CN206007542U - A kind of lower limb rehabilitation robot and its elevating mechanism - Google Patents
A kind of lower limb rehabilitation robot and its elevating mechanism Download PDFInfo
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- CN206007542U CN206007542U CN201620641374.6U CN201620641374U CN206007542U CN 206007542 U CN206007542 U CN 206007542U CN 201620641374 U CN201620641374 U CN 201620641374U CN 206007542 U CN206007542 U CN 206007542U
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- pulley
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- elevating mechanism
- lower limb
- lifting
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Abstract
The utility model discloses a kind of elevating mechanism of lower limb rehabilitation robot, including support, for the platform being fixedly connected with lower limb fixture, also include the lifting assembly for lifting platform, lifting assembly includes the leading screw and feed screw nut that level is located at below platform and is connected, for the motor for driving leading screw to rotate, the assembly pulley being fixed on support, and for pulling the lifting rope of platform, one end of lifting rope is fixedly connected with feed screw nut, and the other end of lifting rope is fixedly connected with platform after assembly pulley guiding；The elevating function of vertical direction realized in the presence of lifting assembly by platform, so as to realize the lifting for being secured to the lower limb fixture for connecting, lower limb rehabilitation robot is enabled to simulate the dipping and heaving of the vertical direction during normal gait row, so as to reach more preferable training effect.The invention also discloses a kind of lower limb rehabilitation robot including above-mentioned elevating mechanism.
Description
Technical field
This utility model is related to medical rehabilitation instrument field, more particularly to a kind of elevator of lower limb rehabilitation robot
Structure.Additionally, this utility model further relates to a kind of lower limb rehabilitation robot including above-mentioned elevating mechanism.
Background technology
Healing robot technology is the emerging technology for developing rapidly in recent years, is that roboticses are led in medical science
The new opplication in domain, it serve mainly to facilitate the inconvenient patient of limb motion and complete various actions, to reach the mesh such as reconditioning
's.
Lower limb rehabilitation robot is one kind of healing robot, and it can make the paces rule of patient simulation normal person make health
Motion is practiced in refreshment, reaches exercise muscle and then recovers the purpose of function on foot.Current lower limb rehabilitation robot, due to machine
The restriction of structure, can only realize training the change of angle and cannot changing the elemental height of equipment in horizontal position, it is impossible to which simulation is just
The dipping and heaving of vertical direction in normal gait walking process, i.e., the center of gravity transfer in walking process, affects training effect.
Therefore how to realize lower limb rehabilitation robot elevating function be those skilled in the art need at present solve skill
Art problem.
Utility model content
The purpose of this utility model is to provide a kind of elevating mechanism of lower limb rehabilitation robot so as to can realize vertical side
To elevating function.Another object of the present utility model is to provide a kind of lower limb rehabilitation robot including above-mentioned elevating mechanism.
For solving above-mentioned technical problem, this utility model provides a kind of elevating mechanism of lower limb rehabilitation robot, including propping up
Frame and the platform for being fixedly connected with lower limb fixture, also include the lifting assembly for the lifting platform, the lifting
Component includes the leading screw and feed screw nut that level is located at below the platform and is connected, for driving the leading screw to rotate
Motor, fixed assembly pulley on the bracket, and for pulling the lifting rope of the platform, one end of the lifting rope with described
Feed screw nut is fixedly connected, and the other end of the lifting rope is fixedly connected with the platform after assembly pulley guiding.
Preferably, the support is provided with the first guide rail be arrangeding in parallel with the leading screw, fixed on the feed screw nut
The first slide block is connected with, first slide block is connected with first slide.
Preferably, be oriented to when being additionally provided with for the lifting platform on the support is vertically directed component, described vertical
The second slide block that guidance set is included the second guide rail being vertically arranged and is fixedly connected with the platform, second slide block and institute
State the connection of the second slide.
Preferably, the lifting assembly includes being symmetricly set on the leading screw both sides two first guide rails, two
First slide block, and component is vertically directed described in two assembly pulleys, two lifting ropes and two.
Preferably, the motor is servomotor.
Preferably, the assembly pulley includes first pulley, second pulley, the 3rd pulley, the 4th pulley and is located at described
5th pulley of top of the trellis, the first pulley are fixedly connected with the feed screw nut, the first pulley, the second pulley
With the 3rd pulley is in same level and its rotating shaft is vertically arranged, the 4th pulley and the 5th pulley are same
In one vertical plane, the tangent line of the wire casing bottom of the 4th pulley is tangent with the wire casing of the 3rd pulley, and the lifting rope is successively
After bypassing the first pulley, the second pulley, the 3rd pulley, the 4th pulley and the 5th pulley, then with
The platform is fixedly connected.
