CN206482813U - Single bionical gait rehabilitation training robot system of driving - Google Patents
Single bionical gait rehabilitation training robot system of driving Download PDFInfo
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- CN206482813U CN206482813U CN201621041940.6U CN201621041940U CN206482813U CN 206482813 U CN206482813 U CN 206482813U CN 201621041940 U CN201621041940 U CN 201621041940U CN 206482813 U CN206482813 U CN 206482813U
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Abstract
A kind of single bionical gait rehabilitation training robot system of driving, including medical treadmill, weight saver, robot support member, bionical gait robot and control system, wherein weight saver is located at the side of medical treadmill, trunk to hang rehabilitation clients, robot support member includes the movable door frame being installed on weight saver column and the robot waist bracket fixed with movable door frame, bionical gait robot is connected in the waist bracket and positioned at the top of medical treadmill, including the wearable exoskeleton-type walking mechanism of two symmetrical configuration identical rehabilitation clientses, it has one degree of freedom and driven by single power source, control system is according to parameter set in advance, two exoskeleton-type walking mechanisms of control realize that the reciprocal gait of abled person moves and reaches the coordination of medical treadmill and bionical gait robot.The utility model has the advantages that rational in infrastructure, cheap, bionical effect is good, human body accommodation is extensive, suitable for being promoted in common rehabilitation institution and rehabilitation clients.
Description
Technical field
The rehabilitative engineering technology field that the utility model belongs in medical science of recovery therapy, is related to a kind of to paralytic patient progress rehabilitation
The list of the electromechanical integration of training drives bionical gait rehabilitation training robot system.
Background technology
To the non-permanent paraplegia of chest waist section and spinal cord injury (such as chest is below 6) patient, due to dominating the nerve conduction of lower limb
Obstacle, completely loses autonomous domination lower limb exercise ability in early days, thus can not carry out autonomous active training.Medical science of recovery therapy is clinical
It was verified that carrying out passive type gait training to non-permanent paralytic patient, the vigor of its neuromuscular system can be effectively excited,
And passive type gait training is carried out to patient typically all by means of the gait rehabilitation training system of electromechanical integration.
At present, the domestic extrapolated equipment for gait training is the train of mechanism of two-freedom or more, i.e., every
The mechanism of side leg drives thigh and shank respectively by two sets or more of power-driven system, then by control system coordinate hip,
Knee joint and large and small leg, form walking step state.Found by retrieving, the Chinese patent Shen of Application No. 201510126371.9
Please《A kind of colourful position lower limbs rehabilitation training robot》, its leg mechanism includes hip, knee, three joints of condyle, and each free motor drives
Dynamic, i.e., whole system is equipped with three sets of dynamical systems；Application No. 201610176243.X Chinese patent application《Linkage
Form of Bionics Mechanical Legs and its quadruped robot》, its mechanism, which has, lifts leg and two frees degree of taking a step, and passes through the main drive division of thigh respectively
Divide and the secondary drive part driving of thigh.In order to pursue gait diversity, above-mentioned prior art employs the more than one free degree
Mechanism realize the gait motion of robot leg, which results in the structure of system and control are complicated, cost rise, cost is held high
It is expensive, it is difficult to be promoted in general hospital and rehabilitation institution, it is more difficult to enter into family.
Utility model content
The purpose of this utility model is that overcoming the deficiencies in the prior art, there is provided a kind of single bionical gait rehabilitation instruction of driving
Practice robot system, based on mechanism principle and Optimization Design, pass through the single-degree-of-freedom driven by two single power sources
Mechanism, realizes and carries out human simulation motion to the gait of abled person, so as to reach simplified structure, reduce cost and optimize bionical
Effect.
