CN206434546U - Shank drives training institution - Google Patents
Shank drives training institution Download PDFInfo
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- CN206434546U CN206434546U CN201621120911.9U CN201621120911U CN206434546U CN 206434546 U CN206434546 U CN 206434546U CN 201621120911 U CN201621120911 U CN 201621120911U CN 206434546 U CN206434546 U CN 206434546U
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- shank
- pedipulator
- lead screw
- horizontal lead
- screw mandrel
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Abstract
A kind of shank drives training institution, including pedipulator and pedipulator drive mechanism, and pedipulator and pedipulator drive mechanism are movably connected and front and rear two-dimensional motion above and below can making in the presence of pedipulator drive mechanism.The pedipulator includes big leg mechanism and small leg mechanism, and big leg mechanism is flexibly connected with small leg mechanism.Pedipulator drive mechanism includes horizontal drive mechanism and upright driving mechanism；Upright driving mechanism is connected with horizontal drive mechanism transmission, and the pedipulator is connected with upright driving mechanism movable drive.Drive mechanism is placed on shank position by the utility model, the lower limb knee joint for belonging to ball pivot joint, can accurately simulate the training of space gait.
Description
Technical field
The utility model is related to medical rehabilitation instrument, more particularly to a kind of shank driving training institution.
Background technology
The patient of the motor dysfunction of lower limb caused due to disease or injury gained in sports is a lot, and it is rehabilitation to recover independent ambulation ability
Treat the primary goal made great efforts.Due to the plasticity of brain, medically allowed typically by training repeated, particular task
Patient carries out enough repetition sexualities.So that the cerebral cortex in restructuring is learnt by deep experience and stores correct
Motor pattern.This method has obtained good clinical effectiveness, is crossing in last year, flat board ambulation training and gait training device instruction
Experienced treatment method has been introduced into as neural method of rehabilitation, is able to largely use in neural clinical rehabilitation.
The current apparatus in leg training is all sole driving and joint drive type, commercialized gait lower limb health mostly
There is the Handy1 that MikeTopping companies of Britain develop for 1987 in multiple robot.Secondly another rehabilitation for being successfully entered market
Robot is the MANUS healing robots of Dutch Exact Dynamics companies exploitation, the NUSTEP device for rehabilitation in the U.S., Germany
THERA.Vital intelligent rehabilitation image training robots, the MOTINMAKER of the WORTEC companies research and development of Switzerland, all such robots
Using joint drive pattern.Another oblique bed loss of weight lower limb rehabilitation training device, can be very good to solve using horizontal loss of weight
The rehabilitation at initial stage of severe case, its type of drive is driven using sole, it is possible to achieve training and joint training,
However, the motion of the driving lower limb of sole is limited by linear actuation motion, it is impossible to realize that spatial movement is trained,
Gait motion can not be simulated.Joint drive type is applied to the joint function recovery training after lower limb orthopaedics corrective surgery, for category
For the lower limb knee joint in ball pivot joint, gait also can not be accurately simulated.
Utility model content
The purpose of this utility model, exactly drives training institution, according to setting to solve the above problems there is provided a kind of shank
Fixed track carries out lower limb gait training, can realize the compound motion of joint of lower extremity energy.
In order to achieve the above object, the utility model employs following technical scheme：A kind of shank drives training institution, bag
Pedipulator and pedipulator drive mechanism are included, pedipulator is movably connected with pedipulator drive mechanism and can be in pedipulator drive mechanism
Two-dimensional motion before and after above and below the lower work of effect.
The pedipulator includes big leg mechanism and small leg mechanism, and big leg mechanism is flexibly connected with small leg mechanism.
The big leg mechanism include thick link, thigh push rod and thigh length adjusting knob, the lower end of thigh push rod with
Small leg mechanism is flexibly connected；Pivot bush unit is connected between thick link and thigh push rod, and is adjusted by thigh length adjusting knob
The length of the whole big leg mechanism of section.
The small leg mechanism includes pedal, shank link, shank push rod, lower-leg length governor motion and knee joint cover,
Shank link is installed on the footrests, and shank push rod is connected with shank link pivot bush unit, and passes through lower-leg length governor motion
The length of the whole small leg mechanism of regulation；Knee joint cover is fixedly linked with shank link, in shank push rod upper end and big leg mechanism
Thigh push rod is movably connected.
The pedipulator drive mechanism includes horizontal drive mechanism and upright driving mechanism；Upright driving mechanism drives with level
Dynamic mechanism driving is connected, and the pedipulator is connected with upright driving mechanism movable drive.
The horizontal drive mechanism includes bearing, horizontal lead screw fixed station, horizontal lead screw, horizontal lead screw sliding block and level silk
Bar electric driving mechanism；Horizontal lead screw fixed station is connected on bearing, and horizontal lead screw is connected on horizontal lead screw fixed station, level
Screw mandrel slide block set can be movable along horizontal lead screw on horizontal lead screw, and horizontal lead screw electric driving mechanism is connected to level silk
Bar fixed station rear end, is connected with horizontal lead screw transmission by stepper motor and drives horizontal lead screw to rotate.
The upright driving mechanism includes vertical screw mandrel fixed station, vertical screw mandrel, vertical screw mandrel sliding block and vertical screw mandrel electricity
Dynamic drive mechanism, vertical screw mandrel fixed station is fixedly connected with the horizontal lead screw sliding block in horizontal drive mechanism, vertical screw mandrel sliding block
Being sleeved on vertical screw mandrel can move up and down along vertical screw mandrel, and vertical screw mandrel electric driving mechanism is connected to vertical screw mandrel fixed station
Upper end, is connected with vertical screw rod transmission by stepper motor and drives vertical screw mandrel to rotate.
Drive mechanism is placed on shank position by the utility model, the lower limb knee joint for belonging to ball pivot joint, can essence
The really training of simulation space gait.
Brief description of the drawings
Fig. 1 is the overall structure diagram that the utility model shank drives training institution；
Fig. 2 is the structural representation of pedipulator drive mechanism；
Fig. 3 is the structural representation of pedipulator.
Embodiment
Referring to Fig. 1, Fig. 2, Fig. 3, shank of the present utility model drives training institution, including pedipulator 31 and pedipulator driving
Mechanism 32, pedipulator is movably connected with pedipulator drive mechanism and can be front and rear two above and below work in the presence of pedipulator drive mechanism
Maintenance and operation is moved.Wherein, pedipulator 31 includes big leg mechanism and small leg mechanism, and big leg mechanism is flexibly connected with small leg mechanism；Thigh machine
Structure includes thick link 311, thigh push rod 312 and thigh length adjusting knob 313, and the lower end of thigh push rod is lived with small leg mechanism
Dynamic connection；Pivot bush unit is connected between thick link and thigh push rod, and adjusts whole thigh by thigh length adjusting knob
The length of mechanism.Small leg mechanism includes pedal 314, shank link 315, shank push rod 316, lower-leg length governor motion 317
With knee joint cover 318, shank link is installed on the footrests, and shank push rod is connected with shank link pivot bush unit, and by small
The length of the whole small leg mechanism of leg length governor motion regulation；Knee joint cover is fixedly linked with shank link, shank push rod upper end
It is movably connected with thigh push rod, the upper end of shank link is connected with pedipulator drive mechanism movable drive, makes whole pedipulator real
Existing functional movement.Pedipulator drive mechanism 32 includes horizontal drive mechanism and upright driving mechanism；Horizontal drive mechanism includes branch
Seat 321, horizontal lead screw fixed station 322, horizontal lead screw 323, horizontal lead screw sliding block 324 and horizontal lead screw electric driving mechanism 325；
Horizontal lead screw fixed station is connected on bearing, and horizontal lead screw is connected on horizontal lead screw fixed station, and horizontal lead screw slide block set is mounted in
Can be movable along horizontal lead screw on horizontal lead screw, horizontal lead screw electric driving mechanism is connected to horizontal lead screw fixed station rear end,
Being connected by stepper motor with horizontal lead screw transmission drives horizontal lead screw to rotate；Upright driving mechanism includes vertical screw mandrel fixed station
326th, vertical screw mandrel 327, vertical screw mandrel sliding block 328 and vertical screw mandrel electric driving mechanism 329, vertical screw mandrel fixed station and level
Screw mandrel sliding block is fixedly connected, and vertical screw mandrel slide block set can be moved up and down on vertical screw mandrel along vertical screw mandrel, vertical screw mandrel electricity
Dynamic drive mechanism is connected to vertical screw mandrel fixed station upper end, is connected by stepper motor with vertical screw rod transmission and drives vertical screw mandrel
Rotate；Vertical screw mandrel sliding block can be realized by adjusting the stepper motor of horizontal drive mechanism and upright driving mechanism in the horizontal direction
With the two-dimensional motion of vertical direction, and then the two-dimensional motion of pedipulator is realized.
