CN205698427U - A kind of healthy image training robot - Google Patents
A kind of healthy image training robot Download PDFInfo
- Publication number
- CN205698427U CN205698427U CN201620361089.9U CN201620361089U CN205698427U CN 205698427 U CN205698427 U CN 205698427U CN 201620361089 U CN201620361089 U CN 201620361089U CN 205698427 U CN205698427 U CN 205698427U
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- China
- Prior art keywords
- motion
- foot
- thigh
- shank
- fixed component
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 50
- 210000001699 lower leg Anatomy 0.000 claims abstract description 39
- 210000002683 Foot Anatomy 0.000 claims abstract description 32
- 210000002414 Leg Anatomy 0.000 claims abstract description 18
- 210000003141 Lower Extremity Anatomy 0.000 claims abstract description 10
- 230000036545 exercise Effects 0.000 description 4
- 210000003205 Muscles Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 210000003414 Extremities Anatomy 0.000 description 2
- 229920001821 Foam rubber Polymers 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006011 modification reaction Methods 0.000 description 2
- 210000003423 Ankle Anatomy 0.000 description 1
- 210000001737 Ankle Joint Anatomy 0.000 description 1
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 235000012364 Peperomia pellucida Nutrition 0.000 description 1
- 240000007711 Peperomia pellucida Species 0.000 description 1
- 208000008513 Spinal Cord Injury Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 210000001364 Upper Extremity Anatomy 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 230000004078 physical exercise Effects 0.000 description 1
- 230000000630 rising Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 230000001360 synchronised Effects 0.000 description 1
- 230000001225 therapeutic Effects 0.000 description 1
Abstract
The utility model discloses a kind of healthy image training robot, comprising: the thigh motion being sequentially connected in series, shank motion and foot motion mechanism, described thigh motion, foot motion mechanism are 3-freedom parallel mechanism；Being connected between described thigh motion and shank motion has thigh support to be connected between described shank motion and foot motion mechanism with fixed component to have leg support and fixed component, and described foot motion mechanism front end connects foot-operated and fixed component.This utility model is simple and compact for structure, have wide range of applications, can be grafted onto on other healthy and health and fitness facilitieses, can apply to the healthy of lower limb and fitness training, can realize the healthy training of three-dimensional space motion.
Description
Technical field:
This utility model relates to a kind of healthy image training robot, belongs to healthy medical treatment and sport and body-building apparatus field.
Background technology:
The reasons such as social senilization's degree is deepened day by day, apoplexy, spinal cord injury cause extremity motor function to reduce, even
Total loss, has had a strong impact on quality of life.Healthy treatment be recover motor function effective way, conventional physical therapist with
The man-to-man healthy therapeutic modality of patient exists that labor intensity is big, the high deficiency of medical expense, and therefore, healthy training equipment becomes
Solve the effective way of this contradiction.Since the middle of last century, scientific research personnel achieves many one-tenth on healthy training equipment
Really, such as successful development and the commercialization of the healthy training equipment such as single-degree-of-freedom formula, ectoskeleton, suspension.But they exist
Not enough: operation is complicated, forms of motion is single, be difficult to simulate human body three-dimensional motion etc., develop and a be capable of human upper limb three
Maintenance and operation is moved healthy training devices and is had certain realistic meaning.
Summary of the invention:
For overcoming the defect of prior art, the purpose of this utility model is to provide a kind of simple and compact for structure, application model
Enclose extensively, can be grafted onto on other healthy and health and fitness facilitieses, can apply to the healthy of lower limb and fitness training, three-dimensional space can be realized
Between motion healthy image training robot.
This utility model solves technical problem and adopts the following technical scheme that
A kind of healthy image training robot, comprising:
Thigh motion, shank motion and the foot motion mechanism being sequentially connected in series, described thigh motion,
Foot motion mechanism is 3-freedom parallel mechanism；
It is connected between described thigh motion and shank motion and has thigh support and fixed component described little
Being connected between lower limb motion with foot motion mechanism and have leg support and fixed component, described foot motion mechanism front end connects
There is foot-operated and fixed component.
