular balanced support expansion link, by pin pin joint between balanced support expansion link and corresponding balanced support pedestal lower end, each balanced support expansion link lower end is separately installed with universal wheel, by balanced support support, upper and lower link, handrail, gripper shoe, balanced support expansion link, universal wheel forms balanced support mechanism,
Also comprise the waist member that plane arranges belt shape, waist member front central disconnects and forms fracture, waist member rear portion is connected as one by the gripper shoe on the upper link of rear side in connecting plate and balanced support mechanism, waist member rear portion left end left, right-hand member distinguishes horizontal-extending to the right, and waist member rear portion is left, hip joint motor is separately installed with on rear side of right-hand member, waist member rear portion is left, respectively by the axis of rotation perpendicular to waist member rear portion, round seat is installed on front side of right-hand member, the hip joint motor often held is connected with the rotating shaft transmission of corresponding end respectively, every Duan Yuanzuo center is connected with hip joint connecting plate respectively to front lower place, by waist member, connecting plate, hip joint motor, circle seat, hip joint connecting plate forms hip joint mechanism,
The axis of rotation that the hip joint connecting plate lower end of often holding is arranged along left and right horizontal direction respectively by central shaft is connected with thigh fixed bar, thigh fixed bar is slidably fitted with tubular thigh expansion link outward respectively, thigh fixed bar is respectively arranged with thigh motor with position, hip joint connecting plate junction, and thigh motor and hip joint connecting plate lower end, between thigh fixed bar, rotating shaft transmission connects, thigh fixed bar, interfixed by trip bolt between thigh expansion link, two thigh expansion links medial surface respect to one another is fixed with thigh buffer zone respectively, by thigh fixed bar, thigh expansion link, trip bolt, thigh buffer zone forms thigh telescoping mechanism,
The axis of rotation that the thigh expansion link lower end of often holding is arranged along left and right horizontal direction respectively by central shaft is connected with shank fixed bar, shank fixed bar is slidably fitted with tubular shank expansion link outward respectively, thigh expansion link is respectively arranged with knee joint motor with position, shank fixed bar junction, and knee joint motor and thigh expansion link, between shank fixed bar, rotating shaft transmission connects, shank fixed bar, interfixed by trip bolt between shank expansion link, two shank expansion links medial surface respect to one another is fixed with shank buffer zone respectively, by shank fixed bar, shank expansion link, trip bolt, shank buffer zone forms shank telescoping mechanism,
The axis of rotation that each shank expansion link lower end is arranged along left and right horizontal direction respectively by central shaft is connected with heel brace, shank expansion link is respectively arranged with ankle joint motor with position, heel brace junction, and ankle joint motor is connected with rotating shaft transmission between heel brace, shank expansion link.
2. the outer balanced support lower limb rehabilitation servomechanism of one according to claim 1, it is characterized in that: thigh fixed bar is tubular, thigh fixed bar side is provided with fracture, thigh expansion link equidirectional side is provided with through hole, thigh fixed bar fracture bore is greater than thigh and stretches rod through-hole bore, convex slide block is slidably fitted with in thigh fixed bar, snap in thigh fixed bar fracture in convex slide block, and screw togather in convex slide block trip bolt is installed, described trip bolt passes from thigh stretches rod through-hole, and trip bolt passes thigh expansion rod part screws togather and is provided with locking nut,
Shank fixed bar is tubular, shank fixed bar side is provided with fracture, shank expansion link equidirectional side is provided with tapped through hole, shank fixed bar fracture bore is greater than shank expansion link tapped through hole bore, be slidably fitted with convex slide block in shank fixed bar, convex slide block snaps in shank fixed bar fracture, and screws togather in convex slide block and be provided with trip bolt, described trip bolt passes from shank expansion link through hole, and trip bolt passes shank expansion rod part screws togather and is provided with locking nut.
3. the outer balanced support lower limb rehabilitation servomechanism of one according to claim 1, it is characterized in that: described thigh stepper motor output shaft is fixed with cylindrical gear, between hip joint connecting plate lower end, thigh fixed bar, rotating shaft axle head is fixed with another cylindrical gear, between two cylindrical gears, mutual transmission engagement, forms thigh driving mechanism by thigh motor, two cylindrical gears.