Claims (7)
1. a kind of shank drives training institution, it is characterised in that：Including pedipulator and pedipulator drive mechanism, pedipulator and machinery
Leg drive mechanism be movably connected and above and below can making in the presence of the pedipulator drive mechanism before and after two-dimensional motion.
2. shank as claimed in claim 1 drives training institution, it is characterised in that：The pedipulator includes big leg mechanism and small
Leg mechanism, big leg mechanism is flexibly connected with small leg mechanism.
3. shank as claimed in claim 2 drives training institution, it is characterised in that：The big leg mechanism include thick link,
Thigh push rod and thigh length adjusting knob, the lower end of thigh push rod is flexibly connected with small leg mechanism；Thick link is pushed away with thigh
Pivot bush unit is connected between bar, and adjusts entirely the length of leg mechanism greatly by thigh length adjusting knob.
4. shank as claimed in claim 2 drives training institution, it is characterised in that：The small leg mechanism includes pedal, small
Leg connecting rod, shank push rod, lower-leg length governor motion and knee joint cover, shank link install on the footrests, shank push rod with
Shank link pivot bush unit is connected, and passes through the length of the whole small leg mechanism of lower-leg length governor motion regulation；Knee joint cover with
Shank link is fixedly linked, and shank push rod upper end is movably connected with the thigh push rod in big leg mechanism.
5. shank as claimed in claim 1 drives training institution, it is characterised in that：The pedipulator drive mechanism includes level
Drive mechanism and upright driving mechanism；Upright driving mechanism is connected with horizontal drive mechanism transmission, the pedipulator and vertical drive
Motivation structure movable drive is connected.
6. shank as claimed in claim 5 drives training institution, it is characterised in that：The horizontal drive mechanism includes bearing,
Horizontal lead screw fixed station, horizontal lead screw, horizontal lead screw sliding block and horizontal lead screw electric driving mechanism；Horizontal lead screw fixed station is connected
On bearing, horizontal lead screw is connected on horizontal lead screw fixed station, and horizontal lead screw slide block set can be along level on horizontal lead screw
Screw mandrel is moved forward and backward, and horizontal lead screw electric driving mechanism is connected to horizontal lead screw fixed station rear end, passes through stepper motor and level
Screw rod transmission, which is connected, drives horizontal lead screw to rotate.
7. shank as claimed in claim 5 drives training institution, it is characterised in that：The upright driving mechanism includes vertical thread
Bar fixed station, vertical screw mandrel, vertical screw mandrel sliding block and vertical screw mandrel electric driving mechanism, vertical screw mandrel fixed station and horizontal drive
Horizontal lead screw sliding block in mechanism is fixedly connected, and vertical screw mandrel slide block set can be moved on vertical screw mandrel along above and below vertical screw mandrel
Dynamic, vertical screw mandrel electric driving mechanism is connected to vertical screw mandrel fixed station upper end, passes through stepper motor and vertical screw rod transmission phase
Related dynamic vertical screw mandrel is rotated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621120911.9U CN206434546U (en) | 2016-10-13 | 2016-10-13 | Shank drives training institution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621120911.9U CN206434546U (en) | 2016-10-13 | 2016-10-13 | Shank drives training institution |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206434546U true CN206434546U (en) | 2017-08-25 |
Family
ID=59645403
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621120911.9U Expired - Fee Related CN206434546U (en) | 2016-10-13 | 2016-10-13 | Shank drives training institution |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206434546U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107469297A (en) * | 2017-09-15 | 2017-12-15 | 南京鼎世医疗器械有限公司 | A kind of creeping exerciser and its application method |
| CN107928993A (en) * | 2016-10-13 | 2018-04-20 | 上海理工大学 | Shank drives training institution |
| CN108186289A (en) * | 2018-02-08 | 2018-06-22 | 东北大学 | A kind of variable freedom upper-limb recovery training device |
-
2016
- 2016-10-13 CN CN201621120911.9U patent/CN206434546U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107928993A (en) * | 2016-10-13 | 2018-04-20 | 上海理工大学 | Shank drives training institution |
| CN107469297A (en) * | 2017-09-15 | 2017-12-15 | 南京鼎世医疗器械有限公司 | A kind of creeping exerciser and its application method |
| CN108186289A (en) * | 2018-02-08 | 2018-06-22 | 东北大学 | A kind of variable freedom upper-limb recovery training device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170825 Termination date: 20201013 |
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| CF01 | Termination of patent right due to non-payment of annual fee |