This utility model also provides a kind of lower limb rehabilitation robot, including lower limb fixing device and elevating mechanism, the liter
Descending mechanism is specially the elevating mechanism described in above-mentioned any one.
The elevating mechanism of the lower limb rehabilitation robot that this utility model is provided, including support, for solid with lower limb fixture
The platform of fixed connection, also includes that the lifting assembly for lifting platform, lifting assembly include that level is located at below platform and coordinates
The leading screw and feed screw nut of connection, for the motor for driving leading screw to rotate, the assembly pulley being fixed on support, and is used for pulling
The lifting rope of platform, one end of lifting rope are fixedly connected with feed screw nut, and the other end of lifting rope is fixed with platform after assembly pulley guiding
Connection；The elevating function of vertical direction realized in the presence of lifting assembly by platform, so as to realize being secured to the lower limb for connecting
The lifting of fixture so that lower limb rehabilitation robot can simulate upper lower of the vertical direction during normal gait row
Volt, so that reach more preferable training effect.
This utility model provide lower limb rehabilitation robot include above-mentioned elevating mechanism, due to above-mentioned elevating mechanism have upper
Technique effect is stated, above-mentioned lower limb rehabilitation robot should also have same technique effect, here to be no longer discussed in detail.
Description of the drawings
Fig. 1 is a kind of knot of specific embodiment of the elevating mechanism of lower limb rehabilitation robot provided by the utility model
Structure schematic diagram；
Fig. 2 is a kind of facing upward for specific embodiment of the elevating mechanism of lower limb rehabilitation robot provided by the utility model
View.
Specific embodiment
Core of the present utility model is to provide a kind of elevating mechanism of lower limb rehabilitation robot so as to can realize vertical side
To elevating function.Another object of the present utility model is to provide a kind of lower limb rehabilitation robot including above-mentioned elevating mechanism.
In order that those skilled in the art more fully understand this utility model scheme, below in conjunction with the accompanying drawings and it is embodied as
The utility model is described in further detail for mode.
Refer to one kind of Fig. 1 and the elevating mechanism that Fig. 2, Fig. 1 are lower limb rehabilitation robot provided by the utility model
The structural representation of specific embodiment；Fig. 2 is the one of the elevating mechanism of lower limb rehabilitation robot provided by the utility model
Plant the upward view of specific embodiment.
The elevating mechanism of the lower limb rehabilitation robot that this utility model specific embodiment is provided, including support 1, for
The platform 2 that lower limb fixture is fixedly connected, also includes that the lifting assembly for the lifting of platform 2, lifting assembly specifically include level
The leading screw 3 for being located at below platform 2 and being connected and feed screw nut 4, for the motor 5 for driving leading screw 3 to rotate, are fixed on support
Assembly pulley on 1, and for pulling the lifting rope 10 of platform 2, one end of lifting rope 10 to be fixedly connected with feed screw nut 4, lifting rope 10
The other end through assembly pulley guiding after be fixedly connected with platform 2.The liter of vertical direction realized in the presence of lifting assembly by platform 2
Drop function, so that realize the lifting for being secured to the lower limb fixture for connecting so that lower limb rehabilitation robot just can be simulated
The dipping and heaving of the vertical direction during normal gait row, so that reach more preferable training effect.
Specifically, motor 5 drives leading screw 3 to rotate, for linear motion along leading screw 3 with the feed screw nut 4 that leading screw 3 coordinates, from
And the lifting rope 10 being fixedly connected with feed screw nut 4 is driven, after lifting rope 10 is oriented to by assembly pulley, platform 2 is pulled, platform 2 is realized
Raising and lowering, so as to realize the elevating function of lower limb fixture vertical direction so that lower limb rehabilitation robot can be simulated
The dipping and heaving of the vertical direction gone out during normal gait row, so that reach more preferable training effect.
Leading screw 3 is coordinated with feed screw nut 4, can be linear motion, its simple structure, frictional force by convert rotational motion
Little, transmission efficiency, accurate positioning, it is possible to achieve the high accuracy control of position, so that lower limb rehabilitation robot can be accurate
True simulates standard gait, and leading screw 3 carries auto-lock function, under unpowered state, remains to keep current location；
Assembly pulley coordinates the vertical displacement that the horizontal displacement of feed screw nut 4 is transformed into platform 2 with lifting rope 10, ingenious reasonable, reduces
Space shared by mechanism.
The elevating mechanism of the lower limb rehabilitation robot that this utility model specific embodiment is provided, can set on support 1
There is the first guide rail 7 be arrangeding in parallel with leading screw 3, accordingly, the first slide block 6, the first slide block is fixedly connected with feed screw nut 4
6 are slidably connected with the first guide rail 7, and the first guide rail 7 and the first slide block 6 are made with the use of being to be oriented to when feed screw nut 4 is moved
The movement of feed screw nut 4 is more steady, so that the movement of lifting rope 10 and platform 2 is more steady.