4. the outer balanced support lower limb rehabilitation servomechanism of one according to claim 1, it is characterized in that: described knee joint stepper motor output shaft is fixed with cylindrical gear, between thigh expansion link, shank fixed bar, rotating shaft axle head is fixed with another cylindrical gear, between two cylindrical gears, mutual transmission engagement, forms knee joint driving mechanism by knee joint motor, two cylindrical gears.
5. the outer balanced support lower limb rehabilitation servomechanism of one according to claim 1, it is characterized in that: described ankle joint stepper motor output shaft is fixed with cylindrical gear, between heel brace, shank expansion link, rotating shaft axle head is fixed with another cylindrical gear, between two cylindrical gears, mutual transmission engagement, forms ankle joint driving mechanism by ankle joint motor, two cylindrical gears.
6. the outer balanced support lower limb rehabilitation servomechanism of one according to claim 1, it is characterized in that: between two balanced support expansion links of rear side, level connection joint has overturning-preventing support bar, overturning-preventing support bar surface thereof is connected with a pair connecting rod downwards, and each connecting rod lower end is rotatablely equipped with overturning-preventing wheel respectively.
7. the outer balanced support lower limb rehabilitation servomechanism of one according to claim 1, it is characterized in that: often hold thigh fixed bar upper end to be respectively equipped with recess, and through thigh fixed bar upper end before and after recess, often hold hip joint connecting plate lower end to be connected in the recess of lower limb stationary pipes upper end along the axis of rotation that left and right horizontal direction is arranged respectively by central shaft.
8. the outer balanced support lower limb rehabilitation servomechanism of one according to claim 1, it is characterized in that: often hold thigh expansion link lower end outside to be connected with support plate downwards, often hold on front side of thigh expansion link lower end and be connected with limiting plate downwards, the axis of rotation often holding shank fixed bar upper end to arrange along left and right horizontal direction respectively by central shaft is connected on support plate, and rotated forward by limiting plate restriction shank fixed bar, described knee joint motor is arranged on support plate lateral surface and is also connected with rotating shaft transmission between thigh expansion link, shank fixed bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520916695.8U CN205198405U (en) | 2015-11-16 | 2015-11-16 | Outer balanced recovered assist drive device of low limbs that supports |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520916695.8U CN205198405U (en) | 2015-11-16 | 2015-11-16 | Outer balanced recovered assist drive device of low limbs that supports |
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| Publication Number | Publication Date |
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| CN205198405U true CN205198405U (en) | 2016-05-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520916695.8U Expired - Fee Related CN205198405U (en) | 2015-11-16 | 2015-11-16 | Outer balanced recovered assist drive device of low limbs that supports |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105326628A (en) * | 2015-11-16 | 2016-02-17 | 合肥工业大学 | Lower limb rehabilitation power-assisted mechanism employing external balance support |
| CN109549826A (en) * | 2018-10-29 | 2019-04-02 | 南京百世维康信息科技有限公司 | A kind of anti-Fall injuries human body protection device |
| CN109603097A (en) * | 2019-01-02 | 2019-04-12 | 安徽医科大学第附属医院 | A kind of lower limb hemiplegia functional training device |
| CN112932908A (en) * | 2021-01-25 | 2021-06-11 | 陈荣栋 | Prevent falling and be convenient for orthopedics of removal uses rehabilitation training device |
| GB2617311A (en) * | 2021-12-27 | 2023-10-11 | Hart Walker Uk Ltd | Device to aid walking |
-
2015
- 2015-11-16 CN CN201520916695.8U patent/CN205198405U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105326628A (en) * | 2015-11-16 | 2016-02-17 | 合肥工业大学 | Lower limb rehabilitation power-assisted mechanism employing external balance support |
| CN109549826A (en) * | 2018-10-29 | 2019-04-02 | 南京百世维康信息科技有限公司 | A kind of anti-Fall injuries human body protection device |
| CN109603097A (en) * | 2019-01-02 | 2019-04-12 | 安徽医科大学第附属医院 | A kind of lower limb hemiplegia functional training device |
| CN112932908A (en) * | 2021-01-25 | 2021-06-11 | 陈荣栋 | Prevent falling and be convenient for orthopedics of removal uses rehabilitation training device |
| GB2617311A (en) * | 2021-12-27 | 2023-10-11 | Hart Walker Uk Ltd | Device to aid walking |
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