Described 3-freedom parallel mechanism includes front end-plate, end plate and be connected between front end-plate and end plate three
Root line handspike, one end of each line handspike is hinged with end plate by spherical hinge, and the other end is by flat hinge and front end-plate plate
Boss on face is hinged；
Three line handspikes are spaced apart in 120 ° in a circumferential direction.
Described thigh support includes with fixed component: the first support bar of connecting firmly with the front end-plate of thigh motion and
Thigh pallet that first support bar connects firmly, the thigh bandage being located on described thigh pallet；
The underrun connector of described thigh pallet is connected with shank motion.
Described shank motion includes: connecting rod and expansion link, and the upper end of described connecting rod is hinged with connector, even
The lower end of extension bar and leg support are fixed with fixed component and are connected；The upper end of described expansion link is hinged with described connector, flexible
Lower end and the leg support of bar are hinged with fixed component.
Described leg support includes with fixed component: fix with described connecting rod be connected shank pallet, be located at described little
Shank bandage on leg support dish；
Described foot-operated include with fixed component: ride with the front end-plate of foot motion mechanism connects firmly and be located at foot-operated
On foot's bandage.
Compared with the prior art, the beneficial effects of the utility model are embodied in:
This utility model simple in construction, it is easy to be grafted onto other healthy and fitness training apparatus, seat, massage armchair and wheelchair
On.
This utility model applied range, can be used for lower limb and realizes healthy training and exercise at three dimensions.
The healthy training mode of this utility model is various, during use two device is symmetrically arranged in left/right hand and left/
By right lower limb, it is possible to achieve synchronous/asynchronous is trained.
This utility model compact conformation is flexible, can fold with freedom retractable, take up room little when not using.
This utility model has detachability, and thigh, shank and foot three part can realize tandem compound and can also take apart
Carry out respectively to, the healthy training of SCID Mice.
This utility model can make lower limb realize different tracks, the training of different amplitude in three dimensions so that it is both
Adapt to same position trainer in different healthy phases and the situation of the exercise of physical training condition, the training of different height can be met again
Person carries out healthy and exercise demand.
During active training, the control electric current by regulation motor self can resistance link, it is possible to realize active training, not only
Can make for healthy limbs as healthy exerciser, and can make for health invigorating as health and fitness facilities.
Accompanying drawing illustrates:
Fig. 1 is overall structure schematic diagram of the present utility model；Fig. 2 is this transmitting apparatus grafting schematic diagram on plint；
Fig. 2 A, 2B, 2C are the three-view diagram of Fig. 2；.
Label in figure: 1 backrest, 2 handrails, 3 frames, 4 foam-rubber cushions, 5 line handspikes, 10 thigh motions, 20 shank fortune
Motivation structure, 30 foot motion mechanisms, 40 thigh support and fixed component, 50 leg support and fixed component, 60 is foot-operated and fixing
Parts, 101 front end-plates 101, end plate 102,201 connecting rods, 202 expansion links, 401 first support bars, 402 thigh pallets, 403
Thigh bandage, 501 shank pallets, 502 shank bandages, 601 ride, 602 foot's bandages.
Below by way of detailed description of the invention, and the utility model is described in further detail to combine accompanying drawing.
Detailed description of the invention:
Embodiment: referring to the drawings, details are as follows for the architectural feature of this utility model device:
Shown in Fig. 1, healthy image training robot of the present utility model, comprising:
Thigh motion 10, shank motion 20 and the foot motion mechanism 30 being sequentially connected in series, wherein, thigh is transported
Motivation structure 10, shank motion 20 are 3-freedom parallel mechanism；
It is connected between thigh motion 10 with shank motion 20 and has thigh support and fixed component 40, at shank
Being connected between motion 20 with foot motion mechanism 30 and have leg support and fixed component 50, foot motion mechanism 30 front end is even
It is connected to foot-operated and fixed component 60.
In said structure, 3-freedom parallel mechanism include front end-plate 101, end plate 102 and be connected to front end-plate with
Three line handspikes 5 between end plate, one end of each line handspike is hinged with end plate 102 by spherical hinge, and the other end leads to
Cross flat hinge hinged with the boss on front end-plate plate face；Further, three line handspikes are spaced apart in 120 ° in a circumferential direction.
Thigh motion 10, shank motion 20 are 3-freedom parallel mechanism, in other words, before each motion is respectively provided with
End plate, end plate.
Thigh support includes with fixed component 40: the first support bar 401 of connecting firmly with the front end-plate of thigh motion 10,
The thigh pallet 402 connected firmly with the first support bar, the thigh bandage 403 being located on thigh pallet 402；The end of thigh pallet 402
Face is connected with shank motion 20 by connector.
Every line handspike is driven by the motor of himself, can regulate the length of line handspike, and three linear electric motors are same
Time elongate or shorten the translation of the front end-plate that just can realize thigh motion 10, wherein two line handspikes extend simultaneously or
Shortening just can realize thigh motion 10 front end-plate and rotate around the 3rd line handspike top.In like manner, wantonly two straight lines
Stretching of push rod, the front end-plate that can realize thigh motion 10 rotates around the 3rd line handspike top, it is achieved Quan Fang
The exercise of position.
The operating principle of foot motion mechanism 30 is identical, realizes the training of the different motion track of shank and foot respectively.
Further, the action of parent body can drive the action of Lower Establishment, such as, the action of thigh motion, and shank can be driven to transport
Motivation structure, the action of foot motion mechanism, by that analogy.
During concrete structure is arranged, above-mentioned shank motion is not 3-freedom parallel mechanism, comprising: connecting rod 201
And expansion link 202, the upper end of connecting rod 201 is hinged with connector, the lower end of connecting rod 201 and leg support and fixed component
50 fixing connections；The upper end of expansion link 202 is hinged with connector, the lower end of expansion link 202 and leg support and fixed component 50
Hinged.
Above-mentioned leg support includes with fixed component 50: fixing with connecting rod 201 be connected shank pallet 501, be located at little
Shank bandage 502 on leg support dish；Wherein, the underrun connecting rod of shank pallet 501 is solid with the end plate of foot motion mechanism
Fixed connection.Foot-operated include with fixed component 60: ride 601 with the front end-plate of foot motion mechanism connects firmly and be located at foot-operated
Foot's bandage 602 on 601.
In motion, wherein, the motion of the front end-plate of first 401 thigh motions 10 of support bar is delivered to huckle
Point, driving thigh to move, train leg muscle and hip joint, 403 thighs of thigh pallet 402 and thigh bandage are fixed, with
Thigh pallet 402 action.
Connecting rod 201,202 stretching motions of expansion link are delivered to lower leg portion, drive shank to move, and temper shank and lift
Rising and fall, training Calf muscle and knee joint, 503 shanks of shank pallet 502 and shank bandage are fixed, along with shank pallet
502 actions.In specifically arranging, expansion link can be electric pushrod, hydraulic push rod even turbine and worm pair etc., if flexible
?.
Human foot is fixed on foot-operated 601 by foot's bandage 602, foot motion mechanism drive motion, it is achieved sole
Left and right upset, on action, training foot muscles and the ankle joint such as carry off.
Seeing Fig. 2, one of which grafting method is shown in that Fig. 2, plint have backrest 1, handrail 2, frame 3, and handrail 2 is in frame
Liftable on 3, adapts to the trainer that difference raises, and seat is provided with foam-rubber cushion 4, improves comfortableness.During grafting, thigh training airplane
The end plate of structure 10 is fixed in frame.The healthy image training robot of this utility model can be applicable to lower extremity motor function and declines
Or the healthy training of the crowd of forfeiture, help patient to realize the healthy training of movement locus under three dimensions.For lower limb body function
For sound general population, it is also possible to carry out healthy training, it is helped to strengthen physical exercise ability, the healthy instruction of this utility model
Practicing robot can make patient's lower limb complete more complicated space motion, applied range, and having the biggest industrialization should
Use prospect.
The foregoing is only preferred embodiment of the present utility model, be not limited to this utility model, for this
For the technical staff in field, this utility model can have various modifications and variations.All in spirit of the present utility model and principle
Within, any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.