Be also provided with being oriented to when lifting for platform 2 on support 1 is vertically directed component, specifically, is vertically directed group
Part can include the second guide rail 8 being vertically arranged and the second slide block 9 being fixedly connected with platform 2, wherein the second slide block 9 and second
Guide rail 8 is slidably connected, and the second guide rail 8 and the second slide block 9 are used cooperatively, and is to be oriented to when platform 2 is lifted, can be prevented effectively from platform
Roll in 2 lifting process, make the lifting of platform 2 more steady, so that the simulated action of lower limb rehabilitation robot is more steady
More accurate.
In order to strengthen the safety in utilization of lower limb rehabilitation robot, it is ensured that platform 2 can bear the body weight of patient, while making
The simulated action of lower limb rehabilitation robot is more steady more accurate, and lifting assembly can include two the first guide rails, 7, two first cunnings
Block 6, and two assembly pulleys, two lifting ropes 10 and two are vertically directed component, two the first guide rails 7 and two the first slide blocks 6
3 both sides of leading screw can be symmetricly set on, two assembly pulleys and two are vertically directed component and are respectively provided at 2 both sides of platform, and two are hung
One end of rope 10 can be fixedly connected with the first slide block 6 for being located at homonymy respectively, and the other end is oriented to through the assembly pulley of homonymy respectively
It is connected with platform 2 afterwards.
Certainly, in lifting assembly, the quantity of each part and concrete set-up mode are not limited to this, it is also possible to be not provided with first
Guide rail 7, the first slide block 6, it is also possible to be not provided with being vertically directed component are as long as ensureing the normal lifting of platform 2, new in this practicality
Within the protection domain of type.
The elevating mechanism of the lower limb rehabilitation robot that this utility model specific embodiment is provided, motor 5 can specifically be adopted
With servomotor, servomotor rotating speed is controlled by input signal, and energy fast reaction, the signal of telecommunication for being received can be converted into turning
Angular displacement on axle or angular velocity output, with drive control object, rotating speed is controllable, and positional precision is high, is accurately controlled platform 2
Lifting position.
On the basis of above-mentioned each specific embodiment, assembly pulley is used for the steering of lifting rope 10, and assembly pulley specifically has multiple
Structure, assembly pulley can specifically include first pulley 11, second pulley 12, the 3rd pulley 13, the 4th pulley 14 and be located at support 1
5th pulley 15 at top, first pulley 11 are fixedly connected with feed screw nut 4, and first pulley 11, second pulley 12 and the 3rd are slided
13 in same level and its rotating shaft is vertically arranged for wheel, the 4th pulley 14 and the 5th pulley 15 in same vertical plane, the
The rotating shaft of four pulleys 14 and the 5th pulley 15 is horizontally disposed with, the tangent line and the 3rd pulley 13 of the wire casing bottom of the 4th pulley 14
Wire casing is tangent, and lifting rope 10 bypasses first pulley 11, second pulley 12, the 3rd pulley 13, the 4th pulley 14 and the 5th pulley successively
After 15, then it is fixedly connected with platform 2.
Specifically, first pulley 11 can be fixed on the bottom of the first slide block 6, second pulley 12 is fixed on support 1
Away from one end of motor 5, can be with the bearing of trend of leading screw 3 positioned at the lifting rope 10 between first pulley 11 and second pulley 12
Parallel, the 3rd pulley 13 can be vertical with the bearing of trend of leading screw 3 with the line of second pulley 12, and the 4th pulley 14 and the 5th is slided
The rotating shaft of wheel 15 can be vertical with the bearing of trend of leading screw 3, and it is convenient so to arrange, and the steering of lifting rope 10 can be made steadily suitable
Profit.
As shown in fig. 1, when leading screw 3 drives feed screw nut 4 to move right, platform 2 is drawn in self gravitation and lifting rope 10
Move down under the collective effect of power, when leading screw 3 drives feed screw nut 4 to be moved to the left, lifting rope 10 is moved upwards with moving platform 2
Dynamic.Certainly, the set-up mode of the concrete composition of assembly pulley and each pulley is not limited to this, as long as turning for lifting rope 10 can be realized
To the lifting for realizing platform 2 by lifting rope 10, within protection domain of the present utility model.