The technical scheme in the invention for solving the technical problem is as follows：
A kind of single bionical gait rehabilitation training robot system of driving, it includes：
Medical treadmill, provided with the adjustable conveyer belt of speed；
Weight saver, is arranged at the side of the medical treadmill, the trunk to hang rehabilitation clients, includes the vertical of load-bearing
Post；
Robot support member, including it is easy to the movable door frame and robot waist bracket of rehabilitation clients's turnover, wherein, activity
Door frame is installed on the column of the weight saver, and robot waist bracket is fixed on movable door frame and stretches to the medical treadmill
Top；
Bionical gait robot, is connected in the robot waist bracket of the robot support member and positioned at the doctor
With the top of treadmill, including the wearable exoskeleton-type walking mechanism of two symmetrical configuration identical rehabilitation clientses, to abled person's
Gait carries out human simulation motion, and the exoskeleton-type walking mechanism is the machine with one degree of freedom driven by single power source
Structure；
Control system, is connected with the medical treadmill and bionical gait robot respectively, according to parameter set in advance, control
Two exoskeleton-type walking mechanisms for making the bionical gait robot realize correct reciprocal gait motion, and reach described
The speed of the conveyer belt of medical treadmill and the leg speed of the bionical gait robot are coordinated.
As a further improvement, described exoskeleton-type walking mechanism is by first connecting rod mechanism, second connecting rod mechanism and company
Connect the drive mechanism composition of the first connecting rod mechanism and second connecting rod mechanism；
The first connecting rod mechanism includes being hinged the waist support to form crank and rocker mechanism, thigh mobile jib, crank and the successively
One thigh pole；Wherein, waist support is fixed in the robot waist bracket, and the first thigh pole and thigh mobile jib are respectively articulated with
In in waist support, simulating the thigh femur of human body, thigh mobile jib and the pin joint of waist support form the exoskeleton-type walking mechanism
Hip joint hinge, the center-side of crank is articulated with the top of thigh mobile jib；
The drive mechanism includes motor, decelerator, kinematic link, sector gear and little gear；Wherein, motor is by subtracting
Fast device connects and drives the crank of the first connecting rod mechanism to rotate, and the central shaft of little gear is connected to the first connecting rod mechanism
The middle part of thigh mobile jib, sector gear is engaged with the little gear, one end of kinematic link and the first of the first connecting rod mechanism
One end of thigh pole is overlapped, and is articulated with jointly on the outer end of the crank, and the other end of kinematic link is articulated with sector
On the circumference of gear；
The second connecting rod mechanism includes small rod, the second thigh pole and shank link；Wherein, small rod is radially
In the little gear for being fixed on the drive mechanism, and it can be rotated around the shaft contact in the middle part of the little gear and thigh mobile jib, the
One end of two thigh poles is articulated with the outer end of small rod, calf shank of the shank link to simulate human body, one end with it is described
The end of thigh mobile jib bottom is hinged, and the other end and the other end of the second thigh pole are hinged, small rod, the second thigh pole,
The bottom of shank link and the thigh mobile jib is hinged to form quadric chain successively, the shank link and thigh mobile jib bottom end
The pin joint at end forms the knee joint hinge of the exoskeleton-type walking mechanism；
The motor is the sole power source of whole exoskeleton-type walking mechanism, and it drives crank to hold by the decelerator
Continuous rotation, drives the first thigh pole and the relatively described waist support of thigh mobile jib to be swung, and realizes the thigh stock to human body
The simulation of bone is swung, at the same time, and the crank drives the sector gear and pinion rotation by the kinematic link, enters
And drive the shank link to be rotated around the knee joint hinge by the small rod and the second thigh pole, realize to straight knee
With the skimulated motion bent knee, so as to realize gait bionic movement of the whole exoskeleton-type walking mechanism to human body lower limbs.
As a further improvement, described decelerator is intermeshing worm and worm wheel, the worm screw coaxially connects
In on the output shaft of the motor, the crank of the worm gear and the first connecting rod mechanism is fixed together and synchronous rotary, should
The center-side of crank and the center superposition of the worm gear are fixed, and outer end is fixed on the circumference of the worm gear.
As a further improvement, described worm gear is integrated with crank, the small rod is integrated with little gear
Change structure, the waist support is integrated with robot waist bracket.
As a further improvement, described motor is DC servo motor.
As a further improvement, described control system includes master control borad, the first driving plate, the second driving plate, chain of command
Plate and computer, the master control borad connect the medical treadmill, two exoskeleton-type walking mechanisms, the first driving plate, respectively
Two driving plates, control panel and computer, first driving plate connect two exoskeleton-type walking mechanisms, described second respectively
Driving plate connects the medical treadmill；The parameter set in advance inputs the master control borad, the master by the control panel
Control plate is handled the parameter set in advance by embedded software and sent to first driving plate and the second driving plate
Control command, the medical treadmill and two exoskeleton-type walking mechanisms are operated according to the control command and to described
Master control borad feed back motion information, the master control borad is according to the comparative result of the control command and feedback information control medical race
Platform and two exoskeleton-type walking mechanisms are moved according to parameter set in advance, realize two exoskeleton-type walking mechanisms
Gait bionic movement and reciprocal gait each other coordinate, it is ensured that the speed of the medical treadmill and the bionical gait machine
The coordination of the leg speed of people.
As a further improvement, being also associated with scram button on described master control borad.
As a further improvement, scantling and the human simulation motion of described bionical gait robot are to be based on mechanism
Principle and Optimization Design are learned, the gait curvilinear function using the abled person of medium height of collection is calculated as target by optimizing
Obtain.
As a further improvement, between the both sides of described robot waist bracket neutral can be according to health apart from width
The body sizes step-less adjustment of multiple person, the component length of the bionical gait robot can be adjusted according to the height of rehabilitation clients
Section, to adapt to the build of different rehabilitation clientses.
As a further improvement, being connected with buffer spring between described robot waist bracket and movable door frame.
Compared with prior art, the utility model has reached following technique effect：
1st, using single-mode system, realize every side leg and bionical gait only can be achieved with single power source drive,
The greatly simplified general structure of rehabilitation training system, reduces cost and cost；
2nd, the structure of the system and human simulation control software are with the gait curve of the abled person of medium height of collection
Function is target, calculates what is obtained by optimizing, therefore the human simulation motion that rehabilitation training robot system is realized is more scientific
Rationally, the gait of abled person is more approached, so as to obtain better rehabilitation efficacy；
3rd, the physical dimension of the rehabilitation training robot system can be adjusted according to the specific body build of rehabilitation clients
Whole, control system ensure that bionical gait robot realizes correct reciprocal gait motion, and reach and medical treadmill
Coordinate, so as to reach preferably control and adapt to effect.
In a word, the utility model have that rational in infrastructure, cheap, bionical effect is good, human body accommodation it is extensively etc. excellent
Point, suitable for being promoted in common rehabilitation institution and rehabilitation clients.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural upright schematic diagram of exoskeleton-type walking mechanism.
Fig. 3 is simulation schematic diagram of the exoskeleton-type walking mechanism to human body lower limbs.
Fig. 4 is the straight knee view of exoskeleton-type walking mechanism.
Fig. 5 is the view of bending knee of exoskeleton-type walking mechanism.
Fig. 6 is the structural representation of control system.
In figure：01-bionical gait robot, 011-exoskeleton-type walking mechanism, 02-medical treadmill, 021-transmission
Band, 022-parallel bars, 03-robot support member, 031-activity door frame, 032-robot waist bracket, 033-buffering elastic
Spring, 04-weight saver, 041-column, 1-motor, 2-worm screw, 3-kinematic link, the 4-the first thigh pole, 5-worm gear,
6-hip joint hinge, 7-thigh mobile jib, the 8-the second thigh pole, 9-crank, 10-knee joint hinge, 11-shank connects
Bar, 12-waist support, 13-sector gear, 14-small rod, 15-little gear, the 51-the first driving plate, the 52-the second driving plate,
53-master control borad, 54-control panel, 55-computer, 56-encoder, 57-scram button.
Embodiment
Single bionical gait rehabilitation training robot system of driving described in the utility model is based on mechanism principle and optimization is set
Meter method, the gait curvilinear function using the abled person of medium height of collection passes through what is driven by two single power sources as target
Exoskeleton-type walking mechanism, realizes the human simulation to the gait of abled person, and bionical gait machine is ensure that by control system
Device people realizes correct reciprocal gait motion, and reaches the coordination with medical treadmill, so as to obtain simplified structure, reduce into
Originally, the effect of the bionical effect of optimization.The utility model has that rational in infrastructure, cheap, rehabilitation efficacy is good, human body adapts to model
The advantages of enclosing extensive, suitable for being promoted in common rehabilitation institution, hospital and family, to the non-permanent paraplegia of chest waist section or
Spinal cord injury (below chest 6) patient carries out rehabilitation training.
Below in conjunction with the accompanying drawings with specific embodiment to single bionical gait rehabilitation training device of driving described in the utility model
People's system is described in further detail, but therefore can not limit the claimed scope of the utility model.
Embodiment
Referring to Fig. 1, the single bionical gait rehabilitation training robot system of driving of diagram includes：Medical treadmill 02, weight saver
04th, robot support member 03, bionical gait robot 01 and control system.
The medical treadmill 02 is provided with the adjustable conveyer belt 021 of speed, and its both sides is provided with the parallel bars helped for rehabilitation clients
022, the speed of conveyer belt 021 is coordinated by the leg speed of the control system and bionical gait robot 01.
The weight saver 04 is door case type structure, is arranged in the side of the medical treadmill 02, the present embodiment located at doctor
With the rear side side of treadmill 022, the trunk to hang rehabilitation clients, it includes the two root posts 041 to load-bearing.
The robot support member 03 includes movable door frame 031, the buffer spring 033 for being easy to rehabilitation clients's wheelchair to pass in and out
With robot waist bracket 032；Wherein, movable door frame 031 is installed on the column 041 of the weight saver 04, robot waist
Support 032 is fixed on movable door frame 031, and stretches to the top of the medical treadmill 02,032 liang of the robot waist bracket
Neutral can realize step-less adjustment apart from width according to the body sizes of rehabilitation clients between side, and buffer spring 033 is connected to this
Between robot waist bracket 032 and movable door frame 031, to buffer motoricity during rehabilitation clients's training.
Described bionical gait robot 01 is the main element of the rehabilitation training robot system, can realize alternating
The bionic walking motion of gait.Scantling and the human simulation motion of the bionical gait robot 01 are former based on theory of mechanisms
Reason and Optimization Design, the curvilinear function that the gait data of the abled person of medium height to gather in advance is fitted as target,
Calculate what is obtained by Mechanism Optimization.The component length of the bionical gait robot 01, the length of such as leg can be according to rehabilitation clients
Height be adjusted, to adapt to the build of different rehabilitation clientses.
The bionical gait robot 01 includes two exoskeleton-type walking mechanisms 011 for being available for rehabilitation clients to dress, and this two
The structure of exoskeleton-type walking mechanism 011 is identical, symmetrical, is connected to the robot waist branch of the robot support member 03
On frame 032, and the top of the conveyer belt 021 positioned at the medical treadmill 02.Refer to Fig. 2 and Fig. 3, the exoskeleton-type step
Row mechanism 011 is the mechanism with one degree of freedom, is driven by single power source, can realize the bio-imitability mould to presetting gait
Intend.
Fig. 3 and Fig. 4 are please referred to, described exoskeleton-type walking mechanism 011 is by first connecting rod mechanism, second connecting rod machine
Structure and the drive mechanism composition for connecting the first connecting rod mechanism and second connecting rod mechanism, the drive mechanism are driven with single power source
The first connecting rod mechanism and second connecting rod mechanism realize gait bionic movement.
The first connecting rod mechanism includes the waist support 12 being hinged successively, thigh mobile jib 7, the thigh pole 4 of crank 9 and first,
They are collectively forming crank and rocker mechanism；Wherein, crank 9 is the driving link of first connecting rod mechanism, and its center-side is articulated with thigh
The top of mobile jib 7；Waist support 12 is fixture, is the frame of whole mechanism, is fixed in the robot waist bracket 032；The
One thigh pole 4 and thigh mobile jib 7 are hingedly connected in waist support 12, are two rocking bars of the first connecting rod mechanism, simulate human body
Thigh femur, the pin joint of the thigh mobile jib 7 and waist support 12 forms the hip joint hinge of the exoskeleton-type walking mechanism 011
6.In order to simplify structure, described waist support 12 can be integral component with robot waist bracket 032, form integration knot
Structure.