Claims (6)
1. a healthy image training robot, it is characterised in that described healthy image training robot includes:
Thigh motion (10), shank motion (20) and foot motion mechanism (30), the described thigh being sequentially connected in series
Motion (10), foot motion mechanism (30) are 3-freedom parallel mechanism；
It is connected between described thigh motion and shank motion and has thigh support and fixed component (40), described little
It is connected between lower limb motion with foot motion mechanism and has leg support and fixed component (50), described foot motion mechanism front end
Connect and have foot-operated and fixed component (60).
The healthy image training robot of one the most according to claim 1, it is characterised in that described 3-freedom parallel mechanism bag
Including front end-plate (101), end plate (102) and three line handspikes being connected between front end-plate and end plate, each straight line pushes away
One end of bar is hinged with end plate (102) by spherical hinge, and the other end is hinged with the boss on front end-plate plate face by flat hinge；
Three line handspikes are spaced apart in 120 ° in a circumferential direction.
The healthy image training robot of one the most according to claim 1, it is characterised in that described thigh support and fixed component
(40) including: big with what the first support bar connected firmly with the first support bar (401) that the front end-plate of thigh motion (10) connects firmly
Leg support dish (402), the thigh bandage (403) being located on described thigh pallet (402)；
The underrun connector of described thigh pallet (402) is connected with shank motion (20).
The healthy image training robot of one the most according to claim 3, it is characterised in that described shank motion (20) is wrapped
Including: connecting rod (201) and expansion link (202), the upper end of described connecting rod (201) is hinged with connector, connecting rod (201)
Lower end and leg support are fixed with fixed component (50) and are connected；The upper end of described expansion link (202) is hinged with described connector, stretches
Lower end and the leg support of contracting bar (202) are hinged with fixed component (50).
The healthy image training robot of one the most according to claim 4, it is characterised in that described leg support and fixed component
(50) including: fix the shank pallet (501) being connected with described connecting rod (201), the shank being located on described shank pallet is tied up
Band (502).
The healthy image training robot of one the most according to claim 1, it is characterised in that described foot-operated and fixed component (60)
Including: foot-operated (601) that connect firmly with the front end-plate of foot motion mechanism and be located at the foot's bandage on foot-operated (601)
(602)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620361089.9U CN205698427U (en) | 2016-04-25 | 2016-04-25 | A kind of healthy image training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620361089.9U CN205698427U (en) | 2016-04-25 | 2016-04-25 | A kind of healthy image training robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205698427U true CN205698427U (en) | 2016-11-23 |
Family
ID=57294605
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620361089.9U Withdrawn - After Issue CN205698427U (en) | 2016-04-25 | 2016-04-25 | A kind of healthy image training robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205698427U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105726264A (en) * | 2016-04-25 | 2016-07-06 | 合肥工业大学 | Health training robot |
| CN106730629A (en) * | 2016-12-15 | 2017-05-31 | 中国科学院自动化研究所 | Lower limb robot and the control method of active movement is carried out using the robot |
| CN110898394A (en) * | 2019-11-26 | 2020-03-24 | 新疆医科大学第四附属医院 | Lower limb rehabilitation device |
-
2016
- 2016-04-25 CN CN201620361089.9U patent/CN205698427U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105726264A (en) * | 2016-04-25 | 2016-07-06 | 合肥工业大学 | Health training robot |
| CN105726264B (en) * | 2016-04-25 | 2017-12-26 | 合肥工业大学 | A kind of healthy image training robot |
| CN106730629A (en) * | 2016-12-15 | 2017-05-31 | 中国科学院自动化研究所 | Lower limb robot and the control method of active movement is carried out using the robot |
| CN106730629B (en) * | 2016-12-15 | 2019-03-26 | 中国科学院自动化研究所 | Lower limb robot and the control method that active movement is carried out using the robot |
| CN110898394A (en) * | 2019-11-26 | 2020-03-24 | 新疆医科大学第四附属医院 | Lower limb rehabilitation device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161123 Effective date of abandoning: 20171226 |