The elevating mechanism of the lower limb rehabilitation robot that this utility model specific embodiment is provided, during use, servomotor
Leading screw 3 is driven to rotate, the feed screw nut 4 coordinated with leading screw 3 does the shifting of horizontal direction on the first guide rail 7 by the first slide block 6
Dynamic, the first pulley 11 below the first slide block 6 drives lifting rope 10, and after other each pulleys are turned to, pulls platform
2, vertical direction and movement are done by the second slide block 9 on the second guide rail 8.
Except above-mentioned elevating mechanism, specific embodiment of the present utility model also provides a kind of including above-mentioned elevating mechanism
Lower limb rehabilitation robot, the structure of the lower limb rehabilitation robot other each several parts refer to prior art, repeat no more herein.
Above lower limb rehabilitation robot provided by the utility model and its elevating mechanism are described in detail.Herein
In apply specific case principle of the present utility model and embodiment be set forth, the explanation of above example is simply used
Method of the present utility model and its core concept is understood in help.It should be pointed out that for those skilled in the art
For, on the premise of without departing from this utility model principle, some improvement and modification can also be carried out to this utility model, these
Improve and modification is also fallen in this utility model scope of the claims.
Claims (7)
1. a kind of elevating mechanism of lower limb rehabilitation robot, it is characterised in that including support (1) and be used for solid with lower limb fixture
The platform (2) of fixed connection, also includes that the lifting assembly lifted for the platform (2), the lifting assembly include that level is located at
Below platform (2) and the leading screw (3) that is connected and feed screw nut (4), for the motor for driving the leading screw (3) to rotate
(5) assembly pulley, being fixed on the support (1), and the lifting rope (10) for being used for pulling the platform (2), the lifting rope
(10) one end is fixedly connected with the feed screw nut (4), the other end of lifting rope (10) after assembly pulley guiding with
Platform (2) are fixedly connected.
2. elevating mechanism according to claim 1, it is characterised in that support (1) is provided with flat with the leading screw (3)
The first guide rail (7) that row is arranged, is fixedly connected with the first slide block (6) on feed screw nut (4), the first slide block (6) with
First guide rail (7) are slidably connected.
3. elevating mechanism according to claim 2, it is characterised in that be additionally provided with for the platform on support (1)
(2) be oriented to when lifting is vertically directed component, described be vertically directed component include the second guide rail (8) for being vertically arranged and with described
The second slide block (9) that platform (2) is fixedly connected, the second slide block (9) are slidably connected with the second guide rail (8).
4. elevating mechanism according to claim 3, it is characterised in that the lifting assembly includes being symmetricly set on the silk
Two the first guide rail (7), two the first slide block (6) of thick stick (3) both sides, and two assembly pulleys, two institutes
State component is vertically directed described in lifting rope (10) and two.
5. elevating mechanism according to claim 4, it is characterised in that described motor (5) are servomotor.
6. the elevating mechanism according to claim 1 to 5 any one, it is characterised in that the assembly pulley includes the first cunning
Wheel (11), second pulley (12), the 3rd pulley (13), the 4th pulley (14) and the 5th pulley being located at the top of the support (1)
(15), first pulley (11) are fixedly connected with the feed screw nut (4), first pulley (11), the second pulley
(12) and the 3rd pulley (13) is in same level and its rotating shaft is vertically arranged, the 4th pulley (14) and described
5th pulley (15) in same vertical plane, the tangent line of the wire casing bottom of the 4th pulley (14) and the 3rd pulley (13)
Wire casing tangent, lifting rope (10) bypass the first pulley (11), the second pulley (12), the 3rd pulley successively
(13), after the 4th pulley (14) and the 5th pulley (15), then it is fixedly connected with the platform (2).
7. a kind of lower limb rehabilitation robot, including lower limb fixing device and elevating mechanism, it is characterised in that the elevating mechanism tool
Body is the elevating mechanism described in claim 1 to 6 any one.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620641374.6U CN206007542U (en) | 2016-06-24 | 2016-06-24 | A kind of lower limb rehabilitation robot and its elevating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620641374.6U CN206007542U (en) | 2016-06-24 | 2016-06-24 | A kind of lower limb rehabilitation robot and its elevating mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206007542U true CN206007542U (en) | 2017-03-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620641374.6U Active CN206007542U (en) | 2016-06-24 | 2016-06-24 | A kind of lower limb rehabilitation robot and its elevating mechanism |
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| Country | Link |
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| CN (1) | CN206007542U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111084707A (en) * | 2019-12-12 | 2020-05-01 | 上海理工大学 | Spinal cord injury lower limb rehabilitation equipment |
| CN113041105A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Protective frame device |
-
2016
- 2016-06-24 CN CN201620641374.6U patent/CN206007542U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111084707A (en) * | 2019-12-12 | 2020-05-01 | 上海理工大学 | Spinal cord injury lower limb rehabilitation equipment |
| CN113041105A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Protective frame device |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |