CN205459685U - People's idea control machine leg - Google Patents
People's idea control machine leg Download PDFInfo
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- CN205459685U CN205459685U CN201620031165.XU CN201620031165U CN205459685U CN 205459685 U CN205459685 U CN 205459685U CN 201620031165 U CN201620031165 U CN 201620031165U CN 205459685 U CN205459685 U CN 205459685U
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- single leg
- worm
- lower limb
- connecting rod
- vola
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Abstract
The utility model relates to a people's idea control machine leg, including controlling means, active sensor, single leg artificial limb, lumbar support structure, the single leg artificial limb is fixed in lumbar support structure lower part, but a plurality of active sensor sets up the shank at free activity, active sensor and the communication of controlling means looks, the motion of controlling means drive single leg artificial limb. The advantage is: only adopt the drive of single leg artificial limb to need recovered leg, consequently the device is whole comparatively nimble, and area is less, and self weight is lighter, and the patient of being convenient for independently trains, alleviates nursing staff's burden.
Description
Technical field
This utility model relates to the intelligent donning system in a kind of rehabilitative engineering technology field, and the idea particularly relating to a kind of people controls
Machine lower limb.
Background technology
The hemiplegia that cerebrovascular disease causes is in rehabilitation training, and the general rehabilitation equipment used is the most complex, accounts for
Ground area is the biggest, uses underaction, supports mainly as both feet, and it is mobile to control both feet, such as number of patent application:
201010119161.4 disclose " walking aid exoskeleton rehabilitation robot ".
At present, the exoskeleton robot having dyskinetic patient to carry out rehabilitation training for lower limb is applied and is promoted,
It breaks through Traditional Rehabilitation training method, " helps away " function to combine robot active control technology and artificial limb, is worn on limbs residual
Gait rehabilitation training is carried out on the disease person.Such as number of patent application: 200410053695.6 disclose a kind of wearable lower limb
Walking ectoskeleton, this kind of structure is flexible with whole body rehabilitation training instrument, but needs to support whole health due to it, therefore its
Power output is relatively big, needs parts the most more, and own wt is relatively big, and the patient not being suitable for hemiplegia uses.
Number of patent application: 200610155048.5, title: a kind of robot for multiple posture exoskeleton lower limb rehabilitation training, this skill
Art readme: robot includes support, guardrail, suspension system, ectoskeleton training devices and computer control system.It utilizes
Ectoskeleton and treadmill carry out gait rectificative training, play buffering by passive type elastic damper and part supports health
Effect.
Summary of the invention
For overcoming the deficiencies in the prior art, the purpose of this utility model is to provide the idea of a kind of people and controls machine lower limb, structure letter
Single, convenient wearing, it is achieved flexible rehabilitation training.
For achieving the above object, this utility model is achieved through the following technical solutions:
The idea of a kind of people controls machine lower limb, including controlling device, active sensor, single leg prosthesis, lumbar support structure,
Single leg prosthesis is fixed on lumbar support structure bottom, and several active sensors are arranged on leg that can be freely movable, actively pass
Sensor communicates with controlling device, controls device and drives single leg prosthesis motion.
Described single leg prosthesis includes three worm and gear motor being separately positioned on hip joint, knee joint, ankle joint, foot
The end, supports, support bar, connecting rod, feedback transducer；Connecting rod one end is movably hinged with lumbar support structure, the other end with
Support bar one end is movably hinged, and the support bar other end supports with vola and is movably hinged, and vola supports and is provided with bandage, hip joint
Worm and gear motor drive connecting rod rotate, kneed worm and gear motor drive support bar rotate, ankle joint
Worm and gear motor drives vola support rotating；Feedback transducer is arranged on vola and supports, support bar, in connecting rod, instead
Infeed sensor device communicates with controlling device.
Described control device includes embedded micro computer, wireless transceiver, follower driver, lithium battery, actively passes
The positive action information of collection is sent to embedded micro computer by sensor, and embedded micro computer is according to the delay time time delay set
After, transmission trailing action information to follower driver, follower driver drives worm and gear motor drive single
Leg prosthesis is according to healthy limb motion, and the trailing action information of collection is sent to embedding and declines electricity by feedback transducer
Brain；Described lithium battery is for controlling device and worm and gear motor；Wireless transceiver is by positive action information, driven
Action message occurs on mobile phone, and receives the instruction of mobile phone transmission to embedded micro computer.