The drive mechanism includes motor 1, decelerator, kinematic link 3, sector gear 13 and little gear 15.The present embodiment
In, the motor 1 is DC servo motor, and the decelerator is intermeshing worm screw 2 and worm gear 5.The worm screw 2 coaxially connects
In on the output shaft of the motor 1, the crank 9 of the worm gear 5 and the first connecting rod mechanism is fixed together and synchronous rotary,
The center of the worm gear 5 overlaps fixation with the center-side of the crank 9, and is articulated with the thigh mobile jib of first connecting rod mechanism jointly
7 top, the outer end of the crank 9 is fixed on the circumference of the worm gear 5.In order to simplify structure, described worm gear 5 and crank 9
Component can be integral, integral structure is formed.The center of the little gear 15 and the thigh master of the first connecting rod mechanism
The middle part axle of bar 7 is connect, and the sector gear 13 is engaged with the little gear 15.One end of the kinematic link 3 connects with described first
One end of first thigh pole 4 of linkage is overlapped, and the crank 9 being articulated with jointly on the circumference of worm gear 5 is outer
On end, the other end of the kinematic link 3 is articulated with the circumference of the sector gear 13.The worm gear 5, crank 9, kinematic link
3rd, sector gear 13 and little gear 15 are arranged in gear connecting rod transfer case cover together.The motor 1 is driven by the worm screw 2
The worm gear 5 and crank 9 rotate, then promote the sector gear 13 and little gear 15 to rotate by the kinematic link 3, and then
Drive second connecting rod mechanism kinematic.
The second connecting rod mechanism includes small rod 14, the second thigh pole 8 and shank link 11.Wherein, small rod 14
It is fixed in the little gear 15 of drive mechanism, and can be connect around the little gear 15 and the axle at the middle part of thigh mobile jib 7 radially
Point is rotated；One end of second thigh pole 8 is articulated with the outer end of small rod 14；Shank shin of the shank link 11 to simulate human body
Bone, its one end and the end of the bottom of thigh mobile jib 7 are hinged, and the other end and the other end of the second thigh pole 8 are hinged.In order to
Simplify structure, the small rod 14 can be integral component with little gear 15, form integral structure.The small rod 14,
Second thigh pole 8, the bottom of shank link 11 and the thigh mobile jib 7 are hinged successively, form quadric chain, wherein, greatly
Leg mobile jib 7 is the frame of second connecting rod mechanism, and shank link 11 and the pin joint of the lower end of thigh mobile jib 7 form the dermoskeleton
The knee joint hinge 10 of bone formula walking mechanism 011.The rotation of the little gear 15 drives small rod 14 to swing, and then passes through second
Thigh pole 8 promotes the joint hinge 10 of staying with one's parents in order to make them happy of shank link 11 to rotate, and realizes straight knee and the gait bionic movement bent knee.
The motor 1 is the sole power source of whole exoskeleton-type walking mechanism 011, and it passes through the worm screw 2 and worm gear 5
Drive crank 9 persistently to rotate, drive the first thigh pole 4 and the relatively described waist support 12 of thigh mobile jib 7 to be swung, realize
Simulation to the thigh femur of human body is swung, and at the same time, the crank 9 drives the sector by the kinematic link 3
Wheel 13 and little gear 15 are rotated, and then drive the shank link 11 around institute by the thigh pole 8 of small rod 14 and second
State knee joint hinge 10 to rotate, realize to straight knee and the skimulated motion bent knee, so as to realize whole exoskeleton-type walking mechanism 011
To the gait bionic movement of human body lower limbs.
The control system is connected with the medical treadmill 02 and bionical gait robot 01 respectively, according to set in advance
Parameter, controls two exoskeleton-type walking mechanisms 11 of the bionical gait robot 01 to realize correct reciprocal gait motion,
And the speed of conveyer belt 021 and the leg speed of the bionical gait robot 01 for reaching the medical treadmill 02 are coordinated.
Specifically referring to Fig. 6, described control system includes master control borad 53, the first driving plate 51, the second driving plate 52, control
Panel 54 processed, encoder 56, scram button 57 and computer 55.The master control borad 53 is computer control board, is internally provided with leading to
The hardware and software of communication function, while CPU contains system controlling software, the master control borad 53 connect respectively the medical treadmill 02,
First driving plate 51, the second driving plate 52, control panel 54, computer 55 and scram button 57, the master control borad 53 is also by compiling
Code device 56 connects the motor 1 of two exoskeleton-type walking mechanisms 11 respectively, and the encoder 56 is arranged on the end of the motor 1.
First driving plate 51 connects the motor 1 of two exoskeleton-type walking mechanisms 11 respectively, and second driving plate 52 connects institute
State medical treadmill 02.Human-computer interaction interface and corresponding management software are housed on the computer 55.The scram button 57 is used
In emergency circumstances to be braked to whole system, in case rehabilitation clients is by unexpected injury.The workflow of the control system
It is as follows：Operator inputs the parameters such as mode of operation set in advance and leg speed by control panel 54, and the master control borad 53 receives
By embedded software the parameter set in advance is handled after data and to the driving plate of the first driving plate 51 and second
52 send control command, and the motor 1 of the medical treadmill 02 and two exoskeleton-type walking mechanisms 11 is according to the control command
Operated, medical treadmill 02 and encoder 56 are to the feed back motion information of master control borad 53, and the master control borad 53 is according to the control
The comparative result of system order and feedback information controls the medical treadmill 02 and two exoskeleton-type walking mechanisms 11 according to advance
The parameter of setting is moved, and realizes the gait bionic movement and alternating step each other of two exoskeleton-type walking mechanisms 11
State coordinates, it is ensured that the speed of the medical treadmill 02 and the coordination of the leg speed of the bionical gait robot 01.
The operation principle of the exoskeleton-type walking mechanism 011 is as follows：
First, straight knee gait ---
Refering to Fig. 4, motor 1 starts, and worm gear 5 is driven according to direction rotate counterclockwise shown in arrow in Fig. 4 by worm screw 2,
The synchronous rotary of crank 9 being fixed together with worm gear 5, and drive the first thigh pole 4 and thigh mobile jib 7 to be carried out with respect to waist support 12
Swing, realize that the simulation to human thigh's femur is swung.
At the same time, crank 9 (worm gear 5) promotes kinematic link 3 to the right, and drives sector gear 13 according to arrow in Fig. 4
Shown direction is rotated clockwise, while the little gear 15 being engaged with is rotated counterclockwise, the rotation of little gear 15 drives therewith admittedly
Small rod 14 together is scheduled on to lower swing, and then promotes shank link 11 to stay with one's parents in order to make them happy joint hinge 10 by the second thigh pole 8
Rotate clockwise, the angle between shank link 11 and the bottom extended line of thigh mobile jib 7 is diminished (see Fig. 3), reach straight knee
State, so as to realize the gait bionic movement walked forward.
2nd, bend knee gait ---
Refering to Fig. 5, motor 1 starts, and drives worm gear 5 to continue to revolve counterclockwise according to direction shown in arrow in Fig. 5 by worm screw 2
Turn, the synchronous rotary of crank 9 being fixed together with worm gear 5, and drive the first thigh pole 4 and thigh mobile jib 7 with respect to waist support 12
Swung, realize that the simulation to human thigh's femur is swung.
At the same time, crank 9 (worm gear 5) pulls kinematic link 3 to the left, and drives sector gear 13 according to arrow in Fig. 5
Shown direction is rotated counterclockwise, while the little gear 15 being engaged with is rotated clockwise, the rotation of little gear 15 drives therewith admittedly
The small rod 14 being scheduled on together is swung up, and then pulls shank link 11 to stay with one's parents in order to make them happy joint hinge 10 by the second thigh pole 8
Rotate counterclockwise, the angle between shank link 11 and the bottom extended line of thigh mobile jib 7 is become big, reach the state bent knee, from
And realize lift leg and change the gait bionic movement of step forward.
Preferred embodiment of the present utility model is above are only, not for limiting practical range of the present utility model,
The equivalent changes and modifications that i.e. all contents according to present utility model application the scope of the claims are made, all should be technology of the present utility model
Category.
Claims (10)
1. a kind of single bionical gait rehabilitation training robot system of driving, it is characterised in that：The rehabilitation training robot system
Including：
Medical treadmill, provided with the adjustable conveyer belt of speed；
Weight saver, is arranged at the side of the medical treadmill, and the trunk to hang rehabilitation clients includes the column of load-bearing；
Robot support member, including it is easy to the movable door frame and robot waist bracket of rehabilitation clients's turnover, wherein, movable door frame
On the column for being installed on the weight saver, robot waist bracket is fixed on movable door frame and stretches to the upper of the medical treadmill
Side；
Bionical gait robot, is connected in the robot waist bracket of the robot support member and positioned at the medical race
The top of platform, including the wearable exoskeleton-type walking mechanism of two symmetrical configuration identical rehabilitation clientses, to the gait of abled person
Human simulation motion is carried out, the exoskeleton-type walking mechanism is the mechanism with one degree of freedom driven by single power source；
Control system, is connected with the medical treadmill and bionical gait robot respectively, according to parameter set in advance, controls institute
Two exoskeleton-type walking mechanisms for stating bionical gait robot realize correct reciprocal gait motion, and reach described medical
The speed of the conveyer belt of treadmill and the leg speed of the bionical gait robot are coordinated.
2. single bionical gait rehabilitation training robot system of driving according to claim 1, it is characterised in that：Described is outer
Skeleton-type walking mechanism is by first connecting rod mechanism, second connecting rod mechanism and connects the first connecting rod mechanism and second connecting rod mechanism
Drive mechanism is constituted；
The first connecting rod mechanism is big including being hinged the waist support to form crank and rocker mechanism, thigh mobile jib, crank and first successively
Leg pole；Wherein, waist support is fixed in the robot waist bracket, and the first thigh pole and thigh mobile jib are hingedly connected to waist
In support, the thigh femur of human body is simulated, the hip that the pin joint of thigh mobile jib and waist support forms the exoskeleton-type walking mechanism is closed
Hinge is saved, the center-side of crank is articulated with the top of thigh mobile jib；
The drive mechanism includes motor, decelerator, kinematic link, sector gear and little gear；Wherein, motor passes through decelerator
Connect and drive the crank of the first connecting rod mechanism to rotate, the central shaft of little gear is connected to the thigh of the first connecting rod mechanism
The middle part of mobile jib, sector gear is engaged with the little gear, one end of kinematic link and the first thigh of the first connecting rod mechanism
One end of pole is overlapped, and is articulated with jointly on the outer end of the crank, and the other end of kinematic link is articulated with sector gear
Circumference on；
The second connecting rod mechanism includes small rod, the second thigh pole and shank link；Wherein, small rod is fixed radially
In in the little gear of the drive mechanism, and it can be rotated around the shaft contact in the middle part of the little gear and thigh mobile jib, it is second largest
One end of leg pole is articulated with the outer end of small rod, calf shank of the shank link to simulate human body, one end and the thigh
The end of mobile jib bottom is hinged, and the other end and the other end of the second thigh pole are hinged, small rod, the second thigh pole, shank
The bottom of connecting rod and the thigh mobile jib is hinged to form quadric chain successively, the shank link and thigh mobile jib lower end
Pin joint forms the knee joint hinge of the exoskeleton-type walking mechanism；
The motor is the sole power source of whole exoskeleton-type walking mechanism, and it drives crank persistently to revolve by the decelerator
Turn, drive the first thigh pole and the relatively described waist support of thigh mobile jib to be swung, realize to the thigh femur of human body
Simulation is swung, at the same time, and the crank drives the sector gear and pinion rotation, Jin Ertong by the kinematic link
Cross the small rod and the second thigh pole drives the shank link to be rotated around the knee joint hinge, realize to straight knee and song
The skimulated motion of knee, so as to realize gait bionic movement of the whole exoskeleton-type walking mechanism to human body lower limbs.
3. single bionical gait rehabilitation training robot system of driving according to claim 2, it is characterised in that：Described subtracts
Fast device is intermeshing worm and worm wheel, and the worm screw is coaxially coupled on the output shaft of the motor, the worm gear with
The crank of the first connecting rod mechanism is fixed together and synchronous rotary, the center-side of the crank and the center superposition of the worm gear
Fixed, outer end is fixed on the circumference of the worm gear.
4. single bionical gait rehabilitation training robot system of driving according to claim 3, it is characterised in that：Described snail
Wheel is integrated with crank, and the small rod is integrated with little gear, the waist support and robot waist bracket
It is integrated.