Described single leg prosthesis is fixed with the lower limb needing rehabilitation by bandage.
Described active sensor by bandage colligation in healthy leg, in order to gather the movement position information of healthy leg.
Compared with prior art, the beneficial effects of the utility model are:
Utilize sensor, control that device realizes needing rehabilitation lower limb follow passive exercise, with the motion of healthy limb as template,
Driven by single leg prosthesis and need the limbs of rehabilitation, it is achieved the purpose of rehabilitation training；Drive only with single leg prosthesis and need rehabilitation
Lower limb, therefore device entirety is more flexible, and simple in construction, floor space is less, and own wt is lighter, it is simple to patient independently instructs
Practice, alleviate nursing staff's burden.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is partial schematic diagram of the present utility model.
Fig. 3 is this utility model control principle drawing.
Fig. 4 is that this utility model controls device composition schematic diagram.
Fig. 5 is this utility model control flow chart.
In figure: it is collateral that 1-controls device 2-active sensor 3-bandage 4-worm and gear motor 5-adjustable plate 6-waist
Support 7-vola supports 8-upper connecting rod 9-lower connecting rod 10-upper support bar 11-lower support bar 12-electric wire.
Detailed description of the invention
Below in conjunction with Figure of description, this utility model is described in detail, it should be noted that enforcement of the present utility model
It is not limited to following embodiment.
Seeing Fig. 1-Fig. 5, the idea of people controls machine lower limb, including controlling device 1, active sensor 2, single leg prosthesis, waist
Supporting construction, single leg prosthesis is fixed on lumbar support structure bottom, and several active sensors 2 are arranged on can freely activity
Leg, active sensor 2 communicates with controlling device 1, controls device 1 and drives single leg prosthesis motion.Single leg prosthesis passes through
Bandage 3 is fixed with the lower limb needing rehabilitation.Active sensor 2 is by being fixed on the single leg prosthesis without worm and gear motor 4
On bandage 3 colligation in healthy leg, in order to gather the movement position information of healthy leg.
Single leg prosthesis includes three worm and gear motor 4 being separately positioned on hip joint, knee joint, ankle joint, and vola is propped up
Support 7, support bar, connecting rod, feedback transducer；Connecting rod one end is movably hinged with lumbar support structure, the other end with
Strut one end is movably hinged, and the support bar other end and vola support 7 and be movably hinged, and vola supports 7 and is provided with bandage 3, hip
The worm and gear motor 4 in joint drives connecting rod to rotate, and kneed worm and gear motor 4 drives support bar to rotate,
The worm and gear motor 4 of ankle joint drives vola to support 7 rotations；Feedback transducer be arranged on vola support 7, support bar,
In connecting rod, feedback transducer communicates with controlling device 1.
Control device 1 and include embedded micro computer, wireless transceiver (preferably using bluetooth wireless transceiver), driven machine
Structure driver, lithium battery, the positive action information of collection is sent to embedded micro computer by active sensor 2, and embedding declines
After computer is according to the delay time time delay set, transmission trailing action information, to follower driver, is driven by follower
Device drives worm and gear motor 4 to drive single leg prosthesis according to healthy limb motion；Described lithium battery is for controlling
Device 1 is powered；Positive action information, trailing action information are occurred on mobile phone by wireless transceiver, and receive mobile phone transmission
Instruction to embedded micro computer.Wherein, active sensor 2 and feedback transducer all use angular transducer.
Utilize the method that above-mentioned machine lower limb carries out rehabilitation walking: control self partly by the idea of half body not tunnel patient health half brain
Side healthy limb motion, makes the active sensor being arranged on healthy limbs gather healthy limb movable information, and by this information
It is sent to control device, is processed, by controlling device, the movable information gathered, and send instruction control and be fixed on and need rehabilitation limbs
On machine lower limb, make machine lower limb and healthy leg do same movement, thus drive rehabilitation lower limb passive exercise, it is achieved self-contr ol health
Multiple walking, specifically includes following steps:
1) active sensor 2 is placed in healthy limb, in order to gather the movable information of healthy limb；
2) lumbar support structure being fixed on waist, the adjustable connecting rod of length is adjacent to need the huckle of rehabilitation, and ties up
Fixed；Support bar is bundled in the calf needing rehabilitation, and foot is placed on vola and supports on 7, and fixes；Three worm and gears
Motor 4 drives connecting rod, support bar, vola to support 7 motions respectively；
3) positional information is transferred to control device 1 by active sensor 2, is in the active of hip joint, knee joint, ankle joint
Relative position information is sent to control device 1 by sensor 2 successively, sends driven motions instruction after controlling device 1 and processing,
Drive three worm and gear motor 4 to move successively, worm and gear motor 4 driving needs the limbs of rehabilitation, according to strong
The motion mode passive exercise of health limbs；
4) be arranged on connecting rod, support bar, vola support 7 feedback transducer driven movable information is fed back to control
Device 1, the most consistent with the active exercise of healthy limb in order to verify passive exercise, thus realize disease lower limb to self good lower limb
Practise the purpose of motion.
Utilize above-mentioned same procedure principle also can realize the rehabilitation exercise of upper limb, i.e. utilize mechanical arm, control in device 1 realization
The rehabilitation of limb: control healthy upper extremity exercise by the idea of healthy half brain of people, make the active sensor being arranged on healthy arm
2 gather healthy arm motion information, control device 1 process the movable information of collection, and control to be fixed on to need in rehabilitation
The mechanical arm of limb, thus drive rehabilitation arm passive exercise, it is achieved rehabilitation exercise.
Embodiment:
The idea of people controls machine lower limb, including controlling device 1, active sensor 2, single leg prosthesis, lumbar support structure,
Single leg prosthesis is fixed on lumbar support structure bottom, and several active sensors 2 are arranged on without worm and gear motor 4
Single leg prosthesis, leg that can be freely movable, active sensor 2 communicates with control device 1, and control device 1 drives single lower limb
Artificial limb moves.Single leg prosthesis is fixed with the lower limb needing rehabilitation by bandage 3.Active sensor 2 is being good for by bandage 3 colligation
On health lower limb, in order to gather the movement position information of healthy leg；In Fig. 1, active sensor 2 is fixed on without worm and gear electronic
On single leg prosthesis of machine 4, healthy leg is fixed on the single leg prosthesis without worm and gear motor 4 by bandage 3, in order to
Active sensor 2 gathers movable information.
Lumbar support structure is made up of the collateral support of waist 6 and adjustable plate 5, and the collateral support of waist 6 is made up of the structure that two structures are identical,
This structure is made up of right angle steel plate, and one end is connected by adjustable plate 5, and adjustable plate 5 is provided with some connecting holes, in order to adjust
The width of lumbar support structure uses with the people adapting to various waistline, and the other end is movably hinged with single leg prosthesis, and false at single lower limb
Limiting stand is set on limb, limits lumbar support structure position, make lumbar support structure 180 degree upset, it is achieved left and right lower limb exchanges
Use, be suitable for left hemiplegic patient the most simultaneously and right hemiplegic patient uses；Also can realize bed to use, prevent lumbar support structure
Injury bed patient's health.In the collateral support of waist 6, the fixing box body controlling device 1, arranges rechargeable lithium battary in box body.
Single leg prosthesis includes three worm and gear motor 4 being separately positioned on hip joint, knee joint, ankle joint, and vola is propped up
Support 7, support bar, connecting rod；Connecting rod one end is movably hinged with lumbar support structure, and the other end is movable with support bar one end
Hinged, the support bar other end and vola support 7 and are movably hinged, and vola supports 7 and is provided with bandage 3, the worm gear snail of hip joint
Bar motor 4 drives connecting rod to rotate, and kneed worm and gear motor 4 drives support bar to rotate, the worm gear of ankle joint
Worm screw motor 4 drives vola to support 7 rotations.Connector one end support collateral with waist 6 is connected, and the other end is connected with bandage 3,
Limiting stand is set on connector, in order to limit waist collateral support 6 position；Connecting rod is made up of upper connecting rod 8 and lower connecting rod 9,
Being provided with limiting stand inside upper connecting rod 8, to limit lumbar support structure position, upper connecting rod 8 and lower connecting rod 9 pass through spiral shell
Bolt is fixed, and upper connecting rod 8 is provided with chute, in order to adjust connecting rod length；Upper connecting rod 8 also can make with lower connecting rod 9
By the buckle structure or other structures that arbitrarily adjust length.Support bar is made up of upper support bar 10 and lower support bar 11, the two
Connected mode and support bar length adjustment mode are identical with connecting rod.Connecting rod and support bar are adjustable length structure, make single lower limb
Artificial limb is suitable for the crowd of different height and uses.
Control device 1 and include embedded micro computer, wireless transceiver, follower driver, lithium battery, active sensor
The positive action information of collection is sent to embedded micro computer by 2, after embedded micro computer is according to the delay time time delay set,
Transmission trailing action information, to follower driver, is driven single lower limb by follower driver drives worm and gear motor 4
Artificial limb is according to healthy limb motion, the upper feedback transducer arranged of single leg prosthesis (band worm and gear motor 4)
Gather trailing action information, and be sent to control, on device 1, to contrast in order to same positive action information, it is achieved action is rectified
Just, the rehabilitation walking of limbs is finally realized；Lithium battery is powered for controlling device 1, is worm gear snail simultaneously also by electric wire 12
Bar motor 4 is powered；Positive action information, trailing action information are occurred on mobile phone, and receive mobile phone by wireless transceiver
The instruction sent is to embedded micro computer.Mobile phone can realize delay adjustments by APP, inquires about positive action information, inquire about from
Dynamic action message etc.；The most also can realize controlling the motion of single leg prosthesis by APP, and set associ-ated motion parameters etc..Also
Active sensor 2 can be set on the limbs need rehabilitation with Real Time Observation rehabilitation situation.
Claims (4)
1. the idea of a people controls machine lower limb, it is characterized in that, including controlling device, active sensor, single leg prosthesis, lumbar support structure, single leg prosthesis is fixed on lumbar support structure bottom, several active sensors are arranged on leg that can be freely movable, active sensor communicates with controlling device, controls device and drives single leg prosthesis motion.
The idea of a kind of people the most according to claim 1 controls machine lower limb, it is characterised in that described single leg prosthesis includes three worm and gear motor being separately positioned on hip joint, knee joint, ankle joint, and vola supports, support bar, connecting rod, feedback transducer；Connecting rod one end is movably hinged with lumbar support structure, the other end is movably hinged with support bar one end, the support bar other end supports with vola and is movably hinged, vola supports and is provided with bandage, the worm and gear motor of hip joint drives connecting rod to rotate, kneed worm and gear motor drives support bar to rotate, and the worm and gear motor of ankle joint drives vola support rotating；Feedback transducer is arranged on vola and supports, support bar, and in connecting rod, feedback transducer communicates with controlling device.
The idea of a kind of people the most according to claim 1 controls machine lower limb, it is characterised in that described single leg prosthesis is fixed with the lower limb needing rehabilitation by bandage.
The idea of a kind of people the most according to claim 1 controls machine lower limb, it is characterised in that described active sensor by bandage colligation in healthy leg, in order to gather the movement position information of healthy leg.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620031165.XU CN205459685U (en) | 2016-01-13 | 2016-01-13 | People's idea control machine leg |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620031165.XU CN205459685U (en) | 2016-01-13 | 2016-01-13 | People's idea control machine leg |
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| Publication Number | Publication Date |
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| CN205459685U true CN205459685U (en) | 2016-08-17 |
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| CN201620031165.XU Active CN205459685U (en) | 2016-01-13 | 2016-01-13 | People's idea control machine leg |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105476817A (en) * | 2016-01-13 | 2016-04-13 | 何平 | Mechanical leg controlled through thoughts of user and rehabilitation walking method |
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2016
- 2016-01-13 CN CN201620031165.XU patent/CN205459685U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105476817A (en) * | 2016-01-13 | 2016-04-13 | 何平 | Mechanical leg controlled through thoughts of user and rehabilitation walking method |
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