5. single bionical gait rehabilitation training robot system of driving according to claim 2, it is characterised in that：Described electricity
Machine is DC servo motor.
6. single bionical gait rehabilitation training robot system of driving according to claim 1, it is characterised in that：Described control
System processed includes master control borad, the first driving plate, the second driving plate, control panel and computer, and the master control borad connects institute respectively
State medical treadmill, two exoskeleton-type walking mechanisms, the first driving plate, the second driving plate, control panel and computer, described
One driving plate connects two exoskeleton-type walking mechanisms respectively, and second driving plate connects the medical treadmill；It is described advance
The parameter of setting inputs the master control borad by the control panel, and the master control borad is by embedded software to the ginseng set in advance
Number is handled and sends control command, the medical treadmill and two ectoskeletons to first driving plate and the second driving plate
Formula walking mechanism is operated according to the control command and to the master control borad feed back motion information, the master control borad is according to institute
The comparative result for stating control command and feedback information controls the medical treadmill and two exoskeleton-type walking mechanisms according to advance
The parameter of setting is moved, and realizes the gait bionic movement and reciprocal gait each other of two exoskeleton-type walking mechanisms
Coordinate, it is ensured that the speed of the medical treadmill and the coordination of the leg speed of the bionical gait robot.
7. single bionical gait rehabilitation training robot system of driving according to claim 6, it is characterised in that：Described master
Scram button is also associated with control plate.
8. single bionical gait rehabilitation training robot system of driving according to claim 1, it is characterised in that：Described is imitative
It is to be based on mechanism principle and Optimization Design that the scantling and human simulation of raw gait robot, which are moved, with collection
Gait curvilinear function Deng stature abled person is target, calculates what is obtained by optimizing.
9. single bionical gait rehabilitation training robot system of driving according to claim 1, it is characterised in that：Described machine
Neutral can be described bionical according to the body sizes step-less adjustment of rehabilitation clients apart from width between the both sides of device people's waist bracket
The component length of gait robot can be adjusted according to the height of rehabilitation clients, to adapt to the build of different rehabilitation clientses.
10. single bionical gait rehabilitation training robot system of driving according to claim 1, it is characterised in that：Described
Buffer spring is connected between robot waist bracket and movable door frame.
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| CN201621041940.6U CN206482813U (en) | 2016-09-06 | 2016-09-06 | Single bionical gait rehabilitation training robot system of driving |
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| CN201621041940.6U CN206482813U (en) | 2016-09-06 | 2016-09-06 | Single bionical gait rehabilitation training robot system of driving |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106420271A (en) * | 2016-09-06 | 2017-02-22 | 广州科安康复专用设备有限公司 | Single-driven bionic gait rehabilitation training robot system |
| CN108578181A (en) * | 2017-12-19 | 2018-09-28 | 浙江工业大学 | A kind of four-footed power-assisted healing robot |
| CN110559163A (en) * | 2019-09-06 | 2019-12-13 | 山东中医药大学附属医院 | Gait walking rehabilitation training device |
| CN110664585A (en) * | 2019-09-26 | 2020-01-10 | 湖北文理学院 | Waist control mechanism and waist rehabilitation robot |
-
2016
- 2016-09-06 CN CN201621041940.6U patent/CN206482813U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106420271A (en) * | 2016-09-06 | 2017-02-22 | 广州科安康复专用设备有限公司 | Single-driven bionic gait rehabilitation training robot system |
| CN106420271B (en) * | 2016-09-06 | 2018-11-30 | 广州科安康复专用设备有限公司 | It is single to drive bionical gait rehabilitation training robot system |
| CN108578181A (en) * | 2017-12-19 | 2018-09-28 | 浙江工业大学 | A kind of four-footed power-assisted healing robot |
| CN110559163A (en) * | 2019-09-06 | 2019-12-13 | 山东中医药大学附属医院 | Gait walking rehabilitation training device |
| CN110664585A (en) * | 2019-09-26 | 2020-01-10 | 湖北文理学院 | Waist control mechanism and waist rehabilitation robot |
| CN110664585B (en) * | 2019-09-26 | 2023-05-16 | 湖北文理学院 | Waist control mechanism and waist rehabilitation robot |
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